/*
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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 UL_TDOA_H_
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#define UL_TDOA_H_
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#include "mk_common.h"
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#include "mk_mac.h"
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#include "ul_tdoa_task.h"
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/* UL-TDoA FSM stage */
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enum UL_TDOA_STAGE_T
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{
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UL_TDOA_IDLE = 0x00,
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UL_TDOA_TX_BLINK = 0x01,
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UL_TDOA_TX_SYNC = 0x02,
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UL_TDOA_LISTEN = 0x03,
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};
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/* UL-TDoA environment variable */
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struct UL_TDOA_ENV_T
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{
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uint32_t anchor_point;
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uint32_t sequence_num;
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uint32_t ranging_period;
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uint32_t random_window;
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uint32_t tx_offset;
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enum UL_TDOA_STAGE_T stage;
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uint8_t lost_cnt;
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uint8_t enable;
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};
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/* UL-TDoA timestamp */
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union TIMESTAMP_T
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{
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uint8_t ts_u8[8];
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uint64_t ts_u64;
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};
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/** UL-TDoA measurement result */
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struct UL_TDOA_MEASUREMENT_T
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{
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uint8_t mac_addr[8];
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uint8_t status;
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uint8_t msg_control;
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uint8_t frame_type;
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uint8_t NLoS;
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// Q9.7
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int16_t aoa_azimuth;
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int16_t aoa_elevation;
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uint8_t aoa_azimuth_fom;
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uint8_t aoa_elevation_fom;
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uint32_t frame_number;
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union TIMESTAMP_T rx_timestamp;
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uint8_t dev_id[8];
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union TIMESTAMP_T tx_timestamp;
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};
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/* Main control block of the ul_tdoa task */
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struct UL_TDOA_CB_T
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{
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wsfQueue_t msg_queue;
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wsfHandlerId_t handle_id;
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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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extern struct UL_TDOA_ENV_T ul_tdoa_env;
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/**
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* @brief Initialize ul-tdoa task.
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*
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* @param [in] handle_id Task handle ID
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*/
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int ul_tdoa_init(uint8_t handle_id);
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/**
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* @brief De-initialize ul-tdoa task.
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*/
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int ul_tdoa_deinit(void);
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/**
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* @brief Configure ul-tdoa environment variable, and configure UWB subsystem.
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*/
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void ul_tdoa_configure(void);
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/**
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* @brief Start ul-tdoa procedure.
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*/
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void ul_tdoa_start(void);
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/**
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* @brief Stop ul-tdoa procedure.
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*/
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void ul_tdoa_stop(void);
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/**
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* @brief Process MAC report event.
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*
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* @param [in] ind Pointer of MAC HW report
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*/
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void ul_tdoa_process(const struct MAC_HW_REPORT_T *ind);
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/**
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* @brief Indicate ul-tdoa RX event.
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*
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* @param [in] status RX status
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* @param [in] data Pointer of RX data
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* @param [in] len RX data length
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* @param [in] timestamp RX timestamp
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*
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*/
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void ul_tdoa_rx_ind(uint16_t status, const uint8_t *data, uint16_t len, int64_t timestamp);
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#ifdef __cplusplus
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}
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#endif
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#endif /* UL_TDOA_H_ */
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