/*
 * can_communication.c
 *
 *  Created on: Mar 12, 2025
 *      Author: janek
 */

#include "can_communication.h"
#include "channel_control.h"
//#include "current_monitoring.h"

rx_status_frame rxstate = {};
volatile uint8_t canmsg_received = 0;
extern enable_gpios update_ports;


extern uint32_t lastheartbeat;
extern int inhibit_SDC;

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

void can_sendloop(){
	//static uint8_t additionaltxcounter = 0;

	uint8_t status_data[3];
	status_data[0] = update_ports.porta.porta;
	status_data[1] = update_ports.portb.portb;
	status_data[2] = !inhibit_SDC;
	ftcan_transmit(TX_STATUS_MSG_ID, status_data, 3);
	// TODO: implement transmission of current and voltage measurements
}

void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t* data){
	canmsg_received = 1;
	if((id == RX_STATUS_MSG_ID) && (datalen == 3)){
		rxstate.iostatus.porta.porta	= data[0];
		rxstate.iostatus.portb.portb	= data[1];
		rxstate.checksum				= data[2];
	}

	if (id == RX_STATUS_HEARTBEAT){
		lastheartbeat = HAL_GetTick();
		inhibit_SDC = 0;
	}
}