#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"

//#define DEBUG_MODE
/*
 * rlv:ÖØ×°ÔؼĴæÆ÷µÄÖµ£¬È¡Öµ·¶Î§Îª£º0-0XFFF
 * º¯Êýµ÷ÓþÙÀý£º
 * IWDG_Config(IWDG_Prescaler_64 ,625);  // IWDG 1s ³¬Ê±Òç³ö 
 *                        £¨64/40£©*625 = 1s
 */

void IWDG_Config(uint8_t prv ,uint16_t rlv)
{    
    // ʹÄÜ Ô¤·ÖƵ¼Ä´æÆ÷PRºÍÖØ×°ÔؼĴæÆ÷RLR¿Éд
    IWDG_WriteAccessCmd( IWDG_WriteAccess_Enable );
    
    // ÉèÖÃÔ¤·ÖƵÆ÷Öµ
    IWDG_SetPrescaler( prv );
    
    // ÉèÖÃÖØ×°ÔؼĴæÆ÷Öµ
    IWDG_SetReload( rlv );
    
    // °ÑÖØ×°ÔؼĴæÆ÷µÄÖµ·Åµ½¼ÆÊýÆ÷ÖÐ
    IWDG_ReloadCounter();
    
    // ʹÄÜ IWDG
    IWDG_Enable();    
}
void IWDG_Feed(void)
{
    IWDG_ReloadCounter();
}
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();
	IWDG_Config(IWDG_Prescaler_128 ,4095);   //10s
    IWDG_Feed();
	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);
}

uint16_t vel_factor,pos_factor;
u16 tyncpoll_time,dist_threshold,group_id;
u16 slottime,max_slotpos;
extern u8 module_power;
extern u16 total_slotnum;
void ComMapCheck(void)
{

    if(g_com_map[WAR_JDQ_TIME]>1000||g_com_map[WAR_JDQ_TIME]<0)
    {
        g_com_map[WAR_JDQ_TIME] = 1;
    }
    if(dist_threshold<300)
		{dist_threshold = 300;}
		if(dist_threshold>15000)
		{dist_threshold = 15000;}
}
void Program_Init(void)
{	float temp;
	u16 temp2;
	uint16_t i;
	Usart1ParseDataCallback = UsartParseDataHandler;
	parameter_init();
	//deca_sleep(1000);
	HeartBeatInit();
#ifdef DEBUG_MODE
//	g_com_map[DEV_ROLE]=1;
//		g_com_map[DEV_ID]=1;
//	g_com_map[COM_INTERVAL]=100;
//	g_com_map[MAX_REPORT_ANC_NUM]=3;
//		g_com_map[NEARBASE_NUM]=1;  
//		g_com_map[NEARBASE_ID1]=2;
	g_com_map[ANC_FLAG]=1;
		save_com_map_to_flash();
#endif
	OUT485_ENABLE;
	if(g_com_map[COM_INTERVAL]==0)
	{
	  g_com_map[COM_INTERVAL]=100;
	}

	g_com_map[VERSION] = 0x0133;
    dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
	ComMapCheck();	
	g_com_map[SW_TYPE] = 	SW_FANGZHUANG;
	dev_id = g_com_map[DEV_ID];
        group_id=g_com_map[GROUP_ID];
	slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
	max_slotpos=g_com_map[COM_INTERVAL]/slottime;
	tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;	
	module_power = g_com_map[POWER];
	total_slotnum = 1000/g_com_map[COM_INTERVAL];
			vel_factor=g_com_map[FILTER_COEFFICIENT];
		pos_factor=g_com_map[FILTER_COEFFICIENT];

		if(module_power>67)
		{
			module_power=67;
		}
	
//	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);
}
uint16_t temp;
float dw_vbat;
void StartUpTest(void)
{
	temp=dwt_readtempvbat(1);
	dw_vbat=(float)((temp&0xff)-173)/173+3.3;	
	if(dw_vbat<2.8)
	{
		SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader   
	}	
}
extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
u16 heartbeat_timer,poll_timer;
int16_t sync_timer;
extern u8 flag_newsecond, tagpos_rec[50], tagpos_send[50],ancidlist_num;
uint32_t tagpos_binary;
extern u16 ancidlist_rec[20],ancidlist_send[20];
extern u16 target_time;
void IdleTask(void)
{
		
			UART_CheckReceive();
		UART_CheckSend();
	
	if(heartbeat_timer>1000)
	{
		heartbeat_timer=0;
		if(g_com_map[HEARTBEAT])
		HeatBeat();
	}
	if(flag_newsecond)
	{
		uint32_t temp23;
//			temp23 =  dwt_read32bitreg(CHAN_CTRL_ID) ;
//			if(temp23!=0x4A480022)
//			{
//				temp23 =  dwt_read32bitreg(CHAN_CTRL_ID) ;
//					if(temp23!=0x4A480022)
//					{
//						NVIC_SystemReset();
//					}
//				}
	  flag_newsecond=0;
		tagpos_binary=0;
		memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);
		ancidlist_num=0;
		for(u8 i=0;i<max_slotpos;i++)
		{
			if(tagpos_rec[i])
				tagpos_binary|=1<<i;
			tagpos_rec[i] = 0;
		}
	}
	if(target_time>=1000)
	{target_time-=1000;}
	#ifdef USART_INTEGRATE_OUTPUT
	if(g_com_map[DEV_ROLE]==0&&usart_send_flag)
	{u16 checksum;
				usart_send_flag=0;
				usart_send_anc[2] = 5;//Õý³£Ä£Ê½
				usart_send_anc[3] = anc_report_num*6+2;//Õý³£Ä£Ê½
				checksum = Checksum_u16(&usart_send_anc[2],anc_report_num*6+2);
				memcpy(&usart_send_anc[4+anc_report_num*6],&checksum,2);
				UART_PushFrame(usart_send_anc,6+anc_report_num*6);
				anc_report_num=0;		
	}
	#endif
	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)
		{
			FactorySettings();
			
			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   
		}
        if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
		{
				SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader   
		}

	}
    
int main(void)
{
 
	Device_Init();
	//StartUpTest();
	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;
	usart_send_anc[0]=0x55;
	usart_send_anc[1]=0xAA;

	while(1)
	{
	g_start_sync_flag=0;
	if(g_start_send_flag)
	{
		g_start_send_flag = 0;		
		Tag_App();
	}
		IdleTask();		
if(g_com_map[DEV_ROLE]==0)
		Anchor_App();

	}
}