/*
 * 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 AOA_LIB_H
#define AOA_LIB_H
#include "mk_uwb.h"

/**
 * @addtogroup MK8000_ALGO_AOA
 * @{
 *
 * AoA support:
 * - Linear 2/3/4-ants
 * - Square 4-ants (horizontal - 360 degree)
 *
 */

#ifndef AOA_3D_EN
#define AOA_3D_EN (0)
#endif

#if AOA_3D_EN

#ifndef XIP_EN
extern const uint32_t svec_ch5_ptr[120 * 19 * RX_ANT_PORTS_NUM];
extern const uint32_t svec_ch9_ptr[120 * 19 * RX_ANT_PORTS_NUM];
#else
extern uint32_t svec_ch5_ptr[120 * 19 * RX_ANT_PORTS_NUM];
extern uint32_t svec_ch9_ptr[120 * 19 * RX_ANT_PORTS_NUM];
#endif

#else

#ifndef XIP_EN
extern const uint32_t svec_ch5_ptr[360 * RX_ANT_PORTS_NUM];
extern const uint32_t svec_ch9_ptr[360 * RX_ANT_PORTS_NUM];
#else
extern uint32_t svec_ch5_ptr[360 * RX_ANT_PORTS_NUM];
extern uint32_t svec_ch9_ptr[360 * RX_ANT_PORTS_NUM];
#endif

#endif

// (aux_mode << 4) | (algo_option)
enum AOA_AUX_OPT_T
{
    // 135us
    AOA_AUX_ANT_IQ_RSSI = ((1 << 4) | 3),
    // 239us
    AOA_AUX_ANT_IQ_RSSI_PDOA = ((1 << 4) | 0),
    // 312us
    AOA_AUX_ANT_IQ_RSSI_PDOA_AOA = ((1 << 4) | 2),
    // 930us
    AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM = ((2 << 4) | 2),
};

// Structure holding the angle information for steering vector generation
struct AOA_ANGLE_SPAN_T
{
    uint16_t Ndim;    ///> Number of dimensions. 1 - Azimuth only, 2 - Azimuth and Elevation
    int16_t az_low;   ///> Lower end of azimuth scan range (in degrees)
    int16_t az_high;  ///> Higher end of azimuth scan range (in degrees)
    uint16_t az_step; ///> Azimuth step size in degrees. Normally 3
    int16_t el_low;   ///> Lower end of elevation scan range (in degrees)
    int16_t el_high;  ///> Higher end of elevation scan range (in degrees)
    uint16_t el_step; ///> Elevation step size in degrees. Normally 3
};

#ifdef __cplusplus
extern "C" {
#endif

/**
 * @brief Set angle search span
 *
 * @param [in] span           pointer to AoA angle search span structure
 */
void aoa_angle_search_span_set(struct AOA_ANGLE_SPAN_T *span);

/**
 * @brief Configure AoA parameters.
 * @return Size of samples that need LSP to process
 */
uint16_t aoa_param_config(void);

/**
 * @brief Update AoA parameters.
 * @param [in] main_ant         RX main antenna
 */
void aoa_param_update(uint8_t main_ant);

/**
 * @brief Enable or disable dynamic port selection
 * @param [in] enable           0: disable, 1: enable
 */
void aoa_param_dynamic_port_sel(uint8_t enable);

/**
 * @brief Calculate AoA.
 *
 * @param [out] elevation     AoA elevation result
 * @param [out] azimuth       AoA azimuth result
 * @return 1: success, 2: failure
 */
uint8_t aoa_calculate(int16_t *elevation, int16_t *azimuth);

/**
 * @brief Get AoA FoM.
 *
 * @param [out] elevation_fom       AoA elevation FoM
 * @param [out] azimuth_fom         AoA azimuth FoM
 */
void aoa_fom_get(uint8_t *elevation_fom, uint8_t *azimuth_fom);

/**
 * @brief Store LSP result of RX ranging frame.
 */
void sts_lsp_store(void);

/**
 * @brief Stop storing LSP result of RX ranging frame.
 */
void sts_lsp_store_stop(void);

/**
 * @brief Validate STS.
 * @return 1 represents STS is valid
 */
uint8_t sts_valid_check(void);

/**
 * @brief Detect the fisrt path of ranging frame based on STS.
 * @param [in] rssi                 RSSI
 * @param [out] sts_main_path_loc   STS main path location
 * @param [out] sts_fap_loc         STS FAP location
 * @return delta of the first path
 */
int32_t sts_first_path_detect(int8_t rssi, uint16_t *sts_main_path_loc, uint16_t *sts_fap_loc);

/**
 * @brief Calculate RX main antenna based on STS RSSI.
 * @param [in][out]                 Input current main antenna ID, ouput updated main antenna ID
 */
void sts_rx_main_ant_get(uint8_t *id);

/**
 * @brief Get 4 antenna port RSSI.
 * @return array of 4 antenna port RSSI
 */
float *sts_4ant_rssi_get(void);

/**
 * @brief Configure location post process filter.
 *
 * @param [in] update_period_ms     Input data update period
 * @param [in] range_en             Enable filter for range data
 * @param [in] angle_en             Enable filter for angle data
 */
void loc_post_filter_config(uint32_t update_period_ms, uint8_t range_en, uint8_t angle_en);

/**
 * @brief Location post process filter.
 *
 * @param [in] channel              Filter channel
 * @param [in] range_meas           Input range data
 * @param [in] angle_meas           Input angle data
 * @param [out] range_post          Output range data
 * @param [out] angle_post          Output angle data
 * @return 1 represents post filter process successfully
 */
uint8_t loc_post_filter(uint8_t channel, float range_meas, int angle_meas, float *range_post, float *angle_post);

/**
 * @brief Set AOA aux mode.
 *
 * @param [in] mode     AOA aux mode @ref enum AOA_AUX_OPT_T
 */
void aoa_aux_info_set(enum AOA_AUX_OPT_T mode);

/**
 * @brief Set AOA steering vector based on channel
 *
 * @param [in] vector_table     AOA steering vector table
 */
void aoa_steering_vector_set(const float *vector_table);

/**
 * @brief Get PDoA ANT IQ result.
 *
 * @param [out] iq     Pointer of raw IQ data for all antennas
 * @return 1: success, 0: failure
 */
uint8_t pdoa_iq_get(float **iq);

/**
 * @brief Get PDoA result from ANT_start_index - ANT_end_index.
 *
 * @param [in] start_index      Antenna port start index, from 0 to 3
 * @param [in] end_index        Antenna port end index, from 0 to 3
 * @return PDoA result in radian
 */
float pdoa_select_get(uint8_t start_index, uint8_t end_index);

/**
 * @brief Set delay of antenna for PDoA
 *
 * @param [in] delays               Delay list of antenna port, uint: ps
 * @param [in] rx_ant_num           The number of antenna delays to be set
 * @return 0: success, -1: fail
 */
int pdoa_ant_delays_set(int16_t *delays, uint8_t rx_ant_num);

/**
 * @brief Get antenna delay for PDoA
 *
 * @param [in] delays               Delay list of antenna port, uint: ps
 * @param [in] rx_ant_num           The number of antenna delays to be get
 * @return 0: success, -1: fail
 */
int pdoa_ant_delays_get(int16_t *delays, uint8_t rx_ant_num);

/**
 * @brief Set adjacent antenna space
 *
 * @param [in] ant_space            the space of adjacent antennas, unit: 0.1mm
 */
int pdoa_ant_space_set(int16_t ant_space);

/**
 * @brief Get RSSI result.
 *
 * @return RSSI
 */
float *sts_rssi_output_get(void);

/**
 * @brief Get STS first path IQ of each antenna port, needs to call AoA calculation or PDoA calculation in advanced.
 *
 * @return STS first path IQ
 */
float *sts_first_path_iq_get(void);

/**
 * @brief Get AoA library version.
 *
 * @return String of AoA library version
 */
const char *MK8000_get_aoalib_version(void);

#ifdef __cplusplus
}
#endif

/**
 * @}
 */

#endif // AOA_LIB_H