#include <math.h>
#include <string.h>
#include "sx126x.h"
#include "sx126x-board.h"
#include "lora_1268.h"
//#include "lora_3029.h""
#include "user.h"
#include "sx126x-board.h"
#include "string.h"
#include "stdio.h"
#include <stdlib.h>
#include "mk_spi.h"
#include "global_param.h"
#include "dw_app_anchor.h"
#include "HIDO_TypeDef.h"
#include "PCA9555.h"
#include "mk_misc.h"
//#include "lis3dh_driver.c"
/********************************************½á¹¹Ìå**************************************************************/
typedef enum
{
    LOWPOWER,
    RX,
    RX_TIMEOUT,
    RX_ERROR,
    TX,
    TX_TIMEOUT,
}States_t;
/********************************************½á¹¹Ìå**************************************************************/
/********************************************±äÁ¿**************************************************************/
extern wg_state_enum wg_state;


/********************************************±äÁ¿**************************************************************/

#define USE_MODEM_LORA

#if defined( USE_MODEM_LORA )

#define LORA_BANDWIDTH                              2         // [0: 125 kHz,    
                                                              //  1: 250 kHz,
                                                              //  2: 500 kHz,
                                                              //  3: Reserved]
#define LORA_SPREADING_FACTOR                       5         // [SF7..SF12]    
#define LORA_CODINGRATE                             1         // [1: 4/5,       
                                                              //  2: 4/6,
                                                              //  3: 4/7,
                                                              //  4: 4/8]
#define LORA_PREAMBLE_LENGTH_T                      8         // Same for Tx 
#define LORA_PREAMBLE_LENGTH_R                      8        // Same for Rx
//#define LORA_PREAMBLE_LENGTH                      990         // Same for Tx and Rx
#define LORA_SYMBOL_TIMEOUT                         0         // Symbols
#define LORA_FIX_LENGTH_PAYLOAD_ON                  false
#define LORA_IQ_INVERSION_ON_T                      false
#define LORA_IQ_INVERSION_ON_R                      false


#elif defined( USE_MODEM_FSK )

#define FSK_FDEV                                    5e3      // Hz 
#define FSK_DATARATE                                2.4e3      // bps
#define FSK_BANDWIDTH                               20e3     // Hz >> DSB in sx126x
#define FSK_AFC_BANDWIDTH                           100e3     // Hz
#define FSK_PREAMBLE_LENGTH                         5         // Same for Tx and Rx
#define FSK_FIX_LENGTH_PAYLOAD_ON                   false

#else
    #error "Please define a modem in the compiler options."
#endif


/***lora½ÓÊÕ£¬·¢ËͱäÁ¿¶¨Òå******/

extern uint32_t current_count;

extern uint32_t dev_id;
uint8_t  yuyin_no_sleep_flag,no_rx_flag;
uint8_t lora_up_rec_flag;
static uint16_t source_id;
/***lora½ÓÊÕ£¬·¢ËͱäÁ¿¶¨Òå******/

uint32_t wg_lost_count = 10;
//static uint8_t tx_buf[10] = {0x55, 0x44, 0x33, 0x22, 0x11};
//static uint8_t rx_buf[10] = {0x00};
//extern uint32_t uwbled,gpsled,loraled,powerled;
extern uint8_t bat_percent,taglist_num;
//uint8_t report_ancnum;
//uint16_t report_ancdist[ANC_MAX_NUM],report_ancid[ANC_MAX_NUM];
extern void spi_transfer_callback(void *dev, uint32_t err_code);
extern uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
extern uint8_t report_ancnum;
extern uint16_t report_ancdist[ANC_MAX_NUM],report_ancid[ANC_MAX_NUM];
//extern wg_state_enum wg_state;
extern uint32_t wg_lost_count;
uint8_t lora_sendbuffer[200];
uint8_t seq_num;
extern uint16_t lora_up_uwb_flag;
//extern uint8_t wg_lost_count;
uint16_t wg_report_freq,wg_report_id;
uint8_t wg_report_sf;
#define WG_LOST_SWITCH_THRES   3
#define WG_LOST_NOUWB_COUNT    60
#define DEFAULT_WG_ID       0xFFFF
#define DEFAULT_LR_WG_ID    0xFFFE
uint8_t lora_jianting_flag = 1;
void LoraReportFreqPoll(void)
{
  //  wg_state = WG_Lost;
    if(wg_lost_count++>WG_LOST_NOUWB_COUNT)
    {
     lora_jianting_flag = 0;
    } else {
     lora_jianting_flag = 1;
    }
    if(wg_state==WG_Lost)
    {
			static uint8_t channel_switch_count = 0;
      //  channel_switch_count = 10;
        if(channel_switch_count++>1)
        {
//            channel_switch_count = 0;
//            wg_report_id = DEFAULT_LR_WG_ID;
//            wg_report_freq = LR_DATA_CHANNEL_FRQ; //Èç¹û¶ªÊ§Á´½Ó¾Í½øÈëWG¹ÜÀíÐŵÀ¡£
//            wg_report_sf = LR_DATA_CHANNEL_SF;
        }
				else
				{
            wg_report_id = DEFAULT_WG_ID;
            wg_report_freq = REPORT_MANGE_CHANNEL_FRQ; //Èç¹û¶ªÊ§Á´½Ó¾Í½øÈëWG¹ÜÀíÐŵÀ¡£
            wg_report_sf = REPORT_CHANNEL_SF;
//						wg_report_freq = TEST_MANAGE_CHANNEL_FRQ;
//				  	wg_report_sf = TEST_MANAGE_CHANNEL_SF;
				}
    } else {
        if(wg_lost_count>WG_LOST_SWITCH_THRES)
        {
            wg_state = WG_Lost;
        }
    }
}
static uint16_t checksum;

//uint16_t wg_report_freq,wg_report_id;
uint8_t lora_sendbuffer[200];
void LoraHeartBeartPoll(void)
{

//	lora_up_uwb_flag=2;
//  rf_set_default_para();

/*****************************ÐÄÌø°üÉÏ´«ÄÚÈÝ************************************/		
    lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGHEARTBEAT;
    lora_sendbuffer[MSG_LENGTH] = 14;
    memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
    memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
    memcpy(&lora_sendbuffer[HB_VERSION_IDX],&g_com_map[VERSION],2);
    lora_sendbuffer[HB_UWBPOWER_IDX] = g_com_map[POWER];
    lora_sendbuffer[HB_LORAPOWER_IDX] = g_com_map[LORA_POWER];
    checksum = Checksum_u16(lora_sendbuffer,14);
    memcpy(&lora_sendbuffer[14],&checksum,2);	
//    Radio.Send(lora_sendbuffer,16);
		
/*****************************ÐÄÌø°üÉÏ´«ÄÚÈÝ*************************************/	
		
}
#define HEATBEAT_UPDATE_TIME   100
uint16_t heatbeat_count = HEATBEAT_UPDATE_TIME-1 ;
uint16_t flag_getwgresp = 0;
int16_t intheight;			//Æøѹ
extern uint32_t dangqian_frqe;
uint16_t recnum[3];
extern uint32_t freq_list[4];
extern uint8_t DMA_RXBuf_BT[200];
extern uint8_t report_ancnum;
extern uint8_t report_ancnum_bt;
uint32_t BT_SEND_flag=0;
uint8_t BT_NUM=0;
extern uint16_t report_ancdist[ANC_MAX_NUM],report_ancid[ANC_MAX_NUM];
extern uint8_t bat_percent;
extern uint16_t REV_RX_NUM;
extern uint16_t REV_POLL_NUM;
extern uint16_t REPLY_POLL_NUM;
uint16_t num[3]={0,0,0};
extern uint8_t stationary_flag;
extern uint8_t SOS_KEY_STATE;
uint32_t LORA_POLL_COUNT=0;
extern uint32_t step_count;
uint8_t step_count_rep;
//extern u16_m f_step;
extern uint8_t uwbled,gpsled,loraled,powerled;
void LoraReportPoll(void)
{
    // delay_ms(100);

#ifdef _USE_BAR
    GetPressAndHeight();
    intheight = Height*100;
#endif
#ifdef _SMT_TEST
    printf("Æøѹֵ£º%d",intheight);
#endif

//    TagListUpdate();

    LoraReportFreqPoll();
    flag_getwgresp = 0;

    SwitchLoraSettings(wg_report_freq,REPORT_CHANNEL_SF,22);
    mir3da_get_step();
    if(heatbeat_count++>HEATBEAT_UPDATE_TIME && WG_Connected == wg_state) //Èç¹ûÐÄÌø°üµ½´ïÉÏ´«Ê±¼ä£¬²¢ÇÒÍø¹Ø´¦ÓÚÁ´½Ó״̬£¬¾ÍÉÏ´«ÐÄÌø°ü
    {
        heatbeat_count = 0;
        LoraHeartBeartPoll();
        return;
    }
    for(uint16_t i=0; i<report_ancnum-1; i++)
    {
        for(uint16_t j=0; j<report_ancnum-1-i; j++)
        {
            if(report_ancdist[j]>report_ancdist[j+1])
            {
                uint16_t id,dist;
                uint8_t bat;
                id = report_ancid[j];
                dist = report_ancdist[j];
                report_ancid[j] = report_ancid[j+1];
                report_ancdist[j] = report_ancdist[j+1];
                report_ancid[j+1] = id;
                report_ancdist[j+1] = dist;
            }
        }
    }
    
    if(report_ancnum>LORA_REPORT_MAXANC_NUM)	                              //¿¼ÂÇlora´«Êäʱ¼ä£¬×î¶à·¢ËÍ10¸ö»ùÕ¾Êý¾Ý¡£
		{
      report_ancnum = LORA_REPORT_MAXANC_NUM;
		} 		  
				
#ifdef USE_GPS
    lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG_GPS;
    lora_sendbuffer[MSG_LENGTH] = 4*report_ancnum+30;
#else
		BT_NUM=DMA_RXBuf_BT[0];
		if(SOS_KEY_STATE)
		{
			BT_NUM=0;
		}
//    lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG;
		lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG_BT;
    lora_sendbuffer[MSG_LENGTH] = 4*report_ancnum+4*BT_NUM+ANCID_IDX+3;
#endif
    memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
    memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
    lora_sendbuffer[SEQNUM_IDX] = seq_num++;
    lora_sendbuffer[BAT_IDX] = bat_percent;
		lora_sendbuffer[STATE_IDX] = !GET_USERKEY|stationary_flag<<1;
		//GET_USERKEYÕâ¸öÊÇÄǸölora¡ª¡ªbusyÄǸöÒý½Å
//		lora_sendbuffer[STATE_IDX]=0x01;
//		lora_sendbuffer[GATEWAY_CHANL]=0x02;
//		lora_sendbuffer[CHANL_NUM]=0x03;
    
#ifdef USE_GPS
    memcpy(&lora_sendbuffer[GPS_JINGDU_IDX],&gps_jingdu,8);
    memcpy(&lora_sendbuffer[GPS_WEIDU_IDX],&gps_jingdu,8);
    memcpy(&lora_sendbuffer[GPS_HEIGHT_IDX],&gps_height,8);
    lora_sendbuffer[GPS_STATE_IDX] = gps_state;
    lora_sendbuffer[GPS_SATEL_NUM_IDX] = gps_satel_num;
    lora_sendbuffer[GPS_SPOWER_IDX] = gps_signalpower;
    lora_sendbuffer[GPS_CHAFENLINGQI] = gps_chafenlingqi;
#endif
    memcpy(&lora_sendbuffer[BAR_HEIGHT_IDX],&intheight,2);
    lora_sendbuffer[BT_ANCID_IDX] = report_ancnum;
    memcpy(&lora_sendbuffer[BT_ANCID_IDX+1],report_ancid,report_ancnum*2);
    memcpy(&lora_sendbuffer[BT_ANCID_IDX+report_ancnum*2+1],report_ancdist,report_ancnum*2);
		uint8_t LORA_RETRANSNUSSION_BT=0;
//		
//		num[0]=REV_RX_NUM;
//		num[1]=REV_POLL_NUM;
//		num[2]=REPLY_POLL_NUM;
		LORA_RETRANSNUSSION_BT=BT_ANCID_IDX+report_ancnum*4+1;
		lora_sendbuffer[LORA_RETRANSNUSSION_BT] = 0x2D; 		//À¶ÑÀÉÏ´«±êʶ·û

    memcpy(&lora_sendbuffer[LORA_RETRANSNUSSION_BT+1],&DMA_RXBuf_BT[0],BT_NUM*2+1); 									//»ùÕ¾ID
    memcpy(&lora_sendbuffer[LORA_RETRANSNUSSION_BT+BT_NUM*2+2],&DMA_RXBuf_BT[1+BT_NUM*2],BT_NUM*2);//»ùÕ¾¾àÀë		
		lora_sendbuffer[MSG_LENGTH] = LORA_RETRANSNUSSION_BT+4*BT_NUM+2;
		
		if(step_count < 0)
			step_count=0;
//		lora_sendbuffer[STEP_COUNT] = (uint8_t)(step_count % 256);
		
//		}
//		if(lora_sendbuffer[LORA_RETRANSNUSSION_BT]==0x2D)
//		{
		checksum = Checksum_u16(lora_sendbuffer,4*BT_NUM+4*report_ancnum+BT_ANCID_IDX+3);
		memcpy(&lora_sendbuffer[LORA_RETRANSNUSSION_BT+BT_NUM*4+2],&checksum,2);
		BT_SEND_flag=BT_ANCID_IDX+report_ancnum*4+BT_NUM*4+5;
		
		Radio.Send(lora_sendbuffer,BT_SEND_flag);	
		LORA_POLL_COUNT++;
//		LORA_3029_SINGLE_SEND(lora_sendbuffer,ANCID_IDX+report_ancnum*4+BT_NUM*4+4,0);
//		}
//		else
//		{
//		checksum = Checksum_u16(lora_sendbuffer,4*report_ancnum+ANCID_IDX);
//		memcpy(&lora_sendbuffer[ANCID_IDX+report_ancnum*4],&checksum,2);
//		Radio.Send(lora_sendbuffer,ANCID_IDX+report_ancnum*4+BT_NUM*4+2);
//		}


//    LORA_3029_SINGLE_SEND(lora_sendbuffer,ANCID_IDX+report_ancnum*4+BT_NUM*4+4,0);
		memset(DMA_RXBuf_BT, 0,200);
		memset(&lora_sendbuffer[ANCID_IDX],0,200);
    //LED_TB_ON;
    loraled=1;
    
    for(uint8_t i=0;i<3;i++)
    recnum[i] = 0;

}

//static uint16_t delaytime = 1200;
static uint16_t source_id;
uint8_t rec_index,rec_secdelay;
//uint16_t rec_value,rec_delaytime,rx_count;
//uint16_t rec_value,rec_delaytime,rx_count,datalen_offset;

uint8_t shengji_flag,time=5;
//extern uint32_t uwbled,gpsled,loraled,powerled;
extern struct RxDoneMsg RxDoneParams;

//extern     uint8_t Lora_tx_ancnum;
//extern   u8 lora_seq_nb2;
extern uint16_t lora_yingda_num;
uint8_t lora_tx_flag=0;
uint8_t lora_txanchor_power_flag;
extern uint16_t Lora_tx_ancid[50];
extern uint16_t Lora_tx_ancdist[50];
extern uint8_t Lora_tx_anc_electricity[50];
uint8_t lora_seq_nb1;

extern uint8_t lora_sendbuffer[200];
void LoraSendComMap(uint8_t cmd)
{
        uint8_t data_length = 0x50;
        uint16_t checksum = 0;
        lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_READPARARESP;
        lora_sendbuffer[MSG_LENGTH] = data_length+11;
				memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
				memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
        lora_sendbuffer[RP_CMD_IDX] = cmd;
        lora_sendbuffer[RP_INDEX_IDX] = 2;
        lora_sendbuffer[RP_LEN_IDX] = data_length;
        memcpy(&lora_sendbuffer[9], &g_com_map[1], data_length);
        checksum = Checksum_u16(lora_sendbuffer,11+data_length);
        memcpy(&lora_sendbuffer[11+data_length],&checksum,2);
//        LORA_3029_SINGLE_SEND(lora_sendbuffer,data_length+13,0);
//				Radio.Send(lora_sendbuffer,data_length+13);
	      //++;
  //  Delay_Ms(100);
}
void LoraRspWriteCommap(uint8_t index)
{
	uint8_t data_length = 2;
	uint16_t checksum = 0;
	lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_READPARARESP;
	lora_sendbuffer[MSG_LENGTH] = data_length+9;
    memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
    memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
	lora_sendbuffer[RP_CMD_IDX] = WGRSP_RWTAG_WRITE;
	lora_sendbuffer[RP_INDEX_IDX] = index;
	lora_sendbuffer[RP_LEN_IDX] = data_length;
	memcpy(&lora_sendbuffer[7], &g_com_map[index/2], data_length);
	checksum = Checksum_u16(lora_sendbuffer,9+data_length);
	memcpy(&lora_sendbuffer[9+data_length],&checksum,2);
//	Radio.Send(lora_sendbuffer,data_length+11);

//	 LORA_3029_SINGLE_SEND(lora_sendbuffer,data_length+11,0);
  //  Delay_Ms(100);
}
uint8_t t22[20],ti;
uint8_t no_yingdaflag;
uint8_t aRxBuffer[1];

extern uint8_t group_id;
uint16_t lora_send_count;
uint8_t mode_flag=0;
uint32_t frqe,dangqian_frqe;


void Lora_Tx_Poll()
{
  
//    if(lora_tx_flag)
//    { 
//     OnMaster();
////
//			//rf_enter_continous_rx();
//		}
 if(lora_tx_flag)
    {
//			gpio_pin_set(IO_PIN_5);
			

        if(lora_send_count++%10==0||lora_jianting_flag)
        {
            lora_tx_flag=0;
#ifdef GROUPID_SWITCH
            if(rec_secdelay>0)
            {
                rec_secdelay--;
                return;
            }
#endif

           LoraReportPoll(); 

        }
    }

     
}

////States_t State = LOWPOWER;

//////int8_t RssiValue = 0;
//////int8_t SnrValue = 0;
////uint8_t  lora_chongfuyingda_flag;
////uint8_t Lora_rx_open_flag;
////extern u32 Loratx_frequency;
uint8_t huifushengjibao_flag;
uint8_t LoraUp_flag;
//uint8_t lora_up_rec_flag;
uint8_t flag_writepara_needreset = 0;
//uint32_t wg_lost_count = 10;
//uint32_t lora_zhuangtai;
//uint16_t current_count;
//extern wg_state_enum wg_state;
uint8_t txdone=0;
void OnTxDone( void )
{ 
	  txdone++;
    if(flag_writepara_needreset) //ÅäÖÃдÈëÍê³ÉÉ豸ÐèÒªÖØÆô
    {
        printf("Íø¹ØÏ·¢ÅäÖÃдÈëÍê³É£¬ÖØÆô");
        SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader   
    }
    Radio.Standby();
    if(LoraUp_flag)
    {
    huifushengjibao_flag=1;
    Radio.Rx( 500 );
    }
    else
    {
    Radio.Rx( 50 );

    }
}
#define BUFFER_SIZE                                 255 // Define the payload size here

extern uint8_t imu_enable,motor_enable;
extern uint8_t lora_jianting_flag,report_ancnum;
extern uint16_t motor_keeptime;
extern uint32_t dev_id;
//extern wg_state_enum wg_state;
uint16_t rec_value,rec_delaytime,rx_count,datalen_offset;
uint16_t BufferSize = BUFFER_SIZE;
uint16_t CRC16=0;
uint16_t DEST_ID=0;
uint8_t shengji_flag;
int8_t RssiValue = 0;
int8_t SnrValue = 0;
uint8_t TX_Buffer[BUFFER_SIZE];
uint8_t RX_Buffer[BUFFER_SIZE];
static RadioEvents_t RadioEvents;
static uint16_t delaytime = 771;
static uint16_t source_id;


uint8_t rec_index,rec_secdelay;
uint16_t rec_value,rx_count,datalen_offset;
int32_t target_count;
uint32_t sleep_time_count=0;
uint32_t sleep_time_count_LAST=0;
uint16_t time_count;
uint8_t LoraUp_flag;
uint16_t REV_WG_pack=0; 
uint8_t rxdone=0;
void OnRxDone( uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr )
{  
				uint16_t checksum1;
        BufferSize = size;
        memcpy( RX_Buffer, payload, BufferSize );
        RssiValue = rssi;
        SnrValue = snr;
        Radio.Standby();
	      rxdone++;
				no_rx_flag = 0;
				lora_up_rec_flag=1;
				 if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG)
						{
							checksum1=Checksum_u16(RX_Buffer,BufferSize-2);
							
              memcpy(&DEST_ID,&RX_Buffer[DEST_ID_IDX],2);
							memcpy(&CRC16,&RX_Buffer[BufferSize-2],2);
							if(!memcmp(&checksum1,&RX_Buffer[BufferSize-2],2))
							if(!memcmp(&dev_id,&RX_Buffer[DEST_ID_IDX],2))
							{
								memcpy(&source_id,&RX_Buffer[SOURCE_ID_IDX],2); 
								if(wg_state==WG_Lost)
									{
									 wg_state = WG_Connected;
									 wg_report_id = source_id;
									}
								if(!memcmp(&wg_report_id,&RX_Buffer[SOURCE_ID_IDX],2))
								{
										wg_lost_count = 0;
										switch(RX_Buffer[PWTAG_RW_FLAG_IDX])
										{
												case WGRSP_RWTAG_NONE:
												REV_WG_pack++;
                        wg_report_freq = RX_Buffer[POLL_FREQ_IDX]+400;
                        memcpy(&rec_delaytime,&RX_Buffer[NEXTPOLL_TIME_IDX],2);

                        if(report_ancnum<2)
                        {
                            datalen_offset = report_ancnum*85;
                        }else{
                            datalen_offset = (report_ancnum-1)*46+85;
                        }
                        rec_secdelay = RX_Buffer[PWTAG_SECDELAY_IDX];
                        if(BufferSize!=13||rec_secdelay>20)
                        {
                         rec_secdelay = 0;
                        }
											if(rec_delaytime<500)
												{
												int t;
													t++;
												}
//                        sleep_time_count =(__MS_TO_32K_CNT(rec_delaytime)/10)- delaytime-datalen_offset;
                        sleep_time_count =(__MS_TO_32K_CNT(rec_delaytime)/10);
                        while(sleep_time_count>=32768)
												{
                         sleep_time_count-=32768;											
												}
												while(sleep_time_count<2000)
												{
												 sleep_time_count+=10000;
												}
//												if(REV_WG_pack==1)
//												{
//												sleep_time_count_LAST=sleep_time_count;
//												}
//												if(abs(sleep_time_count_LAST-sleep_time_count)>2000||REV_WG_pack==1)
//												{
//												 sleep_timer_start(sleep_time_count);
													time_count++;
//												}
                        break;
												case WGRSP_RWTAG_READ:
															no_rx_flag = 1;
															LoraSendComMap(WGRSP_RWTAG_READ);
															break;
												case WGRSP_RWTAG_WRITE:
														rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
													switch(rec_index)
															{
																	case 0xdd:  //ÓïÒôÏ·¢
																			break;
//                        case 0x20:  //·äÃù
//                            memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
//                            motor_keeptime = rec_value;
//                            break;
                        default :
                            memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
                            g_com_map[rec_index/2] = rec_value;
                            save_com_map_to_flash();
                            LoraRspWriteCommap(SUBMSG_WRITE_ANCPARA);
                            //flag_writepara_needreset = 1;
                            no_rx_flag = 1;                           
															}

															break; 
												case WGRSP_RWTAG_UPDATE:
												rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
//												switch(rec_index)
//												{
//														case 0xaa:  //Éý¼¶Ï·¢
//														memcpy(&rec_wenjian_daxiao,&RX_Buffer[WRITEPARA_VALUE_IDX],2);//Îļþ´óС
//														if(rec_wenjian_daxiao>0XAC00||rec_wenjian_daxiao==0)
//														{}//Îļþ¹ý´ó£¬³¬³ö·¶Î§
//														else
//														{
//																memcpy(&wangguan_up_id,&RX_Buffer[SOURCE_ID_IDX],2);//Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
//																shengji_flag=1;
//																LoraUp_flag=1;   
//																imu_enable=0;                            
//														}
////                    		  LoraUp_Poll();
//																break;                        
//												}
														break; 
										}
									}
									if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_RANGEPOLL)
									{
		            
//										uwb_open();

////										UwbRange();
				      
//										uwb_ceju_count++;
									}
									
									
								}

							}						
    if(!no_rx_flag)
    {
        if(lora_jianting_flag&&LoraUp_flag==0)
        {
            SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
            Radio.Rx(0);
        }
    }
}

void OnTxTimeout( void )
{
    Radio.Standby();
    if(lora_jianting_flag)
    {
        SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
        Radio.Rx(0);
    }
}

void OnRxTimeout( void )
{
    Radio.Standby();
    if(lora_jianting_flag)
    {
        SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
        Radio.Rx(0);
    }
}


void OnRxError( void )
{

    Radio.Standby();
    if(lora_jianting_flag)
    {
        SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
        Radio.Rx(0);
    }
}



uint16_t freq_test;
void SwitchLoraSettings(uint32_t freq,uint8_t sf,uint8_t power)
{
    Radio.Standby();
    Radio.SetChannel( freq*1000000 );	
    freq_test = freq;
    Radio.SetTxConfig( MODEM_LORA, power, 0, 2,
    sf, LORA_CODINGRATE,LORA_PREAMBLE_LENGTH_T, LORA_FIX_LENGTH_PAYLOAD_ON,
    false, 0, 0, LORA_IQ_INVERSION_ON_T, 3000 );

    Radio.SetRxConfig( MODEM_LORA, LORA_BANDWIDTH, 
    sf,LORA_CODINGRATE, 0, LORA_PREAMBLE_LENGTH_R,
    LORA_SYMBOL_TIMEOUT, LORA_FIX_LENGTH_PAYLOAD_ON,
    0, false, 0, 0, LORA_IQ_INVERSION_ON_R, 0 ); 
}


uint8_t active_flag;
void Lora_1268_Init(void)
{
    RadioEvents.TxDone = OnTxDone;
    RadioEvents.RxDone = OnRxDone;
    RadioEvents.TxTimeout = OnTxTimeout;
    RadioEvents.RxTimeout = OnRxTimeout;
    RadioEvents.RxError = OnRxError;
    
    Radio.Init( &RadioEvents );
//    SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0); //Çл»lora½ÓÊÕƵµã  
    if(active_flag)
    {
    Radio.Rx( 0 ); 
    }
//			else{
//        Radio.Sleep();
//    }        
//        Radio.SetRxDutyCycle(RxDutyCycle_RX_time,RxDutyCycle_SLEEP_time);
                                   
}