#include <string.h>

#include "ADC.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 <stdio.h>

#include <math.h>
#define SPEED_OF_LIGHT 299702547
#define UUS_TO_DWT_TIME 65536
#define POLL_TX_TO_RESP_RX_DLY_UUS 150
#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
#define RESP_RX_TIMEOUT_UUS 2000
#define DELAY_BETWEEN_TWO_FRAME_UUS 400
#define POLL_RX_TO_RESP_TX_DLY_UUS 670
#define RESP_TX_TO_FINAL_RX_DLY_UUS 10
#define FINAL_RX_TIMEOUT_UUS 4300
static u8 tag_succ_times=0;
static u16 checksum;
static int8_t tag_delaytime;
extern uint16_t sync_timer;
static int32_t temp_dist;
static u16 tagslotpos;
static u8 recbase_num=0;   
static int32_t mainbase_dist,nearbase_switchdistlist[MAX_NEARBASE_NUM],nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
static u8 anclost_times=0 , mainbase_lost_count=0;
static u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
static u8 flag_finalsend,flag_getresponse,flag_rxon;
static uint16_t current_count,start_count,end_count,lastsync_timer;
extern u16 bigslot_num;
static u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len;
static u32 rec_tagpos_binary;
static int16_t offset=4700,temptimer;
static u8 rec_remotepara_state,rec_remotepara[80],neartimout_timer;
static u8 frame_seq_nb;
static u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];

static u8 FindNearBasePos(u16 baseid)
{
	u8 i;
	for(i=0;i<nearbase_num;i++)
	{
		if(baseid==nearbaseid_list[i])
			return i;
	}
}
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;
static uint32_t status_reg = 0;
extern uint8_t tx_near_msg[80];
static uint8_t motor_state,result;
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);
    }
}
u8 send_buffer[100];
#define FZ_NEARBASENUM_INDEX    10
#define FZ_NEARBASEID_INDEX		 11
void FZNearPoll(void)
{
		uint32_t temp1,temp2,dw_systime;
	uint32_t frame_len;
	uint32_t final_tx_time;
	u32 start_poll;
	u8 i,j,getsync_flag=0,timeout;
    dwt_setrxaftertxdelay(10);			//ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);		
	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;
	}
	HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
	last_nearbase_num=next_nearbase_num;
	nearbase_num=next_nearbase_num;
	recbase_num=0;
	motor_state=0;
    
    memcpy(&send_buffer[TAG_ID_IDX], &dev_id, 2);
	send_buffer[GROUP_ID_IDX] = group_id;
	send_buffer[BATTARY_IDX] = bat_percent;
	//tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
	send_buffer[SEQUENCE_IDX] = frame_seq_nb++;
	send_buffer[FZ_NEARBASENUM_INDEX] = nearbase_num;
	memcpy(&send_buffer[FZ_NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
	send_buffer[MESSAGE_TYPE_IDX] = NEAR_POLL;	
	memcpy(&send_buffer[ANCHOR_ID_IDX],&mainbase_id,2);	
	dwt_writetxdata(35, send_buffer, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
	dwt_writetxfctrl(35, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
	dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
	
	tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
	para_update = 0;
	flag_finalsend=0;
	flag_rxon=1;
	flag_getresponse=0;

    neartimout_timer = 0;
	recbase_num=0;
	timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
    current_count=HAL_LPTIM_ReadCounter(&hlptim1);
    end_count=start_count+(timeout<<5);
	if(end_count>=32768)
	{end_count-=32768;}
			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
					{
						if(flag_finalsend)
						{
							dw_systime=dwt_readsystimestamphi32();
							if(dw_systime>temp1&&dw_systime<temp2)
							{
								
								dwt_forcetrxoff();
								flag_rxon=0;
								dwt_setdelayedtrxtime(final_tx_time);
								result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ	
								flag_finalsend=0;
								break;
							}
						}
							
						 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
							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 (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
							{	u16 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(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
								}
								if(rec_nearbaseid==nearbaseid_list[0])
								{
									//////////////////////////////////ʱ¼äͬ²½

								//	TIM3->CNT=tmp_time;
//									if(tagslotpos>max_slotpos)
//										tagslotpos=tagslotpos%(max_slotpos+1);
//										tyncpoll_time=(tagslotpos-1)*slottime;
									////////////////////////////
									rec_nearbasepos=0;
									exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
									memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
									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) ;//final°üʵ¼Ê·¢ËÍʱ¼äÊǼÆËãʱ¼ä¼ÓÉÏ·¢ËÍÌìÏßdelay
									final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//½«T1£¬T4£¬T5дÈë·¢ËÍÊý¾Ý
									final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
									final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
									tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
                                    tx_near_msg[GROUP_ID_IDX] = group_id;
									
									dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 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(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
									}
									
									exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
									memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
									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(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);								
									dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 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,&tx_near_msg[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);
			}
            dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
			nearbase_num=recbase_num;
            j=0;
			if(exsistbase_list[0]==0)
			{
//			 u8 temp_adc,random_value;
//				random_value=0;
//				for(i=0;i<8;i++)
//				{
//					temp_adc=Get_ADC_Value();
//					random_value=random_value|((temp_adc&0x01)<<i);
//				}
				tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
				tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;	
			}
		//	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])
					{
						u32 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;
			}
	dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
            
}