/*
 * can.c
 *
 *  Created on: Jun 12, 2025
 *      Author: janek
 */

#include "can.h"

rx_acc acc_status = {};
extern int ts_on;
extern int ams_last_tick;
extern int r2d_progress;
dash_tx_t dash_tx;

void can_init(CAN_HandleTypeDef* hcan){
  	ftcan_init(hcan);
  	ftcan_add_filter(0x00, 0x00);			// no filter
}

void can_send(){
	uint8_t data[1];
	data[0] = dash_tx.dash_send;
	ftcan_transmit(CAN_ID_TX, data, 1);
}

void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t* data){
	if(id == CAN_ID_RX_AMS){
		ams_last_tick = HAL_GetTick();
		acc_status.ams_status.ams_rx = data[0];
		acc_status.led_status.ams_led = data[7];
	}
	if(id == CAN_ID_RX_R2D){
		r2d_progress = data[1] & 0x0F;
	}
}