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_task.c | 93 +++++++++++++++++++---------------------------
1 files changed, 38 insertions(+), 55 deletions(-)
diff --git a/keil/include/components/app/src/ranging_ss_twr_task.c b/keil/include/components/app/src/ranging_ss_twr_task.c
index 1ca8edc..f7fb0fb 100644
--- a/keil/include/components/app/src/ranging_ss_twr_task.c
+++ b/keil/include/components/app/src/ranging_ss_twr_task.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.
@@ -46,13 +46,15 @@
#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"
#define PRINT_PAYLOAD_EN 0
#define PDOA_PRINT_EN 0
+
+int32_t g_freq_offset;
#if FILTER_EN
static void ranging_result_filter(uint16_t *distance, int16_t *azimuth, int16_t *elevation)
@@ -62,7 +64,6 @@
return;
}
-#if KF_EN
float post_range, post_azimuth, post_elevation;
float azimuth_meas = mk_q7_to_f32(*azimuth);
float elevation_meas = mk_q7_to_f32(*elevation);
@@ -92,19 +93,6 @@
// LOG_INFO(TRACE_MODULE_APP, "$%u %u %d %d %d %d;\r\n", (uint16_t)(range_meas*100),(uint16_t)(post_range*100),(int16_t)azimuth_meas,(int16_t)post_azimuth,
// (int16_t)elevation_meas, (int16_t)post_elevation);
-#else
- float post_range, post_azimuth;
- int azimuth_meas = mk_q7_to_s16(*azimuth);
- float range_meas = (float)*distance;
- // call filter
- loc_post_filter(0, range_meas, azimuth_meas, &post_range, &post_azimuth);
- // update distance
- *distance = (uint16_t)(post_range);
- // update angle
- *azimuth = mk_f32_to_q7(post_azimuth);
-
- // LOG_INFO(TRACE_MODULE_APP, "$%u %u %d %d;\r\n", (uint16_t)(range_meas*100), (uint16_t)(post_range*100),(int16_t)azimuth_meas, (int16_t)post_azimuth);
-#endif
}
#endif
@@ -118,10 +106,6 @@
* \return None.
*/
/*************************************************************************************************/
- int32_t tof_i;
- double tof_f;
- int64_t Tround;
- int64_t Treply;
void ranging_handler(wsfEventMask_t event, const void *param)
{
const wsfMsgHdr_t *msg = (const wsfMsgHdr_t *)param;
@@ -148,6 +132,12 @@
case UWB_PKT_TX_DONE_MSG:
{
const struct UWB_PKT_TX_DONE_IND_T *ind = (const struct UWB_PKT_TX_DONE_IND_T *)param;
+
+ if (ind->status != UWB_TX_OK)
+ {
+ LOG_INFO(TRACE_MODULE_APP, "UWB TX fail 0x%04x\r\n", ind->status);
+ break;
+ }
if (ind->ranging_stage == RANGING_POLL)
{
uint16_t seq_num = READ_SHORT(&ind->tx_data[2]);
@@ -196,25 +186,18 @@
LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB \r\n", ind->rssi, ind->snr);
#endif
+ int32_t freq_offset_filter = average_filter(g_freq_offset);
+ LOG_INFO(TRACE_MODULE_APP, "CH Freq Offset %d\r\n", freq_offset_filter);
+
+#if X38M4_AUTO_TUNE_EN
+ int32_t ppm = freq_offset_filter / (int32_t)(uwb_ch_freq_table[uwb_app_config.ppdu_params->ch_num] * 1e-6);
+ calib_xtal38m4_load_cap_auto_tune(ppm);
+#endif
+
// uint8_t NLoS, FoM;
// ranging_fom_get(&NLoS, &FoM);
// LOG_INFO(TRACE_MODULE_APP, "NLoS: %u, FoM: %u\r\n", NLoS, FoM);
-#if CSI_EN
- struct RANGING_TAPS_INF_T taps_inf;
- ranging_taps_inf_get(&taps_inf);
- LOG_INFO(TRACE_MODULE_APP, "fap: %d, %f\r\n", taps_inf.fap_loc, taps_inf.fap_pow);
- LOG_INFO(TRACE_MODULE_APP, "tap1: %d, %f\r\n", taps_inf.tap1_loc, taps_inf.tap1_pow);
- LOG_INFO(TRACE_MODULE_APP, "tap2: %d, %f\r\n", taps_inf.tap2_loc, taps_inf.tap2_pow);
- LOG_INFO(TRACE_MODULE_APP, "tap3: %d, %f\r\n", taps_inf.tap3_loc, taps_inf.tap3_pow);
-#endif
- int32_t freq_offset = phy_freq_offset_get();
- int32_t freq_offset_filter = average_filter(freq_offset);
- LOG_INFO(TRACE_MODULE_APP, "CH Freq Offset %d\r\n", freq_offset_filter);
-#if XTAL_AUTO_TUNE_EN
- int32_t ppm = freq_offset_filter / (int32_t)(ch_center_freq_map[uwb_app_config.ppdu_params.ch_num] * 1e-6);
- calib_xtal38m4_load_cap_auto_tune(ppm);
-#endif
#if USER_DEFINED_DATA_REPORT_EN
if (ind->rx_len - POLL_MSG_USER_DATA_IDX)
{
@@ -230,12 +213,11 @@
LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB \r\n", ind->rssi, ind->snr);
#endif
- int32_t freq_offset = phy_freq_offset_get();
- int32_t freq_offset_filter = average_filter(freq_offset);
+ int32_t freq_offset_filter = average_filter(g_freq_offset);
LOG_INFO(TRACE_MODULE_APP, "CH Freq Offset %d\r\n", freq_offset_filter);
- Tround = ranging_tround();
- Treply = 0;
+ int64_t Tround = ranging_tround();
+ int64_t Treply = 0;
for (int i = 4; i >= 0; i--)
{
@@ -247,32 +229,33 @@
if ((Tround) && (Treply))
{
// corrected by frequency offset
- Tround = (int64_t)((double)Tround * (1 - (double)freq_offset_filter / ch_center_freq_map[uwb_app_config.ppdu_params.ch_num]));
- tof_i = (int32_t)(Tround - Treply) / 2;
+ Tround = (int64_t)((double)Tround * (1 - (double)freq_offset_filter / uwb_ch_freq_table[uwb_app_config.ppdu_params->ch_num]));
+ int32_t tof_i = (int32_t)(Tround - Treply) / 2;
// outlier filter
if (tof_i < 0)
{
tof_i = 0;
}
-
- ranging_env.tof = (uint32_t)(tof_i);
-
- tof_f = (double)TIMESTAMP_UNIT_TO_NS(ranging_env.tof);
- struct RANGING_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
+ ranging_env.tof = (uint32_t)(tof_i);
+
+ double tof_f = (double)TIMESTAMP_UNIT_TO_NS(ranging_env.tof);
+
+ struct TWR_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
// update distance result
range_result->distance = (uint16_t)(tof_f * 0.299702547 * VP_VAL - RANGING_CORR);
-
- LOG_INFO(TRACE_MODULE_APP, "tof_f %lf,tof_i %d\r\n", tof_f,tof_i);
-
- range_result->status = STATUS_OK;
- if (ranging_frame_type_get() == SP1)
+ if (uwb_app_config.ppdu_params->sts_pkt_cfg != SP0)
{
range_result->status = sts_valid_check() ? STATUS_OK : STATUS_FAILED;
}
+ else
+ {
+ range_result->status = STATUS_OK;
+ }
+
// STS valid
if (range_result->status == STATUS_OK)
{
@@ -283,9 +266,9 @@
#if PDOA_PRINT_EN
float pdoa[3];
- pdoa[0] = pdoa_select_get(0, 3);
- pdoa[1] = pdoa_select_get(1, 3);
- pdoa[2] = pdoa_select_get(2, 3);
+ pdoa[0] = pdoa_result_get(0, 3);
+ pdoa[1] = pdoa_result_get(1, 3);
+ pdoa[2] = pdoa_result_get(2, 3);
LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);
// float *sts_rssi = sts_rssi_output_get();
@@ -323,7 +306,7 @@
struct RANGE_DATA_T *range_data = &ranging_env.range_data;
- range_data->ranging_type = 0x01;
+ range_data->ranging_type = 0x01; // TWR (SS-TWR, DS-TWR)
range_data->measurements_num = 1;
uint16_t target_addr = uwbs_peer_short_addr_get();
range_result->mac_addr[0] = target_addr & 0xff;
--
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