/*
 * 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 UL_TDOA_H_
#define UL_TDOA_H_
#include "mk_common.h"
#include "mk_mac.h"
#include "ul_tdoa_task.h"

/* UL-TDoA FSM stage */
enum UL_TDOA_STAGE_T
{
    UL_TDOA_IDLE = 0x00,
    UL_TDOA_TX_BLINK = 0x01,
    UL_TDOA_TX_SYNC = 0x02,
    UL_TDOA_LISTEN = 0x03,
};

/* UL-TDoA environment variable */
struct UL_TDOA_ENV_T
{
    uint32_t anchor_point;
    uint32_t sequence_num;
    uint32_t ranging_period;
    uint32_t random_window;
    uint32_t tx_offset;
    enum UL_TDOA_STAGE_T stage;
    uint8_t lost_cnt;
    uint8_t enable;
};

/* UL-TDoA timestamp */
union TIMESTAMP_T
{
    uint8_t ts_u8[8];
    uint64_t ts_u64;
};

/** UL-TDoA measurement result */
struct UL_TDOA_MEASUREMENT_T
{
    uint8_t mac_addr[8];
    uint8_t status;
    uint8_t msg_control;
    uint8_t frame_type;
    uint8_t NLoS;
    // Q9.7
    int16_t aoa_azimuth;
    int16_t aoa_elevation;
    uint8_t aoa_azimuth_fom;
    uint8_t aoa_elevation_fom;
    uint32_t frame_number;
    union TIMESTAMP_T rx_timestamp;
    uint8_t dev_id[8];
    union TIMESTAMP_T tx_timestamp;
};

/* Main control block of the ul_tdoa task */
struct UL_TDOA_CB_T
{
    wsfQueue_t msg_queue;
    wsfHandlerId_t handle_id;
};

#ifdef __cplusplus
extern "C" {
#endif

extern struct UL_TDOA_ENV_T ul_tdoa_env;

/**
 * @brief Initialize ul-tdoa task.
 *
 * @param [in] handle_id       Task handle ID
 */
int ul_tdoa_init(uint8_t handle_id);

/**
 * @brief De-initialize ul-tdoa task.
 */
int ul_tdoa_deinit(void);

/**
 * @brief Configure ul-tdoa environment variable, and configure UWB subsystem.
 */
void ul_tdoa_configure(void);

/**
 * @brief Start ul-tdoa procedure.
 */
void ul_tdoa_start(void);

/**
 * @brief Stop ul-tdoa procedure.
 */
void ul_tdoa_stop(void);

/**
 * @brief Process MAC report event.
 *
 * @param [in] ind          Pointer of MAC HW report
 */
void ul_tdoa_process(const struct MAC_HW_REPORT_T *ind);

/**
 * @brief Indicate ul-tdoa RX event.
 *
 * @param [in] status       RX status
 * @param [in] data         Pointer of RX data
 * @param [in] len          RX data length
 * @param [in] timestamp    RX timestamp
 *
 */
void ul_tdoa_rx_ind(uint16_t status, const uint8_t *data, uint16_t len, int64_t timestamp);

#ifdef __cplusplus
}
#endif

#endif /* UL_TDOA_H_ */