/*
 * 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.
 */

#ifndef PDOA_3D_LIB_H
#define PDOA_3D_LIB_H
#include "mk_uwb.h"

/**
 * @addtogroup MK8000_ALGO_PDOA
 * @{
 *
 * PDoA support:
 * - Linear 2/3/4-ants
 * - Square 4-ants (horizontal - 360 degree, vertical - half ball 3D)
 * - Triangle 3-ants
 *
 */

enum PDOA_3D_AMBIGUITY_MODE_T
{
    PDOA_3D_AMBIGUITY_LEVEL_HIGH = 0,
    PDOA_3D_AMBIGUITY_LEVEL_MIDIUM,
    PDOA_3D_AMBIGUITY_LEVEL_LOW,
    PDOA_3D_AMBIGUITY_LEVEL_NONE,
};

struct PDOA_3D_MAC_ADDR_T
{
    uint8_t mac_addr[8];
    uint32_t elapsed_time;
};

struct PDOA_3D_PDOA_DATA_T
{
    int16_t pdoa[18];
};

#ifdef __cplusplus
extern "C" {
#endif

/**
 * @brief PDoA configuration.
 *
 * @param [in] ant_pattern      antenna pattern
 * @param [in] ant_layout       layout of PCB board configuration
 * @param [in] ambiguity_mode   PDoA ambiguity configuration
 * @param [in] mac_addr_cache   mac address list input
 * @param [in] azimuth          previous PDoA data list input
 * @param [in] cache_len        list length(equal to the tag number supported)
 * @param [in] timeout_ms       timeout setting for PDoA ambiguity process, unit: millisecond
 */
void pdoa_3d_param_config(uint8_t ant_pattern,
                          enum ANT_LAYOUT_T ant_layout,
                          enum PDOA_3D_AMBIGUITY_MODE_T ambiguity_mode,
                          struct PDOA_3D_MAC_ADDR_T *mac_addr_cache,
                          struct PDOA_3D_PDOA_DATA_T *pdoa_data_cache,
                          size_t cache_len,
                          uint32_t timeout_ms);

/**
 * @brief Calculate PDoA.
 *
 * @param [in] mac_addr         mac address
 * @param [out] elevation       PDoA elevation result
 * @param [out] azimuth         PDoA azimuth result
 * @return 1: success, 0: failure
 */
uint8_t pdoa_3d_calculate(uint8_t *mac_addr, int16_t *elevation, int16_t *azimuth);

/**
 * @brief Set gain of each PDoA channel
 *
 * @param [in] gain                 gain list of antenna port
 * @param [in] rx_ant_num           The number of antenna gain(PDoA channel) to be set
 * @return 0: success, -1: fail
 */
uint8_t pdoa_3d_ant_layout_get(void);

/**
 * @brief Set gain of each PDoA channel
 *
 * @param [in] gain                 gain list of antenna port, unit: 1 percent
 * @param [in] rx_ant_num           The number of antenna gain(PDoA channel) to be set
 * @return 0: success, -1: fail
 */
int pdoa_gain_set(int16_t *gain, uint8_t rx_ant_num);

/**
 * @brief Set offset for each angle
 *
 * @param [in] angle_offset         offset list for azimuth & elevation, unit: 0.1 degree
 */
int pdoa_angle_offset_set(int16_t *angle_offset);

/**
 * @brief Get pdoa fom
 *
 * @param ele_fom                   elevation fom, completely untrustworthy when fom equal to 0
 * @param az_fom                    azimuth fom, completely untrustworthy when fom equal to 0
 */
void pdoa_fom_get(uint8_t *ele_fom, uint8_t *az_fom);

/**
 * @brief Reverse angle
 *
 * @param azimuth_reverse reverse azimuth
 * @param elevation_reverse reverse elevation
 */
void pdoa_angle_reverse_set(bool azimuth_reverse, bool elevation_reverse);

#ifdef __cplusplus
}
#endif

/**
 * @}
 */

#endif // PDOA_3D_LIB_H