/*! ----------------------------------------------------------------------------
 *  @file    main.c
 *  @brief   Double-sided two-way ranging (DS TWR) initiator example code
 *
 *
 *
 * @attention
 *
 * Copyright 2015 (c) Decawave Ltd, Dublin, Ireland.
 *
 * All rights reserved.
 *
 * @author Decawave
 */

#include <string.h>
#include <math.h>
#include "dw_app.h"
#include "deca_device_api.h"
#include "deca_regs.h"
#include "dw_driver.h"
#include "Spi.h"
#include "led.h"
#include "serial_at_cmd_app.h"
//#include "Usart.h"
#include "global_param.h"
#include "filters.h"
#include <stdio.h>
#include "beep.h"
//#include "modbus.h"
//#include "BMP390.h"
/*------------------------------------ Marcos ------------------------------------------*/

dwt_config_t config = {
    5,               /* Channel number. */
    DWT_PRF_64M,     /* Pulse repetition frequency. */
    DWT_PLEN_128,    /* Preamble length. */
    DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
    9,               /* TX preamble code. Used in TX only. */
    9,               /* RX preamble code. Used in RX only. */
    1,               /* Use non-standard SFD (Boolean) */
    DWT_BR_6M8,      /* Data rate. */
    DWT_PHRMODE_STD, /* PHY header mode. */
    (129 + 8 - 8)    /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};


void Dw1000_Init(void)
{
    /* Reset and initialise DW1000.
     * For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
     * performance. */
    Reset_DW1000();//ÖØÆôDW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
    Spi_ChangePrescaler(SPIx_PRESCALER_SLOW);	//ÉèÖÃΪ¿ìËÙģʽ
    dwt_initialise(DWT_LOADUCODE);//³õʼ»¯DW1000
    Spi_ChangePrescaler(SPIx_PRESCALER_FAST);	//ÉèÖÃΪ¿ìËÙģʽ

    /* Configure DW1000. See NOTE 6 below. */
    dwt_configure(&config);//ÅäÖÃDW1000



    /* Apply default antenna delay value. See NOTE 1 below. */
    dwt_setrxantennadelay(32899);		//ÉèÖýÓÊÕÌìÏßÑÓ³Ù
    dwt_settxantennadelay(0);		//ÉèÖ÷¢ÉäÌìÏßÑÓ³Ù

    /* Set expected response's delay and timeout. See NOTE 4 and 5 below.
     * As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
    //ÉèÖýÓÊÕ³¬Ê±Ê±¼ä
}
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
{
    uint16_t sum = 0;
    uint32_t i;
    for(i=0; i<len; i++)
        sum += pdata[i];
    sum = ~sum;
    return sum;
}




extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
{
    dwt_configuresleep(0x940, 0x7);
    dwt_entersleep();
}
int16_t intheight;
u32 id,error_times=0;
extern float Height;
extern float Altitude;
void QiyaJizhan_Send(void)
{
    static uint16_t frame_seq_nb;
    uint8_t nearbase_num;
    uint16_t mainbase_id,checksum;
    nearbase_num = 0;
    mainbase_id = 0x1234;
    usart_send[0] = 0x55;
    usart_send[1] = 0xaa;
    usart_send[2] = 0x0c;//Õý³£Ä£Ê½
    usart_send[3] = 15+8*(nearbase_num+1);//Êý¾Ý¶Î³¤¶È
    memcpy(&usart_send[4],&dev_id,2);
    usart_send[6] = frame_seq_nb;
    usart_send[7] = frame_seq_nb++>>8;
    usart_send[8] = bat_percent;
    usart_send[9] = 0;

    memcpy(&usart_send[10],&intheight,2);
    usart_send[12] = tag_frequency;
    usart_send[13] = 0;
    usart_send[14] = 0;
    usart_send[15] = 0;
    usart_send[16] = nearbase_num+1;
    memcpy(&usart_send[17],&mainbase_id,2);
//    memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);
//    memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);
//    memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);

    checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);
    memcpy(&usart_send[25+8*nearbase_num],&checksum,2);
//    USART_puts(usart_send,27+8*nearbase_num);
    //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
}
extern void SwitchTagState(void);
extern u8 userkey_state;
extern void delay_us(uint32_t nTimer)  ;
void Tag_App(void)//·¢ËÍģʽ(TAG±êÇ©)
{

	//LED0_ON;
	SPIx_CS_GPIO->BRR = SPIx_CS;
	delay_us(700);
	SPIx_CS_GPIO->BSRR = SPIx_CS;
	id =  dwt_readdevid() ;
	    while (DWT_DEVICE_ID != id)
    {
		//	Dw1000_Init();
			id =  dwt_readdevid() ;
        IdleTask();
        if(error_times++>20)
        {
//            printf("DW ID ERROR.\r\n");
//            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
        }
    }
#ifdef QIYA_JIZHAN
    QiyaJizhan_Send();
#else
    // Dw1000_Init();
    dwt_forcetrxoff();
    error_times = 0;
    SwitchTagState();
    dwt_forcetrxoff();
//    dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
//    dwt_setrxtimeout(0);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
//    dwt_rxenable(0);
#endif
    dwt_entersleep();
}