#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 "lib_aoa.h"
#include "dw_app_anchor.h"
#include "global_param.h"
#include "board.h"
#include "lib_aoa.h"
#include <serial_at_cmd_app.h>
extern int simple_main(void);
extern int temp_main(void);
void Calibration_Time(void);
void TagListUpdate(void);
void TagListUpdate_person_num(void);
void Uwb_init(void);
void OpenUWB(void);
void CloseUWB(void);
int Anchor_App(void);
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);

extern void updata_led_power_state(void);
/*receive buffer*/
static uint8_t rx_buf[150];
static uint8_t uwb_sendbuffer[150];
static volatile uint16_t rx_state;
static volatile uint16_t rx_length;

//resp±äÁ¿
static uint8_t frame_seq_nb2,battary,button,rec_nearbase_num,ancidlist_num;
static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
static int16_t rec_ancdistlist[TAG_NUM_IN_SYS];
extern uint8_t group_id;
static uint16_t anc_id_recv,tag_id_recv;
static int16_t rec_antdelay;
extern uint32_t dev_id;
static uint16_t taglist_pos,tmp_time;
extern uint16_t tag_frequency;
extern uint16_t disoffset;
static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state;
int poll_rx_num,resp_tx_num;
//respº¯Êý
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary);//ÕÒµ½×Ô¼ºµÄidÐÅÏ¢¶ÔӦλÖøüÐÂ×Ô¼ºµÄ½»»¥ÐÅÏ¢
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts);//ÓÃÀ´¶ÔӦλÖ÷ÅÈëʱ¼ä´Á
static uint16_t tagid_list[TAG_NUM_IN_SYS];
uint16_t CmpTagInList(uint16_t tagid);
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos);
static uint8_t send_buffer[100];
static uint8_t tagofflinetime[TAG_NUM_IN_SYS];
uint32_t temp_count=0;
uint32_t temp_count1=0;
uint32_t temp_count2=0;
uint32_t temp_count3=0;
uint32_t temp_count7=0;
uint32_t temp_internal=0;
int16_t elevation = 0;
int16_t azimuth = 0;
uint8_t fom = 0;
int32_t distance;
uint8_t taglist_num;
float *sts_rssi=NULL;
extern uint8_t recev_error_num;
uint8_t uwb_rx_flag;
extern Operation_step UWB_work_state;
extern int16_t first_search_flag;
typedef enum 
{
		SEARCH,
    CLOSE,
    RANGE,
}enumwltagstate;
/* Ranging period */
#define RANGING_PERIOD_MS (1000)

/* This is the delay from Frame RX POLL frame to send RESP Frame */
#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan600 success ²¢ÇÒ²»¿¨busy

#define RESP_TX_TO_FINAL_RX_DLY_US 500U

/* RX sync window size 50 ms*/
#define RX_SYNC_WIN_US 5000U //yuan1000  7000success

/* RX sync window size 50 ms*/
#define RX_SYNC_WIN_US_TEMP 2000000U //yuan1000  7000success

/* Receive poll timeout 500us*/
#define POLL_RX_TIMEOUT_US 500

/* Receive final timeout 500us */
#define FINAL_RX_TIMEOUT_US 500

/* RX window open in advance */
#define RX_WIN_IN_ADVANCE_US (150)

#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400

/* 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 HALF_SECOND_TIME 624000000
/* Length of the common part of the message */
#define MSG_COMMON_LEN 10

#define UWB_DELAY_TIME_US 496
static uint8_t receive_flag=0;
struct mk_uwb_configure
{
    uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
    struct UWB_CONFIG_T phy_cfg;
};
extern uint8_t uwb_ch;
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 = 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                       */
};


static struct anchor_id_car{
 uint16_t anchor_new_id;
 uint16_t change_num;
};
/* Buffer to store received frame */

/*     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.
 */

/* Count value of phy counter when transmitting and receiving frames */
static uint32_t poll_rx_en_start_u32;
static uint32_t resp_tx_en_start_u32;
static uint32_t resp_tx_timeout;
int64_t temp_resp_i64;
/* 41 bits timestamps of frames transmission/reception. */
int64_t poll_rx_ts_i64;
int64_t resp_tx_ts_i64;
int64_t final_rx_ts_i64;

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

/* MAC report data structure */
static struct MAC_HW_REPORT_T rx_rpt;

enum SIMPLE_FSM_T
{
    SIMPLE_IDLE = 0,
    SIMPLE_POLL = 1,
    SIMPLE_RESPONSE = 2,
    SIMPLE_FINAL = 3,
};

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. */
int8_t rssi;
uint32_t range_timeout_us = 2000000;//yuan5000
uint8_t flag_temp2,flag_temp1;
uint16_t uwb_losttimer;
uint16_t lorarec_tagid;
extern uint8_t send_lora_data[250];
uint8_t Lora_upanc_time;
uint8_t update_tag_time;
extern uint16_t mubiao_anchor_ID;
uint8_t Lora_qingqiu_flag;
extern uint16_t Lora_qingqiu_bao;
//uint8_t shengji_flag;
extern uint8_t Dtu_shengji_jindu[20];
extern uint8_t shengji_flag;

uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
int16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
static uint16_t anchordata_version[TAG_NUM_IN_SYS];
uint8_t anchordata_num = 0;
static int16_t tagdist_list[TAG_NUM_IN_SYS];
uint16_t random_time;
//anchor
int32_t hist_dist;
int16_t temp_recdist_before_offset;
int16_t dist_temp;
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)
{
    uint8_t i;
    for(i=0; i<anchordata_num; i++)
    {
        if(anchordata_id[i] == ancid)//²éѯ±êÇ©ÊÇ·ñÔÚ×Ô¼ºÒÑͨѶÁбíÖÐ
        {

            break;
        }
    }
    if(i==anchordata_num)
    {
        if(anchordata_num<TAG_NUM_IN_SYS-1)
            anchordata_num++;
    }
    anchordata_id[i] = ancid;//Óë֮ͨÐŵıêÇ©id´æÈ뵱ǰ±íÖÐ
		distance=dist*0.5+(int16_t)anchordata_dist[i]*0.5;
    anchordata_dist[i] = dist;
    anchordata_bat[i] = battary;
    tagofflinetime[i]=0;//²»¶Ï¸üе±Ç°TAG¶ÔÓ¦ÀëÏßʱ¼ä
		dist_temp=dist;
//    if(dist>0)
		
//		if(temp_recdist_before_offset!=0&&distance!=0x1ffff)
//		{
//    distance=dist*0.5+distance*0.5;
//		}else{
//			distance=dist;
//		}
		
}
uint16_t CmpTagInList(uint16_t tagid)
{   uint16_t i;
    for(i=0; i<taglist_num; i++)
    {
        if(memcmp(&tagid,&tagid_list[i],2)==0)
            break;
    }
    if(i==taglist_num)
        return taglist_num;
    //tagofflinetime[i] = 0;
    return i;
}

uint16_t ExistInTagList(uint16_t tagid)
{   uint16_t i;
    for(i=0; i<taglist_num; i++)
    {
        if(memcmp(&tagid,&tagid_list[i],2)==0)
            return 1;
    }
    return 0;
}
uint16_t CmpCarInExistList(uint16_t tagid)
{   uint16_t i;
    for(i=0; i<anchordata_num; i++)
    {
        if(memcmp(&tagid,&anchordata_id[i],2)==0)
            break;
    }
    if(i==anchordata_num)
        return anchordata_num;
    //tagofflinetime[i] = 0;
    return i;
}

static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
{
    int i,ts2;
    ts2=(int32_t)ts;
    for (i = 0; i < 4; i++)
    {
        ts_field[i] = (uint8_t)ts2;
        ts2 >>= 8;
    }
}

//void TagListUpdate(void)
//{
//    uint8_t i,j=0;
//    for(i=0; i<anchordata_num; i++)
//    {
//        if(tagofflinetime[i]++<QUIT_SLOT_TIME)
//        {
//            anchordata_id[j]=anchordata_id[i];
//            tagofflinetime[j++]=tagofflinetime[i];
//        }
//    }
//    anchordata_num=j;
//}
void TagListUpdate(void)
{
uint16_t i,j=0,k=0;
    for(i=0; i<taglist_num; i++)
    {
			 if(tagofflinetime[i]++<TAG_KEEPTIMES)
        {
            tagid_list[j]=tagid_list[i];
            tagdist_list[j] = tagdist_list[i];
						anchordata_bat[j]=anchordata_bat[i];//µçÁ¿ËæÖ®¸üÐÂ
            anchordata_version[j]=anchordata_version[i];
            tagofflinetime[j++]=tagofflinetime[i];
        }
		}
		 taglist_num=j;
}
uint16_t g_com_receive_id;
uint8_t cmd_flag,position;;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//¸ù¾Ý×Ô¼ºÊÇ·ñΪлùÕ¾¶¨ÖÆÏûϢȥ·¢ËÍ£¬¸ù¾ÝÊÇ·ñÇÀÕ¼ÅжÏ
{
    cmd_flag=0;
    uint16_t checksum1 = 0;
    for(uint8_t i=0; i<PWTAG_MAXGROUPNUM; i++)
    {
        if(pwtag.remain_time[i]!=0)
        {
            lorarec_tagid=g_com_receive_id;
            if(pwtag.groupid[i][0]<=lorarec_tagid&&lorarec_tagid<=pwtag.groupid[i][1])
            {
                send_buffer[MSG_TYPE_IDX] = LORA_MSGTYPE_WGRESPTAG;
                send_buffer[MSG_LENGTH] = 14;
                memcpy(&send_buffer[SOURCE_ID_IDX],&dev_id,2);
                memcpy(&send_buffer[DEST_ID_IDX],&lorarec_tagid,2);
                send_buffer[RW_FLAG_IDX] = pwtag.duorxie[i];
                send_buffer[WRITE_IDX_IDX] = pwtag.index[i];
                memcpy(&send_buffer[WRITE_VALUE_IDX],pwtag.value[i],pwtag.len[i]);

                checksum1=Checksum_u16(send_buffer,pwtag.len[i]+WRITE_VALUE_IDX);
                memcpy(&send_buffer[pwtag.len[i]+WRITE_VALUE_IDX],&checksum1,2);
                resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
                flag_temp2=uwb_tx(send_buffer, pwtag.len[i]+WRITE_VALUE_IDX+2,1 ,resp_tx_en_start_u32);//Á¢¼´·¢ËͲâÊÔsize´óС
                //    temp_count1=phy_timer_count_get();
                //while(mac_is_busy());
                gpio_pin_clr(SCL_PIN);
                cmd_flag=1;
                if(send_buffer[RW_FLAG_IDX]==0x01)
                {
                delay_ms(100);
                NVIC_SystemReset();    
                }
                break;
            }
        }
    }
    if(cmd_flag==0)
    {
    temp_count2=poll_rx_en_start_u32;

    memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//×éid
    memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//×ÔÉíid
    memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//½ÓÊÜÕßid
    send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;

//    if(rec_nearbase_num == ancrec_nearbasepos)//ÇÀռģʽ×Ô¼ºÎªÐ»ùÕ¾
//    {
//        random_time = (phy_timer_count_get()%100);//¶à»ùÕ¾ÇÀÕ¼Ò»¸öλÖÃʱ±ÜÃâÒ»¸öÒ²ÊÕ²»µ½µÄÇé¿ö¾Íÿһ¸öËæ»ú´í¿ª¼¸Ê®uS
//        //resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
//        // (resp_tx_en_start_u32) is the moment when TX enable
//        resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+rec_nearbase_num*DELAY_BETWEEN_TWO_FRAME_UUS);//ºóÃæµÄÐèÒª¸ù¾ÝÒÑÓлùÕ¾ÊýÁ¿½øÐиü¸Ä£¬Èç¹ûÊÇÇÀÕ¼×Ô¼º×îºóÒ»¸ö»Ø¸´£¬ÒªÓе×Êý
//				
//		} else {
//        //resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
//       resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(20*rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS);//ºóÃæµÄÐèÒª¸ù¾ÝÒÑÓлùÕ¾ÊýÁ¿½øÐиü¸Ä£¬Èç¹ûÊÇÇÀÕ¼×Ô¼º×îºóÒ»¸ö»Ø¸´£¬ÒªÓе×Êý
//				//ÕâÀïÓ¦¸ÃÓÐÎÊÌâÎÊÒ»ÏÂÖÓ¹¤
//		}//´Ë´¦ÉèÖþø¶Ôʱ¼ä½«poll u32¸ÄΪphy_timer_count_get()
		position=ancrec_nearbasepos;
		resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+ancrec_nearbasepos*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//¼ÓÈëÖ¡¼ä¸ô
    resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
    /* Write all timestamps in the final message. See NOTE 8 below. */
    resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts_i64);
    resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//´Ë´¦Ê±¼ä´Áint64Ö±½Óת»»Îªuint64²»ÖªµÀ»á²»»áÓдíÎó
    memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//²î¸öÐÞÕýoffset,ÐÞÕýÓзûºÅµ«ÊÇÕâ¸öcom±íΪÎÞ·ûºÅµÄ,´«¹ýÈ¥Ö±½Ó¸³¸øInt16_tÏ൱ÓÚ»¹Ô­ÁË
    temp_resp_i64=resp_tx_ts_i64;
    temp_count3= phy_timer_count_get();
    flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//Á¢¼´·¢ËͲâÊÔsize´óС
		tagofflinetime[taglist_pos] = 0;//¸üбêǩͨÐÅ
//    temp_count1=phy_timer_count_get();
    //while(mac_is_busy());
    //gpio_pin_clr(SCL_PIN);
    }
    
}

uint16_t uwb_searchcount;
uint8_t flag_recsuccess;

uint32_t start_receive_count_calibration;
uint32_t current_count_calibration;
uint32_t get_in_num,get_out_num;
struct anchor_id_car anchor_id_in_car[TAG_NUM_IN_SYS],anchor_id_out_car[TAG_NUM_IN_SYS];
int16_t change_count[TAG_NUM_IN_SYS];
uint16_t anchor_id_in[TAG_NUM_IN_SYS],anchor_id_out[TAG_NUM_IN_SYS];
uint8_t secondtask_search_count,secondtask_search_flag;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
enumwltagstate wltag_state=RANGE;
uint32_t wltag_statetimer,wltag_uwbtimer;
uint32_t uwbtasktimer=0,uwbtagsendtimer=0;
void UWBOneSecondTask(void)
{
 uwb_losttimer++;
    TagListUpdate();
	if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
		uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//·ÀÖ¹Òç³ö
}
uint8_t uwbsend[100];

void UWBIdleTask(void)
{

	if(HIDO_TimerGetTick()-uwbtasktimer >=1)
	{
            
    for(uint16_t i=0;i<taglist_num-1;i++)
    {
        for(uint16_t j=0;j<taglist_num-1-i;j++)
        {
            if(tagdist_list[j]>tagdist_list[j+1])
            {
                uint16_t id,dist,version;
                uint8_t bat;
                id = tagid_list[j];
                dist = tagdist_list[j];
                version = anchordata_version[j];
                tagid_list[j] = tagid_list[j+1];
                tagdist_list[j] = tagdist_list[j+1];
                anchordata_version[j] = anchordata_version[j+1];
                tagid_list[j+1] = id;
                tagdist_list[j+1] = dist;
                anchordata_version[j+1] = version;
            }
        }
    
    }
    
        if(taglist_num>6)
        {
        taglist_num=6;
        }
		uwbtasktimer = HIDO_TimerGetTick();
		UWBOneSecondTask();
        uwbsend[0]=0x55;
        uwbsend[1]=0xaa;
        uwbsend[2]=0x40;
        uwbsend[3]=taglist_num;
        memcpy(&uwbsend[4],&tagid_list,taglist_num*2);
        memcpy(&uwbsend[4+taglist_num*2],&tagdist_list,taglist_num*2);
        memcpy(&uwbsend[4+taglist_num*4],&anchordata_version,taglist_num*2);
        uart_send(UART_ID0, uwbsend,taglist_num*6+4, NULL);
        taglist_num=0;
//        for(int i=0;i<anchordata_num;i++)
//        {
//        LOG_INFO(TRACE_MODULE_APP,"µ±Ç°²â¾à»ùÕ¾ID:%x,¾àÀë:%d.\r\n",tagid_list[0],tagdist_list[0]);
//        }
	}
}
int uwb_app_poll(void)
{
	 UWBIdleTask();
}
void Uwb_init(void)
{
		uwb_open();
	#ifdef STS_MODE
 // Set STS key and IV
    phy_sts_key_configure(&sts_iv_key);
	
	// which RX ports will be used for AoA/PDoA
    phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
	#endif
    // Set calibration parameters
//    config.phy_cfg.ch_num=g_com_map[NEARBASE_ID1];
    uwb_calibration_params_set(config.phy_cfg.ch_num);
	#ifndef STS_MODE
   // 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,
    };
	#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);
		#ifdef STS_MODE
		aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
    aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));

    aoa_param_config();
		
		phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
		#endif
//		mac_register_process_handler(tx_int_callback, rx_int_callback);//³õʼ»¯»Øµ÷
}