#include "dw_app.h"
#define FANGCHAI	7
#define FREQ_OFFSET_MULTIPLIER          (998.4e6/2.0/1024.0/131072.0)
#define FREQ_OFFSET_MULTIPLIER_110KB    (998.4e6/2.0/8192.0/131072.0)

// Multiplication factors to convert frequency offset in Hertz to PPM crystal offset
// NB: also changes sign so a positive value means the local RX clock is running slower than the remote TX device.

#define HERTZ_TO_PPM_MULTIPLIER_CHAN_1     (-1.0e6/3494.4e6)
#define HERTZ_TO_PPM_MULTIPLIER_CHAN_2     (-1.0e6/3993.6e6)
#define HERTZ_TO_PPM_MULTIPLIER_CHAN_3     (-1.0e6/4492.8e6)
#define HERTZ_TO_PPM_MULTIPLIER_CHAN_5     (-1.0e6/6489.6e6)
extern uint16_t tag_frequency;
static uint8_t send_buffer[200],rx_buffer[200];
static uint8_t trygetnearmsg_times,bigslot_num,tagslotpos,nearbase_num,result,outrange_times;
static uint8_t changemainbase_count,mainbase_lost_count;
static uint16_t frame_len,sync_timer,tmp_time,basesystimer,mainbase_id,frame_seq_nb;
static uint16_t nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM],rec_anc_signalpower[MAX_NEARBASE_NUM],exsistbase_list[MAX_NEARBASE_NUM];
static uint16_t nearbase_switchdistlist[MAX_NEARBASE_NUM],u16_nearbase_distlist[MAX_NEARBASE_NUM];
static uint32_t status_reg;
static int32_t nearbase_distlist[MAX_NEARBASE_NUM];
static uint64_t poll_tx_ts,resp_rx_ts,final_tx_ts;
static uint64_t get_tx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
    uint64_t ts = 0;
    int i;
    dwt_readtxtimestamp(ts_tab);
    for (i = 4; i >= 0; i--)
    {
        ts <<= 8;
        ts |= ts_tab[i];
    }
    return ts;
}

static uint64_t get_rx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
    uint64_t ts = 0;
    int i;
    dwt_readrxtimestamp(ts_tab);
    for (i = 4; i >= 0; i--)
    {
        ts <<= 8;
        ts |= ts_tab[i];
    }
    return ts;
}

static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
{
    int i;
    for (i = 0; i < FINAL_MSG_TS_LEN; i++)
    {
        ts_field[i] = (uint8_t) ts;
        ts >>= 8;
    }
}

static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
{
    int i;
    *ts = 0;
    for (i = 0; i < FINAL_MSG_TS_LEN; i++)
    {
        *ts += ts_field[i] << (i * 8);
    }
}
static uint8_t FindNearBasePos(uint16_t baseid)
{
	uint8_t i;
	for(i=0;i<nearbase_num;i++)
	{
		if(baseid==nearbaseid_list[i])
			return i;
	}
}
#define REGISTER_FREQUENCY 1
static uint8_t uwbloc_success_flag,sos_state_flag;
static uint8_t flag_usartrec_usrdata,uartrec_usrdatalen;
static uint8_t usartrec_usrdata[100];
void SetUserDataToAnchor(uint8_t* buffer,uint8_t len)
{
    flag_usartrec_usrdata = 1;
    uartrec_usrdatalen = len;
    memcpy(usartrec_usrdata,buffer,len);  
}
int32_t test2;
uint8_t userkey_state = 0,stationary_flag = 0,gotosleep_flag = 0,oled_button = 0,hr_value,oled_needrepley_flag = 0;
uint32_t testtimer[10],testtimer2,anc_pollrx[MAX_NEARBASE_NUM],anc_resptx[MAX_NEARBASE_NUM],tag_resprx[MAX_NEARBASE_NUM];
int32_t anc_clockoffset[MAX_NEARBASE_NUM];
int16_t anc_distoffset[MAX_NEARBASE_NUM];
extern uint8_t Pah_HRD_flag_fangchai;
void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset)
{
    memcpy(&anc_pollrx[i],pollrx,4);
    memcpy(&anc_resptx[i],resptx,4);
    memcpy(&tag_resprx[i],&resprx,4);
    memcpy(&anc_distoffset[i],distoffset,2);
    anc_clockoffset[i] = test2;
}
float clockOffsetRatio;
double rtd_init, rtd_resp;
static double tof,distance;
//extern int32_t dwt_readcarrierintegrator(void);
extern uint16_t g_Resttimer;
void CalculateDists(void)
{
    for(int i=0;i<11;i++)
    {
        rec_anc_signalpower[i] = exsistbase_list[i];
      if(exsistbase_list[i]==KEEP_TIMES)
      {
          if(config.chan==2)
          {
            clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
          }
          if(config.chan==5)
          {
            clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
          }
          rtd_init = tag_resprx[i] - (poll_tx_ts&0xffffffff);
          rtd_resp = anc_resptx[i] - anc_pollrx[i];
          tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
          distance = tof * SPEED_OF_LIGHT;
          if(distance>-10&&distance<1000)
          {
            nearbase_distlist[i] = distance*100+anc_distoffset[i];
              g_Resttimer=0;
          }else{
            // nearbase_distlist[i] = distance*100+anc_distoffset[i];  
          }
          if(nearbase_distlist[i]>100000)
          {
            tof = 1;  
          }
      }else{
           // nearbase_distlist[i] = 0x1ffff;
      }
    
    }
//     rtd_init = resp_rx_ts - poll_tx_ts;
//                rtd_resp = resp_tx_ts - poll_rx_ts;
//                tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
//                distance = tof * SPEED_OF_LIGHT;
//    nearbase_distlist[]
}
extern uint8_t group_id;
#define BASELOST_STOPMOTOR_TIME 5
static int32_t mainbase_dist,true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
static uint8_t anclost_times=0;
static uint8_t report_num,get_newbase=0;
static uint8_t flag_finalsend,flag_getresponse,flag_rxon;
static uint16_t current_count,start_count,end_count,lastsync_timer,true_nearbase_idlist[MAX_NEARBASE_NUM];
static int32_t temp_dist;
static uint8_t last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,tag_succ_times,recbase_num;
static uint32_t rec_tagpos_binary;
static int16_t offset=2700,g_commap_antdelay=0;
uint8_t motor_state,ancnum,thistime_ancnum;
static uint8_t rec_remotepara_state,rec_remotepara[80],t1;
static uint32_t temp1,temp2,dw_systime;
void NearPoll(void)
{
	
	
	uint32_t frame_len;
	uint32_t final_tx_time;
	uint32_t start_poll;
	uint8_t i,j,getsync_flag=0,timeout;
    dwt_setrxaftertxdelay(10);			//ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
    dwt_setrxtimeout(4000);		
	tag_succ_times = 0;
		//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
	if(next_nearbase_num>=MAX_NEARBASE_NUM)
	{
		next_nearbase_num = MAX_NEARBASE_NUM-1;
	}
    for(uint8_t i=0;i<MAX_NEARBASE_NUM;i++)
    {
        u16_nearbase_distlist[i] = nearbase_distlist[i];
    }
	last_nearbase_num=next_nearbase_num;
	nearbase_num=next_nearbase_num;
	recbase_num=0;
//	motor_state=0;
	 memcpy(&send_buffer[GROUP_ID_IDX], &group_id, 1);
	send_buffer[BATTARY_IDX] = Get_Battary();
	send_buffer[BUTTON_IDX] =  0;
	send_buffer[SEQUENCE_IDX] = frame_seq_nb++;
	send_buffer[NEARBASENUM_INDEX] = nearbase_num;
    ancnum = nearbase_num;
	memcpy(&send_buffer[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
    memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
	send_buffer[MESSAGE_TYPE_IDX] = NEAR_POLL;	
    memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*4],&g_commap_antdelay,2);
	memcpy(&send_buffer[ANCHOR_ID_IDX],&mainbase_id,2);	
    memcpy(&send_buffer[TAG_ID_IDX],&dev_id, 2);	
	dwt_writetxdata(15+4*nearbase_num, send_buffer, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
	dwt_writetxfctrl(15+4*nearbase_num, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
	dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
	
//	send_buffer[TAGCONFIGSUCCESS_INDEX] =0;
	para_update = 0;
	flag_finalsend=0;
	flag_rxon=1;
	flag_getresponse=0;
	recbase_num=0;
	mainbase_dist=100000;
	mainbase_lost_count++;
    start_count=HAL_LPTIM_ReadCounter(&hlptim1);
    timeout=ceil((float)nearbase_num*SLOT_SCALE)+8;
    end_count=start_count+(timeout<<5);
    if(end_count>=32768)
    {
        end_count-=32768;
    }
    current_count=HAL_LPTIM_ReadCounter(&hlptim1);

	get_newbase=0;
    while(current_count<end_count||current_count>end_count+15000)
			{
					while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
					{                           
                current_count=HAL_LPTIM_ReadCounter(&hlptim1);
                if(current_count>=end_count&&current_count<end_count+15000)
                    break;
                        
                    }
					if(status_reg==0xffffffff)
					{
						NVIC_SystemReset();
					}
					if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
						{
							dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
							frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;	//»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
							dwt_readrxdata(rx_buffer, frame_len, 0);   //¶ÁÈ¡½ÓÊÕÊý¾Ý
                            test2 = dwt_readcarrierintegrator();
							dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
							dwt_rxenable(0);//´ò¿ª½ÓÊÕ
                           
//                            if( !memcmp(&rx_buffer[TAG_ID_IDX],&dw_devid,2))
//                            {printf("1");}
							if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX]==group_id) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
							{	uint16_t rec_nearbaseid,rec_nearbasepos;
								poll_tx_ts = get_tx_timestamp_u64();										//»ñµÃPOLL·¢ËÍʱ¼äT1
								resp_rx_ts = get_rx_timestamp_u64();										//»ñµÃRESPONSE½ÓÊÕʱ¼äT4	
								recbase_num++;
								memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
								if(last_nearbase_num==0)
								{
									get_newbase=1;
									nearbaseid_list[0]=rec_nearbaseid;
									nearbase_num=1;
									memcpy(&send_buffer[ANCHOR_ID_IDX],&rec_nearbaseid,2);
								}
								if(rec_nearbaseid==nearbaseid_list[0])
								{
                                    SetANCTimestap(0,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],\
                                    resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);

									rec_nearbasepos=0;
									exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
//									temp_dist = nearbase_distlist[0];
//									nearbase_distlist[rec_nearbasepos]=temp_dist;
									if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
										motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
									rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;

									mainbase_lost_count=0;
//									flag_finalsend=1;
//									memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
//									final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
//									temp1=final_tx_time-((850*UUS_TO_DWT_TIME)>>8);
//									temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
//								//	dwt_setdelayedtrxtime(final_tx_time);//ÉèÖÃfinal°ü·¢ËÍʱ¼äT5
//									final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final°üʵ¼Ê·¢ËÍʱ¼äÊǼÆËãʱ¼ä¼ÓÉÏ·¢ËÍÌìÏßdelay
//									final_msg_set_ts(&send_buffer[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//½«T1£¬T4£¬T5дÈë·¢ËÍÊý¾Ý
//									final_msg_set_ts(&send_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
//									final_msg_set_ts(&send_buffer[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
//									send_buffer[MESSAGE_TYPE_IDX]=NEAR_FINAL;
//                                    send_buffer[GROUP_ID_IDX] = group_id;
									
//									dwt_writetxdata(28+nearbase_num*4, send_buffer, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
//									dwt_writetxfctrl(28+nearbase_num*4, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
									flag_getresponse=1;
													
								}else{
									rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
									
										if(rec_nearbasepos>=last_nearbase_num)          //·¢ÏÖеĻùÕ¾
									{
										get_newbase=1;
										nearbase_num++;
										nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
										memcpy(&send_buffer[ANCHOR_ID_IDX],&rec_nearbaseid,2);
									}
									SetANCTimestap(rec_nearbasepos,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],\
                                        resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
									exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
									//memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
////                                    temp_dist = nearbase_distlist[rec_nearbasepos];
////									nearbase_distlist[rec_nearbasepos]=temp_dist;
									
									if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
									{
											motor_state=rx_buffer[MOTORSTATE_INDEX];
									}
									final_msg_set_ts(&send_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);								
									dwt_writetxdata(28+nearbase_num*4, send_buffer, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
									dwt_writetxfctrl(28+nearbase_num*4, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
								

									//dwt_setdelayedtrxtime(final_tx_time);//ÉèÖÃfinal°ü·¢ËÍʱ¼äT5
								//	result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ			
									//dwt_writetxdata(4,&send_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//½«·¢ËÍÊý¾ÝдÈëDW1000
								}								
							}
						}else{
						dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
						if(flag_rxon)
							{dwt_rxenable(0);	
							}								
						}			
					//	dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
			}
			if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME)
			{motor_state=0; }
            dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
			nearbase_num=recbase_num;
            j=0;
            CalculateDists();
            delay_us(10);
			if(exsistbase_list[0]==0)
			{
			}
		//	tyncpoll_time=0;
			next_nearbase_num=0;
			for(i=0;i<last_nearbase_num+get_newbase;i++)
			{
				if(exsistbase_list[i]>0)
				{		
					next_nearbase_num++;
					true_exsistbase_list[j]=exsistbase_list[i];
					true_nearbase_idlist[j]=nearbaseid_list[i];			
					true_nearbase_distlist[j++]=nearbase_distlist[i];
					exsistbase_list[i]--;
				}
			}

			if(recbase_num<3)
			{next_nearbase_num=next_nearbase_num;}
					last_nearbase_num = next_nearbase_num;
			for(i=0;i<last_nearbase_num-1;i++)
			{
				for(j=0;j<last_nearbase_num-1;j++)
				{
					if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
					{
						uint32_t temp_dist,temp_id,temp_exsis;
						temp_dist=true_nearbase_distlist[j];
						temp_id = true_nearbase_idlist[j];
						temp_exsis=true_exsistbase_list[i];
						true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
						true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
						true_exsistbase_list[j]=true_exsistbase_list[j+1];
						
						true_nearbase_distlist[j+1]=temp_dist;
						true_nearbase_idlist[j+1]=temp_id;
						true_exsistbase_list[j+1]=temp_exsis;
					}			
				}
			}
			
			report_num=0;
	for (i=0;i<last_nearbase_num;i++)
			{
				nearbaseid_list[i]=true_nearbase_idlist[i];
				nearbase_distlist[i]=true_nearbase_distlist[i];
				if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
				{
					//memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
					//memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
					report_num++;
				}
			}
            #ifdef USART_INTEGRATE_OUTPUT	
                usart_send[0] = 0x55;     
                usart_send[1] = 0xAA;              
				usart_send[2] = 4;//Õý³£Ä£Ê½
				usart_send[3] = report_num*6+2;//Õý³£Ä£Ê½
				checksum = Checksum_u16(&usart_send[2],report_num*6+2);
				memcpy(&usart_send[4+report_num*6],&checksum,2);
				USART_puts(usart_send,6+report_num*6);
			#endif
            
//			for(i=0;i<MAX_NEARBASE_NUM;i++)
//			{
//				nearbase_distlist[i]=0x1ffff;
//			}
             if(recbase_num!=next_nearbase_num)
            {   uint16_t current_count1,lpcount1;
                current_count1=HAL_LPTIM_ReadCounter(&hlptim1);
                lpcount1 = current_count1+current_count1%200+3276;//²â¾à¶ª°ü¾Í¸Ä³É10hz
                if(lpcount1>=32768)
                {
                    lpcount1 -=32768;
                }
                __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount1);
            }
            thistime_ancnum = recbase_num;
	dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
}