/*
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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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#ifndef AOA_LIB_H
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#define AOA_LIB_H
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#include "mk_uwb.h"
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/**
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* @addtogroup MK8000_ALGO_AOA
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* @{
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*
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* AoA support:
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* - Linear 2/3/4-ants
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* - Square 4-ants (horizontal - 360 degree)
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*
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*/
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#ifndef AOA_3D_EN
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#define AOA_3D_EN (0)
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#endif
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#if AOA_3D_EN
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#ifndef XIP_EN
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extern const uint32_t svec_ch5_ptr[120 * 19 * RX_ANT_PORTS_NUM];
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extern const uint32_t svec_ch9_ptr[120 * 19 * RX_ANT_PORTS_NUM];
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#else
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extern uint32_t svec_ch5_ptr[120 * 19 * RX_ANT_PORTS_NUM];
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extern uint32_t svec_ch9_ptr[120 * 19 * RX_ANT_PORTS_NUM];
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#endif
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#else
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#ifndef XIP_EN
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extern const uint32_t svec_ch5_ptr[360 * RX_ANT_PORTS_NUM];
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extern const uint32_t svec_ch9_ptr[360 * RX_ANT_PORTS_NUM];
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#else
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extern uint32_t svec_ch5_ptr[360 * RX_ANT_PORTS_NUM];
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extern uint32_t svec_ch9_ptr[360 * RX_ANT_PORTS_NUM];
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#endif
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#endif
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// (aux_mode << 4) | (algo_option)
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enum AOA_AUX_OPT_T
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{
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// 135us
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AOA_AUX_ANT_IQ_RSSI = ((1 << 4) | 3),
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// 239us
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AOA_AUX_ANT_IQ_RSSI_PDOA = ((1 << 4) | 0),
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// 312us
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AOA_AUX_ANT_IQ_RSSI_PDOA_AOA = ((1 << 4) | 2),
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// 930us
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AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM = ((2 << 4) | 2),
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};
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// Structure holding the angle information for steering vector generation
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struct AOA_ANGLE_SPAN_T
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{
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uint16_t Ndim; ///> Number of dimensions. 1 - Azimuth only, 2 - Azimuth and Elevation
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int16_t az_low; ///> Lower end of azimuth scan range (in degrees)
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int16_t az_high; ///> Higher end of azimuth scan range (in degrees)
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uint16_t az_step; ///> Azimuth step size in degrees. Normally 3
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int16_t el_low; ///> Lower end of elevation scan range (in degrees)
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int16_t el_high; ///> Higher end of elevation scan range (in degrees)
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uint16_t el_step; ///> Elevation step size in degrees. Normally 3
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};
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief Set angle search span
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*
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* @param [in] span pointer to AoA angle search span structure
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*/
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void aoa_angle_search_span_set(struct AOA_ANGLE_SPAN_T *span);
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/**
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* @brief Configure AoA parameters.
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* @return Size of samples that need LSP to process
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*/
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uint16_t aoa_param_config(void);
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/**
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* @brief Update AoA parameters.
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* @param [in] main_ant RX main antenna
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*/
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void aoa_param_update(uint8_t main_ant);
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/**
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* @brief Enable or disable dynamic port selection
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* @param [in] enable 0: disable, 1: enable
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*/
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void aoa_param_dynamic_port_sel(uint8_t enable);
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/**
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* @brief Calculate AoA.
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*
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* @param [out] elevation AoA elevation result
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* @param [out] azimuth AoA azimuth result
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* @return 1: success, 2: failure
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*/
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uint8_t aoa_calculate(int16_t *elevation, int16_t *azimuth);
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/**
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* @brief Get AoA FoM.
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*
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* @param [out] elevation_fom AoA elevation FoM
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* @param [out] azimuth_fom AoA azimuth FoM
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*/
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void aoa_fom_get(uint8_t *elevation_fom, uint8_t *azimuth_fom);
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/**
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* @brief Store LSP result of RX ranging frame.
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*/
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void sts_lsp_store(void);
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/**
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* @brief Stop storing LSP result of RX ranging frame.
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*/
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void sts_lsp_store_stop(void);
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/**
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* @brief Validate STS.
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* @return 1 represents STS is valid
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*/
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uint8_t sts_valid_check(void);
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/**
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* @brief Detect the fisrt path of ranging frame based on STS.
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* @param [in] rssi RSSI
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* @param [out] sts_main_path_loc STS main path location
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* @param [out] sts_fap_loc STS FAP location
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* @return delta of the first path
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*/
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int32_t sts_first_path_detect(int8_t rssi, uint16_t *sts_main_path_loc, uint16_t *sts_fap_loc);
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/**
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* @brief Calculate RX main antenna based on STS RSSI.
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* @param [in][out] Input current main antenna ID, ouput updated main antenna ID
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*/
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void sts_rx_main_ant_get(uint8_t *id);
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/**
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* @brief Get 4 antenna port RSSI.
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* @return array of 4 antenna port RSSI
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*/
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float *sts_4ant_rssi_get(void);
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/**
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* @brief Configure location post process filter.
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*
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* @param [in] update_period_ms Input data update period
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* @param [in] range_en Enable filter for range data
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* @param [in] angle_en Enable filter for angle data
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*/
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void loc_post_filter_config(uint32_t update_period_ms, uint8_t range_en, uint8_t angle_en);
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/**
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* @brief Location post process filter.
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*
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* @param [in] channel Filter channel
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* @param [in] range_meas Input range data
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* @param [in] angle_meas Input angle data
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* @param [out] range_post Output range data
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* @param [out] angle_post Output angle data
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* @return 1 represents post filter process successfully
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*/
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uint8_t loc_post_filter(uint8_t channel, float range_meas, int angle_meas, float *range_post, float *angle_post);
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/**
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* @brief Set AOA aux mode.
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*
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* @param [in] mode AOA aux mode @ref enum AOA_AUX_OPT_T
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*/
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void aoa_aux_info_set(enum AOA_AUX_OPT_T mode);
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/**
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* @brief Set AOA steering vector based on channel
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*
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* @param [in] vector_table AOA steering vector table
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*/
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void aoa_steering_vector_set(const float *vector_table);
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/**
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* @brief Get PDoA ANT IQ result.
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*
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* @param [out] iq Pointer of raw IQ data for all antennas
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* @return 1: success, 0: failure
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*/
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uint8_t pdoa_iq_get(float **iq);
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/**
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* @brief Get PDoA result from ANT_start_index - ANT_end_index.
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*
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* @param [in] start_index Antenna port start index, from 0 to 3
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* @param [in] end_index Antenna port end index, from 0 to 3
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* @return PDoA result in radian
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*/
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float pdoa_select_get(uint8_t start_index, uint8_t end_index);
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/**
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* @brief Set delay of antenna for PDoA
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*
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* @param [in] delays Delay list of antenna port, uint: ps
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* @param [in] rx_ant_num The number of antenna delays to be set
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* @return 0: success, -1: fail
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*/
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int pdoa_ant_delays_set(int16_t *delays, uint8_t rx_ant_num);
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/**
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* @brief Get antenna delay for PDoA
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*
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* @param [in] delays Delay list of antenna port, uint: ps
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* @param [in] rx_ant_num The number of antenna delays to be get
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* @return 0: success, -1: fail
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*/
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int pdoa_ant_delays_get(int16_t *delays, uint8_t rx_ant_num);
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/**
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* @brief Set adjacent antenna space
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*
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* @param [in] ant_space the space of adjacent antennas, unit: 0.1mm
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*/
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int pdoa_ant_space_set(int16_t ant_space);
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/**
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* @brief Get RSSI result.
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*
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* @return RSSI
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*/
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float *sts_rssi_output_get(void);
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/**
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* @brief Get STS first path IQ of each antenna port, needs to call AoA calculation or PDoA calculation in advanced.
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*
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* @return STS first path IQ
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*/
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float *sts_first_path_iq_get(void);
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/**
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* @brief Get AoA library version.
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*
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* @return String of AoA library version
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*/
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const char *MK8000_get_aoalib_version(void);
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#ifdef __cplusplus
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}
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#endif
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/**
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* @}
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*/
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#endif // AOA_LIB_H
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