#include "can.h" 
#include "delay.h"
#include "SWM341.h"                     // Device header

CAN_RXMessage canrx0,cantx0;
uint8_t CAN0_error=0;
uint8_t CAN0_FrameReceiveFlag=0,CAN0_FrameSendFlag=0;

void CAN0_Init(void)
{
	CAN_InitStructure CAN_initStruct;

    PORT_Init(PORTA, PIN9 , PORTA_PIN9_CAN0_RX , 1);	//GPIOA.9  配置为 CAN0 输入引脚
    PORT_Init(PORTA, PIN10, PORTA_PIN10_CAN0_TX, 0);	//GPIOA.10 配置为 CAN0 输出引脚
	
	CAN_initStruct.Mode = CAN_MODE_NORMAL;
	CAN_initStruct.CAN_bs1 = CAN_BS1_5tq;
	CAN_initStruct.CAN_bs2 = CAN_BS2_4tq;
	CAN_initStruct.CAN_sjw = CAN_SJW_2tq;
	CAN_initStruct.Baudrate = CAN_BPS;
	CAN_initStruct.RXNotEmptyIEn = 1;
	CAN_initStruct.ArbitrLostIEn = 0;
	CAN_initStruct.ErrPassiveIEn = 0;
	CAN_Init(CAN0, &CAN_initStruct);

	CAN_SetFilter32b(CAN0, CAN_FILTER_1, 0xFFFFFFFF, 0x00000000);		//接收ID为任意值的帧  // 0 匹配，1 不管
//	CAN_SetFilter32b(CAN0, CAN_FILTER_1, 0x00122122, 0x1FFFFFFE);		//接收ID为0x00122122、0x00122123的扩展包
	CAN_SetFilter16b(CAN0, CAN_FILTER_2, 0x122, 0x7FE, 0x101, 0x7FF);	//接收ID为0x122、123、0x101的标准包
	
	NVIC_SetPriority(CAN0_IRQn, 5);
	CAN_Open(CAN0);
}

int CAN0_SendMsg(CAN_RXMessage msg)
{
    while(CAN_TXBufferReady(CAN0) == 0){DelayMs(1);}    
    //单次发送
//	CAN_Transmit(CAN, CAN_FRAME_EXT, msg.id, msg.data, msg.size, 1);
//	while(CAN_TXComplete(CAN) == 0){DelayMs(1);}
	//多次重发
	CAN0_error=0;
	CAN_Transmit(CAN0, CAN_FRAME_EXT, msg.id, msg.data, msg.size, 0);
	for(uint16_t i=0; CAN_TXComplete(CAN0)==0; i++)
	{if(i>100){CAN_AbortTransmit(CAN0);CAN0_error=1;}DelayMs(1);}//超时，终止发送
	return CAN_TXSuccess(CAN0);
}
void CAN0_Handler(void)
{
	uint32_t int_sr = CAN_INTStat(CAN0);if(int_sr & CAN_IF_RXDA_Msk){CAN_Receive(CAN0, &canrx0);CAN0_FrameReceiveFlag=1;}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
CAN_RXMessage canrx1,cantx1;
uint8_t CAN1_error=0;
uint8_t CAN1_FrameReceiveFlag=0,CAN1_FrameSendFlag=0;
void CAN1_Init(void)
{
	CAN_InitStructure CAN_initStruct;

    PORT_Init(PORTM, PIN1 , PORTM_PIN1_CAN1_RX, 1);	//GPIOM.1  配置为 CAN1 输入引脚
    PORT_Init(PORTM, PIN0 , PORTM_PIN0_CAN1_TX, 0);	//GPIOM.0  配置为 CAN1 输出引脚
	
	CAN_initStruct.Mode = CAN_MODE_NORMAL;
	CAN_initStruct.CAN_bs1 = CAN_BS1_5tq;
	CAN_initStruct.CAN_bs2 = CAN_BS2_4tq;
	CAN_initStruct.CAN_sjw = CAN_SJW_2tq;
	CAN_initStruct.Baudrate = CAN_BPS;
	CAN_initStruct.RXNotEmptyIEn = 1;
	CAN_initStruct.ArbitrLostIEn = 0;
	CAN_initStruct.ErrPassiveIEn = 0;
	CAN_Init(CAN1, &CAN_initStruct);

	CAN_SetFilter32b(CAN1, CAN_FILTER_1, 0xFFFFFFFF, 0x00000000);		//接收ID为任意值的帧  // 0 匹配，1 不管
//	CAN_SetFilter32b(CAN1, CAN_FILTER_1, 0x00122122, 0x1FFFFFFE);		//接收ID为0x00122122、0x00122123的扩展包
	CAN_SetFilter16b(CAN1, CAN_FILTER_2, 0x122, 0x7FE, 0x101, 0x7FF);	//接收ID为0x122、123、0x101的标准包
	
	NVIC_SetPriority(CAN1_IRQn, 6);
	CAN_Open(CAN1);
}
int CAN1_SendMsg(CAN_RXMessage msg)
{
    while(CAN_TXBufferReady(CAN1) == 0){DelayMs(1);}    
    //单次发送
//	CAN_Transmit(CAN1, CAN_FRAME_EXT, msg.id, msg.data, msg.size, 1);
//	while(CAN_TXComplete(CAN1) == 0){DelayMs(1);}
	//多次重发
	CAN1_error=0;
	CAN_Transmit(CAN1, CAN_FRAME_EXT, msg.id, msg.data, msg.size, 0);
	for(uint16_t i=0; CAN_TXComplete(CAN1)==0; i++)
	{if(i>100){CAN_AbortTransmit(CAN1);CAN1_error=1;}DelayMs(1);}//超时，终止发送
	return CAN_TXSuccess(CAN1);
}
void CAN1_Handler(void)
{
	uint32_t int_sr = CAN_INTStat(CAN1);
    if(int_sr & CAN_IF_RXDA_Msk)
    {
        CAN_Receive(CAN1, &canrx1);
        CAN1_FrameReceiveFlag=1;
    }
}
void InitCAN(void)
{
	CAN0_Init();
	CAN1_Init();
}


void can_test(int i)
{
	uint8_t tx_data[8] = {0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88};
	if((i%500)==1)
	{
		CAN_Transmit(CAN0, CAN_FRAME_EXT, 0x178, tx_data, 8, 1);	//方便调试，测量SWM341 CAN发出波形
		CAN_Transmit(CAN1, CAN_FRAME_EXT, 0x188, tx_data, 8, 1);	//方便调试，测量SWM341 CAN发出波形
	}
	if(CAN0_FrameReceiveFlag)
	{
		if(canrx0.size > 0)
		{
			printf("\r\nReceive %s: %08X, ", canrx0.format == CAN_FRAME_STD ? "STD" : "EXT", canrx0.id);
			for(int i = 0; i < canrx0.size; i++) printf("%02X, ", canrx0.data[i]);
		}
		else if(canrx0.remote == 1)	//远程帧
		{
				printf("\r\nReceive %s Remote Request", canrx0.format == CAN_FRAME_STD ? "STD" : "EXT");
		}
		CAN0_FrameReceiveFlag=0;
	}
	
	if(CAN1_FrameReceiveFlag)
	{
		if(canrx1.size > 0)
		{
			printf("\r\nReceive %s: %08X, ", canrx1.format == CAN_FRAME_STD ? "STD" : "EXT", canrx1.id);
			for(int i = 0; i < canrx1.size; i++) printf("%02X, ", canrx1.data[i]);
		}
		else if(canrx1.remote == 1)	//远程帧
		{
				printf("\r\nReceive %s Remote Request", canrx1.format == CAN_FRAME_STD ? "STD" : "EXT");
		}
		CAN1_FrameReceiveFlag=0;
	}
}