#include "bsp_can.h"
#define CAN_TX_PAD_EP                (uint32_t)0xF070
#define CAN_RX_PAD_EP                (uint32_t)0xF070
#define CAN_BAUDRATE                 (uint32_t)500000
#define CAN_CLOCK_DIVIDER            (3U)
#define RX_BUFFER_NUM                (8)
#define TX_BUFFER_NUM                (9)
#define CAN_RX_GLOBAL_MASK           0x30
#define CAN_TX_ID                    0xF3
#define CAN_RX_ID                    0xF3

flexcan_frame_t Rx_Frame;
flexcan_frame_t Tx_Frame;
volatile bool CanRxComplete = false;


void Bsp_CanInit(void)
{
	IOMUXC_SetPinMux(IOMUXC_GPIO_AD_B0_15_FLEXCAN2_RX,0U);	                                //IO功能选择
	IOMUXC_SetPinMux(IOMUXC_GPIO_AD_B0_14_FLEXCAN2_TX,0U); 

  IOMUXC_SetPinConfig(IOMUXC_GPIO_AD_B0_15_FLEXCAN2_RX, CAN_RX_PAD_EP);                   //IO电器属性配置
  IOMUXC_SetPinConfig(IOMUXC_GPIO_AD_B0_14_FLEXCAN2_TX, CAN_TX_PAD_EP);
	
  CLOCK_SetMux(kCLOCK_CanMux, 2U);                                                        //选择时钟源
  CLOCK_SetDiv(kCLOCK_CanDiv, CAN_CLOCK_DIVIDER);                                         //设置时钟分频
	uint32_t CanClk=((CLOCK_GetFreq(kCLOCK_Usb1PllClk)/6)/(CAN_CLOCK_DIVIDER+1));           //获取CAN时钟频率
	
  flexcan_rx_mb_config_t Rx_Mb_Config;                                                    //接收邮箱配置结构体
	flexcan_config_t CanConfig;                                                             //初始化配置结构体
	
  FLEXCAN_GetDefaultConfig(&CanConfig);                                                   //先获取默认值
	CanConfig.baudRate = CAN_BAUDRATE;                                                      //波特率设置
	CanConfig.maxMbNum = 16;                                                                //消息缓冲区数量
	CanConfig.enableLoopBack = false;                                                       //回环模式
	CanConfig.enableSelfWakeup = false;	                                                    //唤醒模式
	CanConfig.enableIndividMask = false;                                                    //单个缓冲区掩码
	CanConfig.disableSelfReception = false;	                                                //自接收
	CanConfig.enableListenOnlyMode = false;                                                 //监听模式
	FLEXCAN_Init(CAN2,&CanConfig,CanClk);                                                   //初始化CAN2

	FLEXCAN_SetRxMbGlobalMask(CAN2,FLEXCAN_RX_MB_STD_MASK(CAN_RX_GLOBAL_MASK,0,0));         //设置全局掩码
  FLEXCAN_EnableMbInterrupts(CAN2,1<<RX_BUFFER_NUM);                                      //使能接收中断
  EnableIRQ(CAN2_IRQn);                                                                   //使能中断

	Rx_Mb_Config.format = kFLEXCAN_FrameFormatStandard;
  Rx_Mb_Config.type = kFLEXCAN_FrameTypeData;
  Rx_Mb_Config.id = FLEXCAN_ID_STD(CAN_RX_ID);
	FLEXCAN_SetRxMbConfig(CAN2,RX_BUFFER_NUM,&Rx_Mb_Config,true);                           //配置接收邮箱

	FLEXCAN_SetTxMbConfig(CAN2,TX_BUFFER_NUM,true);                                         //使能发送邮箱  
}

/**
* @brief  CAN数据发送，默认11位标准ID,数据帧，阻塞发送。
* @param  要发送的ID
* @param  要发送的数据
* @param  数据长度，最多8byte。
* @retval 0成功，1失败。
**/
u8 CanSendMessage(u32 SendID,u8* SendBuff,u8 Length)
{
	Tx_Frame.format = kFLEXCAN_FrameFormatStandard;
	Tx_Frame.type = kFLEXCAN_FrameTypeData;
	Tx_Frame.id = FLEXCAN_ID_STD(SendID);
	Tx_Frame.length = Length;
  Tx_Frame.dataByte0=SendBuff[0];
  Tx_Frame.dataByte1=SendBuff[1];
  Tx_Frame.dataByte2=SendBuff[2];
  Tx_Frame.dataByte3=SendBuff[3];
  Tx_Frame.dataByte4=SendBuff[4];
  Tx_Frame.dataByte5=SendBuff[5];
  Tx_Frame.dataByte6=SendBuff[6];
  Tx_Frame.dataByte7=SendBuff[7];
	if(kStatus_Success != FLEXCAN_TransferSendBlocking(CAN2, TX_BUFFER_NUM, &Tx_Frame))return 1;
	return 0;
}

void CAN2_IRQHandler(void)
{
  if (FLEXCAN_GetMbStatusFlags(CAN2,1<<RX_BUFFER_NUM))
  {
    FLEXCAN_ClearMbStatusFlags(CAN2,1<<RX_BUFFER_NUM);
    FLEXCAN_ReadRxMb(CAN2,RX_BUFFER_NUM,&Rx_Frame);
    CanRxComplete=true;
  }
  __DSB();
}