#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

void Device_Init(void)
{
	RCC_Configuration();
	//SystemInit();
	NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
	
//	Systick_Init();
	TIM3_Int_Init();

	Beep_Init();
	DW_GPIO_Init();
	Uart1_Init();
    Uart2_Init();
	Spi_Init();
	ADC_Configuration();
    Led_Init();
    Nvic_Init();
	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;
u16 slottime,max_slotpos;
extern u8 module_power;
extern u16 total_slotnum;
void ComMapCheck(void)
{
	if(g_com_map[COM_INTERVAL]<10)
	{
	  g_com_map[COM_INTERVAL]=500;
	}
			if(g_com_map[COM_INTERVAL]>1000)
	{
	  g_com_map[COM_INTERVAL]=1000;
	}
	 if(module_power>MAX_RFPOWER)
		{module_power=MAX_RFPOWER;}
		if(module_power<0)
		{module_power=0;}
//		if(g_com_map[MAX_REPORT_ANC_NUM]>10)
//		{g_com_map[MAX_REPORT_ANC_NUM]=10;}
//		if(g_com_map[MAX_REPORT_ANC_NUM]<1)
//		{g_com_map[MAX_REPORT_ANC_NUM]=1;}
		if(g_com_map[IMU_THRES]>10)
		{g_com_map[IMU_THRES]=10;}
		if(g_com_map[IMU_THRES]<1)
		{g_com_map[IMU_THRES]=1;}
}
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();
	g_com_map[BASESYNCSEQ]=1;
	g_com_map[SYNCBASEID]=1;
#endif
	OUT485_ENABLE;
	ComMapCheck();
	g_com_map[VERSION] = 0x0219;	
	dev_id = g_com_map[DEV_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];
	anchor_type = dev_id%3;
	

		
	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{
	
	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]);

	 memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
	for(i=0;i<255;i++)
	{
		g_Tagdist[i]=0x1ffff;
       
	}
    
}

/*! ------------------------------------------------------------------------------------------------------------------
 * @fn main()
 *
 * @brief Application entry point.
 *
 * @param  none
 *
 * @return none
 */
extern float GetPressAndHeight(void);
extern u16 synclost_count;
extern float Height;
int32_t intheight;
void HeatBeat(void)
{ u16 checksum;
    GetPressAndHeight();
    intheight = Height*100;//+g_com_map[MAX_REPORT_ANC_NUM];
	if(synclost_count>5)
	{
		hbsend[6] = 0;
	}else{
		hbsend[6] = 1;
	}
    if(intheight!=0)
        intheight+=(int16_t)g_com_map[MAX_REPORT_ANC_NUM];
   memcpy(&hbsend[7],&intheight,4); 
checksum = Checksum_u16(&hbsend[2],12);
memcpy(&hbsend[14],&checksum,2);
UART_PushFrame(hbsend,16);
}
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();
    UART2_CheckReceive();
 
    
	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


	}
u32 secondtimer;
void OneSecondTask(void)
{
    if(time32_incr-secondtimer>1000)
    {
            uint8_t i;
            secondtimer = time32_incr;
			for(i=0;i<MAX_REGTAGNUM;i++)
			{
				if(regtag_map.remain_time[i]>0)
				{
					regtag_map.remain_time[i]--;
				}
			}
			if(pwtag.remain_time>0)
			{pwtag.remain_time--;}
			flag_newsecond=1;
	//	GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_SET);	
			synclost_count++;
		  TagListUpdate();
       
        
        if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0&&(heartbeat_timer++>60))
        {
            heartbeat_timer = 0;
            HeatBeat();
        }
        if( memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
        {
                SendAnchorState(SM_MAPERROR);
                delay_ms(100);
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader   
        }
      if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
        {
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader   
        }
    
    }
}
extern u8 needanchorrx;
int main(void)
{
 
	Device_Init();
	Program_Init();
	Dw1000_Init();
    BarInit();
    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;
  //SendComMap(50, 0);
	while(1)
	{
//	g_start_sync_flag=0;
//	if(g_start_send_flag)
//	{
//		g_start_send_flag = 0;		
//		Tag_App();
//	}
//    OneSecondTask();
		IdleTask();		
if(g_com_map[DEV_ROLE]==0&&needanchorrx==1)
    {needanchorrx = 0;
        Anchor_Start();
    }
	}
}