/*
 * 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.
 */

#include "mk_trace.h"
#include "mk_power.h"
#include "mk_gpio.h"
#include "mk_uwb.h"
#include "mk_clock.h"
#include "mk_trng.h"
#include "wsf_msg.h"
#include "ranging_custom.h"
#include "lib_aoa.h"
#include "libc_rom.h"
#if KF_EN
#include "lib_kf.h"
#endif
#if PDOA_3D_EN
#include "lib_pdoa_3d.h"
#endif

#include "board.h"

#if PDOA_3D_EN
#define PDOA_3D_SUPPORT_NUM 100
#define PDOA_3D_TIMEOUT_MS 2000
static struct PDOA_3D_MAC_ADDR_T mac_addr_cache[PDOA_3D_SUPPORT_NUM];
static struct PDOA_3D_PDOA_DATA_T pdoa_data_cache[PDOA_3D_SUPPORT_NUM];
#endif

#if KF_EN && FILTER_EN
#define KF_SUPPORT_NUM 6
#define KF_TIMEOUT_MS 2000
static struct KF_MAC_ADDR_T kf_mac_addr_cache[KF_SUPPORT_NUM];
static struct KF_CHANNEL_CACHE_T kf_channel_cache[KF_SUPPORT_NUM];
static struct KF_MAT_VALUE_CACHE_T kf_mat_value_cache[KF_SUPPORT_NUM];
#endif

static uint16_t user_poll_data_len = 0;
static uint8_t user_poll_data[MSG_POLL_USER_DATA_LEN];

static uint16_t user_response_data_len = 0;
static uint8_t user_response_data[MSG_RESPONSE_USER_DATA_LEN];

static struct RANGING_USER_PKT_T ranging_user_pkt;

struct RANGING_ENV_T ranging_env;

static struct RANGING_CB_T ranging_cb;

static struct UWB_OP_T op = {
    .session_configure = ranging_configure,
    .session_start = ranging_start,
    .session_stop = ranging_stop,
    .session_local_addr_set = ranging_local_addr_set,
    .session_peer_addr_set = ranging_peer_addr_set,
    .session_responder_addr_add = ranging_responder_addr_add,
    .session_responder_list_clr = ranging_responder_list_clr,
    .session_responder_num_get = ranging_responder_num_get,
    .session_responder_addr_get = ranging_responder_addr_get,
    .session_set_ccc_ursk = NULL,
};

static void ranging_timer_callback(void *dev, uint32_t time);

static void uwb_pkt_tx_done_ind(const struct MAC_HW_REPORT_T *tx, enum RANGING_STAGE_T stage);
static uint16_t uwb_pkt_rx_done_ind(const struct MAC_HW_REPORT_T *rx, enum RANGING_STAGE_T stage);

static void ranging_tx_process(struct MAC_HW_REPORT_T *tx_report);
static void ranging_rx_process(struct MAC_HW_REPORT_T *rx_report);
void app_session_init(void);

//------------------------------------------------------------------------------
int ranging_init(uint8_t handle_id)
{
    /* store handler ID */
    ranging_cb.handle_id = handle_id;

    /* init rx queue */
    WSF_QUEUE_INIT(&ranging_cb.msg_queue);

    ranging_cb.daemon_timer.handlerId = handle_id;
    ranging_cb.daemon_timer.msg.event = RANGING_DAEMON_TIMER_MSG;

    LOG_INFO(TRACE_MODULE_APP, "Ranging lib version: %s\r\n", MK8000_get_rangelib_version());
    LOG_INFO(TRACE_MODULE_APP, "AoA lib version: %s\r\n", MK8000_get_aoalib_version());

    LOG_INFO(TRACE_MODULE_APP, "UWB_RX_OPEN_IN_ADVANCE %d\r\n", UWB_RX_OPEN_IN_ADVANCE);
    LOG_INFO(TRACE_MODULE_APP, "UWB_RX_WINDOW %d\r\n", UWB_RX_WINDOW);
    LOG_INFO(TRACE_MODULE_APP, "UWB_EVT_PREFETCH_TIME %d\r\n", UWB_EVT_PREFETCH_TIME);

    return 0;
}

int ranging_deinit(void)
{
    return 0;
}

// This function will be called by the uwbapi_session_init()
void app_session_init(void)
{
    // register process handler for MAC TX done and RX done
    mac_register_process_handler(ranging_tx_process, ranging_rx_process);

    uwbs_handler_init(&op);
    uwb_app_config.responder_num_max = RESPONDER_NUM_MAX;
}

void ranging_configure(void)
{
    ranging_env.ranging_period = MS_TO_PHY_TIMER_COUNT(uwb_app_config.session_param.ranging_interval);
    ranging_env.slot_interval = RSTU_TO_PHY_TIMER_COUNT(uwb_app_config.session_param.slot_duration);
    ranging_env.enable = 0;
    ranging_env.tof = 0;
    ranging_env.range_data.measurements_num = 0;
    for (uint8_t i = 0; i < MEASUREMENT_NUM_MAX; i++)
    {
        ranging_env.range_data.measurements[i].status = STATUS_VENDOR_RESERVED;
    }
    ranging_env.range_data.ranging_type = 0x1; // TWR (SS-TWR, DS-TWR)
    ranging_env.range_data.ranging_interval = uwb_app_config.session_param.ranging_interval;
    ranging_env.range_data.mac_addr_mode = uwbs_mac_addr_mode_get();
    ranging_env.range_data.session_id = uwb_app_config.session_id;

    uwbs_configure(PHY_TX | PHY_RX, uwb_app_config.session_param.tx_power_level);

#if CSI_EN
    ranging_aux_out_opt_set(CH_LEN_DEFAULT, 3);
#endif

#if (ANT_PATTERN == ANT_PATTERN_SQUARE)
    struct AOA_ANGLE_SPAN_T aoa_span;
#if AOA_3D_EN
    aoa_span.Ndim = 2;
    aoa_span.el_low = 0;
    aoa_span.el_high = 90;
    aoa_span.el_step = 5;
    aoa_span.az_low = 0;
    aoa_span.az_high = 359;
    aoa_span.az_step = 3;
#else
    aoa_span.Ndim = 2;
    aoa_span.el_low = 90;
    aoa_span.el_high = 90;
    aoa_span.el_step = 5;
    aoa_span.az_low = 0;
    aoa_span.az_high = 359;
    aoa_span.az_step = 1;
#endif
    aoa_angle_search_span_set(&aoa_span);
#endif

#if AOA_EN
    aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
    aoa_steering_vector_set((const float *)((uint32_t)((uwb_app_config.ppdu_params.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
#else
    aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI);
#endif

    aoa_param_config();

#if PDOA_3D_EN
    pdoa_3d_param_config(ANT_PATTERN, ANT_LAYOUT, PDOA_3D_AMBIGUITY_LEVEL_HIGH, mac_addr_cache, pdoa_data_cache, PDOA_3D_SUPPORT_NUM, PDOA_3D_TIMEOUT_MS);
    // pdoa_angle_reverse_set(1, 0);
#endif

#if FILTER_EN
    if (uwb_app_config.filter_en)
    {
#if KF_EN
        loc_post_kf_config(uwb_app_config.session_param.ranging_interval, kf_mac_addr_cache, kf_channel_cache, kf_mat_value_cache, KF_SUPPORT_NUM,
                           KF_TIMEOUT_MS);
#else
        loc_post_filter_config(uwb_app_config.session_param.ranging_interval, 1, uwb_app_config.session_param.aoa_result_req);
#endif
    }
#endif

#if RANGING_FOM_FILTER_EN
    ranging_debug_csi_en_set(1);
#endif

    ranging_user_pkt.session_id = (uint16_t)uwb_app_config.session_id;
}

void ranging_start(void)
{
    ranging_env.enable = 1;
    ranging_env.anchor_point = phy_timer_count_get();
    enum DEV_ROLE_T dev_role = uwb_app_config.session_param.device_role;
    if (dev_role == DEV_ROLE_INITIATOR)
    {
        uwb_app_config.ranging_stage = RANGING_POLL;
    }
    else
    {
        uwb_app_config.ranging_stage = RANGING_SYNC;
    }
    phy_timer_target_set(ranging_env.anchor_point + ranging_env.ranging_period - UWB_EVT_PREFETCH_TIME, ranging_timer_callback);
    power_mode_request(POWER_UNIT_APP, POWER_MODE_POWER_DOWN);
    ranging_env.count = 0;
    ranging_env.count_last = 0;
    ranging_env.lost_cnt = 0;

    WsfTimerStartMs(&ranging_cb.daemon_timer, uwb_app_config.session_param.ranging_interval * 10, WSF_TIMER_PERIODIC);
    LOG_INFO(TRACE_MODULE_APP, "Ranging start, role %d\r\n", dev_role);
}

void ranging_stop(void)
{
    ranging_env.enable = 0;
    WsfTimerStop(&ranging_cb.daemon_timer);
}

void ranging_restart(void)
{
    ranging_stop();
    mac_restart();
    ranging_start();
    LOG_INFO(TRACE_MODULE_APP, "Ranging restart\r\n");
}

int8_t ranging_tx_power_get(void)
{
    return uwb_tx_power_get(uwb_app_config.ppdu_params.ch_num, uwb_app_config.session_param.tx_power_level);
}

void ranging_local_addr_set(uint16_t short_addr)
{
    uwbs_local_short_addr_set(short_addr);
}

void ranging_peer_addr_set(uint16_t short_addr)
{
    uwbs_peer_short_addr_set(short_addr);
}

uint8_t ranging_responder_addr_add(uint16_t addr)
{
    if (ranging_env.responder_num < RESPONDER_NUM_MAX)
    {
        LOG_INFO(TRACE_MODULE_APP, "Responder %d %04x\r\n", ranging_env.responder_num, addr);
        ranging_env.responder_list[ranging_env.responder_num] = addr;
        ranging_env.responder_num++;
        ranging_env.main_ant_id = uwb_app_config.ppdu_params.rx_ant_id;
        return 1;
    }
    return 0;
}

uint8_t ranging_responder_addr_set(uint8_t idx, uint16_t addr)
{
    if (idx < ranging_env.responder_num)
    {
        ranging_env.responder_list[idx] = addr;
        return 1;
    }
    return 0;
}

void ranging_responder_list_clr(void)
{
    ranging_env.responder_num = 0;
}

uint16_t ranging_responder_addr_get(uint8_t idx)
{
    return ranging_env.responder_list[idx];
}

uint8_t ranging_responder_idx_get(uint16_t addr)
{
    for (uint8_t i = 0; i < ranging_env.responder_num; i++)
    {
        if (ranging_env.responder_list[i] == addr)
        {
            return i;
        }
    }
    return (0xFF);
}

uint8_t ranging_responder_num_get(void)
{
    return ranging_env.responder_num;
}

uint8_t ranging_poll_msg_set(uint16_t data_len, const uint8_t *data)
{
    user_poll_data_len = sizeof(user_poll_data);

    if (user_poll_data_len > data_len)
    {
        user_poll_data_len = data_len;
    }

    for (uint8_t ii = 0; ii < user_poll_data_len; ii++)
    {
        user_poll_data[ii] = data[ii];
    }

    // The return value is 0, the poll message is set successfully
    // The return value is 1 is set failed
    return (user_poll_data_len == data_len) ? 0 : 1;
}

uint8_t ranging_response_msg_set(uint16_t data_len, const uint8_t *data)
{
    user_response_data_len = sizeof(user_response_data);

    if (user_response_data_len > data_len)
    {
        user_response_data_len = data_len;
    }

    for (uint8_t ii = 0; ii < user_response_data_len; ii++)
    {
        user_response_data[ii] = data[ii];
    }

    // The return value is 0, the response message is set successfully
    // The return value is 1 is set failed
    return (user_response_data_len == data_len) ? 0 : 1;
}

// ts_a - ts_b
int64_t ranging_timestamp_diff(int64_t ts_a, int64_t ts_b)
{
    if (ts_a < ts_b)
    {
        return (0x20000000000 - ts_b + ts_a);
    }
    else
    {
        return (ts_a - ts_b);
    }
}

// unit: 15.6ps
int64_t ranging_tround(enum DEV_ROLE_T role, uint8_t dev_idx)
{
    int64_t tx_timestamp;
    int64_t rx_timestamp;
    if (role == DEV_ROLE_INITIATOR)
    {
        tx_timestamp = ranging_env.tx_poll_time;
        rx_timestamp = ranging_env.rx_response_time[dev_idx];
    }
    else
    {
        tx_timestamp = ranging_env.tx_response_time;
        rx_timestamp = ranging_env.rx_final_time;
    }

    int64_t tround = ranging_timestamp_diff(rx_timestamp, tx_timestamp);

    // correct antenna delay
    tround -= ranging_ant_delays_get(uwb_app_config.ppdu_params.rx_ant_id);

    return tround;
}

// unit: 15.6ps
int64_t ranging_treply(enum DEV_ROLE_T role, uint8_t dev_idx)
{
    int64_t tx_timestamp;
    int64_t rx_timestamp;
    if (role == DEV_ROLE_INITIATOR)
    {
        tx_timestamp = ranging_env.tx_final_time;
        rx_timestamp = ranging_env.rx_response_time[dev_idx];
    }
    else
    {
        tx_timestamp = ranging_env.tx_response_time;
        rx_timestamp = ranging_env.rx_poll_time;
    }

    int64_t treply = ranging_timestamp_diff(tx_timestamp, rx_timestamp);

    // correct antenna delay
    treply += ranging_ant_delays_get(uwb_app_config.ppdu_params.rx_ant_id);

    return treply;
}

uint8_t ranging_count_get(void)
{
    return ranging_env.count;
}

void ranging_poll_pkt_construct(void)
{
    ranging_user_pkt.msg_type = RANGING_POLL;
    ranging_user_pkt.msg.poll_msg[MSG_POLL_RESPONDER_NUM_IDX] = ranging_env.responder_num;

    for (uint8_t i = 0; i < ranging_env.responder_num; i++)
    {
        if (uwb_app_config.ranging_flow_mode == (uint8_t)RANGING_FLOW_CONTENTION)
        {
            ranging_env.responder_list[i] = 0;
        }
        ranging_user_pkt.msg.poll_msg[MSG_POLL_RESPONDER_ID_IDX(i)] = ranging_env.responder_list[i] & 0xff;
        ranging_user_pkt.msg.poll_msg[MSG_POLL_RESPONDER_ID_IDX(i) + 1] = (ranging_env.responder_list[i] >> 8) & 0xff;
        ranging_user_pkt.msg.poll_msg[MSG_POLL_RESPONDER_SLOT_IDX(i)] = i;
    }

    ranging_user_pkt.msg.poll_msg[MSG_POLL_TX_PWR_IDX] = uwb_app_config.session_param.tx_power_level;
    memcpy(&ranging_user_pkt.msg.poll_msg[MSG_POLL_USER_DATA_IDX], user_poll_data, user_poll_data_len);
}

void ranging_response_pkt_construct(void)
{
    ranging_user_pkt.msg_type = RANGING_RESPONSE;
    uint16_t responder_id = uwbs_local_short_addr_get();
    ranging_user_pkt.msg.response_msg[MSG_RESPONSE_RESPONDER_ID_IDX] = responder_id & 0xff;
    ranging_user_pkt.msg.response_msg[MSG_RESPONSE_RESPONDER_ID_IDX + 1] = (responder_id >> 8) & 0xff;
    ranging_user_pkt.msg.response_msg[MSG_RESPONSE_TX_PWR_IDX] = uwb_app_config.session_param.tx_power_level;
    memcpy(&ranging_user_pkt.msg.response_msg[MSG_RESPONSE_USER_DATA_IDX], user_response_data, user_response_data_len);
}

void ranging_final_pkt_construct(void)
{
    ranging_user_pkt.msg_type = RANGING_FINAL;
    ranging_user_pkt.msg.final_msg[MSG_FINAL_RESPONDER_NUM_IDX] = ranging_env.responder_num;

    int64_t Ttotal = ranging_timestamp_diff(ranging_env.tx_final_time, ranging_env.tx_poll_time);

    for (int i = 0; i < 5; i++)
    {
        ranging_user_pkt.msg.final_msg[MSG_FINAL_TREPLY_IDX + i] = (Ttotal >> (i * 8)) & 0xff;
    }

    for (uint8_t n = 0; n < ranging_env.responder_num; n++)
    {
        int64_t tround = 0;

        if (ranging_env.responder_response_flag & (1 << n))
        {
            tround = ranging_tround(DEV_ROLE_INITIATOR, n);
        }

        // update final packet
        for (int i = 0; i < 5; i++)
        {
            ranging_user_pkt.msg.final_msg[MSG_FINAL_TROUND_IDX(n) + i] = (tround >> (i * 8)) & 0xff;
        }
    }

    for (uint8_t n = 0; n < ranging_env.responder_num; n++)
    {
        memcpy(&ranging_user_pkt.msg.final_msg[MSG_FINAL_FOM_IDX(n)], &ranging_env.frame[n], RFRAME_INF_SIZE);
    }
}

void ranging_result_pkt_construct(void)
{
    ranging_user_pkt.msg_type = RANGING_RESULT;
    uint16_t responder_id = uwbs_local_short_addr_get();
    ranging_user_pkt.msg.result_msg[0] = responder_id & 0xff;
    ranging_user_pkt.msg.result_msg[1] = (responder_id >> 8) & 0xff;

    struct RANGING_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
    ranging_user_pkt.msg.result_msg[2] = range_result->distance & 0xff;
    ranging_user_pkt.msg.result_msg[3] = (range_result->distance >> 8) & 0xff;

    ranging_user_pkt.msg.result_msg[4] = ranging_env.frame[0].fom;
    ranging_user_pkt.msg.result_msg[5] = ranging_env.frame[0].NLoS;

    ranging_user_pkt.msg.result_msg[6] = ranging_env.frame[1].fom;
    ranging_user_pkt.msg.result_msg[7] = ranging_env.frame[1].NLoS;
}

uint8_t ranging_poll_pkt_process(uint8_t *pkt_data, uint16_t pkt_len)
{
    uint8_t ret = 0;
    struct RANGING_USER_PKT_T *ranging_recv_pkt = (struct RANGING_USER_PKT_T *)pkt_data;

    ranging_env.responder_num = 0;
    ranging_env.responder_slot_idx = 0;

    if ((ranging_recv_pkt->session_id == ranging_user_pkt.session_id) && (ranging_recv_pkt->msg_type == RANGING_POLL))
    {
        ranging_env.responder_num = ranging_recv_pkt->msg.poll_msg[MSG_POLL_RESPONDER_NUM_IDX];

        if (uwb_app_config.ranging_flow_mode == (uint8_t)RANGING_FLOW_CONTENTION)
        {
            ranging_env.responder_slot_idx = ranging_recv_pkt->msg.poll_msg[MSG_POLL_RESPONDER_SLOT_IDX((uint8_t)(rand() % ranging_env.responder_num))];
            ret = 1;
        }
        else
        {
            for (uint8_t i = 0; i < ranging_env.responder_num; i++)
            {
                uint16_t responder_id = READ_SHORT(&ranging_recv_pkt->msg.poll_msg[MSG_POLL_RESPONDER_ID_IDX(i)]);
                if (uwbs_local_short_addr_get() == responder_id)
                {
                    ranging_env.responder_slot_idx = ranging_recv_pkt->msg.poll_msg[MSG_POLL_RESPONDER_SLOT_IDX(i)];
                    ret = 1;
                    break;
                }
            }
        }
    }
    return ret;
}

#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wswitch-enum"
#pragma clang diagnostic ignored "-Wunreachable-code-break"
#pragma clang diagnostic ignored "-Wcast-align"
#endif

static void ranging_timer_callback(void *dev, uint32_t time)
{
    // board_led_on(BOARD_LED_1);
    if (ranging_env.enable)
    {
        enum RANGING_STAGE_T stage = uwb_app_config.ranging_stage;
        uint32_t target_time;
        if (uwb_app_config.session_param.device_role == DEV_ROLE_INITIATOR)
        {
            switch (stage)
            {
                case RANGING_IDLE:
                    ASSERT(0, "RANGING_IDLE\r\n");
                    break;

                case RANGING_POLL:
                {
                    ranging_env.anchor_point += ranging_env.ranging_period;
                    ranging_user_pkt.seq_num++;
                    ranging_env.slot_idx = 0;
                    ranging_env.responder_response_flag = 0;
                    ranging_env.initiator_result_flag = 0;
                    // send poll
                    ranging_poll_pkt_construct();

                    target_time = ranging_env.anchor_point;

                    if (uwb_app_config.ranging_flow_mode == (uint8_t)RANGING_FLOW_CONTENTION)
                    {
                        power_on_radio(1, 1);
                        mac_tx(EVT_MODE_MAC_FIX_PHY_ASAP, target_time, 0, (uint8_t *)&ranging_user_pkt,
                               user_poll_data_len + MSG_HEADER_LEN + MSG_POLL_USER_DATA_IDX);
                    }
                    else
                    {
                        power_on_radio(1, 0);
                        mac_tx(EVT_MODE_MAC_ASAP_PHY_FIX, target_time, 0, (uint8_t *)&ranging_user_pkt,
                               user_poll_data_len + MSG_HEADER_LEN + MSG_POLL_USER_DATA_IDX);
                    }

                    power_mode_request(POWER_UNIT_APP, POWER_MODE_SLEEP);
                }
                break;

                case RANGING_RESPONSE:
                {
                    ranging_env.slot_idx++;
                    // receive response
                    power_on_radio(0, 1);
                    sts_lsp_store();

                    target_time = ranging_env.anchor_point + ranging_env.slot_idx * ranging_env.slot_interval;
                    mac_rx(EVT_MODE_MAC_ASAP_PHY_FIX, target_time - UWB_RX_OPEN_IN_ADVANCE, UWB_RX_WINDOW);
                }
                break;

                case RANGING_FINAL:
                {
                    ranging_env.slot_idx++;
                    // Store tx timestamp
                    target_time = ranging_env.anchor_point + (1 + ranging_env.responder_num) * ranging_env.slot_interval;
                    ranging_env.tx_final_time = ranging_tx_time(target_time + phy_shr_duration());

                    // send final
                    ranging_final_pkt_construct();
                    power_on_radio(1, 0);
                    mac_tx(EVT_MODE_MAC_ASAP_PHY_FIX, target_time, 0, (uint8_t *)&ranging_user_pkt, MSG_HEADER_LEN + MSG_FINAL_USER_DATA_IDX);
                }
                break;

#if RANGING_RESULT_REPORT_EN
                case RANGING_RESULT:
                {
                    ranging_env.slot_idx++;
                    // receive result
                    power_on_radio(0, 1);
                    sts_lsp_store();

                    target_time = ranging_env.anchor_point + ranging_env.slot_idx * ranging_env.slot_interval;
                    mac_rx(EVT_MODE_MAC_ASAP_PHY_FIX, target_time - UWB_RX_OPEN_IN_ADVANCE, UWB_RX_WINDOW);
                }
                break;
#endif

                default:
                    ASSERT(0, "UNKNOWN STAGE\r\n");
                    break;
            }
        }
        else
        {
            switch (stage)
            {
                case RANGING_IDLE:
                    ASSERT(0, "RANGING_IDLE\r\n");
                    break;

                case RANGING_SYNC:
                {
                    ranging_env.anchor_point += ranging_env.ranging_period;
                    // receive sync
                    power_on_radio(0, 1);

                    if (uwb_app_config.session_param.aoa_result_req)
                    {
#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
                        // dynamic switch main antenna
                        phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 1, ranging_env.main_ant_id);
                        aoa_param_update(ranging_env.main_ant_id);
#else
                        phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
#endif
                    }
                    sts_lsp_store();

                    mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, ranging_env.ranging_period);
                    power_mode_request(POWER_UNIT_APP, POWER_MODE_SLEEP);
                    ranging_env.responder_final_flag = 0;
                }
                break;

                case RANGING_POLL:
                {
                    ranging_env.anchor_point += ranging_env.ranging_period;
                    // receive poll
                    power_on_radio(0, 1);

                    if (uwb_app_config.session_param.aoa_result_req)
                    {
#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
                        // dynamic switch main antenna
                        phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 1, ranging_env.main_ant_id);
                        aoa_param_update(ranging_env.main_ant_id);
#else
                        phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
#endif
                    }
                    sts_lsp_store();

                    target_time = ranging_env.anchor_point - LPM_PPM_COMPENSATION(LOW_POWER_CLOCK_PPM, uwb_app_config.session_param.ranging_interval);
                    mac_rx(EVT_MODE_MAC_ASAP_PHY_FIX, target_time - UWB_RX_OPEN_IN_ADVANCE,
                           UWB_RX_WINDOW + LPM_PPM_COMPENSATION(LOW_POWER_CLOCK_PPM, uwb_app_config.session_param.ranging_interval));
                    power_mode_request(POWER_UNIT_APP, POWER_MODE_SLEEP);
                    ranging_env.responder_final_flag = 0;
                }
                break;

                case RANGING_RESPONSE:
                {
                    // send response
                    ranging_response_pkt_construct();

                    target_time = ranging_env.anchor_point + (1 + ranging_env.responder_slot_idx) * ranging_env.slot_interval;

                    if (uwb_app_config.ranging_flow_mode == (uint8_t)RANGING_FLOW_CONTENTION)
                    {
                        power_on_radio(1, 1);
                        mac_tx(EVT_MODE_MAC_FIX_PHY_ASAP, target_time, 0, (uint8_t *)&ranging_user_pkt,
                               user_response_data_len + MSG_HEADER_LEN + MSG_RESPONSE_USER_DATA_IDX);
                    }
                    else
                    {
                        power_on_radio(1, 0);
                        mac_tx(EVT_MODE_MAC_ASAP_PHY_FIX, target_time, 0, (uint8_t *)&ranging_user_pkt,
                               user_response_data_len + MSG_HEADER_LEN + MSG_RESPONSE_USER_DATA_IDX);
                    }
                }
                break;

                case RANGING_FINAL:
                {
                    // receive final
                    power_on_radio(0, 1);

                    if (uwb_app_config.session_param.aoa_result_req)
                    {
#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
                        // dynamic switch main antenna
                        phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 1, ranging_env.main_ant_id);
                        aoa_param_update(ranging_env.main_ant_id);
#else
                        phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
#endif
                    }
                    sts_lsp_store();

                    target_time = ranging_env.anchor_point + (1 + ranging_env.responder_num) * ranging_env.slot_interval;
                    mac_rx(EVT_MODE_MAC_ASAP_PHY_FIX, target_time - UWB_RX_OPEN_IN_ADVANCE, UWB_RX_WINDOW);
                }
                break;

#if RANGING_RESULT_REPORT_EN
                case RANGING_RESULT:
                {
                    // send result
                    ranging_result_pkt_construct();
                    power_on_radio(1, 0);
                    target_time = ranging_env.anchor_point + (1 + ranging_env.responder_num + 1 + ranging_env.responder_slot_idx) * ranging_env.slot_interval;
                    mac_tx(EVT_MODE_MAC_ASAP_PHY_FIX, target_time, 0, (uint8_t *)&ranging_user_pkt,
                           user_response_data_len + MSG_HEADER_LEN + MSG_RESULT_INFO_LEN);
                }
                break;
#endif

                default:
                    ASSERT(0, "UNKNOWN STAGE\r\n");
                    break;
            }
        }

        mac_start();
    }
    else
    {
        power_mode_clear(POWER_UNIT_APP);
        LOG_INFO(TRACE_MODULE_APP, "Ranging stop\r\n");
    }
    // board_led_off(BOARD_LED_1);
}

enum RANGING_STAGE_T ranging_fsm(const struct MAC_HW_REPORT_T *ind)
{
    uint16_t status;
    struct RANGING_USER_PKT_T *ranging_recv_pkt = (struct RANGING_USER_PKT_T *)&ind->pkt_data[0];
    enum RANGING_STAGE_T stage = uwb_app_config.ranging_stage;

    // board_led_on(BOARD_LED_2);
    power_off_radio();
    if (ranging_env.enable)
    {
        ranging_env.count++;
        uint32_t target_time = ranging_env.anchor_point;

        if (uwb_app_config.session_param.device_role == DEV_ROLE_INITIATOR)
        {
            switch (stage)
            {
                case RANGING_IDLE:
                    break;

                case RANGING_POLL:
                {
                    // Store tx timestamp
                    ranging_env.tx_poll_time = ranging_tx_time(ind->timestamp);
                    ranging_env.anchor_point = ind->timestamp - phy_shr_duration();

                    if (ind->err_code == UWB_TX_OK)
                    {
                        target_time = ranging_env.anchor_point + ranging_env.slot_interval;
                        uwb_app_config.ranging_stage = RANGING_RESPONSE;
                    }
                    else
                    {
                        target_time = ranging_env.anchor_point + ranging_env.ranging_period;
                        uwb_app_config.ranging_stage = RANGING_POLL;
                    }

                    // process tx-poll packet
                    uwb_pkt_tx_done_ind(ind, stage);
                }
                break;

                case RANGING_RESPONSE:
                {
                    // process rx-response packet
                    status = uwb_pkt_rx_done_ind(ind, stage);
                    if (status == UWB_RX_OK)
                    {
                        if ((ranging_recv_pkt->session_id == ranging_user_pkt.session_id) && (ranging_recv_pkt->msg_type == RANGING_RESPONSE))
                        {
                            uint16_t responder_id = READ_SHORT(&ranging_recv_pkt->msg.response_msg[MSG_RESPONSE_RESPONDER_ID_IDX]);
                            uint8_t responder_idx = ranging_env.slot_idx - 1;

                            if (uwb_app_config.ranging_flow_mode == (uint8_t)RANGING_FLOW_CONTENTION)
                            {
                                ranging_responder_addr_set(responder_idx, responder_id);
                                ranging_env.rx_response_time[responder_idx] = ranging_rx_time(ind);
                                ranging_env.responder_response_flag |= (1 << responder_idx);
                            }
                            else
                            {
                                if (ranging_env.responder_list[responder_idx] == responder_id)
                                {
                                    // board_led_on(BOARD_LED_1);
                                    // fast - 74us
                                    // regular - 144us
                                    ranging_env.rx_response_time[responder_idx] = ranging_rx_time(ind);
                                    ranging_env.responder_response_flag |= (1 << responder_idx);
                                    // board_led_off(BOARD_LED_1);
                                }
                                else
                                {
                                    ranging_env.rx_response_time[responder_idx] = 0;
                                }
                            }
#if RANGING_FOM_FILTER_EN
                            // update response taps
                            ranging_env.frame[responder_idx].fap_valid =
                                first_path_align(ranging_env.frame[responder_idx].gaps, &ranging_env.frame[responder_idx].gaps_num, debug_csi.rframe[0].cir,
                                                 debug_csi.rframe[0].first_tap, PWR_TH, TAP_MARGIN);
#endif
                        }
                    }

                    if (ranging_env.slot_idx < ranging_env.responder_num)
                    {
                        target_time += (ranging_env.slot_idx + 1) * ranging_env.slot_interval;
                        uwb_app_config.ranging_stage = RANGING_RESPONSE;
                    }
                    else
                    {
                        if (ranging_env.responder_response_flag)
                        {
                            target_time += (ranging_env.slot_idx + 1) * ranging_env.slot_interval;
                            uwb_app_config.ranging_stage = RANGING_FINAL;
                        }
                        else
                        {
                            target_time += ranging_env.ranging_period;
                            uwb_app_config.ranging_stage = RANGING_POLL;
                        }
                    }
                    sts_lsp_store_stop();
                }
                break;

                case RANGING_FINAL:
                {
#if RANGING_RESULT_REPORT_EN
                    target_time += (ranging_env.slot_idx + 1) * ranging_env.slot_interval;
                    uwb_app_config.ranging_stage = RANGING_RESULT;
#else
                    target_time += ranging_env.ranging_period;
                    uwb_app_config.ranging_stage = RANGING_POLL;
#endif
                    // process tx-final packet
                    uwb_pkt_tx_done_ind(ind, stage);
                }
                break;
#if RANGING_RESULT_REPORT_EN
                case RANGING_RESULT:
                {
                    // process rx-result packet
                    status = uwb_pkt_rx_done_ind(ind, stage);
                    if (status == UWB_RX_OK)
                    {
                        uint8_t responder_idx = ranging_env.slot_idx - ranging_env.responder_num - 2;
                        if ((ranging_recv_pkt->session_id == ranging_user_pkt.session_id) && (ranging_recv_pkt->msg_type == RANGING_RESULT))
                        {
                            ranging_env.initiator_result_flag |= (1 << responder_idx);
                        }
                    }

                    if (ranging_env.slot_idx < (ranging_env.responder_num * 2 + 1))
                    {
                        target_time += (ranging_env.slot_idx + 1) * ranging_env.slot_interval;
                        uwb_app_config.ranging_stage = RANGING_RESULT;
                    }
                    else
                    {
                        target_time += ranging_env.ranging_period;
                        uwb_app_config.ranging_stage = RANGING_POLL;
                    }
                }
                break;
#endif
                default:
                    break;
            }
        }
        else
        {
            switch (stage)
            {
                case RANGING_IDLE:
                    break;
                case RANGING_SYNC:
                {
                    // process rx-poll packet
                    status = uwb_pkt_rx_done_ind(ind, RANGING_POLL);

                    if (status == UWB_RX_OK)
                    {
                        if (ranging_poll_pkt_process(ind->pkt_data, ind->pkt_len))
                        {
                            ranging_user_pkt.seq_num = ranging_recv_pkt->seq_num;
                            // update anchor point
                            ranging_env.anchor_point = ind->timestamp - phy_shr_duration();
                            ranging_env.rx_poll_time = ranging_rx_time(ind);
                            ranging_env.lost_cnt = 0;

                            target_time = ranging_env.anchor_point + (1 + ranging_env.responder_slot_idx) * ranging_env.slot_interval;
                            uwb_app_config.ranging_stage = RANGING_RESPONSE;
                            ranging_env.synced = 1;

#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
                            if (uwb_app_config.session_param.aoa_result_req)
                            {
                                // update main antenna
                                sts_rx_main_ant_get(&ranging_env.main_ant_id);
                            }
#endif
                        }
                    }

                    if (uwb_app_config.session_param.aoa_result_req)
                    {
                        phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params.sts_pkt_cfg, STS_NEVER_SWITCH, 0, 0);
                    }
                    sts_lsp_store_stop();
                }
                break;

                case RANGING_POLL:
                {
                    // process rx-poll packet
                    status = uwb_pkt_rx_done_ind(ind, stage);

                    if ((status == UWB_RX_OK) && ranging_poll_pkt_process(ind->pkt_data, ind->pkt_len))
                    {
                        ranging_user_pkt.seq_num = ranging_recv_pkt->seq_num;
                        // update anchor point
                        ranging_env.anchor_point = ind->timestamp - phy_shr_duration();
                        ranging_env.rx_poll_time = ranging_rx_time(ind);
                        ranging_env.lost_cnt = 0;

                        target_time = ranging_env.anchor_point + (1 + ranging_env.responder_slot_idx) * ranging_env.slot_interval;
                        uwb_app_config.ranging_stage = RANGING_RESPONSE;

#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
                        if (uwb_app_config.session_param.aoa_result_req)
                        {
                            // update main antenna
                            sts_rx_main_ant_get(&ranging_env.main_ant_id);
                        }
#endif
                    }
                    else
                    {
                        target_time += ranging_env.ranging_period;
                        ranging_env.lost_cnt++;
                    }

                    if (ranging_env.lost_cnt > 3)
                    {
                        // receive sync again
                        uwb_app_config.ranging_stage = RANGING_SYNC;
                    }

                    if (uwb_app_config.session_param.aoa_result_req)
                    {
                        phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params.sts_pkt_cfg, STS_NEVER_SWITCH, 0, 0);
                    }
                    sts_lsp_store_stop();
                }
                break;

                case RANGING_RESPONSE:
                {
                    // Store tx timestamp
                    ranging_env.tx_response_time = ranging_tx_time(ind->timestamp);

                    if (ind->err_code == UWB_TX_OK)
                    {
                        target_time += ranging_env.slot_interval * (1 + ranging_env.responder_num);
                        uwb_app_config.ranging_stage = RANGING_FINAL;
                    }
                    else
                    {
                        target_time += ranging_env.ranging_period;
#if ASYNC_MODE_EN
                        uwb_app_config.ranging_stage = RANGING_SYNC;
#else
                        uwb_app_config.ranging_stage = RANGING_POLL;
#endif
                    }

                    // process tx-response packet
                    uwb_pkt_tx_done_ind(ind, stage);
                }
                break;

                case RANGING_FINAL:
                {
                    // process rx-final packet
                    status = uwb_pkt_rx_done_ind(ind, stage);

                    if ((status == UWB_RX_OK) && (ranging_recv_pkt->session_id == ranging_user_pkt.session_id) && (ranging_recv_pkt->msg_type == RANGING_FINAL))
                    {
                        ranging_env.rx_final_time = ranging_rx_time(ind);
                        ranging_env.lost_cnt = 0;
                        ranging_env.responder_final_flag = 0x1;

#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
                        if (uwb_app_config.session_param.aoa_result_req)
                        {
                            // update main antenna
                            sts_rx_main_ant_get(&ranging_env.main_ant_id);
                        }
#endif
                    }
                    else
                    {
                        ranging_env.lost_cnt++;
                    }
#if RANGING_RESULT_REPORT_EN
                    if (ranging_env.lost_cnt == 0)
                    {
                        target_time =
                            ranging_env.anchor_point + (1 + ranging_env.responder_num + 1 + ranging_env.responder_slot_idx) * ranging_env.slot_interval;
                        uwb_app_config.ranging_stage = RANGING_RESULT;
                    }
                    else
#endif
                    {
                        target_time += ranging_env.ranging_period;

#if ASYNC_MODE_EN
                        uwb_app_config.ranging_stage = RANGING_SYNC;
#else
                        uwb_app_config.ranging_stage = RANGING_POLL;
#endif
                    }

                    if (uwb_app_config.session_param.aoa_result_req)
                    {
                        phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params.sts_pkt_cfg, STS_NEVER_SWITCH, 0, 0);
                    }
                    sts_lsp_store_stop();
                }
                break;

#if RANGING_RESULT_REPORT_EN
                case RANGING_RESULT:
                {
                    target_time += ranging_env.ranging_period;

#if ASYNC_MODE_EN
                    uwb_app_config.ranging_stage = RANGING_SYNC;
#else
                    uwb_app_config.ranging_stage = RANGING_POLL;
#endif
                    // process tx-result packet
                    uwb_pkt_tx_done_ind(ind, stage);
                }
                break;
#endif

                default:
                    break;
            }
        }

        stage = uwb_app_config.ranging_stage;
        if (RANGING_POLL == stage)
        {
            power_mode_request(POWER_UNIT_APP, POWER_MODE_POWER_DOWN);
            phy_timer_target_set(
                target_time - UWB_PERIOD_PREFETCH_TIME - LPM_PPM_COMPENSATION(LOW_POWER_CLOCK_PPM, uwb_app_config.session_param.ranging_interval),
                ranging_timer_callback);
        }
        else if (RANGING_SYNC == stage)
        {
            sts_lsp_store();
            // receive sync again
            power_on_radio(0, 1);
            mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, ranging_env.ranging_period);
            mac_start();
            ranging_env.synced = 0;
        }
        else
        {
            phy_timer_target_set(target_time - UWB_EVT_PREFETCH_TIME, ranging_timer_callback);
        }
    }
    else
    {
        power_mode_clear(POWER_UNIT_APP);
        LOG_INFO(TRACE_MODULE_APP, "Ranging stop\r\n");
    }
    // board_led_off(BOARD_LED_2);

    return stage;
}
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#pragma clang diagnostic pop
#endif

static void uwb_pkt_tx_done_ind(const struct MAC_HW_REPORT_T *tx, enum RANGING_STAGE_T stage)
{
    struct UWB_PKT_TX_DONE_IND_T *ind;
    if ((ind = WsfMsgAlloc(sizeof(struct UWB_PKT_TX_DONE_IND_T) + tx->pkt_len)) != NULL)
    {
        ind->hdr.event = UWB_PKT_TX_DONE_MSG;
        ind->ranging_stage = (uint8_t)stage;
        ind->status = tx->err_code;

        ind->tx_len = tx->pkt_len;

        if ((ind->tx_len) && (tx->pkt_data != NULL))
        {
            memcpy(ind->tx_data, tx->pkt_data, tx->pkt_len);
        }

        // Send the message
        WsfMsgSend(ranging_cb.handle_id, ind);
    }
    else
    {
        LOG_WARNING(TRACE_MODULE_UWB, "memory is not enough for UWB_PKT_TX_DONE_IND_T\r\n");
    }
}

#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wcast-qual"
#endif
static uint16_t uwb_pkt_rx_done_ind(const struct MAC_HW_REPORT_T *rx, enum RANGING_STAGE_T stage)
{
    // send an indication to application
    struct UWB_PKT_RX_DONE_IND_T *ind = WsfMsgAlloc(sizeof(struct UWB_PKT_RX_DONE_IND_T) + rx->pkt_len);

    if (ind != NULL)
    {
        ind->hdr.event = UWB_PKT_RX_DONE_MSG;
        ind->ranging_stage = (uint8_t)stage;
        ind->status = rx->err_code;
        ind->rssi = rx->rssi;
        ind->snr = rx->snr;

        if (rx->err_code == UWB_RX_OK)
        {
            uint8_t sts_pkt_cfg = (rx->phy_header >> 28) & 0x3;
            if ((sts_pkt_cfg != SP0) && (sts_valid_check() == 0))
            {
                ind->status |= UWB_STS_ERR;
            }

            if ((rx->pkt_len) && (rx->pkt_data != NULL))
            {
                memcpy(ind->rx_data, rx->pkt_data, rx->pkt_len);
            }
            ind->rx_len = rx->pkt_len;
        }

#if RANGING_FOM_FILTER_EN
        if (ranging_debug_csi_en_get())
        {
            uint8_t frame_idx = (ind->ranging_stage == RANGING_FINAL ? 1 : 0);
            debug_csi.frame_idx = frame_idx;
            debug_csi.rframe_idx = frame_idx;

            uint32_t val = REG_READ(0x40003050);
            debug_csi.frame[frame_idx].rf_gain = (val & 0x07);
            debug_csi.frame[frame_idx].bb_gain = ((val >> 3) & 0x1f);
            debug_csi.frame[frame_idx].bd_cnt = phy_bd_cnt_get();
            debug_csi.frame[frame_idx].sfd_cnt = phy_sfd_cnt_get();
            debug_csi.frame[frame_idx].error_code = ind->status;
            if (rx->err_code != 0x0830)
            {
                debug_csi.frame[frame_idx].rssi = ind->rssi;
                debug_csi.frame[frame_idx].snr = ind->snr;

                dump_preamble_cir(frame_idx, 128);
                dump_sts_cir(frame_idx);
            }
        }
#endif

        // Send the message
        WsfMsgSend(ranging_cb.handle_id, ind);
        return ind->status;
    }
    else
    {
        LOG_WARNING(TRACE_MODULE_UWB, "memory is not enough for UWB_PKT_RX_DONE_IND_T %d\r\n", rx->pkt_len);
        return 0xFFFF;
    }
}
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#pragma clang diagnostic pop
#endif

static void ranging_tx_process(struct MAC_HW_REPORT_T *tx_report)
{
    ranging_fsm(tx_report);
}

static void ranging_rx_process(struct MAC_HW_REPORT_T *rx_report)
{
    ranging_fsm(rx_report);
}