/*
 * 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 "ul_tdoa.h"
#include "uwb_api.h"
#include "lib_ranging.h"
#include "libc_rom.h"

#define UT_TAG_ID (0xAAA1)
#define UT_SYNC_ANCHOR_ID (0xAAA2)
#define UT_ANCHOR_ID0 (0xAAA3)
#define UT_ANCHOR_ID1 (0xAAA4)
#define UT_ANCHOR_ID2 (0xAAA5)

#define UT_TX_DEV_NUM_MAX 3

struct UL_TDOA_DEV_INF_T
{
    uint16_t dev_id;
    uint64_t tx_timestamp;
    uint64_t rx_timestamp;
};

static struct UL_TDOA_DEV_INF_T ul_tdoa_dev_list[UT_TX_DEV_NUM_MAX] = {0};

//*****************************************************************************
//
// 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_ul_tdoa_report_callback(void *report)
{
    struct UL_TDOA_MEASUREMENT_T *rpt = (struct UL_TDOA_MEASUREMENT_T *)report;

    uint16_t peer = READ_SHORT(rpt->dev_id);
    uint16_t local = uwbs_local_short_addr_get();

    LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
    LOG_INFO(TRACE_MODULE_APP, "Frame type %u, Frame number %u\r\n", rpt->frame_type, rpt->frame_number);
    LOG_INFO(TRACE_MODULE_APP, "Peer %X, Local %X, TX timestamp 0x%llx, RX timestamp 0x%llx\r\n", peer, local, rpt->tx_timestamp.ts_u64,
             rpt->rx_timestamp.ts_u64);
    LOG_INFO(TRACE_MODULE_APP, "Clock SYNC offset %lld\r\n", (rpt->rx_timestamp.ts_u64 - rpt->tx_timestamp.ts_u64)); // need to be corrected by ToF

    uint8_t dev_found = 0;
    for (int i = 0; i < UT_TX_DEV_NUM_MAX; i++)
    {
        if (peer == ul_tdoa_dev_list[i].dev_id)
        {
            LOG_INFO(TRACE_MODULE_APP, "Clock offset %d (15.65ps) in 1s\r\n",
                     (int32_t)((rpt->rx_timestamp.ts_u64 - ul_tdoa_dev_list[i].rx_timestamp) - (rpt->tx_timestamp.ts_u64 - ul_tdoa_dev_list[i].tx_timestamp)));
            ul_tdoa_dev_list[i].tx_timestamp = rpt->tx_timestamp.ts_u64;
            ul_tdoa_dev_list[i].rx_timestamp = rpt->rx_timestamp.ts_u64;
            dev_found = 1;
            break;
        }
    }

    // add device into the list
    if (dev_found == 0)
    {
        for (int i = 0; i < UT_TX_DEV_NUM_MAX; i++)
        {
            if (0 == ul_tdoa_dev_list[i].dev_id)
            {
                ul_tdoa_dev_list[i].dev_id = peer;
                ul_tdoa_dev_list[i].tx_timestamp = rpt->tx_timestamp.ts_u64;
                ul_tdoa_dev_list[i].rx_timestamp = rpt->rx_timestamp.ts_u64;
                break;
            }
        }
    }
}

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, "UL-TDoA 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 Uplink TDoA task
    //
    handlerId = WsfOsSetNextHandler(ul_tdoa_handler);
    ul_tdoa_init(handlerId);

    uwb_open();

    // set advanced parameters
    struct PHY_ADV_CONFIG_T adv_config = {
        .thres_fap_detect = 40,
        .nth_scale_factor = 4,
        .ranging_performance_mode = 0,
        .skip_weakest_port_en = 0,
    };
    phy_adv_params_configure(&adv_config);

    // which RX ports will be used for AoA/PDoA
    phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
    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.ppdu_params.rx_ant_id = (uint8_t)(RX_MAIN_ANT_PORT);

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

    // Initialize OWR 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 = 0;
    param.rframe_config = UWB_RFRAME_TYPE;
    param.sts_config = STS_STATIC;
    param.multi_node_mode = ONE_TO_MANY;
    param.ranging_round_usage = OWR_UL_TDOA;
    param.mac_address_mode = ARRD_SHORT_USE_SHORT;
    param.result_report_config = 0x0F;
    param.ranging_round_control = 0x3;

    param.ul_tdoa_tx_interval = UWB_UL_TDOA_INTERVAL;
    param.ul_tdoa_random_window = UWB_UL_TDOA_RAND_WINDOW;

    param.ul_tdoa_ntf_report_config[0] = 0;
    param.ul_tdoa_ntf_report_config[1] = 1;
    param.ul_tdoa_ntf_report_config[2] = 0;

    param.ul_tdoa_device_id[0] = 0x01;

    // Select role by IO_02
    if (gpio_pin_get_val(IO_PIN_2) == 0)
    {
#if 1
        param.device_role = DEV_ROLE_UT_SYNC_ANCHOR;
        param.ul_tdoa_device_id[1] = UT_SYNC_ANCHOR_ID & 0xff;
        param.ul_tdoa_device_id[2] = (UT_SYNC_ANCHOR_ID >> 8) & 0xff;
#else
        param.device_role = DEV_ROLE_UT_TAG;
        param.ul_tdoa_device_id[1] = UT_TAG_ID & 0xff;
        param.ul_tdoa_device_id[2] = (UT_TAG_ID >> 8) & 0xff;
#endif
    }
    else
    {
        param.device_role = DEV_ROLE_UT_ANCHOR;
        param.ul_tdoa_device_id[1] = UT_ANCHOR_ID0 & 0xff;
        param.ul_tdoa_device_id[2] = (UT_ANCHOR_ID0 >> 8) & 0xff;
    }

    // local address
    param.src_dev_mac_addr[0] = param.ul_tdoa_device_id[1];
    param.src_dev_mac_addr[1] = param.ul_tdoa_device_id[2];

    param.ul_tdoa_tx_timestamp = 0x02; // 64-bit TX timestamp

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

    // Start TDoA
    uwbapi_session_start(session_id, app_ul_tdoa_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)
{
}