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

tCanPorts CAN_PORTS;

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

ALIGN(256) Can_RamType g_aRxDataBuf[16]; // dma ring buffer size is 256

static void DMA_TransferCompleteCallback(void) {
    CanSerialPortFrameIrqRxProcessing(CAN_PORTS.Can0_IO.env, (uint32_t *)&g_aRxDataBuf[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);
}

static void vCanPort_InitCan0() {
    vCanPort_InitCAN0RxTxPin();

    vCanSerialPortFrameDMAInit(
            &CAN_PORTS.Can0,

            FLEXCAN0,
            PCC_CLK_FLEXCAN0,
            0, // CAN0 = 0 ... CAN3 = 3

            FlexCAN0_IRQn, // FlexCAN0_IRQn ... FlexCAN3_IRQn
            0xFF,

            DMA_CHANNEL_1,
            DMA_REQ_FLEXCAN0,

            (uint8_t *)&g_aRxDataBuf[0],

            DMA1_IRQn,
            0x55,
            1,

            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);
}