#include "mk_trace.h"
#include "mk_uwb.h"
#include "mk_phy.h"
#include "mk_misc.h"
#include "mk_power.h"
#include "mk_sleep_timer.h"
#include "lib_ranging.h"
#include "dw_tag.h"
#include "board.h"
#include "mk_calib.h"

extern int TagRange(void);
extern Operation_step UWB_work_state;

#define CALCULATE_TIMECOUNT
/* Ranging period: 1s */
#define RANGING_PERIOD_MS (1000)

/* This is the delay from the end of the poll frame transmission to the enable of the receiver */
#define POLL_TX_TO_RESP_RX_DLY_US 750U  //yuan700

#define RESP_RX_TO_FINAL_TX_DLY_US 550U

/* Poll delay: 1s */
#define POLL_DELAY  100U //yuan100U

/* Receive response timeout */
#define RESP_RX_TIMEOUT_US 2000U //Yuan500 10mssuccess 300jixian

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
#define FINAL_MSG_POLL_TX_TS_IDX 10
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define DELAY_DEFAULT 1000
#define DELAY_BETWEEN_TWO_FRAME_UUS 600  //yuan1400
#define HALF_SECOND_TIME 62400000

static uint16_t CmpTagInList(uint16_t tagid);
uint16_t AddNewTagIntoList(uint16_t tagid);
void AnchorListUpdate(void);
void Rank_ANchor_list_by_dis(void);
struct mk_uwb_configure
{
    uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
    struct UWB_CONFIG_T phy_cfg;
};
extern uint16_t dev_id;
extern uint8_t group_id;
/* Default communication configuration. */
static struct mk_uwb_configure config = {//yuan
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
    .phy_cfg.ch_num = 5,                      /* Channel number.                           */
    .phy_cfg.code_index = 9,                  /* TRX preamble code                         */
    .phy_cfg.mean_prf = MEAN_PRF_64M,         /* Mean prf 64/128/256M                      */
    .phy_cfg.data_bit_rate = DATA_BR_6M8,     /* Data rate 6.8M                            */
    .phy_cfg.sync_sym = PREAM_LEN_128,        /* Preamble duration, length of preamble 128 */
    .phy_cfg.sfd_sym = NON_STD_NSFD5_8,          /* Identifier for SFD sequence               */
    .phy_cfg.ranging_bit = 1,                 /* ranging bit set 1                         */
    .phy_cfg.trx_mode = TRX_MODE_15_4A,  /* IEEE802.15.4z - BPRF mode                 */
    .phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0,     /* SP0 Frame                                 */
    .phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1,  /* Number of STS segments in the frame       */
    .phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment       */
    .phy_cfg.rx_ant_id = UWB_RX_ANT_3,    /* UWB RX antenna port                       */
};
///* Default communication configuration. */
//static struct mk_uwb_configure config = {
//    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
//    .phy_cfg.ch_num = 5,                      /* Channel number.                           */
//    .phy_cfg.code_index = 3,                  /* TX preamble code.                         */
//    .phy_cfg.mean_prf = MEAN_PRF_16M,         /* Data rate 6.8M                            */
//    .phy_cfg.data_bit_rate = DATA_BR_110K,     /* data rate 6.8M.                           */
//    .phy_cfg.sync_sym = PREAM_LEN_1024,        /* Preamble duration, length of preamble 128 */
//    .phy_cfg.sfd_sym = NSFD_64,          /* Identifier for SFD sequence               */
//    .phy_cfg.ranging_bit = 1,                 /* ranging bit set.                          */
//    .phy_cfg.trx_mode = TRX_MODE_15_4A,  /* IEEE802.15.4z - BPRF mode                 */
//    .phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0,     /* SP0 Frame                                 */
//    .phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1,  /* Number of STS segments in the frame       */
//    .phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment       */
//    .phy_cfg.rx_ant_id = UWB_RX_ANT_3,    /* UWB RX antenna port                       */
//};
/* Buffer to store received frame */
static uint8_t rx_buf[150];
static uint8_t uwb_sendbuffer[150];
/*     Frames used in the ranging process
 *     Poll message:
 *     - byte 0 - 1: 0x8841 to indicate a data frame using 16-bit addressing.
 *     - byte 2: sequence number, incremented for each new frame.
 *     - byte 3 - 4: PAN Id 0x4B4d
 *     - byte 5 - 6: Destination address
 *     - byte 7 - 8: Source address
 *     - byte 9: Message type (0x02 RANGING_POLL / 0x03 RANGING_RESPONSE / 0x04 RANGING_FINAL)
 *     Response message:
 *     - byte 10: activity code (0x07 to tell the initiator to go on with the ranging exchange)
 *     Final message:
 *     - byte 10 - 13: poll message transmission timestamp.
 *     - byte 14 - 17: response message reception timestamp.
 *     - byte 18 - 21: final message transmission timestamp.
 */
static uint8_t tx_poll_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x02};
static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x4D, 0x49, 0x53, 0x45, 0x03, 0x07};
static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x04, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

/* Count value of phy counter when transmitting and receiving frames */
static uint32_t poll_tx_en_start_u32;
static uint32_t resp_rx_en_start_u32;
static uint32_t final_tx_en_start_u32;

/* 41 bits timestamps of frames transmission/reception. */
static int64_t poll_tx_ts_i64;
static int64_t resp_rx_ts_i64;
static int64_t final_tx_ts_i64;

/* Frame sequence number, incremented after each transmission. */
static uint8_t frame_seq_nb = 0;

static volatile uint16_t rx_state;
static volatile uint16_t rx_state1;
static volatile uint16_t rx_length;
//DW
uint16_t rec_nearbaseid;
uint8_t temp_tag_num;
int32_t test2;
//static uint8_t receive_flag=0;
static uint8_t rec_tag_index,tag_num_tosend;

static uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
uint16_t  taglist_total_num,taglist_current_index;  //µ±Ç°Áбí×ÜÊýÁ¿
uint8_t  taglist_keeptime[MAX_TAG_LIST_NUM]; //ÿ¸ö±êÇ©´æ»îʱ¼ä
uint16_t taglist_id[MAX_TAG_LIST_NUM],taglist_dist[MAX_TAG_LIST_NUM]; //±êÇ©¾àÀëºÍ±êÇ©µÄID

int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
uint8_t anclost_times=0 , mainbase_lost_count=0,exsistbase_list[MAX_NEARBASE_NUM],get_newbase=0,nearbase_num,last_nearbase_num,next_nearbase_num;
uint16_t nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],rec_nearbaseid,rec_nearbasepos;
uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
uint32_t temp_tag_count1=0;
uint32_t temp_tag_count2=0;
uint32_t temp_tag_count3=0;
uint32_t temp_count4=0;
uint32_t tempflag=0;
int32_t freq_offset,freq_offset_filter; 
int temp_flag,poll_tx_num,resp_rx_num;
extern double distance;
uint32_t count1,count2;
extern double distance_tag;
enum SIMPLE_FSM_T
{
    SIMPLE_IDLE = 0,
    SIMPLE_POLL = 1,
    SIMPLE_RESPONSE = 2,
    SIMPLE_FINAL = 3,
};
void uwb_poll_buffer_construct(void)
{
	for(uint8_t i=0;i<nearbase_num;i++)   //±êÇ©¾àÀë32λת³É16λ
{
    u16_nearbase_distlist[i] = nearbase_distlist[i];
}
		uwb_sendbuffer[GROUP_ID_IDX] = group_id;
		memcpy(&uwb_sendbuffer[TAG_ID_IDX],&dev_id,2);
	//uwb_sendbuffer[BATTARY_IDX] = bat_percent;
    uwb_sendbuffer[SEQUENCE_IDX] = frame_seq_nb++;
		uwb_sendbuffer[NEARBASENUM_INDEX] = nearbase_num;
		memcpy(&uwb_sendbuffer[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);//»ùÕ¾id
    memcpy(&uwb_sendbuffer[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
		uwb_sendbuffer[MESSAGE_TYPE_IDX] = MBX_POLL;	
		memcpy(&uwb_sendbuffer[ANCHOR_ID_IDX],&mainbase_id,2);
}

static enum SIMPLE_FSM_T state = SIMPLE_IDLE;

/**
 * @brief Correct TX timestamp of the ranging frame.
 *
 * @param[in] timestamp    PHY timer count of TX
 * @return TX timestamp (unit: 15.65ps)
 */
static int64_t ranging_tx_time_correct(uint32_t timestamp)
{
    int64_t tx_timestamp = ranging_tx_time(timestamp);

    // correct antenna delay (TX using the same antenna as RX)
    tx_timestamp += ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;

    return tx_timestamp;
}

/**
 * @brief Correct RX timestamp of the ranging frame.
 *
 * @param[in] ind    MAC RX report
 * @return RX timestamp (unit: 15.65ps)
 */
static int64_t ranging_rx_time_correct(const struct MAC_HW_REPORT_T *ind)
{
    int64_t rx_timestamp = ranging_rx_time(ind);

    // correct antenna delay
    rx_timestamp -= ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;

    return rx_timestamp;
}

///* RX done process handler. */
//static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
//{
//    // Power off radio
//    power_off_radio();

//    rx_state = rx_report->err_code;

//    /** UWB RX success */
//    if (rx_state == UWB_RX_OK)
//    {
//        /* Received data does not contain FCS */
//        rx_length = rx_report->pkt_len;
//        memcpy(rx_buf, rx_report->pkt_data, rx_length);
//        /* Calculate rx timestamp */
//        resp_rx_ts_i64 = ranging_rx_time_correct(rx_report);
//				temp_tag_count1=phy_timer_count_get();
//					//»ñÈ¡·¢Éä¶ËʱÖÓÆ«²î
//			resp_rx_num++;
//			freq_offset=phy_freq_offset_get();
//			freq_offset_filter=average_filter(freq_offset);//»ñȡƵƫ
////			int32_t ppm = freq_offset_filter / (int32_t)(ch_center_freq_map[UWB_CH_NUM] * 1e-6);
////			calib_xtal38m4_load_cap_auto_tune(ppm);//ÀûÓõçÈݵ÷Õû¾§ÕñÊÊÅäƵƫӦÔÚÍêÕûµÄÒ»°üÖ®ºóµ÷Õû£¬ÐèÒª¹Ø±ÕXTAL_AUTO_TUNE_EN ºê¶¨Òå±ÜÃâÊÕ°üÖÐ;У׼µ¼Ö²â¾à´íÎó
//			//LOG_INFO(TRACE_MODULE_APP, "poll_tx_num is %d,resp_rx_num is %d,distance is %lf\r\n",poll_tx_num,resp_rx_num,distance);	
////			receive_flag=1;
//			
//    }
//    else
//    {
//        /* UWB_PLD_ERR     payload error             */
//        /* UWB_PHR_ERR     PHR error                 */
//        /* UWB_SFD_ERR     Sfd error                 */
//        /* UWB_BD_ERR      Preamble detection error  */
//        /* UWB_TO_ERR      Receive timeout           */
//        /* UWB_STS_ERR     STS error                 */
//				rx_state1=rx_report->err_code;	
//        rx_length = 0;
//				receive_flag=2;
//			temp_tag_count2=phy_timer_count_get();
//			
//    }
//		
//}

///* TX done process handler. */
//static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
//{
//    // Power off radio
//    power_off_radio();

//    /** UWB TX success */
//    if (tx_report->err_code == UWB_TX_OK)
//    {
//			poll_tx_num++;
//			temp_count4=phy_timer_count_get();//²âÊÔ
//			if(temp_flag){
//				count2=phy_timer_count_get();
//				temp_flag=0;
//				return;
//			}
//			count1=temp_tag_count1;
//				temp_flag=1;
//    }
//}



//×¢Ò⣺ÒòΪÐÂ×¢²áµÄ±êÇ©²¢²»ÖªµÀ»ùÕ¾ÒѾ­ÊÕµ½ÁË£¬ËùÒÔÒªÔÚÏÂÒ»°üÁ¢¿Ì½«ÐµıêÇ©ID·¢³ö£¬·ñÔò±êÇ©»áÒ»Ö±ÇÀÕ¼»ùÕ¾µÄpoll°ü¡£
//·½·¨Êǽ«ÐÂ×¢²áµÄ±êÇ©Ìí¼Óµ½Ï´η¢Ë͵ıêÇ©ÁбíÍ·²¿£¬ÆäËû±êÇ©ÒÀ´ÎÏòºóŲ¶¯¡£
uint16_t AddNewTagIntoList(uint16_t tagid)  
{                                       
     uint16_t newindex_cal = taglist_current_index+25;//µ±Ç°Ë÷Òý+25£¬ÎªÏ´ÎË÷ÒýÒª·¢³öµÄÖµµÄ×î´óÖµ£¬Èç¹û×ÜÊýСÓÚÕâ¸öÖµ£¬¼´¿É·Åµ½×îºóÃæ¡£
      if(newindex_cal>=taglist_total_num) //Èç¹ûµ±Ç°Ë÷ÒýÊÇ×îºóÒ»°ü£¬ÄÇô¾Í¼Óµ½×ÜË÷ÒýµÄºóÃ棬Èç¹û²»ÊǾͼӵ½ÏÂÒ»´ÎÆðʼË÷ÒýλÖá£
      {
        newindex_cal = taglist_total_num;
          
      }else{           
         for(uint16_t i=taglist_total_num;i>newindex_cal;i--)  //´ÓºóÍùǰŲµØ·½??¾ÍÊDzåÈë
            {
                taglist_id[i]=taglist_id[i-1];
                taglist_dist[i]=taglist_dist[i-1];
                taglist_keeptime[i]=taglist_keeptime[i-1];
            }          
      }
      taglist_total_num++;
      taglist_id[newindex_cal] = tagid;
      taglist_dist[newindex_cal] = 0;
      taglist_keeptime[newindex_cal] = TAG_KEEPTIMES;
      return newindex_cal;
}
uint8_t FindNearBasePos(uint16_t baseid)//Ñ°ÕÒµ±Ç°ÁбíÖеĻùÕ¾·µ»ØË÷Òý
{
	uint8_t i;
	for(i=0;i<nearbase_num;i++)
	{
		if(baseid==nearbaseid_list[i])
			return i;
	}
	if(i==nearbase_num)
		return nearbase_num;
}

void AnchorListUpdate(void)
{
	next_nearbase_num = 0;
			int j=0;
			for(int i=0;i<nearbase_num;i++)
			{
				if(exsistbase_list[i]>0)
				{	
          exsistbase_list[i]--;	
					next_nearbase_num++;
					true_exsistbase_list[j]=exsistbase_list[i];
					true_nearbase_idlist[j]=nearbaseid_list[i];			
					true_nearbase_distlist[j++]=nearbase_distlist[i];
					
				}
				nearbase_num = next_nearbase_num;//¸üÐÂÏÖ´æ»ùÕ¾Êý
				last_nearbase_num = next_nearbase_num;//¸üе±Ç°»ùÕ¾Êý
			}
}

void Rank_ANchor_list_by_dis(void)//°´ÕÕÄ¿Ç°µÄ»ùÕ¾¾àÀë½øÐÐðÅÝÅÅÐòÓÃÁÙʱÊý×鷽ʽ½«×î½üµÄ·Åµ½×îÇ°Ã棬×îÔ¶µÄ·Åµ½×îºóÃæ
{
for(int i=0;i<last_nearbase_num-1;i++)
			{
				for(int j=0;j<last_nearbase_num-1;j++)
				{
					if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
					{
						uint32_t temp_dist,temp_id,temp_exsis;
						temp_dist=true_nearbase_distlist[j];
						temp_id = true_nearbase_idlist[j];
						temp_exsis=true_exsistbase_list[j];
						true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
						true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
						true_exsistbase_list[j]=true_exsistbase_list[j+1];
						
						true_nearbase_distlist[j+1]=temp_dist;
						true_nearbase_idlist[j+1]=temp_id;
						true_exsistbase_list[j+1]=temp_exsis;
					}			
				}
			}
			for (int i=0;i<last_nearbase_num;i++)
			{
				nearbaseid_list[i]=true_nearbase_idlist[i];
				nearbase_distlist[i]=true_nearbase_distlist[i];
				exsistbase_list[i] = true_exsistbase_list[i];
			}
}
static uint16_t CmpTagInList(uint16_t tagid)//ÕÒÕâ¸öÐÂÒ»°üµÄ»ùÕ¾ÔÚ²»ÔÚÏÖ´æµÄtaglistÖÐÔڵĻ°¶ÔӦλÖøüдæ»îʱ¼ä£¬²»ÔÚ¾ÍÔö¼Ó£¨È·±£ÓÐЧÊýÁ¿Ð¡ÓÚ×î´óÉèÖÃÊý£©
{
    uint16_t temp;
	for(uint8_t i=0;i<taglist_total_num;i++)
	{
		if(memcmp(&tagid,&taglist_id[i],2)==0)
        {
            taglist_keeptime[i] = TAG_KEEPTIMES;
			return i;
        }
	}
    if(taglist_total_num<MAX_TAG_LIST_NUM)
    temp = AddNewTagIntoList(tagid);
	return temp;
}

int TagRange(void)
{
//    // The following peripherals will be initialized in the uwb_open function
//    // phy/mac/aes/lsp/phy timers initialized
//    uwb_open();

//    // Set calibration parameters
//    uwb_calibration_params_set(config.phy_cfg.ch_num);

//    // set advanced parameters
//     struct PHY_ADV_CONFIG_T adv_config = {
//        .thres_fap_detect = 40,
//        .nth_scale_factor = 4,
//        .ranging_performance_mode = 0,
//        .skip_weakest_port_en = 0,
//    };
//    phy_adv_params_configure(&adv_config);

//    // uwb configure
//    uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);

//    ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);

//    // Register rx interrupt callback function
////    mac_register_process_handler(tx_int_callback, rx_int_callback);

////#if LOW_POWER_EN
////    // Initialize low power mode
////    power_init();
////    // Enable sleep timer
////    sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, NULL);
////#endif
//		uwb_poll_buffer_construct();
//		temp_tag_num=0;//ÁÙʱÊýÁ¿Îª0
//		poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//·¢ËͱØÐëÒªÑÓʱ·¢ËͲſÉÒÔÓÃÓÚ²â¾à·ñÔòÁ¢¼´·¢ËÍ»á»ñȡʱ¼ä´Á²»¶Ô£¬ÐèÒª¼ÆËã³ÌÐòÔËÐÐʱ¼ä£¬±ÜÃâÉèÖùýȥʱ¼ä
//		tempflag=uwb_tx(uwb_sendbuffer,13+4*nearbase_num,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ
//		
//		//gpio_pin_set(IO_PIN_5);//²âÊÔ
//		//LOG_INFO(TRACE_MODULE_APP, "½øÈë²â¾à",poll_tx_num,resp_rx_num,distance);	
//		poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
//		temp_tag_count1=phy_timer_count_get();
//		while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
//		temp_tag_count2=phy_timer_count_get();
//		resp_rx_en_start_u32 =  poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//ÉèÖ÷¢ËͶàÉÙsºó½ÓÊÕ°´target¶ÀÁ¢Ê±¼äÆðµãËã+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_USΪ·¢ËͺóÒª¶à¾Ã¿ªÆô½ÓÊÕʱ¼ä
//		temp_resp=resp_rx_en_start_u32;
//	//tempflag=uwb_rx(1, resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);//¿ªÆô½ÓÊܲ¢ÉèÖýÓÊÕ³¬Ê±
//	tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);
//	
////	receive_flag =0;
//	start_receive_count=phy_timer_count_get();
//	poll_timeout=nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US);//¶àÒ»¸ö¶à0.4msĬÈÏ0.4ms¼ÆËãΪ0.125*4*100000,ĬÈÏ¿ªÆô1mss
//	end_receive_count=start_receive_count+poll_timeout;
//	if(end_receive_count>=UINT32_MAX)
//	{end_receive_count-=UINT32_MAX;}
//	current_count=phy_timer_count_get();		
//	while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//Ñ­»·½ÓÊÜ°üÌå,ÈôΪ124.8KÔòÊÇ+62400000
//		{
//		
//		current_count=phy_timer_count_get();//²»¶Ïˢе±Ç°¼ÆÊýÆ÷Öµ
//		temp_tag_count2=phy_timer_count_get();
//		while(mac_is_busy());//µÈ´ý½ÓÊÕÍê³É
//		temp_tag_count3=phy_timer_count_get();
////		if(receive_flag==1)//³É¹¦½ÓÊÕÊý¾Ý
//		{
////			receive_flag=0;
//	
//			//½ÓÊճɹ¦ÔòÅжÏÊÇ·ñΪͬһ×é
//			if (rx_buf[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)&&rx_buf[GROUP_ID_IDX]==group_id) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
//							{	
//													memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
//													if(last_nearbase_num==0)
//													{
//														nearbaseid_list[0]=rec_nearbaseid;
//														nearbase_num=1;
//														exsistbase_list[0]=KEEP_TIMES;
//														SetANCTimestap(0,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);//Õâ¸öÊǸĹýµÄ²ÎÊý
//													}
////																if(rec_nearbaseid==nearbaseid_list[0])
////																	{
////                                     exsistbase_list[0]=KEEP_TIMES;
////                                   SetANCTimestap(0,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2);//Õâ¸öÊǸĹýµÄ²ÎÊý
////																	}
//																else
//								{
//									rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
//									SetANCTimestap(rec_nearbasepos,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);
//									if(rec_nearbasepos>=last_nearbase_num)          //·¢ÏÖеĻùÕ¾
//									{
//										//get_newbase=1;
//										nearbase_num++;
//										nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
//									}
//									exsistbase_list[rec_nearbasepos]=KEEP_TIMES;//¸üдæ»îʱ¼ä
//              }
//							memset(rx_buf, 0, sizeof(rx_buf));//Çå¿Õ½ÓÊÕµ½µÄÓÃÍêµÄÊý×é
//							rx_length=0;//Çå0³¤¶È
////							uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
////							while(mac_is_busy());
//							//break;//³É¹¦½ÓÊÕ¾ÍÍ˳ö
//		}
//		tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
//		//gpio_pin_clr(IO_PIN_5);//²âÊÔ
//			
//		}else 
////        if(receive_flag==2)
//            {//½ÓÊÕ³ö´í
////		receive_flag=0;
//		tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
//		temp_tag_count3=phy_timer_count_get();
////		while(mac_is_busy());
//		temp_tag_count1=phy_timer_count_get();
//		}
//		//gpio_pin_clr(IO_PIN_5);//²âÊÔ
//		}
//		delay_us(1);
//		uwb_rx_force_off(1);
//		 CalculateDists(poll_tx_ts_i64); //¼ÆËã¾àÀë²¢¸üоàÀë±í
//		 AnchorListUpdate();//¸üдæ»î»ùÕ¾Áбí
//		 Rank_ANchor_list_by_dis();//ðÅÝÅÅÐòÖØа´¾àÀëÖØÐÂÅÅÁлùÕ¾Áбí×îС¾àÀë´æ»õ»ùÕ¾·Åµ½×îÇ°Ãæ
//		 LOG_INFO(TRACE_MODULE_APP,"»ùÕ¾ID£º%X,¾àÀë: %d\r\n",rec_nearbaseid,nearbase_distlist[0]);
}


void UWB_Tag_Poll(void)
{
  switch(UWB_work_state)
	{
	 case LINK_SUCCESS:
	 case SEARCH_DEV:
	 case UN_BIND:
	{
	uwb_led_on();
	 TagRange();
	uwb_led_off();
	} 
			break;
	}
// update_led_power_state();//¸üеÆ״̬
}