From adfc7e798b9cbdd022bf8df971843436912a0fe5 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期日, 20 七月 2025 16:58:30 +0800
Subject: [PATCH] 成功移植g_com_map表逻辑，初步测试能读能写，并且TDOA效果和官方一致
---
keil/include/components/app/src/ranging_ss_twr.c | 56 ++++++++++++++++++--------------------------------------
1 files changed, 18 insertions(+), 38 deletions(-)
diff --git a/keil/include/components/app/src/ranging_ss_twr.c b/keil/include/components/app/src/ranging_ss_twr.c
index f4b7932..5283186 100644
--- a/keil/include/components/app/src/ranging_ss_twr.c
+++ b/keil/include/components/app/src/ranging_ss_twr.c
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
+ * Copyright (c) 2019-2025 Beijing Hanwei Innovation Technology Ltd. Co. and
* its subsidiaries and affiliates (collectly called MKSEMI).
*
* All rights reserved.
@@ -49,12 +49,12 @@
#include "ranging_ss_twr.h"
#include "lib_aoa.h"
#include "lib_ranging.h"
-#if KF_EN
+#if FILTER_EN
#include "lib_kf.h"
#endif
// #include "board.h"
-#if KF_EN && FILTER_EN
+#if FILTER_EN
#define KF_SUPPORT_NUM 6
#define KF_TIMEOUT_MS 2000
static struct KF_MAC_ADDR_T kf_mac_addr_cache[KF_SUPPORT_NUM];
@@ -141,28 +141,18 @@
uwbs_configure(PHY_TX | PHY_RX, uwb_app_config.session_param.tx_power_level);
-#if CSI_EN
- ranging_aux_out_opt_set(CH_LEN_DEFAULT, 3);
-#endif
-
#if AOA_EN
- aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
- aoa_steering_vector_set((const float *)((uint32_t)((uwb_app_config.ppdu_params.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
+ sts_param_config(uwb_app_config.ppdu_params->sts_pkt_cfg, STS_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM, STS_BUF_NUM, STS_BUF_SIZE);
+ aoa_steering_vector_set((const float *)((uint32_t)((uwb_app_config.ppdu_params->ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
#else
- aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI);
+ sts_param_config(uwb_app_config.ppdu_params->sts_pkt_cfg, STS_AUX_ANT_IQ_RSSI, STS_BUF_NUM, STS_BUF_SIZE);
#endif
-
- aoa_param_config();
#if FILTER_EN
if (uwb_app_config.filter_en)
{
-#if KF_EN
- loc_post_kf_config(uwb_app_config.session_param.ranging_interval, kf_mac_addr_cache, kf_channel_cache, kf_mat_value_cache, KF_SUPPORT_NUM,
- KF_TIMEOUT_MS);
-#else
- loc_post_filter_config(uwb_app_config.session_param.ranging_interval, 1, uwb_app_config.session_param.aoa_result_req);
-#endif
+ uint32_t update_period_ms = uwb_app_config.session_param.ranging_interval;
+ loc_post_kf_config(update_period_ms, kf_mac_addr_cache, kf_channel_cache, kf_mat_value_cache, KF_SUPPORT_NUM, KF_TIMEOUT_MS);
}
#endif
@@ -191,14 +181,14 @@
ranging_env.count_last = 0;
ranging_env.lost_cnt = 0;
- WsfTimerStartMs(&ranging_cb.daemon_timer, uwb_app_config.session_param.ranging_interval * 10, WSF_TIMER_PERIODIC);
+ mk_timer_list_start_timer(&ranging_cb.daemon_timer, uwb_app_config.session_param.ranging_interval * 10, MK_TIMER_PERIODIC);
LOG_INFO(TRACE_MODULE_APP, "Ranging start, role %d\r\n", dev_role);
}
void ranging_stop(void)
{
ranging_env.enable = 0;
- WsfTimerStop(&ranging_cb.daemon_timer);
+ mk_timer_list_stop_timer(&ranging_cb.daemon_timer);
}
void ranging_restart(void)
@@ -211,7 +201,7 @@
int8_t ranging_tx_power_get(void)
{
- return uwb_tx_power_get(uwb_app_config.ppdu_params.ch_num, uwb_app_config.session_param.tx_power_level);
+ return uwb_tx_power_get(uwb_app_config.ppdu_params->ch_num, uwb_app_config.session_param.tx_power_level);
}
void ranging_local_addr_set(uint16_t short_addr)
@@ -262,19 +252,6 @@
return (user_response_data_len == data_len) ? 0 : 1;
}
-// ts_a - ts_b
-int64_t ranging_timestamp_diff(int64_t ts_a, int64_t ts_b)
-{
- if (ts_a < ts_b)
- {
- return (0x20000000000 - ts_b + ts_a);
- }
- else
- {
- return (ts_a - ts_b);
- }
-}
-
// unit: 15.6ps
int64_t ranging_tround(void)
{
@@ -284,7 +261,7 @@
int64_t tround = ranging_timestamp_diff(rx_timestamp, tx_timestamp);
// correct antenna delay
- tround -= ranging_ant_delays_get(uwb_app_config.ppdu_params.rx_ant_id);
+ tround -= ranging_ant_delays_get(uwb_app_config.ppdu_params->rx_main_ant);
return tround;
}
@@ -298,7 +275,7 @@
int64_t treply = ranging_timestamp_diff(tx_timestamp, rx_timestamp);
// correct antenna delay
- treply += ranging_ant_delays_get(uwb_app_config.ppdu_params.rx_ant_id);
+ treply += ranging_ant_delays_get(uwb_app_config.ppdu_params->rx_main_ant);
return treply;
}
@@ -615,8 +592,9 @@
ind->hdr.event = UWB_PKT_RX_DONE_MSG;
ind->ranging_stage = (uint8_t)stage;
ind->status = rx->err_code;
- ind->rssi = rx->rssi;
- ind->snr = rx->snr;
+ // ind->rssi = rx->rssi;
+ ind->rssi = correct_rssi(rx->rssi);
+ ind->snr = correct_snr(rx->snr);
ind->rx_len = rx->pkt_len;
@@ -625,6 +603,8 @@
memcpy(ind->rx_data, rx->pkt_data, rx->pkt_len);
}
+ g_freq_offset = phy_freq_offset_get();
+
// Send the message
WsfMsgSend(ranging_cb.handle_id, ind);
}
--
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