4  * SPDX-License-Identifier: Apache-2.0
40 	enum bt_conn_le_cs_role role;  member
46 	*z_out_real = z_a_real * z_b_real - z_a_imag * z_b_imag;  in calc_complex_product()
62 		y_mean += (y_values[i] - y_mean) / (i + 1);  in linear_regression()
63 		x_mean += (x_values[i] - x_mean) / (i + 1);  in linear_regression()
70 		b_est_upper += (x_values[i] - x_mean) * (y_values[i] - y_mean);  in linear_regression()
71 		b_est_lower += (x_values[i] - x_mean) * (x_values[i] - x_mean);  in linear_regression()
82 	for (uint16_t i = 0; i < len - 1; i++) {  in bubblesort_2()
84 		for (uint16_t j = 0; j < len - i - 1; j++) {  in bubblesort_2()
102 static float estimate_distance_using_phase_slope(struct iq_sample_and_channel *data, uint8_t len)  in estimate_distance_using_phase_slope()  argument
111 		if (!data[i].failed) {  in estimate_distance_using_phase_slope()
112 			calc_complex_product(data[i].local_iq_sample.i, data[i].local_iq_sample.q,  in estimate_distance_using_phase_slope()
113 					     data[i].peer_iq_sample.i, data[i].peer_iq_sample.q,  in estimate_distance_using_phase_slope()
117 			frequencies[num_angles] = 1.0 * CS_FREQUENCY_MHZ(data[i].channel);  in estimate_distance_using_phase_slope()
129 	/* One-dimensional phase unwrapping */  in estimate_distance_using_phase_slope()
131 		float difference = theta[i] - theta[i - 1];  in estimate_distance_using_phase_slope()
135 				theta[j] -= 2.0f * PI;  in estimate_distance_using_phase_slope()
137 		} else if (difference < -PI) {  in estimate_distance_using_phase_slope()
146 	float distance = -phase_slope * (SPEED_OF_LIGHT_M_PER_S / (4 * PI));  in estimate_distance_using_phase_slope()
159 			tof = (mode_1_data[i].toa_tod_initiator -  in estimate_distance_using_time_of_flight()
162 			tof_mean += (tof - tof_mean) / (i + 1);  in estimate_distance_using_time_of_flight()
175 	if (step->mode == BT_CONN_LE_CS_MAIN_MODE_2) {  in process_step_data()
177 			(struct bt_hci_le_cs_step_data_mode_2 *)step->data;  in process_step_data()
179 		if (context->local_steps) {  in process_step_data()
180 			for (uint8_t i = 0; i < (context->n_ap + 1); i++) {  in process_step_data()
181 				if (step_data->tone_info[i].extension_indicator !=  in process_step_data()
186 				mode_2_data[context->mode_2_data_index].channel = step->channel;  in process_step_data()
187 				mode_2_data[context->mode_2_data_index].antenna_permutation =  in process_step_data()
188 					step_data->antenna_permutation_index;  in process_step_data()
189 				mode_2_data[context->mode_2_data_index].local_iq_sample =  in process_step_data()
191 						step_data->tone_info[i].phase_correction_term);  in process_step_data()
192 				if (step_data->tone_info[i].quality_indicator ==  in process_step_data()
194 				    step_data->tone_info[i].quality_indicator ==  in process_step_data()
196 					mode_2_data[context->mode_2_data_index].failed = true;  in process_step_data()
199 				context->mode_2_data_index++;  in process_step_data()
202 			for (uint8_t i = 0; i < (context->n_ap + 1); i++) {  in process_step_data()
203 				if (step_data->tone_info[i].extension_indicator !=  in process_step_data()
208 				mode_2_data[context->mode_2_data_index].peer_iq_sample =  in process_step_data()
210 						step_data->tone_info[i].phase_correction_term);  in process_step_data()
211 				if (step_data->tone_info[i].quality_indicator ==  in process_step_data()
213 				    step_data->tone_info[i].quality_indicator ==  in process_step_data()
215 					mode_2_data[context->mode_2_data_index].failed = true;  in process_step_data()
218 				context->mode_2_data_index++;  in process_step_data()
221 	} else if (step->mode == BT_HCI_OP_LE_CS_MAIN_MODE_1) {  in process_step_data()
223 			(struct bt_hci_le_cs_step_data_mode_1 *)step->data;  in process_step_data()
225 		if (step_data->packet_quality_aa_check !=  in process_step_data()
227 		    step_data->packet_rssi == BT_HCI_LE_CS_PACKET_RSSI_NOT_AVAILABLE ||  in process_step_data()
228 		    step_data->tod_toa_reflector == BT_HCI_LE_CS_TIME_DIFFERENCE_NOT_AVAILABLE) {  in process_step_data()
229 			mode_1_data[context->mode_1_data_index].failed = true;  in process_step_data()
232 		if (context->local_steps) {  in process_step_data()
233 			if (context->role == BT_CONN_LE_CS_ROLE_INITIATOR) {  in process_step_data()
234 				mode_1_data[context->mode_1_data_index].toa_tod_initiator =  in process_step_data()
235 					step_data->toa_tod_initiator;  in process_step_data()
236 			} else if (context->role == BT_CONN_LE_CS_ROLE_REFLECTOR) {  in process_step_data()
237 				mode_1_data[context->mode_1_data_index].tod_toa_reflector =  in process_step_data()
238 					step_data->tod_toa_reflector;  in process_step_data()
241 			if (context->role == BT_CONN_LE_CS_ROLE_INITIATOR) {  in process_step_data()
242 				mode_1_data[context->mode_1_data_index].tod_toa_reflector =  in process_step_data()
243 					step_data->tod_toa_reflector;  in process_step_data()
244 			} else if (context->role == BT_CONN_LE_CS_ROLE_REFLECTOR) {  in process_step_data()
245 				mode_1_data[context->mode_1_data_index].toa_tod_initiator =  in process_step_data()
246 					step_data->toa_tod_initiator;  in process_step_data()
250 		context->mode_1_data_index++;  in process_step_data()
257 		       uint16_t peer_steps_len, uint8_t n_ap, enum bt_conn_le_cs_role role)  in estimate_distance()  argument
266 		.role = role,  in estimate_distance()
297 		printk("- Round-Trip Timing method: %f meters (derived from %d samples)\n",  in estimate_distance()
301 		printk("- Phase-Based Ranging method: %f meters (derived from %d samples)\n",  in estimate_distance()