#include "main.h"
#include "stm32l0xx_it.h"
#include "deca_device_api.h"
#include "deca_regs.h"
#include "dw_driver.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

#define 	WHITELIST1_START  	            0x25
#define 	WHITELIST1_END  		        0x26
#define     MODBUS_ID1                      0x11

#define FZ_NEARBASENUM_INDEX    10
#define FZ_NEARBASEID_INDEX		 11
static uint64_t resp_tx_ts;
static uint64_t final_rx_ts;
static uint32_t status_reg,resp_tx_time,tagpos_binary;
static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
static uint8_t rx_buffer[150];
static uint16_t anc_id_recv,tag_id_recv;
static uint8_t flag_syncbase,sync_seq,synclost_timer,temp_nearbaspos;
static uint16_t sync_timer;
static uint8_t send_buffer[150];
static uint8_t frame_seq_nb2,battary,button,rec_nearbase_num,ancidlist_num;
static uint16_t ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
static int16_t rec_antdelay;
static uint16_t taglist_num=0,taglist_pos,tmp_time;
static uint16_t tagid_list[TAG_NUM_IN_SYS];
static uint8_t tagofflinetime[TAG_NUM_IN_SYS];
static int32_t tagdist_list[TAG_NUM_IN_SYS];
static uint8_t tagpos_rec[50];
static uint64_t poll_rx_ts;
uint8_t g_flag_Taggetdist[TAG_NUM_IN_SYS];
static uint8_t flag_tag_distsmooth[TAG_NUM_IN_SYS],misdist_num[TAG_NUM_IN_SYS];
static uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
static uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
static double Ra, Rb, Da, Db;
static int64_t tof_dtu;
static double tof;
static double distance, dist_no_bias, dist_cm;
extern dwt_config_t config;
static double firstpath_power, rx_power,rec_firstpath_power;
static double f1, f2, r1, r2;
static uint16_t F1,F2,F3,N,C;
const double B = 131072;
const double A = 121.74;
double min_power;
static dwt_rxdiag_t d1;
static int32_t hex_dist,his_dist[TAG_NUM_IN_SYS];
extern uint16_t g_Resttimer;
int32_t filter_dist,g_Tagdist[TAG_NUM_IN_SYS];
double LOS(dwt_rxdiag_t *dia) {
     F1 = dia->firstPathAmp1;
     F2 = dia->firstPathAmp2;
     F3 = dia->firstPathAmp3;
     N = dia->rxPreamCount;
     C = dia->maxGrowthCIR;
    
    firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
    rx_power=10*log10(C*B/(N*N))-A;

 //   min_power =  - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
    return min_power;
  }
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
    if(GPIO_Pin==GPIO_PIN_8)
    {
        Anchor_App();
    }
}
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 TagListUpdate(void)
{
	uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
	for(i=0;i<taglist_num;i++)
	{
		if(tagofflinetime[i]++<5)
		{
			tagid_list[j]=tagid_list[i];
			tagofflinetime[j++]=tagofflinetime[i];
		}
	}
	taglist_num=j;
}
uint16_t CmpTagInList(uint16_t tagid)
{uint16_t i;
	for(i=0;i<taglist_num;i++)
	{
		if(memcmp(&tagid,&tagid_list[i],2)==0)
			break;
	}
	return i;
}
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase  1 first near_base
{
	uint8_t motorstate;
			
          
            memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);

		
			memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);
			poll_rx_ts = get_rx_timestamp_u64();//»ñµÃPoll°ü½ÓÊÕʱ¼äT2

			resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
			dwt_setdelayedtrxtime(resp_tx_time);//ÉèÖÃResponse·¢ËÍʱ¼äT3
			dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//ÉèÖ÷¢ËÍÍê³Éºó¿ªÆô½ÓÊÕÑÓ³Ùʱ¼ä
			dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//½ÓÊÕ³¬Ê±Ê±¼ä
			if(new_tagid)
			{
				tagdist_list[taglist_pos]=0x1ffff;
				memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
			}else{
				memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
			}
			motorstate =0;
            if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
			{
				if(flag_tag_distsmooth[taglist_pos])
				{motorstate =2;
				}else{
					motorstate =0;
				}
			}else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
			{
				if(flag_tag_distsmooth[taglist_pos])
				{motorstate =1;
					}else{
					motorstate =0;
				}
			}
            send_buffer[GROUP_ID_IDX] = group_id;
			//send_buffer[MAINBASE_INDEX]=flag_syncbase;
			send_buffer[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
			send_buffer[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
			send_buffer[MOTORSTATE_INDEX]&=0x0f;
//			if(remotesend_state)
//			{
//			 	memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
//				dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//дÈë·¢ËÍÊý¾Ý
//				dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//É趨·¢Ëͳ¤¶È		
//			}else{
			dwt_writetxdata(24, send_buffer, 0);//дÈë·¢ËÍÊý¾Ý
			dwt_writetxfctrl(24, 0);//É趨·¢Ëͳ¤¶È
		//	}
			result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//ÑÓ³Ù·¢ËÍ£¬µÈ´ý½ÓÊÕ

			
			if(result==0)
			{
				while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
			{ };
		}else{
             if(g_com_map[MODBUS_ID1]==1)
                {
                 #ifdef DBGMSG_OUTPUT
                dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
                SendDbgMsg(dbgmsg,dbgmsg_len);
                #endif
                }
			result++;
		}
        if(!(status_reg& SYS_STATUS_RXFCG))
        {
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
            dwt_rxenable(0);
        while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
			{ };
        }
	
			if (status_reg & SYS_STATUS_RXFCG)//½ÓÊճɹ¦
			{
				
				dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ±ê־λ
				frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//Êý¾Ý³¤¶È
				dwt_readrxdata(rx_buffer, frame_len, 0);//¶ÁÈ¡½ÓÊÕÊý¾Ý
			if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //ÇÀÕ¼anchor ʧ°Ü
			{
                  if(g_com_map[MODBUS_ID1]==1)
                {
                 #ifdef DBGMSG_OUTPUT
                dbgmsg_len = sprintf(dbgmsg,"%s errormsg:%x",__debug_info__,rx_buffer[MESSAGE_TYPE_IDX]);
                SendDbgMsg(dbgmsg,dbgmsg_len);
                #endif
                }
				return 1;
			}
			if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //ÅжÏÊÇ·ñΪFinal°ü
				{

                    
					resp_tx_ts = get_tx_timestamp_u64();//»ñµÃresponse·¢ËÍʱ¼äT3
					final_rx_ts = get_rx_timestamp_u64();//»ñµÃfinal½ÓÊÕʱ¼äT6
					final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//´Ó½ÓÊÕÊý¾ÝÖжÁÈ¡T1£¬T4£¬T5
					final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
					final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);

                   // testtime[0] = time32_incr*1000+TIM3->CNT;
					poll_rx_ts_32 = (uint32_t)poll_rx_ts;//ʹÓÃ32λÊý¾Ý¼ÆËã
					resp_tx_ts_32 = (uint32_t)resp_tx_ts;
					final_rx_ts_32 = (uint32_t)final_rx_ts;
					Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
					Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
					Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
					Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
					tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//¼ÆË㹫ʽ
					tof = tof_dtu * DWT_TIME_UNITS;
					distance = tof * SPEED_OF_LIGHT;//¾àÀë=¹âËÙ*·ÉÐÐʱ¼ä
#ifdef DW3000 
                    dist_no_bias = distance;     
#else                    
					dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //¾àÀë¼õÈ¥½ÃÕýϵÊý
#endif
					dist_cm = dist_no_bias * 1000; //dis Ϊµ¥Î»ÎªcmµÄ¾àÀë	
					dwt_readdiagnostics(&d1);
					LOS(&d1);					
					/*--------------------------ÒÔÏÂΪ·Ç²â¾àÂß¼­------------------------*/
					//dist_cm=33000;
				//	LED0_BLINK; //ÿ³É¹¦Ò»´ÎͨѶÔòÉÁ˸һ´Î
//                UWBLED_BLINK;
					dis_after_filter=dist_cm;
					hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;

                        if(recpoll_len==rec_nearbase_num*4+15)
                        {
                            hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-rec_antdelay*10;
                        }
                    
					g_flag_Taggetdist[taglist_pos]=0;
                    
					if(hex_dist>-100000&&hex_dist<2000000)
					{
						if(abs(hex_dist-his_dist[taglist_pos])<10000)
						{
							flag_tag_distsmooth[taglist_pos] =1;
						}else{
							flag_tag_distsmooth[taglist_pos] =0;
						}
					if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
					{
						uint16_t checksum;
                        g_Resttimer=0;
                      //  IWDG_Feed();
						#ifdef TDFILTER
						NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
						filter_dist = pos_predict[taglist_pos]/10;
                        filter_speed = vel_predict[taglist_pos]/10;
                        newmeasure = 1;
						#else
						filter_dist=hex_dist/10;
						#endif
						misdist_num[taglist_pos]=0;
                        tagdist_list[taglist_pos] = filter_dist;	
                        his_dist[taglist_pos]=hex_dist;	
                        if(hex_dist>0)
						{
                            g_Tagdist[taglist_pos]=hex_dist/10;	
                        }else{
                            g_Tagdist[taglist_pos]= 0x2ffff;
                        }
                    usart_send[0]=0x55;
                    usart_send[1]=0xAA;    
					usart_send[2] = 1;//Õý³£Ä£Ê½ 
					usart_send[3] = 17;//Êý¾Ý¶Î³¤¶È
					usart_send[4] = frame_seq_nb2;//Êý¾Ý¶Î³¤¶È
					memcpy(&usart_send[5],&tag_id_recv,2);
					memcpy(&usart_send[7],&dev_id,2);			
                    if(tagdist_list[taglist_pos]<=0)
                        tagdist_list[taglist_pos]=0x2ffff;
					memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
					usart_send[13] = battary;
					usart_send[14] = button;
					usart_send[15] = firstpath_power;
					usart_send[16] = rx_power;
					checksum = Checksum_u16(&usart_send[2],17);
					memcpy(&usart_send[19],&checksum,2);                   
                    USART_puts(usart_send,21);
					}else{
                         if(g_com_map[MODBUS_ID1]==1)
                         {
                        #ifdef DBGMSG_OUTPUT
                    dbgmsg_len = sprintf(dbgmsg,"%s errordist:%d",__debug_info__,hex_dist);
                    SendDbgMsg(dbgmsg,dbgmsg_len);
                    #endif
                         }  
                                        
					//	printf("%d",hex_dist);
						misdist_num[taglist_pos]++;
					}
				}
			}
			}else{
                if(g_com_map[MODBUS_ID1]==1)
                {
                 #ifdef DBGMSG_OUTPUT
                dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
                SendDbgMsg(dbgmsg,dbgmsg_len);
                #endif
                }
          
					//printf("%x/n",status_reg);
				dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
			}
            }
void Anchor_App(void)
{
	
	u8 send_len,i;
	u16 tempid;
	uint32_t rec_syncid;
	
	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), 0);
//	delay_us(t23);
//    HAL_NVIC_DisableIRQ(EXTI9_5_IRQn);
    status_reg  = dwt_read32bitreg(SYS_STATUS_ID);
	if (status_reg & SYS_STATUS_RXFCG)//³É¹¦½ÓÊÕ
		{ uint16_t tag_recv_interval;
		float temp_tagpos;
	

		dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//Çå³ý±ê־λ
		frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//»ñµÃ½ÓÊÕÊý¾Ý³¤¶È
        recpoll_len = frame_len;
		dwt_readrxdata(rx_buffer, frame_len, 0);//¶ÁÈ¡½ÓÊÕÊý¾Ý
		memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
		//½«ÊÕµ½µÄtag_id·Ö±ðдÈë¸÷´ÎͨѶµÄ°üÖУ¬Îª¶à±êǩͨѶ·þÎñ£¬·ÀÖ¹Ò»´ÎͨѶÖнÓÊÕµ½²»Í¬ID±êÇ©µÄÊý¾Ý
		memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
       if(group_id== rx_buffer[GROUP_ID_IDX])
       {
		switch(rx_buffer[MESSAGE_TYPE_IDX])
		{		
			case NEAR_POLL:	
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                rec_nearbase_num=rx_buffer[FZ_NEARBASENUM_INDEX];                
				memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                memcpy(&rec_ancidlist,&rx_buffer[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
                memcpy(&rec_ancdistlist,&rx_buffer[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
                memcpy(&rec_antdelay,&rx_buffer[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
            #ifdef USART_ALL_OUTPUT
                    usart_send[2] = 0x0c;//Õý³£Ä£Ê½ 
					usart_send[3] = 8+rec_nearbase_num*4;//Êý¾Ý¶Î³¤¶È
					usart_send[4] = frame_seq_nb2;//Êý¾Ý¶Î³¤¶È
            		usart_send[5] = battary;
					usart_send[6] = button;
                    usart_send[7] = rec_nearbase_num;
					memcpy(&usart_send[8],&tag_id_recv,2);
					memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);				
					memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
					checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
					memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
					UART_PushFrame(usart_send,12+rec_nearbase_num*4);
            #endif
				taglist_pos=CmpTagInList(tag_id_recv);
				if(taglist_pos==taglist_num)
				{
					taglist_pos=taglist_num;
					tagid_list[taglist_num++]=tag_id_recv;
					
					new_tagid=1;
				}else{
					new_tagid=0;
				}
				tagofflinetime[taglist_pos]=0;
                temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
				tagpos_rec[(uint8_t)temp_tagpos]=1;
				
			
				if(rec_nearbase_num>ancidlist_num)
					{
						ancidlist_num=rec_nearbase_num;
						memcpy(ancidlist_rec,&rx_buffer[FZ_NEARBASEID_INDEX],rec_nearbase_num*2);
					}
					
				for(i=0;i<rec_nearbase_num;i++)
				{
					 memcpy(&tempid,&rx_buffer[FZ_NEARBASEID_INDEX+i*2],2);
					if(tempid==dev_id)
					{
						seize_anchor=0;  //·ÇÇÀÕ¼¡£ÒÑ´æÔÚÁбíÖÐ
						Anchor_RecNearPoll(i);	
						break;
					}						
				}
					if(i==rec_nearbase_num)
					{
						seize_anchor=1;   //ÇÀÕ¼anchor
						Anchor_RecNearPoll(i);	
					}

				
				break;	
		 default:
          //      poscount++;
				break;                    
		}	
    }
	}else{
                if(g_com_map[MODBUS_ID1]==1)
                {
                 #ifdef DBGMSG_OUTPUT
                dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
                SendDbgMsg(dbgmsg,dbgmsg_len);
                #endif
                }
		dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR | SYS_STATUS_RXFCG | SYS_STATUS_ALL_TX);

	}
       dwt_forcetrxoff();
    dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR | SYS_STATUS_RXFCG | SYS_STATUS_ALL_TX);
       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);
        }