TOF.h

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/******************************************************************************

 @file  TOF.h

 @brief This file contains methods to enable/disable and control TOF
 Group: WCS, BTS
 $Target Device: DEVICES $

 ******************************************************************************
 $License: BSD3 2018 $
 ******************************************************************************
 $Release Name: PACKAGE NAME $
 $Release Date: PACKAGE RELEASE DATE $
 *****************************************************************************/

#ifndef TOF_H_
#define TOF_H_

#ifdef __cplusplus
extern "C"
{
#endif

/*********************************************************************
 * INCLUDES
 */

/* RF includes */
#include <ti/drivers/rf/RF.h>

#include <ti/devices/DeviceFamily.h>
#include "rfc_cmd_tof.h"
#include "tof_security.h"

/*********************************************************************
 * CONSTANTS
 */

#define TOF_TIMEOUTVAL       0xFFFFFFFF         

#define TOF_MAX_NUM_FREQ        20              

#define TOF_SEEDLEN             32              

#define TOF_COMPENSATION_NO_COMP         0      
#define TOF_COMPENSATION_STIM_COMP       1      
#define TOF_COMPENSATION_CORRELATOR_COMP 2      

// If using partial result readout or double sync word buffer, these are the event ID's
#define IRQN_PARTIAL_READ_READY             15  
#define IRQN_DOUBLE_SYNCWORD_BUFFER_SWITCH  11  
#define RF_EventPartialReadReady            (1 << IRQN_PARTIAL_READ_READY) 
#define RF_EventDoubleSyncWordBufferSwitch  (1 << IRQN_DOUBLE_SYNCWORD_BUFFER_SWITCH) 

#define TOF_FILL_BOTH_BUFF      TOF_SEC_FILL_BOTH_BUFFS   
#define TOF_FILL_1ST_BUFF       TOF_SEC_FILL_1ST_BUFF     
#define TOF_FILL_2ND_BUFF       TOF_SEC_FILL_2ND_BUFF     

// The ready-flags for the double buffers
#define syncWordBufferOneReady 0x01    
#define syncWordBufferTwoReady 0x02    

#define TICK_TO_METER (6.25 * 3)       

#define TOF_PATCH_LOCATION        0x21000914 
#define SUCCESS                   0x00       
#define FAILURE                   0x01       

#ifdef USE_TRACER
/* tracer configuration */
#define CMD_ENABLE_DBG_CMDID    0x602
#define CMD_ENABLE_DBG_CONFIG   ((0<<14) | (1<<12) | (1<<11) | (2<<9) | (1<<8) | (1<<6))
#endif // USE_TRACER

/*********************************************************************
 * MACROS
 */

/*********************************************************************
 * TYPEDEFS
 */

typedef enum
{
  ToF_ROLE_SLAVE = 0,
  ToF_ROLE_MASTER,
  ToF_ROLE_PASSIVE
} ToF_Role;

typedef enum
{
  TOF_SUCCESS = 0,
  TOF_FAILED,
} TofStatus_e;

typedef enum
{
  TOF_SYNC_WAIT_FOR_SYNC = 0,
  TOF_SYNC_SYNCHRONIZED,
  TOF_SYNC_OUT_OF_SYNC,
} TofSyncState_e;

typedef enum
{
  TOF_HANDSHAKE_STARTED = 0,
  TOF_HANDSHAKE_IN_PROGRESS,
  TOF_HANDSHAKE_RECOVERING,
  TOF_HANDSHAKE_COMPLETE,
  TOF_HANDSHAKE_FAILED
} TofHandshakeState_e;

typedef rfc_CMD_TOF_sample_extended_t ToF_Sample;

typedef rfc_CMD_TOF_synthCal_t ToF_SynthCal;

typedef uint8_t* ToF_TX_Buf;  
typedef uint8_t* ToF_RX_Buf;  

typedef void (*TOF_ApplicationCB)(void);

typedef struct
{
  RF_Object               rfObject;                     
  RF_Handle               rfHandle;                     
  ToF_Role                tofRole;                      
  uint8_t                 numFreqs;                     
  uint16_t                *pFrequencies;                
  uint8_t                 freqChangePeriod;             
  ToF_SynthCal            synthCal[TOF_MAX_NUM_FREQ];   
  ToF_TX_Buf              pTxBuf;                       
  ToF_RX_Buf              pRxBuf;                       
  ToF_Sample              *pT1RSSIBuf;                  
  uint16_t                numSyncwordsPerBurst;         
  uint8_t                 slaveLqiFilter;               
  uint8_t                 postProcessLqiThresh;         
  uint16_t                postProcessMagnRatio;         
} ToF_Object, ToF_Struct, *ToF_Handle;

typedef struct
{
  ToF_Role                tofRole;                      
  ToF_Sample              *pT1RSSIBuf;                  
  uint16_t                numSyncwordsPerBurst;         
  uint8_t                 *pTxBuf;                      
  uint8_t                 *pRxBuf;                      
  uint16_t                *pFrequencies;                
  uint8_t                 numFreq;                      
  tofSecCfgPrms_t         tofSecurityParams;            
  uint8_t                 mask;                         
  uint8_t                 freqChangePeriod;             
  uint16_t                syncTimeout;                  
  TOF_ApplicationCB       pfnTofApplicationCB;          
  uint8_t                 slaveLqiFilter;                       
  uint8_t                 postProcessLqiThresh;         
  uint16_t                postProcessMagnRatio;         
} ToF_Params;

typedef struct
{
  uint16_t freq;                        
  double   tick;                        
  double   tickVariance;                
  uint32_t numOk;                       
} ToF_BurstStat;

typedef struct
{
  uint32_t     freq;                    
  RF_EventMask rfEvent;                 
  uint32_t     ratSyncTime;             
} ToF_Status;

typedef struct
{
  uint16_t internalCtr;               
  uint16_t lastSharedCtr;             
  uint16_t numBuffSwitchRemaining;    
  uint8_t lastBuffFilled;             
  TofHandshakeState_e handshakeState; 
  TofSyncState_e currentSyncState;    
  broadCast_t tofBroadcast;           
} ToF_Sync;

#ifdef RTLS_TOF_DEBUG
typedef struct
{
  uint32_t numRecoveries;     
  uint32_t numSkippedRuns;    
  uint32_t numGoodTofRuns;    
  uint32_t numBadTofRuns;     
  uint32_t totalNumOk;        
  uint32_t totalNumNOk;       
  uint32_t failedHandshakes;  
} ToF_InternalStatistics;
#endif

/*-------------------------------------------------------------------
 * FUNCTIONS
 */

ToF_Handle TOF_open(ToF_Struct *tofStruct, ToF_Params *params);

ToF_Status TOF_run(ToF_Handle handle, uint32_t nextTaskTime);

void TOF_clearBuffers(ToF_Handle handle);

void TOF_getBurstStat(ToF_Handle handle, ToF_BurstStat **resultBuffer);

void TOF_close(ToF_Handle handle);

int TOF_setSeed(uint8_t* newSeed);

uint8_t TOF_getSeed(uint8_t *dst);

void TOF_roleSwitch(ToF_Role newRole);


/*********************************************************************
*********************************************************************/

#ifdef __cplusplus
}
#endif

#endif /* TOF_H_ */