#include "board.h"
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#ifndef __COMMMAP_H
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#define __COMMMAP_H
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//#include "stm32f10x.h"
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//#include <string.h>
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//#include "Utility.h"
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//#include "ConfigCan.h"
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//#include "ConfigUsart.h"
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//#include "port.h"
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//#include "Flash.h"
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#define COM_FRAME_MAX_SIZE 50
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//----------------Ö¸ÁîλÖÃ----------------
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#define COM_HEAD0 0x00
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#define COM_HEAD1 0x01
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#define COM_LENGTH 0x02
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#define COM_SRC_ID 0x03
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#define COM_DST_ID 0x04
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#define COM_CMD 0x05
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#define COM_INDEX 0x06
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#define COM_DATA 0x07
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//----------------Ö¸ÁîÀàÐÍ----------------
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//¿ØÖƱí·ÃÎÊÖ¸Áî
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#define CMD_CMAP_RD 0x01
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#define CMD_CMAP_WR 0x02
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#define CMD_CMAP_WR_NR 0x03
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#define CMD_CMAP_ACK_RD 0x04
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#define CMD_CMAP_ACK_WR 0x05
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//Êý¾ÝÏÂÔØÏà¹ØÖ¸Áî
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#define CMD_IAP_BEGIN 0x07
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#define CMD_IAP_TRANS 0x08
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#define CMD_IAP_VERIFY 0x09
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#define CMD_MCU_RESET 0x0A
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#define CMD_IAP_ACK 0x0B
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#define CMD_SAVE_UID 0x0C
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////¿ØÖÆÖ¸Áî
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//#define CMD_CTRL_RD 0x01 //¶ÁÖ¸Áî
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//#define CMD_CTRL_WR 0x02 //дָÁî
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//#define CMD_CTRL_WR_NR 0x03 //д¿ØÖƱíÖ¸ÁÎÞ·µ»Ø£©
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//#define IS_CTRL_PACK(PACK_TYPE) (((PACK_TYPE) == CMD_CTRL_RD) || \
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// ((PACK_TYPE) == CMD_CTRL_WR) || \
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// ((PACK_TYPE) == CMD_CTRL_WR_NR) )
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//
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////ͨѶָÁî
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//#define CMD_IAP_BEGIN 0x07 //the macro declaration should be same between difference commu src
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//#define CMD_IAP_WR 0x08
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//#define CMD_IAP_CHECKSUM 0x09
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//#define CMD_IAP_RESET 0x0A
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//#define IS_IAP_PACK(PACK_TYPE) (((PACK_TYPE) == CMD_IAP_BEGIN) || \
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// ((PACK_TYPE) == CMD_IAP_WR) || \
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// ((PACK_TYPE) == CMD_IAP_CHECKSUM) || \
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// ((PACK_TYPE) == CMD_IAP_RESET) )
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////ÓïÒôÖ¸Áî
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//#define CMD_SPK_PLAY 0x11
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//#define CMD_SPK_ERASE 0x12
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//#define CMD_SPK_WR_DATA 0x13
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//#define CMD_SPK_READ 0x14 //ÕâÀïÒ»´ÎÐÔ¶ÁÈ¡ÓïÒô¶ÎÐÅÏ¢
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//#define IS_SPK_PACK(PACK_TYPE) (((PACK_TYPE) == CMD_SPK_PLAY) || \
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// ((PACK_TYPE) == CMD_SPK_ERASE) || \
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// ((PACK_TYPE) == CMD_SPK_READ) || \
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// ((PACK_TYPE) == CMD_SPK_WR_DATA) )
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////Åä¶ÔÖ¸Áî
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//#define CMD_RMC_PAIR 0x1A
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//----------------------ID list--------------------------------------
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#define _SW_VER (uint16_t)((0x0000<<8)|(0x0001<<4)|(1)) //¹Ì¼þ°æ±¾
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#define FW_VERSION (uint16_t)((0x00<<12)|_SW_VER)
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#define ID_THIS ID_UWB_ANCHOR
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#define ID_APR_HEAD_R 0x00
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#define ID_APR_TOP 0x01
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#define ID_APR_YAW 0x02
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#define ID_APR_HEAD_L 0x03
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#define ID_VIO_MAIN_CTRLLER 0x04
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#define ID_APR_X86 0x05
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#define ID_VIO_BLE 0x06
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#define ID_VIO_BMS 0x07
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#define ID_VIO_UP_CTRLLER 0x08
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#define ID_UWB_ANCHOR 0x09
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#define ID_UWB_TAG 0x0A
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#define ID_MOBILE 0x0B
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#define ID_DEBUGGER 0x0C
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//--------------------Communication Method---------------------------
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#define SEND_FROM_CAN 0x01
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#define SEND_FROM_UART 0x02
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#define COMM_MAP_MAX_SIZE 70
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//-------------------------Anchor°å Map------------------------------
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#define COMM_MAP_UP_FW_VERSION 0x0A
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#define COMM_MAP_ANCHOR_FW_VERSION 0x0B
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#define COMM_MAP_TAG_FW_VERSION 0x0C
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#define COMM_MAP_ELEC_ANG_OFFSET 0x10
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#define COMM_MAP_PHY_ANG_OFFSET 0x11
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#define COMM_MAP_PAIR_STATE 0x12
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#define COMM_MAP_PDOFSET 0x13
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#define COMM_MAP_PAIRFLAG 0x14
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#define COMM_MAP_ANGLE_OFFSET 0x15
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#define COMM_MAP_CALIB_OK 0x16
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#define COMM_MAP_PAIR_REQUESTED 0x1A
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#define COMM_MAP_TEST_FLAG 0x1B
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//-------------------------Tag°å Map------------------------------
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#define COM_MAP_UWB_DATA_SIZE (COMM_MAP_IMU_MAGZ_SPD - COMM_MAP_IS_UWB_UPDATED + 1)
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#define COMM_MAP_IS_UWB_UPDATED 0x20
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#define COMM_MAP_ANGLE 0x21 //UWB²âµÃµÄ½Ç¶ÈÐÅÏ¢
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#define COMM_MAP_DIST 0x22 //UWB²âµÃµÄ¾àÀëÐÅÏ¢
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#define COMM_MAP_SIG_QUALITY 0x23 //UWBÐźÅÖÊÁ¿
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#define COMM_MAP_TAG_ADDR 0x24
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#define COMM_MAP_KEYS 0x25 //Ò£¿ØÆ÷°´¼üÐÅÏ¢
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#define COMM_MAP_ROCKER_X 0x26 //Ò£¿ØÆ÷ºáÏòÒ¡¸ËµÄÖµ
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#define COMM_MAP_ROCKER_Y 0x27 //Ò£¿ØÆ÷×ÝÏòÒ¡¸ËµÄÖµ
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#define COMM_MAP_BAT_VOL 0x28 //Ò£¿ØÆ÷µçÁ¿
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//Ò£¿ØÆ÷IMUÏà¹Ø״̬
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#define COMM_MAP_IMU_ROLL_SPD 0x29
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#define COMM_MAP_IMU_PITCH_SPD 0x2A
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#define COMM_MAP_IMU_YAW_SPD 0x2B
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#define COMM_MAP_IMU_ACCX_SPD 0x2C
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#define COMM_MAP_IMU_ACCY_SPD 0x2D
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#define COMM_MAP_IMU_ACCZ_SPD 0x2E
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#define COMM_MAP_IMU_MAGX_SPD 0x2F
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#define COMM_MAP_IMU_MAGY_SPD 0x30
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#define COMM_MAP_IMU_MAGZ_SPD 0x31
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//Ò£¿ØÆ÷µÆµÄ״̬
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#define COMM_MAP_RC_LED_FOLLOW 0x32
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#define COMM_MAP_RC_LED_SHOT 0x33
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#define COMM_MAP_WARN 0x34 //Ò£¿ØÆ÷±¨¾¯Ìáʾ״̬
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//-------------------------пذå Map--------------------------------
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#define COMM_MAP_LED 0x40
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#define COMM_MAP_IS_GIMBAL_PLUGED 0x41
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#define COMM_MAP_SBV_MODE 0x42
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#define COMM_MAP_GIMBAL_MODE 0x43
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#define COMM_MAP_VOICE_FLAG 0x44
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#define COMM_MAP_VOICE_INDEX 0x45
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/*---------------------------------------------------------------------
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VOICE PACK INDEX
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---------------------------------------------------------------------*/
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//ÓïÒôÖ¸Áî
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#define VOICE_WARNING 0
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#define VOICE_ERROR 1
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#define VOICE_SHOT 2
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#define VOICE_RECORD 3
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#define VOICE_DI 4
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#define VOICE_DIDI 5
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#define VOICE_CALL_ARRIVE 6
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#define VOICE_STANDBY 7
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#define VOICE_OVERSPEED2 8
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#define VOICE_START 16
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#define VOICE_CLOSE 17
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#define VOICE_OVERSPEED1 18
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#define VOICE_LOCK 19
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#define VOICE_SIGNAL_WEAK 20
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#define VOICE_BACKWARD 21
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#define VOICE_LOWBATERAY 22
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#define VOICE_FOLLOW_MODE 23
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#define VOICE_FOLLOW_MODE_EXIT 24
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#define VOICE_GIMBAL_PLUGEDIN 25
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#define VOICE_NO_CAMERA 26
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#define VOICE_GIMBAL_TAKEOFF 27
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#define VOICE_REMOTE_CTRL_MODE 28
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#define VOICE_BLE_CONNECT 29
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#define VOICE_BLE_DISCONECT 30
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#define VOICE_NOT_ACTIVATED 31
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#define VOICE_CLOSE_ALERT 32
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#define VOICE_CAM_MODE_STABLE 33
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#define VOICE_CAM_MODE_FOLLOW 34
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#define VOICE_CAM_MODE_LOCK 35
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#define VOICE_MALFUNCTION 56
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#define VOICE_HIGHBATERAY 57
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typedef struct ComData_
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{
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uint8_t length;
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uint8_t src_id;
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uint8_t dst_id;
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uint8_t cmd;
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uint8_t index;
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uint8_t data[COM_FRAME_MAX_SIZE];
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} ComDataClass;
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typedef enum{ UsartReceiveWaitHead0,
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UsartReceiveWaitHead1,
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UsartReceiveWaitLength,
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UsartReceiveWaitData
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}UsartRecvPackState;
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extern uint16_t gCommMap[COMM_MAP_MAX_SIZE];
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extern uint16_t gSbvComMap[COMM_MAP_MAX_SIZE];
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extern uint8_t gErrorCode;
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//--------------Ó¦Óòã»Øµ÷º¯Êý---------------
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//extern void (*IapHandlerCallback)(CanReceiveFrame *);
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//extern void (*CtrlHandlerCallback)(CanReceiveFrame *);
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//extern void (*SpkHandlerCallback)(CanReceiveFrame *);
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//extern void (*UwbHandlerCallback)(void);
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void CommMapInit(void);
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//void CanParseDataHandler(CanRxMsg* pRxMessage);
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void SendFrame(uint8_t data_length, uint8_t src_id, uint8_t dst_id, uint8_t cmd, uint8_t index, uint8_t* data);
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#endif
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