#include "FT_CAN_AL.h"

#ifdef FTCAN_IS_BXCAN
static CAN_HandleTypeDef *hcan;

HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle) {
  hcan = handle;

  HAL_StatusTypeDef status =
      HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
  if (status != HAL_OK) {
    return status;
  }

  return HAL_CAN_Start(hcan);
}

HAL_StatusTypeDef ftcan_transmit(uint8_t id, const uint8_t *data,
                                 size_t datalen) {
  static CAN_TxHeaderTypeDef header;
  header.StdId = id;
  header.IDE = CAN_ID_STD;
  header.RTR = CAN_RTR_DATA;
  header.DLC = datalen;
  uint32_t mailbox;
  return HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
}

HAL_StatusTypeDef ftcan_add_filter(uint8_t id, uint8_t mask) {
  static uint32_t next_filter_no = 0;
  static CAN_FilterTypeDef filter;
  if (next_filter_no % 2 == 0) {
    filter.FilterIdHigh = id;
    filter.FilterMaskIdHigh = mask;
    filter.FilterIdLow = 0;
    filter.FilterMaskIdLow = 0xFFFF;
  } else {
    // Leave high filter untouched from the last configuration
    filter.FilterIdLow = id;
    filter.FilterMaskIdLow = mask;
  }
  filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
  filter.FilterBank = next_filter_no / 2;
  if (filter.FilterBank > FTCAN_MAX_FILTER_NO) {
    return HAL_ERROR;
  }
  filter.FilterMode = CAN_FILTERMODE_IDMASK;
  filter.FilterScale = CAN_FILTERSCALE_16BIT;
  filter.FilterActivation = CAN_FILTER_ENABLE;

  // Disable slave filters
  // TODO: Some STM32 have multiple CAN peripherals, and one uses the slave
  // filter bank
  filter.SlaveStartFilterBank = FTCAN_MAX_FILTER_NO + 1;

  return HAL_CAN_ConfigFilter(hcan, &filter);
}

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *handle) {
  if (handle != hcan) {
    return;
  }
  CAN_RxHeaderTypeDef header;
  uint8_t data[8];
  if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &header, data) != HAL_OK) {
    return;
  }

  if (header.IDE != CAN_ID_STD) {
    return;
  }

  ftcan_msg_received_cb(header.StdId, header.DLC, data);
}
#endif // CAN_IS_BXCAN

__weak void ftcan_msg_received_cb(uint8_t id, size_t datalen,
                                  const uint8_t *data) {}