From cc432b761c884a0bd8e9d83db0a4e26109fc08b1 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 08 十一月 2024 15:35:38 +0800
Subject: [PATCH] 安邦手环GPS删除部分无用数据和修改4G波特率9600出厂测试固件
---
keil/include/components/app/src/ranging_simple_task.c | 442 +++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 442 insertions(+), 0 deletions(-)
diff --git a/keil/include/components/app/src/ranging_simple_task.c b/keil/include/components/app/src/ranging_simple_task.c
new file mode 100644
index 0000000..466f0e3
--- /dev/null
+++ b/keil/include/components/app/src/ranging_simple_task.c
@@ -0,0 +1,442 @@
+/*
+ * Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
+ * its subsidiaries and affiliates (collectly called MKSEMI).
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form, except as embedded into an MKSEMI
+ * integrated circuit in a product or a software update for such product,
+ * must reproduce the above copyright notice, this list of conditions and
+ * the following disclaimer in the documentation and/or other materials
+ * provided with the distribution.
+ *
+ * 3. Neither the name of MKSEMI nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * 4. This software, with or without modification, must only be used with a
+ * MKSEMI integrated circuit.
+ *
+ * 5. Any software provided in binary form under this license must not be
+ * reverse engineered, decompiled, modified and/or disassembled.
+ *
+ * THIS SOFTWARE IS PROVIDED BY MKSEMI "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL MKSEMI OR CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "mk_trace.h"
+#include "mk_clock.h"
+#include "mk_uwb.h"
+#include "mk_calib.h"
+#include "mk_misc.h"
+#include "ranging_simple.h"
+#include "lib_aoa.h"
+#include "lib_ranging.h"
+#if KF_EN
+#include "lib_kf.h"
+#endif
+#include "board.h"
+
+#define PRINT_PAYLOAD_EN 0
+#define PDOA_PRINT_EN 0
+
+#if FILTER_EN
+static void ranging_result_filter(uint16_t *distance, int16_t *azimuth, int16_t *elevation)
+{
+ if ((distance == NULL) || (azimuth == NULL) || (elevation == NULL))
+ {
+ 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);
+ float range_meas = (float)*distance / 100;
+ // call filter
+ uint16_t target_addr = uwbs_peer_short_addr_get();
+ uint8_t mac_addr[8];
+ memset(mac_addr, 0, 8);
+ mac_addr[0] = target_addr & 0xff;
+ mac_addr[1] = (target_addr >> 8) & 0xff;
+ loc_kf_filter(range_meas, KF_DATA_TYPE_RANGING, mac_addr, &post_range);
+ if (uwb_app_config.session_param.aoa_result_req)
+ {
+ loc_kf_filter(azimuth_meas, KF_DATA_TYPE_AZIMUTH, mac_addr, &post_azimuth);
+ loc_kf_filter(elevation_meas, KF_DATA_TYPE_ELEVATION, mac_addr, &post_elevation);
+ }
+ else
+ {
+ post_azimuth = azimuth_meas;
+ post_elevation = elevation_meas;
+ }
+ // update distance
+ *distance = (uint16_t)(post_range * 100);
+ // update angle
+ *azimuth = mk_f32_to_q7(post_azimuth);
+ *elevation = mk_f32_to_q7(post_elevation);
+
+ // 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
+
+/*************************************************************************************************/
+/*!
+ * \brief WSF event handler for ranging task.
+ *
+ * \param event WSF event mask.
+ * \param msg WSF message.
+ *
+ * \return None.
+ */
+/*************************************************************************************************/
+void ranging_handler(wsfEventMask_t event, const void *param)
+{
+ const wsfMsgHdr_t *msg = (const wsfMsgHdr_t *)param;
+
+ if (msg != NULL)
+ {
+ switch (msg->event)
+ {
+ case RANGING_DAEMON_TIMER_MSG:
+ {
+ uint8_t count = ranging_count_get();
+ if (count == ranging_env.count_last)
+ {
+ LOG_INFO(TRACE_MODULE_APP, "Ranging was suspended %u\r\n", count);
+ ranging_restart();
+ }
+ else
+ {
+ // LOG_INFO(TRACE_MODULE_APP, "Ranging count %u %u\r\n", ranging_env.count_last, count);
+ ranging_env.count_last = count;
+ }
+ }
+ break;
+
+ case UWB_PKT_TX_DONE_MSG:
+ {
+ const struct UWB_PKT_TX_DONE_IND_T *ind = (const struct UWB_PKT_TX_DONE_IND_T *)param;
+ uint8_t flag_print = 1;
+
+ switch (ind->ranging_stage)
+ {
+ case RANGING_SYNC:
+ {
+ LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
+ LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Sync ", ind->tx_len);
+ }
+ break;
+
+ case RANGING_CFG:
+ {
+ LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Config ", ind->tx_len);
+ }
+ break;
+
+ case RANGING_POLL:
+ {
+ LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "\r\n");
+ struct RANGING_COMMON_MSG_T *p_msg = (struct RANGING_COMMON_MSG_T *)ind->tx_data;
+ LOG_INFO(TRACE_MODULE_APP, "DS-TWR Initiator SEQ NUM %u\r\n", p_msg->seqNum);
+ LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Poll ", ind->tx_len);
+ }
+ break;
+
+ case RANGING_RESPONSE:
+ {
+ LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Response ", ind->tx_len);
+ }
+ break;
+
+ case RANGING_FINAL:
+ {
+ LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Final", ind->tx_len);
+ }
+ break;
+
+ default:
+ flag_print = 2;
+ break;
+ }
+
+ if (flag_print == 1)
+ {
+#if PRINT_PAYLOAD_EN
+ if (ind->tx_len)
+ {
+ LOG_INFO(TRACE_MODULE_APP, " ");
+ for (uint8_t i = 0; i < ind->tx_len; i++)
+ {
+ LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "%02x ", ind->tx_data[i]);
+ }
+ }
+#endif
+ LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "\r\n");
+ }
+ }
+ break;
+
+ case UWB_PKT_RX_DONE_MSG:
+ {
+ const struct UWB_PKT_RX_DONE_IND_T *ind = (const struct UWB_PKT_RX_DONE_IND_T *)param;
+ if (ind->status == UWB_RX_OK)
+ {
+ uint8_t flag_print = 1;
+
+ switch (ind->ranging_stage)
+ {
+ case RANGING_SYNC:
+ {
+ LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
+ LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Sync ", ind->rx_len);
+ }
+ break;
+
+ case RANGING_CFG:
+ {
+ LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Config ", ind->rx_len);
+ }
+ break;
+
+ case RANGING_POLL:
+ {
+ LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "\r\n");
+ LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Poll ", ind->rx_len);
+ }
+ break;
+
+ case RANGING_RESPONSE:
+ {
+ LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Response ", ind->rx_len);
+ }
+ break;
+
+ case RANGING_FINAL:
+ {
+ LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Final ", ind->rx_len);
+ }
+ break;
+
+ default:
+ flag_print = 2;
+ break;
+ }
+
+ if (flag_print == 1)
+ {
+#if PRINT_PAYLOAD_EN
+ for (uint8_t ii = 0; ii < ind->rx_len; ii++)
+ {
+ LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "%02x ", ind->rx_data[ii]);
+ }
+#endif
+ LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "\r\n");
+
+#if RSSI_EN
+ LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB \r\n", ind->rssi, ind->snr);
+#endif
+ }
+
+ if (ind->ranging_stage == RANGING_POLL)
+ {
+ 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
+
+ struct RANGING_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
+ uint8_t NLoS, FoM;
+ ranging_fom_get(&NLoS, &FoM);
+ range_result->NLoS = NLoS;
+ // LOG_INFO(TRACE_MODULE_APP, "NLoS: %u, FoM: %u\r\n", NLoS, FoM);
+ }
+ else if (ind->ranging_stage == RANGING_RESPONSE)
+ {
+ uint8_t NLoS, FoM;
+ ranging_fom_get(&NLoS, &FoM);
+ // LOG_INFO(TRACE_MODULE_APP, "NLoS: %u, FoM: %u\r\n", NLoS, FoM);
+ }
+ else if (ind->ranging_stage == RANGING_FINAL)
+ {
+ struct RANGING_COMMON_MSG_T *p_final_msg = (struct RANGING_COMMON_MSG_T *)ind->rx_data;
+
+ int64_t Tround1 = 0;
+ int64_t Tround2 = 0;
+ int64_t Treply1 = 0;
+ int64_t Treply2 = 0;
+
+ if (ranging_env.responder_final_flag)
+ {
+ Tround2 = ranging_tround(DEV_ROLE_RESPONDER, 0);
+ Treply1 = ranging_treply(DEV_ROLE_RESPONDER, 0);
+
+ // recv tx_poll_timestamp, rx_response_timestamp, tx_final_timestamp
+ int64_t buff_timestamp[3] = {0};
+ for (int j = 0; j < 3; j++)
+ {
+ for (int i = 4; i >= 0; i--)
+ {
+ buff_timestamp[j] = (buff_timestamp[j] << 8) | p_final_msg->user_data[j * 5 + i];
+ }
+ }
+
+ Tround1 = buff_timestamp[1] - buff_timestamp[0];
+ Treply2 = buff_timestamp[2] - buff_timestamp[1];
+ }
+
+ if ((Tround1) && (Treply1) && (Tround2) && (Treply2))
+ {
+ int64_t tof_i = (Tround1 * Tround2 - Treply1 * Treply2) / (Tround1 + Tround2 + Treply1 + Treply2);
+ // outlier filter
+ if (tof_i < 0)
+ {
+ tof_i = 0;
+ }
+ ranging_env.tof = (uint32_t)tof_i;
+
+ double tof_f = (double)TIMESTAMP_UNIT_TO_NS(ranging_env.tof);
+
+ struct RANGING_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);
+
+ range_result->status = STATUS_OK;
+ if (ranging_frame_type_get() == SP1)
+ {
+ range_result->status = sts_valid_check() ? STATUS_OK : STATUS_FAILED;
+ }
+ // STS valid
+ if (range_result->status == STATUS_OK)
+ {
+#if AOA_EN || PDOA_PRINT_EN
+ // update PDoA IQ and calculate AoA angles (depends on aoa_aux_cfg)
+ aoa_calculate(NULL, &range_result->aoa_azimuth);
+#endif
+
+#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);
+ LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);
+
+ // float *sts_rssi = sts_rssi_output_get();
+ // LOG_INFO(TRACE_MODULE_APP, "STS RSSI: %f %f %f %f\r\n", sts_rssi[0], sts_rssi[1], sts_rssi[2], sts_rssi[3]);
+
+ // float *iq = sts_first_path_iq_get();
+ // LOG_INFO(TRACE_MODULE_APP, "ANT0 IQ: %f %f\r\n", iq[0], iq[1]);
+ // LOG_INFO(TRACE_MODULE_APP, "ANT1 IQ: %f %f\r\n", iq[2], iq[3]);
+ // LOG_INFO(TRACE_MODULE_APP, "ANT2 IQ: %f %f\r\n", iq[4], iq[5]);
+ // LOG_INFO(TRACE_MODULE_APP, "ANT3 IQ: %f %f\r\n", iq[6], iq[7]);
+#endif
+
+#if FILTER_EN
+ if (uwb_app_config.filter_en)
+ {
+ // filter process
+ ranging_result_filter(&range_result->distance, &range_result->aoa_azimuth, &range_result->aoa_elevation);
+ }
+#endif
+
+ uint8_t aoa_en = uwb_app_config.session_param.aoa_result_req;
+ if (aoa_en)
+ {
+ uint8_t fom;
+ aoa_fom_get(NULL, &fom);
+ board_ranging_result_correct(&range_result->distance, &range_result->aoa_azimuth, &range_result->aoa_elevation);
+
+ LOG_INFO(TRACE_MODULE_APP, "Distance %ucm, AoA Azimuth %d FoM %u\r\n", range_result->distance,
+ mk_q7_to_s16(range_result->aoa_azimuth), fom);
+ }
+ else
+ {
+ range_result->aoa_azimuth = 0;
+ LOG_INFO(TRACE_MODULE_APP, "Raw Distance %ucm\r\n", range_result->distance);
+ }
+
+ struct RANGE_DATA_T *range_data = &ranging_env.range_data;
+
+ range_data->mac_addr_mode = MAC_ADDR_LONG;
+ range_data->measurements_num = 1;
+ memcpy(range_result->mac_addr, uwbs_peer_long_addr_get(), 8);
+ range_result->slot_idx = ranging_env.responder_slot_idx;
+
+ uint8_t NLoS, FoM;
+ ranging_fom_get(&NLoS, &FoM);
+ if (NLoS > range_result->NLoS)
+ {
+ range_result->NLoS = NLoS;
+ }
+ // 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
+
+ // output result
+ uwbapi_report_ranging_data(range_data);
+ }
+ else
+ {
+ LOG_INFO(TRACE_MODULE_APP, "STS Invalid\r\n");
+ }
+ }
+ else
+ {
+ LOG_INFO(TRACE_MODULE_APP, "Timestamp error\r\n");
+ }
+ }
+ }
+ else
+ {
+ LOG_INFO(TRACE_MODULE_APP, "UWB RX fail 0x%04x, stage %d\r\n", ind->status, ind->ranging_stage);
+ }
+ }
+ break;
+
+ default:
+ break;
+ }
+ }
+ // Handle events
+ else if (event)
+ {
+ }
+}
--
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