#ifndef __DW_APP_H__
#define __DW_APP_H__

#include <string.h>
#include "main.h"

#include "ADC.h"
#include "TrackingDiff.h"

#define MAX_ANCFREQ    20//»ùվƵÂÊÉÏÏÞ
#define NOTAG_FREQ     1// ÎÞ±êÇ©Çé¿öÏ£¬»ùÕ¾¶¨Î»ÆµÂÊ
#define FREQ_LOST_TIME   30 // ±êÇ©ÎÞÐźŻָ´ÆµÂÊ1HZʱ¼ä¡£Ãë
#define SENDANCPARA_LEN 102
#define BASELOST_STOPMOTOR_TIME 5
//BITSTATE
#define GOINGSLEEPBIT 1

//#define NEWBOARD
//#define TAG_OUTPUT
#define HEX_OUTPUT

#define SLOT_SCALE 4
#define MAX_NEARBASE_NUM 25
#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 POLL     							0x01
#define RESPONSE 							0x02
#define FINAL   							0x03
#define SYNC   								0x04

//#define NEAR_POLL   					    0x06
//#define NEAR_RESPONSE   			        0x07
//#define NEAR_FINAL   					    0x08
//#define NEAR_PRAAREPLY   					0x20

#define MBX_POLL   					        0x20
#define MBX_RESPONSE   			            0x21
#define MBX_FINAL   					    0x22
#define MBX_PRAAREPLY   					0x23
#define MBX_REG   						    0x24
//General
#define GROUP_ID_IDX   				0
#define ANCHOR_ID_IDX    			1
#define TAG_ID_IDX    				5
#define MESSAGE_TYPE_IDX 			9	
#define MESSAGE_PARAREPLY_IDX 		10
//Poll
#define TAGSTATE              7
#define ANC_TYPE_IDX 					14
//respose
#define DIST_IDX 							10
#define ANCTIMEMS             14
#define ANCTIMEUS             16
#define TAGFREQ_IDX						7
#define MOTORSTATE_INDEX      19
#define REMOTEPARA_INDEX      22
//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


//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

//NEAR MSG
#define NEARMSG_EMPTYSLOTPOS_INDEX		 1 //RESPONSE
#define NEARBASENUM_INDEX    10
#define NEARBASEID_INDEX		 11
//NEAR POLL
#define RESP_MSG_POLL_RX_TS_IDX  26
#define RESP_MSG_RESP_TX_TS_IDX  30
#define RESP_MSG_ANC_DISTOFFSET  34

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

#define DW_CTRL_GPIO					GPIOA
#define DW_ENABLE   HAL_GPIO_WritePin(DW_CTRL_GPIO, DW_CTRL_Pin, GPIO_PIN_RESET)
#define DW_DISABLE  HAL_GPIO_WritePin(DW_CTRL_GPIO, DW_CTRL_Pin, GPIO_PIN_SET)
extern TrackingDiffClass *pUWBDistanceTrackingDiff;
extern uint16_t poll_timer,tag_timer;
extern int8_t tag_delaytime;
extern uint32_t dev_id;
extern uint8_t anchor_type;
extern  uint32_t time32_incr;
extern uint16_t tag_recv_timer;
extern double dist_cm;
extern uint32_t g_UWB_com_interval;
extern float dis_after_filter;

extern uint8_t usart_send[300];

void IdleTask(void);
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len);
void Dw1000_Init(void);
void Tag_App(void);
void Anchor_App(void);
void tag_sleep_configuraion(void);
extern int32_t g_Tagdist[TAG_NUM_IN_SYS];

extern void TagDistClear(void);
void Dw1000_App_Init(void);
#endif