/*
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* Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
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* its subsidiaries and affiliates (collectly called MKSEMI).
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form, except as embedded into an MKSEMI
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* integrated circuit in a product or a software update for such product,
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* must reproduce the above copyright notice, this list of conditions and
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* the following disclaimer in the documentation and/or other materials
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* provided with the distribution.
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*
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* 3. Neither the name of MKSEMI nor the names of its contributors may be used
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* to endorse or promote products derived from this software without
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* specific prior written permission.
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*
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* 4. This software, with or without modification, must only be used with a
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* MKSEMI integrated circuit.
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*
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* 5. Any software provided in binary form under this license must not be
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* reverse engineered, decompiled, modified and/or disassembled.
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*
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* THIS SOFTWARE IS PROVIDED BY MKSEMI "AS IS" AND ANY EXPRESS OR IMPLIED
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* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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* MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL MKSEMI OR CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
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* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "mk_trace.h"
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#include "mk_clock.h"
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#include "mk_misc.h"
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#include "aoa.h"
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#include "uwb_api.h"
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#include "lib_ranging.h"
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#include "lib_aoa.h"
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#if PDOA_3D_EN
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#include "lib_pdoa_3d.h"
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#endif
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#include "board.h"
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uint8_t aoa_done_flag = 1;
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static struct AOA_REPORT_T report;
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/*************************************************************************************************/
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/*!
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* \brief WSF event handler for aoa task.
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*
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* \param event WSF event mask.
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* \param msg WSF message.
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*
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* \return None.
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*/
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/*************************************************************************************************/
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void aoa_handler(wsfEventMask_t event, const void *param)
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{
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const wsfMsgHdr_t *msg = (const wsfMsgHdr_t *)param;
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if (msg != NULL)
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{
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switch (msg->event)
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{
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case AOA_DONE_MSG:
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{
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const struct AOA_DONE_IND_T *ind = (const struct AOA_DONE_IND_T *)param;
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// TODO: aoa caculation
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if (sts_valid_check())
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{
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report.sts_valid = 1;
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ranging_first_path_detect(ind->rssi);
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#if PDOA_3D_EN
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uint16_t target_addr = uwbs_peer_short_addr_get();
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uint8_t mac_addr[8];
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mac_addr[0] = target_addr & 0xff;
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mac_addr[1] = (target_addr >> 8) & 0xff;
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// calculate PDoA angles
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pdoa_3d_calculate(mac_addr, &report.elevation, &report.azimuth);
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pdoa_fom_get(NULL, &report.fom);
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#elif AOA_EN
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// update PDoA IQ and calculate AoA angles (depends on aoa_aux_cfg)
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aoa_calculate(&report.elevation, &report.azimuth);
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aoa_fom_get(NULL, &report.fom);
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#endif
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#if RSSI_EN
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LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB \r\n", ind->rssi, ind->snr);
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#endif
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// azimuth correction
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uint16_t distance = 0;
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board_ranging_result_correct(&distance, &report.azimuth, &report.elevation);
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report.pdoa[0] = pdoa_select_get(0, 3);
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report.pdoa[1] = pdoa_select_get(1, 3);
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report.pdoa[2] = pdoa_select_get(2, 3);
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float *sts_rssi = sts_rssi_output_get();
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report.sts_rssi[0] = sts_rssi[0];
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report.sts_rssi[1] = sts_rssi[1];
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report.sts_rssi[2] = sts_rssi[2];
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report.sts_rssi[3] = sts_rssi[3];
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float *iq = sts_first_path_iq_get();
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report.iq[0] = iq[0];
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report.iq[1] = iq[1];
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report.iq[2] = iq[2];
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report.iq[3] = iq[3];
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report.iq[4] = iq[4];
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report.iq[5] = iq[5];
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report.iq[6] = iq[6];
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report.iq[7] = iq[7];
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}
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else
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{
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report.sts_valid = 0;
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}
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uwbapi_report_ranging_data(&report);
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aoa_done_flag = 1;
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}
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break;
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default:
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break;
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}
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}
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// Handle events
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else if (event)
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{
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}
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}
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