#include "mk_trace.h"
#include "mk_uwb.h"
#include "mk_phy.h"
#include "mk_misc.h"
#include "mk_wdt.h"
#include "mk_power.h"
#include "mk_sleep_timer.h"
#include "lib_ranging.h"
#include "dw_app.h"
#include "board.h"
#include "mk_calib.h"
#include "stdlib.h"
#include "mk_flash.h"
#include "global_param.h"
#if defined(MK_SS_TWR_DW_INIT)

extern int TagRange(void);
void Tag_uwb_init(void);
void TagListUpdate(void);
/* Ranging period: 1s */
#define RANGING_PERIOD_MS (10000)

/* 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 1000U  //yuan400

#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_DEFAULT 1100U //Yuan500 10mssuccess 300jixian
#define RESP_RX_TIMEOUT_US 2000000
/* 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 50000
#define DELAY_BETWEEN_TWO_FRAME_UUS 400  //yuan1400
#define HALF_SECOND_TIME 62400000

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;
};
uint32_t dev_id;
uint8_t group_id;

#ifdef DW1000
/* Default communication configuration. */
static struct mk_uwb_configure config = {//yuan
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
    .phy_cfg.ch_num = UWB_CH_NUM,             /* 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_64,        /* 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                       */
};
#elif defined STS_MODE
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 = 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 = BPRF_NSFD2_8,          /* Identifier for SFD sequence               */
    .phy_cfg.ranging_bit = 1,                 /* ranging bit set 1                         */
    .phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF,  /* IEEE802.15.4z - BPRF mode                 */
    .phy_cfg.sts_pkt_cfg = STS_PKT_CFG_1,     /* SP1 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                       */
};
/* Use the default key and IV specified in the IEEE 802.15.4z attachment */
static struct UWB_STS_KEY_CONFIG_T sts_iv_key = {
    .sts_vcounter = 0x1F9A3DE4,
    .sts_vupper0 = 0xD37EC3CA,
    .sts_vupper1 = 0xC44FA8FB,
    .sts_vupper2 = 0x362EEB34,
    .sts_key0 = 0x14EB220F,
    .sts_key1 = 0xF86050A8,
    .sts_key2 = 0xD1D336AA,
    .sts_key3 = 0x14148674,
};
#else //MKmode
/* Default communication configuration. */
static struct mk_uwb_configure config = {
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
    .phy_cfg.ch_num = 9,                      /* Channel number.                           */
    .phy_cfg.code_index = 9,                  /* TX preamble code.                         */
    .phy_cfg.mean_prf = MEAN_PRF_64M,         /* Data rate 6.8M                            */
    .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 = BPRF_NSFD2_8,          /* Identifier for SFD sequence               */
    .phy_cfg.ranging_bit = 1,                 /* ranging bit set.                          */
    .phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF,  /* 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                       */
};
#endif
///* 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;
uint16_t  taglist_total_num,taglist_current_index;  //µ±Ç°Áбí×ÜÊýÁ¿

uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
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],temp_index; //±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_count1=0;
uint32_t temp_count2=0;
uint32_t temp_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;
extern uint8_t bat_percent;
uint32_t count1,count2;
extern uint32_t reboot_num;
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];
//}
	
	 tag_num_tosend = taglist_total_num-taglist_current_index;
    if(tag_num_tosend>SEND_GROUP_MAX_NUM)  //Õâ´Î·¢µÄÊýÁ¿
    {
        tag_num_tosend = SEND_GROUP_MAX_NUM;
    }
    memcpy(&uwb_sendbuffer[7],&g_com_map[VERSION],2);
		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] = tag_num_tosend;
		memcpy(&uwb_sendbuffer[NEARBASEID_INDEX],&taglist_id[taglist_current_index],tag_num_tosend*2);//»ùÕ¾id
    memcpy(&uwb_sendbuffer[NEARBASEID_INDEX+tag_num_tosend*2],&taglist_dist[taglist_current_index],tag_num_tosend*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;
}
uint32_t temp_rx_first_stamp,temp_rx_second_stamp;
uint16_t temp_rx_first_id,temp_rx_second_id;
/* RX done process handler. */
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{
    // Power off radio
    power_off_radio();
		//tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);
    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);
//			if(temp_rx_first_stamp==0)
//			{
//			temp_rx_first_stamp=(uint32_t)resp_rx_ts_i64;
//			memcpy(&temp_rx_first_id,&rx_buf[1],2);
//			}else{
//			memcpy(&temp_rx_second_id,&rx_buf[1],2);
//			temp_rx_second_stamp=(uint32_t)resp_rx_ts_i64;
//			}
				temp_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_count2=phy_timer_count_get();
			
    }
		//tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
}

/* 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_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+SEND_GROUP_MAX_NUM;//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] = KEEP_TIMES;
      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
}
int temp_j;
void TagListUpdate(void)
{
	uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
	for(i=0;i<taglist_total_num;i++)
	{
		if(taglist_keeptime[i]-->0)
		{
			taglist_id[j]=taglist_id[i];
			taglist_keeptime[j++]=taglist_keeptime[i];//×Ô¶¯¸²¸Ç£¬¼´´ÓÇ°ÍùºóÑ°ÕÒ´æ»îʱ¼äΪ0µÄ±êÇ©£¬²¢°ÑËüÓúóÃæÀëµÃ×î½üµÄµÚÒ»¸öÓÐЧ´æ»îµÄ±êÇ©¸²¸Ç£¬ÄÇô×îºójµÄÖµ¾ÍÊǵ±Ç°ÓÐЧ¸öÊý
		}
	}
	temp_j=j;
	taglist_total_num=j;
}
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[i];
						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];
			}
}
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] = KEEP_TIMES;
			return i;
        }
	}
    if(taglist_total_num<MAX_TAG_LIST_NUM)
    temp = AddNewTagIntoList(tagid);
	return temp;
}
uint32_t count_index;
int tt=1;
float freqlost_count;
void Tag_uwb_init(void)
{
 // The following peripherals will be initialized in the uwb_open function
    // phy/mac/aes/lsp/phy timers initialized
			uwb_open();
#ifdef STS_MODE
	   // Set STS key and IV
    phy_sts_key_configure(&sts_iv_key);
#endif
    // Set calibration parameters
    uwb_calibration_params_set(config.phy_cfg.ch_num);
#ifdef STS_MODE
	
	 // set advanced parameters
    struct PHY_ADV_CONFIG_T adv_config = {
        .thres_fap_detect = 40,
        .nth_scale_factor = 4,
        .ranging_performance_mode = 3,
        .skip_weakest_port_en = 0,
    };
#else
    // 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,
    };
#endif
    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);
#if (defined STS_MODE) || (defined MK_MODE)
		ranging_lib_init();
#endif
    ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);

}
int sleep_time_step=SLEEP_COUNT;
int rand_temp;
static uint16_t source_id;
uint8_t rec_index,rec_secdelay;
uint16_t rec_value;
uint8_t readgcom_flag;
uint16_t wg_report_id;
uint16_t rec_wenjian_daxiao;
uint16_t wangguan_up_id;
uint8_t shengji_flag,time=5;
uint8_t LoraUp_flag;
extern uint16_t final_bag_num;
uint16_t checksum1;
void Uwb_Update(void)
{
											
                    checksum1=Checksum_u16(rx_buf,rx_length-2);
                    if(!memcmp(&checksum1,&rx_buf[rx_length-2],2))
                    if(!memcmp(&dev_id,&rx_buf[DEST_ID_IDX],2))
                    {
                       memcpy(&source_id,&rx_buf[SOURCE_ID_IDX],2); 
//                        if(wg_state==WG_Lost)
//                        {
//                            wg_state = WG_Connected;
                            wg_report_id = source_id;
//                        }
//                        if(!memcmp(&wg_report_id,&rx_buf[SOURCE_ID_IDX],2))
//                        {
//                            wg_lost_count = 0;
//                            loraled=GREEN;
                            switch(rx_buf[PWTAG_RW_FLAG_IDX])
                            {
                                case WGRSP_RWTAG_READ:
                                    readgcom_flag = 1;
//                                    LoraSendComMap(WGRSP_RWTAG_READ);
                                    break;
                                case WGRSP_RWTAG_WRITE:
                                    rec_index = rx_buf[PWTAG_WRITE_IDX_IDX];
                                    if(rec_index<=DEV_ID)
                                    {break;}
                                    memcpy(&rec_value,&rx_buf[PWTAG_WRITE_VALUE_IDX],2);
                                    if(g_com_map[rec_index/2]==rec_value)
                                    {break;}
                                    g_com_map[rec_index/2] = rec_value;
                                    save_com_map_to_flash();
                                    delay_us(60000);
                                    NVIC_SystemReset();
                                    break; 
                                case WGRSP_RWTAG_UPDATE:
                                rec_index = rx_buf[PWTAG_WRITE_IDX_IDX];
                                switch(rec_index)
                                {
                                    case 0xaa:  //Éý¼¶Ï·¢
                                    memcpy(&rec_wenjian_daxiao,&rx_buf[11],2);//Îļþ´óС
                                    if(rec_wenjian_daxiao>APP_SIZE||rec_wenjian_daxiao==0)
                                    {}//Îļþ¹ý´ó£¬³¬³ö·¶Î§
                                    else
                                    {
                                    final_bag_num=(rec_wenjian_daxiao/ONE_BAG_DAXIAO)+1;    
                                    memcpy(&wangguan_up_id,&rx_buf[SOURCE_ID_IDX],2);//Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
                                    shengji_flag=1;
                                    LoraUp_flag=1;    
                                    LOG_INFO(TRACE_MODULE_APP, "½øÈëÉý¼¶Ä£Ê½,½ÓÊÕÎļþ´óС%d\r\n",rec_wenjian_daxiao); 
                                    }
                                        break;                        
                                }
                                    break; 
                            }
//                        }
                    }
}
int TagRange(void)
{		
	if(readgcom_flag)
  {
    readgcom_flag=0;
    phy_timer_open(1, IRQ_PRIORITY_HIGH);
    mac_register_process_handler(tx_int_callback, rx_int_callback); 
    uint8_t data_length = 0x50;
	uint16_t checksum = 0;
	uwb_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_READPARARESP;
	uwb_sendbuffer[MSG_LENGTH] = data_length+11;
    memcpy(&uwb_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
    memcpy(&uwb_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
	uwb_sendbuffer[RP_CMD_IDX] = WGRSP_RWTAG_READ;
	uwb_sendbuffer[RP_INDEX_IDX] = 2;
	uwb_sendbuffer[RP_LEN_IDX] = data_length;
	memcpy(&uwb_sendbuffer[9], &g_com_map[1], data_length);
	checksum = Checksum_u16(uwb_sendbuffer,11+data_length);
	memcpy(&uwb_sendbuffer[11+data_length],&checksum,2);
//    Radio.Send(uwb_sendbuffer,data_length+13);
  //  Delay_Ms(100);
    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,data_length+13,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ  
    poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
    temp_count1=phy_timer_count_get();
    while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É    
    }else{
			phy_timer_open(1, IRQ_PRIORITY_HIGH);
    // Register rx interrupt callback function
    mac_register_process_handler(tx_int_callback, rx_int_callback);
		//taglist_total_num=50;//²âÊÔ

		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*tag_num_tosend,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ
		#ifdef BOXING
		gpio_pin_set(IO_PIN_5);//²âÊÔ
		#endif
		//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_count1=phy_timer_count_get();
		while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
	#ifdef BOXING
		gpio_pin_clr(IO_PIN_5);//²âÊÔ
		gpio_pin_set(IO_PIN_5);//²âÊÔ
	#endif	
	temp_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(1,resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);
	
	
	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
	poll_timeout=US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US_DEFAULT)+tag_num_tosend*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);
	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();		
	count_index=end_receive_count+HALF_SECOND_TIME;
//	if(tt){
	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_count2=phy_timer_count_get();
		while(mac_is_busy())//µÈ´ý½ÓÊÕÍê³É
		{
						IdleTask();
            current_count=phy_timer_count_get();
            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
            {
                    break;
            }
		}
		
		temp_count3=phy_timer_count_get();
		if(receive_flag==1)//³É¹¦½ÓÊÕÊý¾Ý
		{
			receive_flag=0;
			tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
			//½ÓÊճɹ¦ÔòÅжÏÊÇ·ñΪͬһ×é
				if(rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//ÊÕµ½ÊÇÆäËûµÄ»ùÕ¾µÄPOLL°ü
				{
				rand_temp=rand()%10;
				sleep_timer_start(__MS_TO_32K_CNT(SLEEP_COUNT-rand_temp));//²âÊÔ
				}else 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
							{	
								reboot_num=0;//Çå0¸´Î»¼à²âÊýÖµ
									memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
								rec_tag_index = CmpTagInList(rec_nearbaseid);//µ±Ç°ÐÂÀ´µÄÕâ°üÊý¾Ý²åÈ뵱ǰ±íÖеÄλÖÃË÷Òý
									//rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
									freqlost_count = 0;
									temp_index =rec_tag_index -taglist_current_index;
									SetANCTimestap(temp_index,&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>=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
					}else if(rx_buf[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG){
							Uwb_Update();
          } 
		
//				#ifdef BOXING 
//		gpio_pin_clr(IO_PIN_5);//²âÊÔ
//			#endif
		}else if(receive_flag==2){//½ÓÊÕ³ö´í
		receive_flag=0;
		tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
//		sleep_timer_start(__MS_TO_32K_CNT(SLEEP_COUNT-phy_timer_count_get()%30));//²âÊÔ
//			sleep_time_step=SLEEP_COUNT-phy_timer_count_get()%10;
		//tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
		temp_count3=phy_timer_count_get();
//		while(mac_is_busy());
		temp_count1=phy_timer_count_get();
		}
	#ifdef BOXING 
		gpio_pin_clr(IO_PIN_5);//²âÊÔ
		gpio_pin_set(IO_PIN_5);//²âÊÔ
		#endif
		}
//	}
		#ifdef BOXING 
		gpio_pin_clr(IO_PIN_5);//²âÊÔ
		#endif
		delay_us(1);
		uwb_rx_force_off(1);
		//dwt_forecetrxoff();
		 CalculateDists(poll_tx_ts_i64); //¼ÆËã¾àÀë²¢¸üоàÀë±í
			
		 //Calculate_battery_percent();
		
		//LOG_INFO(TRACE_MODULE_APP,"ÏÖ´æ²â¾àÊý %d id1:%04x dist:%d .\r\n",taglist_total_num,taglist_id[0],(int16_t)taglist_dist[0]);
		 //AnchorListUpdate();//¸üдæ»î»ùÕ¾Áбí
		 TagListUpdate();
		 taglist_current_index+=tag_num_tosend;
		if(taglist_current_index>=taglist_total_num||taglist_total_num<=SEND_GROUP_MAX_NUM) //Èç¹û±êÇ©µ±Ç°index´óÓÚ×Üindex£¬»òÕß×Ü»ùÕ¾ÊýÁ¿Ð¡ÓÚµÈÓÚ25£¬Ôò´Ó0¿ªÊ¼index¡£Ò»¸öÊÇÒѾ­·¢ÍêÒ»ÂÖÁË£¬Ò»¸öÊDz»¹»×î´ó·¢ËÍÊý
     taglist_current_index = 0;
		 //Rank_ANchor_list_by_dis();//ðÅÝÅÅÐòÖØа´¾àÀëÖØÐÂÅÅÁлùÕ¾Áбí×îС¾àÀë´æ»õ»ùÕ¾·Åµ½×îÇ°Ãæ
	}
}
#endif
uint16_t UpdateCRC16(uint16_t crcIn, uint8_t byte)
{
  uint32_t crc = crcIn;
  uint32_t in = byte|0x100;

  do
  {
    crc <<= 1;
    in <<= 1;

    if(in&0x100)
    {
      ++crc;
    }
    
    if(crc&0x10000)
    {
      crc ^= 0x1021;
    }
 } while(!(in&0x10000));

 return (crc&0xffffu);
}

/**
  * @brief  Cal CRC16 for YModem Packet
  * @param  data
  * @param  length
  * @retval CRC value
  */
uint16_t Cal_CRC16(const uint8_t* data, uint32_t size)
{
  uint32_t crc = 0;
  const uint8_t* dataEnd = data+size;
  
  while(data<dataEnd)
  {
    crc = UpdateCRC16(crc,*data++);
  }
  crc = UpdateCRC16(crc,0);
  crc = UpdateCRC16(crc,0);

  return (crc&0xffffu);
}
void delay_ms(uint32_t nTimer)  
{  
    uint32_t i=1000*nTimer;  
    delay_us(i);  
}  
uint8_t send_lora_data[250];
uint16_t muqiandeshengjibao;
static uint16_t current_count1,target_count1,end_count1,start_count1;
uint8_t huifushengjibaoerror_num;
uint16_t final_bag_num;
uint16_t testflag;
uint32_t Zhongjian_data[60];
uint8_t shengji_flag;
uint16_t wangguan_up_id;
uint8_t huifushengjibao_flag;
uint8_t LoraUp_flag;
uint16_t rec_wenjian_daxiao;
uint8_t lora_up_rec_flag;
uint16_t flash_shuju;
static uint32_t status_reg;
static uint32_t frame_len;
void LoraUp_Poll(void)
{    uint16_t  result ;
    uint16_t crc16;
    uint8_t jindu;
    if(shengji_flag)
    {
    uwb_rx_force_off(1);
    Tag_uwb_init();
    phy_timer_open(1, IRQ_PRIORITY_HIGH);
    mac_register_process_handler(tx_int_callback, rx_int_callback);
        
    send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATE_CONFIRM;
    memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
    memcpy(&send_lora_data[DEST_ID_IDX],&wangguan_up_id,2);//±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
//    send_lora_data[MUQIAN_BAG]=0xFF;
    crc16=Checksum_u16(send_lora_data,6);
    memcpy(&send_lora_data[6],&crc16,2);
    huifushengjibao_flag=0;
    LoraUp_flag=1;
         
    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(send_lora_data,8+2,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ  
    poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
    temp_count1=phy_timer_count_get();
    while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É        

	__disable_irq();
    result=flash_open(FLASH_ID0,NULL);
    flash_read(FLASH_ID0, APP2_ADRESS, (uint8_t*)&flash_shuju, 2);
    if(flash_shuju!=0xffff/*&&flash_shuju!=0x0000*/)
    {
            while(1)
        {
            flash_erase(FLASH_ID0,APP2_ADRESS,APP_SIZE);      
            delay_ms(500);
            flash_read(FLASH_ID0, APP2_ADRESS, (uint8_t*)&flash_shuju, 2);
            if(flash_shuju==0xffff/*&&flash_shuju!=0x0000*/)
            {break;}
        }
    }
	__enable_irq();
            while(1)
            {
                uwb_rx_force_off(1);
                send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATEFILE_REQUEST;
                memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
                memcpy(&send_lora_data[DEST_ID_IDX],&wangguan_up_id,2);//±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
//                send_lora_data[MUQIAN_BAG]=muqiandeshengjibao;
                memcpy(&send_lora_data[MUQIAN_BAG],&muqiandeshengjibao,2);
                crc16=Checksum_u16(send_lora_data,8);
                memcpy(&send_lora_data[8],&crc16,2);
                lora_up_rec_flag=0;    
//                LOG_INFO(TRACE_MODULE_APP, "ÕýÔÚÇëÇóµÚ%d°ü\r\n",muqiandeshengjibao);
                jindu=(muqiandeshengjibao*100)/final_bag_num;
                LOG_INFO(TRACE_MODULE_APP, "Éý¼¶½ø¶È%d\r\n",jindu);
                wdt_ping(WDT_ID0);//ι¹·
                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(send_lora_data,10+2,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ
                poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
                temp_count1=phy_timer_count_get();
                while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
                temp_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(0,0, 50000);
                
                while(mac_is_busy())
                {}
                if(receive_flag==1)//³É¹¦½ÓÊÕÊý¾Ý
                {   uint16_t result12;
                     
                     __disable_irq();
                     crc16=Cal_CRC16(rx_buf,DATA_IDX+ONE_BAG_DAXIAO);

                     if(!memcmp(&muqiandeshengjibao,&rx_buf[MUQIAN_BAG],2)&&!memcmp(&crc16,&rx_buf[DATA_IDX+ONE_BAG_DAXIAO],2)&&!memcmp(&dev_id,&rx_buf[DEST_ID_IDX],2)&& !memcmp(&wangguan_up_id,&rx_buf[SOURCE_ID_IDX],2))
                     {
                     result=flash_open(FLASH_ID0,NULL);
                     memcpy(Zhongjian_data,&rx_buf[DATA_IDX],ONE_BAG_DAXIAO);
                     result12=flash_write_nbytes(FLASH_ID0, APP2_ADRESS+ONE_BAG_DAXIAO*muqiandeshengjibao, (uint8_t*)Zhongjian_data, ONE_BAG_DAXIAO);
                     while(!result12==0)
                     {
                     result12=flash_write_nbytes(FLASH_ID0, APP2_ADRESS+ONE_BAG_DAXIAO*muqiandeshengjibao, (uint8_t*)Zhongjian_data, ONE_BAG_DAXIAO);
                     delay_ms(10);    
                     }                         
                     if(result12==0)
                     {
//                         if(muqiandeshengjibao==650)
//                         {
//                         delay_ms(10);   
//                         }
                     muqiandeshengjibao++;   
                     huifushengjibaoerror_num=0;
                     delay_ms(10);       
                     }
                     }
                     __enable_irq();
                }
                else
                {
                    delay_ms(500);
                    huifushengjibaoerror_num++;
                    if(huifushengjibaoerror_num>=20)
                    {
                    huifushengjibaoerror_num=0;    
                    muqiandeshengjibao=0;
                    delay_ms(500);
                    NVIC_SystemReset();    
                    break;
                    }   
                    uwb_rx_force_off(1);
                }
                if(muqiandeshengjibao==final_bag_num)
                {
                send_lora_data[MSG_TYPE_IDX]=0x99;
                memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
                memcpy(&send_lora_data[DEST_ID_IDX],&wangguan_up_id,2);//±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
                crc16=Checksum_u16(send_lora_data,6);
                memcpy(&send_lora_data[6],&crc16,2);
                huifushengjibao_flag=0;
                LoraUp_flag=1;    
                LOG_INFO(TRACE_MODULE_APP, "ÕýÔÚ·¢ËÍ×îºóÒ»°ü\r\n");    
                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(send_lora_data,8+2,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ  
                poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
                temp_count1=phy_timer_count_get();
                while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É        
                
                uint16_t tmp11 ,result11;
                tmp11=0XDDDD;
                result=flash_open(FLASH_ID0,NULL); 
                result11=flash_erase(FLASH_ID0,APP_1OR2_ADRESS,0x1000);
                if(result11==0)
                flash_write_nbytes(FLASH_ID0, APP_1OR2_ADRESS, (uint8_t*)&tmp11, 2);
                __disable_irq();       
                delay_ms(500);
                NVIC_SystemReset(); 
                }
            }
   uwb_rx_force_off(1);
  }
}