#ifndef __DW_APP_H__
#define __DW_APP_H__

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

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

//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 0.24
#define MAX_NEARBASE_NUM 12
#define KEEP_TIMES 3

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

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

#define NEARBASENUM_INDEX    18
#define NEARBASEID_INDEX		 19
//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

//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


//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
//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 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[25];

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);
void DelayOneSlot(void);
#endif