/* ###################################################################
 **     Filename    : main.c
 **     Processor   : S32K1xx
 **     Abstract    :
 **         Main module.
 **         This module contains user's application code.
 **     Settings    :
 **     Contents    :
 **         No public methods
 **
 ** ###################################################################*/
/*!
 ** @file main.c
 ** @version 01.00
 ** @brief
 **         Main module.
 **         This module contains user's application code.
 */
/*!
 **  @addtogroup main_module main module documentation
 **  @{
 */
/* MODULE main */


/* Including necessary module. Cpu.h contains other modules needed for compiling.*/
#include "Cpu.h"
#include "pin_mux.h"
#include "flexTimer_pwm1.h"
#include "clockMan1.h"


volatile int exit_code = 0U;
/* User includes (#include below this line is not maintained by Processor Expert) */

#include <stdint.h>
#include <stdbool.h>



#define TX_MAILBOX  (1UL)
#define TX_MSG_ID   (0x123)
#define RX_MAILBOX  (0UL)
#define RX_MSG_ID   (0x111)

#define SPEED_CHANGE_REQUESTED (01)



/*
 * @brief : Initialize clocks, pins and power modes
 */
void BoardInit(void)
{

	/* Initialize and configure clocks
	 *  -   Setup system clocks, dividers
	 *  -   Configure FlexCAN clock, GPIO
	 *  -   see clock manager component for more details
	 */
	CLOCK_SYS_Init(g_clockManConfigsArr, CLOCK_MANAGER_CONFIG_CNT,
			g_clockManCallbacksArr, CLOCK_MANAGER_CALLBACK_CNT);
	CLOCK_SYS_UpdateConfiguration(0U, CLOCK_MANAGER_POLICY_FORCIBLE);

	/* Initialize pins
	 *  -   Init FlexCAN and GPIO pins
	 *  -   See PinSettings component for more info
	 */
	PINS_DRV_Init(NUM_OF_CONFIGURED_PINS, g_pin_mux_InitConfigArr);
}
void SendCANData(uint32_t mailbox, uint32_t messageId, uint8_t * data, uint32_t len)
{
	/* Set information about the data to be sent
	 *  - 1 byte in length
	 *  - Standard message ID
	 *  - Bit rate switch enabled to use a different bitrate for the data segment
	 *  - Flexible data rate enabled
	 *  - Use zeros for FD padding
	 */
	flexcan_data_info_t dataInfo =
	{
			.data_length = len,
			.msg_id_type = FLEXCAN_MSG_ID_STD,
			.enable_brs  = true,
			.fd_enable   = false,
			.fd_padding  = 0U
	};

	/* Configure TX message buffer with index TX_MSG_ID and TX_MAILBOX*/
	FLEXCAN_DRV_ConfigTxMb(INST_CANCOM1, mailbox, &dataInfo, messageId);

	/* Execute send non-blocking */
	FLEXCAN_DRV_Send(INST_CANCOM1, mailbox, &dataInfo, messageId, data);
}

/*
 * @brief Initialize FlexCAN driver and configure the bit rate
 */
void FlexCANInit(void)
{
	/*
	 * Initialize FlexCAN driver
	 *  - 8 byte payload size
	 *  - FD enabled
	 *  - Bus clock as peripheral engine clock
	 */
	FLEXCAN_DRV_Init(INST_CANCOM1, &canCom1_State, &canCom1_InitConfig0);
}


/***********************************
 * @brief: Wait for a number of cycles
 * @param nbOfCycles is number of cycles to be waited for
 ***********************************/
void delayCycles(volatile uint32_t cycles)
{
	while (cycles--)
	{
	}
}


/* User includes (#include below this line is not maintained by Processor Expert) */

/*! 
  \brief The main function for the project.
  \details The startup initialization sequence is the following:
 * - startup asm routine
 * - main()
 */
int main(void)
{
	/* Write your local variable definition here */
	/* Variables used to store PWM duty cycle */
	ftm_state_t ftmStateStruct;
	uint16_t dutyCycle = 0xFFFU;
	bool increaseDutyCycle = false;

	/*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/
#ifdef PEX_RTOS_INIT
	PEX_RTOS_INIT();                   /* Initialization of the selected RTOS. Macro is defined by the RTOS component. */
#endif
	/*** End of Processor Expert internal initialization.                    ***/

	/* Write your code here */
	/* Do the initializations required for this application */
	BoardInit();
	FlexCANInit();
	//    /* Initialize and configure clocks
	//         *  -   see clock manager component for details
	//         */
	        CLOCK_SYS_Init(g_clockManConfigsArr, CLOCK_MANAGER_CONFIG_CNT,
	                       g_clockManCallbacksArr, CLOCK_MANAGER_CALLBACK_CNT);
	        CLOCK_SYS_UpdateConfiguration(0U, CLOCK_MANAGER_POLICY_AGREEMENT);
	//
	//        /* Initialize pins
	//         *  -   See PinSettings component for more info
	//         */
	        PINS_DRV_Init(NUM_OF_CONFIGURED_PINS, g_pin_mux_InitConfigArr);

	/* Initialize FTM PWM channel 0 PTE21
	 *  -   See ftm component for more info
	 */
	FTM_DRV_Init(INST_FLEXTIMER_PWM1, &flexTimer_pwm1_InitConfig, &ftmStateStruct);
	/* Initialize FTM PWM channel */
	FTM_DRV_InitPwm(INST_FLEXTIMER_PWM1, &flexTimer_pwm1_PwmConfig);
	/* Infinite loop
	 *  -   increment or decrement duty cycle
	 *  -   Update channel duty cycle
	 *  -   Wait for a number of cycles to make
	 *      the change visible
	 */



	/* Set information about the data to be received
	 *  - 1 byte in length
	 *  - Standard message ID
	 *  - Bit rate switch enabled to use a different bitrate for the data segment
	 *  - Flexible data rate enabled
	 *  - Use zeros for FD padding
	 */
	flexcan_data_info_t dataInfo =
	{
			.data_length = 8U,
			.msg_id_type = FLEXCAN_MSG_ID_STD,
			.enable_brs  = true,
			.fd_enable   = true,
			.fd_padding  = 0U
	};

	/* Configure RX message buffer with index RX_MSG_ID and RX_MAILBOX */
	FLEXCAN_DRV_ConfigRxMb(INST_CANCOM1, RX_MAILBOX, &dataInfo, RX_MSG_ID);
	 uint8_t MCU_DATA[8] = {1,2,3,4,5,6,7,8};
	//void SendCANData(uint32_t mailbox, uint32_t messageId, uint8_t * data, uint32_t len)
	while (1)
	{

		//SendCANData(TX_MAILBOX,TX_MSG_ID,MCU_DATA,8);

		//delayCycles(20000);

		/* Define receive buffer */
		flexcan_msgbuff_t recvBuff;
//
//		/* Start receiving data in RX_MAILBOX. */
		FLEXCAN_DRV_Receive(INST_CANCOM1, RX_MAILBOX, &recvBuff);
//
//		/* Wait until the previous FlexCAN receive is completed */
		while(FLEXCAN_DRV_GetTransferStatus(INST_CANCOM1, RX_MAILBOX) == STATUS_BUSY);
//		/* Check the received message ID and payload */
		if((recvBuff.data[0] == 0x01) &&
				recvBuff.msgId == RX_MSG_ID)
		{
			int a = 0;
		}
	}


	/* For example: for(;;) { } */

	/*** Don't write any code pass this line, or it will be deleted during code generation. ***/
  /*** RTOS startup code. Macro PEX_RTOS_START is defined by the RTOS component. DON'T MODIFY THIS CODE!!! ***/
  #ifdef PEX_RTOS_START
    PEX_RTOS_START();                  /* Startup of the selected RTOS. Macro is defined by the RTOS component. */
  #endif
  /*** End of RTOS startup code.  ***/
  /*** Processor Expert end of main routine. DON'T MODIFY THIS CODE!!! ***/
  for(;;) {
    if(exit_code != 0) {
      break;
    }
  }
  return exit_code;
  /*** Processor Expert end of main routine. DON'T WRITE CODE BELOW!!! ***/
} /*** End of main routine. DO NOT MODIFY THIS TEXT!!! ***/

/* END main */
/*!
 ** @}
 */
/*
 ** ###################################################################
 **
 **     This file was created by Processor Expert 10.1 [05.21]
 **     for the NXP S32K series of microcontrollers.
 **
 ** ###################################################################
 */