/*
* Copyright (c) 2019-2023 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_uwb.h"
#include "mk_calib.h"
#include "mk_misc.h"
#include "ranging_custom.h"
#include "lib_aoa.h"
#include "lib_ranging.h"
#if KF_EN
#include "lib_kf.h"
#endif
#if PDOA_3D_EN
#include "lib_pdoa_3d.h"
#endif
#include "board.h"
#define PRINT_PAYLOAD_EN 0
#define PRINT_PDOA_IQ_EN 0
#ifdef SE_DEMO_EN
uint8_t master_apdu_send_status;
uint8_t slave_apdu_resp_send_status;
extern void master_process_apdu(const uint8_t *ptr, uint16_t rx_len_tmp);
extern void slave_process_apdu(const uint8_t *ptr, uint16_t rx_len_tmp, uint8_t ack);
#endif
#if FILTER_EN
static void ranging_result_filter(uint16_t *distance, int16_t *azimuth, int16_t *elevation)
{
if ((distance == NULL) || (azimuth == NULL) || (elevation == NULL))
{
return;
}
#if KF_EN
float post_range, post_azimuth, post_elevation;
float azimuth_meas = mk_q7_to_f32(*azimuth);
float elevation_meas = mk_q7_to_f32(*elevation);
float range_meas = (float)*distance / 100;
// call filter
uint16_t target_addr = uwbs_peer_short_addr_get();
uint8_t mac_addr[8];
memset(mac_addr, 0, 8);
mac_addr[0] = target_addr & 0xff;
mac_addr[1] = (target_addr >> 8) & 0xff;
loc_kf_filter(range_meas, KF_DATA_TYPE_RANGING, mac_addr, &post_range);
if (uwb_app_config.session_param.aoa_result_req)
{
loc_kf_filter(azimuth_meas, KF_DATA_TYPE_AZIMUTH, mac_addr, &post_azimuth);
loc_kf_filter(elevation_meas, KF_DATA_TYPE_ELEVATION, mac_addr, &post_elevation);
}
else
{
post_azimuth = azimuth_meas;
post_elevation = elevation_meas;
}
// update distance
*distance = (uint16_t)(post_range * 100);
// update angle
*azimuth = mk_f32_to_q7(post_azimuth);
*elevation = mk_f32_to_q7(post_elevation);
// LOG_INFO(TRACE_MODULE_APP, "$%u %u %d %d %d %d;\r\n", (uint16_t)(range_meas*100),(uint16_t)(post_range*100),(int16_t)azimuth_meas,(int16_t)post_azimuth,
// (int16_t)elevation_meas, (int16_t)post_elevation);
#else
float post_range, post_azimuth;
int azimuth_meas = mk_q7_to_s16(*azimuth);
float range_meas = (float)*distance;
// call filter
loc_post_filter(0, range_meas, azimuth_meas, &post_range, &post_azimuth);
// update distance
*distance = (uint16_t)(post_range);
// update angle
*azimuth = mk_f32_to_q7(post_azimuth);
// LOG_INFO(TRACE_MODULE_APP, "$%u %u %d %d;\r\n", (uint16_t)(range_meas*100), (uint16_t)(post_range*100),(int16_t)azimuth_meas, (int16_t)post_azimuth);
#endif
}
#endif
/*************************************************************************************************/
/*!
* \brief WSF event handler for ranging task.
*
* \param event WSF event mask.
* \param msg WSF message.
*
* \return None.
*/
/*************************************************************************************************/
void ranging_handler(wsfEventMask_t event, const void *param)
{
const wsfMsgHdr_t *msg = (const wsfMsgHdr_t *)param;
if (msg != NULL)
{
switch (msg->event)
{
case RANGING_DAEMON_TIMER_MSG:
{
uint8_t count = ranging_count_get();
if (count == ranging_env.count_last)
{
LOG_INFO(TRACE_MODULE_APP, "Ranging was suspended %u\r\n", count);
ranging_restart();
}
else
{
// LOG_INFO(TRACE_MODULE_APP, "Ranging count %u %u\r\n", ranging_env.count_last, count);
ranging_env.count_last = count;
}
}
break;
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->ranging_stage == RANGING_POLL)
{
uint16_t seq_num = READ_SHORT(&ind->tx_data[2]);
#ifdef SE_DEMO_EN
if (ind->tx_len > (MSG_HEADER_LEN + MSG_POLL_USER_DATA_IDX))
{
master_apdu_send_status = 1;
}
#endif
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);
}
else
{
LOG_INFO(TRACE_MODULE_APP, "Custom DS-TWR Initiator SEQ NUM %u\r\n", seq_num);
}
LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Poll %s\r\n", ind->tx_len, ind->status == UWB_TX_OK ? "" : "TX Fail");
}
else if (ind->ranging_stage == RANGING_RESPONSE)
{
#ifdef SE_DEMO_EN
if (ind->tx_len > (MSG_HEADER_LEN + MSG_RESPONSE_USER_DATA_IDX))
{
slave_apdu_resp_send_status = 1;
}
#endif
LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Response %s\r\n", ind->tx_len, ind->status == UWB_TX_OK ? "" : "TX Fail");
}
else if (ind->ranging_stage == RANGING_FINAL)
{
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);
}
else if (ind->ranging_stage == RANGING_RESULT)
{
LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Result\r\n", ind->tx_len);
}
#if PRINT_PAYLOAD_EN
if (ind->tx_len)
{
LOG_INFO(TRACE_MODULE_APP, " ");
for (uint8_t i = 0; i < ind->tx_len; i++)
{
LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "%02x ", ind->tx_data[i]);
}
LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "\r\n");
}
#endif
}
break;
case UWB_PKT_RX_DONE_MSG:
{
const struct UWB_PKT_RX_DONE_IND_T *ind = (const struct UWB_PKT_RX_DONE_IND_T *)param;
if (ind->status == UWB_RX_OK)
{
const struct RANGING_USER_PKT_T *usr_pkt = (const struct RANGING_USER_PKT_T *)ind->rx_data;
if ((ind->ranging_stage == RANGING_POLL) && ranging_env.synced)
{
ranging_env.range_data.sequence_num = usr_pkt->seq_num;
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 Responder SEQ NUM %u\r\n", ranging_env.range_data.sequence_num);
}
else
{
LOG_INFO(TRACE_MODULE_APP, "Custom DS-TWR Responder SEQ NUM %u\r\n", ranging_env.range_data.sequence_num);
}
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)
{
uwbapi_report_user_defined_data(user_data_len, &usr_pkt->msg.poll_msg[MSG_POLL_USER_DATA_IDX]);
}
#endif
#ifdef SE_DEMO_EN
uint8_t se_poll_data_len = (uint8_t)(ind->rx_len - MSG_HEADER_LEN - MSG_POLL_USER_DATA_IDX);
if (se_poll_data_len)
{
slave_process_apdu(&usr_pkt->msg.poll_msg[MSG_POLL_USER_DATA_IDX], se_poll_data_len, 0);
}
#endif
#if RSSI_EN
LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB \r\n", ind->rssi, ind->snr);
#endif
#if CSI_EN
struct RANGING_TAPS_INF_T taps_inf;
ranging_taps_inf_get(&taps_inf);
ranging_env.frame[0].NLoS = taps_inf.NLoS;
ranging_env.frame[0].fom = taps_inf.FoM;
LOG_INFO(TRACE_MODULE_APP, "NLoS %u FoM %u\r\n", taps_inf.NLoS, taps_inf.FoM);
#else
ranging_fom_get(&ranging_env.frame[0].NLoS, &ranging_env.frame[0].fom);
#endif
}
else if (ind->ranging_stage == RANGING_RESPONSE)
{
uint16_t responder_addr = READ_SHORT(&usr_pkt->msg.response_msg[MSG_RESPONSE_RESPONDER_ID_IDX]);
uint8_t responder_idx = ranging_responder_idx_get(responder_addr);
LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Response\r\n", ind->rx_len);
// LOG_INFO(TRACE_MODULE_APP, "[RX]Peer Tx Power Level %d\r\n", usr_pkt->msg.response_msg[MSG_RESPONSE_TX_PWR_IDX]);
#ifdef SE_DEMO_EN
uint8_t se_resp_data_len = (uint8_t)(ind->rx_len - MSG_HEADER_LEN - MSG_RESPONSE_USER_DATA_IDX);
// Must call master_process_apdu when se_data_len == 0
master_process_apdu(&usr_pkt->msg.response_msg[MSG_RESPONSE_USER_DATA_IDX], se_resp_data_len);
#endif
#if RSSI_EN
LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB\r\n", ind->rssi, ind->snr);
#endif
#if CSI_EN
struct RANGING_TAPS_INF_T taps_inf;
ranging_taps_inf_get(&taps_inf);
ranging_env.frame[responder_idx].NLoS = taps_inf.NLoS;
ranging_env.frame[responder_idx].fom = taps_inf.FoM;
LOG_INFO(TRACE_MODULE_APP, "NLoS %u FoM %u\r\n", taps_inf.NLoS, taps_inf.FoM);
#else
ranging_fom_get(&ranging_env.frame[responder_idx].NLoS, &ranging_env.frame[responder_idx].fom);
#endif
}
else if (ind->ranging_stage == RANGING_FINAL)
{
LOG_INFO(TRACE_MODULE_APP, "[RX][%u][%d] Final\r\n", ind->rx_len, ranging_env.main_ant_id);
int64_t Tround1 = 0;
int64_t Tround2 = 0;
int64_t Treply1 = 0;
int64_t Treply2 = 0;
if (ranging_env.responder_final_flag)
{
Tround2 = ranging_tround(DEV_ROLE_RESPONDER, 0);
Treply1 = ranging_treply(DEV_ROLE_RESPONDER, 0);
// Ttotal
for (int i = 4; i >= 0; i--)
{
Treply2 = (Treply2 << 8) | usr_pkt->msg.final_msg[MSG_FINAL_TREPLY_IDX + i];
}
// Tround1
for (int i = 4; i >= 0; i--)
{
Tround1 = (Tround1 << 8) | usr_pkt->msg.final_msg[MSG_FINAL_TROUND_IDX(ranging_env.responder_slot_idx) + i];
}
// Treply2
Treply2 = Treply2 - Tround1;
}
// LOG_INFO(TRACE_MODULE_APP, "Tround1 %u Treply1 %u Tround2 %u Treply2 %u\r\n", (uint32_t)Tround1, (uint32_t)Treply1,
// (uint32_t)Tround2, (uint32_t)Treply2);
if ((Tround1) && (Treply1) && (Tround2) && (Treply2))
{
int64_t tof_i = (Tround1 * Tround2 - Treply1 * Treply2) / (Tround1 + Tround2 + Treply1 + Treply2);
// outlier filter
if (tof_i < 0)
{
tof_i = 0;
}
ranging_env.tof = (uint32_t)tof_i;
double tof_f = (double)TIMESTAMP_UNIT_TO_NS(ranging_env.tof);
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];
range_result->status = STATUS_OK;
range_result->distance = (uint16_t)distance;
if (uwb_app_config.session_param.aoa_result_req)
{
#if AOA_EN
// update PDoA IQ and calculate AoA angles (depends on aoa_aux_cfg)
aoa_calculate(&range_result->aoa_elevation, &range_result->aoa_azimuth);
aoa_fom_get(&range_result->aoa_elevation_fom, &range_result->aoa_azimuth_fom);
#elif PDOA_3D_EN
// calculate PDoA angles
pdoa_3d_calculate(range_result->mac_addr, &range_result->aoa_elevation, &range_result->aoa_azimuth);
pdoa_fom_get(&range_result->aoa_elevation_fom, &range_result->aoa_azimuth_fom);
#endif
#if PRINT_PDOA_IQ_EN
#if AOA_EN || PDOA_3D_EN
float *iq = sts_first_path_iq_get();
#else
float *iq = NULL;
pdoa_iq_get(&iq);
#endif
////////// need to increase slot duration for log printing
if (RX_ANT_PORTS_NUM == 2)
{
LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[0], iq[1]);
LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[2], iq[3]);
}
else if (RX_ANT_PORTS_NUM == 3)
{
LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[0], iq[1]);
LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[2], iq[3]);
LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[4], iq[5]);
}
else if (RX_ANT_PORTS_NUM == 4)
{
LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[0], iq[1]);
LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[2], iq[3]);
LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[4], iq[5]);
LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[6], iq[7]);
}
// float pdoa[3];
// pdoa[0] = pdoa_select_get(0, 3);
// pdoa[1] = pdoa_select_get(1, 3);
// pdoa[2] = pdoa_select_get(2, 3);
// LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);
// float *sts_rssi = sts_rssi_output_get();
// LOG_INFO(TRACE_MODULE_APP, "STS RSSI: %f %f %f %f\r\n", sts_rssi[0], sts_rssi[1], sts_rssi[2], sts_rssi[3]);
#endif
}
else
{
range_result->aoa_azimuth = 0;
range_result->aoa_elevation = 0;
}
#if FILTER_EN
if (uwb_app_config.filter_en)
{
// filter process
ranging_result_filter(&range_result->distance, &range_result->aoa_azimuth, &range_result->aoa_elevation);
}
#endif
if (uwb_app_config.session_param.aoa_result_req)
{
board_ranging_result_correct(&range_result->distance, &range_result->aoa_azimuth, &range_result->aoa_elevation);
}
#ifdef UWB_UCI_TEST_EN
#if AOA_EN
LOG_INFO(TRACE_MODULE_APP, "Distance %ucm, AoA Azimuth %d Elevation %d Azimuth FoM %u\r\n", distance,
mk_q7_to_s16(range_result->aoa_azimuth), mk_q7_to_s16(range_result->aoa_elevation), range_result->aoa_azimuth_fom);
#elif PDOA_3D_EN
LOG_INFO(TRACE_MODULE_APP, "Distance %ucm, PDoA Azimuth %d Elevation %d Azimuth FoM %u\r\n", distance,
mk_q7_to_s16(range_result->aoa_azimuth), mk_q7_to_s16(range_result->aoa_elevation), range_result->aoa_azimuth_fom);
#else
LOG_INFO(TRACE_MODULE_APP, "Distance %ucm\r\n", distance);
#endif
#endif
struct RANGE_DATA_T *range_data = &ranging_env.range_data;
range_data->measurements_num = 1;
uint16_t target_addr = uwbs_peer_short_addr_get();
range_result->mac_addr[0] = target_addr & 0xff;
range_result->mac_addr[1] = (target_addr >> 8) & 0xff;
range_result->slot_idx = ranging_env.responder_slot_idx;
#if CSI_EN
// need to increase slot duration for log printing
struct RANGING_TAPS_INF_T taps_inf;
ranging_taps_inf_get(&taps_inf);
ranging_env.frame[1].NLoS = taps_inf.NLoS;
ranging_env.frame[1].fom = taps_inf.FoM;
LOG_INFO(TRACE_MODULE_APP, "NLoS %u FoM %u\r\n", taps_inf.NLoS, taps_inf.FoM);
// LOG_INFO(TRACE_MODULE_APP, "fap: %d, %f\r\n", taps_inf.fap_loc, taps_inf.fap_pow);
// LOG_INFO(TRACE_MODULE_APP, "tap1: %d, %f\r\n", taps_inf.tap1_loc, taps_inf.tap1_pow);
// LOG_INFO(TRACE_MODULE_APP, "tap2: %d, %f\r\n", taps_inf.tap2_loc, taps_inf.tap2_pow);
// LOG_INFO(TRACE_MODULE_APP, "tap3: %d, %f\r\n", taps_inf.tap3_loc, taps_inf.tap3_pow);
// float chtaps_re[128];
// float chtaps_im[128];
// ranging_multi_taps_iq_get(chtaps_re, chtaps_im, 128);
// for (uint8_t i = 0; i < 128; i++)
// {
// LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "%f, %f\r\n", chtaps_re[i], chtaps_im[i]);
// }
#else
ranging_fom_get(&ranging_env.frame[1].NLoS, &ranging_env.frame[1].fom);
#endif
// Retrieve Response-FoM and Response-NLoS from final packet
uint8_t FoM = usr_pkt->msg.final_msg[MSG_FINAL_FOM_IDX(ranging_env.responder_slot_idx)];
uint8_t NLoS = usr_pkt->msg.final_msg[MSG_FINAL_NLOS_IDX(ranging_env.responder_slot_idx)];
#if RANGING_FOM_FILTER_EN
uint8_t fap_valid = usr_pkt->msg.final_msg[MSG_FINAL_FAP_VALID_IDX(ranging_env.responder_slot_idx)];
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);
#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);
range_result->NLoS = MAX(NLoS, MAX(ranging_env.frame[0].NLoS, ranging_env.frame[1].NLoS));
// output result
uwbapi_report_ranging_data(range_data);
// 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);
}
else
{
LOG_INFO(TRACE_MODULE_APP, "Timestamp error\r\n");
}
#ifdef SE_DEMO_EN
slave_process_apdu(NULL, 0, 1);
#endif
#if RSSI_EN
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);
}
#if RANGING_RESULT_REPORT_EN
else if (ind->ranging_stage == RANGING_RESULT)
{
LOG_INFO(TRACE_MODULE_APP, "[RX][%u][%d] Result\r\n", ind->rx_len, ranging_env.main_ant_id);
uint16_t responder_addr = READ_SHORT(&usr_pkt->msg.result_msg[MSG_RESPONSE_RESPONDER_ID_IDX]);
uint8_t responder_idx = ranging_responder_idx_get(responder_addr);
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]);
}
}
#endif
#if PRINT_PAYLOAD_EN
if (ind->rx_len)
{
LOG_INFO(TRACE_MODULE_APP, " ");
for (uint8_t i = 0; i < ind->rx_len; i++)
{
LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "%02x ", ind->rx_data[i]);
}
LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "\r\n");
}
#endif
}
else
{
LOG_INFO(TRACE_MODULE_APP, "UWB RX fail 0x%04x\r\n", ind->status);
}
}
break;
default:
break;
}
}
// Handle events
else if (event)
{
}
}