From f8013e4f432b323dfc3e3725a62858e73176742a Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期五, 01 十一月 2024 15:16:32 +0800
Subject: [PATCH] 更换了新的sdk，测试了实际的uwb测距
---
keil/include/components/algo/inc/lib_ranging.h | 65 ++++++++++++++++++++++++--------
1 files changed, 48 insertions(+), 17 deletions(-)
diff --git a/keil/include/components/algo/inc/lib_ranging.h b/keil/include/components/algo/inc/lib_ranging.h
index 5910425..358df97 100644
--- a/keil/include/components/algo/inc/lib_ranging.h
+++ b/keil/include/components/algo/inc/lib_ranging.h
@@ -52,6 +52,10 @@
#define CHEST_DUMP_EN (1)
#endif
+#ifndef CHEST_DUMP_STS_EN
+#define CHEST_DUMP_STS_EN (1)
+#endif
+
/* When debugging offline channel estimation, enable this macro */
#ifndef OFFLINE_CHEST_EN
#define OFFLINE_CHEST_EN (0)
@@ -74,11 +78,13 @@
int16_t azimuth;
uint8_t ranging_fom;
uint8_t azimuth_fom;
+ uint8_t antenna;
uint8_t frame_idx;
- uint8_t rframe_idx;
- uint16_t reserved;
+ uint8_t reserved[2];
// pre-poll | poll | final | final-data
+ // poll | final
+ // RCM | RIM | RFM | MRM
struct FRAME_INF_T
{
int8_t rssi;
@@ -87,27 +93,21 @@
uint8_t bb_gain;
uint16_t bd_cnt;
uint16_t sfd_cnt;
- uint16_t error_code;
- } frame[4];
-
- // poll | final
- struct RFRAME_INF_T
- {
int32_t freq_offset;
- float kfactor;
uint32_t channel_power;
uint32_t noise_power;
- int8_t main_tap_power;
- int8_t first_tap_power;
+ int16_t main_tap_power;
+ int16_t first_tap_power;
uint8_t main_tap;
uint8_t first_tap;
uint8_t sts_main_tap;
uint8_t sts_first_tap;
+ uint16_t error_code;
uint8_t nlos;
uint8_t fom;
int8_t cir[128][2];
float sts_taps[11];
- } rframe[2];
+ } frame[4];
};
typedef struct
@@ -167,13 +167,19 @@
extern struct RANGING_CSI_T debug_csi;
uint8_t first_path_align(uint8_t *ce_chest_gaps, uint8_t *ce_chest_gaps_num, int8_t ce_chest[CIR_LEN][2], uint8_t ce_fap, uint8_t th, uint8_t margin);
-uint8_t ranging_fom_calculate(struct RANGING_CSI_T *csi, uint8_t response_fom, uint8_t *response_tap_gaps, uint8_t response_tap_gaps_num);
+uint8_t ranging_fom_calculate(struct RANGING_CSI_T *csi, uint8_t frame_start, uint8_t response_fom, uint8_t *response_tap_gaps, uint8_t response_tap_gaps_num);
void dump_preamble_cir(uint8_t idx, uint8_t taps_num);
-void dump_sts_cir(uint8_t idx);
-void print_preamble_chest(uint8_t rx_pkt_num, uint8_t rframe_num);
-void print_sts_ch_taps(uint8_t rframe_num);
-void calculate_first_tap_power(uint8_t rx_pkt_num, uint8_t rframe_num);
+void print_preamble_chest(uint32_t seq_num, uint8_t frame_start, uint8_t frame_num);
+int8_t correct_rssi(int8_t rssi);
+int8_t correct_snr(int8_t snr);
+void calculate_first_tap_power(uint8_t frame_start, uint8_t frame_num);
int8_t calculate_noise_floor(uint8_t rf_gain, uint8_t bb_gain);
+uint32_t auto_adjust_filter_coeff(uint8_t idx);
+
+#if CHEST_DUMP_STS_EN
+void dump_sts_cir(uint8_t idx);
+void print_sts_ch_taps(uint8_t frame_start, uint8_t frame_num);
+#endif
#endif
/**
@@ -227,6 +233,22 @@
* @return RX timestamp (unit: 15.65ps)
*/
int64_t ranging_rx_time(const struct MAC_HW_REPORT_T *ind);
+
+/**
+ * @brief Calculate TX timestamp of the ranging frame.
+ *
+ * @param[in] timestamp PHY timer count of TX
+ * @return TX timestamp (unit: 2ns)
+ */
+int64_t ranging_tx_time_in_2ns(uint32_t timestamp);
+
+/**
+ * @brief Calculate RX timestamp of the ranging frame.
+ *
+ * @param[in] ind MAC RX report
+ * @return RX timestamp (unit: 2ns)
+ */
+int64_t ranging_rx_time_in_2ns(const struct MAC_HW_REPORT_T *ind);
/**
* @brief Get ranging FAP FoM.
@@ -312,6 +334,15 @@
int8_t ranging_expected_rssi_get(int8_t uwb_tx_power, uint16_t distance, uint8_t path_loss_exp, int8_t ant_gain_loss);
/**
+ * @brief Function to compute 10*log10 of a number
+ * This function takes in 32-bit integer and outputs 10*log10 in floating point
+ *
+ * @param[in] num Input number
+ * @return the result of 10*log10(num)
+ */
+float fast_10log10(uint32_t num);
+
+/**
* @brief Get ranging library version.
*
* @return String of ranging library version
--
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