#define GLOBALS_API_CAN
#include "../App_Headers/includes.h"


/*-------------------------------------------------------------------------
* Function Name  : Api_CAN_Init
* Description    : CAN初始化
* Input          : None
* Output         : None
* Return         : None
* onther         : 
--------------------------------------------------------------------------*/
void  Api_CAN_Init(void)
{
    INT16U b = null;
    CANCTL0_INITRQ = Enable;                //准备初始化 
    
    while(!CANCTL1_INITAK);                 //等待进入初始化模式
    
    CANCTL1        = CANCTL1_CANE_MASK | CANCTL1_BORM_MASK;  
    CANCTL1_WUPM   = Disable;               //所有显性唤醒
    /*
    SYNC_SEG + (PROP_SEG + PHASE_SEG1) + (PHASE_SEG2)
    1 Tq         4--16  Tq                  2--8  Tq 
    */ 
  
    CANBTR1_TSEG_10 = Seg1_5Tq;    //351page  75%  75<= sp<=83
    CANBTR1_TSEG_20 = Seg2_2Tq;
    CANBTR0_SJW     = SJW_1Tq;     //重新同步        
    CANBTR1_SAMP    = SAMP_1;
    CANBTR0_BRP     = 0x01;     //0 500K    1 250K
    
             
    CANIDAC_IDAM   = IDAM_2_32Bit;
    CANIDAC_IDHIT  = IDHIT0;                //滤波器 0 有效   
         
    CANIDAR0       = null;                  //
    CANIDAR1       = null;
    CANIDAR2       = null;
    CANIDAR3       = null;
    CANIDAR4       = null;
    CANIDAR5       = null;
    CANIDAR6       = null;
    CANIDAR7       = null;   
     
    CANIDMR0       = 0xFF;
    CANIDMR1       = 0xFF;
    CANIDMR2       = 0xFF;
    CANIDMR3       = 0xFF;
    CANIDMR4       = 0xFF;
    CANIDMR5       = 0xFF;
    CANIDMR6       = 0xFF;
    CANIDMR7       = 0xFF;
    //
    CANTIER = null;     
    CANCTL0_INITRQ = Disable;               //完成初始化
    while(CANCTL1_INITAK);                  //等待确认

    CANRFLG_RXF = ClearFlag;     
    CANRIER_RXFIE = Enable;                 //使能接收中断
    CANTIER_TXEIE = Disable;                //禁止发送中断 
    
    CANCTL0_TIME   = Enable;                //使能时间戳  
    CANCTL0_CSWAI  = WaitRun;               //等待模式下可以运行    
    CANCTL0_WUPE = Enable; 
}

/*-------------------------------------------------------------------------
* Function Name  : GET_STAND_ID
* Description    : 提取标准ID
* Input          : IDR0_Add          -> 对应的IDR0的地址
* Output         : None
* Return         : dwPGN
* onther         : 
--------------------------------------------------------------------------*/
INT16U    Api_GET_STAND_ID(INT8U *IDR0_Add)
{
    INT16U    dwPGN;
    INT8U     *bp;
    
    bp = (INT8U*)&dwPGN;
    
    *(bp    ) = *(IDR0_Add    ); 
    *(bp + 1) = *(IDR0_Add + 1); 


    dwPGN = dwPGN>>5;

    return(dwPGN);                 
}

INT32U  bsp_GET_EXTEND_ID(INT8U *IDR0_Add)
{
	INT32U    dwPGN = 0;
	INT8U     *bp;

	bp = (INT8U*)&dwPGN;

	*(bp    ) = *(IDR0_Add    ); 
	*(bp + 1) = *(IDR0_Add + 1); 
	*(bp + 2) = *(IDR0_Add + 2); 
	*(bp + 3) = *(IDR0_Add + 3); 

	dwPGN = ((dwPGN & 0x7FFFF) >> 1) | ((dwPGN & 0xFFE00000) >> 3);

	return(dwPGN);                 
}

/*-------------------------------------------------------------------------
* Function Name  : Api_CANSendFrame
* Description    : 
* Input          : 
* Output         : None
* Return         : dwPGN
* onther         : 
--------------------------------------------------------------------------*/
INT8U Api_CANSendFrame(CAN_message * CanMessage)
{
    INT8U txbuffer,index;
    INT16U cn = null;
    INT8U priority = 0;
    INT8U length = CanMessage->Length;
    INT32U  id = CanMessage->ID;

    if (!CANTFLG) //Is Transmit Buffer full ? Full ( TXEx=0;)
    {      
        return   failt;
    }
    if(id == null)
    {
        return   failt;
    }
    
    if(!CanMessage->ID_EN){
        return   failt;
    }
      
    
    CANTBSEL = CANTFLG; /* Select lowest empty buffer */
    txbuffer = CANTBSEL; // Backup selected buffer
    /* Load Id to IDR Register */
    //*((unsigned long *) ((unsigned long)(&CANTXIDR0))) = id; // I appreciate this , easy and good.
    if (id < 0x00000800) 
    {
        CANTXIDR0 = (INT8U)(id>>3);
        CANTXIDR1 = id<<5;
        CANTXIDR2 = 0;
        CANTXIDR3 = 0;
    } 
    else
    {
        CANTXIDR0 = (INT8U)((id & 0x1fe00000)>>21);
        CANTXIDR1 = (INT8U)((id & 0x001c0000)>>13);
        CANTXIDR1 |= (INT8U)((id & 0x00038000)>>15);
        CANTXIDR1 |= 0x18;
        CANTXIDR2 = (INT8U)((id & 0x00007f80)>>7);
        CANTXIDR3 = (INT8U)((id & 0x0000007f)<<1);        
    }

    if(length>8)
        length=8;
    for ( index=0; index < length; index++) {
        *(&CANTXDSR0 + index) = CanMessage->Msg[index]; //Load data to Tx buffer Data Segment Registers
    }

    CANTXDLR = length; /* Set Data Length Code */
    CANTXTBPR = priority; /* Set Priority */
    CANTFLG = txbuffer; /* Start transmission */
    while ((CANTFLG & txbuffer) != txbuffer)
    {
          //; // Wait for Transmission   completion
          cn++;
          if(cn>WaitOverTime)
              break;
    }
    return success;
}

/*-------------------------------------------------------------------------
* Function Name  : Api_CAN_Rev_isr
* Description    : 提取标准ID
* Input          : IDR0_Add          -> 对应的IDR0的地址
* Output         : None
* Return         : dwPGN
* onther         : 
--------------------------------------------------------------------------*/
interrupt void Api_CAN_Rev_isr(void)
{
    INT32U    stand_id;
    INT8U    m_dlc;
    
    stand_id = bsp_GET_EXTEND_ID((INT8U*)&CANRXIDR0);
    m_dlc = CANRXDLR_DLC;
    
    switch(stand_id)
    {
        case 0x18DAF917: //车速
            if(m_dlc == 8)
            {         

                UDS_Receive_Main(&CANRXDSR0);
            }
            break;
        default:
            ;
        
    }  
             
    CANRFLG_RXF = ClearFlag; 
}