/*
 * can_drive.c
 *
 *  Created on: 2023年1月5日
 *      Author: Administrator
 */
#include <interface_can.h>


/*********************************************************************
 * @fn      CAN1_Mode_Init
 *
 * @brief   Initializes CAN communication test mode.
 *          Bps =Fpclk1/((tpb1+1+tbs2+1+1)*brp)
 *
 * @param   tsjw - CAN synchronisation jump width.
 *          tbs2 - CAN time quantum in bit segment 1.
 *          tbs1 - CAN time quantum in bit segment 2.
 *          brp - Specifies the length of a time quantum.
 *          mode - Test mode.
 *            CAN_Mode_Normal.
 *            CAN_Mode_LoopBack.
 *            CAN_Mode_Silent.
 *            CAN_Mode_Silent_LoopBack.
 *
 * @return  none
 */
void CAN1_Mode_Init( u8 tsjw, u8 tbs2, u8 tbs1, u16 brp, u8 mode )
{
    GPIO_InitTypeDef GPIO_InitSturcture={0};
    CAN_InitTypeDef CAN_InitSturcture={0};
    CAN_FilterInitTypeDef CAN_FilterInitSturcture={0};
    NVIC_InitTypeDef       NVIC_InitStructure={0};

//CAN1
    RCC_APB2PeriphClockCmd( RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOD, ENABLE );
    RCC_APB1PeriphClockCmd( RCC_APB1Periph_CAN1, ENABLE );

    GPIO_PinRemapConfig( GPIO_Remap2_CAN1, ENABLE);

    GPIO_InitSturcture.GPIO_Pin = GPIO_Pin_1;
    GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitSturcture.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init( GPIOD, &GPIO_InitSturcture);

    GPIO_InitSturcture.GPIO_Pin = GPIO_Pin_0;
    GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init( GPIOD, &GPIO_InitSturcture);

    CAN_InitSturcture.CAN_TTCM = DISABLE;
    CAN_InitSturcture.CAN_ABOM = ENABLE;
    CAN_InitSturcture.CAN_AWUM = DISABLE;
    CAN_InitSturcture.CAN_NART = ENABLE;
    CAN_InitSturcture.CAN_RFLM = DISABLE;
    CAN_InitSturcture.CAN_TXFP = DISABLE;
    CAN_InitSturcture.CAN_Mode = mode;
    CAN_InitSturcture.CAN_SJW = tsjw;
    CAN_InitSturcture.CAN_BS1 = tbs1;
    CAN_InitSturcture.CAN_BS2 = tbs2;
    CAN_InitSturcture.CAN_Prescaler = brp;
    CAN_Init( CAN1, &CAN_InitSturcture );

    CAN_FilterInitSturcture.CAN_FilterNumber = 0;
    CAN_FilterInitSturcture.CAN_FilterMode = CAN_FilterMode_IdMask;
    CAN_FilterInitSturcture.CAN_FilterScale = CAN_FilterScale_32bit;
    CAN_FilterInitSturcture.CAN_FilterIdHigh = (uint16_t)((((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_ExtIDShift)|0x04)>>16);//(uint16_t)(((0x10000001<<3)|0x04)>>16);//应该是
    CAN_FilterInitSturcture.CAN_FilterIdLow = (uint16_t)(((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_ExtIDShift)|0x04);//(uint16_t)(((0x10000001<<3)|0x04));//
    CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = (uint16_t)((((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_ExtIDShift)|0x0E) >> 16);
    CAN_FilterInitSturcture.CAN_FilterMaskIdLow = (uint16_t)(((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_ExtIDShift)|0x0E);
    CAN_FilterInitSturcture.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
    CAN_FilterInitSturcture.CAN_FilterActivation = ENABLE;
    CAN_FilterInit( &CAN_FilterInitSturcture );


    CAN_FilterInitSturcture.CAN_FilterNumber = 1;
    CAN_FilterInitSturcture.CAN_FilterMode = CAN_FilterMode_IdMask;
    CAN_FilterInitSturcture.CAN_FilterScale = CAN_FilterScale_32bit;
    CAN_FilterInitSturcture.CAN_FilterIdHigh = (uint16_t)((((DF_CanIDbattery1|DF_CanIDbattery2)<<DF_StaIDShift))>>16);//(uint16_t)(((0x10000001<<3)|0x04)>>16);//应该是
    CAN_FilterInitSturcture.CAN_FilterIdLow = (uint16_t)(((DF_CanIDbattery1|DF_CanIDbattery2)<<DF_StaIDShift));//(uint16_t)(((0x10000001<<3)|0x04));//
    CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = (uint16_t)((((~(DF_CanIDbattery1^DF_CanIDbattery2))<<DF_StaIDShift)|0x0E) >> 16);
    CAN_FilterInitSturcture.CAN_FilterMaskIdLow = (uint16_t)(((~(DF_CanIDbattery1^DF_CanIDbattery2))<<DF_StaIDShift)|0x0E);
    CAN_FilterInitSturcture.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
    CAN_FilterInitSturcture.CAN_FilterActivation = ENABLE;
    CAN_FilterInit( &CAN_FilterInitSturcture );


    CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);                 //FIFO0消息挂号中断允许.

    NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
}

/*********************************************************************
 * @fn      CAN2_Mode_Init
 *
 * @brief   Initializes CAN communication test mode.
 *          Bps =Fpclk1/((tpb1+1+tbs2+1+1)*brp)
 *
 * @param   tsjw - CAN synchronisation jump width.
 *          tbs2 - CAN time quantum in bit segment 1.
 *          tbs1 - CAN time quantum in bit segment 2.
 *          brp - Specifies the length of a time quantum.
 *          mode - Test mode.
 *            CAN_Mode_Normal.
 *            CAN_Mode_LoopBack.
 *            CAN_Mode_Silent.
 *            CAN_Mode_Silent_LoopBack.
 *
 * @return  none
 */
void CAN2_Mode_Init( u8 tsjw, u8 tbs2, u8 tbs1, u16 brp, u8 mode )
{
    GPIO_InitTypeDef GPIO_InitSturcture={0};
    CAN_InitTypeDef CAN_InitSturcture={0};
    CAN_FilterInitTypeDef CAN_FilterInitSturcture={0};
    NVIC_InitTypeDef       NVIC_InitStructure={0};
//CAN2
    RCC_APB2PeriphClockCmd( RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB, ENABLE );
    RCC_APB1PeriphClockCmd( RCC_APB1Periph_CAN2, ENABLE );

    GPIO_PinRemapConfig( GPIO_Remap_CAN2, ENABLE);

    GPIO_InitSturcture.GPIO_Pin = GPIO_Pin_6;
    GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitSturcture.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init( GPIOB, &GPIO_InitSturcture);

    GPIO_InitSturcture.GPIO_Pin = GPIO_Pin_5;
    GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init( GPIOB, &GPIO_InitSturcture);

    CAN_InitSturcture.CAN_TTCM = DISABLE;
    CAN_InitSturcture.CAN_ABOM = ENABLE;
    CAN_InitSturcture.CAN_AWUM = DISABLE;
    CAN_InitSturcture.CAN_NART = ENABLE;
    CAN_InitSturcture.CAN_RFLM = DISABLE;
    CAN_InitSturcture.CAN_TXFP = DISABLE;
    CAN_InitSturcture.CAN_Mode = mode;
    CAN_InitSturcture.CAN_SJW = tsjw;
    CAN_InitSturcture.CAN_BS1 = tbs1;
    CAN_InitSturcture.CAN_BS2 = tbs2;
    CAN_InitSturcture.CAN_Prescaler = brp;
    CAN_Init( CAN2, &CAN_InitSturcture );


    CAN_SlaveStartBank(7);//CAN2的开始滤波组
    CAN_FilterInitSturcture.CAN_FilterNumber = 7;

    CAN_FilterInitSturcture.CAN_FilterMode = CAN_FilterMode_IdMask;
    CAN_FilterInitSturcture.CAN_FilterScale = CAN_FilterScale_32bit;
    CAN_FilterInitSturcture.CAN_FilterIdHigh = (uint16_t)((((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_ExtIDShift)|0x04)>>16);//(uint16_t)(((0x10000001<<3)|0x04)>>16);//应该是
    CAN_FilterInitSturcture.CAN_FilterIdLow = (uint16_t)(((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_ExtIDShift)|0x04);//(uint16_t)(((0x10000001<<3)|0x04));//
    CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = (uint16_t)((((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_ExtIDShift)|0x0E) >> 16);
    CAN_FilterInitSturcture.CAN_FilterMaskIdLow = (uint16_t)(((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_ExtIDShift)|0x0E);

    CAN_FilterInitSturcture.CAN_FilterFIFOAssignment = CAN_Filter_FIFO1;
    CAN_FilterInitSturcture.CAN_FilterActivation = ENABLE;
    CAN_FilterInit( &CAN_FilterInitSturcture );

    CAN_ITConfig(CAN2,CAN_IT_FMP1,ENABLE);                 //FIFO1消息挂号中断允许.

    NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX1_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
}
/*********************************************************************
 * @fn      CAN_Send_Msg
 *
 * @brief   CAN Transmit function.
 *
 * @param   CANx- CAN1 or CAN2
 *          ID  - Message ID
 *          IDE - CAN_Id_Standard or CAN_Id_Extended
 *          RTR - CAN_RTR_Data or CAN_RTR_Remote
 *          msg - Transmit data buffer.
 *          len - Data length.
 *
 * @return  0 - Send successful.
 *          1 - Send failed.
 */
u8 CAN_Send_Msg( CAN_TypeDef *CANx, u32 ID, u8 ide, u8 rtr, u8 *msg, u8 len)
{
    u8 mbox;
    u16 i = 0;

    CanTxMsg CanTxStructure;

    if(CAN_Id_Standard == ide)//根据ID类型选择赋值
    {
        CanTxStructure.StdId = ID;
    }
    else if (CAN_Id_Extended == ide)
    {
        CanTxStructure.ExtId = ID;
    }
    else {}

    CanTxStructure.IDE = ide;
    CanTxStructure.RTR = rtr;
    CanTxStructure.DLC = len;

    for( i=0; i<len; i++ )
    {
        CanTxStructure.Data[i] = msg[i];
    }

    mbox = CAN_Transmit( CANx, &CanTxStructure);
    i = 0;

    while( ( CAN_TransmitStatus( CANx, mbox ) != CAN_TxStatus_Ok ) && (i < 0xFFF) )
    {
        i++;
    }

    if( i == 0xFFF )
    {
        return 1;
    }
    else
    {
        return 0;
    }
}

/*********************************************************************
 * @fn      CAN_Receive_Msg
 *
 * @brief   CAN Receive function.
 *
 * @param   buf - Receive data buffer.
 *          len - Data length.
 *
 * @return  CanRxStructure.DLC - Receive data length.
 */
u8 CAN_Receive_Msg(CAN_TypeDef *CANx, uint8_t FIFONumber, u8 *buf )
{
    u8 i;

    CanRxMsg CanRxStructure;

    if( CAN_MessagePending( CANx, FIFONumber ) == 0)
    {
        return 0;
    }

    CAN_Receive( CANx, FIFONumber, &CanRxStructure );

    for( i=0; i<8; i++ )
    {
        buf[i] = CanRxStructure.Data[i];
    }

    return CanRxStructure.DLC;
}