#include    "config.h"

INT8U   CAN_TX_Cnt, CAN_RX_Cnt;
CanRxMsg    CAN_RX_Buffer[CAN_RX_BUFF_Size];
CanTxMsg    CAN_TX_Buffer[CAN_TX_BUFF_Size];


void    CAN1_Init(void)
{
    CAN_GPIO_Init();
    CAN_NVIC_Init();
    CAN_STBY_Init();
    //CAN1_Polling();         //环回测试
    CAN1_InterruptMode();   //初始化为中断模式
}

INT8U   CAN1_Polling(void)
{
    CAN_InitTypeDef        CAN_InitStructure;
    CAN_FilterInitTypeDef  CAN_FilterInitStructure;
    CanTxMsg TxMessage;
    CanRxMsg RxMessage;
    INT32U i = 0;
    INT8U TransmitMailbox = 0;

    /* CAN register init */
    CAN_DeInit(CAN);
    CAN_StructInit(&CAN_InitStructure);

    /* CAN cell init */
    CAN_InitStructure.CAN_TTCM = DISABLE;                    // 时间触发通信禁止
    CAN_InitStructure.CAN_ABOM = ENABLE;                     // 离线退出是在中断置位清0后退出
    CAN_InitStructure.CAN_AWUM = DISABLE;                    // 自动唤醒模式：清零sleep
    CAN_InitStructure.CAN_NART = DISABLE;                    // 自动重新传送豹纹，知道发送成功
    CAN_InitStructure.CAN_RFLM = DISABLE;                    // FIFO没有锁定，新报文覆盖旧报文
    CAN_InitStructure.CAN_TXFP = DISABLE;                    // 发送报文优先级确定：标志符
    CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack;  // 回环模式
    CAN_InitStructure.CAN_SJW = CAN_SJW_2tq;             // 1tq、BS1、BS2的值跟波特率有关
    CAN_InitStructure.CAN_BS1 = CAN_BS1_8tq;
    CAN_InitStructure.CAN_BS2 = CAN_BS2_7tq;
    CAN_InitStructure.CAN_Prescaler = 4;           // 分频系数为5
    CAN_Init(CAN, &CAN_InitStructure);            // 初始化CAN1

    /* CAN filter init */
    CAN_FilterInitStructure.CAN_FilterNumber = 0;
    CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
    CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
    CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
    CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
    CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
    CAN_FilterInit(&CAN_FilterInitStructure);

    /* transmit */
    TxMessage.StdId = 0x11;                 // 设定标准标识符（11位，扩展的为29位）
    TxMessage.RTR = CAN_RTR_Data;       // 传输消息的帧类型为数据帧（还有远程帧）
    TxMessage.IDE = CAN_Id_Extended;    // 消息标志符实验标准标识符
    TxMessage.DLC = 8;                  // 发送两帧，一帧8位
    TxMessage.Data[0] = 'H';           // 第1帧数据
    TxMessage.Data[1] = 'A';           // 第2帧数据
    TxMessage.Data[2] = 'I';           // 第3帧数据
    TxMessage.Data[3] = 'F';           // 第4帧数据
    TxMessage.Data[4] = 'E';           // 第5帧数据
    TxMessage.Data[5] = 'N';           // 第6帧数据
    TxMessage.Data[6] = 'G';           // 第7帧数据
    TxMessage.Data[7] = ' ';           // 第8帧数据
    TransmitMailbox = CAN_Transmit(CAN, &TxMessage);
    i = 0;
    // 用于检查消息传输是否正常
    while ((CAN_TransmitStatus(CAN, TransmitMailbox) != CANTXOK) && (i != 0xFF))
    {
        i++;
    }

    i = 0;
    // 检查返回的挂号的信息数目
    while ((CAN_MessagePending(CAN, CAN_FIFO0) < 1) && (i != 0xFF))
    {
        i++;
    }

    /* receive */
    RxMessage.StdId = 0x11;
    RxMessage.IDE = 0;
    RxMessage.DLC = 0;
    RxMessage.Data[0] = 0x00;
    RxMessage.Data[1] = 0x00;
    RxMessage.Data[2] = 0x00;
    RxMessage.Data[3] = 0x00;
    RxMessage.Data[4] = 0x00;
    RxMessage.Data[5] = 0x00;
    RxMessage.Data[6] = 0x00;
    RxMessage.Data[7] = 0x00;
    CAN_Receive(CAN, CAN_FIFO0, &RxMessage);


    if (RxMessage.StdId != 0x11)
    {
        return (0x80);
    }

    if (RxMessage.IDE != CAN_Id_Extended)
    {
        return (0x81);
    }

    if (RxMessage.DLC != 8)
    {
        return (0x82);
    }

    /* 判断发送的信息和接收的信息是否相等 */
    if ((RxMessage.Data[0] != 'H') && \
        (RxMessage.Data[1] != 'A') && \
        (RxMessage.Data[2] != 'I') && \
        (RxMessage.Data[3] != 'F') && \
        (RxMessage.Data[4] != 'E') && \
        (RxMessage.Data[5] != 'N') && \
        (RxMessage.Data[6] != 'G') && \
        (RxMessage.Data[7] != ' '))
    {
        return (0x83);
    }

    return (1); /* Test Passed */
}

void    CAN1_InterruptMode(void)
{
    CAN_InitTypeDef        CAN_InitStructure;
    CAN_FilterInitTypeDef  CAN_FilterInitStructure;

    /* CAN register init */
    CAN_DeInit(CAN);
    CAN_StructInit(&CAN_InitStructure);

    /* CAN cell init */
    CAN_InitStructure.CAN_TTCM = DISABLE;         // 时间触发通信禁止
    CAN_InitStructure.CAN_ABOM = ENABLE;          // 离线退出是在中断置位清0后退出
    CAN_InitStructure.CAN_AWUM = DISABLE;         // 自动唤醒模式：清零sleep
    CAN_InitStructure.CAN_NART = DISABLE;         // 自动重新传送豹纹，知道发送成功
    CAN_InitStructure.CAN_RFLM = DISABLE;         // FIFO没有锁定，新报文覆盖旧报文
    CAN_InitStructure.CAN_TXFP = DISABLE;         // 发送报文优先级确定：标志符
    CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; // 正常模式
    CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;      // 1tq、BS1、BS2的值跟波特率有关
    CAN_InitStructure.CAN_BS1 = CAN_BS1_8tq;
    CAN_InitStructure.CAN_BS2 = CAN_BS2_7tq;
    CAN_InitStructure.CAN_Prescaler = 4;                  // 分频系数为1
    CAN_Init(CAN, &CAN_InitStructure);                      // 初始化CAN1

    /* CAN filter init */
    CAN_FilterInitStructure.CAN_FilterNumber = 1;
    CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
    CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
    CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
    CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FIFO0;
    CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
    CAN_FilterInit(&CAN_FilterInitStructure);

    /* CAN FIFO0 message pending interrupt enable */
    CAN_ITConfig(CAN, CAN_IT_FMP0, ENABLE); //中断使能
}

void    CAN1_WriteTxBuffer(INT8U *ptr, INT32U Len, INT32U StdID, INT32U ExtID)
{
    INT8U   NumOfPake, NumOfSingle;
    NumOfPake = Len / 8;
    NumOfSingle = Len % 8;

    while (NumOfPake--)
    {
        CAN_TX_Buffer[CAN_TX_Cnt].StdId = StdID;            // 标准标识符为0
        CAN_TX_Buffer[CAN_TX_Cnt].ExtId = ExtID;            // 设置扩展标示符（29位）
        CAN_TX_Buffer[CAN_TX_Cnt].IDE = CAN_ID_EXT;         // 使用扩展标识符
        CAN_TX_Buffer[CAN_TX_Cnt].RTR = CAN_RTR_DATA;       // 消息类型为数据帧，一帧8位
        CAN_TX_Buffer[CAN_TX_Cnt].DLC = 8;
        MEM_Copy(ptr, (INT8U *) & ((CAN_TX_Buffer[CAN_TX_Cnt]).Data[0]), 8); //复制8字节数据
        ptr += 8;
        CAN_TX_Cnt++;
    }

    if (NumOfSingle != 0)
    {
        CAN_TX_Buffer[CAN_TX_Cnt].StdId = StdID;            // 标准标识符为0
        CAN_TX_Buffer[CAN_TX_Cnt].ExtId = ExtID;            // 设置扩展标示符（29位）
        CAN_TX_Buffer[CAN_TX_Cnt].IDE = CAN_ID_EXT;         // 使用扩展标识符
        CAN_TX_Buffer[CAN_TX_Cnt].RTR = CAN_RTR_DATA;       // 消息类型为数据帧，一帧8位
        CAN_TX_Buffer[CAN_TX_Cnt].DLC = NumOfSingle;
        MEM_Copy(ptr, (INT8U *) & ((CAN_TX_Buffer[CAN_TX_Cnt]).Data[0]), NumOfSingle); //复制剩下的数据
        CAN_TX_Cnt++;
    }
}

void    CAN1_Transmit(void)
{
    if (CAN_TX_Cnt > 0)
    {
        CAN_TX_Cnt--;
        CAN_Transmit(CAN, &CAN_TX_Buffer[CAN_TX_Cnt]);
    }
}

void    CEC_CAN_IRQHandler(void)
{
    if (CAN_GetITStatus(CAN, CAN_IT_FMP0) == SET)
    {
        CAN_Receive(CAN, CAN_FIFO0, &CAN_RX_Buffer[CAN_RX_Cnt]);
        CAN_FIFORelease(CAN, CAN_FIFO0);
        CAN_ClearITPendingBit(CAN, CAN_IT_FMP0);
        if (CAN_RX_Cnt > CAN_RX_BUFF_Size)
        {
            CAN_RX_Cnt = 0;
        }
        else
        {
            CAN_RX_Cnt++;
        }

        CAN_IAP_AppUpdata();    //IAP升级程序
        CAN_RX_Cnt = 0;

    }
}