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

tCanPorts CAN_PORTS;

void CanPort_SetSpeed(can_type *CANx, eCanBaudRate canBaudRate) {

    if (CANx == CAN1) {
        vCanSerialPortFrameInit(
                &CAN_PORTS.Can1,
                CAN1,
                canBaudRate,
                0x57,
                CAN_STD_ID,
                0,
                20,
                0,
                20,
                0
        );
    }

    if (CANx == CAN2) {
        vCanSerialPortFrameInit(
                &CAN_PORTS.Can2,
                CAN2,
                canBaudRate,
                0x57,
                CAN_STD_ID,
                0,
                20,
                0,
                20,
                0
        );
    }

}

void CanPort_GetSpeed(can_type *CANx, eCanBaudRate *canBaudRate) {
    if (CANx == CAN1) {
        *canBaudRate = CAN_PORTS.Can1.canBaudRate;
    }

    if (CANx == CAN2) {
        *canBaudRate = CAN_PORTS.Can2.canBaudRate;
    }

    *canBaudRate = CAN_BAUD_RATE_500K;
}

void CanPort_SetFilter(can_type *CANx,
                       can_filter_init_type *can_filter0_init_struct,
                       can_filter_init_type *can_filter1_init_struct) {

    if (CANx == CAN1) {
        memcpy(&CAN_PORTS.Can1.can_filter0_init_struct, can_filter0_init_struct, sizeof(can_filter_init_type));
        memcpy(&CAN_PORTS.Can1.can_filter1_init_struct, can_filter1_init_struct, sizeof(can_filter_init_type));
        can_filter_init(CAN1, &CAN_PORTS.Can1.can_filter0_init_struct);
        can_filter_init(CAN1, &CAN_PORTS.Can1.can_filter1_init_struct);
        //CanPort_SetSpeed(CAN1, CAN_PORTS.Can1.canBaudRate);
    }

    if (CANx == CAN2) {
        memcpy(&CAN_PORTS.Can2.can_filter0_init_struct, can_filter0_init_struct, sizeof(can_filter_init_type));
        memcpy(&CAN_PORTS.Can2.can_filter1_init_struct, can_filter1_init_struct, sizeof(can_filter_init_type));
        can_filter_init(CAN2, &CAN_PORTS.Can2.can_filter0_init_struct);
        can_filter_init(CAN2, &CAN_PORTS.Can2.can_filter1_init_struct);
        //CanPort_SetSpeed(CAN2, CAN_PORTS.Can2.canBaudRate);
    }

}

static void vCanPort_InitCAN1RxTxPin() {
    gpio_init_type gpio_init_struct;

    // enable the gpio clock
    crm_periph_clock_enable(CRM_GPIOD_PERIPH_CLOCK, TRUE);

    gpio_default_para_init(&gpio_init_struct);

    // configure the can tx, rx pin
    gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_STRONGER;
    gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
    gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
    gpio_init_struct.gpio_pins = GPIO_PINS_0 | GPIO_PINS_1;
    gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
    gpio_init(GPIOD, &gpio_init_struct);

    gpio_pin_mux_config(GPIOD, GPIO_PINS_SOURCE0, GPIO_MUX_9);
    gpio_pin_mux_config(GPIOD, GPIO_PINS_SOURCE1, GPIO_MUX_9);
}

void CAN1_RX0_IRQHandler(void) {
    CanSerialPortFrameIrqRxProcessing0(&CAN_PORTS.Can1);
}

void CAN1_RX1_IRQHandler(void) {
    CanSerialPortFrameIrqRxProcessing1(&CAN_PORTS.Can1);
}

static void vCanPort_InitCan1() {
    vCanPort_InitCAN1RxTxPin();

    CAN_PORTS.Can1.can_filter0_init_struct.filter_activate_enable = TRUE;
    CAN_PORTS.Can1.can_filter0_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;
    CAN_PORTS.Can1.can_filter0_init_struct.filter_fifo = CAN_FILTER_FIFO0;
    CAN_PORTS.Can1.can_filter0_init_struct.filter_number = 0;
    CAN_PORTS.Can1.can_filter0_init_struct.filter_bit = CAN_FILTER_32BIT;
    CAN_PORTS.Can1.can_filter0_init_struct.filter_id_high = 0;
    CAN_PORTS.Can1.can_filter0_init_struct.filter_id_low = 0;
    CAN_PORTS.Can1.can_filter0_init_struct.filter_mask_high = 0;
    CAN_PORTS.Can1.can_filter0_init_struct.filter_mask_low = 0;

    CAN_PORTS.Can1.can_filter1_init_struct.filter_activate_enable = TRUE;
    CAN_PORTS.Can1.can_filter1_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;
    CAN_PORTS.Can1.can_filter1_init_struct.filter_fifo = CAN_FILTER_FIFO1;
    CAN_PORTS.Can1.can_filter1_init_struct.filter_number = 1;
    CAN_PORTS.Can1.can_filter1_init_struct.filter_bit = CAN_FILTER_32BIT;
    CAN_PORTS.Can1.can_filter1_init_struct.filter_id_high = 0;
    CAN_PORTS.Can1.can_filter1_init_struct.filter_id_low = 0;
    CAN_PORTS.Can1.can_filter1_init_struct.filter_mask_high = 0;
    CAN_PORTS.Can1.can_filter1_init_struct.filter_mask_low = 0;

    CanPort_SetSpeed(CAN1, CAN_BAUD_RATE_500K);
}

void CAN1_SE_IRQHandler(void) {
    __IO uint32_t err_index = 0;
    if (can_flag_get(CAN1, CAN_ETR_FLAG) != RESET) {
        err_index = CAN1->ests & 0x70;
        can_flag_clear(CAN1, CAN_ETR_FLAG);
        if (err_index == 0x00000010) {
            can_reset(CAN1);
            CanPort_SetSpeed(CAN1, CAN_PORTS.Can1.canBaudRate);
        }
    }
}

static void vCanPort_InitCAN2RxTxPin() {
    gpio_init_type gpio_init_struct;

    // enable the gpio clock
    crm_periph_clock_enable(CRM_GPIOB_PERIPH_CLOCK, TRUE);

    gpio_default_para_init(&gpio_init_struct);

    // configure the can tx, rx pin
    gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_STRONGER;
    gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
    gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
    gpio_init_struct.gpio_pins = GPIO_PINS_5 | GPIO_PINS_6;
    gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
    gpio_init(GPIOB, &gpio_init_struct);

    gpio_pin_mux_config(GPIOB, GPIO_PINS_SOURCE5, GPIO_MUX_9);
    gpio_pin_mux_config(GPIOB, GPIO_PINS_SOURCE6, GPIO_MUX_9);
}

void CAN2_RX0_IRQHandler(void) {
    CanSerialPortFrameIrqRxProcessing0(&CAN_PORTS.Can2);
}

void CAN2_RX1_IRQHandler(void) {
    CanSerialPortFrameIrqRxProcessing1(&CAN_PORTS.Can2);
}

static void vCanPort_InitCan2() {
    vCanPort_InitCAN2RxTxPin();

    CAN_PORTS.Can2.can_filter0_init_struct.filter_activate_enable = TRUE;
    CAN_PORTS.Can2.can_filter0_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;
    CAN_PORTS.Can2.can_filter0_init_struct.filter_fifo = CAN_FILTER_FIFO0;
    CAN_PORTS.Can2.can_filter0_init_struct.filter_number = 0;
    CAN_PORTS.Can2.can_filter0_init_struct.filter_bit = CAN_FILTER_32BIT;
    CAN_PORTS.Can2.can_filter0_init_struct.filter_id_high = 0;
    CAN_PORTS.Can2.can_filter0_init_struct.filter_id_low = 0;
    CAN_PORTS.Can2.can_filter0_init_struct.filter_mask_high = 0;
    CAN_PORTS.Can2.can_filter0_init_struct.filter_mask_low = 0;

    CAN_PORTS.Can2.can_filter1_init_struct.filter_activate_enable = TRUE;
    CAN_PORTS.Can2.can_filter1_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;
    CAN_PORTS.Can2.can_filter1_init_struct.filter_fifo = CAN_FILTER_FIFO1;
    CAN_PORTS.Can2.can_filter1_init_struct.filter_number = 1;
    CAN_PORTS.Can2.can_filter1_init_struct.filter_bit = CAN_FILTER_32BIT;
    CAN_PORTS.Can2.can_filter1_init_struct.filter_id_high = 0;
    CAN_PORTS.Can2.can_filter1_init_struct.filter_id_low = 0;
    CAN_PORTS.Can2.can_filter1_init_struct.filter_mask_high = 0;
    CAN_PORTS.Can2.can_filter1_init_struct.filter_mask_low = 0;

    CanPort_SetSpeed(CAN2, CAN_BAUD_RATE_500K);
}


void CAN2_SE_IRQHandler(void) {
    __IO uint32_t err_index = 0;
    if (can_flag_get(CAN2, CAN_ETR_FLAG) != RESET) {
        err_index = CAN2->ests & 0x70;
        can_flag_clear(CAN2, CAN_ETR_FLAG);

        if (err_index == 0x00000010) {
//            gpio_bits_set(GPIOB, GPIO_PINS_7);
//            gpio_bits_reset(GPIOB, GPIO_PINS_7);

            can_reset(CAN2);
            CanPort_SetSpeed(CAN2, CAN_PORTS.Can2.canBaudRate);

        }
    }
}

void CanPorts_Init() {
    CAN_PORTS.Can1.reInit = false;
    vCanPort_InitCan1();
    CAN_PORTS.Can1_IO = CanPortFrame_GetIo(&CAN_PORTS.Can1);

    CAN_PORTS.Can2.reInit = false;
    vCanPort_InitCan2();
    CAN_PORTS.Can2_IO = CanPortFrame_GetIo(&CAN_PORTS.Can2);
}