/*! ----------------------------------------------------------------------------
 *  @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 "CRC.h"
#include "dw_mbx_anc.h"
#include "ADC.h"
//#define USART_INTEGRATE_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100

/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
#define TX_ANT_DLY 0
#define RX_ANT_DLY 32899

/* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
 * 1 uus = 512 / 499.2 µs and 1 µs = 499.2 * 128 dtu. */
#define UUS_TO_DWT_TIME 65536

/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
#define POLL_TX_TO_RESP_RX_DLY_UUS 150
/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
 * frame length of approximately 2.66 ms with above configuration. */
#define RESP_RX_TO_FINAL_TX_DLY_UUS 410

/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 600

#define DELAY_BETWEEN_TWO_FRAME_UUS 400

#define POLL_RX_TO_RESP_TX_DLY_UUS 470
/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
/* Receive final timeout. See NOTE 5 below. */
#define FINAL_RX_TIMEOUT_UUS 4300


#define SPEED_OF_LIGHT 299702547

/* Indexes to access some of the fields in the frames defined above. */
#define FINAL_MSG_POLL_TX_TS_IDX 10
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4

//#define _UWB_4G

static dwt_config_t config = {
#ifdef _UWB_4G
	2,               /* Channel number. */
#else
    5,
#endif
	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. */
};
static uint8_t tx_poll_msg[20] = {0};
static uint8_t tx_sync_msg[14] = {0};
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
 uint8_t tx_near_msg[80] = {0};

static uint32_t frame_seq_nb = 0;	
static uint32_t status_reg = 0;
static uint8_t rx_buffer[100];
static uint64_t poll_tx_ts;
static uint64_t resp_rx_ts;
static uint64_t final_tx_ts;
static uint64_t poll_rx_ts;
static uint64_t resp_tx_ts;
static uint64_t final_rx_ts;
int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS];	;	
uint32_t tag_id = 0;
uint32_t tag_id_recv = 0;
uint32_t anc_id_recv = 0;
uint8_t random_delay_tim = 0;
double distance, dist_no_bias, dist_cm;
uint32_t g_UWB_com_interval = 0; 
float dis_after_filter;				//µ±Ç°¾àÀëÖµ
LPFilter_Frac* p_Dis_Filter;		//²â¾àÓõĵÍͨÂ˲¨Æ÷
float range_lost_time = 0;


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);
    }
}

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(RX_ANT_DLY);		//ÉèÖýÓÊÕÌìÏßÑÓ³Ù
    dwt_settxantennadelay(TX_ANT_DLY);		//ÉèÖ÷¢ÉäÌìÏßÑÓ³Ù
}
void Dw1000_App_Init(void)
{
//g_com_map[DEV_ID] = 0x0b;
	//tag_state=DISCPOLL;
	tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
	tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
	tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
	tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
	
	memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2);
	memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
	memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
	memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
	memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
	memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
}	
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;
}

u16 tag_time_recv[TAG_NUM_IN_SYS];
u8 usart_send[25];
u8 battary,button;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
{
	dwt_configuresleep(0x940, 0x7);
	dwt_entersleep();
}

float freqlost_count = 0;

u8 regpoll_count;
u32 id;
void UWB_Wkup(void)
{
   
    SPIx_CS_GPIO->BRR = SPIx_CS;
    delay_us(600);
    SPIx_CS_GPIO->BSRR = SPIx_CS;
    id =  dwt_readdevid() ;
    while (0xDECA0130!=id) 
    {
        u8 iderror_count = 0;
        id =  dwt_readdevid() ;
        if(iderror_count++>100)
        {
            printf("UWBоƬID´íÎó");
            break;
        }
    }  
}
#include "radio.h"
#include "dw_mbx_anc.h"
u8 lora_start_poll_buff[4] = {LORA_MSGTYPE_RANGEPOLL,'I','N','G'};

uint16_t current_count,target_count;
typedef enum{	Next_Poll_RANGE,
                Next_Poll_LORASYNC,
}nextpoll_enum;
#define UWB 0
#define LORA 1
static uint8_t lora_sendbuffer[40];
static uint16_t wg_report_id=0xffff;
uint8_t seq_num;
static u16 checksum;
#define SEQNUM_IDX          6   //±êÇ©±¨ÎÄÐòºÅ 
#define BAT_IDX             7   //±êÇ©µçÁ¿
#define STATE_IDX           8
#define ANCID_IDX           30   //УÑéÔÚ4*ancnum+ANCID_IDX λÖÃ
#define LORA5_CHANNEL_FRQ 484
#define LORA5_CHANNEL_SF 7
uint8_t poll_state;
void Lora_Poll(void)
{

    SwitchLoraSettings(LORA5_CHANNEL_FRQ,LORA5_CHANNEL_SF,22);
    lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG_GPS;
    lora_sendbuffer[MSG_LENGTH] = 30;
    memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
    memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
    lora_sendbuffer[SEQNUM_IDX] = seq_num++;
    lora_sendbuffer[BAT_IDX] = bat_percent;
    lora_sendbuffer[STATE_IDX] = 0;
//    memcpy(&lora_sendbuffer[GPS_JINGDU_IDX],&gps_jingdu,8);
//    memcpy(&lora_sendbuffer[GPS_WEIDU_IDX],&gps_jingdu,8);
//    lora_sendbuffer[GPS_STATE_IDX] = gps_state;
//    lora_sendbuffer[GPS_SATEL_NUM_IDX] = gps_satel_num;
//    lora_sendbuffer[GPS_SPOWER_IDX] = gps_signalpower;
//    lora_sendbuffer[GPS_CHAFENLINGQI] = gps_chafenlingqi;
//    lora_sendbuffer[ANCNUM_IDX] = report_ancnum;
//    memcpy(&lora_sendbuffer[ANCID_IDX],report_ancid,report_ancnum*2);
//    memcpy(&lora_sendbuffer[ANCID_IDX+report_ancnum*2],report_ancdist,report_ancnum*2);
    checksum = Checksum_u16(lora_sendbuffer,4*0+ANCID_IDX);
    memcpy(&lora_sendbuffer[ANCID_IDX+0*4],&checksum,2);
    Radio.Send(lora_sendbuffer,ANCID_IDX+0*4+2);
}
nextpoll_enum next_poll_state;
extern uint8_t sync_lost_count;
extern uint8_t Lorahuifu_flag;
extern  int16_t intheight;
extern   u16 uwbdistance;
void Tag_App(void)//·¢ËÍģʽ(TAG±êÇ©)
{  	
//    SyncStateSwitch();
  if(poll_state==UWB)  //¶ÁÈ¡±¾´ÎµÄ¹¤×÷״̬ ²â¾à»¹ÊÇͬ²½
  {
      poll_state=LORA;
    current_count=HAL_LPTIM_ReadCounter(&hlptim1);
//    g_com_map[LORA_POWER]=22;
//    g_com_map2[LORA_POWER]=22;
    SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],5,g_com_map[LORA_POWER]); //Çл»lora½ÓÊÕƵµã  

    memcpy(&lora_start_poll_buff[ANC_ID_IDX],&g_com_map[DEV_ID],2);
    Radio.Send(lora_start_poll_buff, 4);
    UWB_Wkup();   
    delay_us(700);
    MBXANCPoll();
	dwt_entersleep();
//    next_poll_state = Next_Poll_LORASYNC;
  }else{
      poll_state=UWB;
      Lora_Poll();
      if(intheight!=0)
      printf("¸ß¶ÈÖµ:%d\r\n",intheight);
      if(uwbdistance!=0)
      printf("UWB²â¾àÖµ:%d\r\n",uwbdistance);
            
      if(Lorahuifu_flag)
      {
      Lorahuifu_flag=0;    
      printf("ÊÕµ½Íø¹Ø»Ø¸´,LORA³É¹¦\r\n");
      }
//     LoraSyncRecPoll();
//      if(GetRangeState())  //»ñÈ¡µ±Ç°²â¾à״̬£¬ÊÇ·ñ¿ªÆô¡£Èç¹û¿ªÆôÏ´ÎΪ²â¾à£¬·ñΪͬ²½
//      {
//        next_poll_state = Next_Poll_RANGE;
//      }else{
//        next_poll_state = Next_Poll_LORASYNC;
//      }      
  }
//  Radio.Sleep();
//  if(next_poll_state == Next_Poll_LORASYNC)  //É趨ÏÂÒ»´ÎµÄ»½ÐÑʱ¼ä
//  {
////      if(sync_state==Sync_Lost)
////      {
////          target_count = GetLoraSyncCount()-(18000)/LPTIMER_LSB+sync_lost_count*1000;
////      }else
//      {
//        target_count = GetLoraSyncCount()-(18000)/LPTIMER_LSB;  //±ÈÉÏ´ÎÊÕµ½µÄloraÌáÇ°17ms»½ÐÑ£¨lora½ÓÊÕ´ó¸Å17ms£©£¬Èç¹ûÔÚͬ²½¼ä¸ôÄÚ£¬Ôò»á¿ìËÙ½øÈëÐÝÃß¡£
//      }
//      if(target_count<0)
//      target_count+=32768;
//    __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
//  }else{

//    target_count = GetUwbPollCount(); //²â¾àÌáÇ°2ms»½ÐÑ
//    __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
//  }
  
}