#include "board.h"
#ifndef __COMMMAP_H
#define __COMMMAP_H

//#include "stm32f10x.h"
//#include <string.h>
//#include "Utility.h"
//#include "ConfigCan.h"
//#include "ConfigUsart.h"
//#include "port.h"
//#include "Flash.h"

#define COM_FRAME_MAX_SIZE			50

//----------------Ö¸ÁîλÖÃ----------------
#define COM_HEAD0					0x00
#define COM_HEAD1					0x01
#define COM_LENGTH					0x02
#define COM_SRC_ID					0x03
#define COM_DST_ID					0x04
#define COM_CMD						0x05
#define COM_INDEX					0x06
#define COM_DATA					0x07

//----------------Ö¸ÁîÀàÐÍ----------------
//¿ØÖƱí·ÃÎÊÖ¸Áî
#define CMD_CMAP_RD					0x01
#define CMD_CMAP_WR					0x02
#define CMD_CMAP_WR_NR				0x03
#define CMD_CMAP_ACK_RD				0x04
#define CMD_CMAP_ACK_WR				0x05
//Êý¾ÝÏÂÔØÏà¹ØÖ¸Áî
#define CMD_IAP_BEGIN				0x07
#define CMD_IAP_TRANS				0x08
#define CMD_IAP_VERIFY				0x09
#define CMD_MCU_RESET				0x0A
#define CMD_IAP_ACK					0x0B
#define CMD_SAVE_UID				0x0C


////¿ØÖÆÖ¸Áî
//#define CMD_CTRL_RD				0x01		//¶ÁÖ¸Áî
//#define CMD_CTRL_WR				0x02		//дָÁî
//#define CMD_CTRL_WR_NR			0x03		//д¿ØÖƱíÖ¸ÁÎÞ·µ»Ø£©
//#define IS_CTRL_PACK(PACK_TYPE)		(((PACK_TYPE) == CMD_CTRL_RD) || \
//									 ((PACK_TYPE) == CMD_CTRL_WR)	|| \
//									 ((PACK_TYPE) == CMD_CTRL_WR_NR) )
//									 
////ͨѶָÁî
//#define CMD_IAP_BEGIN				0x07   //the macro declaration should be same between difference commu src
//#define CMD_IAP_WR					0x08 
//#define CMD_IAP_CHECKSUM     		0x09
//#define CMD_IAP_RESET           	0x0A
//#define IS_IAP_PACK(PACK_TYPE)		(((PACK_TYPE) == CMD_IAP_BEGIN) || \
//									 ((PACK_TYPE) == CMD_IAP_WR)	|| \
//									 ((PACK_TYPE) == CMD_IAP_CHECKSUM)	|| \
//									 ((PACK_TYPE) == CMD_IAP_RESET)	)		
////ÓïÒôÖ¸Áî
//#define  CMD_SPK_PLAY				0x11
//#define  CMD_SPK_ERASE   			0x12
//#define  CMD_SPK_WR_DATA    		0x13
//#define  CMD_SPK_READ               0x14 //ÕâÀïÒ»´ÎÐÔ¶ÁÈ¡ÓïÒô¶ÎÐÅÏ¢
//#define  IS_SPK_PACK(PACK_TYPE)		(((PACK_TYPE) == CMD_SPK_PLAY)	|| \
//									 ((PACK_TYPE) == CMD_SPK_ERASE)	|| \
//                                     ((PACK_TYPE) == CMD_SPK_READ)	|| \
//									 ((PACK_TYPE) == CMD_SPK_WR_DATA) )
////Åä¶ÔÖ¸Áî
//#define CMD_RMC_PAIR				0x1A

//----------------------ID list--------------------------------------
#define _SW_VER				(uint16_t)((0x0000<<8)|(0x0001<<4)|(1))  	//¹Ì¼þ°æ±¾
#define FW_VERSION			(uint16_t)((0x00<<12)|_SW_VER)

#define ID_THIS						ID_UWB_ANCHOR

#define ID_APR_HEAD_R				0x00
#define ID_APR_TOP					0x01
#define ID_APR_YAW					0x02
#define ID_APR_HEAD_L				0x03
#define ID_VIO_MAIN_CTRLLER			0x04
#define ID_APR_X86					0x05
#define ID_VIO_BLE					0x06
#define ID_VIO_BMS					0x07
#define ID_VIO_UP_CTRLLER			0x08
#define ID_UWB_ANCHOR				0x09
#define ID_UWB_TAG					0x0A
#define ID_MOBILE					0x0B
#define ID_DEBUGGER					0x0C

//--------------------Communication Method---------------------------
#define SEND_FROM_CAN				0x01
#define SEND_FROM_UART				0x02


#define COMM_MAP_MAX_SIZE	70
//-------------------------Anchor°å Map------------------------------
#define COMM_MAP_UP_FW_VERSION		0x0A
#define COMM_MAP_ANCHOR_FW_VERSION	0x0B
#define COMM_MAP_TAG_FW_VERSION	0x0C

#define COMM_MAP_ELEC_ANG_OFFSET	0x10
#define COMM_MAP_PHY_ANG_OFFSET		0x11
#define COMM_MAP_PAIR_STATE			0x12
#define COMM_MAP_PDOFSET			0x13
#define COMM_MAP_PAIRFLAG			0x14
#define COMM_MAP_ANGLE_OFFSET			0x15
#define COMM_MAP_CALIB_OK			0x16

#define COMM_MAP_PAIR_REQUESTED		0x1A
#define COMM_MAP_TEST_FLAG		0x1B

//-------------------------Tag°å Map------------------------------
#define COM_MAP_UWB_DATA_SIZE		(COMM_MAP_IMU_MAGZ_SPD - COMM_MAP_IS_UWB_UPDATED + 1)
#define COMM_MAP_IS_UWB_UPDATED		0x20
#define COMM_MAP_ANGLE				0x21		//UWB²âµÃµÄ½Ç¶ÈÐÅÏ¢
#define COMM_MAP_DIST				0x22		//UWB²âµÃµÄ¾àÀëÐÅÏ¢
#define COMM_MAP_SIG_QUALITY		0x23		//UWBÐźÅÖÊÁ¿
#define COMM_MAP_TAG_ADDR			0x24
#define COMM_MAP_KEYS				0x25		//Ò£¿ØÆ÷°´¼üÐÅÏ¢
#define COMM_MAP_ROCKER_X			0x26		//Ò£¿ØÆ÷ºáÏòÒ¡¸ËµÄÖµ
#define COMM_MAP_ROCKER_Y			0x27		//Ò£¿ØÆ÷×ÝÏòÒ¡¸ËµÄÖµ
#define COMM_MAP_BAT_VOL			0x28		//Ò£¿ØÆ÷µçÁ¿
//Ò£¿ØÆ÷IMUÏà¹Ø״̬
#define COMM_MAP_IMU_ROLL_SPD		0x29
#define COMM_MAP_IMU_PITCH_SPD		0x2A
#define COMM_MAP_IMU_YAW_SPD		0x2B
#define COMM_MAP_IMU_ACCX_SPD		0x2C
#define COMM_MAP_IMU_ACCY_SPD		0x2D
#define COMM_MAP_IMU_ACCZ_SPD		0x2E
#define COMM_MAP_IMU_MAGX_SPD		0x2F
#define COMM_MAP_IMU_MAGY_SPD		0x30
#define COMM_MAP_IMU_MAGZ_SPD		0x31
//Ò£¿ØÆ÷µÆµÄ״̬
#define COMM_MAP_RC_LED_FOLLOW		0x32
#define COMM_MAP_RC_LED_SHOT		0x33	
#define COMM_MAP_WARN				0x34		//Ò£¿ØÆ÷±¨¾¯Ìáʾ״̬

//-------------------------Э¿Ø°å Map--------------------------------
#define COMM_MAP_LED				0x40
#define COMM_MAP_IS_GIMBAL_PLUGED	0x41
#define COMM_MAP_SBV_MODE			0x42
#define COMM_MAP_GIMBAL_MODE		0x43
#define COMM_MAP_VOICE_FLAG			0x44
#define COMM_MAP_VOICE_INDEX		0x45





/*---------------------------------------------------------------------
							VOICE PACK INDEX
---------------------------------------------------------------------*/
//ÓïÒôÖ¸Áî
#define VOICE_WARNING				0
#define VOICE_ERROR					1
#define VOICE_SHOT					2
#define VOICE_RECORD				3
#define	VOICE_DI					4
#define VOICE_DIDI					5
#define VOICE_CALL_ARRIVE			6
#define VOICE_STANDBY				7
#define VOICE_OVERSPEED2			8

#define VOICE_START					16
#define VOICE_CLOSE					17
#define VOICE_OVERSPEED1			18
#define VOICE_LOCK					19
#define VOICE_SIGNAL_WEAK			20
#define VOICE_BACKWARD				21
#define VOICE_LOWBATERAY			22
#define	VOICE_FOLLOW_MODE			23
#define VOICE_FOLLOW_MODE_EXIT		24
#define VOICE_GIMBAL_PLUGEDIN		25
#define VOICE_NO_CAMERA				26
#define VOICE_GIMBAL_TAKEOFF		27
#define VOICE_REMOTE_CTRL_MODE		28
#define VOICE_BLE_CONNECT			29
#define VOICE_BLE_DISCONECT			30
#define VOICE_NOT_ACTIVATED			31
#define VOICE_CLOSE_ALERT			32
#define VOICE_CAM_MODE_STABLE		33
#define VOICE_CAM_MODE_FOLLOW		34
#define VOICE_CAM_MODE_LOCK			35

#define VOICE_MALFUNCTION			56
#define VOICE_HIGHBATERAY			57

typedef struct ComData_
{
	uint8_t length;
	uint8_t src_id;
	uint8_t dst_id;
	uint8_t cmd;
	uint8_t index;
	uint8_t data[COM_FRAME_MAX_SIZE];
} ComDataClass;

typedef enum{	UsartReceiveWaitHead0, 
				UsartReceiveWaitHead1, 
				UsartReceiveWaitLength, 
				UsartReceiveWaitData
}UsartRecvPackState;

extern uint16_t gCommMap[COMM_MAP_MAX_SIZE];
extern uint16_t gSbvComMap[COMM_MAP_MAX_SIZE];
extern uint8_t gErrorCode;


//--------------Ó¦Óòã»Øµ÷º¯Êý---------------
//extern void (*IapHandlerCallback)(CanReceiveFrame *);
//extern void (*CtrlHandlerCallback)(CanReceiveFrame *);
//extern void (*SpkHandlerCallback)(CanReceiveFrame *);
//extern void (*UwbHandlerCallback)(void);

void CommMapInit(void);
//void CanParseDataHandler(CanRxMsg* pRxMessage);
void SendFrame(uint8_t data_length, uint8_t src_id, uint8_t dst_id, uint8_t cmd, uint8_t index, uint8_t* data);
#endif