#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;}
}
u16 decid;
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] = 0x022c;	
	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];
    decid = (g_com_map[DEV_ID]/0x1000)*1000+((g_com_map[DEV_ID]%0x1000)/0x100)*100+((g_com_map[DEV_ID]%0x100)/0x10)*10+((g_com_map[DEV_ID]%0x10));
	anchor_type = decid%g_com_map[MAX_REPORT_ANC_NUM];
	

		
	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;
        IdleTask();
	}
    
}

/*! ------------------------------------------------------------------------------------------------------------------
 * @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);
}
u32 onesecondtimer;
void OneSecondTask(void)
{
	TagListUpdate();
	TagDistClear();
}
extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
u16 heartbeat_timer=58,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( 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(heartbeat_timer>60)
	{
		heartbeat_timer=0;
		if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
		HeatBeat();
	}
	if(time32_incr-onesecondtimer>=1000)
	{
		onesecondtimer = time32_incr;
		OneSecondTask();
	}
//	if(flag_newsecond)
//	{
//	  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(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;
	dwt_setrxtimeout(0);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
	dwt_rxenable(0);//´ò¿ª½ÓÊÕ
  //SendComMap(50, 0);
	while(1)
	{
			IdleTask();		
	}
}