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_custom_task.c | 56 ++++++++++++++++++++++++++++++++------------------------
1 files changed, 32 insertions(+), 24 deletions(-)
diff --git a/keil/include/components/app/src/ranging_custom_task.c b/keil/include/components/app/src/ranging_custom_task.c
index 1eb5ad7..2fbf072 100644
--- a/keil/include/components/app/src/ranging_custom_task.c
+++ b/keil/include/components/app/src/ranging_custom_task.c
@@ -155,9 +155,16 @@
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]);
+ ranging_env.range_data.sequence_num = READ_SHORT(&ind->tx_data[2]);
#ifdef SE_DEMO_EN
if (ind->tx_len > (MSG_HEADER_LEN + MSG_POLL_USER_DATA_IDX))
@@ -169,11 +176,11 @@
LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
if (uwb_app_config.ranging_flow_mode == (uint8_t)RANGING_FLOW_CONTENTION)
{
- LOG_INFO(TRACE_MODULE_APP, "Custom DS-TWR Contention Initiator SEQ NUM %u\r\n", seq_num);
+ LOG_INFO(TRACE_MODULE_APP, "Custom DS-TWR Contention Initiator SEQ NUM %u\r\n", ranging_env.range_data.sequence_num);
}
else
{
- LOG_INFO(TRACE_MODULE_APP, "Custom DS-TWR Initiator SEQ NUM %u\r\n", seq_num);
+ LOG_INFO(TRACE_MODULE_APP, "Custom DS-TWR Initiator SEQ NUM %u\r\n", ranging_env.range_data.sequence_num);
}
LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Poll %s\r\n", ind->tx_len, ind->status == UWB_TX_OK ? "" : "TX Fail");
}
@@ -191,9 +198,9 @@
{
LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Final\r\n", ind->tx_len);
- // calculate_first_tap_power(1, 1);
- // print_preamble_chest(1, 1);
- // print_sts_ch_taps(1);
+ // calculate_first_tap_power(0, 1);
+ // print_preamble_chest(ranging_env.range_data.sequence_num, 0, 1);
+ // print_sts_ch_taps(0, 1);
}
else if (ind->ranging_stage == RANGING_RESULT)
{
@@ -235,13 +242,6 @@
LOG_INFO(TRACE_MODULE_APP, "[RX][%u][%d] Poll\r\n", ind->rx_len, ranging_env.main_ant_id);
// LOG_INFO(TRACE_MODULE_APP, "[RX]Peer Tx Power Level %d\r\n", usr_pkt->msg.poll_msg[MSG_POLL_TX_PWR_IDX]);
- 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
uint8_t user_data_len = (uint8_t)(ind->rx_len - MSG_HEADER_LEN - MSG_POLL_USER_DATA_IDX);
if (user_data_len)
@@ -346,7 +346,7 @@
uint32_t distance = (uint32_t)(tof_f * 0.299702547 * VP_VAL - RANGING_CORR);
// update distance result
- struct RANGING_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
+ struct TWR_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
range_result->status = STATUS_OK;
range_result->distance = (uint16_t)distance;
@@ -470,11 +470,11 @@
uint8_t gaps_num = usr_pkt->msg.final_msg[MSG_FINAL_GAPS_NUM_IDX(ranging_env.responder_slot_idx)];
uint8_t gaps[CIR_LEN / CE_WIN - 1];
memcpy(gaps, &usr_pkt->msg.final_msg[MSG_FINAL_GAPS_IDX(ranging_env.responder_slot_idx)], (CIR_LEN / CE_WIN - 1));
- debug_csi.ranging_fom = ranging_fom_calculate(&debug_csi, fap_valid, gaps, gaps_num);
+ debug_csi.ranging_fom = ranging_fom_calculate(&debug_csi, 0, fap_valid, gaps, gaps_num);
#endif
- LOG_INFO(TRACE_MODULE_APP, "Poll-FoM %d, Response-FoM %d Final-FoM %d, Poll-NLoS %d, Response-NLoS %d Final-NLoS %d\r\n",
- ranging_env.frame[0].fom, FoM, ranging_env.frame[1].fom, ranging_env.frame[0].NLoS, NLoS, ranging_env.frame[1].NLoS);
+ LOG_INFO(TRACE_MODULE_APP, "FoM %d-%d-%d, NLoS %d-%d-%d\r\n", ranging_env.frame[0].fom, FoM, ranging_env.frame[1].fom,
+ ranging_env.frame[0].NLoS, NLoS, ranging_env.frame[1].NLoS);
range_result->NLoS = MAX(NLoS, MAX(ranging_env.frame[0].NLoS, ranging_env.frame[1].NLoS));
@@ -495,9 +495,17 @@
LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB \r\n", ind->rssi, ind->snr);
#endif
- // calculate_first_tap_power(2, 2);
- // print_preamble_chest(2, 2);
- // print_sts_ch_taps(2);
+ 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 (X38M4_AUTO_TUNE_EN == 1)
+ 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
+ // calculate_first_tap_power(0, 2);
+ // print_preamble_chest(ranging_env.range_data.sequence_num, 0, 2);
+ // print_sts_ch_taps(0, 2);
}
#if RANGING_RESULT_REPORT_EN
else if (ind->ranging_stage == RANGING_RESULT)
@@ -510,10 +518,9 @@
if (ranging_env.initiator_result_flag & (1 << responder_idx))
{
uint16_t distance = READ_SHORT(&usr_pkt->msg.result_msg[2]);
- LOG_INFO(TRACE_MODULE_APP,
- "Address %X, Distance %ucm, Poll-FoM %d, Response-FoM %d Final-FoM %d, Poll-NLoS %d, Response-NLoS %d Final-NLoS %d\r\n",
- responder_addr, distance, usr_pkt->msg.result_msg[4], ranging_env.frame[responder_idx].fom, usr_pkt->msg.result_msg[6],
- usr_pkt->msg.result_msg[5], ranging_env.frame[responder_idx].NLoS, usr_pkt->msg.result_msg[7]);
+ LOG_INFO(TRACE_MODULE_APP, "Address %X, Distance %ucm, FoM %d-%d-%d, NLoS %d-%d-%d\r\n", responder_addr, distance,
+ usr_pkt->msg.result_msg[4], ranging_env.frame[responder_idx].fom, usr_pkt->msg.result_msg[6], usr_pkt->msg.result_msg[5],
+ ranging_env.frame[responder_idx].NLoS, usr_pkt->msg.result_msg[7]);
}
}
#endif
@@ -533,6 +540,7 @@
else
{
LOG_INFO(TRACE_MODULE_APP, "UWB RX fail 0x%04x\r\n", ind->status);
+ // print_preamble_chest(ranging_env.range_data.sequence_num, 0, 2);
}
}
break;
--
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