//
// Created by cfif on 16.03.2024.
//
#include <SystemDelayInterface.h>
#include "CanSerialPortFrame.h"
#include "memory.h"


#define CAN_USED_NUM                6U
#define CAN_RECEIVE_MB_NUM       2
static FLEXCAN_RxMsgType s_aaRxDataBuf[CAN_USED_NUM][CAN_RECEIVE_MB_NUM];
#define CAN_GET_BUFFER(index)    s_aaRxDataBuf[index/2]

static const PCC_ClkSrcType s_ePccCanTable[] =
        {
                PCC_CLK_FLEXCAN0,
                PCC_CLK_FLEXCAN1,
                PCC_CLK_FLEXCAN2,
                PCC_CLK_FLEXCAN3
        };

static void BSP_CAN_INIT_CFG(FLEXCAN_InitType *pCfg) {
    pCfg->bListenOnly = 0U;
    pCfg->bEnBrs = 0;
    pCfg->bEnDma = 0;
    pCfg->bEnFd = 0;
    pCfg->bEnRxFifo = 0;
    pCfg->eBaudrate = FLEXCAN_BAUD_100K;
    pCfg->eClkSrcHz = FLEXCAN_BAUDCLK_HZ_8M;
    pCfg->eClkSrcSel = FLEXCAN_CLOCK_FUNCTION;
    pCfg->eDataBaud = FLEXCAN_BAUD_100K;
    pCfg->eMbDataWidth = FLEXCAN_DATAWIDTH_8;
    pCfg->u8EnhancedFifoDmaWM = 0;
    pCfg->eDirect = FLEXCAN_DIR_DISABLE;
}

static void BSP_CAN_INIT_MBConfig(FLEXCAN_MBConfigType *pMbCfg) {
    pMbCfg->pRxFilterFifoList = NULL;
    pMbCfg->u8RxFilterFifoCnt = 0;
    pMbCfg->pRxFilterMBList = NULL;
    pMbCfg->u8RxFilterMBCnt = 0;
    pMbCfg->u8TxMsgCnt = 0;
    pMbCfg->pRxBuf = NULL;
}

static void BSP_DMA_INIT_CFG(DMA_InitType *pDmaCfg) {
    pDmaCfg->eArbitrationAlgorithm = DMA_ARBITRATION_ALGORITHM_FIXED_PRIORITY;
    pDmaCfg->bHaltOnError = false;
}


void CanSerialPortFrameSetId(tCanSerialPortFrameFlagchip *env, uint32_t id) {
    env->id = id;
}

void CanSerialPortFrameSetType(tCanSerialPortFrameFlagchip *env, FLEXCAN_IdType canTypeFrame) {
    env->canTypeFrame = canTypeFrame;
}

static void
vCanSerialPortFrameInitStructure(tCanSerialPortFrameFlagchip *env, uint16_t rxDataLength, uint16_t rxSnifferLength) {

    env->rxDataQueue = osMessageQueueNew(rxDataLength, sizeof(can_rx_message_type), NULL);
    if (rxSnifferLength) {
        env->rxDataSnifferQueue = osMessageQueueNew(rxSnifferLength, sizeof(can_rx_message_type), NULL);
    } else {
        env->rxDataSnifferQueue = NULL;
    }

}

void vCanSerialPortFrameInit(
        tCanSerialPortFrameFlagchip *env,


        FLEXCAN_Type *CANx, // FLEXCAN0
        PCC_ClkSrcType canClock, // PCC_CLK_FLEXCAN0
        uint8 CAN_INDEX, // CAN0 = 0 ... CAN3 = 3
        IRQn_Type IRQ_CAN, // FlexCAN0_IRQn ... FlexCAN3_IRQn
        uint8 CAN_PRIORITY,

        FLEXCAN_BaudType canBaudRate,
        FLEXCAN_IdType canTypeFrame,
        uint32_t canId,
        FLEXCAN_ErrorInterruptCallBackType CAN_ErrorInterrupt_CallBack,
        FLEXCAN_RxInterruptCallBackType CAN_RxInterrupt_CallBack,
        FLEXCAN_RxInterruptCallBackType CAN_RxFifoInterrupt_CallBack,
        FLEXCAN_TxInterruptCallBackType CAN_TxInterrupt_CallBack

) {

    FLEXCAN_ErrorType tRetVal;
    uint32_t u32FuncClk;
    PCC_CtrlType bSP_PCC_Config;

    env->can = CANx;
    env->CAN_INDEX = CAN_INDEX;

    bSP_PCC_Config.eClockName = canClock;
    bSP_PCC_Config.bEn = TRUE;
    bSP_PCC_Config.eClkSrc = PCC_CLKGATE_SRC_FOSCDIV;
    bSP_PCC_Config.eDivider = PCC_CLK_DIV_BY1;

    PCC_SetPcc(&bSP_PCC_Config);


    BSP_CAN_INIT_CFG(&env->tInitCfg);
    BSP_CAN_INIT_MBConfig(&env->tMbCfg);

    env->tInitCfg.eBaudrate = canBaudRate;
    env->tInitCfg.bEnRxFifo = TRUE;
    env->tInitCfg.bEnDma = FALSE;

    env->tInitCfg.bEnFd = FALSE;
    env->tInitCfg.bEnBrs = FALSE;
    env->tInitCfg.eMbDataWidth = FLEXCAN_DATAWIDTH_8;

    u32FuncClk = PCC_GetPccFunctionClock(s_ePccCanTable[CAN_INDEX]);

    env->tInitCfg.eClkSrcSel = FLEXCAN_CLOCK_FUNCTION; /* functional clock */
    env->tInitCfg.eClkSrcHz = (FLEXCAN_BaudClkType) u32FuncClk; /* function clock frequency */

    env->tInitCfg.eDirect = FLEXCAN_DIR_ENABLE_WITHOUT_TRIG;


    tRetVal = FLEXCAN_Init(CAN_INDEX, &env->tInitCfg);

    if (tRetVal == FLEXCAN_ERROR_OK) {
        /* +++++++++++ can mb initial ++++++++++++ */


        /* rx config */
/*
        env->aRxFiltList[0].eRxFrameType = FLEXCAN_ID_STD;
        env->aRxFiltList[0].u32RxCanId = 0U;
        env->aRxFiltList[0].u32RxCanIdMask = 0U;

        env->aRxFiltList[1].eRxFrameType = FLEXCAN_ID_STD;
        env->aRxFiltList[1].u32RxCanId = 0U;
        env->aRxFiltList[1].u32RxCanIdMask = 0U;

        tMbCfg.pRxFilterMBList = env->aRxFiltList;
        tMbCfg.u8RxFilterMBCnt = sizeof(env->aRxFiltList) / sizeof(env->aRxFiltList[0]);
*/

        env->pRxFilterFifoList[0].eRxFrameType = FLEXCAN_ID_STD;
        env->pRxFilterFifoList[0].u32RxCanId = 0U;
        env->pRxFilterFifoList[0].u32RxCanIdMask = 0U;

        env->pRxFilterFifoList[1].eRxFrameType = FLEXCAN_ID_STD;
        env->pRxFilterFifoList[1].u32RxCanId = 0U;
        env->pRxFilterFifoList[1].u32RxCanIdMask = 0U;

        env->tMbCfg.pRxFilterMBList = env->pRxFilterFifoList;
        env->tMbCfg.u8RxFilterMBCnt = sizeof(env->pRxFilterFifoList) / sizeof(env->pRxFilterFifoList[0]);

        env->tMbCfg.pRxBuf = CAN_GET_BUFFER(CAN_INDEX);

        /* tx config */

        env->tMbCfg.u8TxMsgCnt = 3U; /* tx occupy 3 mb */

        tRetVal = FLEXCAN_RxFilterConfig(CAN_INDEX, &env->tMbCfg);

        if (CAN_ErrorInterrupt_CallBack == NULL) {
            env->tIntCfg.bEnErrorInterrupt = 0U;
            env->tIntCfg.pErrorNotify = NULL;

            env->tIntCfg.bEnTxMBInterrupt = 0U;
            env->tIntCfg.pRxMBNotify = NULL;

            env->tIntCfg.bEnRxMBInterrupt = 0U;
            env->tIntCfg.pRxFifoNotify = NULL;

            env->tIntCfg.bEnRxFifoInterrupt = 0U;
            env->tIntCfg.pTxMBNotify = NULL;

        } else {
            env->tIntCfg.bEnErrorInterrupt = 1U;
            env->tIntCfg.pErrorNotify = CAN_ErrorInterrupt_CallBack;

            env->tIntCfg.bEnTxMBInterrupt = 1U;
            env->tIntCfg.pRxMBNotify = CAN_RxInterrupt_CallBack;

            env->tIntCfg.bEnRxMBInterrupt = 1U;
            env->tIntCfg.pRxFifoNotify = CAN_RxFifoInterrupt_CallBack;

            env->tIntCfg.bEnRxFifoInterrupt = 1U;
            env->tIntCfg.pTxMBNotify = CAN_TxInterrupt_CallBack;

        }

        if ((env->tIntCfg.bEnErrorInterrupt) ||
            (env->tIntCfg.bEnTxMBInterrupt) ||
            (env->tIntCfg.bEnRxMBInterrupt) ||
            (env->tIntCfg.bEnRxFifoInterrupt)) {

            NVIC_SetPriority(IRQ_CAN, CAN_PRIORITY);
            NVIC_EnableIRQ(IRQ_CAN);

            FLEXCAN_SetInterrupt(CAN_INDEX, &env->tIntCfg);
        }

        FLEXCAN_Start(CAN_INDEX); /* Start CAN */
    }


    if (!env->reInit) {
        env->reInit = true;
        vCanSerialPortFrameInitStructure(env, 10, 0);

        CanSerialPortFrameSetType(env, canTypeFrame);
        CanSerialPortFrameSetId(env, canId);

        env->canBaudRate = canBaudRate;
    }

}

void vCanSerialPortFrameDMAInit(
        tCanSerialPortFrameFlagchip *env,

        FLEXCAN_Type *CANx, // FLEXCAN0
        PCC_ClkSrcType canClock, // PCC_CLK_FLEXCAN0
        uint8 CAN_INDEX, // CAN0 = 0 ... CAN3 = 3

        IRQn_Type IRQ_CAN, // FlexCAN0_IRQn ... FlexCAN3_IRQn
        uint8 CAN_PRIORITY,

        DMA_ChannelType RX_DMA_CHANNEL,
        DMA_RequestSourceType RX_DMA_CHANNEL_REQ, // DMA_REQ_FLEXCAN0

        uint8_t *DMA_BUF,

        IRQn_Type IRQ_DMA,
        uint8_t IRQ_DMA_PRIORITY,
        uint8_t IRQ_DMA_CHANNEL_PRIORITY,

        FLEXCAN_BaudType canBaudRate,
        FLEXCAN_IdType canTypeFrame,
        uint32_t canId,
        FLEXCAN_ErrorInterruptCallBackType CAN_ErrorInterrupt_CallBack,
        FLEXCAN_RxInterruptCallBackType CAN_RxInterrupt_CallBack,
        FLEXCAN_RxInterruptCallBackType CAN_RxFifoInterrupt_CallBack,
        FLEXCAN_TxInterruptCallBackType CAN_TxInterrupt_CallBack,

        DMA_TransferCompleteCallbackType DMA_TransferCompleteCallback,
        DMA_TransferErrorCallbackType DMA_ErrorCallback
) {


    FLEXCAN_ErrorType tRetVal;
    uint32_t u32FuncClk;
    PCC_CtrlType bSP_PCC_Config;


    env->g_u32RxDataIndex = 0;

    env->can = CANx;
    env->CAN_INDEX = CAN_INDEX;

    bSP_PCC_Config.eClockName = canClock;
    bSP_PCC_Config.bEn = TRUE;
    bSP_PCC_Config.eClkSrc = PCC_CLKGATE_SRC_FOSCDIV;
    bSP_PCC_Config.eDivider = PCC_CLK_DIV_BY1;

    PCC_SetPcc(&bSP_PCC_Config);


    BSP_CAN_INIT_CFG(&env->tInitCfg);
    BSP_CAN_INIT_MBConfig(&env->tMbCfg);

    env->tInitCfg.eBaudrate = canBaudRate;
    env->tInitCfg.bEnRxFifo = TRUE;
    env->tInitCfg.bEnDma = TRUE;

    env->tInitCfg.bEnFd = FALSE;
    env->tInitCfg.bEnBrs = FALSE;
    env->tInitCfg.eMbDataWidth = FLEXCAN_DATAWIDTH_8;

    u32FuncClk = PCC_GetPccFunctionClock(s_ePccCanTable[CAN_INDEX]);

    env->tInitCfg.eClkSrcSel = FLEXCAN_CLOCK_FUNCTION; /* functional clock */
    env->tInitCfg.eClkSrcHz = (FLEXCAN_BaudClkType) u32FuncClk; /* function clock frequency */

    env->tInitCfg.eDirect = FLEXCAN_DIR_ENABLE_WITHOUT_TRIG;


    tRetVal = FLEXCAN_Init(CAN_INDEX, &env->tInitCfg);

    if (tRetVal == FLEXCAN_ERROR_OK) {
        /* +++++++++++ can mb initial ++++++++++++ */

        env->pRxFilterFifoList[0].eRxFrameType = FLEXCAN_ID_STD;
        env->pRxFilterFifoList[0].u32RxCanId = 0U;
        env->pRxFilterFifoList[0].u32RxCanIdMask = 0U;

        env->pRxFilterFifoList[1].eRxFrameType = FLEXCAN_ID_STD;
        env->pRxFilterFifoList[1].u32RxCanId = 0U;
        env->pRxFilterFifoList[1].u32RxCanIdMask = 0U;

        env->tMbCfg.pRxFilterMBList = env->pRxFilterFifoList;
        env->tMbCfg.u8RxFilterMBCnt = sizeof(env->pRxFilterFifoList) / sizeof(env->pRxFilterFifoList[0]);

        env->tMbCfg.pRxBuf = CAN_GET_BUFFER(CAN_INDEX);

        /* tx config */

        env->tMbCfg.u8TxMsgCnt = 3U; /* tx occupy 3 mb */

        tRetVal = FLEXCAN_RxFilterConfig(CAN_INDEX, &env->tMbCfg);

        if (CAN_ErrorInterrupt_CallBack == NULL) {
            env->tIntCfg.bEnErrorInterrupt = 0U;
            env->tIntCfg.pErrorNotify = NULL;

            env->tIntCfg.bEnTxMBInterrupt = 0U;
            env->tIntCfg.pRxMBNotify = NULL;

            env->tIntCfg.bEnRxMBInterrupt = 0U;
            env->tIntCfg.pRxFifoNotify = NULL;

            env->tIntCfg.bEnRxFifoInterrupt = 0U;
            env->tIntCfg.pTxMBNotify = NULL;

        } else {
            env->tIntCfg.bEnErrorInterrupt = 1U;
            env->tIntCfg.pErrorNotify = CAN_ErrorInterrupt_CallBack;

            env->tIntCfg.bEnTxMBInterrupt = 1U;
            env->tIntCfg.pRxMBNotify = CAN_RxInterrupt_CallBack;

            env->tIntCfg.bEnRxMBInterrupt = 1U;
            env->tIntCfg.pRxFifoNotify = CAN_RxFifoInterrupt_CallBack;

            env->tIntCfg.bEnRxFifoInterrupt = 1U;
            env->tIntCfg.pTxMBNotify = CAN_TxInterrupt_CallBack;

        }


        DMA_InitType dmaInitCfg;
        BSP_DMA_INIT_CFG(&dmaInitCfg);

        DMA_ChannelCfgType chnCfg = {0};

        DMA_InterruptCfgType interruptCfg = {0};
        uint32_t u32TargetAddr;

        dmaInitCfg.eArbitrationAlgorithm = DMA_ARBITRATION_ALGORITHM_FIXED_PRIORITY;
        dmaInitCfg.bHaltOnError = false;

        DMA_Init(DMA_INSTANCE_0, &dmaInitCfg);

        u32TargetAddr = (uint32_t) (DMA_BUF);

        chnCfg.pSrcBuffer = &(CANx->RAM[0]);
        chnCfg.pDestBuffer = (void *) (u32TargetAddr);
        chnCfg.u32BlockSize = 16U;
        chnCfg.u16BlockCount = 1U;
        chnCfg.u8ChannelPriority = IRQ_DMA_CHANNEL_PRIORITY;
        chnCfg.eSrcDataSize = DMA_TRANSFER_SIZE_4B;
        chnCfg.eDestDataSize = DMA_TRANSFER_SIZE_4B;
        chnCfg.eSrcIncMode = DMA_INCREMENT_DATA_SIZE;
        chnCfg.eDestIncMode = DMA_INCREMENT_DATA_SIZE;
        chnCfg.bSrcBlockOffsetEn = 0U;
        chnCfg.bDestBlockOffsetEn = 0U;
        chnCfg.s32BlockOffset = 0;
        chnCfg.bSrcAddrLoopbackEn = 1U;
        chnCfg.bDestAddrLoopbackEn = false;
        chnCfg.bAutoStop = 0U;
        chnCfg.bSrcCircularBufferEn = false;
        chnCfg.u32SrcCircBufferSize = DMA_CIRCULAR_BUFFER_SIZE_1B;
        chnCfg.bDestCircularBufferEn = true;
        chnCfg.u32DestCircBufferSize = 256U;
        chnCfg.eTriggerSrc = RX_DMA_CHANNEL_REQ;
        DMA_InitChannel(DMA_INSTANCE_0, (DMA_ChannelType) RX_DMA_CHANNEL, &chnCfg);

        interruptCfg.bTransferCompleteIntEn = 1;
        interruptCfg.pTransferCompleteNotify = DMA_TransferCompleteCallback;
        interruptCfg.bTransferErrorIntEn = 1;
        interruptCfg.pTransferErrorNotify = DMA_ErrorCallback;

        DMA_InitChannelInterrupt(DMA_INSTANCE_0, (DMA_ChannelType) RX_DMA_CHANNEL, &interruptCfg);

        NVIC_SetPriorityGrouping(NVIC_PRIORITY_GROUP_4);


        NVIC_SetPriority(DMA_Error_IRQn, IRQ_DMA_PRIORITY);
        NVIC_SetPriority(IRQ_DMA, IRQ_DMA_PRIORITY);
        NVIC_EnableIRQ(IRQ_DMA);

        DMA_StartChannel(DMA_INSTANCE_0, (DMA_ChannelType) RX_DMA_CHANNEL);

        if ((env->tIntCfg.bEnErrorInterrupt) ||
            (env->tIntCfg.bEnTxMBInterrupt) ||
            (env->tIntCfg.bEnRxMBInterrupt) ||
            (env->tIntCfg.bEnRxFifoInterrupt)) {

            NVIC_SetPriority(IRQ_CAN, CAN_PRIORITY);
            NVIC_EnableIRQ(IRQ_CAN);

            FLEXCAN_SetInterrupt(CAN_INDEX, &env->tIntCfg);

        }

        FLEXCAN_Start(CAN_INDEX); /* Start CAN */
    }


    if (!env->reInit) {
        env->reInit = true;
        vCanSerialPortFrameInitStructure(env, 10, 0);

        CanSerialPortFrameSetType(env, canTypeFrame);
        CanSerialPortFrameSetId(env, canId);

        env->canBaudRate = canBaudRate;
    }

}

void CanSerialPortFrameIrqRxProcessing(tCanSerialPortFrameFlagchip *env, uint32_t *pBuf) {
    can_rx_message_type rx_message_struct;

    uint32_t u32TempAddr = (uint32_t) FLEXCAN_MB_WORDN_ADDR(pBuf, 0U, 8U, 0U);

    uint32_t dlc = FLEXCAN_MB_DLC_GET(u32TempAddr);
    rx_message_struct.dlc = FLEXCAN_DlcToDataLen(dlc);

    rx_message_struct.id_type = FLEXCAN_MB_IDE_GET(u32TempAddr);


    if (rx_message_struct.id_type == FLEXCAN_ID_STD) {
        rx_message_struct.standard_id = FLEXCAN_MB_STDID_GET(u32TempAddr);
    } else {
        rx_message_struct.extended_id = FLEXCAN_MB_EXTID_GET(u32TempAddr);
    }

    uint32_t *pSrc = (uint32_t *) FLEXCAN_MB_WORDN_ADDR(pBuf, 0U, 8U, 8U);
    uint32_t *pDest = (uint32_t *) &rx_message_struct.data[0];

    uint32_t u32WordLen = rx_message_struct.dlc / 4U + (rx_message_struct.dlc % 4U > 0U ? 1U : 0U);

    for (uint8_t u8Index = 0U; u8Index < u32WordLen; ++u8Index) {
        REV_BYTES_32(pSrc[u8Index], pDest[u8Index]);
    }

    rx_message_struct.filter_index = 0xFF;

    for (uint8_t i = 0; i < COUNT_QUEUE; ++i) {

        if ((rx_message_struct.id_type == FLEXCAN_ID_STD) &&
            (env->pRxFilterFifoList[i].eRxFrameType == FLEXCAN_ID_STD)) {

            if (rx_message_struct.standard_id == env->pRxFilterFifoList[i].u32RxCanId) {
                rx_message_struct.filter_index = i;
            }

        } else {

            if (rx_message_struct.extended_id == env->pRxFilterFifoList[i].u32RxCanId) {
                rx_message_struct.filter_index = i;
            }

        }


    }

    osMessageQueuePut(env->rxDataQueue, &rx_message_struct, 0x0, 0U);

    if (env->rxDataSnifferQueue) {
        osMessageQueuePut(env->rxDataSnifferQueue, &rx_message_struct, 0x0, 0U);
    }

}


void CAN_RxInterrupt_CallBack_Handler(tCanSerialPortFrameFlagchip *env, uint8_t u8CanIndex, FLEXCAN_RxMsgType *pRxCfg) {

    can_rx_message_type rx_message_struct;

    rx_message_struct.standard_id = pRxCfg->u32CanId;
    rx_message_struct.dlc = pRxCfg->u32DataLen;
    memcpy(rx_message_struct.data, pRxCfg->aData, rx_message_struct.dlc);

    osMessageQueuePut(env->rxDataQueue, &rx_message_struct, 0x0, 0U);

    if (env->rxDataSnifferQueue) {
        osMessageQueuePut(env->rxDataSnifferQueue, &rx_message_struct, 0x0, 0U);
    }

}

static uint16_t vSerialPortFrameReceiveQueue(
        tCanSerialPortFrameFlagchip *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
vCanSerialPortFrameReceive(tCanSerialPortFrameFlagchip *env, uint8_t *data, uint16_t size,
                           uint32_t timeout) {
    return vSerialPortFrameReceiveQueue(env, data, size, timeout, env->rxDataQueue);
}

static uint16_t
vCanSerialPortFrameReceiveSniffer(tCanSerialPortFrameFlagchip *env, uint8_t *data, uint16_t size,
                                  uint32_t timeout) {

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

uint16_t vCanSerialPortFrameTransmit(tCanSerialPortFrameFlagchip *env, uint8_t *data, uint16_t size, uint32_t timeout) {

    uint16_t fullSize = size / 8;
    uint8_t tailSize = size % 8;
    uint16_t sent = 0;

    FLEXCAN_TxMsgType tTxMsg = {0};
    FLEXCAN_ErrorType tRetval;

    tTxMsg.u32CanId = env->id;
    tTxMsg.u8TxHandler = 0U;

    tTxMsg.bEnFd = FALSE;
    tTxMsg.bEnBrs = FALSE;
    tTxMsg.u32DataLen = 8;

    tTxMsg.eDataType = FLEXCAN_FRAME_DATA;
    tTxMsg.eFrameType = (FLEXCAN_IdType) env->canTypeFrame;
    tTxMsg.bWaitTxCompleted = 1U;
    tTxMsg.u16WaitTxTimeout = 10000U;


    uint16_t len = 0;
    for (uint16_t i = 0; i < fullSize; ++i) {

        FCFUNC_FcOwnMemcpy(tTxMsg.aData, &data[len], fullSize, NULL);
        len += 8;

        tRetval = FLEXCAN_TransmitData(env->CAN_INDEX, &tTxMsg);
        if (tRetval != FLEXCAN_ERROR_OK) {
            FLEXCAN_TransmitAbort(env->CAN_INDEX, tTxMsg.u8TxHandler);
        } else {
            FLEXCAN_TransmitProcess(env->CAN_INDEX, tTxMsg.u8TxHandler);
        }

        sent += 8;
        size -= 8;
    }

    if (tailSize) {
        tTxMsg.u32DataLen = tailSize;

        FCFUNC_FcOwnMemcpy(tTxMsg.aData, &data[len], tailSize, NULL);

        tRetval = FLEXCAN_TransmitData(env->CAN_INDEX, &tTxMsg);
        if (tRetval != FLEXCAN_ERROR_OK) {
            FLEXCAN_TransmitAbort(env->CAN_INDEX, tTxMsg.u8TxHandler);
        } else {
            FLEXCAN_TransmitProcess(env->CAN_INDEX, tTxMsg.u8TxHandler);
        }

        sent += tailSize;
        size -= tailSize;
    }

    return sent;
}


tSerialPortFrameIO CanPortFrame_GetIo(tCanSerialPortFrameFlagchip *env) {
    tSerialPortFrameIO io = {
            .env = env,
            .receive = (SerialPortFrameIOTransaction) vCanSerialPortFrameReceive,
            .transmit = (SerialPortFrameIOTransaction) vCanSerialPortFrameTransmit,
    };
    return io;
}

tSerialPortFrameIO CanPort_GetSnifferIo(tCanSerialPortFrameFlagchip *env) {
    tSerialPortFrameIO io = {
            .env = env,
            .receive = (SerialPortFrameIOTransaction) vCanSerialPortFrameReceiveSniffer,
            .transmit = (SerialPortFrameIOTransaction) vCanSerialPortFrameTransmit,
    };
    return io;
}