/*
 * Copyright (c) 2019-2025 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_power.h"
#include "mk_uwb.h"
#include "mk_calib.h"

#include "board.h"

#include "pal_sys.h"
#include "wsf_os.h"
#include "mk_timer_list.h"
#include "wsf_buf.h"

#include "app.h"
#include "ul_tdoa.h"
#include "uwb_api.h"
#include "lib_ranging.h"
#include "libc_rom.h"

#include "mk_adc.h"
#include "UART.h"
#include "Usart.h"
#include "global_param.h"
#include <serial_at_cmd_app.h>
#define TEST_UART_POLL_MODE 0
#define TEST_UART_INTERUPT_MODE 1
#define TEST_UART_DMA_MODE 2
#define TEST_UART_MODE TEST_UART_DMA_MODE
struct ADC_CFG_T usr_adc_cfg = {
    .mode = ADC_MODE_CONTINUE,    /* Selected single conversion mode  */
    .clk_sel = ADC_CLK_HIGH,      /* Selected 62.4M high speed clock */
    .vref_sel = ADC_SEL_VREF_INT, /* Using internal reference voltage (1.2V)*/
    .rate = 500000,               /* ADC works at high frequency system clock, the maximum sampling rate is 2M */
    .channel_p = ADC_IN_EXTPIN0,  /* ADC positive channel --> GPIO0 */
    .channel_n = ADC_IN_VREF,     /* ADC negative channel --> Vref */
    .int_en = false,
    .dma_en = false, /* DMA support only in continue mode */
    .acc_num = 0,
    .high_pulse_time = 4,
    .settle_time = 1,
};
typedef enum
{		UN_BIND=0,
        LINK_SUCCESS,
        SEARCH_DEV,
} Operation_step;
Operation_step UWB_work_state;
struct UART_CFG_T test_uart_cfg =
{
    .parity = UART_PARITY_NONE,
    .stop = UART_STOP_BITS_1,
    .data = UART_DATA_BITS_8,
    .flow = UART_FLOW_CONTROL_NONE,
    .rx_level = UART_RXFIFO_CHAR_1,
    .tx_level = UART_TXFIFO_EMPTY,
    .baud = BAUD_115200,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
    .dma_en = false,
    .int_rx = false,
    .int_tx = false,
#elif (TEST_UART_MODE == TEST_UART_INTERUPT_MODE)
    .dma_en = false,
    .int_rx = true,
    .int_tx = true,
#elif (TEST_UART_MODE == TEST_UART_DMA_MODE)
    .dma_en = true,
    .int_rx = false,
    .int_tx = false,
#endif
};
void uart0_receive_callback(void *dev, uint32_t err_code)
{
    uart_receive(UART_ID0,m_EUART0_DMA_RXBuf,EUART0_RX_BUF_SIZE,uart0_receive_callback);
}
void uart1_receive_callback(void *dev, uint32_t err_code)
{
    uart_receive(UART_ID1,m_EUART1_DMA_RXBuf,EUART1_RX_BUF_SIZE,uart1_receive_callback);
}
uint32_t dev_id;
uint8_t group_id;
uint16_t tag_frequency;
uint16_t disoffset;
uint8_t bind_flag;
uint16_t warning_distance,prewarning_distance;
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
uint8_t link_success_flag,motor_count;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
uint16_t gps_wait_count,gps_wait_count2;
extern uint16_t ip0,ip1,ip2,ip3,port;
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state;
uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag,flag_fenli_alarm = 0,fenli_alarm_count,delaysleep_count,enbale_blink_flag;
uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state,first_motor_in_flag;
void Program_Init(void)
{
    Usart1ParseDataCallback = Usart1ParseDataHandler;//Ðè¸ÄΪĬÈÏΪgps´¦Àí£¬Usart1ParseDataHandlerΪÉý¼¶´¦Àíµ±µ÷ÊÔʱºò¸ÄΪ
		Usart0ParseDataCallback=Usart0ParseDataHandler;
    parameter_init_anchor();//g_com_map±í³õʼ»¯½ÇɫĬÈÏΪ»ùÕ¾
    dev_id=g_com_map[DEV_ID];//ÕâÀﲻ̫¶Ô
    group_id=g_com_map[GROUP_ID];//×éID
    memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);

    g_com_map[MODBUS_MODE] = 0;
		log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
    ip0 = (g_com_map[TCP_IP_0]>>12&0xf)*1000+(g_com_map[TCP_IP_0]>>8&0xf)*100+(g_com_map[TCP_IP_0]>>4&0xf)*10+(g_com_map[TCP_IP_0]&0xf);
    ip1 = (g_com_map[TCP_IP_1]>>12&0xf)*1000+(g_com_map[TCP_IP_1]>>8&0xf)*100+(g_com_map[TCP_IP_1]>>4&0xf)*10+(g_com_map[TCP_IP_1]&0xf);
    ip2 = (g_com_map[TCP_IP_2]>>12&0xf)*1000+(g_com_map[TCP_IP_2]>>8&0xf)*100+(g_com_map[TCP_IP_2]>>4&0xf)*10+(g_com_map[TCP_IP_2]&0xf);
    ip3 = (g_com_map[TCP_IP_3]>>12&0xf)*1000+(g_com_map[TCP_IP_3]>>8&0xf)*100+(g_com_map[TCP_IP_3]>>4&0xf)*10+(g_com_map[TCP_IP_3]&0xf);
    port = g_com_map[TCP_PORT];
    g_com_map[VERSION] = (1<<8)|0;
		 gpio_pin_set(CHANGE_UART_PIN);//£»À­¸ß´òÓ¡Êä³ö
    LOG_INFO(TRACE_MODULE_APP,"É豸ID: %x .\r\n",dev_id);
    LOG_INFO(TRACE_MODULE_APP,"¹Ì¼þ°æ±¾:MK_ÎÞ¸ÐÕ¢»ú V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
    LOG_INFO(TRACE_MODULE_APP,"·þÎñÆ÷µØÖ·: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
		while(uart_tx_in_progress(UART_ID0));
		gpio_pin_clr(CHANGE_UART_PIN);//£»À­µÍÊäÈë
			
}
void boot_deinit(void)
{
	//½«bootÖд®¿Ú·µ»ØÆÕͨgpio
// UART0 TX/RX
    io_pin_mux_set(IO_PIN_5, IO_FUNC0);
    io_pin_mux_set(IO_PIN_6, IO_FUNC0);
    // UART1 RX/TX
    io_pin_mux_set(IO_PIN_10, IO_FUNC0);
    io_pin_mux_set(IO_PIN_9, IO_FUNC0);
	 uart_close(UART_ID1);//½â°óÔ­À´´®¿Ú1
	 uart_close(UART_ID0);//½â°óÔ­À´´®¿Ú0
}
void IdleTask(void)
{
//if(read_5v_input_pca())
//		{
//		        if(state5v==0)
//        {
//            state5v=1;
//            state5V_prase_flag=state5v;
//            gps_prase_flag=0;//½â³ýgps½âÎö
//            uart1_change_from_gps_to_debug();//²âÊÔ
//						PCA9555_Set_One_Value_Output(MCU_A,1);//Êä³ö¸ßµçƽÇл»Îª5VÊäÈë
//        } 
//		}else {
//        if(state5v==1)
//        {
//            g_com_map[MODBUS_MODE] = 0;
//            state5v=0;
//            state5V_prase_flag=state5v;
//            gps_prase_flag=1;//»Ö¸´gps½âÎö
//            uart1_change_from_debug_to_gps();//²âÊÔ
//						PCA9555_Set_One_Value_Output(MCU_A,0);//Êä³öµÍµçƽÇл»ÎªGPS
//        }
//			}
		UART0_CheckReceive();
		UART_CheckReceive();
}
#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 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%02x%02x%02x%02x%02x%02x%02x%02x, RX timestamp 0x%02x%02x%02x%02x%02x%02x%02x%02x\r\n", peer,
             local, rpt->tx_timestamp.ts_u8[7], rpt->tx_timestamp.ts_u8[6], rpt->tx_timestamp.ts_u8[5], rpt->tx_timestamp.ts_u8[4], rpt->tx_timestamp.ts_u8[3],
             rpt->tx_timestamp.ts_u8[2], rpt->tx_timestamp.ts_u8[1], rpt->tx_timestamp.ts_u8[0], rpt->rx_timestamp.ts_u8[7], rpt->rx_timestamp.ts_u8[6],
             rpt->rx_timestamp.ts_u8[5], rpt->rx_timestamp.ts_u8[4], rpt->rx_timestamp.ts_u8[3], rpt->rx_timestamp.ts_u8[2], rpt->rx_timestamp.ts_u8[1],
             rpt->rx_timestamp.ts_u8[0]);

    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();
		boot_deinit();
    // Pin configuration
    board_pins_config();
    // Trace configuration
    board_debug_console_open_baud(TRACE_PORT_UART0,BAUD_115200);
    // Reset reason
    reset_cause_get();
    reset_cause_clear();

    // Load calibration parameters
    board_calibration_params_load();

    // 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();
	  Program_Init();
		uart_open(UART_ID1, &test_uart_cfg);
	 uart_receive(UART_ID1,m_EUART1_DMA_RXBuf,EUART1_RX_BUF_SIZE,uart1_receive_callback);
	 uart_receive(UART_ID0,m_EUART0_DMA_RXBuf,EUART0_RX_BUF_SIZE,uart0_receive_callback);
    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
    WsfOsInit();
    mk_timer_list_init();

    //
    // 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 = 1,
        .ranging_performance_mode = 0,
#if RX_ANT_PORTS_NUM == 4
        .skip_weakest_port_en = 1,
#else
        .skip_weakest_port_en = 0,
#endif
    };
    phy_adv_params_configure(&adv_config);

    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.ppdu_params->rx_main_ant = (uint8_t)(RX_MAIN_ANT_PORT);
    uwb_app_config.ppdu_params->rx_ant_mode = (uint8_t)(RX_ANT_PORTS_COMBINATION);

    // 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 = ADDR_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 (1)
    {
#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

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

void app_restore_from_power_down(void)
{
}