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/app/src/ranging_ccc.c | 132 ++++++++++++++++++++++++++++++++++---------
1 files changed, 103 insertions(+), 29 deletions(-)
diff --git a/keil/include/components/app/src/ranging_ccc.c b/keil/include/components/app/src/ranging_ccc.c
index d62fe6a..c9ace51 100644
--- a/keil/include/components/app/src/ranging_ccc.c
+++ b/keil/include/components/app/src/ranging_ccc.c
@@ -46,7 +46,9 @@
#include "lib_aoa.h"
#include "lib_ranging.h"
#include "uwb_api.h"
-
+#ifdef RADAR_EN
+#include "uwb_radar.h"
+#endif
#if KF_EN
#include "lib_kf.h"
#endif
@@ -71,6 +73,32 @@
#endif
static struct RANGING_CB_T ranging_cb;
+
+static struct UWB_OP_T op = {
+ .session_configure = ranging_configure,
+ .session_start = ranging_start,
+ .session_stop = ranging_stop,
+ .session_local_addr_set = ranging_local_addr_set,
+ .session_peer_addr_set = ranging_peer_addr_set,
+ .session_responder_addr_add = ranging_responder_addr_add,
+ .session_responder_list_clr = ranging_responder_list_clr,
+ .session_responder_num_get = ranging_responder_num_get,
+ .session_responder_addr_get = ranging_responder_addr_get,
+ .session_set_ccc_ursk = ranging_set_ccc_ursk,
+#ifdef RADAR_EN
+ .vendor_session_configure = uwb_radar_configure,
+ .vendor_session_start = uwb_radar_start,
+ .vendor_session_stop = uwb_radar_stop,
+#else
+ .vendor_session_configure = NULL,
+ .vendor_session_start = NULL,
+ .vendor_session_stop = NULL,
+#endif
+};
+
+void app_session_init(void);
+extern void ccc_tx_process(struct MAC_HW_REPORT_T *tx_report);
+extern void ccc_rx_process(struct MAC_HW_REPORT_T *rx_report);
//------------------------------------------------------------------------------
int ranging_init(uint8_t handle_id)
@@ -98,8 +126,32 @@
return 0;
}
+/**
+ * @brief Initialize ranging session.
+ * @note This function will be called by uwbapi_session_init().
+ */
+void app_session_init(void)
+{
+ // register process handler for MAC TX done and RX done
+ mac_register_process_handler(ccc_tx_process, ccc_rx_process);
+
+ uwbs_handler_init(&op);
+}
+
void ranging_configure(void)
{
+ ranging_env.uwb_evt_prefetch_time = UWB_EVT_PREFETCH_TIME;
+ ranging_env.uwb_rx_open_in_advance = UWB_RX_OPEN_IN_ADVANCE;
+ ranging_env.uwb_rx_window = UWB_RX_WINDOW;
+
+ uint32_t compensation = 0;
+#if LOW_POWER_EN
+ compensation += LPM_PPM_COMPENSATION(LOW_POWER_CLOCK_PPM, uwb_app_config.session_param.ranging_interval) + US_TO_PHY_TIMER_COUNT(80);
+#endif
+ ranging_env.uwb_period_prefetch_time = UWB_PERIOD_PREFETCH_TIME + compensation;
+ ranging_env.uwb_rx_open_in_advance_wakeup = UWB_RX_OPEN_IN_ADVANCE + compensation;
+ ranging_env.uwb_rx_window_wakeup = UWB_RX_WINDOW + 2 * compensation;
+
uwbs_configure(PHY_TX | PHY_RX, uwb_app_config.session_param.tx_power_level);
#if CSI_EN
@@ -150,12 +202,36 @@
#if RANGING_FOM_FILTER_EN
ranging_debug_csi_en_set(1);
#endif
+
+ if (uwb_app_config.session_param.sts_config == STS_DYNAMIC)
+ {
+ mac_ifs_set(PHY_LIFS_PERIOD_MACCLK_LONG, PHY_SIFS_PERIOD_MACCLK_LONG);
+ }
+
+#if 1
+ LOG_INFO(TRACE_MODULE_CCC, "ranging interval:[%u], slot duration:[%u]\r\n", uwb_app_config.session_param.ranging_interval,
+ uwb_app_config.session_param.slot_duration);
+ LOG_INFO(TRACE_MODULE_CCC, "responders:[%u], responder slot idx:[%u]\r\n", uwb_app_config.session_param.controlees_num,
+ uwb_app_config.session_param.ccc_responder_slot_idx);
+
+ uint8_t rounds_per_block = (uint8_t)(MS_TO_PHY_TIMER_COUNT(uwb_app_config.session_param.ranging_interval) /
+ (uwb_app_config.session_param.slots_per_round * RSTU_TO_PHY_TIMER_COUNT(uwb_app_config.session_param.slot_duration)));
+
+ LOG_INFO(TRACE_MODULE_CCC, "rounds per block:[%u], slots per round:[%u]\r\n", rounds_per_block, uwb_app_config.session_param.slots_per_round);
+ LOG_INFO(TRACE_MODULE_CCC, "channel:[%u], sync_ci:[%u]\r\n", uwb_app_config.ppdu_params.ch_num, uwb_app_config.ppdu_params.code_index);
+ LOG_INFO(TRACE_MODULE_CCC, "hopping_mode:[0x%02x], hop_mode_key:[0x%08x]\r\n", uwb_app_config.session_param.hopping_mode,
+ uwb_app_config.session_param.hop_mode_key);
+#endif
+
+ uwbs_security_enable_set(true);
}
void uwb_pkt_tx_done_ind(const struct MAC_HW_REPORT_T *tx, enum RANGING_STAGE_T stage)
{
- struct UWB_PKT_TX_DONE_IND_T *ind;
- if ((ind = WsfMsgAlloc(sizeof(struct UWB_PKT_TX_DONE_IND_T) + tx->pkt_len)) != NULL)
+ // struct UWB_PKT_TX_DONE_IND_T *ind = WsfMsgAlloc(sizeof(struct UWB_PKT_TX_DONE_IND_T) + tx->pkt_len);
+ struct UWB_PKT_TX_DONE_IND_T *ind = WsfMsgAlloc(sizeof(struct UWB_PKT_TX_DONE_IND_T));
+
+ if (ind != NULL)
{
ind->hdr.event = UWB_PKT_TX_DONE_MSG;
@@ -170,7 +246,7 @@
if ((ind->tx_len) && (tx->pkt_data != NULL))
{
- memcpy(ind->tx_data, tx->pkt_data, tx->pkt_len);
+ // memcpy(ind->tx_data, tx->pkt_data, tx->pkt_len);
}
// Send the message
@@ -190,7 +266,8 @@
void uwb_pkt_rx_done_ind(const struct MAC_HW_REPORT_T *rx, enum RANGING_STAGE_T stage, uint8_t slot_idx)
{
// send an indication to application
- struct UWB_PKT_RX_DONE_IND_T *ind = WsfMsgAlloc(sizeof(struct UWB_PKT_RX_DONE_IND_T) + rx->pkt_len);
+ // struct UWB_PKT_RX_DONE_IND_T *ind = WsfMsgAlloc(sizeof(struct UWB_PKT_RX_DONE_IND_T) + rx->pkt_len);
+ struct UWB_PKT_RX_DONE_IND_T *ind = WsfMsgAlloc(sizeof(struct UWB_PKT_RX_DONE_IND_T));
if (ind != NULL)
{
@@ -202,45 +279,37 @@
ind->sts_idx = ranging_env.sts_idx;
ind->slot_idx = slot_idx;
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;
if ((rx->pkt_len) && (rx->pkt_data != NULL))
{
- memcpy(ind->rx_data, rx->pkt_data, rx->pkt_len);
+ // memcpy(ind->rx_data, rx->pkt_data, rx->pkt_len);
}
#if RANGING_FOM_FILTER_EN
if (ranging_debug_csi_en_get())
{
uint8_t frame_idx = 0;
- uint8_t rframe_idx = 0xFF;
if (ind->ranging_stage == RANGING_POLL)
{
frame_idx = 1;
- rframe_idx = 0;
}
else if (ind->ranging_stage == RANGING_FINAL)
{
frame_idx = 2;
- rframe_idx = 1;
}
else if (ind->ranging_stage == RANGING_FINAL_DATA)
{
frame_idx = 3;
}
- else if (ind->ranging_stage == RANGING_RESPONSE)
- {
- frame_idx = 0;
- rframe_idx = 0;
- }
- debug_csi.frame_idx = frame_idx;
- debug_csi.frame[frame_idx].rssi = ind->rssi;
- debug_csi.frame[frame_idx].snr = ind->snr;
+ debug_csi.antenna = ranging_env.main_ant_id[0];
+ debug_csi.frame_idx = frame_idx;
uint32_t val = REG_READ(0x40003050);
debug_csi.frame[frame_idx].rf_gain = (val & 0x07);
@@ -249,13 +318,20 @@
debug_csi.frame[frame_idx].sfd_cnt = phy_sfd_cnt_get();
debug_csi.frame[frame_idx].error_code = ind->status;
- if ((rx->err_code != 0x0830) && (rframe_idx != 0xFF))
+ if (rx->err_code != 0x0830)
{
- debug_csi.rframe_idx = rframe_idx;
- dump_preamble_cir(rframe_idx, 128);
- dump_sts_cir(rframe_idx);
+ debug_csi.frame[frame_idx].rssi = ind->rssi;
+ debug_csi.frame[frame_idx].snr = ind->snr;
+ debug_csi.frame[frame_idx].channel_power = REG_READ(0x40002064);
+ debug_csi.frame[frame_idx].noise_power = REG_READ(0x40002078);
+ debug_csi.frame[frame_idx].freq_offset = phy_freq_offset_get();
- debug_csi.rframe[rframe_idx].freq_offset = phy_freq_offset_get();
+ dump_preamble_cir(frame_idx, 128);
+
+ if ((frame_idx == 1) || (frame_idx == 2))
+ {
+ dump_sts_cir(frame_idx);
+ }
}
// prepare to report ranging failure message
@@ -299,13 +375,12 @@
debug_csi.block_index = block_idx;
debug_csi.round_index = round_idx;
- debug_csi.ranging_status = ind->status;
+ debug_csi.ranging_status = report->status;
}
#endif
ind->block_idx = block_idx;
-
- memcpy(&ind->Tround1, &report->Tround1, sizeof(struct RANGING_REPORT_IND_T) - sizeof(ind->hdr) - sizeof(ind->block_idx));
+ memcpy(&ind->Tround1, &report->Tround1, 4 * sizeof(int64_t) + 2);
// Send the message
WsfMsgSend(ranging_cb.handle_id, ind);
@@ -316,14 +391,13 @@
}
}
-void ranging_req_update_keys(uint32_t sts_idx, uint8_t key_type)
+void ranging_req_update_keys(uint32_t sts_idx)
{
struct RANGING_UPD_KEYS_T *upd_keys;
if ((upd_keys = WsfMsgAlloc(sizeof(struct RANGING_UPD_KEYS_T))) != NULL)
{
upd_keys->hdr.event = RANGING_UPDATE_KEYS;
- upd_keys->key_type = key_type;
upd_keys->sts_idx = sts_idx;
// Send the message
--
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