#include "main.h"

ADC_HandleTypeDef hadc;
CAN_HandleTypeDef hcan;
UART_HandleTypeDef huart2;
CAN_FilterTypeDef sFilterConfig;
CAN_TxHeaderTypeDef Tx1Header;
CAN_TxHeaderTypeDef Tx2Header;
CAN_RxHeaderTypeDef RxHeader;
uint8_t Tx1Data[8];
uint8_t Tx2Data[8];
uint8_t RxData[8];
uint32_t TxMailbox;

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_ADC_Init(void);
static void MX_CAN_Init(void);
static void config_CAN_interrupt(void);
static void configtx1(void);
static void configtx2(void);
void HAL_CAN_TxMailbox0CompleteCallback();
void HAL_CAN_RxFifo0MsgPendingCallback();


int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_USART2_UART_Init();
  MX_ADC_Init();
  MX_CAN_Init();
  HAL_CAN_MspInit(&hcan);
  HAL_CAN_IRQHandler(&hcan);
  /*config_CAN_interrupt();*/
  configtx1();
  configtx2();
  HAL_CAN_Start(&hcan);
  HAL_CAN_ActivateNotification(&hcan,CAN_IT_RX_FIFO0_MSG_PENDING);



  sFilterConfig.FilterBank=0;
  sFilterConfig.FilterMode=CAN_FILTERMODE_IDMASK;
  sFilterConfig.FilterScale=CAN_FILTERSCALE_32BIT;
  sFilterConfig.FilterIdHigh=0x0000;
  sFilterConfig.FilterIdLow=0x0000;
  sFilterConfig.FilterMaskIdHigh=0x0000;    /*filter range*/
  sFilterConfig.FilterMaskIdLow=0x0000;
  sFilterConfig.FilterFIFOAssignment=CAN_RX_FIFO0;
  sFilterConfig.FilterActivation=ENABLE;
  sFilterConfig.SlaveStartFilterBank=14;
  if(HAL_CAN_ConfigFilter(&hcan,&sFilterConfig)!=HAL_OK)
  {
	  Error_Handler();
  }



  while (1)
  {
	  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, 1);
	  HAL_Delay(100);

	  HAL_CAN_AddTxMessage(&hcan,&Tx1Header,Tx1Data,&TxMailbox);
	  Tx1Data[7]=Tx1Data[7]+1;
	  HAL_CAN_AddTxMessage(&hcan,&Tx2Header,Tx2Data,&TxMailbox);
	  Tx2Data[7]=Tx2Data[7]+1;

	  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, 0);
	  HAL_Delay(100);

  }
}


void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef*hcan)
{

}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef*hcan)
{
	/*add error handler here*/
	HAL_CAN_GetRxMessage(&hcan,CAN_RX_FIFO0,&RxHeader,RxData);
	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, 1);
	HAL_Delay(1000);
	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, 0);
	HAL_Delay(1000);
	/*HAL_CAN_MspDeInit(hcan);*/
}

static void config_CAN_interrupt(void)
{

	if(HAL_CAN_Start(&hcan)!=HAL_OK)                   /*start CAN*/
	  {
		  Error_Handler();
	  }

	  if(HAL_CAN_ActivateNotification(&hcan,CAN_IT_RX_FIFO0_MSG_PENDING |CAN_IT_TX_MAILBOX_EMPTY)!=HAL_OK)   /*configure CAN interrupt*/
	   {
		  Error_Handler();
	  }
}
static void configtx1(void)
{
	  Tx1Header.StdId =0x321;
	  Tx1Header.ExtId =0x01;
	  Tx1Header.RTR=CAN_RTR_DATA;
	  Tx1Header.IDE=CAN_ID_STD;
	  Tx1Header.DLC=8;
	  Tx1Header.TransmitGlobalTime=DISABLE;
	  Tx1Data[0]=1;
	  Tx1Data[1]=2;
	  Tx1Data[2]=3;
	  Tx1Data[3]=4;
	  Tx1Data[4]=5;
	  Tx1Data[5]=6;
	  Tx1Data[6]=7;
	  Tx1Data[7]=8;
}
static void configtx2(void)
{
	  Tx2Header.StdId =0x123;
	  Tx2Header.ExtId =0x01;
	  Tx2Header.RTR=CAN_RTR_DATA;
	  Tx2Header.IDE=CAN_ID_STD;
	  Tx2Header.DLC=8;
	  Tx2Header.TransmitGlobalTime=DISABLE;
	  Tx2Data[0]=1;
	  Tx2Data[1]=2;
	  Tx2Data[2]=3;
	  Tx2Data[3]=4;
	  Tx2Data[4]=5;
	  Tx2Data[5]=6;
	  Tx2Data[6]=7;
	  Tx2Data[7]=8;
}

void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI14|RCC_OSCILLATORTYPE_HSI48;
  RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
  RCC_OscInitStruct.HSI14State = RCC_HSI14_ON;
  RCC_OscInitStruct.HSI14CalibrationValue = 16;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI48;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_ADC_Init(void)
{
  ADC_ChannelConfTypeDef sConfig = {0};

  hadc.Instance = ADC1;
  hadc.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
  hadc.Init.Resolution = ADC_RESOLUTION_12B;
  hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
  hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc.Init.LowPowerAutoWait = DISABLE;
  hadc.Init.LowPowerAutoPowerOff = DISABLE;
  hadc.Init.ContinuousConvMode = DISABLE;
  hadc.Init.DiscontinuousConvMode = DISABLE;
  hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc.Init.DMAContinuousRequests = DISABLE;
  hadc.Init.Overrun = ADC_OVR_DATA_PRESERVED;
  if (HAL_ADC_Init(&hadc) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure for the selected ADC regular channel to be converted. 
  */
  sConfig.Channel = ADC_CHANNEL_5;
  sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure for the selected ADC regular channel to be converted. 
  */
  sConfig.Channel = ADC_CHANNEL_6;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure for the selected ADC regular channel to be converted. 
  */
  sConfig.Channel = ADC_CHANNEL_7;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure for the selected ADC regular channel to be converted. 
  */
  sConfig.Channel = ADC_CHANNEL_8;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure for the selected ADC regular channel to be converted. 
  */
  sConfig.Channel = ADC_CHANNEL_9;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure for the selected ADC regular channel to be converted. 
  */
  sConfig.Channel = ADC_CHANNEL_TEMPSENSOR;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_CAN_Init(void)
{

  hcan.Instance = CAN;
  hcan.Init.Prescaler = 2;
  hcan.Init.Mode = CAN_MODE_NORMAL;
  hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan.Init.TimeSeg1 = CAN_BS1_10TQ;
  hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
  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();
  }
}

static void MX_USART2_UART_Init(void)
{

  huart2.Instance = USART2;
  huart2.Init.BaudRate = 38400;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

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

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_RESET);

  /*Configure GPIO pin : PB3 */
  GPIO_InitStruct.Pin = GPIO_PIN_3;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

}

void Error_Handler(void)
{

}

#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,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */