#ifndef __DW_APP_H__
#define __DW_APP_H__
#include "stdint.h"
void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset,int32_t anc_clockoffset_from_MK,uint32_t polltx);
void CalculateDists1(int64_t poll_tx_ts);
void CalculateDists(int64_t poll_tx_ts);
int64_t ranging_timestamp_diff(int64_t ts_a, int64_t ts_b);
typedef enum
{		UN_BIND=0,
        LINK_SUCCESS,
        SEARCH_DEV,
} Operation_step;

//BITSTATE
#define GOINGSLEEPBIT 1

//#define NEWBOARD
//#define TAG_OUTPUT
#define MAX_RFPOWER   67
#define DEFAULT_RFPOWER   30
#define REGISTER_FREQUENCY 1
#define HEX_OUTPUT
#define TOTAL_SLOTNUM 200
#define SLOTTIME_MS 48
#define SLOT_SCALE 0.8
#define MAX_NEARBASE_NUM 12
#define KEEP_TIMES 5

#define REPOET_ANC_NUM 1
#define REPOET_ANC_NUM_MIN 1
#define TAG_ID_START 		0// 0x00980000
#define GROUP_TAG_NUM 2
//#define TAG_NUM_IN_SYS				25
#define DFT_RAND_DLY_TIM_MS			1
#define THRESHOLD_CHANGE_MAINBASE_DIST   50
#define MIN_ANCHOR_NUM 2
#define SYNC_SEQ_IDX    			5
#define REMOTEPARA_LEN 18
#define OUTRANGE_RESTARTTIMES 5

#define RESP_MSG_TAG_FREQUENCY 36
#define RESP_MSG_TAG_MOTOR    37
#define POLL     							0x01
#define RESPONSE 							0x02
#define FINAL   							0x03
#define SYNC   								0x04
#define NEAR_MSG   						0x05
#define NEAR_POLL   					0x06
#define NEAR_RESPONSE   			0x07
#define NEAR_FINAL   					0x08
#define SPOLL     							0x09
#define DISCOVERPOLL     				    0x0A
#define DISCOVERRESPONSE     				    0x0B
#define DISCOVERFINAL     				    0x0C
#define DISCOVERPOLL2     				    0x1A
#define MSG_TYPE_IDX            0   //LORA MSG TYPE ¶¨Òå
#define MSG_LENGTH              1   //±¨Îij¤¶È
#define SOURCE_ID_IDX           2   //Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
#define DEST_ID_IDX             4   //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
#define NEXTPOLL_TIME_IDX       6   //
#define POLL_FREQ_IDX           8   //·ÖÅäµÄ·¢ËÍƵÂÊ£¬ÐèÒª+400µÄÆ«ÒÆÁ¿¡£
#define PWTAG_RW_FLAG_IDX       9   //¶Áд±êÖ¾ 0ÎÞ¶Áд 1дÈë 2¶ÁÈ¡
#define PWTAG_WRITE_IDX_IDX     10   //дÈëµØÖ·
#define PWTAG_SECDELAY_IDX      10      //дÈë±êÇ©ÃëÑÓ³Ù Óë¶ÁдµØÖ·¹²ÓÃÒ»¸öλÖ㬵±ÓжÁдµØַʱ£¬¾ÍûÓÐÕâ¸ö²ÎÊý¡£
#define PWTAG_WRITE_VALUE_IDX   11   //дÈëÖµ
//uwb_update
#define MSG_TYPE_IDX        0   //LORA MSG TYPE ¶¨Òå
#define MSG_LENGTH          1   //±¨Îij¤¶È
#define SOURCE_ID_IDX       2   //Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
#define DEST_ID_IDX         4   //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
#define SYSTIME_IDX         6   //ϵͳʱ¼ä
#define RANGE_STATE_IDX     8  //¸ÃÍø¹Ø·¶Î§ÊÇ·ñ²â¾à±ê־λ£¬Îª1ÔòÇøÓòÄÚ»ùÕ¾²â¾à£¬Èç¹ûÊÇ0ÔòÇøÓòÄÚ»ùÕ¾²»²â¾à 
#define SUBMSGTYPE_IDX      9   //×ÓÏûÏ¢ÀàÐÍIDX
#define WRITEPARA_INDEX_IDX 10  //дÈë²ÎÊýµÄµØÖ·IDX
#define WRITEPATE_VALUE_IDX 11   //дÈë²ÎÊýµÄÖµ£¬2¸ö×Ö½Ú   /*ÔÚ·¢ËÍÉý¼¶»ùÕ¾ÇëÇóʱ£¬±»Ì滻ΪҪ·¢Ë͵ÄÉý¼¶ÎļþµÄ´óС
#define WG_SYNC_RESERVE_IDX 13//±£Áô 4¸ö×Ö½Ú

#define SEND_GROUP_MAX_NUM  25
#define POS_MSG   						0x15
#define POS_POLL   					    0x16
#define POS_RESPONSE   			        0x17
#define POS_FINAL   					0x18

#define REG_POLL   						0x10   //
#define REG_RESPONSE   				0x11   //
#define REG_POLL2   						0x20   //
//General
#define GROUP_ID_IDX   				0
#define ANCHOR_ID_IDX    			1
#define TAG_ID_IDX    				5
#define MESSAGE_TYPE_IDX 			9	

#define NEARBASENUM_INDEX    10
#define NEARBASEID_INDEX		 11
//Poll
#define TAGSTATE              7
#define ANC_TYPE_IDX 					14
//respose
#define DIST_IDX 							10
#define ANCTIMEMS             14
#define ANCTIMEUS             16
#define TAGSLOTPOS						7
#define MOTORSTATE_INDEX      19
#define NR_NEARSWITCH_DISTANCE 20
#define REMOTEPARA_INDEX      22
#define MAXRANGE_DISTANCE       22
#define ANC_SIGNALPOWER         24
#define TAG_NUM_IN_SYS				25
#define RESP_MSG_POLL_RX_TS_IDX  26
#define RESP_MSG_RESP_TX_TS_IDX  30
#define RESP_MSG_ANC_DISTOFFSET  34

//Final
#define TAGCONFIGSUCCESS_INDEX 7
#define FINAL_MSG_POLL_TX_TS_IDX 10
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_RESP_RX_NEARBASE_IDX  22
#define FINAL_MSG_TS_LEN 4
//SYNC
#define SYNC_SEQ_IDX    			5
//NEAR MSG
#define NEARMSG_EMPTYSLOTPOS_INDEX		 1 //RESPONSE
//NEAR POLL
#define NEARP_TAGFREQ_INDEX  10
#define NEARP_TAGSLOTPOS_INDEX  12

//uwb_update
#define MSG_TYPE_IDX        0   //LORA MSG TYPE ¶¨Òå
#define MSG_LENGTH          1   //±¨Îij¤¶È
#define SOURCE_ID_IDX       2   //Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
#define DEST_ID_IDX         4   //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
#define SYSTIME_IDX         6   //ϵͳʱ¼ä
#define RANGE_STATE_IDX     8  //¸ÃÍø¹Ø·¶Î§ÊÇ·ñ²â¾à±ê־λ£¬Îª1ÔòÇøÓòÄÚ»ùÕ¾²â¾à£¬Èç¹ûÊÇ0ÔòÇøÓòÄÚ»ùÕ¾²»²â¾à 
#define SUBMSGTYPE_IDX      9   //×ÓÏûÏ¢ÀàÐÍIDX
#define WRITEPARA_INDEX_IDX 10  //дÈë²ÎÊýµÄµØÖ·IDX
#define WRITEPATE_VALUE_IDX 11   //дÈë²ÎÊýµÄÖµ£¬2¸ö×Ö½Ú   /*ÔÚ·¢ËÍÉý¼¶»ùÕ¾ÇëÇóʱ£¬±»Ì滻ΪҪ·¢Ë͵ÄÉý¼¶ÎļþµÄ´óС
#define WG_SYNC_RESERVE_IDX 13//±£Áô 4¸ö×Ö½Ú


#define LORA_MSGTYPE_SYNC               1//Íø¹ØÏ·¢¸ø»ùÕ¾µÄͬ²½ÐÅÏ¢
#define LORA_MSGTYPE_CFGRSP             2//»ùÕ¾»Ø¸´¸øÍø¹ØÅäÖöÁÈ¡ÐÅÏ¢
#define LORA_MSGTYPE_UPDATE_CONFIRM     3//»ùÕ¾»Ø¸´¸øÍø¹ØÉý¼¶È·ÈÏÐÅÏ¢
#define LORA_MSGTYPE_RANGEPOLL          4//»ùÕ¾·¢Æð²â¾àͬ²½ÐźÅ
#define LORA_MSGTYPE_UPDATEFILE_REQUEST 5//»ùÕ¾·¢Ë͸øÍø¹ØÉý¼¶ÎļþÇëÇó
#define LORA_MSGTYPE_UPDATEFILE_RESP    6//Íø¹Ø»Ø¸´»ùÕ¾Éý¼¶ÎļþÄÚÈÝ
#define LORA_MSGTYPE_UPDATE_CONFIRM2     13//»ùÕ¾»Ø¸´¸øÍø¹ØÉý¼¶È·ÈÏÐÅÏ¢-SF8ģʽ

#define LORA_MSGTYPE_WGRESPTAG         8//Íø¹Ø»Ø¸´±êÇ©²â¾à¶¨Î»±¨ÎÄ
#define LORA_MSGTYPE_TAG_HEARTBEAT      0x33//±êÇ©ÐÄÌø°üÉÏ´«
#define LORA_MSGTYPE_ANC_HEARTBEAT      0x32//»ùÕ¾ÐÄÌø°üÉÏ´«
#define LORA_MSGTYPE_WG_RESPONSE_TAG    11//Íø¹Ø»Ø¸´±êÇ©²â¾à±¨ÎÄ

#define LORA_MSGTYPE_TAGMSGTOWG         0x22//±êÇ©¾àÀëÐÅÏ¢·¢¸øÍø¹Ø
#define LORA_MSGTYPE_TAGMSGTOWG_GPS     0x23//±êÇ©¾àÀëÐÅÏ¢·¢¸øÍø¹Ø´øGPS
#define LORA_MSGTYPE_TAGMSGTOWG_2         0x24//±êÇ©¾àÀëÐÅÏ¢·¢¸øÍø¹Ø
#define LORA_MSGTYPE_TAGMSGTOWG_GPS_2     0x25//±êÇ©¾àÀëÐÅÏ¢·¢¸øÍø¹Ø´øGPS
#define LORA_MSGTYPE_TAGHEARTBEAT       0x33//±êÇ©ÐÄÌø°üÉÏ´«
#define LORA_MSGTYPE_READPARARESP       0x39//±êÇ©»ùÕ¾»Ø¸´Íø¹Ø¶ÁÈ¡ÅäÖÃÖ¸Áî

//#define LORA_MSGTYPE_WGRESPTAG         8//Íø¹Ø»Ø¸´±êÇ©²â¾à¶¨Î»±¨ÎÄ ¸ñʽ
#define MSG_TYPE_IDX        0   //LORA MSG TYPE ¶¨Òå
#define MSG_LENGTH          1   //±¨Îij¤¶È ÎÞÓïÒô¹Ì¶¨14 ÓÐÓïÒô¾ÍÊÇ12+ÓïÒô³¤¶È
#define SOURCE_ID_IDX       2   //Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
#define DEST_ID_IDX         4   //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
#define NEXTPOLL_TIME_IDX   6   //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
#define POLL_FREQ_IDX       8   //·ÖÅäµÄ·¢ËÍƵÂÊ£¬ÐèÒª+400µÄÆ«ÒÆÁ¿¡£
#define RW_FLAG_IDX         9   //¶Áд±êÖ¾ 0ÎÞ¶Áд 1дÈë 2¶ÁÈ¡
#define WRITE_IDX_IDX       10   //дÈëµØÖ·
#define SECDELAY_IDX        10      //дÈë±êÇ©ÃëÑÓ³Ù Óë¶ÁдµØÖ·¹²ÓÃÒ»¸öλÖ㬵±ÓжÁдµØַʱ£¬¾ÍûÓÐÕâ¸ö²ÎÊý¡£
#define WRITE_VALUE_IDX     11   //дÈëÖµ

#define MSG_TYPE_IDX            0   //LORA MSG TYPE ¶¨Òå
#define MSG_LENGTH              1   //±¨Îij¤¶È
#define SOURCE_ID_IDX           2   //Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
#define DEST_ID_IDX             4   //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
#define NEXTPOLL_TIME_IDX       6   //
#define POLL_FREQ_IDX           8   //·ÖÅäµÄ·¢ËÍƵÂÊ£¬ÐèÒª+400µÄÆ«ÒÆÁ¿¡£
#define PWTAG_RW_FLAG_IDX       9   //¶Áд±êÖ¾ 0ÎÞ¶Áд 1дÈë 2¶ÁÈ¡
#define PWTAG_WRITE_IDX_IDX     10   //дÈëµØÖ·
#define PWTAG_SECDELAY_IDX      10      //дÈë±êÇ©ÃëÑÓ³Ù Óë¶ÁдµØÖ·¹²ÓÃÒ»¸öλÖ㬵±ÓжÁдµØַʱ£¬¾ÍûÓÐÕâ¸ö²ÎÊý¡£
#define PWTAG_WRITE_VALUE_IDX   11   //дÈëÖµ

#define WGRSP_RWTAG_NONE    0//Íø¹Ø»Ø¸´±êÇ©£¬ÎÞ¶Áд 
#define WGRSP_RWTAG_READ    2//Íø¹Ø»Ø¸´±êÇ©£¬ÎÞ¶Áд 
#define WGRSP_RWTAG_WRITE   1//Íø¹Ø»Ø¸´±êÇ©£¬ÎÞ¶Áд 
#define WGRSP_RWTAG_UPDATE   0x06//Íø¹Ø»Ø¸´±êÇ©£¬ÎÞ¶Áд 


//#define LORA_MSGTYPE_READPARARESP       0x39  //±êÇ©»ùÕ¾»Ø¸´Íø¹Ø¶ÁÈ¡ÅäÖÃÖ¸Áî
#define MSG_TYPE_IDX            0   //LORA MSG TYPE ¶¨Òå
#define MSG_LENGTH              1   //±¨Îij¤¶È
#define SOURCE_ID_IDX           2   //Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
#define DEST_ID_IDX             4   //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
#define RP_CMD_IDX              6   //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
#define RP_INDEX_IDX              7   //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
#define RP_LEN_IDX              8   //±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú

//REG POLL
#define REGP_TAGSTATE_INDEX  10
#define REGP_VERSION_INDEX  11
#define REGP_FREQUENCY_INDEX  13
#define REGP_POWER_INDEX  14
#define REGP_IMUTHRES_INDEX  15
#define REGP_NOMOVESLEEPTIME_INDEX  17
#define REGP_HEIGHTOFFSET_INDEX 19
#define REGP_BATTARY_INDEX  19
//REG RESPONSE
#define REGR_TAGFREQ_INDEX  10
#define REGR_TAGSLOTPOS_INDEX  12
#define REGR_BASENUM_INDEX    18
#define REGR_BASEID_INDEX		 19


#define SEQUENCE_IDX					3
#define BATTARY_IDX						4
#define BUTTON_IDX						7
#define SEQUENCEH_IDX					8



#define MBX_RESPONSE  0x21
#define MBX_POLL   					        0x20
#define MBX_RESPONSE   			            0x21
#define MBX_FINAL   					    0x22
#define MBX_PRAAREPLY   					0x23
#define MBX_REG   						    0x24

#define MESSAGE_TYPE_IDX  9	
#define TAG_ID_IDX   5
#define GROUP_ID_IDX 0
#define ANCHOR_ID_IDX  1
//#define MAX_NEARBASE_NUM 25
#define TAG_KEEPTIMES    30 //±êÇ©´æ»îʱ¼ä
//#define KEEP_TIMES 5
//#define TAG_NUM_IN_SYS				25

#define SEQUENCE_IDX					3
#define BATTARY_IDX						4
//NEAR POLL
#define RESP_MSG_POLL_RX_TS_IDX  26
#define RESP_MSG_RESP_TX_TS_IDX  30
#define RESP_MSG_ANC_DISTOFFSET  34

////NEAR MSG
//#define NEARBASENUM_INDEX    10
//#define NEARBASEID_INDEX		 11
#define APP2_ADRESS 0x0402f000
#define APP1_ADRESS 0x04000000

#define APP_SIZE 0x04080000-APP2_ADRESS

#define APP_1OR2_ADRESS 0x04080000-0x1000
#define MUQIAN_BAG                  6
#define DATA_IDX                    8
#define ONE_BAG_DAXIAO 100


#define TAG_KEEPTIMES    30 //±êÇ©´æ»îʱ¼ä
#define MAX_TAG_LIST_NUM 200 //ͬʱͨѶ±êÇ©×î´óÊýÁ¿

#define FREQ_OFFSET_MULTIPLIER          (998.4e6/2.0/1024.0/131072.0)
#define FREQ_OFFSET_MULTIPLIER_110KB    (998.4e6/2.0/8192.0/131072.0)

#define HERTZ_TO_PPM_MULTIPLIER_CHAN_1     (-1.0e6/3494.4e6)
#define HERTZ_TO_PPM_MULTIPLIER_CHAN_2     (-1.0e6/3993.6e6)
#define HERTZ_TO_PPM_MULTIPLIER_CHAN_3     (-1.0e6/4492.8e6)
#define HERTZ_TO_PPM_MULTIPLIER_CHAN_5     (-1.0e6/6489.6e6)
#endif