/*
 * CAN.c
 *
 *  Created on: 22.04.2012
 *      Author: Peter
 */

#include <stddef.h>
#include "can.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_rcc.h"
#include "stm32f10x_can.h"
#include "misc.h"


#define CAN_EN_Low			GPIO_ResetBits(GPIOC, GPIO_Pin_5);
#define CAN_EN_High			GPIO_SetBits(GPIOC, GPIO_Pin_5);
#define CAN_STB_Low			GPIO_ResetBits(GPIOC, GPIO_Pin_6);
#define CAN_STB_High		GPIO_SetBits(GPIOC, GPIO_Pin_6);

CAN_DRV_RcvCbk_t rxCbk = NULL;


void CAN_DRV_Init(CAN_DRV_Baudrate_e baudrate)
{
	GPIO_InitTypeDef  		GPIO_InitStructure;
	CAN_InitTypeDef        	CAN_InitStructure;
	CAN_FilterInitTypeDef  	CAN_FilterInitStructure;
	NVIC_InitTypeDef  		NVIC_InitStructure;


	//  INIT Interrupts
	////////////////////////////////
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);

	NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;// Previously: CAN1_RX1_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1;
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init(&NVIC_InitStructure);

//	NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX1_IRQn;
//	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x2;
	NVIC_Init(&NVIC_InitStructure);


	/* Configure CAN1 IOs **********************************************/
	/* GPIOA, GPIOC and AFIO clocks enable */
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOC, ENABLE);

	/* Configure CAN1 RX pin */
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
	GPIO_Init(GPIOA, &GPIO_InitStructure);

	/* Configure CAN1 TX pin */
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);

	/* Configure EN Pin */
	GPIO_WriteBit(GPIOC, GPIO_Pin_5, Bit_SET);
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
	GPIO_Init(GPIOC, &GPIO_InitStructure);

	/* Configure STB# Pin */
	GPIO_WriteBit(GPIOC, GPIO_Pin_6, Bit_SET);
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
	GPIO_Init(GPIOC, &GPIO_InitStructure);

	/* Configure CAN1 ERR# pin */
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
	GPIO_Init(GPIOC, &GPIO_InitStructure);


	/* Remap CAN1 GPIOs (Not required for my project) */
	//GPIO_PinRemapConfig(GPIO_Remap1_CAN1 , ENABLE);

	/* Configure CAN1 and CAN2 **************************************************/
	/* CAN1 and CAN2 Periph clocks enable */
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);


	//  INIT CAN
	////////////////////////////////

	/* CAN1 register init */
	CAN_DeInit(CAN1);

	/* Struct init*/
	CAN_StructInit(&CAN_InitStructure);

	/* CAN1 cell init */
	CAN_InitStructure.CAN_TTCM = DISABLE;
	CAN_InitStructure.CAN_ABOM = DISABLE;
	CAN_InitStructure.CAN_AWUM = DISABLE;
	CAN_InitStructure.CAN_NART = DISABLE;
	CAN_InitStructure.CAN_RFLM = DISABLE;
	CAN_InitStructure.CAN_TXFP = ENABLE;
	CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
	CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
	CAN_InitStructure.CAN_BS1 = CAN_BS1_3tq;
	CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;

	switch (baudrate) {
	case CAN_1000kbaud:
		CAN_InitStructure.CAN_Prescaler =6;
		break;
	case CAN_500kbaud:
		CAN_InitStructure.CAN_Prescaler =12;
		break;
	case CAN_250kbaud:
		CAN_InitStructure.CAN_Prescaler =24;
		break;
	case CAN_125kbaud:
		CAN_InitStructure.CAN_Prescaler =48;
		break;
	}
	/*Initializes the CAN1 */
	CAN_Init(CAN1, &CAN_InitStructure);

	/* CAN1 filter init */
	CAN_FilterInitStructure.CAN_FilterNumber = 1;
	CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
	CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
	CAN_FilterInitStructure.CAN_FilterIdHigh = 0x6420;
	CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
	CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
	CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
	CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
	CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
	CAN_FilterInit(&CAN_FilterInitStructure);

	/* CAN FIFO0 message pending interrupt enable */
	CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);

	/* Enable the transceiver */
	CAN_EN_High;
	CAN_STB_High;
}

void CAN_DRV_Transmit(CAN_DRV_Message_t *msg)
{
	int i;
	CanTxMsg txMessage;

	/* Copy message content */
	txMessage.DLC = msg->dlc;
	txMessage.StdId = msg->id;
	txMessage.IDE = CAN_ID_STD;
	txMessage.RTR = CAN_RTR_DATA;
	txMessage.ExtId = 0x01;
	for (i = 0; i < msg->dlc; i++) {
		txMessage.Data[i] = msg->data[i];
	}

	/* Transmit the message */
	CAN_Transmit(CAN1, &txMessage);
}

void CAN_DRV_RegisterRxCbk(CAN_DRV_RcvCbk_t cbk)
{
	rxCbk = cbk;
}

CAN_DRV_RcvCbk_t CAN_DRV_GetRxCbk( )
{
	return rxCbk;
}