//
// Created by macheng on 2018/5/2.
//

#ifndef _INSTANCE_CONFIG_H_
#define _INSTANCE_CONFIG_H_


//slot count and time
#define TA_SLOT_TIME            (4)
#define TA_SLOT_STEP            (4)//5~7ms
#define TA_SLOT_COUNT           (3)
#define TA_SLOT_FACTOR          (1000)

//this it the delay used for configuring the receiver on delay (wait for response delay)
//NOTE: this RX_RESPONSE_TURNAROUND is dependent on the microprocessor and code optimisations
#define RX_RESPONSEX_TURNAROUND             (50) //takes about 100 us for response to come back
#define RX_RESPONSE1_TURNAROUND             (200) //takes about 200 us for the 1st response to come back (from A0)
#define RX_RESPONSE1_TURNAROUND_6M81        (300) //takes about 100 us for response to come back
#define RX_RESPONSE1_TURNAROUND_110K        (300) //takes about 100 us for response to come back

//Tag will range to 3 or 4 anchors
//Each ranging exchange will consist of minimum of 3 messages (Poll, Response, Final)
//and a maximum of 6 messages (Poll, Response x 4, Final)
//Thus the ranging exchange will take either 28 ms for 110 kbps and 5 ms for 6.81 Mbps.
//NOTE: the above times are for 110k rate with 64 symb non-standard SFD and 1024 preamble length

#define MAX_TAG_LIST_SIZE				    (512)
#define MAX_ANCHOR_LIST_SIZE			    (16) //this is limited to 4 in this application
#define NUM_EXPECTED_RESPONSES			    (4) //e.g. MAX_ANCHOR_LIST_SIZE - 1
#define NUM_EXPECTED_RESPONSES_ANC		    (1) //anchors A0, A1 and A2 are involved in anchor to anchor ranging
#define NUM_EXPECTED_RESPONSES_ANC0		    (2) //anchor A0 expects response from A1 and A2
#define TAG_LIST_INDEX_MASK                 (MAX_TAG_LIST_SIZE-1)
#define ANCHOR_LIST_INDEX_MASK              (MAX_ANCHOR_LIST_SIZE-1)
#define TAG_SLOT_FIRST_MASK				    ((MAX_TAG_LIST_SIZE>>1)-1) //low half of all slot


#define RESP_RECORD_COUNT                   4  ///Musb be 2, 4, 8, and so on
#define RESP_RECORD_MASK                    (RESP_RECORD_COUNT - 1)
#define RESP_RECORD_BUFSIZE                 (MAX_TAG_LIST_SIZE * RESP_RECORD_COUNT)

#define GATEWAY_ANCHOR_ADDR				    (0x8000)
#define A1_ANCHOR_ADDR					    (0x8001)
#define A2_ANCHOR_ADDR					    (0x8002)
#define A3_ANCHOR_ADDR					    (0x8003)
#define BROADCAST_ADDR                      (0xffff)

#define ANCHOR_SHORT_MASK                   (3)

typedef struct
{
    uint16_t slotPeriod ; //slot period (time for 1 tag to range to 4 anchors)
    uint16_t numSlots ; // number of slots in one superframe (number of tags supported)
    uint16_t sfPeriod ; // superframe period in ms

    uint16_t pollSleepDly ; // the minimum SLEEP time should be FRAME PERIOD so that tags don't interfere
    uint16_t replyDly ; //response delay time (Tag or Anchor when sending Final/Response messages respectively)
} sfConfig_t ;


typedef struct
{
    uint8_t channelNumber ;       // valid range is 1 to 11
    uint8_t preambleCode ;        // 00 = use NS code, 1 to 24 selects code
    uint8_t pulseRepFreq ;        // NOMINAL_4M, NOMINAL_16M, or NOMINAL_64M
    uint8_t dataRate ;            // DATA_RATE_1 (110K), DATA_RATE_2 (850K), DATA_RATE_3 (6M81)
    uint8_t preambleLen ;         // values expected are 64, (128), (256), (512), 1024, (2048), and 4096
    uint8_t pacSize ;
    uint8_t nsSFD ;
    uint8_t txPower ;
    uint16_t sfdTO;  //!< SFD timeout value (in symbols) e.g. preamble length (128) + SFD(8) - PAC + some margin ~ 135us... DWT_SFDTOC_DEF; //default value
} instanceConfig_t ;

typedef struct {
    //configuration structures
    dwt_config_t        configData ;	//DW1000 channel configuration
    dwt_txconfig_t      configTX ;		//DW1000 TX power configuration
    uint16_t			txAntennaDelay ; //DW1000 TX antenna delay
    uint16_t			rxAntennaDelay ; //DW1000 RX antenna delay
    uint32_t 			txPower ;		 //DW1000 TX power
    uint8_t             txPowerChanged ;			//power has been changed - update the register on next TWR exchange
    uint8_t             antennaDelayChanged;		//antenna delay has been changed - update the register on next TWR exchange

    uint16_t            instanceAddress16; //contains tag/anchor address

    //this is the delay used for the delayed transmit
    uint64_t            pollTx2FinalTxDelay ; //this is delay from Poll Tx time to Final Tx time in DW1000 units (40-bit)
    uint64_t            pollTx2FinalTxDelayAnc ; //this is delay from Poll Tx time to Final Tx time in DW1000 units (40-bit) for Anchor to Anchor ranging
    uint64_t            fixedReplyDelayAnc ;
    uint32_t            fixedReplyDelayAncP ;

    uint16_t            pollRx2FinalRxDelay ;

    //Tag function address/message configuration
    uint8_t             shortAdd_idx ;				// device's 16-bit address low byte (used as index into arrays [0 - 3])
    uint8_t             eui64[8];				// device's EUI 64-bit address
    uint16_t            panID ;					// panid used in the frames

    uint16_t            sframePeriod;
    uint16_t            slotPeriod;
    uint16_t            numSlots;

    int                 fwtoTime_sy ;	//this is final message duration (longest out of ranging messages)
    int                 fwtoTimeAnc_sy ;

    int                 ancRespRxDelay ;
}inst_setting;

#endif //HSS200ANC1701_REFACTOR_CONFIG_H