/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    can.c
  * @brief   This file provides code for the configuration
  *          of the CAN instances.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "can.h"

/* USER CODE BEGIN 0 */
#include "comport.h"

//#define CONFIG_CAN_DEBUG
#ifdef  CONFIG_CAN_DEBUG
#define can_print(format,args...) printf(format, ##args)
#else
#define can_print(format,args...) do{} while(0)
#endif
/* USER CODE END 0 */

CAN_HandleTypeDef hcan1;

/* CAN1 init function */
void MX_CAN1_Init(void)
{

  /* USER CODE BEGIN CAN1_Init 0 */
	CAN_FilterTypeDef can1FilterConfig;
  /* USER CODE END CAN1_Init 0 */

  /* USER CODE BEGIN CAN1_Init 1 */

  /* USER CODE END CAN1_Init 1 */
  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 10;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_9TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_6TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = DISABLE;
  hcan1.Init.AutoWakeUp = DISABLE;
  hcan1.Init.AutoRetransmission = DISABLE;
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN1_Init 2 */
  can1FilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
  can1FilterConfig.FilterIdHigh = 0x0000;
  can1FilterConfig.FilterIdLow = 0x0000;
  can1FilterConfig.FilterMaskIdHigh = 0x0000;
  can1FilterConfig.FilterMaskIdLow = 0x0000;
  can1FilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
  can1FilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
  can1FilterConfig.FilterBank = 0;
  can1FilterConfig.SlaveStartFilterBank = 13;
  can1FilterConfig.FilterActivation = CAN_FILTER_ENABLE; //使能过滤ï¿????
  if(HAL_CAN_ConfigFilter(&hcan1, &can1FilterConfig) != HAL_OK)
  {
	  Error_Handler();
  }
  if(HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
  {
	  Error_Handler();
  }
  can_init(&hcan1);
  /* USER CODE END CAN1_Init 2 */

}

void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspInit 0 */

  /* USER CODE END CAN1_MspInit 0 */
    /* CAN1 clock enable */
    __HAL_RCC_CAN1_CLK_ENABLE();

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**CAN1 GPIO Configuration
    PB8     ------> CAN1_RX
    PB9     ------> CAN1_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    /* CAN1 interrupt Init */
    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 1, 0);
    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
  /* USER CODE BEGIN CAN1_MspInit 1 */

  /* USER CODE END CAN1_MspInit 1 */
  }
}

void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{

  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspDeInit 0 */

  /* USER CODE END CAN1_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_CAN1_CLK_DISABLE();

    /**CAN1 GPIO Configuration
    PB8     ------> CAN1_RX
    PB9     ------> CAN1_TX
    */
    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);

    /* CAN1 interrupt Deinit */
    HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
  /* USER CODE BEGIN CAN1_MspDeInit 1 */

  /* USER CODE END CAN1_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */
can_t can={-1, NULL};
uint8_t aRxData[COMM_RXBUFSIZE];//不能太小

CAN_RxHeaderTypeDef 		hCAN1_RxHeader; //接收报文定义结构ï¿???
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
	can_t              		*cans = &can;
	uint8_t 	 			i;

	/* Check can receive ringbuffer */
	if( cans->fd<0 || !cans->xRxBuffer.buffer || !rb_free_size(&cans->xRxBuffer) )
	{
		return;
	}

	/* Put the receive byte data into Ringbuffer */
	if(HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &hCAN1_RxHeader, aRxData) == HAL_OK)
	{
		can_print("\r\nGet Rx Message Success!!\r\n");
		can_print("[ID]:0x%lX [DLC]:%ld [Data]:", hCAN1_RxHeader.StdId, hCAN1_RxHeader.DLC);

	    for(i=0; i<hCAN1_RxHeader.DLC; i++)
	        can_print("%X ", aRxData[i]);
	    can_print("\r\n");
	}
	else
	{
		can_print("\r\nGet Rx Message error!!\r\n");
		return;
	}
	rb_write(&cans->xRxBuffer, aRxData, 8);
}

can_t *can_init(CAN_HandleTypeDef *hcan)
{
	can_t              *cans = &can;
	rb_init(&can.xRxBuffer, aRxData, sizeof(aRxData));
	// 触发唤醒的字节数，流缓冲区中必须存在不少该字节数的数据才能唤醒等待数据的任务
	//（设置为0时，将按照如1的方式处理，设置的数比buffer_size还大时，创建无效ï¿???

	if( !cans )
	{
		return NULL;
	}

	can.fd = 3;

	if (HAL_CAN_Start(&hcan1) != HAL_OK)    //�启CAN
	{
		can_print("start can Error_Handler ....\r\n");
		Error_Handler();
    }

	return cans;
}

void can_term(can_t *pcan)
{
	if( !pcan )
		return;

	pcan->fd = -1;

	if( pcan->xRxBuffer.buffer )
	{
		rb_clear(&pcan->xRxBuffer);
	}

	return;
}
/*
 * @brief: CAN Send Message.
 * @param: "TxData[]" stored the message of ready to send, which length must between 0 and 8.
 * @param: "length" stored the number of the data (one data is 8 bit) of ready to send.
 * @retval: Tx_Error: send error; other: the mailbox which has been used, this parameter can be a CAN_TX_MAILBOX0,
 * 																						   CAN_TX_MAILBOX1,
 * 																						   CAN_TX_MAILBOX2.
 */

CAN_TxHeaderTypeDef 	 	Tx_pHeader;     //发�?�报文定义结构体
int can_send(can_t *pcan, char *data, int bytes)
{
	if( !pcan || !data || bytes<=0 )
	{
		return -1;
	}

	//发�?�函数的改写
	uint32_t TxMailboxNumber = 0x00000000U;    // 存储本次发�?�所使用邮箱的邮箱号

	Tx_pHeader.StdId = 0x122;    /*!标准ID。参数�?�只能是 0 ï¿??? 0x7FF(二进制的11ï¿???1) */
	Tx_pHeader.ExtId = 0x0000;      /*!扩展ID。参数�?�只能是 0 ï¿??? 0x1FFFFFFF(二进制的29ï¿???1)*/
	Tx_pHeader.IDE = CAN_ID_STD;    /*!IDE。HAL库编程时，标准帧填写CAN_ID_STD，扩展帧填写CAN_ID_EXT */
	Tx_pHeader.RTR = CAN_RTR_DATA;  /*!RTR。HAL库编程时，数据帧填写CAN_RTR_DATA，遥控帧填写CAN_RTR_REMOTE */
	Tx_pHeader.DLC = bytes;    /*!DLC。数据长度，参数值只能是 0 ï¿??? 8 */
	Tx_pHeader.TransmitGlobalTime = DISABLE;

	//ï¿??? Tx 邮箱中增加一个消ï¿???,并且ï¿???活对应的传输请求
	if(HAL_CAN_AddTxMessage(&hcan1, &Tx_pHeader, (uint8_t *)data, &TxMailboxNumber) != HAL_OK)
	{
		return -1;
	}
	return 0;
}

int can_recv(can_t *pcan, char *buf, int size, uint32_t timeout)
{
	uint32_t          tickstart = 0;
	size_t            bytes = 0;

	if( !pcan || !buf || size<=0 )
		return -1;

	if( !pcan->xRxBuffer.buffer )
		return -2;

	tickstart = HAL_GetTick();

//	bytes = rb_data_size(&can->xRxBuffer);
	can_print("bytes is %d\r\n", bytes);

	while((HAL_GetTick() - tickstart) < timeout)
	{
		bytes = rb_data_size(&pcan->xRxBuffer);
		HAL_Delay(10);

		/* can received data before but not receive in 10ms now, maybe data receive over */
		if( bytes>0 && rb_data_size(&pcan->xRxBuffer)==bytes )
		{
			break;
		}
	}

	bytes = rb_data_size( &pcan->xRxBuffer );
	if( !bytes )
	{
		return 0;
	}
	bytes = bytes>size ? size : bytes;

	can_print("bytes=%d size=%d\r\n", bytes, size);

	rb_read(&pcan->xRxBuffer, (uint8_t *)buf, bytes);

	return bytes;
}

/* USER CODE END 1 */