#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 "filters.h"
#include "stm32f10x_it.h"

//#define WORK_MODE_TAG
#define WORK_MODE_ANCHOR
#define START_ALARM_DIST_CM			200
#define BEEM_ON_TIME_MS				200

float dis_after_filter = 0;

void Device_Init(void)
{
//	Rcc_Init();
	SystemInit();
	Nvic_Init();
	Systick_Init();
	Led_Init();
	Beep_Init();
	DW_GPIO_Init();
	Usart_Init();
	Spi_Init();
	
	GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
		
		uint8_t aa;
/*! ------------------------------------------------------------------------------------------------------------------
 * @fn main()
 *
 * @brief Application entry point.
 *
 * @param  none
 *
 * @return none
 */
int main(void)
{
	LPFilter_Frac* p_Dis_Filter;
	
	Device_Init();
	Dw1000_Init();
	p_Dis_Filter = New_LP_Frac(0.9);

    /* Loop forever initiating ranging exchanges. */
	while(1)
	{
#ifdef WORK_MODE_TAG
		Tag_App();
#else 
		Anchor_App();

#endif
		if(USART_GetFlagStatus(EXT_USART, USART_FLAG_RXNE) != RESET)
		{
			aa = USART_ReceiveData(EXT_USART);
			USART_SendData(EXT_USART, 0x66);//Ïò´®¿Ú1·¢ËÍÊý¾Ý

			while(USART_GetFlagStatus(EXT_USART, USART_FLAG_TC)!=SET);//µÈ´ý·¢ËͽáÊø
			
			aa = 0;
		}
		
		//³ýUWBÖ®ÍâµÄÆäËû´úÂë...
		dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
		
		if(dis_after_filter <= START_ALARM_DIST_CM)
		{
//			g_beep_off_time = (uint32_t)dis_after_filter * 10;
//			if(g_beep_off_time <= 0) 
//				g_beep_off_time = 0;
//			g_beep_on_time = BEEM_ON_TIME_MS;
			OUT2_ON;		
			
		}
		else
		{
//			g_beep_on_time = 0;
//			g_beep_off_time = 0;
			OUT2_OFF;
		}
		
	}
}