/*
 * 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_wdt.h"
#include "mk_reset.h"
#include "mk_gpio.h"
#include "mk_misc.h"
#include "mk_sleep_timer.h"
#include "mk_power.h"
#include "mk_uwb.h"
#include "mk_calib.h"
#include "mk_flash.h"

#include "board.h"

#include "pal_sys.h"
#include "wsf_os.h"
#include "wsf_timer.h"
#include "wsf_buf.h"
#include "wsf_nvm.h"

#include "app.h"
#include "aoa.h"
#include "uwb_api.h"
#include "libc_rom.h"

#define RESPONDER_NUM (1)

//*****************************************************************************
//
// WSF buffer pools.
//
//*****************************************************************************
#define WSF_BUF_POOLS 5

// Default pool descriptor.
static wsfBufPoolDesc_t poolDescriptors[WSF_BUF_POOLS] = {
    {32, 26}, {64, 24}, {128, 4}, {256 + 32, 4}, {1024 + 32, 2},
};

static void sleep_timer_callback(void *dev, uint32_t time)
{
    // LOG_INFO(TRACE_MODULE_APP, "Wake up by sleep timer %d\r\n", time);
}

static void app_aoa_report_callback(void *report)
{
    struct AOA_REPORT_T *rpt = (struct AOA_REPORT_T *)report;

    if (rpt->sts_valid)
    {
#if AOA_3D_EN || PDOA_3D_EN
        LOG_INFO(TRACE_MODULE_APP, "AoA Azimuth %d Elevation %d Azimuth FoM %u\r\n", mk_q7_to_s16(rpt->azimuth), mk_q7_to_s16(rpt->elevation), rpt->fom);
#elif AOA_EN
        LOG_INFO(TRACE_MODULE_APP, "AoA Azimuth %d FoM %u\r\n", mk_q7_to_s16(rpt->azimuth), rpt->fom);
#else
        LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", rpt->pdoa[0], rpt->pdoa[1], rpt->pdoa[2]);
        LOG_INFO(TRACE_MODULE_APP, "STS RSSI: %f %f %f %f\r\n", rpt->sts_rssi[0], rpt->sts_rssi[1], rpt->sts_rssi[2], rpt->sts_rssi[3]);
        LOG_INFO(TRACE_MODULE_APP, "ANT0 IQ: %f %f\r\n", rpt->iq[0], rpt->iq[1]);
        LOG_INFO(TRACE_MODULE_APP, "ANT1 IQ: %f %f\r\n", rpt->iq[2], rpt->iq[3]);
        LOG_INFO(TRACE_MODULE_APP, "ANT2 IQ: %f %f\r\n", rpt->iq[4], rpt->iq[5]);
        LOG_INFO(TRACE_MODULE_APP, "ANT3 IQ: %f %f\r\n", rpt->iq[6], rpt->iq[7]);
#endif
    }
    else
    {
        LOG_INFO(TRACE_MODULE_APP, "STS Invalid\r\n");
    }
}

static void board_init(void)
{
    // Clock configuration
    board_clock_run();
    // Pin configuration
    board_pins_config();
    // Trace configuration
    board_debug_console_open(TRACE_PORT_UART0);
    // Reset reason
    reset_cause_get();
    reset_cause_clear();

    // Load calibration parameters from NVM
    uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
    uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
    if (internal_flash || external_flash == 1)
    {
        WsfNvmInit();
        board_calibration_params_load();
        flash_close(FLASH_ID0);
    }
    else
    {
        board_calibration_params_default();
    }

    // Chip calibration
    calib_chip();

    // Configure IO_02 for role selection
    gpio_open();
    gpio_pin_set_dir(IO_PIN_2, GPIO_DIR_IN, 0);
    io_pull_set(IO_PIN_2, IO_PULL_UP, IO_PULL_UP_LEVEL1);

    board_led_init();
    board_configure();
}

int main(void)
{
    // Initialize MCU system
    board_init();

    // Disable watchdog timer
    wdt_close(WDT_ID0);
    LOG_INFO(TRACE_MODULE_APP, "AoA example\r\n");

    // Platform init for WSF
    PalSysInit();

    // Initialize os

    //
    // Set up timers for the WSF scheduler.
    //
    WsfOsInit();
    WsfTimerInit();
    sys_tick_callback_set(WsfTimerUpdateTicks);

    //
    // Initialize a buffer pool for WSF dynamic memory needs.
    //
    uint32_t wsfBufMemLen = WsfBufInit(WSF_BUF_POOLS, poolDescriptors);

    if (wsfBufMemLen > FREE_MEM_SIZE)
    {
        LOG_INFO(TRACE_MODULE_APP, "Memory pool is not enough %d\r\n", wsfBufMemLen - FREE_MEM_SIZE);
    }

    //
    // Create app task
    //
    wsfHandlerId_t handlerId = WsfOsSetNextHandler(app_handler);
    app_init(handlerId);

    //
    // Create aoa task
    //
    handlerId = WsfOsSetNextHandler(aoa_handler);
    aoa_init(handlerId);

    uwb_open();

    // which RX ports will be used for AoA/PDoA
    phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);

    uwbs_init();
    uwb_app_config.ranging_flow_mode = (uint8_t)(RANGING_FLOW_CUSTOM);
    uwb_app_config.session_param.tx_power_level = board_param.tx_power_fcc[CALIB_CH(uwb_app_config.ppdu_params.ch_num)];
    uwb_app_config.filter_en = (uint8_t)(FILTER_EN);

    // Initialize aoa session
    uint32_t session_id = 0x0001;
    uwbapi_session_init(session_id, SESSION_TYPE_RANGING);

    // Initialize aoa parameters
    struct APP_CFG_PARAM_T param = {0};
    param.ch_num = UWB_CH_NUM;
    param.prf_mode = UWB_MEAN_PRF;
    param.preamble_code_index = UWB_PREAMBLE_CODE_IDX;
    param.preamble_duration = UWB_PREAMBLE_DURATION;
    param.sfd_id = UWB_SFD_ID;
    param.psdu_data_rate = UWB_PSDU_DATA_RATE;
    param.sts_segment_num = UWB_STS_SEGMENT_NUM;
    param.sts_segment_len = UWB_STS_SEGMENT_LEN;
    param.aoa_result_req = AOA_EN || PDOA_3D_EN;
    param.rframe_config = UWB_RFRAME_TYPE;
    param.sts_config = STS_STATIC;
    param.ranging_round_usage = DS_TWR_DEFERRED;
    param.mac_address_mode = ARRD_SHORT_USE_SHORT;
    param.controlees_num = RESPONDER_NUM;
    param.multi_node_mode = UNICAST;
    param.result_report_config = 0x0F;
    param.ranging_round_control = 0x3;

    if (gpio_pin_get_val(IO_PIN_2) == 0)
    {
        param.device_role = DEV_ROLE_INITIATOR;
    }
    else
    {
        param.device_role = DEV_ROLE_RESPONDER;
    }

    param.device_type = (param.device_role == DEV_ROLE_INITIATOR ? DEV_TYPE_CONTROLLER : DEV_TYPE_CONTROLEE);
    param.slots_per_round = SLOT_NUM_PER_ROUND(param.controlees_num);
    param.slot_duration = UWB_RANGING_SLOT_DURATION;
    param.ranging_interval = UWB_RANGING_INTERVAL;

    // Configure ranging parameters
    uwbapi_session_set_app_config(session_id, &param);

    // Start aoa
    uwbapi_session_start(session_id, app_aoa_report_callback);

    // Initialize low power mode
    power_init();

#if LOW_POWER_EN
    power_mode_request(POWER_UNIT_USER, POWER_MODE_POWER_DOWN);
#else
    power_mode_request(POWER_UNIT_USER, POWER_MODE_SLEEP);
#endif

    // Enable sleep timer
    sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, sleep_timer_callback);

    while (1)
    {
        wsfOsDispatcher();
        power_manage();
    }
}

void app_restore_from_power_down(void)
{
}