From e328ebef585cea2351b37117b2d5ac4978ecd3c0 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 11 二月 2025 14:57:23 +0800
Subject: [PATCH] 1111111
---
keil/include/components/app/src/ranging_fira_task.c | 59 ++++++++++++++++++++++++++++++++++++++++-------------------
1 files changed, 40 insertions(+), 19 deletions(-)
diff --git a/keil/include/components/app/src/ranging_fira_task.c b/keil/include/components/app/src/ranging_fira_task.c
index 32cc98f..3e0dfe9 100644
--- a/keil/include/components/app/src/ranging_fira_task.c
+++ b/keil/include/components/app/src/ranging_fira_task.c
@@ -111,15 +111,22 @@
{
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->slot_idx == 0)
{
ranging_env.range_data.sequence_num = (ranging_env.phy_sts_index - fira_key.phyStsIdxInit) / ranging_env.slots_per_block;
uint8_t work_mode_idx = uwb_app_config.session_param.ranging_round_usage < 5 ? uwb_app_config.session_param.ranging_round_usage : 0;
#if MCTT_TEST_EN
- LOG_INFO(TRACE_NO_OPTION, "%s Init-seq:%u\r\n", work_mode_table[work_mode_idx], ranging_env.range_data.sequence_num + 1);
+ LOG_INFO(TRACE_NO_OPTION, "%s Init-seq:%u Ridx:%d\r\n", work_mode_table[work_mode_idx], ranging_env.range_data.sequence_num,
+ ranging_env.next_round_index);
#else
LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
- LOG_INFO(TRACE_MODULE_APP, "FiRa %s Initiator SEQ NUM %u\r\n", work_mode_table[work_mode_idx], ranging_env.range_data.sequence_num);
+ LOG_INFO(TRACE_MODULE_APP, "FiRa %s Controller SEQ NUM %u\r\n", work_mode_table[work_mode_idx], ranging_env.range_data.sequence_num);
#endif
uwb_app_config.ranging_count++;
@@ -190,11 +197,11 @@
uint8_t work_mode_idx = uwb_app_config.session_param.ranging_round_usage < 5 ? uwb_app_config.session_param.ranging_round_usage : 0;
ranging_env.range_data.sequence_num = (ranging_env.phy_sts_index - fira_key.phyStsIdxInit) / ranging_env.slots_per_block;
#if MCTT_TEST_EN
- LOG_INFO(TRACE_NO_OPTION, "%s Resp-seq:%u Ridx:%d\r\n", work_mode_table[work_mode_idx], ranging_env.range_data.sequence_num + 1,
+ LOG_INFO(TRACE_NO_OPTION, "%s Resp-seq:%u Ridx:%d\r\n", work_mode_table[work_mode_idx], ranging_env.range_data.sequence_num,
ranging_env.next_round_index);
#else
LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
- LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "FiRa %s Responder SEQ NUM %u\r\n", work_mode_table[work_mode_idx],
+ LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "FiRa %s Controlee SEQ NUM %u\r\n", work_mode_table[work_mode_idx],
ranging_env.range_data.sequence_num);
#endif
// clear last round measurement
@@ -205,7 +212,8 @@
#if MCTT_TEST_EN == 0
LOG_INFO(TRACE_MODULE_APP, "CH Freq Offset %d\r\n", ranging_env.freq_offset_filter);
#endif
-#if XTAL_AUTO_TUNE_EN
+
+#if (X38M4_AUTO_TUNE_EN == 1)
int32_t ppm = ranging_env.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
@@ -213,7 +221,7 @@
if (ind->ranging_stage == RANGING_RIM || ind->ranging_stage == RANGING_RRM)
{
- struct RANGING_MEASUREMENT_T *range_result = 0;
+ struct TWR_MEASUREMENT_T *range_result = 0;
if (ind->ranging_stage == RANGING_RIM)
{
range_result = &ranging_env.range_data.measurements[0];
@@ -326,7 +334,7 @@
}
else if (ind->ranging_stage == RANGING_RFM)
{
- struct RANGING_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
+ struct TWR_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
uint8_t NLoS, FoM;
ranging_fom_get(&NLoS, &FoM);
if (NLoS > range_result->NLoS)
@@ -369,7 +377,7 @@
if (res)
{
// LOG_INFO(TRACE_MODULE_APP, "ToF %d\r\n", ranging_env.tof);
- struct RANGING_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
+ struct TWR_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
ranging_env.range_data.measurements_num = 1;
range_result->status = STATUS_OK;
@@ -410,9 +418,15 @@
range_result->distance, mk_q7_to_s16(range_result->aoa_azimuth), mk_q7_to_s16(range_result->aoa_elevation),
range_result->aoa_azimuth_fom);
#elif AOA_EN
+#if MCTT_TEST_EN
+ LOG_INFO(TRACE_NO_OPTION, "dt.%d.%d.%d\r\n", range_result->distance, mk_q7_to_s16(range_result->aoa_azimuth),
+ mk_q7_to_s16(range_result->aoa_elevation));
+#else
LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "Distance %ucm, AoA Azimuth %d Elevation %d Azimuth FoM %u\r\n",
range_result->distance, mk_q7_to_s16(range_result->aoa_azimuth), mk_q7_to_s16(range_result->aoa_elevation),
range_result->aoa_azimuth_fom);
+
+#endif
#else
LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "Distance %ucm\r\n", (int16_t)range_result->distance);
#endif
@@ -435,6 +449,10 @@
// int8_t expected_rssi = ranging_expected_rssi_get(ranging_tx_power_get(), range_result->distance, 2, 0);
// LOG_INFO(TRACE_MODULE_APP, "Expected RSSI: %ddBm\r\n", expected_rssi);
+
+ // calculate_first_tap_power(1, 2);
+ // print_preamble_chest(ranging_env.range_data.sequence_num, 1, 2);
+ // print_sts_ch_taps(1, 2);
}
}
@@ -442,20 +460,14 @@
#if MCTT_TEST_EN
if (ind->ranging_stage == RANGING_RCM || ind->ranging_stage == RANGING_MRM || ind->ranging_stage == RANGING_RRRM)
{
- if (ind->ranging_stage != RANGING_RRRM)
- {
- LOG_INFO(TRACE_NO_LEVEL_TAG | TRACE_NO_MODULE_NAME, "r%s tp=%x,%x,%x,%d\r\n", fira_fsm_table[stage_idx], ind->timestamp,
- ind->phy_header, ranging_env.phy_sts_index, ind->slot_idx);
- }
- else
- {
- LOG_INFO(TRACE_NO_LEVEL_TAG | TRACE_NO_MODULE_NAME, "r%s,%x,%x,%d\r\n", fira_fsm_table[stage_idx], ind->phy_header,
- ranging_env.phy_sts_index, ind->slot_idx);
- }
+ // uint32_t sts_index = fira_key.phyStsIdxInit + ranging_env.curr_round_index * uwb_app_config.session_param.slots_per_round;
+ LOG_INFO(TRACE_NO_LEVEL_TAG | TRACE_NO_MODULE_NAME, "r%s tp=%x,%x,%x,%d\r\n", fira_fsm_table[stage_idx], ind->timestamp,
+ ind->phy_header, ranging_env.phy_sts_index, ind->slot_idx);
}
else
{
- LOG_INFO(TRACE_NO_LEVEL_TAG | TRACE_NO_MODULE_NAME, "r%s\r\n", fira_fsm_table[stage_idx]);
+ LOG_INFO(TRACE_NO_LEVEL_TAG | TRACE_NO_MODULE_NAME, "r%s tp=%x,%x,%x\r\n", fira_fsm_table[stage_idx], ind->timestamp,
+ ranging_env.curr_round_index, ranging_env.range_data.sequence_num);
}
#else
#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
@@ -489,6 +501,11 @@
if ((payload_print_len + ind->rx_len) < PAYLOAD_BUF_MAX)
{
memcpy(payload_print_buf + payload_print_len, ind->rx_data, ind->rx_len);
+ if (uwb_app_config.session_param.sts_config == STS_DYNAMIC)
+ {
+ extern uint8_t vendor_oui_output[16];
+ memcpy(payload_print_buf + payload_print_len + 10, vendor_oui_output, 16);
+ }
payload_print_len += ind->rx_len;
}
else
@@ -520,6 +537,10 @@
{
// output result (notify)
uwbapi_report_ranging_data(&ranging_env.range_data);
+
+ // calculate_first_tap_power(0, 1);
+ // print_preamble_chest(ranging_env.range_data.sequence_num, 0, 1);
+ // print_sts_ch_taps(0, 1);
}
}
}
--
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