rtls_ctrl_tof.h

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

 @file  rtls_ctrl_tof.h

 @brief This file contains the functions and structures specific to
        ToF post processing
 Group: WCS, BTS
 $Target Device: DEVICES $

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


#ifndef RTLS_CTRL_TOF_H_
#define RTLS_CTRL_TOF_H_

#ifdef __cplusplus
extern "C"
{
#endif

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

#include "TOF.h"
#include "bcomdef.h"
#include "rtls_ctrl_api.h"

/*********************************************************************
*  EXTERNAL VARIABLES
*/

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

#define RTLS_CTRL_TOF_RSSI_THRESHOLD_HYSTERESIS   -5    
#define MAX_TOF_SAMPLES_SINGLE_CHUNK              16    
#define RTLS_TOF_FREQ_PER_NV_BLOCK                4     

/* NV IDs start here (in user space) and grow with every RTLS_TOF_FREQ_PER_NV_BLOCK
 * frequencies used. The number of IDs needed is ceiling(NUM_FREQ/RTLS_TOF_FREQ_PER_NV_BLOCK)
 */
#define SNV_ID_CAL_PARAMS             BLE_NVID_CUST_START
#define SNV_ID_CAL_DATA_SET           BLE_NVID_CUST_START+1

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

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


typedef enum
{
  TOF_MODE_DIST,
  TOF_MODE_STAT,
  TOF_MODE_RAW
} tofResultMode_e;

typedef enum
{
  TOF_MODE_CONT,
  TOF_MODE_AUTO
} tofRunMode_e;

typedef enum
{
  TOF_CALIB_NOT_INITIALIZED,
  TOF_CALIB_CALIBRATING,
  TOF_CALIB_CALIBRATED
} tofCalibState_e;

typedef struct
{
  int8_t          autoTofRssiTresh;   
  tofResultMode_e resultMode;         
  tofRunMode_e    runMode;            
} rtlsTofConfig_t;

typedef struct
{
  tofCalibState_e tofCalibState;  
  uint8_t runsForCalibration;     
  uint16_t calibrationOffset;     
  ToF_BurstStat *pCalibVals;      
} rtlsTofCalib_t;

typedef struct
{
  uint8_t   numFreq;          
  uint16_t  calibDistance;    
} rtlsTofCalibParams_t;

typedef struct __attribute__((packed))
{
  uint16_t    freq;                   
  double      tick;                   
  double      tickVariance;           
  uint32_t    numOk;                  
} rtlsTofCalibData_t;

typedef struct __attribute__((packed))
{
  rtlsTofCalibParams_t  calibParams;   
  rtlsTofCalibData_t    calibVals[];   
} rtlsTofCalibForNV_t;

typedef struct __attribute__((packed))
{
  ToF_Role        tofRole;                  
  uint16_t        numSyncwordsPerBurst;     
  uint8_t         numFreq;                  
  uint8_t         slaveLqiFilter;           
  uint8_t         postProcessLqiThresh;     
  uint16_t        postProcessMagnRatio;     
  rtlsTofConfig_t tofConfig;                
  uint16_t        frequencies[];            
} rtlsTofParams_t;

typedef struct __attribute__((packed))
{
  uint8_t seed[TOF_SEEDLEN];          
} rtlsTofSecSeed_t;

typedef struct __attribute__((packed))
{
  uint8_t enableTof;    
} rtlsEnableTofCmd_t;

typedef struct __attribute__((packed))
{
  uint8_t enableCalib;      
  uint16_t samplesPerFreq;  
  uint8_t calibDistance;    
  uint8_t useCalibFromNV;    
} rtlsEnableTofCalib_t;

typedef struct __attribute__((packed))
{
  double distance;              
  int8_t rssi;                  
} rtlsTofResultDistance_t;

typedef struct __attribute__((packed))
{
  uint32_t tick;                
  uint8_t freqIdx;              
  int8_t rssi;                  
} rtlsTofResultRaw_t;

typedef struct __attribute__((packed))
{
  uint16_t offset;              
  uint16_t samplesLength;       
  rtlsTofResultRaw_t samples[]; 
} rtlsTofResultRawAggr_t;

typedef struct __attribute__((packed))
{
  uint16_t freq;                
  double tick;                  
  double tickVariance;          
  int8_t rssi;                  
  uint32_t numOk;               
} rtlsTofResultStat_t;

typedef struct
{
  ToF_Struct tofStruct;           
  ToF_Handle tofHandle;           
  rtlsTofConfig_t tofConfig;      
  rtlsTofCalib_t tofCalibInfo;    
  ToF_BurstStat *pTofLastRun;     
  ToF_BurstStat *pTofAverage;     
  uint8_t bTofValuesInitialized;  
  uint8_t bSlaveTofParamPend;     
  uint8_t bSlaveTofEnabled;       
} rtlsTof_t;
/*********************************************************************
 * API FUNCTIONS
 */

void RTLSCtrl_postProcessTof(rtlsTof_t *tofControlBlock, int8_t rssi);

void RTLSCtrl_outputTofStat(uint8_t cmdId, uint16_t numFreq, ToF_BurstStat *tofStatArray, uint8_t rssi);

void RTLSCtrl_outputCalibFromNV(uint8_t cmdId, uint8_t numFreq, uint16_t calibDistance, ToF_BurstStat *pCalibVals);

rtlsStatus_e RTLSCtrl_loadAndverifyCalibNVParams(rtlsTof_t *tofControlBlock);

rtlsStatus_e RTLSCtrl_writeCalibToNV(rtlsTofCalibParams_t calibParams, ToF_BurstStat *pCalibVals);

void RTLSCtrl_readCalibFromNV(rtlsTof_t *tofControlBlock);

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

#ifdef __cplusplus
}
#endif

#endif /* RTLS_CTRL_TOF_H_ */