/*******************************************************************************
  * @file                   can.c
  * @author:                MQjehovah                 mail:MQjehovah@hotmail.com
  * @version                1.0.0
  * @date                   2020.10.23
  * @brief                  
  ******************************************************************************
  * @attention
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "adc.h"
/* Definition ----------------------------------------------------------------*/
extern short int Cur_ADC;
extern short int Temp_ADC;
/* Functions -----------------------------------------------------------------*/
/*******************************************************************************
  * @brief  CAN1初始化            
  * @param  None              
  * @retval None              
  * @note   None              
*******************************************************************************/
void CAN1_Config(u16 bound)
{
    u8 brp = 3000 / bound;

    GPIO_InitTypeDef GPIO_InitStructure;
    CAN_InitTypeDef CAN_InitStructure;
    CAN_FilterInitTypeDef CAN_FilterInitStructure;

    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);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
    //CAN单元设置
    CAN_InitStructure.CAN_TTCM = DISABLE;         //ENABLE:时间触发通信模式          DISABLE:非时间触发通信模式
    CAN_InitStructure.CAN_ABOM = ENABLE;          //软件自动离线管理
    CAN_InitStructure.CAN_AWUM = DISABLE;         //ENABLE:监测到can消息退出休眠模式 DISABLE:清除CAN->MCR的SLEEP位退出休眠模式
    CAN_InitStructure.CAN_NART = DISABLE;         //ENABLE:无论发送成功与否只法一次  DISABLE:发送不成功一直重发
    CAN_InitStructure.CAN_RFLM = DISABLE;         //ENABLE:FIFO溢出后丢弃后面的报文  DISABLE:溢出后新的覆盖旧的
    CAN_InitStructure.CAN_TXFP = ENABLE;          //ENABLE:优先级由请求顺序决定      DISABLE:优先级由报文标识符决定
    CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; //模式设置
    CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;      //重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq~CAN_SJW_4tq
    CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;      //Tbs1范围CAN_BS1_1tq ~ CAN_BS1_16tq
    CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq;      //Tbs2范围CAN_BS2_1tq ~	CAN_BS2_8tq
    CAN_InitStructure.CAN_Prescaler = brp;        //分频系数(Fdiv)为brp+1
    CAN_Init(CAN1, &CAN_InitStructure);           //初始化CAN1

    //配置过滤器
    CAN_FilterInitStructure.CAN_FilterNumber = 0;                    //过滤器0
    CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;  //标识符屏蔽位模式
    CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; //过滤器位宽32位
    CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;               //32位ID
    CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000; //32位MASK
    CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0; //过滤器0关联到FIFO0
    CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;               //激活过滤器0
    CAN_FilterInit(&CAN_FilterInitStructure);                            //滤波器初始化

    //	Motor_Cmd(Addr_Left,DISABLE);
    //	Motor_Cmd(Addr_Right,DISABLE);
    //	delay_ms(20);//CAN命令包发送完成
    CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); //FIFO0消息挂号中断允许.
}

/*******************************************************************************
  * @brief  CAN1中断
  * @param  None              
  * @retval None              
  * @note   速度模式s顺时针n逆时针   定位模式S顺时针N逆时针              
*******************************************************************************/
CanRxMsg BLcanbuf;
FlagStatus BL_Deal_Flag = RESET;
void USB_LP_CAN1_RX0_IRQHandler(void)
{
    CanRxMsg RxMessagebuf;
    CAN_Receive(CAN1, CAN_FIFO0, &RxMessagebuf);
    // CanRx_TimeOut_Cnt = 3000; //500ms

    if (RxMessagebuf.StdId == 0x7df)
    {
        // if ((RxMessagebuf.Data[0] == 'S') || (RxMessagebuf.Data[0] == 'P') || (RxMessagebuf.Data[0] == 'X') || (RxMessagebuf.Data[0] == 'D'))
        // {
        //     Com_No_T1 = RxMessagebuf.Data[7];
        //     if (Com_No_T1 != Com_No_OLD_T1)
        //     {
        //         if (RecDone_T1 == RESET)
        //             RecDone_T1 = SET;
        //         else
        //             return;
        //         memcpy(&uComRx_T1, RxMessagebuf.Data, 8);
        //         Com_No_OLD_T1 = Com_No_T1;
        //     }
        //     else
        //     {
        //         if (Say_Hello_T1 == 0)
        //             Say_Hello_T1 = 1;
        //         else
        //             return;
        //         uComTx_T1.mode = RxMessagebuf.Data[0];
        //     }
        // }
    }
}

int CanTx_TimeOut_Cnt = 0;
/**********************************************************************
* Description    : None
* Input          : None
* Output         : None
* Return         : None
* Attention      : None
**********************************************************************/
u8 can_send_message(u8 index, u32 id, u8 dlc, u8 *data)
{
    u8 mbox;
    CanTxMsg TxMessage;
    TxMessage.StdId = id; // 标准标识符
    TxMessage.ExtId = id; // 设置扩展标示符
    TxMessage.IDE = 0;    // 标准帧
    TxMessage.RTR = 0;    // 数据帧
    TxMessage.DLC = dlc;  // 要发送的数据长度
    CanTx_TimeOut_Cnt = 50; //25ms
    memcpy(TxMessage.Data, data, 8);
    do
    {
        mbox = CAN_Transmit(CAN1, &TxMessage);
    } while ((mbox == CAN_TxStatus_NoMailBox) && (CanTx_TimeOut_Cnt != 0));

    while ((CAN_TransmitStatus(CAN1, mbox) != CAN_TxStatus_Ok) && (CanTx_TimeOut_Cnt != 0))
        ;
    CanTx_TimeOut_Cnt = 0;
    return 1;
}
/*********************************END OF FILE**********************************/