/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2024 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <canhalal.h>
#include <Converter.h>
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan;

SPI_HandleTypeDef hspi1;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
static void MX_SPI1_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void) {
    /* USER CODE BEGIN 1 */

    /* USER CODE END 1 */

    /* MCU Configuration--------------------------------------------------------*/

    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    HAL_Init();

    /* USER CODE BEGIN Init */

    /* USER CODE END Init */

    /* Configure the system clock */
    SystemClock_Config();

    /* USER CODE BEGIN SysInit */

    /* USER CODE END SysInit */

    /* Initialize all configured peripherals */
    MX_GPIO_Init();
    MX_CAN_Init();
    MX_SPI1_Init();
    /* USER CODE BEGIN 2 */

    CAN_FilterTypeDef canfilterconfig;
    canfilterconfig.FilterActivation = ENABLE;
    canfilterconfig.FilterBank = 1;  // which filter bank to use from the assigned ones
    canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
    canfilterconfig.FilterIdHigh = 0x0000;
    canfilterconfig.FilterIdLow = 0x0000;
    canfilterconfig.FilterMaskIdHigh = 0x0000;
    canfilterconfig.FilterMaskIdLow = 0x0000;
    canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
    canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
    canfilterconfig.SlaveStartFilterBank = 20;  // how many filters to assign to the CAN1 (master can)
    HAL_CAN_ConfigFilter(&hcan, &canfilterconfig);
    ftcan_init(&hcan);
    // ftcan_add_filter(&hcan, 0x10, 0x0000);

    /* USER CODE END 2 */

    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    while (1) {
        spi2can(&hspi1, &hcan);
        HAL_Delay(100);
        /* USER CODE END WHILE */

        /* USER CODE BEGIN 3 */
    }
    /* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void) {
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

    /** Initializes the RCC Oscillators according to the specified parameters
     * in the RCC_OscInitTypeDef structure.
     */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
        Error_Handler();
    }

    /** Initializes the CPU, AHB and APB buses clocks
     */
    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSE;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
        Error_Handler();
    }
}

/**
 * @brief CAN Initialization Function
 * @param None
 * @retval None
 */
static void MX_CAN_Init(void) {
    /* USER CODE BEGIN CAN_Init 0 */

    /* USER CODE END CAN_Init 0 */

    /* USER CODE BEGIN CAN_Init 1 */

    /* USER CODE END CAN_Init 1 */
    hcan.Instance = CAN;
    hcan.Init.Prescaler = 2;
    hcan.Init.Mode = CAN_MODE_NORMAL;
    hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
    hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
    hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
    hcan.Init.TimeTriggeredMode = DISABLE;
    hcan.Init.AutoBusOff = DISABLE;
    hcan.Init.AutoWakeUp = DISABLE;
    hcan.Init.AutoRetransmission = DISABLE;
    hcan.Init.ReceiveFifoLocked = DISABLE;
    hcan.Init.TransmitFifoPriority = DISABLE;
    if (HAL_CAN_Init(&hcan) != HAL_OK) {
        Error_Handler();
    }
    /* USER CODE BEGIN CAN_Init 2 */

    /* USER CODE END CAN_Init 2 */
}

/**
 * @brief SPI1 Initialization Function
 * @param None
 * @retval None
 */
static void MX_SPI1_Init(void) {
    /* USER CODE BEGIN SPI1_Init 0 */

    /* USER CODE END SPI1_Init 0 */

    /* USER CODE BEGIN SPI1_Init 1 */

    /* USER CODE END SPI1_Init 1 */
    /* SPI1 parameter configuration*/
    hspi1.Instance = SPI1;
    hspi1.Init.Mode = SPI_MODE_MASTER;
    hspi1.Init.Direction = SPI_DIRECTION_2LINES;
    hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
    hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
    hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
    hspi1.Init.NSS = SPI_NSS_SOFT;
    hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
    hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
    hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
    hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
    hspi1.Init.CRCPolynomial = 7;
    hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
    hspi1.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
    if (HAL_SPI_Init(&hspi1) != HAL_OK) {
        Error_Handler();
    }
    /* USER CODE BEGIN SPI1_Init 2 */

    /* USER CODE END SPI1_Init 2 */
}

/**
 * @brief GPIO Initialization Function
 * @param None
 * @retval None
 */
static void MX_GPIO_Init(void) {
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    /* USER CODE BEGIN MX_GPIO_Init_1 */
    /* USER CODE END MX_GPIO_Init_1 */

    /* GPIO Ports Clock Enable */
    __HAL_RCC_GPIOF_CLK_ENABLE();
    __HAL_RCC_GPIOA_CLK_ENABLE();

    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(GPIOA, SPI1_CS_Pin | NRST_VN_Pin, GPIO_PIN_SET);

    /*Configure GPIO pins : SPI1_CS_Pin NRST_VN_Pin */
    GPIO_InitStruct.Pin = SPI1_CS_Pin | NRST_VN_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_PULLUP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    /* USER CODE BEGIN MX_GPIO_Init_2 */
    /* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

CAN_RxHeaderTypeDef RxHeader;

uint8_t RxData[8];
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
    if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK) {
        Error_Handler();
    }
}

void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) {
    if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK) {
        Error_Handler();
    }
}
/* USER CODE END 4 */

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void) {
    /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    __disable_irq();
    while (1) {
    }
    /* USER CODE END Error_Handler_Debug */
}

#ifdef USE_FULL_ASSERT
/**
 * @brief  Reports the name of the source file and the source line number
 *         where the assert_param error has occurred.
 * @param  file: pointer to the source file name
 * @param  line: assert_param error line source number
 * @retval None
 */
void assert_failed(uint8_t *file, uint32_t line) {
    /* USER CODE BEGIN 6 */
    /* User can add his own implementation to report the file name and line number,
       ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
    /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */