#include "can.h"
#include "delay.h"


#define FILTER_CHECK 0xFFFFFFFF
#define FILTER_MASK  0x00000000

uint8_t CAN_FrameReceiveFlag[CAN_CHANNEL] = {0};
uint8_t CAN0_FrameSendFlag[CAN_CHANNEL] = {0}; 
 
CAN_RXMessage canrx0[CAN_CHANNEL], cantx0[CAN_CHANNEL]; 
uint8_t CAN_error[CAN_CHANNEL] = {0};

void _CAN_Init(CAN_TypeDef *CAN_PORT)
{
    CAN_InitStructure CAN_initStruct;

    if(CAN_PORT==CAN1)
    {
        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
    }
    if(CAN_PORT==CAN0)
    {
        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(CAN_PORT, &CAN_initStruct);

    CAN_SetFilter32b(CAN_PORT, CAN_FILTER_1, FILTER_CHECK, FILTER_MASK);		//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

    if(CAN_PORT==CAN1)
    {
        NVIC_SetPriority(CAN1_IRQn, 6);
    }
    if(CAN_PORT==CAN0)
    {
        NVIC_SetPriority(CAN0_IRQn, 6);
    }
    CAN_Open(CAN_PORT);
}
 


int CAN_SendMsg(CAN_TypeDef *CAN_PORT,CAN_RXMessage msg)
{ 
    int Index = CAN_PORT==CAN0?0:1;
    while(CAN_TXBufferReady(CAN_PORT) == 0)
    {
        DelayUs(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
    CAN_error[Index] = 0;
    CAN_Transmit(CAN_PORT, CAN_FRAME_EXT, msg.id, msg.data, msg.size, 0);
    for(uint16_t i = 0; CAN_TXComplete(CAN_PORT) == 0; i++)
    {
        if(i > 100)
        {
            CAN_AbortTransmit(CAN_PORT);
            CAN_error[Index] = 1;
        }
        DelayUs(10);
    }//超时，终止发送
    int result = CAN_TXSuccess(CAN_PORT);
    return result;
}





void CAN_Handler(CAN_TypeDef *CAN_PORT)
{ 
    int Index = CAN_PORT==CAN0?0:1;
    uint32_t int_sr = CAN_INTStat(CAN_PORT);
    if(int_sr & CAN_IF_RXDA_Msk)
    {
        CAN_Receive(CAN_PORT, &canrx0[Index]);
        CAN_FrameReceiveFlag[Index] = 1;
    } 
}

void CAN0_Handler(void)
{
    CAN_Handler(CAN0);
}

void CAN1_Handler(void)
{
    CAN_Handler(CAN1);
}



void can_test(int j)
{ 
    uint8_t tx_data[8] = {0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88};
    if((j % 50000) == 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
    }
    
    for(int i=0;i<CAN_CHANNEL;i++)
    {
        if(CAN_FrameReceiveFlag[i])
        {
            if(canrx0[i].size > 0)
            {
                printf("\r\nReceive %s: %08X, ", canrx0[i].format == CAN_FRAME_STD ? "STD" : "EXT", canrx0[i].id);
                
                for(int i = 0; i < canrx0[i].size; i++) 
                    printf("%02X, ", canrx0[i].data[i]);
            }
            else if(canrx0[i].remote == 1)	//远程帧
            {
                printf("\r\nReceive %s Remote Request", canrx0[i].format == CAN_FRAME_STD ? "STD" : "EXT");
            }
            CAN_FrameReceiveFlag[i] = 0;
        }
    } 
 
}