#include "Rcc_Nvic_Systick.h"
#include "Usart.h"
#include "Spi.h"
#include "led.h"
#include "beep.h"
#include "dw_driver.h"
#include "dw_app.h"
#include "stm32f10x_it.h"
#include "serial_at_cmd_app.h"
#include "global_param.h"
#include "ADC.h"
#include "modbus.h"
#include "deca_device_api.h"
#include "Flash.h"
//#define DEBUG_MODE
void Device_Init(void)
{
	RCC_Configuration();
	//SystemInit();
	NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
	Nvic_Init();
//	Systick_Init();
	TIM3_Int_Init();
	Led_Init();
	Beep_Init();
	DW_GPIO_Init();
	Uart1_Init();
	Spi_Init();
	ADC_Configuration();
	
	GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
u8 anchor_type;
u32 dev_id;
u8 hbsend[16];
void HeartBeatInit(void)
{
	u16 checksum;
	hbsend[0]=0x55;
	hbsend[1]=0xAA;
	hbsend[2]=0x2;
	hbsend[3]=0xc;
	memcpy(&hbsend[4],&g_com_map[DEV_ID],2);
	checksum = Checksum_u16(&hbsend[2],12);
	memcpy(&hbsend[14],&checksum,2);
}
u16 tyncpoll_time;
TrackingDiffClass *pUWBDistanceTrackingDiff;
u8 group_id,sync_mainbase=0,synclost_timer=0;
uint16_t vel_factor,pos_factor;

extern u8 module_power;
u16 slottime,max_slotnum,current_slotpos,dist_threshold;
void Program_Init(void)
{uint16_t i;
	float temp;
	u16 temp2;
	Usart1ParseDataCallback = UsartParseDataHandler;
	parameter_init();
	//deca_sleep(1000);
	HeartBeatInit();
//	g_com_map[DEV_ROLE]=1;
//		g_com_map[DEV_ID]=1;
//	g_com_map[COM_INTERVAL]=10;
	OUT485_ENABLE;

#ifdef DEBUG_MODE
	
//	g_com_map[COM_INTERVAL]=50;
//	g_com_map[MAX_REPORT_ANC_NUM]=3;
//	g_com_map[DEV_ID]=1;
//	g_com_map[ANC_POLL]=0;
//	g_com_map[ALARM_DISTANCE1]=100;
	g_com_map[FILTER_COEFFICIENT]=12;
#endif
		//pUWBDistanceTrackingDiff = NewTrackingDiffClass(2, 4, 0.03);
		dev_id = g_com_map[DEV_ID];
		group_id=g_com_map[GROUP_ID];
		vel_factor=g_com_map[FILTER_COEFFICIENT];
		pos_factor=g_com_map[FILTER_COEFFICIENT];
		dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
		if(dist_threshold<300)
		{dist_threshold = 300;}
		if(dist_threshold>15000)
		{dist_threshold = 15000;}
		if(dev_id==0)
			sync_mainbase=1;
		module_power = g_com_map[POWER];
		if(module_power>67)
		{
			module_power=67;
		}
		g_com_map[VERSION] = (1<<8)|48;	
        g_com_map[SW_TYPE] = 	SW_MODBUS;
	temp=(float)g_com_map[MAX_REPORT_ANC_NUM]*4/3;	
	temp2=g_com_map[MAX_REPORT_ANC_NUM]*4/3;
	if(temp2<temp)
	{
		temp2++;
	}
	slottime=temp2;
	max_slotnum=g_com_map[COM_INTERVAL]/temp2;
	current_slotpos=g_com_map[DEV_ID];
	tyncpoll_time=(current_slotpos%max_slotnum)*slottime;
	if(g_com_map[DEV_ROLE])
	{
	printf("±êÇ©ID: %d .\r\n",dev_id);
	printf("ͨѶ¼ä¸ô: %d ms.\r\n",g_com_map[COM_INTERVAL]);
	printf("µ¥´ÎͨѶ»ùÕ¾ÊýÁ¿: %d¸ö.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
	}else{
	anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
	printf("»ùÕ¾ID: %x .\r\n",dev_id);
	printf("»ùÕ¾ÀàÐÍ: %c .\r\n",anchor_type+0x41);
	printf("µ¥´ÎͨѶ»ùÕ¾ÊýÁ¿: %d¸ö.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
	}
	OUT485_DISABLE;
//	printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
//	printf("DEVICE ALARM DISTANCE: 1.%d 2.%d 3.%d .\r\n",g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],g_com_map[ALARM_DISTANCE3]);

	
	for(i=0;i<255;i++)
	{
		g_Tagdist[i]=0xffff;
	}
}

/*! ------------------------------------------------------------------------------------------------------------------
 * @fn main()
 *
 * @brief Application entry point.
 *
 * @param  none
 *
 * @return none
 */
void HeatBeat(void)
{ 
UART_PushFrame(hbsend,16);
}
extern u8 g_start_sync_flag;
u16 heartbeat_timer,poll_timer,sync_timer;
void IdleTask(void)
{
	g_start_sync_flag=0;
			UART_CheckReceive();
		UART_CheckSend();
	if(heartbeat_timer>1000)
	{
		heartbeat_timer=0;
		if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
		HeatBeat();
	}

	if(g_com_map[CNT_UPDATE]==1)
	{
		uint32_t result = 0;
		u16 tmp = 0xAAAA;
		__disable_irq();
		result = FLASH_Prepare(0x8004A38, 2);
		if(result)
			result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2); 
		__enable_irq();
			printf("½øÈëÉý¼¶Ä£Ê½\r\n");
		g_com_map[CNT_UPDATE]=0;
		save_com_map_to_flash();
		delay_ms(100);
			//	STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
			//	Delay_ms(100);
				SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader   
	}
//		if(g_com_map[CNT_REBOOT]==1)
//		{
//			g_com_map[CNT_REBOOT]=0;
//			g_com_map[MAP_SIGN_INDEX]=0;
//			save_com_map_to_flash();
//			delay_ms(100);
//			SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader   
//		}
		if(g_com_map[CNT_RESTART]==1)
		{
			g_com_map[CNT_RESTART]=0;
			save_com_map_to_flash();
			delay_ms(100);
				SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader   
		}

	}
uint16_t temp;
float dw_vbat;
int main(void)
{
 
	Device_Init();
	Program_Init();
	Dw1000_Init();
  delay_ms(10);	
	Dw1000_App_Init();
    /* Loop forever initiating ranging exchanges. */
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
	usart_send[0]=0x55;
	usart_send[1]=0xAA;
	Modbus_RegMap();
	while(1)
	{
    if(g_com_map[0] != 0x55AA)
	{
        while(1)
        IdleTask();	
    }
	if(g_start_send_flag)
	{
		g_start_send_flag = 0;	
		temp=dwt_readtempvbat(1);
		dw_vbat=(float)((temp&0xff)-173)/173+3.3;	
		if(dw_vbat>2.8)		
		Tag_App();
	}//else{
	IdleTask();	
//	}
//	
if(g_com_map[DEV_ROLE]==0)
		Anchor_App();

		
	}
}