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#ifndef __DW_APP_H__
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#define __DW_APP_H__
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#include <string.h>
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#include "main.h"
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#include "deca_device_api.h"
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//#include "deca_device_api_3000.h"
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#include "deca_regs.h"
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#include "dw_driver.h"
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#include "ADC.h"
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#include "TrackingDiff.h"
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#define BASELOST_STOPMOTOR_TIME 5
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//BITSTATE
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#define GOINGSLEEPBIT 1
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//#define NEWBOARD
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//#define TAG_OUTPUT
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#define HEX_OUTPUT
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#define MAX_NEARBASE_NUM 12
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#define REPOET_ANC_NUM 1
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#define REPOET_ANC_NUM_MIN 1
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#define TAG_ID_START 0// 0x00980000
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#define GROUP_TAG_NUM 2
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#define TAG_NUM_IN_SYS 256
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#define DFT_RAND_DLY_TIM_MS 1
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#define QUIT_SLOT_TIME 5
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#define KEEP_TIMES 30
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#define SLOT_SCALE 0.7
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#define RNG_DELAY_MS 100
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/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
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#define TX_ANT_DLY 0
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#define RX_ANT_DLY 32899
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/* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
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* 1 uus = 512 / 499.2 µs and 1 µs = 499.2 * 128 dtu. */
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#define UUS_TO_DWT_TIME 65536
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/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
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/* 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. */
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#define POLL_TX_TO_RESP_RX_DLY_UUS 150
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/* 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
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* frame length of approximately 2.66 ms with above configuration. */
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#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
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/* Receive response timeout. See NOTE 5 below. */
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#define RESP_RX_TIMEOUT_UUS 2000
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#define DELAY_BETWEEN_TWO_FRAME_UUS 550
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#define POLL_RX_TO_RESP_TX_DLY_UUS 470
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/* 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. */
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#define RESP_TX_TO_FINAL_RX_DLY_UUS 10
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/* Receive final timeout. See NOTE 5 below. */
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#define FINAL_RX_TIMEOUT_UUS 4300
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#define SPEED_OF_LIGHT 299702547
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//MESSAGE_TYPE
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#define POLL 0x01
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#define RESPONSE 0x02
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#define FINAL 0x03
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#define SYNC 0x04
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#define NEAR_MSG 0x05
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#define NEAR_POLL 0x06
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#define NEAR_RESPONSE 0x07
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#define NEAR_FINAL 0x08
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//General
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#define GROUP_ID_IDX 0
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#define ANCHOR_ID_IDX 1
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#define TAG_ID_IDX 5
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#define MESSAGE_TYPE_IDX 9
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//Poll
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#define ANC_TYPE_IDX 14
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//respose
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#define DIST_IDX 10
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#define ANCTIMEMS 14
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#define ANCTIMEUS 16
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#define MAINBASE_INDEX 18
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#define MOTORSTATE_INDEX 19
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#define REMOTEPARA_INDEX 20
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#define RESP_MSG_POLL_RX_TS_IDX 26
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#define RESP_MSG_RESP_TX_TS_IDX 30
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#define RESP_MSG_ANC_DISTOFFSET 34
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#define TAGSLOTPOS 7
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//Final
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#define FINAL_MSG_POLL_TX_TS_IDX 10
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#define FINAL_MSG_RESP_RX_TS_IDX 14
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#define FINAL_MSG_FINAL_TX_TS_IDX 18
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#define FINAL_MSG_RESP_RX_NEARBASE_IDX 22
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#define FINAL_MSG_TS_LEN 4
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//SYNC
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#define ANCHOR_ID_IDX 1
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#define SYNC_SEQ_IDX 5
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//NEAR MSG
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#define NEARMSG_EMPTYSLOTPOS_INDEX 1 //RESPONSE
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#define NEARBASENUM_INDEX 10
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#define NEARBASEID_INDEX 11
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//NEAR POLL
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#define SEQUENCE_IDX 3
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#define BATTARY_IDX 4
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#define BUTTON_IDX 7
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#define SLOTTIME_MS 48
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#define REMOTEPARA_LEN 18
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#define THRESHOLD_CHANGE_MAINBASE_DIST 5
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#define DW_CTRL_GPIO GPIOA
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#define DW_ENABLE HAL_GPIO_WritePin(DW_CTRL_GPIO, DW_CTRL_Pin, GPIO_PIN_RESET)
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#define DW_DISABLE HAL_GPIO_WritePin(DW_CTRL_GPIO, DW_CTRL_Pin, GPIO_PIN_SET)
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extern TrackingDiffClass *pUWBDistanceTrackingDiff;
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extern uint16_t poll_timer,tag_timer;
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extern int8_t tag_delaytime;
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extern uint32_t dev_id;
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extern uint8_t anchor_type;
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extern uint32_t time32_incr;
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extern uint16_t tag_recv_timer;
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extern double dist_cm;
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extern uint32_t g_UWB_com_interval;
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extern float dis_after_filter;
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extern uint8_t usart_send[25];
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void IdleTask(void);
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uint16_t Checksum_u16(uint8_t* pdata, uint32_t len);
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void Dw1000_Init(void);
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void Tag_App(void);
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void Anchor_App(void);
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void tag_sleep_configuraion(void);
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extern int32_t g_Tagdist[TAG_NUM_IN_SYS];
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extern dwt_config_t config;
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extern void TagDistClear(void);
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void Dw1000_App_Init(void);
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#endif
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