/*
 * 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_uwb.h"
#include "mk_aes.h"
#include "mk_power.h"
#include "mk_misc.h"

#include "lib_aoa.h"
#include "lib_ranging.h"
#include "ranging_fira.h"
#include "uwb_twr.h"
#ifdef RADAR_EN
#include "uwb_radar.h"
#endif
#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 3
#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

struct RANGING_ENV_T ranging_env;
uint8_t fira_uwb_tx_buf[PHY_PAYLOAD_LEN_MAX];

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_dynamic_update_responder_list = ranging_dynamic_update_respoder_list,
    .session_set_ccc_ursk = NULL,
#ifdef RADAR_EN
    .vendor_session_configure = uwb_radar_configure,
    .vendor_session_start = uwb_radar_start,
    .vendor_session_stop = uwb_radar_stop,
#else
    .vendor_session_configure = NULL,
    .vendor_session_start = NULL,
    .vendor_session_stop = NULL,
#endif
};

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());

    return 0;
}

int ranging_deinit(void)
{
    return 0;
}

// This function will be called by 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);
}

void ranging_configure(void)
{
    fira_keys_generate();

    aes_update_key(AES_ID0, &fira_key.devPayKey.ukey.keyByte[0]);
    mac_update_ccm_key((uint32_t *)&fira_key.devPayKey.ukey.keyWord[0]);

    uwb_app_config.ranging_stage = RANGING_IDLE;

    ranging_env.uwb_period_prefetch_time = UWB_PERIOD_PREFETCH_TIME + LPM_PPM_COMPENSATION(LOW_POWER_CLOCK_PPM, uwb_app_config.session_param.ranging_interval);
    ranging_env.uwb_evt_prefetch_time = UWB_EVT_PREFETCH_TIME;
    ranging_env.uwb_rx_open_in_advance = UWB_RX_OPEN_IN_ADVANCE;
    ranging_env.uwb_rx_window = UWB_RX_WINDOW;
    ranging_env.uwb_rx_open_in_advance_wakeup =
        UWB_RX_OPEN_IN_ADVANCE + LPM_PPM_COMPENSATION(LOW_POWER_CLOCK_PPM, uwb_app_config.session_param.ranging_interval);
    ranging_env.uwb_rx_window_wakeup = UWB_RX_WINDOW + LPM_PPM_COMPENSATION(LOW_POWER_CLOCK_PPM, uwb_app_config.session_param.ranging_interval);
    ranging_env.ranging_period = MS_TO_PHY_TIMER_COUNT(uwb_app_config.session_param.ranging_interval);

    ranging_env.slots_per_block = (uint16_t)(uwb_app_config.session_param.ranging_interval / RSTU_TO_MS(uwb_app_config.session_param.slot_duration));
    ASSERT(ranging_env.slots_per_block >= uwb_app_config.session_param.slots_per_round, "Ranging block parameters configure wrong");

    ranging_env.slot_interval = RSTU_TO_PHY_TIMER_COUNT(uwb_app_config.session_param.slot_duration);
    ranging_env.round_duration = ranging_env.slot_interval * uwb_app_config.session_param.slots_per_round;
    ranging_env.nround_inblock = ranging_env.slots_per_block / uwb_app_config.session_param.slots_per_round;
    ranging_env.enable = 0;

    ranging_env.slot_idx = 0;
    // initial value of one-to-one case
    ranging_env.responder_slot_idx[SLOT_RESPONSE] = 2; // for response
    ranging_env.responder_slot_idx[SLOT_FINAL] = 3;    // for final
    ranging_env.responder_slot_idx[SLOT_REPORT] = 4;   // for report
    ranging_env.responder_slot_idx[SLOT_RESULT] = 5;   // for result
    ranging_env.tof = 0;

    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;
    ranging_env.stride_length = uwb_app_config.session_param.stride_length;
    ranging_env.round_offset_in_block = 0;
    ranging_env.next_round_index = 0;
    if (ranging_env.stride_length > 0)
    {
        ranging_env.phy_sts_index = fira_key.phyStsIdxInit - (ranging_env.stride_length + 1) * ranging_env.slots_per_block;
    }
    else
    {
        ranging_env.phy_sts_index = fira_key.phyStsIdxInit - ranging_env.slots_per_block;
    }

    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;
    aoa_span.Ndim = 2;
    aoa_span.el_low = 90;
    aoa_span.el_high = 90;
    aoa_span.el_step = 1;
    aoa_span.az_low = 0;
    aoa_span.az_high = 359;
    aoa_span.az_step = 1;
    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

    LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_FIRA, "slot duration %d slots per round %d ranging interval %d\r\n",
             uwb_app_config.session_param.slot_duration, uwb_app_config.session_param.slots_per_round, uwb_app_config.session_param.ranging_interval);
}

void ranging_start(void)
{
    ranging_env.enable = 1;
    ranging_env.lost_cnt = 0xFF;
    ranging_env.anchor_point = phy_timer_count_get();
    ranging_env.slot_idx = 0;
#if FIRA_TEST_EN
    ranging_env.num_of_measure = 0;
    uwb_app_config.session_param.result_report_config = (uwb_app_config.session_param.aoa_result_req) ? 0x0F : 1;
#endif
    ranging_env.is_hopping = uwb_app_config.session_param.hopping_mode;
    enum DEV_ROLE_T role = uwb_app_config.session_param.device_role;
    if ((role == DEV_ROLE_INITIATOR) || (role == DEV_ROLE_GATE_CONTROLLER))
    {
        uwb_app_config.ranging_stage = RANGING_RCM;
        phy_timer_target_set(ranging_env.anchor_point + ranging_env.ranging_period - ranging_env.uwb_period_prefetch_time, session_timer_callback);
        power_mode_request(POWER_UNIT_APP, POWER_MODE_POWER_DOWN);
    }
    else
    {
        ranging_env.is_hopping = 0;
        ranging_env.stride_length = 0;
        ranging_env.round_offset_in_block = 0;
        ranging_env.next_round_index = 0;
        uwb_app_config.ranging_stage = RANGING_SYNC;
        phy_sts_pkt_cfg_set(SP0);
        ranging_update_slot_index(ranging_env.slot_idx);
        power_on_radio(0, 1);
        mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, ranging_env.ranging_period);
        mac_start();
        power_mode_request(POWER_UNIT_APP, POWER_MODE_SLEEP);
    }

    ranging_env.count = 0;
    ranging_env.count_last = 0;
    uwb_app_config.ranging_count = 0;

    ranging_monitor_start(uwb_app_config.session_param.ranging_interval * 10);
    LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "Ranging start, role %d\r\n", uwb_app_config.session_param.device_role);
}

void ranging_stop(void)
{
    ranging_env.enable = 0;
    ranging_monitor_stop();
    LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "Ranging stop\r\n");
}

void ranging_restart(void)
{
    ranging_stop();
    mac_restart();
    mac_update_ccm_key((uint32_t *)&fira_key.devPayKey.ukey.keyWord[0]);
    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_measurements_clear(void)
{
    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;
    }
}

void ranging_monitor_start(uint32_t time_ms)
{
    WsfTimerStartMs(&ranging_cb.daemon_timer, time_ms, WSF_TIMER_PERIODIC);
}

void ranging_monitor_stop(void)
{
    WsfTimerStop(&ranging_cb.daemon_timer);
}

#if MCTT_TEST_EN
extern void ranging_round_print_ind(void);
void ranging_round_print_ind(void)
{
    struct RANGING_ROUND_PRINT_IND_T *ind;
    if ((ind = WsfMsgAlloc(sizeof(struct RANGING_ROUND_PRINT_IND_T))) != NULL)
    {
        ind->hdr.event = RANGING_ROUND_PRINT_MSG;

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

void uwb_pkt_tx_done_ind(const struct MAC_HW_REPORT_T *tx, enum RANGING_STAGE_T stage, uint8_t slot_idx)
{
    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->slot_idx = slot_idx;
        ind->status = tx->err_code;
#if MCTT_TEST_EN
        ind->timestamp = tx->timestamp;
        ind->phy_shr_duration = phy_shr_duration();
#endif
        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
uint16_t uwb_pkt_rx_done_ind(const struct MAC_HW_REPORT_T *rx, enum RANGING_STAGE_T stage, uint8_t slot_idx)
{
    // 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->slot_idx = slot_idx;
        ind->status = rx->err_code;
        ind->rssi = rx->rssi;
        ind->snr = rx->snr;

#if MCTT_TEST_EN
        ind->timestamp = rx->timestamp;
#endif

        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 MCTT_TEST_EN
        ind->phy_header = rx->phy_header;
#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\r\n");
        return 0xFFFF;
    }
}
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#pragma clang diagnostic pop
#endif

void distance_result_filter(uint8_t *mac_addr, uint16_t *distance)
{
    if (distance == NULL)
    {
        return;
    }

#if KF_EN
    float post_range;
    float range_meas = (float)*distance / 100;
    // call filter
    loc_kf_filter(range_meas, KF_DATA_TYPE_RANGING, mac_addr, &post_range);
    // update distance
    *distance = (uint16_t)(post_range * 100);
    // LOG_INFO(TRACE_MODULE_APP, "Peer %X, $%u %u;\r\n", READ_SHORT(mac_addr), (uint16_t)(range_meas*100),(uint16_t)(post_range*100));
#endif
}

void angle_result_filter(uint8_t *mac_addr, int16_t *angle, uint8_t type)
{
    if (angle == NULL)
    {
        return;
    }

#if KF_EN
    float post_angle;
    float angle_meas = mk_q7_to_f32(*angle);
    // call filter
    loc_kf_filter(angle_meas, (enum KF_DATA_TYPE_T)type, mac_addr, &post_angle);
    // update angle
    *angle = mk_f32_to_q7(post_angle);
    // LOG_INFO(TRACE_MODULE_APP, "Peer %X, $%d %d;\r\n", READ_SHORT(mac_addr), (int16_t)angle_meas,(int16_t)post_angle);
#endif
}

void ranging_result_filter(uint8_t *mac_addr, uint16_t *distance, int16_t *azimuth, int16_t *elevation)
{
#if KF_EN
    if (distance)
    {
        distance_result_filter(mac_addr, distance);
    }
    if (azimuth)
    {
        angle_result_filter(mac_addr, azimuth, KF_DATA_TYPE_AZIMUTH);
    }
    if (elevation)
    {
        angle_result_filter(mac_addr, elevation, KF_DATA_TYPE_ELEVATION);
    }
#else
    // do not support multi-channel
    if ((distance == NULL) || (azimuth == NULL))
    {
        return;
    }

    float post_range, post_azimuth;
    int azimuth_meas = mk_q7_to_s16(*azimuth);
    float range_meas = (float)*distance;
    // call filter
    loc_post_filter(0, range_meas, azimuth_meas, &post_range, &post_azimuth);
    // update distance
    *distance = (uint16_t)(post_range);
    // update angle
    *azimuth = mk_f32_to_q7(post_azimuth);

    // LOG_INFO(TRACE_MODULE_APP, "$%u %u %d %d;\r\n", (uint16_t)(range_meas*100), (uint16_t)(post_range*100),(int16_t)azimuth_meas, (int16_t)post_azimuth);
#endif
}

int measure_report_handler(const struct UWB_PKT_RX_DONE_IND_T *ind)
{
    int ret = 0;
    struct RANGING_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];

    if (uwb_app_config.session_param.ranging_round_usage == DS_TWR_DEFERRED || uwb_app_config.session_param.ranging_round_usage == DS_TWR)
    {
        if (1 == measurement_report_message_type1_process(ind->rx_data, ind->rx_len))
        {
            int64_t Tround1 = 0;
            int64_t Tround2 = ranging_tround(DEV_ROLE_RESPONDER, 0);
            int64_t Treply1 = ranging_treply(DEV_ROLE_RESPONDER, 0);
            int64_t Treply2 = 0;

            struct MEASUREMENT_REPORT_TYPE1_INFO *p_info = &uwb_fira_msg_info.mrm_type1;

            for (uint8_t n = 0; n < p_info->reply_time_num; n++)
            {
                if (p_info->reply_time_list[n].address == uwbs_local_short_addr_get())
                {
                    Treply2 = p_info->reply_time_list[n].reply_time;
                    break;
                }
            }

            if (Treply2)
            {
                Tround1 = p_info->first_round_trip_time + p_info->reply_time_list[0].reply_time - Treply2;
            }

            // LOG_INFO(TRACE_MODULE_FIRA, "Tround1 %u Treply1 %u Tround2 %u Treply2 %u\r\n",
            // (uint32_t)Tround1,(uint32_t)Treply1,(uint32_t)Tround2,(uint32_t)Treply2);

            if ((Tround1) && (Treply1) && (Tround2) && (Treply2))
            {
                int64_t tof_i = (Tround1 * Tround2 - Treply1 * Treply2) / (Tround1 + Tround2 + Treply1 + Treply2);
                // outlier filter
                if (tof_i < 0)
                {
                    tof_i = 0;
                }
                ranging_env.tof = (uint32_t)tof_i;

                double tof_f = (double)TIMESTAMP_UNIT_TO_NS(ranging_env.tof);
                range_result->distance = (uint16_t)(tof_f * 0.299702547 * VP_VAL - RANGING_CORR);

                // LOG_INFO(TRACE_MODULE_FIRA, "Tround1 %lld Treply1 %lld Tround2 %lld Treply2 %lld\r\n", Tround1, Treply1, Tround2, Treply2);
                ret = 1;
            }
        }
        else
        {
            range_result->status = STATUS_FAILED;
        }
    }
    else if (uwb_app_config.session_param.ranging_round_usage == SS_TWR_DEFERRED)
    {
#if FIRA_TEST_EN
        volatile int64_t Tround = 0;
        volatile int64_t Treply = ranging_treply(DEV_ROLE_RESPONDER, 0);
        // Measurement Report Message Type 2
        // 34-35    --> Message Control
        // 36-37 --> Round Index
        // 40... --> Round-trip Time List
        uint8_t responder_num = (ind->rx_data[34] >> 2);
        for (uint8_t n = 0; n < responder_num; n++)
        {
            uint16_t addr = READ_SHORT(&ind->rx_data[38 + 6 * n]);
            if (addr == uwbs_local_short_addr_get())
            {
                Tround = (int64_t)READ_WORD(&ind->rx_data[40 + 6 * n]);
                break;
            }
        }
#else
        int64_t Tround = 0;
        int64_t Treply = ranging_treply(DEV_ROLE_RESPONDER, 0);

        // 34    --> Message Control
        // 35-36 --> Round Index
        // 37... --> Round-trip Time List
        uint8_t responder_num = (ind->rx_data[34] >> 2);
        for (uint8_t n = 0; n < responder_num; n++)
        {
            uint16_t addr = READ_SHORT(&ind->rx_data[37 + 6 * n]);
            if (addr == uwbs_local_short_addr_get())
            {
                Tround = READ_WORD(&ind->rx_data[39 + 6 * n]);
                break;
            }
        }
#endif
        // LOG_INFO(TRACE_MODULE_FIRA, "Tround: %lld, Treply: %lld\r\n", Tround, Treply);

        if ((Tround) && (Treply))
        {
            // corrected by frequency offset
            // Treply = (int64_t)((double)Treply * (1 - (double)ranging_env.freq_offset_filter / ch_center_freq_map[uwb_app_config.ppdu_params.ch_num]));
            Tround = (int64_t)((double)Tround * (1 + (double)ranging_env.freq_offset_filter / ch_center_freq_map[uwb_app_config.ppdu_params.ch_num]));

            int64_t tof_i = (Tround - Treply) / 2;

            // outlier filter
            if (tof_i < 0)
            {
                tof_i = 0;
            }
            ranging_env.tof = (uint32_t)tof_i;

            double tof_f = (double)TIMESTAMP_UNIT_TO_NS(ranging_env.tof);
            range_result->distance = (uint16_t)(tof_f * 0.299702547 * VP_VAL - RANGING_CORR);

            ret = 1;
        }
        else
        {
            range_result->status = STATUS_FAILED;
        }
    }
    else if (uwb_app_config.session_param.ranging_round_usage == SS_TWR)
    {
        if (1 == measurement_report_message_type2_process(ind->rx_data, ind->rx_len))
        {
            struct MEASUREMENT_REPORT_TYPE2_INFO *p_info = &uwb_fira_msg_info.mrm_type2;

            volatile int64_t Tround = ranging_tround(DEV_ROLE_INITIATOR, ind->slot_idx - 1);
            volatile int64_t Treply = p_info->flag_reply_time == 1 ? p_info->reply_time : 0;

            if ((Tround) && (Treply))
            {
                int64_t tof_i = (Tround - Treply) / 2;

                // outlier filter
                if (tof_i < 0)
                {
                    tof_i = 0;
                }
                ranging_env.tof = (uint32_t)tof_i;

                double tof_f = (double)TIMESTAMP_UNIT_TO_NS(ranging_env.tof);
                range_result->distance = (uint16_t)(tof_f * 0.299702547 * VP_VAL - RANGING_CORR);

                ret = 1;
            }
            else
            {
                range_result->status = STATUS_FAILED;
            }
        }
        else
        {
            range_result->status = STATUS_FAILED;
        }
    }

    return ret;
}

int ranging_result_report_handler(const struct UWB_PKT_RX_DONE_IND_T *ind)
{
    int ret = 0;
    uint8_t slot_idx = (ranging_env.result_flag >> 8) & 0xFF;
    uint8_t status = ranging_env.result_flag & 0xFF;

    // 1. update
    if (status & 0x1)
    {
        uint32_t tof = 0;
        int16_t azimuth = 0;
        int16_t elevation = 0;
        uint8_t azimuth_fom = 0;
        uint8_t elevation_fom = 0;

        // process rx-result packet
        uint8_t flag = ind->rx_data[34];
        if (flag & 0x01)
        {
            tof = READ_WORD(&ind->rx_data[35]);
        }
        if (flag & 0x02)
        {
            azimuth = (int16_t)READ_SHORT(&ind->rx_data[39]);
        }
        if (flag & 0x04)
        {
            elevation = (int16_t)READ_SHORT(&ind->rx_data[41]);
            if (flag & 0x08)
            {
                azimuth_fom = ind->rx_data[43];
                elevation_fom = ind->rx_data[44];
            }
        }
        else
        {
            if (flag & 0x08)
            {
                azimuth_fom = ind->rx_data[41];
                elevation_fom = ind->rx_data[42];
            }
        }

        uint8_t initiator_tx_slot_count = 0;
        if (uwb_app_config.session_param.ranging_round_usage == DS_TWR_DEFERRED)
        {
            initiator_tx_slot_count = 4; // rcm + poll + final + report
        }
        else if (uwb_app_config.session_param.ranging_round_usage == SS_TWR_DEFERRED)
        {
            initiator_tx_slot_count = 3; // rcm + poll + report
        }
        else if (uwb_app_config.session_param.ranging_round_usage == DS_TWR)
        {
            initiator_tx_slot_count = 2; // poll + final
        }

        uint8_t responder_idx = slot_idx - initiator_tx_slot_count - ranging_responder_num_get();
        uint16_t target_addr = ranging_responder_addr_get(responder_idx);
        double tof_f = (double)TIMESTAMP_UNIT_TO_NS(tof);

        struct RANGING_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[responder_idx];

        range_result->mac_addr[0] = target_addr & 0xff;
        range_result->mac_addr[1] = (target_addr >> 8) & 0xff;

        // update distance
        range_result->distance = (uint16_t)(tof_f * 0.299702547 * VP_VAL - RANGING_CORR);

        // update destination angles
        range_result->aoa_dst_azimuth = uwbapi_angle_ota_format_to_q7(azimuth, 180);
        range_result->aoa_dst_elevation = uwbapi_angle_ota_format_to_q7(elevation, 90);
        range_result->aoa_dst_azimuth_fom = azimuth_fom;
        range_result->aoa_dst_elevation_fom = elevation_fom;

        if (range_result->status == STATUS_RANGING_RX_RESPONSE_OK)
        {
            // check this flag to send out measurement report
            range_result->status = STATUS_OK;
            ranging_env.range_data.measurements_num++;
            if (uwb_app_config.session_param.aoa_result_req == 0)
            {
                range_result->aoa_azimuth = 0;
                range_result->aoa_elevation = 0;
            }

#if FILTER_EN
            if (uwb_app_config.filter_en)
            {
                // multi-channel filter process
#if PDOA_3D_EN
                ranging_result_filter(range_result->mac_addr, NULL, &range_result->aoa_azimuth, &range_result->aoa_elevation);
#endif
            }
#endif

            if (uwb_app_config.session_param.aoa_result_req)
            {
                board_ranging_result_correct(&range_result->distance, &range_result->aoa_azimuth, &range_result->aoa_elevation);
            }
        }
    }

    // 2. complete
    if ((status & 0x2) && (ranging_env.range_data.measurements_num))
    {
        ret = 1;
    }

    // LOG_INFO(TRACE_MODULE_FIRA, "result report %x %d\r\n", ranging_env.result_flag, ret);

    return ret;
}

void session_timer_callback(void *dev, uint32_t time)
{
    // LOG_INFO(TRACE_MODULE_FIRA, "PHY timer slot %d\r\n", ranging_env.slot_idx);
    // board_led_on(BOARD_LED_2);

    if (uwb_app_config.session_param.ranging_round_usage == DS_TWR_DEFERRED || uwb_app_config.session_param.ranging_round_usage == SS_TWR_DEFERRED)
    {
        ds_twr_phy_timer_callback(dev, time);
    }
    else if (uwb_app_config.session_param.ranging_round_usage == DS_TWR || uwb_app_config.session_param.ranging_round_usage == SS_TWR)
    {
        ds_twr_non_deferred_phy_timer_callback(dev, time);
    }

    // board_led_off(BOARD_LED_2);
}

enum RANGING_STAGE_T session_fsm(const struct MAC_HW_REPORT_T *ind)
{
    // LOG_INFO(TRACE_MODULE_FIRA, "FSM %02x slot %d\r\n", uwb_app_config.ranging_stage, ranging_env.slot_idx);
    // board_led_on(BOARD_LED_2);
    enum RANGING_STAGE_T stage = RANGING_IDLE;

    if (uwb_app_config.session_param.ranging_round_usage == DS_TWR_DEFERRED || uwb_app_config.session_param.ranging_round_usage == SS_TWR_DEFERRED)
    {
        stage = ds_twr_fsm(ind);
    }
    else if (uwb_app_config.session_param.ranging_round_usage == DS_TWR || uwb_app_config.session_param.ranging_round_usage == SS_TWR)
    {
        stage = ds_twr_non_deferred_fsm(ind);
    }

    // board_led_off(BOARD_LED_2);
    return stage;
}

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

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