/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  ** This notice applies to any and all portions of this file
  * that are not between comment pairs USER CODE BEGIN and
  * USER CODE END. Other portions of this file, whether 
  * inserted by the user or by software development tools
  * are owned by their respective copyright owners.
  *
  * COPYRIGHT(c) 2019 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan;

I2C_HandleTypeDef hi2c1;

/* USER CODE BEGIN PV */
CAN_FilterTypeDef sFilterConfig;
CAN_TxHeaderTypeDef   TxHeader;
CAN_RxHeaderTypeDef   RxHeader;
uint8_t               TxData[8];
uint8_t               RxData[8];
uint32_t              TxMailbox;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
static void MX_I2C1_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint8_t enableTx = 0;

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan){
	/**см прием и посылку сообщений, активацию и деактивацию
	 * прерываний по приему
	 */
	HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &RxHeader, RxData);

	//if (RxHeader.StdId == 0x3B4){
			enableTx =1;


			TxHeader.StdId = 0x3B4;
			TxHeader.DLC = 8;
			TxHeader.RTR = CAN_RTR_DATA;
			  TxHeader.IDE = CAN_ID_STD;
			TxData[0]=RxData[0];
			TxData[1]=RxData[1];
			TxData[2]=RxData[2];
			TxData[3]=RxData[3];
			TxData[6]=RxData[6];
			TxData[7]=RxData[7];


			if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4) == GPIO_PIN_SET){ //P
				TxData[4]=0x80+(RxData[4] & 0x0F);
				TxData[5]=0x00;
			} else if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_5) == GPIO_PIN_SET){ //R
				 TxData[4]=0x40+(RxData[4] & 0x0F);
				 TxData[5]=0x00;
			} else if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_7) == GPIO_PIN_SET){ //N
				 TxData[4]=0x20+(RxData[4] & 0x0F);
				 TxData[5]=0x00;
			}else if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_6) == GPIO_PIN_SET){ //D
				 TxData[4]=0x00+(RxData[4] & 0x0F);
				 TxData[5]=0x40;
			}else if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_3) == GPIO_PIN_SET){ //2
				 TxData[4]=0x00+(RxData[4] & 0x0F);
				 TxData[5]=0x04;
			}else if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_1) == GPIO_PIN_SET){ //3
				 TxData[4]=0x00+(RxData[4] & 0x0F);
				 TxData[5]=0x08;
			}
			HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData, &TxMailbox);



	HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);

	//};
};
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_CAN_Init();
  MX_I2C1_Init();
  /* USER CODE BEGIN 2 */
  /*sFilterConfig.FilterBank = 0;
  sFilterConfig.FilterMode = CAN_FILTERMODE_IDLIST;
  sFilterConfig.FilterScale = CAN_FILTERSCALE_16BIT;
  sFilterConfig.FilterIdHigh = 0x03B4<<5;
  sFilterConfig.FilterIdLow = 0x0000;
  sFilterConfig.FilterMaskIdHigh =  0x03B4 << 5;
  sFilterConfig.FilterMaskIdLow = 0x0000;
  sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
  sFilterConfig.FilterActivation = ENABLE;
  sFilterConfig.SlaveStartFilterBank = 1;
  HAL_CAN_ConfigFilter(&hcan, &sFilterConfig);*/


  HAL_CAN_Start(&hcan);

  HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	  TxHeader.StdId = 0x321;
	    TxHeader.ExtId = 0x01;
	    TxHeader.RTR = CAN_RTR_DATA;
	    TxHeader.IDE = CAN_ID_STD;
	    TxHeader.DLC = 2;
	    TxHeader.TransmitGlobalTime = ENABLE;

	    TxData[1] = 0xAD;
	    HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData, &TxMailbox);
//	  if (enableTx==1){TxHeader.StdId = 0x3B4;
	  /*TxHeader.StdId = 0x3B4;

		TxHeader.RTR = CAN_RTR_DATA;
		  TxHeader.IDE = CAN_ID_STD;
		  TxHeader.DLC = 8;
		  TxHeader.TransmitGlobalTime = DISABLE;
		TxData[0]=RxData[0];
		TxData[1]=RxData[1];
		TxData[2]=RxData[2];
		TxData[3]=RxData[3];
		TxData[6]=RxData[6];
		TxData[7]=RxData[7];


		if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4) == GPIO_PIN_SET){ //P
			TxData[4]=0x80+(RxData[4] & 0x0F);
			TxData[5]=0x00;
		} else if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_5) == GPIO_PIN_SET){ //R
			 TxData[4]=0x40+(RxData[4] & 0x0F);
			 TxData[5]=0x00;
		} else if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_7) == GPIO_PIN_SET){ //N
			 TxData[4]=0x20+(RxData[4] & 0x0F);
			 TxData[5]=0x00;
		}else if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_6) == GPIO_PIN_SET){ //D
			 TxData[4]=0x00+(RxData[4] & 0x0F);
			 TxData[5]=0x40;
		}else if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_3) == GPIO_PIN_SET){ //2
			 TxData[4]=0x00+(RxData[4] & 0x0F);
			 TxData[5]=0x04;
		}else if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_1) == GPIO_PIN_SET){ //3
			 TxData[4]=0x00+(RxData[4] & 0x0F);
			 TxData[5]=0x08;
		}
		HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData, &TxMailbox);
	  	//HAL_Delay(5);*/
	//  };
  };
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
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_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_BYPASS;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL4;
  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_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief CAN Initialization Function
  * @param None
  * @retval None
  */
static void MX_CAN_Init(void)
{

  /* USER CODE BEGIN CAN_Init 0 */

  /* USER CODE END CAN_Init 0 */

  /* USER CODE BEGIN CAN_Init 1 */

  /* USER CODE END CAN_Init 1 */
  hcan.Instance = CAN1;
  hcan.Init.Prescaler = 4;
  hcan.Init.Mode = CAN_MODE_NORMAL;
  hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan.Init.TimeSeg1 = CAN_BS1_6TQ;
  hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
  hcan.Init.TimeTriggeredMode = DISABLE;
  hcan.Init.AutoBusOff = DISABLE;
  hcan.Init.AutoWakeUp = DISABLE;
  hcan.Init.AutoRetransmission = ENABLE;
  hcan.Init.ReceiveFifoLocked = DISABLE;
  hcan.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN_Init 2 */

  /* USER CODE END CAN_Init 2 */

}

/**
  * @brief I2C1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_I2C1_Init(void)
{

  /* USER CODE BEGIN I2C1_Init 0 */

  /* USER CODE END I2C1_Init 0 */

  /* USER CODE BEGIN I2C1_Init 1 */

  /* USER CODE END I2C1_Init 1 */
  hi2c1.Instance = I2C1;
  hi2c1.Init.ClockSpeed = 100000;
  hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
  hi2c1.Init.OwnAddress1 = 0;
  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c1.Init.OwnAddress2 = 0;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN I2C1_Init 2 */

  /* USER CODE END I2C1_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pins : PC13 PC14 PC15 */
  GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pins : PA0 PA1 PA2 PA3 
                           PA4 PA5 PA6 PA7 
                           PA8 PA9 PA10 PA15 */
  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3 
                          |GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7 
                          |GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_15;
  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : PB0 PB1 PB2 PB10 
                           PB11 PB12 PB13 PB14 
                           PB15 PB3 PB4 PB5 
                           PB8 PB9 */
  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_10 
                          |GPIO_PIN_11|GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14 
                          |GPIO_PIN_15|GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5 
                          |GPIO_PIN_8|GPIO_PIN_9;
  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#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 */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/