//
// Created by cfif on 16.03.2024.
//

#ifndef NATION_CAN_MODULE_CAN_H
#define NATION_CAN_MODULE_CAN_H

#include "SerialPortIO.h"
#include "cmsis_os2.h"
#include "n32g45x.h"
/*
#define  CAN_FILTER_STDID(STDID)     ((STDID & 0x3FF) << 5)
#define  CAN_FILTER_EXTID_H(EXTID)   ((uint16_t)(((EXTID >> 18) << 5 ) | ((EXTID & 0x2FFFF) >> 13)))
#define  CAN_FILTER_EXTID_L(EXTID)   ((uint16_t)((EXTID & 0x2FFFF) << 3))
*/
#define  CAN_FILTER_STDID(STDID)        ((STDID & 0x7FF) << 5)
#define  CAN_FILTER_EXTID_H(EXTID)      ((uint16_t)(((EXTID << 3) | CAN_ID_EXT) >> 16))
#define  CAN_FILTER_EXTID_L(EXTID)      ((uint16_t)(( EXTID << 3) | CAN_ID_EXT))


#define  CAN_FILTER_STDMASK(STDMASK)    ((STDMASK & 0x7FF) << 5)
#define  CAN_FILTER_EXTMASK_H(EXTMASK)  ((uint16_t)(((EXTMASK << 3) >> 16)))
#define  CAN_FILTER_EXTMASK_L(EXTMASK)  ((uint16_t)(EXTMASK << 3))


typedef enum {
    CAN_BAUD_RATE_1000K,
    CAN_BAUD_RATE_500K,
    CAN_BAUD_RATE_250K,
    CAN_BAUD_RATE_125K
} eCanBaudRate;

typedef enum {
    CAN_STD_ID,
    CAN_EXT_ID
} eCanTypeFrame;

typedef struct {
    CAN_Module *can;
    uint32_t id;
    eCanTypeFrame canTypeFrame;
    bool canFilterEnable;
    uint32_t canFilterId;
    uint32_t canFilterMask;

    osMessageQueueId_t rxDataQueue;
    osMessageQueueId_t rxDataSnifferQueue;
    osMessageQueueId_t txAccessQueue;

} tCanSerialPortNation;

void CanSerialPortIrqRxProcessing(tCanSerialPortNation *env);

void CanSerialPortSetFilter(tCanSerialPortNation *env,
                            bool canFilterEnable,
                            uint32_t canFilterId,
                            uint32_t canFilterMask);

void CanSerialPortSetId(tCanSerialPortNation *env, uint32_t id);

void vCanSerialPortInit(
        tCanSerialPortNation *env,
        CAN_Module *CANx,
        eCanBaudRate canBaudRate,
        uint8_t irqSubPriority,
        eCanTypeFrame canTypeFrame,
        uint32_t canId,
        bool canFilterEnable,
        uint32_t canFilterId,
        uint32_t canFilterMask,
        uint32_t rxBufferLength,
        uint32_t rxSnifferLength
);


tSerialPortIO CanPort_GetIo(tCanSerialPortNation *env);

tSerialPortIO CanPort_GetSnifferIo(tCanSerialPortNation *env);

#endif //NATION_CAN_MODULE_CAN_H