/* * Copyright (c) 2019-2025 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_power.h" #include "mk_misc.h" #include "uwb_trx.h" #if CSI_EN #include "lib_ranging.h" #include "lib_aoa.h" #include "uwb_api.h" // extern uint16_t g_main_path_loc; // extern uint16_t g_fap_loc; // extern uint16_t g_sts_main_path_loc; // extern uint16_t g_sts_fap_loc; #endif #if RANGING_EN static uint16_t rx_timestamp_frac = 0; #endif #define PAYLOAD_PRINT_EN 0 uint8_t uwb_tx_done = 0; uint8_t uwb_rx_done = 0; /*************************************************************************************************/ /*! * \brief WSF event handler for uwb task. * * \param event WSF event mask. * \param msg WSF message. * * \return None. */ /*************************************************************************************************/ void uwb_handler(wsfEventMask_t event, const void *param) { const wsfMsgHdr_t *msg = (const wsfMsgHdr_t *)param; if (msg != NULL) { switch (msg->event) { case UWB_TX_DONE_MSG: { const struct UWB_TX_DONE_IND_T *ind = (const struct UWB_TX_DONE_IND_T *)param; // LOG_INFO(TRACE_MODULE_UWB, "UWB TX DONE %04x\r\n", ind->status); uwb_tx_done = 1; if (ind->status == UWB_TX_OK) { // print payload LOG_INFO(TRACE_MODULE_UWB, "[TX][%d]", ind->length); #if PAYLOAD_PRINT_EN for (int i = 0; i < ind->length; i++) { LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_UWB, " %02x", ind->data[i]); } #endif LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_UWB, "\r\n"); #if RANGING_EN LOG_INFO(TRACE_MODULE_APP, "TX timestamp %u %u\r\n", ind->timestamp_int, ind->timestamp_frac); if (rx_timestamp_frac != 0x8000) { LOG_INFO(TRACE_MODULE_APP, "Loopback time $%d;\r\n", rx_timestamp_frac - ind->timestamp_frac); } #endif } else { LOG_INFO(TRACE_MODULE_UWB, "UWB TX fail 0x%04x\r\n", ind->status); } } break; case UWB_RX_DONE_MSG: { const struct UWB_RX_DONE_IND_T *ind = (const struct UWB_RX_DONE_IND_T *)param; // LOG_INFO(TRACE_MODULE_UWB, "UWB RX DONE %02x\r\n", ind->status); uwb_rx_done = 1; if (ind->status == UWB_RX_OK) { // print payload LOG_INFO(TRACE_MODULE_UWB, "[RX][%d]", ind->length); #if PAYLOAD_PRINT_EN for (uint8_t i = 0; i < ind->length; i++) { LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_UWB, " %02x", ind->data[i]); } #endif LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_UWB, "\r\n"); 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 RANGING_EN LOG_INFO(TRACE_MODULE_APP, "RX timestamp %u %u\r\n", ind->timestamp_int, ind->timestamp_frac); rx_timestamp_frac = ind->timestamp_frac; #endif #if CSI_EN // need to increase slot duration for log printing // auto_adjust_filter_coeff(0); print_preamble_cir(0, 0, 1); print_sts_cir(0, 1); #endif } else { LOG_INFO(TRACE_MODULE_UWB, "UWB RX fail 0x%04x\r\n", ind->status); #if RANGING_EN rx_timestamp_frac = 0x8000; #endif #if 0 uint8_t BD_err = (ind->status >> 4) & 0x1; uint8_t SFD_err = (ind->status >> 3) & 0x1; uint8_t PHR_err = (ind->status >> 2) & 0x1; uint8_t PLD_err = (ind->status >> 1) & 0x1; uint32_t SYNSTATUS_4 = REG_READ(0x4000406C); uint16_t BD_cnt = SYNSTATUS_4 & 0xFFFF; uint16_t SFD_cnt = (SYNSTATUS_4 >> 16) & 0xFFFF; LOG_INFO(TRACE_MODULE_UWB, "BD err %d SFD err %d PHR err %d PLD err %d BD cnt %u SFD cnt %u\r\n", BD_err, SFD_err, PHR_err, PLD_err, BD_cnt, SFD_cnt); #endif } // phy_dump_rx_iq(128 * 1024, get_s8); #if RSSI_EN if (ind->status != 0x0830) { LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB \r\n", ind->rssi, ind->snr); } #endif } break; default: break; } } // Handle events else if (event) { } }