/*
 * CAN.c
 *
 *  Created on: Jun 14, 2021
 *      Author: Daniel Mårtensson
 */

#include "Functions.h"

static CAN_HandleTypeDef *can_handler;
static J1939 *j1939_handler;
static void Create_CAN_Filter(CAN_HandleTypeDef *hcan);
static void Create_CAN_Interrupt(CAN_HandleTypeDef *hcan);

void STM32_PLC_Start_CAN(CAN_HandleTypeDef *hcan, J1939 *j1939) {
	can_handler = hcan;
	j1939_handler = j1939;
	Create_CAN_Filter(hcan);
	if (HAL_CAN_Start(hcan) != HAL_OK)
		Error_Handler();
	Create_CAN_Interrupt(hcan);
}

HAL_StatusTypeDef STM32_PLC_CAN_Transmit(uint8_t TxData[], CAN_TxHeaderTypeDef *TxHeader) {
	uint32_t TxMailbox;
	return HAL_CAN_AddTxMessage(can_handler, TxHeader, TxData, &TxMailbox);
}

/* Returns true if the message data is new */
void STM32_PLC_CAN_Get_ID_Data(uint32_t* ID, uint8_t data[], bool* is_new_message) {
	CAN_RxHeaderTypeDef RxHeader = {0};
	uint8_t RxData[8] = {0};
	HAL_StatusTypeDef status = HAL_CAN_GetRxMessage(can_handler, CAN_RX_FIFO0, &RxHeader, RxData);
	if (status != HAL_OK)
		Error_Handler();

	/* Check the length of the data */
	if(RxHeader.DLC == 0){
		*is_new_message = false;
		return;
	}

	/* Read ID */
	if(RxHeader.IDE == CAN_ID_STD)
		*ID = RxHeader.StdId;
	else
		*ID = RxHeader.ExtId;

	/* Read data */
	memcpy(data, RxData, 8);

	/* Leave the function by saying that the message is new */
	*is_new_message = true;
}

/* Interrupt handler that read message */
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
	Open_SAE_J1939_Listen_For_Messages(j1939_handler);
}


static void Create_CAN_Interrupt(CAN_HandleTypeDef *hcan) {
	/* Don't forget to check NVIC in CAN -> NVIC Settings -> CAN RX0 interrupt */
	if (HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
			Error_Handler();
}


static void Create_CAN_Filter(CAN_HandleTypeDef *hcan) {
	CAN_FilterTypeDef sFilterConfig;
	sFilterConfig.FilterBank = 0;
	sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
	sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
	sFilterConfig.FilterIdHigh = 0x0000;
	sFilterConfig.FilterIdLow = 0x0000;
	sFilterConfig.FilterMaskIdHigh = 0x0000;
	sFilterConfig.FilterMaskIdLow = 0x0000;
	sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
	sFilterConfig.FilterActivation = ENABLE;
	sFilterConfig.SlaveStartFilterBank = 14;

	if (HAL_CAN_ConfigFilter(hcan, &sFilterConfig) != HAL_OK)
		Error_Handler();
}