//
// Created by cfif on 16.03.2024.
//
#include <SystemDelayInterface.h>
#include "CanSerialPortFrame.h"
#include "memory.h"
#include "at32f435_437_misc.h"

static void vCanSerialPortFrameInitNVICEnable(can_type *CANx, uint8_t irqSubPriority) {

    nvic_priority_group_config(NVIC_PRIORITY_GROUP_4);

    if (CANx == CAN1) {
        NVIC_EnableIRQ(CAN1_SE_IRQn);
        NVIC_EnableIRQ(CAN1_RX0_IRQn);
        NVIC_EnableIRQ(CAN1_RX1_IRQn);
        NVIC_SetPriority(CAN1_SE_IRQn, irqSubPriority);
        NVIC_SetPriority(CAN1_RX0_IRQn, irqSubPriority);
        NVIC_SetPriority(CAN1_RX1_IRQn, irqSubPriority);

        can_interrupt_enable(CAN1, CAN_RF0MIEN_INT, TRUE);
//        can_interrupt_enable(CAN1, CAN_RF0FIEN_INT, TRUE);
//        can_interrupt_enable(CAN1, CAN_RF0OIEN_INT, TRUE);

        can_interrupt_enable(CAN1, CAN_RF1MIEN_INT, TRUE);
//        can_interrupt_enable(CAN1, CAN_RF1FIEN_INT, TRUE);
//        can_interrupt_enable(CAN1, CAN_RF1OIEN_INT, TRUE);

        can_interrupt_enable(CAN1, CAN_ETRIEN_INT, TRUE);
        can_interrupt_enable(CAN1, CAN_EOIEN_INT, TRUE);
    }

    if (CANx == CAN2) {
        NVIC_EnableIRQ(CAN2_SE_IRQn);
        NVIC_EnableIRQ(CAN2_RX0_IRQn);
        NVIC_EnableIRQ(CAN2_RX1_IRQn);
        NVIC_SetPriority(CAN2_SE_IRQn, irqSubPriority);
        NVIC_SetPriority(CAN2_RX0_IRQn, irqSubPriority);
        NVIC_SetPriority(CAN2_RX1_IRQn, irqSubPriority);

        can_interrupt_enable(CAN2, CAN_RF0MIEN_INT, TRUE);

//        can_interrupt_enable(CAN2, CAN_RF0FIEN_INT, TRUE);
//        can_interrupt_enable(CAN2, CAN_RF0OIEN_INT, TRUE);

        can_interrupt_enable(CAN2, CAN_RF1MIEN_INT, TRUE);

//        can_interrupt_enable(CAN2, CAN_RF1FIEN_INT, TRUE);
//        can_interrupt_enable(CAN2, CAN_RF1OIEN_INT, TRUE);

        can_interrupt_enable(CAN2, CAN_ETRIEN_INT, TRUE);
        can_interrupt_enable(CAN2, CAN_EOIEN_INT, TRUE);
    }


}


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

void CanSerialPortFrameSetId1(tCanSerialPortFrameArtery *env, uint32_t id) {
    env->id1 = id;
}

void CanSerialPortFrameSetType(tCanSerialPortFrameArtery *env, eCanTypeFrame canTypeFrame) {
    env->canTypeFrame = canTypeFrame;
}

static void vCanSerialPortFrameInitStructure(
        tCanSerialPortFrameArtery *env,
        can_type *CANx,
        uint32_t rxBufferLength0,
        uint32_t rxSnifferLength0,
        uint32_t rxBufferLength1,
        uint32_t rxSnifferLength1
) {
    env->rxDataQueue0 = osMessageQueueNew(rxBufferLength0, sizeof(can_rx_message_type), NULL);
    if (rxSnifferLength0) {
        env->rxDataSnifferQueue0 = osMessageQueueNew(rxSnifferLength0, sizeof(can_rx_message_type), NULL);
    } else {
        env->rxDataSnifferQueue0 = 0;
    }

    env->rxDataQueue1 = osMessageQueueNew(rxBufferLength1, sizeof(can_rx_message_type), NULL);
    if (rxSnifferLength1) {
        env->rxDataSnifferQueue1 = osMessageQueueNew(rxSnifferLength1, sizeof(can_rx_message_type), NULL);
    } else {
        env->rxDataSnifferQueue1 = 0;
    }
}

void vCanSerialPortFrameInit(
        tCanSerialPortFrameArtery *env,
        can_type *CANx,
        eCanBaudRate canBaudRate,
        uint8_t irqSubPriority,
        eCanTypeFrame canTypeFrame,
        uint32_t canId,
        uint32_t rxBufferLength0,
        uint32_t rxSnifferLength0,
        uint32_t rxBufferLength1,
        uint32_t rxSnifferLength1
) {

    env->can = CANx;

    if (!env->reInit) {
        env->reInit = true;
        vCanSerialPortFrameInitStructure(env, CANx, rxBufferLength0, rxSnifferLength0, rxBufferLength1,
                                         rxSnifferLength1);

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

        env->canBaudRate = canBaudRate;
    }

    can_base_type can_base_struct;
    can_baudrate_type can_baudrate_struct;
//    can_filter_init_type can_filter_init_struct;

    // enable the can clock
    if (CANx == CAN1)
        crm_periph_clock_enable(CRM_CAN1_PERIPH_CLOCK, TRUE);

    if (CANx == CAN2)
        crm_periph_clock_enable(CRM_CAN2_PERIPH_CLOCK, TRUE);

    // can base init
    can_default_para_init(&can_base_struct);
    can_base_struct.mode_selection = CAN_MODE_COMMUNICATE;
//    can_base_struct.mode_selection = CAN_MODE_LOOPBACK;
    can_base_struct.ttc_enable = FALSE;
    can_base_struct.aebo_enable = TRUE;
    can_base_struct.aed_enable = TRUE;
    can_base_struct.prsf_enable = FALSE;
    can_base_struct.mdrsel_selection = CAN_DISCARDING_FIRST_RECEIVED;
    can_base_struct.mmssr_selection = CAN_SENDING_BY_ID;
    can_base_init(CANx, &can_base_struct);

    can_baudrate_struct.baudrate_div = 125;
    can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ;
    can_baudrate_struct.bts1_size = CAN_BTS1_6TQ;
    can_baudrate_struct.bts2_size = CAN_BTS2_1TQ;

    if (canBaudRate == CAN_BAUD_RATE_1000K) {
        can_baudrate_struct.baudrate_div = 4;
        can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ;
        can_baudrate_struct.bts1_size = CAN_BTS1_5TQ;
        can_baudrate_struct.bts2_size = CAN_BTS2_3TQ;
    }

    if (canBaudRate == CAN_BAUD_RATE_500K) {
        can_baudrate_struct.baudrate_div = 25;
        can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ;
        can_baudrate_struct.bts1_size = CAN_BTS1_8TQ;
        can_baudrate_struct.bts2_size = CAN_BTS2_1TQ;
    }

    if (canBaudRate == CAN_BAUD_RATE_250K) {
        can_baudrate_struct.baudrate_div = 50;
        can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ;
        can_baudrate_struct.bts1_size = CAN_BTS1_8TQ;
        can_baudrate_struct.bts2_size = CAN_BTS2_1TQ;

    }

    if (canBaudRate == CAN_BAUD_RATE_125K) {
        can_baudrate_struct.baudrate_div = 125;
        can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ;
        can_baudrate_struct.bts1_size = CAN_BTS1_6TQ;
        can_baudrate_struct.bts2_size = CAN_BTS2_1TQ;
    }

    can_baudrate_set(CANx, &can_baudrate_struct);
/*
    // can filter init
    can_filter_init_struct.filter_activate_enable = TRUE;
    can_filter_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;
    can_filter_init_struct.filter_fifo = CAN_FILTER_FIFO0;
    can_filter_init_struct.filter_number = 0;
    can_filter_init_struct.filter_bit = CAN_FILTER_32BIT;
    can_filter_init_struct.filter_id_high = 0;
    can_filter_init_struct.filter_id_low = 0;
    can_filter_init_struct.filter_mask_high = 0;
    can_filter_init_struct.filter_mask_low = 0;
    can_filter_init(CANx, &can_filter_init_struct);
*/
    can_filter_init(CANx, &env->can_filter0_init_struct);
/*
    // can filter init
    can_filter_init_struct.filter_activate_enable = TRUE;
    can_filter_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;
    can_filter_init_struct.filter_fifo = CAN_FILTER_FIFO1;
    can_filter_init_struct.filter_number = 1;
    can_filter_init_struct.filter_bit = CAN_FILTER_32BIT;
    can_filter_init_struct.filter_id_high = 0;
    can_filter_init_struct.filter_id_low = 0;
    can_filter_init_struct.filter_mask_high = 0;
    can_filter_init_struct.filter_mask_low = 0;
    can_filter_init(CANx, &can_filter_init_struct);
*/
    can_filter_init(CANx, &env->can_filter1_init_struct);


    vCanSerialPortFrameInitNVICEnable(CANx, irqSubPriority);
}


void CanSerialPortFrameIrqRxProcessing0(tCanSerialPortFrameArtery *env) {
    can_rx_message_type rx_message_struct;

//    if (can_flag_get(env->can, CAN_RF0MN_FLAG) != RESET) {
    can_message_receive(env->can, CAN_RX_FIFO0, &rx_message_struct);

    osMessageQueuePut(env->rxDataQueue0, &rx_message_struct, 0x0, 0U);

    if (env->rxDataSnifferQueue0) {
        osMessageQueuePut(env->rxDataSnifferQueue0, &rx_message_struct, 0x0, 0U);
    }

//    }

}

void CanSerialPortFrameIrqRxProcessing1(tCanSerialPortFrameArtery *env) {
    can_rx_message_type rx_message_struct;

//    if (can_flag_get(env->can, CAN_RF1MN_FLAG) != RESET) {
    can_message_receive(env->can, CAN_RX_FIFO1, &rx_message_struct);

    osMessageQueuePut(env->rxDataQueue1, &rx_message_struct, 0x0, 0U);

    if (env->rxDataSnifferQueue1) {
        osMessageQueuePut(env->rxDataSnifferQueue1, &rx_message_struct, 0x0, 0U);
    }

//    }

}

static uint16_t vSerialPortFrameReceiveQueue(
        tCanSerialPortFrameArtery *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
vCanSerialPortFrameReceive0(tCanSerialPortFrameArtery *env, uint8_t *data, uint16_t size, uint32_t timeout) {
    return vSerialPortFrameReceiveQueue(env, data, size, timeout, env->rxDataQueue0);
}


static uint16_t
vCanSerialPortFrameReceive1(tCanSerialPortFrameArtery *env, uint8_t *data, uint16_t size, uint32_t timeout) {
    return vSerialPortFrameReceiveQueue(env, data, size, timeout, env->rxDataQueue1);
}


static uint16_t
vCanSerialPortFrameReceiveSniffer0(tCanSerialPortFrameArtery *env, uint8_t *data, uint16_t size, uint32_t timeout) {

    return env->rxDataSnifferQueue0
           ? vSerialPortFrameReceiveQueue(env, data, size, timeout, env->rxDataSnifferQueue0)
           : 0;
}

static uint16_t
vCanSerialPortFrameReceiveSniffer1(tCanSerialPortFrameArtery *env, uint8_t *data, uint16_t size, uint32_t timeout) {

    return env->rxDataSnifferQueue1
           ? vSerialPortFrameReceiveQueue(env, data, size, timeout, env->rxDataSnifferQueue1)
           : 0;
}

uint8_t
can_message_transmitExt(can_type *can_x, can_tx_message_type *tx_message_struct, can_tx_mailbox_num_type mailbox) {
    uint8_t transmit_mailbox = CAN_TX_STATUS_NO_EMPTY;

    if (mailbox == CAN_TX_MAILBOX0) {
        if (can_x->tsts_bit.tm0ef) {
            transmit_mailbox = CAN_TX_MAILBOX0;
        } else {
            transmit_mailbox = CAN_TX_STATUS_NO_EMPTY;
        }
    }

    if (mailbox == CAN_TX_MAILBOX1) {
        if (can_x->tsts_bit.tm1ef) {
            transmit_mailbox = CAN_TX_MAILBOX1;
        } else {
            transmit_mailbox = CAN_TX_STATUS_NO_EMPTY;
        }
    }

    if (mailbox == CAN_TX_MAILBOX2) {
        if (can_x->tsts_bit.tm2ef) {
            transmit_mailbox = CAN_TX_MAILBOX2;
        } else {
            transmit_mailbox = CAN_TX_STATUS_NO_EMPTY;
        }
    }

/*
    if(can_x->tsts_bit.tm0ef)
    {
        transmit_mailbox = CAN_TX_MAILBOX0;
    }
    else if(can_x->tsts_bit.tm1ef)
    {
        transmit_mailbox = CAN_TX_MAILBOX1;
    }
    else if(can_x->tsts_bit.tm2ef)
    {
        transmit_mailbox = CAN_TX_MAILBOX2;
    }
    else
    {
        transmit_mailbox = CAN_TX_STATUS_NO_EMPTY;
    }
*/

    if (transmit_mailbox != CAN_TX_STATUS_NO_EMPTY) {
        /* set up the id */
        can_x->tx_mailbox[transmit_mailbox].tmi &= 0x00000001;
        can_x->tx_mailbox[transmit_mailbox].tmi_bit.tmidsel = tx_message_struct->id_type;
        switch (tx_message_struct->id_type) {
            case CAN_ID_STANDARD:
                can_x->tx_mailbox[transmit_mailbox].tmi_bit.tmsid = tx_message_struct->standard_id;
                break;
            case CAN_ID_EXTENDED:
                can_x->tx_mailbox[transmit_mailbox].tmi |= (tx_message_struct->extended_id << 3);
                break;
            default:
                break;
        }
        can_x->tx_mailbox[transmit_mailbox].tmi_bit.tmfrsel = tx_message_struct->frame_type;
        /* set up the dlc */
        can_x->tx_mailbox[transmit_mailbox].tmc_bit.tmdtbl = (tx_message_struct->dlc & ((uint8_t) 0x0F));

        /* set up the data field */
        can_x->tx_mailbox[transmit_mailbox].tmdtl = (((uint32_t) tx_message_struct->data[3] << 24) |
                                                     ((uint32_t) tx_message_struct->data[2] << 16) |
                                                     ((uint32_t) tx_message_struct->data[1] << 8) |
                                                     ((uint32_t) tx_message_struct->data[0]));
        can_x->tx_mailbox[transmit_mailbox].tmdth = (((uint32_t) tx_message_struct->data[7] << 24) |
                                                     ((uint32_t) tx_message_struct->data[6] << 16) |
                                                     ((uint32_t) tx_message_struct->data[5] << 8) |
                                                     ((uint32_t) tx_message_struct->data[4]));

        /* request transmission */
        can_x->tx_mailbox[transmit_mailbox].tmi_bit.tmsr = TRUE;
    }
    return transmit_mailbox;
}

/*
uint16_t vCanSerialPortFrameTransmit(tCanSerialPortFrameArtery *env, uint8_t *data, uint16_t size, uint32_t timeout) {
    uint16_t sent = 0;
    uint32_t endMs = SystemGetMs() + timeout;

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

    uint8_t transmit_mailbox;
    can_tx_message_type TxMessage;


    if (env->canTypeFrame == CAN_STD_ID) {
        TxMessage.standard_id = env->id;
        TxMessage.extended_id = 0;
        TxMessage.id_type = CAN_ID_STANDARD;
    }

    if (env->canTypeFrame == CAN_EXT_ID) {
        TxMessage.standard_id = 0;
        TxMessage.extended_id = env->id;
        TxMessage.id_type = CAN_ID_EXTENDED;
    }

    TxMessage.frame_type = CAN_TFT_DATA;
    TxMessage.dlc = 8;

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

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

            memcpy(TxMessage.data, &data[len], 8);
            len += 8;

            transmit_mailbox = can_message_transmitExt(env->can, &TxMessage, CAN_TX_MAILBOX0);

            while (can_transmit_status_get(env->can, (can_tx_mailbox_num_type) transmit_mailbox) !=
                   CAN_TX_STATUS_SUCCESSFUL) {

                if (!((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {
                    return sent;
                }

//                if ((can_flag_get(env->can, CAN_BOF_FLAG) != RESET) ||
//                    (can_flag_get(env->can, CAN_EPF_FLAG) != RESET) ||
//                    (can_flag_get(env->can, CAN_EAF_FLAG) != RESET)) {
//                    return sent;
//                }

            }

            sent += 8;
            size -= 8;
        }

        if (tailSize) {
            TxMessage.dlc = tailSize;
            memcpy(TxMessage.data, &data[len], tailSize);

            transmit_mailbox = can_message_transmit(env->can, &TxMessage);

            can_transmit_status_type status = can_transmit_status_get(env->can,
                                                                      (can_tx_mailbox_num_type) transmit_mailbox);

            while (status != CAN_TX_STATUS_SUCCESSFUL) {

                status = can_transmit_status_get(env->can, (can_tx_mailbox_num_type) transmit_mailbox);

                if (!((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {
                    return sent;
                }

            }

            sent += tailSize;
            size -= tailSize;
        }

    }

    return sent;
}
*/

uint16_t vCanSerialPortFrameTransmit(tCanSerialPortFrameArtery *env, uint8_t *data, uint16_t size, uint32_t timeout) {
    uint16_t sent = 0;
    uint32_t endMs = SystemGetMs() + timeout;

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

    uint8_t transmit_mailbox;
    can_tx_message_type TxMessage;


    if (env->canTypeFrame == CAN_STD_ID) {
        TxMessage.standard_id = env->id;
        TxMessage.extended_id = 0;
        TxMessage.id_type = CAN_ID_STANDARD;
    }

    if (env->canTypeFrame == CAN_EXT_ID) {
        TxMessage.standard_id = 0;
        TxMessage.extended_id = env->id;
        TxMessage.id_type = CAN_ID_EXTENDED;
    }

    TxMessage.frame_type = CAN_TFT_DATA;
    TxMessage.dlc = 8;

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

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

            memcpy(TxMessage.data, &data[len], 8);
            len += 8;

            transmit_mailbox = can_message_transmitExt(env->can, &TxMessage, CAN_TX_MAILBOX0);

            while (can_transmit_status_get(env->can, (can_tx_mailbox_num_type) transmit_mailbox) !=
                   CAN_TX_STATUS_SUCCESSFUL) {

                if (!((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {
                    return sent;
                }

//                if ((can_flag_get(env->can, CAN_BOF_FLAG) != RESET) ||
//                    (can_flag_get(env->can, CAN_EPF_FLAG) != RESET) ||
//                    (can_flag_get(env->can, CAN_EAF_FLAG) != RESET)) {
//                    return sent;
//                }

            }

            sent += 8;
            size -= 8;
        }

        if (tailSize) {
            TxMessage.dlc = tailSize;
            memcpy(TxMessage.data, &data[len], tailSize);

            transmit_mailbox = can_message_transmitExt(env->can, &TxMessage, CAN_TX_MAILBOX0);

            can_transmit_status_type status = can_transmit_status_get(env->can,
                                                                      (can_tx_mailbox_num_type) transmit_mailbox);

            while (status != CAN_TX_STATUS_SUCCESSFUL) {

                status = can_transmit_status_get(env->can, (can_tx_mailbox_num_type) transmit_mailbox);

                if (!((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {
                    return sent;
                }

            }

            sent += tailSize;
            size -= tailSize;
        }

    }

    return sent;
}

uint16_t vCanSerialPortFrameTransmit1(tCanSerialPortFrameArtery *env, uint8_t *data, uint16_t size, uint32_t timeout) {
    uint16_t sent = 0;
    uint32_t endMs = SystemGetMs() + timeout;

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

    uint8_t transmit_mailbox;
    can_tx_message_type TxMessage;


    if (env->canTypeFrame == CAN_STD_ID) {
        TxMessage.standard_id = env->id1;
        TxMessage.extended_id = 0;
        TxMessage.id_type = CAN_ID_STANDARD;
    }

    if (env->canTypeFrame == CAN_EXT_ID) {
        TxMessage.standard_id = 0;
        TxMessage.extended_id = env->id1;
        TxMessage.id_type = CAN_ID_EXTENDED;
    }

    TxMessage.frame_type = CAN_TFT_DATA;
    TxMessage.dlc = 8;

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

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

            memcpy(TxMessage.data, &data[len], 8);
            len += 8;

            transmit_mailbox = can_message_transmitExt(env->can, &TxMessage, CAN_TX_MAILBOX1);

            while (can_transmit_status_get(env->can, (can_tx_mailbox_num_type) transmit_mailbox) !=
                   CAN_TX_STATUS_SUCCESSFUL) {

                if (!((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {
                    return sent;
                }

//                if ((can_flag_get(env->can, CAN_BOF_FLAG) != RESET) ||
//                    (can_flag_get(env->can, CAN_EPF_FLAG) != RESET) ||
//                    (can_flag_get(env->can, CAN_EAF_FLAG) != RESET)) {
//                    return sent;
//                }

            }

            sent += 8;
            size -= 8;
        }

        if (tailSize) {
            TxMessage.dlc = tailSize;
            memcpy(TxMessage.data, &data[len], tailSize);

            transmit_mailbox = can_message_transmitExt(env->can, &TxMessage, CAN_TX_MAILBOX1);

            can_transmit_status_type status = can_transmit_status_get(env->can,
                                                                      (can_tx_mailbox_num_type) transmit_mailbox);

            while (status != CAN_TX_STATUS_SUCCESSFUL) {

                status = can_transmit_status_get(env->can, (can_tx_mailbox_num_type) transmit_mailbox);

                if (!((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {
                    return sent;
                }

            }

            sent += tailSize;
            size -= tailSize;
        }

    }

    return sent;
}

tSerialPortFrameIO CanPortFrame_GetIo(tCanSerialPortFrameArtery *env) {
    tSerialPortFrameIO io = {
            .env = env,
            .receive0 = (SerialPortFrameIOTransaction) vCanSerialPortFrameReceive0,
            .receive1 = (SerialPortFrameIOTransaction) vCanSerialPortFrameReceive1,
            .transmit = (SerialPortFrameIOTransaction) vCanSerialPortFrameTransmit,
            .transmit1 = (SerialPortFrameIOTransaction) vCanSerialPortFrameTransmit1
    };
    return io;
}

tSerialPortFrameIO CanPort_GetSnifferIo(tCanSerialPortFrameArtery *env) {
    tSerialPortFrameIO io = {
            .env = env,
            .receive0 = (SerialPortFrameIOTransaction) vCanSerialPortFrameReceiveSniffer0,
            .receive1 = (SerialPortFrameIOTransaction) vCanSerialPortFrameReceiveSniffer1,
            .transmit = (SerialPortFrameIOTransaction) vCanSerialPortFrameTransmit,
            .transmit1 = (SerialPortFrameIOTransaction) vCanSerialPortFrameTransmit1
    };
    return io;
}