#include "inc/stm32f0xx_conf.h"

int main(void) {
  GPIO_InitTypeDef GPIO_InitStructure;
  CAN_InitTypeDef        CAN_InitStructure;
  CAN_FilterInitTypeDef  CAN_FilterInitStructure;

  /* Enable GPIOB, GPIOC, CAN clock */
  RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
  RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOC, ENABLE);
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN, ENABLE);

  GPIO_StructInit(&GPIO_InitStructure);

  /* Init led debug */
  GPIO_InitStructure.GPIO_Mode=GPIO_Mode_OUT;
  GPIO_InitStructure.GPIO_Speed=GPIO_Speed_2MHz;
  GPIO_InitStructure.GPIO_Pin=GPIO_Pin_10|GPIO_Pin_11 | GPIO_Pin_12;
  GPIO_Init(GPIOC, &GPIO_InitStructure);

  /* Reset Can Bus */
  CAN_DeInit(CAN);
    
  /* Configure CAN pin: RX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
  
  /* Configure CAN pin: TX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
  
  GPIO_PinAFConfig(GPIOB, GPIO_Pin_8, GPIO_AF_4);
  GPIO_PinAFConfig(GPIOB, GPIO_Pin_9, GPIO_AF_4);
  
  CAN_StructInit(&CAN_InitStructure);
  
  /* CAN cell init */
  CAN_InitStructure.CAN_TTCM = DISABLE;
  CAN_InitStructure.CAN_ABOM = DISABLE;
  CAN_InitStructure.CAN_AWUM = DISABLE;
  CAN_InitStructure.CAN_NART = ENABLE;
  CAN_InitStructure.CAN_RFLM = DISABLE;
  CAN_InitStructure.CAN_TXFP = ENABLE;
  CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
  CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
  CAN_InitStructure.CAN_BS1 = CAN_BS1_1tq;
  CAN_InitStructure.CAN_BS2 = CAN_BS2_1tq;
  CAN_InitStructure.CAN_Prescaler = 16;
  CAN_Init(CAN, &CAN_InitStructure);

  /* CAN filter init */
  CAN_FilterInitStructure.CAN_FilterNumber=0;
  CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
  CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
  CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
  CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
  CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0;
  CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure);
  CAN_ITConfig(CAN, CAN_IT_FMP0, ENABLE);

  
  CanTxMsg TxMessage;
  uint8_t mailbox;
 
  TxMessage.StdId = 0x7E5;
  TxMessage.RTR=CAN_RTR_DATA;
  TxMessage.IDE=CAN_ID_STD;

  TxMessage.Data[ 0 ] = 0x04;
  TxMessage.Data[ 1 ] = 0x00;
  TxMessage.Data[ 2 ] = 0x00;
  TxMessage.Data[ 3 ] = 0x00;
  TxMessage.Data[ 4 ] = 0x00;
  TxMessage.Data[ 5 ] = 0x00;
  TxMessage.Data[ 6 ] = 0x00;
  TxMessage.Data[ 7 ] = 0x00;
  TxMessage.DLC = 8;
  
  do
    {
      mailbox = CAN_Transmit(CAN, &TxMessage);
    }
  while( mailbox == CAN_TxStatus_NoMailBox );
  
}