//
// Created by cfif on 03.06.2024.
//
#include "CanPorts.h"
#include "string.h"
#include "fc7xxx_driver_port.h"
#include "fc7xxx_driver_gpio.h"
#include "candb.h"

tCanPorts CAN_PORTS;

typedef struct {
    uint32_t u32CanRAM[4];
} Can_RamType;

#define size_aRxDataBuf 16
ALIGN(256) Can_RamType g_aRxDataBufCan0[size_aRxDataBuf]; // dma ring buffer size is 256

static void DMA_TransferCompleteCallback(void) {
    CanSerialPortFrameIrqRxProcessing(CAN_PORTS.Can0_IO.env, (uint32_t *) &g_aRxDataBufCan0[0]);

}

static void DMA_ErrorCallback(void) {
    while (1) {
        __asm("nop");
    }
}

static void vCanPort_InitCAN0RxTxPin() {
    PORT_InitType tInitStruct = {0U};
    GPIO_InitType tGpioInitStruct = {0};

    // CAN0_STB
    // PortC 30: MUX = GPIO output
    tInitStruct.u32PortPins = PORT_PIN_30;
    tInitStruct.uPortPinMux.u32PortPinMode = PORT_GPIO_MODE;
    PORT_InitPins(PORT_C, &tInitStruct);
    tGpioInitStruct.u32GpioPins = PORT_PIN_30;
    tGpioInitStruct.ePinDirection = GPIO_OUT;
    tGpioInitStruct.ePinLevel = GPIO_LOW;
    GPIO_InitPins(GPIO_C, &tGpioInitStruct);

    // Port C2: MUX = ALT3, CAN0_RX
    tInitStruct.u32PortPins = PORT_PIN_2;
    tInitStruct.uPortPinMux.u32PortPinMode = PORTC_2_FLEXCAN0_RX;
    tInitStruct.bPullEn = FALSE;
    tInitStruct.ePullSel = PORT_PULL_UP;
    PORT_InitPins(PORT_C, &tInitStruct);
    tGpioInitStruct.u32GpioPins = PORT_PIN_2;
    tGpioInitStruct.ePinDirection = GPIO_IN;
    GPIO_InitPins((GPIO_InstanceType) PORT_C, &tGpioInitStruct);

    // Port C3: MUX = ALT3, CAN0_TX
    tInitStruct.u32PortPins = PORT_PIN_3;
    tInitStruct.uPortPinMux.u32PortPinMode = PORTC_3_FLEXCAN0_TX;
    PORT_InitPins(PORT_C, &tInitStruct);
    tGpioInitStruct.u32GpioPins = PORT_PIN_3;
    tGpioInitStruct.ePinDirection = GPIO_OUT;
    tGpioInitStruct.ePinLevel = GPIO_HIGH;
    GPIO_InitPins(GPIO_C, &tGpioInitStruct);
}

#define countIdCanSoftFilterCan0 31
const FilterTo_FLEXCAN_RxMbFilterType IdCanSoftFilterCan0[countIdCanSoftFilterCan0] = {
        {FLEXCAN_ID_STD, EMS_Veh_CANID,            0x7FF, 0},
        {FLEXCAN_ID_STD, BCM_Powertrain_CANID,     0x7FF, 0},
        {FLEXCAN_ID_STD, EMS_Veh_02_CANID,         0x7FF, 0},
        {FLEXCAN_ID_STD, BCM_EEM_CANID,            0x7FF, 0},
        {FLEXCAN_ID_STD, DMFR_Msg1_CANID,          0x7FF, 0},
        {FLEXCAN_ID_STD, DMFL_Msg1_CANID,          0x7FF, 0},
        {FLEXCAN_ID_STD, TM_Stat_CANID,            0x7FF, 0},
        {FLEXCAN_ID_STD, TM_CP_CANID,              0x7FF, 0},
        {FLEXCAN_ID_STD, HVC_CCU_Status_Msg_CANID, 0x7FF, 0},
        {FLEXCAN_ID_STD, BCM_VEH_STATE_CANID,      0x7FF, 0},
        {FLEXCAN_ID_STD, EMS_HVC_Req_Msg_CANID,    0x7FF, 0},
        {FLEXCAN_ID_STD, HVC_Err_Status_Msg_CANID, 0x7FF, 0},
        {FLEXCAN_ID_STD, BCM_CLIMATIC_DATA_CANID,  0x7FF, 0},
        {FLEXCAN_ID_STD, VCU_CCU_Req_CANID,        0x7FF, 0},
        {FLEXCAN_ID_STD, ESC_08_CANID,             0x7FF, 0},
        {FLEXCAN_ID_STD, SMFL_status_CANID,        0x7FF, 0},
        {FLEXCAN_ID_STD, SMFR_status_CANID,        0x7FF, 0},
        {FLEXCAN_ID_STD, SMRL_status_CANID,        0x7FF, 0},
        {FLEXCAN_ID_STD, SMRR_status_CANID,        0x7FF, 0},
        {FLEXCAN_ID_STD, SDM_Cmd_CANID,            0x7FF, 0},
        {FLEXCAN_ID_STD, VEH_VIN_CANID,            0x7FF, 0},
        {FLEXCAN_ID_STD, OCUFL_MSG_CANID,          0x7FF, 0},
        {FLEXCAN_ID_STD, OCUFR_MSG_CANID,          0x7FF, 0},
        {FLEXCAN_ID_STD, OCURL_MSG_CANID,          0x7FF, 0},
        {FLEXCAN_ID_STD, OCURR_MSG_CANID,          0x7FF, 0},
        {FLEXCAN_ID_STD, DW_STATE_CANID,           0x7FF, 0},
        {FLEXCAN_ID_STD, FIU_CCU1_CANID,           0x7FF, 0},
        {FLEXCAN_ID_STD, FIU_CCU2_CANID,           0x7FF, 0},
        {FLEXCAN_ID_STD, FIU_CCU3_CANID,           0x7FF, 0},
        {FLEXCAN_ID_STD, Diag_To_CCU_CANID,        0x7FF, 1},
        {FLEXCAN_ID_STD, Diag_Functional_CANID,    0x7FF, 1},
};

#define countIdCanFilterFifoCan0 8
const FLEXCAN_RxMbFilterType IdCanFilterFifoCan0[countIdCanFilterFifoCan0] = {
        {FLEXCAN_ID_STD, 0x100, 0x700},
        {FLEXCAN_ID_STD, 0x200, 0x700},
        {FLEXCAN_ID_STD, 0x300, 0x700},
        {FLEXCAN_ID_STD, 0x400, 0x700},
        {FLEXCAN_ID_STD, 0x500, 0x700},
        {FLEXCAN_ID_STD, 0x600, 0x700},
        {FLEXCAN_ID_STD, Diag_To_CCU_CANID, 0x7FF},
        {FLEXCAN_ID_STD, Diag_Functional_CANID, 0x7FF}
};


static void vCanPort_InitCan0() {
    vCanPort_InitCAN0RxTxPin();


    uint32_t z[31];

    for (uint8_t i=0; i<31; ++i) {
        z[i] = IdCanSoftFilterCan0[i].u32RxCanId;
    }

    vCanSerialPortFrameDMAInit(
            &CAN_PORTS.Can0,

            FLEXCAN0,
            0, // CAN0 = 0 ... CAN3 = 3
            FlexCAN0_IRQn, // // FlexCAN0_IRQn ... FlexCAN3_IRQn

            0xFF,
            DMA_CHANNEL_1,

            DMA_REQ_FLEXCAN0,

            (uint8_t *) &g_aRxDataBufCan0[0],
            size_aRxDataBuf,

            IdCanSoftFilterCan0,
            countIdCanSoftFilterCan0,

            IdCanFilterFifoCan0,
    countIdCanFilterFifoCan0,

            DMA1_IRQn,
            0xFF,
            DMA1_IRQn,

            FLEXCAN_BAUD_500K,
            FLEXCAN_ID_STD,
            0x55,
            NULL,
            NULL,
            NULL,
            NULL,

            DMA_TransferCompleteCallback,
            DMA_ErrorCallback
    );

}


void CanPorts_Init() {
    CAN_PORTS.Can0.reInit = false;
    vCanPort_InitCan0();
    CAN_PORTS.Can0_IO = CanPortFrame_GetIo(&CAN_PORTS.Can0);

}

void CAN0_IRQHandler(void) {
    FLEXCAN_IRQHandler(0U);
}

void CAN1_IRQHandler(void) {
    FLEXCAN_IRQHandler(1U);
}

void CAN2_IRQHandler(void) {
    FLEXCAN_IRQHandler(2U);
}

void CAN3_IRQHandler(void) {
    FLEXCAN_IRQHandler(3U);
}