//
// Created by cfif on 16.09.22.
//
#include <SystemDelayInterface.h>
#include "SerialPortArtery.h"
#include "string.h"

void vSerialPortInit(
        tSerialPortArtery *env,
        usart_type *uart,
        bool swap,
        uint32_t BoundRate,
        IRQn_Type irq,
        crm_periph_clock_type uartClock,
        uint8_t irqPriority,
        uint32_t rxBufferLength,
        uint32_t rxSnifferLength
) {
    usart_reset(uart);

    crm_periph_clock_enable(uartClock, TRUE);

    usart_init(uart, BoundRate, USART_DATA_8BITS, USART_STOP_1_BIT);

    usart_transmitter_enable(uart, TRUE);
    usart_receiver_enable(uart, TRUE);

    if (swap) {
        usart_transmit_receive_pin_swap(uart, TRUE);
    }

    usart_enable(uart, TRUE);

    usart_interrupt_enable(uart, USART_RDBF_INT, TRUE);

    NVIC_EnableIRQ(irq);
    NVIC_SetPriority(irq, irqPriority);

    env->rxDataQueue = osMessageQueueNew(rxBufferLength, 1, NULL);

    if (rxSnifferLength) {
        env->rxDataSnifferQueue = osMessageQueueNew(rxSnifferLength, 1, NULL);
    } else {
        env->rxDataSnifferQueue = 0;
    }

    env->uart = uart;
}

void vSerialPortLinInit(
        tSerialPortArtery *env,
        usart_type *uart,
        bool swap,
        uint32_t BoundRate,
        IRQn_Type irq,
        crm_periph_clock_type uartClock,
        uint8_t irqPriority,
        uint32_t rxBufferLength,
        uint32_t rxSnifferLength
) {
    env->uart = uart;

    env->linLastByteTime = 20;
    env->linFrameTimeoutMs = 20;

    usart_reset(uart);

    crm_periph_clock_enable(uartClock, TRUE);

    usart_init(uart, BoundRate, USART_DATA_8BITS, USART_STOP_1_BIT);

    // ВКЛЮЧАЕМ LIN РЕЖИМ!!!
    usart_lin_mode_enable(uart, TRUE);
    // Настраиваем длину break field (LIN требует 13 бит, выбираем 11)
    usart_break_bit_num_set(uart, USART_BREAK_11BITS);

    usart_transmitter_enable(uart, TRUE);
    usart_receiver_enable(uart, TRUE);

    if (swap) {
        usart_transmit_receive_pin_swap(uart, TRUE);
    }

    usart_enable(uart, TRUE);

    // Включаем прерывание по break frame
    usart_interrupt_enable(uart, USART_BF_INT, TRUE);
    usart_interrupt_enable(uart, USART_RDBF_INT, TRUE);
//    usart_interrupt_enable(uart, USART_IDLE_INT, TRUE);

    NVIC_EnableIRQ(irq);
    NVIC_SetPriority(irq, irqPriority);

    env->rxDataQueue = osMessageQueueNew(rxBufferLength, 12, NULL);

    if (rxSnifferLength) {
        env->rxDataSnifferQueue = osMessageQueueNew(rxSnifferLength, sizeof(lin_frame_t), NULL);
    } else {
        env->rxDataSnifferQueue = 0;
    }

}


void vSerialPortInitExt(
        tSerialPortArtery *env,
        usart_type *uart,
        bool swap,
        usart_hardware_flow_control_type flow_control_type,
        uint32_t BoundRate,
        IRQn_Type irq,
        crm_periph_clock_type uartClock,
        uint8_t irqPriority,
        uint32_t rxBufferLength,
        uint32_t rxSnifferLength
) {
    usart_reset(uart);

    crm_periph_clock_enable(uartClock, TRUE);

    usart_init(uart, BoundRate, USART_DATA_8BITS, USART_STOP_1_BIT);
    usart_hardware_flow_control_set(uart, flow_control_type);

    usart_transmitter_enable(uart, TRUE);
    usart_receiver_enable(uart, TRUE);

    if (swap) {
        usart_transmit_receive_pin_swap(uart, TRUE);
    }

    usart_enable(uart, TRUE);

    usart_interrupt_enable(uart, USART_RDBF_INT, TRUE);

    NVIC_EnableIRQ(irq);
    NVIC_SetPriority(irq, irqPriority);

    env->rxDataQueue = osMessageQueueNew(rxBufferLength, 1, NULL);

    if (rxSnifferLength) {
        env->rxDataSnifferQueue = osMessageQueueNew(rxSnifferLength, 1, NULL);
    } else {
        env->rxDataSnifferQueue = 0;
    }

    env->uart = uart;
}

void vSerialPortInitDMA(
        tSerialPortArtery *env,
        usart_type *uart,

        dma_type *DMA_RX,
        dma_type *DMA_TX,

        dma_channel_type *RX_DMA_CHANNEL,
        dmamux_channel_type *RX_DMA_CHANNEL_MUX,
        dmamux_requst_id_sel_type RX_DMAMUX_DMAREQ_ID,
        IRQn_Type RX_DMA_Channel_IRQ,
        uint32_t RX_DMA_FDT_FLAG,

        uint8_t *DMA_BUF,
        uint16_t DMA_BUF_LEN,


        dma_channel_type *TX_DMA_CHANNEL,
        dmamux_channel_type *TX_DMA_CHANNEL_MUX,
        dmamux_requst_id_sel_type TX_DMAMUX_DMAREQ_ID,
        IRQn_Type TX_DMA_Channel_IRQ,
        uint32_t TX_DMA_FDT_FLAG,

        bool swap,
        uint32_t BoundRate,
        IRQn_Type irq,
        crm_periph_clock_type uartClock,
        uint8_t irqPriority,
        uint32_t rxBufferLength,
        uint32_t rxSnifferLength
) {

    {
        if (DMA_RX)NVIC_DisableIRQ(RX_DMA_Channel_IRQ);
        if (DMA_TX)NVIC_DisableIRQ(TX_DMA_Channel_IRQ);
        NVIC_DisableIRQ(irq);
    }

    /*включаем тактирование uart и нужных DMA */{
        crm_periph_clock_enable(uartClock, TRUE);

        if (DMA_RX == DMA1 || DMA_TX == DMA1) {
            crm_periph_clock_enable(CRM_DMA1_PERIPH_CLOCK, TRUE);
        }
        if (DMA_RX == DMA2 || DMA_TX == DMA2) {
            crm_periph_clock_enable(CRM_DMA2_PERIPH_CLOCK, TRUE);
        }
    }

    /*заполняем параметры и создаем все очереди до начала работы порта (иначе при раннем сробатывании прервывания все упадет)*/{
        env->txAccessQueue = osMessageQueueNew(1, 1, NULL);

        env->rxDataQueue = osMessageQueueNew(rxBufferLength, 1, NULL);

        if (rxSnifferLength) {
            env->rxDataSnifferQueue = osMessageQueueNew(rxSnifferLength, 1, NULL);
        } else {
            env->rxDataSnifferQueue = 0;
        }


        env->rxDmaFdtFlag = RX_DMA_FDT_FLAG;
        env->txDmaFdtFlag = TX_DMA_FDT_FLAG;

        env->txDmaChannel = TX_DMA_CHANNEL;
        env->rxDmaChannel = RX_DMA_CHANNEL;

        env->rxDmaBuf = DMA_BUF;
        env->rxDmaOffset = 0;
    }


    /*инициализируем uart */{
        env->uart = uart;

        usart_reset(uart);

        usart_init(uart, BoundRate, USART_DATA_8BITS, USART_STOP_1_BIT);

        usart_transmitter_enable(uart, TRUE);
        usart_receiver_enable(uart, TRUE);

        usart_dma_receiver_enable(uart, TRUE);
        usart_dma_transmitter_enable(uart, TRUE);


        if (swap) {
            usart_transmit_receive_pin_swap(uart, TRUE);
        }
    }


    /*инициализируем RX DMA в циклическом режиме*/if (DMA_RX) {
        dmamux_enable(DMA_RX, TRUE);

        // dma channel for usart rx configuration
        dma_reset(RX_DMA_CHANNEL);
        dma_default_para_init(&env->dma_rx_init_struct);
        env->dma_rx_init_struct.buffer_size = DMA_BUF_LEN;
        env->dma_rx_init_struct.direction = DMA_DIR_PERIPHERAL_TO_MEMORY;
        env->dma_rx_init_struct.memory_base_addr = (uint32_t) DMA_BUF;
        env->dma_rx_init_struct.memory_data_width = DMA_MEMORY_DATA_WIDTH_BYTE;
        env->dma_rx_init_struct.memory_inc_enable = TRUE;
        env->dma_rx_init_struct.peripheral_base_addr = (uint32_t) &uart->dt;
        env->dma_rx_init_struct.peripheral_data_width = DMA_PERIPHERAL_DATA_WIDTH_BYTE;
        env->dma_rx_init_struct.peripheral_inc_enable = FALSE;
        env->dma_rx_init_struct.priority = DMA_PRIORITY_HIGH;
        env->dma_rx_init_struct.loop_mode_enable = TRUE;
        dma_init(RX_DMA_CHANNEL, &env->dma_rx_init_struct);


        // config flexible dma for usart7 rx
        dmamux_init(RX_DMA_CHANNEL_MUX, RX_DMAMUX_DMAREQ_ID);
    }


    /*инициализируем TX DMA*/if (DMA_TX) {
        dmamux_enable(DMA_TX, TRUE);

        // dma channel for usart tx configuration
        dma_reset(TX_DMA_CHANNEL);
        dma_default_para_init(&env->dma_tx_init_struct);
        env->dma_tx_init_struct.buffer_size = 0;
        env->dma_tx_init_struct.direction = DMA_DIR_MEMORY_TO_PERIPHERAL;
        env->dma_tx_init_struct.memory_base_addr = 0;
        env->dma_tx_init_struct.memory_data_width = DMA_MEMORY_DATA_WIDTH_BYTE;
        env->dma_tx_init_struct.memory_inc_enable = TRUE;
        env->dma_tx_init_struct.peripheral_base_addr = (uint32_t) &uart->dt;
        env->dma_tx_init_struct.peripheral_data_width = DMA_PERIPHERAL_DATA_WIDTH_BYTE;
        env->dma_tx_init_struct.peripheral_inc_enable = FALSE;
        env->dma_tx_init_struct.priority = DMA_PRIORITY_HIGH;
        env->dma_tx_init_struct.loop_mode_enable = FALSE;
        dma_init(TX_DMA_CHANNEL, &env->dma_tx_init_struct);

        // config flexible dma for usart7 tx
        dmamux_init(TX_DMA_CHANNEL_MUX, TX_DMAMUX_DMAREQ_ID);
    }


    /*включаем rx dma и прерывания на нем*/if (DMA_RX) {
        dma_interrupt_enable(RX_DMA_CHANNEL, DMA_FDT_INT, TRUE);

        NVIC_EnableIRQ(RX_DMA_Channel_IRQ);
        NVIC_SetPriority(RX_DMA_Channel_IRQ, irqPriority);

        dma_channel_enable(RX_DMA_CHANNEL, TRUE); // uart7 rx begin dma receiving
    }

    /*включаем  прерывания на tx dma*/if (DMA_TX) {
        dma_interrupt_enable(TX_DMA_CHANNEL, DMA_FDT_INT, TRUE);

        NVIC_EnableIRQ(TX_DMA_Channel_IRQ);
        NVIC_SetPriority(TX_DMA_Channel_IRQ, irqPriority);

    }

    /*включаем uart и прерывания на нем*/{
        usart_interrupt_enable(uart, USART_IDLE_INT, TRUE);
//        usart_interrupt_enable(uart, USART_RDBF_INT, FALSE);

        NVIC_EnableIRQ(irq);
        NVIC_SetPriority(irq, irqPriority);

        usart_enable(uart, TRUE);
    }
}

void vSerialPortInitDMAExt(
        tSerialPortArtery *env,
        usart_type *uart,

        dma_type *DMA_RX,
        dma_type *DMA_TX,

        dma_channel_type *RX_DMA_CHANNEL,
        dmamux_channel_type *RX_DMA_CHANNEL_MUX,
        dmamux_requst_id_sel_type RX_DMAMUX_DMAREQ_ID,
        IRQn_Type RX_DMA_Channel_IRQ,
        uint32_t RX_DMA_FDT_FLAG,

        uint8_t *DMA_BUF,
        uint16_t DMA_BUF_LEN,


        dma_channel_type *TX_DMA_CHANNEL,
        dmamux_channel_type *TX_DMA_CHANNEL_MUX,
        dmamux_requst_id_sel_type TX_DMAMUX_DMAREQ_ID,
        IRQn_Type TX_DMA_Channel_IRQ,
        uint32_t TX_DMA_FDT_FLAG,

        bool swap,
        usart_hardware_flow_control_type flow_control_type,
        uint32_t BoundRate,
        IRQn_Type irq,
        crm_periph_clock_type uartClock,
        uint8_t irqPriority,
        uint32_t rxBufferLength,
        uint32_t rxSnifferLength
) {

    /*включаем тактирование uart и нужных DMA */{
        crm_periph_clock_enable(uartClock, TRUE);

        if (DMA_RX == DMA1 || DMA_TX == DMA1) {
            crm_periph_clock_enable(CRM_DMA1_PERIPH_CLOCK, TRUE);
        }
        if (DMA_RX == DMA2 || DMA_TX == DMA2) {
            crm_periph_clock_enable(CRM_DMA2_PERIPH_CLOCK, TRUE);
        }
    }

    /*заполняем параметры и создаем все очереди до начала работы порта (иначе при раннем сробатывании прервывания все упадет)*/{
        env->txAccessQueue = osMessageQueueNew(1, 1, NULL);

        env->rxDataQueue = osMessageQueueNew(rxBufferLength, 1, NULL);

        if (rxSnifferLength) {
            env->rxDataSnifferQueue = osMessageQueueNew(rxSnifferLength, 1, NULL);
        } else {
            env->rxDataSnifferQueue = 0;
        }


        env->rxDmaFdtFlag = RX_DMA_FDT_FLAG;
        env->txDmaFdtFlag = TX_DMA_FDT_FLAG;

        env->txDmaChannel = TX_DMA_CHANNEL;
        env->rxDmaChannel = RX_DMA_CHANNEL;

        env->rxDmaBuf = DMA_BUF;
        env->rxDmaOffset = 0;
    }


    /*инициализируем uart */{
        env->uart = uart;

        usart_reset(uart);

        usart_init(uart, BoundRate, USART_DATA_8BITS, USART_STOP_1_BIT);
        usart_hardware_flow_control_set(uart, flow_control_type);

        usart_transmitter_enable(uart, TRUE);
        usart_receiver_enable(uart, TRUE);

        usart_dma_receiver_enable(uart, TRUE);
        usart_dma_transmitter_enable(uart, TRUE);


        if (swap) {
            usart_transmit_receive_pin_swap(uart, TRUE);
        }
    }


    /*инициализируем RX DMA в циклическом режиме*/if (DMA_RX) {
        dmamux_enable(DMA_RX, TRUE);

        // dma channel for usart rx configuration
        dma_reset(RX_DMA_CHANNEL);
        dma_default_para_init(&env->dma_rx_init_struct);
        env->dma_rx_init_struct.buffer_size = DMA_BUF_LEN;
        env->dma_rx_init_struct.direction = DMA_DIR_PERIPHERAL_TO_MEMORY;
        env->dma_rx_init_struct.memory_base_addr = (uint32_t) DMA_BUF;
        env->dma_rx_init_struct.memory_data_width = DMA_MEMORY_DATA_WIDTH_BYTE;
        env->dma_rx_init_struct.memory_inc_enable = TRUE;
        env->dma_rx_init_struct.peripheral_base_addr = (uint32_t) &uart->dt;
        env->dma_rx_init_struct.peripheral_data_width = DMA_PERIPHERAL_DATA_WIDTH_BYTE;
        env->dma_rx_init_struct.peripheral_inc_enable = FALSE;
        env->dma_rx_init_struct.priority = DMA_PRIORITY_HIGH;
        env->dma_rx_init_struct.loop_mode_enable = TRUE;
        dma_init(RX_DMA_CHANNEL, &env->dma_rx_init_struct);


        // config flexible dma for usart7 rx
        dmamux_init(RX_DMA_CHANNEL_MUX, RX_DMAMUX_DMAREQ_ID);
    }


    /*инициализируем TX DMA*/if (DMA_TX) {
        dmamux_enable(DMA_TX, TRUE);

        // dma channel for usart tx configuration
        dma_reset(TX_DMA_CHANNEL);
        dma_default_para_init(&env->dma_tx_init_struct);
        env->dma_tx_init_struct.buffer_size = 0;
        env->dma_tx_init_struct.direction = DMA_DIR_MEMORY_TO_PERIPHERAL;
        env->dma_tx_init_struct.memory_base_addr = 0;
        env->dma_tx_init_struct.memory_data_width = DMA_MEMORY_DATA_WIDTH_BYTE;
        env->dma_tx_init_struct.memory_inc_enable = TRUE;
        env->dma_tx_init_struct.peripheral_base_addr = (uint32_t) &uart->dt;
        env->dma_tx_init_struct.peripheral_data_width = DMA_PERIPHERAL_DATA_WIDTH_BYTE;
        env->dma_tx_init_struct.peripheral_inc_enable = FALSE;
        env->dma_tx_init_struct.priority = DMA_PRIORITY_HIGH;
        env->dma_tx_init_struct.loop_mode_enable = FALSE;
        dma_init(TX_DMA_CHANNEL, &env->dma_tx_init_struct);

        // config flexible dma for usart7 tx
        dmamux_init(TX_DMA_CHANNEL_MUX, TX_DMAMUX_DMAREQ_ID);
    }


    /*включаем rx dma и прерывания на нем*/if (DMA_RX) {
        dma_interrupt_enable(RX_DMA_CHANNEL, DMA_FDT_INT, TRUE);

        NVIC_EnableIRQ(RX_DMA_Channel_IRQ);
        NVIC_SetPriority(RX_DMA_Channel_IRQ, irqPriority);

        dma_channel_enable(RX_DMA_CHANNEL, TRUE); // uart7 rx begin dma receiving
    }

    /*включаем  прерывания на tx dma*/if (DMA_TX) {
        dma_interrupt_enable(TX_DMA_CHANNEL, DMA_FDT_INT, TRUE);

        NVIC_EnableIRQ(TX_DMA_Channel_IRQ);
        NVIC_SetPriority(TX_DMA_Channel_IRQ, irqPriority);

    }

    /*включаем uart и прерывания на нем*/{
        usart_interrupt_enable(uart, USART_IDLE_INT, TRUE);
//        usart_interrupt_enable(uart, USART_RDBF_INT, FALSE);

        NVIC_EnableIRQ(irq);
        NVIC_SetPriority(irq, irqPriority);

        usart_enable(uart, TRUE);
    }
}


void vSerialPortSendDMA(
        tSerialPortArtery *env,
        usart_type *uart,

        dma_type *DMA,
        dma_channel_type *DMA_CHANNEL,
        dmamux_channel_type *DMA_CHANNEL_MUX,
        dmamux_requst_id_sel_type DMAMUX_DMAREQ_ID,
        uint8_t *DMA_BUF,
        uint16_t DMA_BUF_LEN

) {
    dma_channel_enable(DMA_CHANNEL, FALSE);

    // dma channel for usart tx configuration
    dma_reset(DMA_CHANNEL);
    dma_default_para_init(&env->dma_tx_init_struct);
    env->dma_tx_init_struct.buffer_size = DMA_BUF_LEN;
    env->dma_tx_init_struct.direction = DMA_DIR_MEMORY_TO_PERIPHERAL;
    env->dma_tx_init_struct.memory_base_addr = (uint32_t) DMA_BUF;
    env->dma_tx_init_struct.memory_data_width = DMA_MEMORY_DATA_WIDTH_BYTE;
    env->dma_tx_init_struct.memory_inc_enable = TRUE;
    env->dma_tx_init_struct.peripheral_base_addr = (uint32_t) &uart->dt;
    env->dma_tx_init_struct.peripheral_data_width = DMA_PERIPHERAL_DATA_WIDTH_BYTE;
    env->dma_tx_init_struct.peripheral_inc_enable = FALSE;
    env->dma_tx_init_struct.priority = DMA_PRIORITY_MEDIUM;
    env->dma_tx_init_struct.loop_mode_enable = FALSE;
    dma_init(DMA_CHANNEL, &env->dma_tx_init_struct);

    // config flexible dma for usart7 tx
    dmamux_init(DMA_CHANNEL_MUX, DMAMUX_DMAREQ_ID);

    dma_channel_enable(DMA_CHANNEL, TRUE);

}


/*
void vSerialPortIrqProcessingDMA(tSerialPortArtery *env) {

    dma_channel_enable(env->dma_channel, FALSE);

    uint32_t len = env->dma_init_struct.buffer_size - env->dma_channel->dtcnt;
    env->offset = len;

    for (uint32_t i = 0; i < len; ++i) {
        osMessageQueuePut(env->rxDataQueue, &env->dma_buf[i], 0x0, 0U);
        if (env->rxDataSnifferQueue) {
            osMessageQueuePut(env->rxDataSnifferQueue, &env->dma_buf[i], 0x0, 0U);
        }
    }

    dma_init(env->dma_channel, &env->dma_init_struct);
    dma_channel_enable(env->dma_channel, TRUE);
}
*/


void SerialPortFilter_RxDmaBufToQueue(tSerialPortArtery *env, uint32_t bufEnd,
                                      tSerialPortIO *virtualPort,
                                      uint16_t *counterBufFilterStr, uint8_t *bufStrFilter, uint16_t maxBufStrFilter,
                                      const char *FilterStr[], uint8_t countFiler) {

    for (uint32_t i = env->rxDmaOffset; i < bufEnd; ++i) {
        osMessageQueuePut(env->rxDataQueue, &env->rxDmaBuf[i], 0x0, 0U);
        if (env->rxDataSnifferQueue) {

            if (*counterBufFilterStr < maxBufStrFilter) {
                bufStrFilter[*counterBufFilterStr] = env->rxDmaBuf[i];
                ++*counterBufFilterStr;
            } else {
                *counterBufFilterStr = 0;
            }

            bool isFilterFind = false;
            if (env->rxDmaBuf[i] == '\n') {

                for (uint8_t j = 0; j < countFiler; ++j) {
                    if (memcmp(bufStrFilter, FilterStr[j], strlen(FilterStr[j])) == 0) {

                        SerialPortTransmit(virtualPort, bufStrFilter, *counterBufFilterStr, 0);

                        isFilterFind = true;
                        break;
                    }
                }

                if (isFilterFind == false) {
                    for (uint16_t j = 0; j < *counterBufFilterStr; ++j)
                        osMessageQueuePut(env->rxDataSnifferQueue, &bufStrFilter[j], 0x0, 0U);
                }

                *counterBufFilterStr = 0;
                memset(bufStrFilter, 0, maxBufStrFilter);
            }

        }
    }

}

void SerialPort_RxDmaBufToQueue(tSerialPortArtery *env, uint32_t bufEnd) {
    osStatus_t res;
    for (uint32_t i = env->rxDmaOffset; i < bufEnd; ++i) {
        osMessageQueuePut(env->rxDataQueue, &env->rxDmaBuf[i], 0x0, 0U);
        if (env->rxDataSnifferQueue) {
            osMessageQueuePut(env->rxDataSnifferQueue, &env->rxDmaBuf[i], 0x0, 0U);
        }
    }

}

void SerialPort_IrqProcessing_UartIdle(tSerialPortArtery *env) {
    // Смотрим idle прерывание
    if (usart_flag_get(env->uart, USART_IDLEF_FLAG)) {
        // Сброс прерывания
        usart_data_receive(env->uart);
        usart_flag_clear(env->uart, USART_IDLEF_FLAG);
        size_t bufEnd = env->dma_rx_init_struct.buffer_size - env->rxDmaChannel->dtcnt;
        SerialPort_RxDmaBufToQueue(env, bufEnd);
        env->rxDmaOffset = bufEnd;
    }
}

void SerialPort_IrqProcessing_DmaRxLoop(tSerialPortArtery *env) {
    if (dma_flag_get(env->rxDmaFdtFlag)) {
        SerialPort_RxDmaBufToQueue(env, env->dma_rx_init_struct.buffer_size);
        env->rxDmaOffset = 0;
        dma_flag_clear(env->rxDmaFdtFlag);
    }
}


void
SerialPort_IrqProcessingFilter_UartIdle(tSerialPortArtery *env,
                                        tSerialPortIO *virtualPort,
                                        uint16_t *counterBufFilterStr, uint8_t *bufStrFilter, uint16_t maxBufStrFilter,
                                        const char *FilterStr[], uint8_t countFiler) {
    // Смотрим idle прерывание
    if (usart_flag_get(env->uart, USART_IDLEF_FLAG)) {
        // Сброс прерывания
        usart_data_receive(env->uart);
        usart_flag_clear(env->uart, USART_IDLEF_FLAG);
        size_t bufEnd = env->dma_rx_init_struct.buffer_size - env->rxDmaChannel->dtcnt;
        SerialPortFilter_RxDmaBufToQueue(env, bufEnd, virtualPort, counterBufFilterStr, bufStrFilter, maxBufStrFilter,
                                         FilterStr,
                                         countFiler);
        env->rxDmaOffset = bufEnd;
    }
}

void
SerialPort_IrqProcessingFilter_DmaRxLoop(tSerialPortArtery *env,
                                         tSerialPortIO *virtualPort,
                                         uint16_t *counterBufFilterStr, uint8_t *bufStrFilter, uint16_t maxBufStrFilter,
                                         const char *FilterStr[], uint8_t countFiler) {
    if (dma_flag_get(env->rxDmaFdtFlag)) {
        SerialPortFilter_RxDmaBufToQueue(env, env->dma_rx_init_struct.buffer_size,
                                         virtualPort,
                                         counterBufFilterStr, bufStrFilter, maxBufStrFilter,
                                         FilterStr, countFiler);
        env->rxDmaOffset = 0;
        dma_flag_clear(env->rxDmaFdtFlag);
    }
}


static const uint8_t DUMMY_BYTE = 0xFF;

void SerialPort_IrqProcessing_DmaTx(tSerialPortArtery *env) {
    if (dma_flag_get(env->txDmaFdtFlag)) {
        dma_flag_clear(env->txDmaFdtFlag);
        osMessageQueuePut(env->txAccessQueue, &DUMMY_BYTE, 0, 0);
    }
}

void SerialPort_IrqProcessing_DmaTxBlind(tSerialPortArtery *env) {
    if (dma_flag_get(env->txDmaFdtFlag)) {
        dma_flag_clear(env->txDmaFdtFlag);
//        osMessageQueuePut(env->txAccessQueue, &DUMMY_BYTE, 0, 0);
    }
}


void vSerialPortIrqProcessing(tSerialPortArtery *env) {

    uint8_t data;
    while (usart_flag_get(env->uart, USART_RDBF_FLAG)) {
        data = usart_data_receive(env->uart);
        osMessageQueuePut(env->rxDataQueue, &data, 0x0, 0U);
        if (env->rxDataSnifferQueue) {
            osMessageQueuePut(env->rxDataSnifferQueue, &data, 0x0, 0U);
        }
    }
}


static uint16_t vSerialPortReceiveQueue(tSerialPortArtery *env, uint8_t *data, uint16_t size, uint32_t timeout,
                                        osMessageQueueId_t queueId) {
    uint16_t received = 0;


    if (timeout) {
        uint32_t endMs = SystemGetMs() + timeout;
        uint32_t leftMs;

        while (size && ((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {
            leftMs = endMs - SystemGetMs();
            if (osMessageQueueGet(queueId, data, NULL, leftMs) == osOK) {
                --size;
                ++received;
                ++data;
            }
        }

    } else {
        while (size) {
            if (osMessageQueueGet(queueId, data, NULL, 0) == osOK) {
                --size;
                ++received;
                ++data;
            } else {
                return received;
            }
        }
    }

    return received;

}

static uint16_t vSerialPortReceive(tSerialPortArtery *env, uint8_t *data, uint16_t size, uint32_t timeout) {
    return vSerialPortReceiveQueue(env, data, size, timeout, env->rxDataQueue);
}

static uint16_t vSerialPortReceiveSniffer(tSerialPortArtery *env, uint8_t *data, uint16_t size, uint32_t timeout) {

    return env->rxDataSnifferQueue
           ? vSerialPortReceiveQueue(env, data, size, timeout, env->rxDataSnifferQueue)
           : 0;
}

static uint16_t vSerialPortReceiveSnifferSecond(tSerialPortArtery *env, uint8_t *data, uint16_t size, uint32_t timeout) {

    return env->rxDataSnifferSecondQueue
           ? vSerialPortReceiveQueue(env, data, size, timeout, env->rxDataSnifferSecondQueue)
           : 0;
}

static uint16_t vSerialPortTransmitOverDma(tSerialPortArtery *env, uint8_t *data, uint16_t size, uint32_t timeout) {
    uint16_t sent = 0;
    uint32_t endMs = SystemGetMs() + timeout;

    dma_channel_enable(env->txDmaChannel, FALSE);
    env->dma_tx_init_struct.buffer_size = size;
    env->dma_tx_init_struct.memory_base_addr = (uint32_t) data;
    dma_init(env->txDmaChannel, &env->dma_tx_init_struct);
    dma_channel_enable(env->txDmaChannel, TRUE);

    uint8_t res;

    sent = (osMessageQueueGet(env->txAccessQueue, &res, 0, timeout) == osOK) ? size : 0;

//    SystemDelayMs(10);
//
//    while ((timeout == SystemWaitForever) || (endMs > SystemGetMs())) {
//        if (dma_flag_get(env->txDmaFdtFlag) != RESET)
//            break;
//        SystemDelayMs(5);
//    }

    while ((timeout == SystemWaitForever) || (endMs > SystemGetMs())) {
        if (usart_flag_get(env->uart, USART_TDC_FLAG))
            break;
    }

    dma_channel_enable(env->txDmaChannel, FALSE);

//    sent = size;
    return sent;
}

static uint16_t
vSerialPortTransmitOverCore(tSerialPortArtery *env, uint8_t *data, uint16_t size, uint32_t timeout) {
    uint16_t sent = 0;
    uint32_t endMs = SystemGetMs() + timeout;

    while (size && ((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {

        if (usart_flag_get(env->uart, USART_TDBE_FLAG)) {
            usart_data_transmit(env->uart, *data);
            --size;
            ++data;
            ++sent;
        }

    }

    while ((timeout == SystemWaitForever) || (endMs > SystemGetMs())) {
        if (usart_flag_get(env->uart, USART_TDC_FLAG))
            break;
    }

    return sent;
}


uint16_t vSerialPortBlindTransmit(tSerialPortArtery *env, uint8_t *data, uint16_t size, uint32_t timeout) {

    uint16_t sent = 0;
    uint32_t endMs = SystemGetMs() + timeout;


    while ((timeout == SystemWaitForever) || (endMs > SystemGetMs())) {
        if (usart_flag_get(env->uart, USART_TDC_FLAG))
            break;
        else {
            asm("nop");
        }
    }

//    dma_channel_enable(env->txDmaChannel, FALSE);

    dma_channel_enable(env->txDmaChannel, FALSE);
    env->dma_tx_init_struct.buffer_size = size;
    env->dma_tx_init_struct.memory_base_addr = (uint32_t) data;
    dma_init(env->txDmaChannel, &env->dma_tx_init_struct);
    dma_channel_enable(env->txDmaChannel, TRUE);

//    uint8_t res;
//    int32_t s = SystemGetMs();
//    sent = (osMessageQueueGet(env->txAccessQueue, &res, 0, timeout) == osOK) ? size : 0;
//    int32_t s1 = SystemGetMs();
//    int32_t s3 = s1 - s;


    return sent;
}





static uint8_t LIN_DrvMakeCheckSum(uint8_t *pBuf, uint8_t u8Size, uint8_t u8Pid) {
    uint16_t        u16Checksum = 0U;
    uint8_t         u8Length    = 0U;

    // For PID is 0x3C (ID 0x3C) or 0x7D (ID 0x3D) or 0xFE (ID 0x3E) or 0xBF (ID 0x3F)
    if ((0x3CU == u8Pid) || (0x7DU == u8Pid) || (0xFEU == u8Pid) || (0xBFU == u8Pid))
    {
        u8Pid = 0U;
    }

    u16Checksum += u8Pid;

    for (u8Length = 0U; u8Length < u8Size; u8Length++)
    {
        u16Checksum += *pBuf;
        pBuf++;
        if (u16Checksum > 0xFFU)
        {
            u16Checksum -= 0xFFU;
        }
    }

    return ~(uint8_t)(u16Checksum);
}

static uint8_t LIN_CalcParity(uint8_t id) {
    uint8_t p0 = 0;
    uint8_t p1 = 0;

    // P0 = ID0 ^ ID1 ^ ID2 ^ ID4
    p0 = ((id >> 0) & 0x01) ^ ((id >> 1) & 0x01) ^
         ((id >> 2) & 0x01) ^ ((id >> 4) & 0x01);

    // P1 = ^(ID1 ^ ID3 ^ ID4 ^ ID5)
    p1 = 1 ^ ((id >> 1) & 0x01) ^ ((id >> 3) & 0x01) ^
         ((id >> 4) & 0x01) ^ ((id >> 5) & 0x01);

    return (p1 << 7) | (p0 << 6);
}

// Измененный обработчик прерываний (без IDLE):
void SerialPort_IrqProcessing_UartLin(tSerialPortArtery *env) {

    // 1. Break frame detection
    if (usart_flag_get(env->uart, USART_BFF_FLAG)) {
        usart_flag_clear(env->uart, USART_BFF_FLAG);
        usart_data_receive(env->uart);

        env->linFrameStarted = true;
        env->linByteCount = 0;
        env->linLastByteTime = SystemGetMs();  // Запоминаем время
        env->rxFrame.event = LIN_RECV_BREAK_FIELD_OK;
        return;
    }

    // 2. Receive data (без IDLE)
    if (usart_flag_get(env->uart, USART_RDBF_FLAG)) {
        if (env->linFrameStarted && (env->linByteCount < sizeof(env->linBuffer))) {
            uint8_t data = usart_data_receive(env->uart);
            env->linBuffer[env->linByteCount] = data;
            env->linByteCount++;
            env->linLastByteTime = SystemGetMs();  // Обновляем время
        } else {
            usart_data_receive(env->uart);
            if (env->linFrameStarted) {
                env->rxFrame.event = LIN_RX_OVERRUN;
                osMessageQueuePut(env->rxDataQueue, &env->rxFrame, 0, 0);
                env->linFrameStarted = false;
            }
        }
    }

    // 3. Error handling
    if (usart_flag_get(env->uart, USART_FERR_FLAG)) {
        usart_flag_clear(env->uart, USART_FERR_FLAG);
        usart_data_receive(env->uart);

        if (env->linFrameStarted) {
            env->rxFrame.event = LIN_FRAME_ERROR;
            osMessageQueuePut(env->rxDataQueue, &env->rxFrame, 0, 0);
            env->linFrameStarted = false;
        }
    }

    if (usart_flag_get(env->uart, USART_ROERR_FLAG)) {
        usart_flag_clear(env->uart, USART_ROERR_FLAG);
        usart_data_receive(env->uart);

        if (env->linFrameStarted) {
            env->rxFrame.event = LIN_RX_OVERRUN;
            osMessageQueuePut(env->rxDataQueue, &env->rxFrame, 0, 0);
            env->linFrameStarted = false;
        }
    }
}


// Выделенная функция обработки кадра
static void LIN_ProcessReceivedFrame(tSerialPortArtery *env) {
    // Проверка sync field
    if (env->linBuffer[0] != 0x55) {
        env->rxFrame.event = LIN_SYNC_ERROR;
        osMessageQueuePut(env->rxDataQueue, &env->rxFrame, 0, 0);
        return;
    }

    // Проверка PID
    uint8_t receivedPid = env->linBuffer[1];
    uint8_t id = receivedPid & 0x3F;
    uint8_t expectedPid = id | LIN_CalcParity(id);

    if (receivedPid != expectedPid) {
        env->rxFrame.event = LIN_PID_ERROR;
        osMessageQueuePut(env->rxDataQueue, &env->rxFrame, 0, 0);
        return;
    }

    env->rxFrame.id = id;
    env->rxFrame.dataLen = env->linByteCount - 3;

    if (env->rxFrame.dataLen > 8) {
        env->rxFrame.event = LIN_FRAME_ERROR;
        osMessageQueuePut(env->rxDataQueue, &env->rxFrame, 0, 0);
        return;
    }

    // Копируем данные
    for (uint8_t i = 0; i < env->rxFrame.dataLen; i++) {
        env->rxFrame.data[i] = env->linBuffer[2 + i];
    }

    // Проверка checksum
    env->rxFrame.checksum = env->linBuffer[env->linByteCount - 1];
    uint8_t calculatedChecksum = LIN_DrvMakeCheckSum(
            env->rxFrame.data,
            env->rxFrame.dataLen,
            receivedPid
    );

    if (env->rxFrame.checksum != calculatedChecksum) {
        env->rxFrame.event = LIN_CHECKSUM_ERROR;
    } else {
        env->rxFrame.event = LIN_RX_COMPLETED;
    }

    osMessageQueuePut(env->rxDataQueue, &env->rxFrame, 0, 0);
}


// Функция проверки таймаута (вызывать из таймера, например, каждые 1-5 мс)
void LIN_CheckTimeout(tSerialPortArtery *env) {

    if (!env->linFrameStarted) {
        return;
    }

    uint32_t now = SystemGetMs();
    uint32_t elapsed = now - env->linLastByteTime;

    if (elapsed >= env->linFrameTimeoutMs) {
        // Таймаут - кадр должен быть завершен
        if (env->linByteCount >= 3) {
            // Пытаемся обработать полученные данные
            LIN_ProcessReceivedFrame(env);
        } else {
            // Недостаточно данных
            env->rxFrame.event = LIN_TIMEOUT;
            osMessageQueuePut(env->rxDataQueue, &env->rxFrame, 0, 0);
        }

        env->linFrameStarted = false;
    }
}











bool vSerialPortSendLinFrame(tSerialPortArtery *env, const lin_frame_t *pFrame, uint32_t timeout) {
    uint8_t txBuffer[11];  // Максимальный размер LIN кадра (без break)
    uint8_t idx = 0;

    if ((!env) || (!pFrame)) {
        return false;
    }

    // Проверка валидности данных
    if (pFrame->dataLen > 8) {
        return false;
    }

    // 1. Формирование LIN кадра
    // Sync field
    txBuffer[idx++] = 0x55;

    // PID (ID + parity)
    uint8_t pid = pFrame->id | LIN_CalcParity(pFrame->id);
    txBuffer[idx++] = pid;

    // Data bytes
    for (uint8_t i = 0; i < pFrame->dataLen; i++) {
        txBuffer[idx++] = pFrame->data[i];
    }

    // Checksum
    txBuffer[idx++] = pFrame->checksum;

    // 2. Отправка break field
    usart_break_send(env->uart);

    // Ожидание завершения отправки break
    uint32_t breakTimeout = SystemGetMs() + 10;  // 10мс максимум на break
    while (usart_flag_get(env->uart, USART_TDBE_FLAG) == RESET) {
        if (SystemGetMs() > breakTimeout) {
            return false;
        }
    }

    // 3. Отправка данных (возвращает количество отправленных байт)
    uint16_t sent = vSerialPortTransmitOverCore(env, txBuffer, idx, timeout);

    return (sent == idx);  // Успех, если все байты отправлены
}





static SerialPortIOTransaction vSerialPortTransmitterGet(tSerialPortArtery *env) {

#ifdef UART_DMA_SEND
    if (env->txDmaChannel)
        return (SerialPortIOTransaction) vSerialPortTransmitOverDma;
    else
        return (SerialPortIOTransaction) vSerialPortTransmitOverCore;
#else
    return (SerialPortIOTransaction) vSerialPortTransmitOverCore;
#endif
}

tSerialPortIO vSerialPortGetIo(tSerialPortArtery *env) {
    tSerialPortIO io = {
            .env = env,
            .receive = (SerialPortIOTransaction) vSerialPortReceive,
            .transmit =   vSerialPortTransmitterGet(env)
    };
    return io;
}

tSerialPortIO vSerialPortGetSnifferIo(tSerialPortArtery *env) {
    tSerialPortIO io = {
            .env = env,
            .receive = (SerialPortIOTransaction) vSerialPortReceiveSniffer,
            .transmit =  vSerialPortTransmitterGet(env)
    };
    return io;
}

tSerialPortIO SerialPort_GetSnifferSecondIo(tSerialPortArtery *env) {
    tSerialPortIO io = {
            .env = env,
            .receive = (SerialPortIOTransaction) vSerialPortReceiveSnifferSecond,
            .transmit =  vSerialPortTransmitterGet(env)
    };
    return io;
}