/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2024 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* 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 hcan1;
CAN_HandleTypeDef hcan2;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN1_Init(void);
static void MX_CAN2_Init(void);
void Configure_CAN_Interrupt_Priorities(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
CAN_TxHeaderTypeDef TxHeader;
CAN_RxHeaderTypeDef RxHeader;
CAN_RxHeaderTypeDef RxHeader2;
uint8_t TxData[8];
uint8_t RxData[8];
uint8_t RxData2[8];
uint32_t TxMailbox;
uint32_t TxMailbox2;
/* 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_CAN1_Init();
	MX_CAN2_Init();
	/* USER CODE BEGIN 2 */
	HAL_CAN_Start(&hcan1);
	HAL_CAN_Start(&hcan2);

	HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
	HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);

	TxHeader.DLC = 8;
	TxHeader.StdId = 0x50;
	TxHeader.RTR = CAN_RTR_DATA;
	TxHeader.IDE = CAN_ID_STD;

	/* USER CODE END 2 */

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

		/* USER CODE BEGIN 3 */

		HAL_CAN_AddTxMessage(&hcan2, &TxHeader, TxData, &TxMailbox);
		HAL_Delay(1000);
		HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxData, &TxMailbox2);
		HAL_Delay(1000);

	}
	/* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void) {
	RCC_OscInitTypeDef RCC_OscInitStruct = { 0 };
	RCC_ClkInitTypeDef RCC_ClkInitStruct = { 0 };

	/** Configure the main internal regulator output voltage
	 */
	__HAL_RCC_PWR_CLK_ENABLE();
	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);

	/** Initializes the RCC Oscillators according to the specified parameters
	 * in the RCC_OscInitTypeDef structure.
	 */
	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
	RCC_OscInitStruct.HSIState = RCC_HSI_ON;
	RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
		Error_Handler();
	}

	/** Initializes the CPU, AHB and APB buses clocks
	 */
	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
			| RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
		Error_Handler();
	}
}

/**
 * @brief CAN1 Initialization Function
 * @param None
 * @retval None
 */
static void MX_CAN1_Init(void) {

	/* USER CODE BEGIN CAN1_Init 0 */
	CAN_FilterTypeDef canfilterconfig;
	/* USER CODE END CAN1_Init 0 */

	/* USER CODE BEGIN CAN1_Init 1 */

	/* USER CODE END CAN1_Init 1 */
	hcan1.Instance = CAN1;
	hcan1.Init.Prescaler = 2;
	hcan1.Init.Mode = CAN_MODE_NORMAL;
	hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
	hcan1.Init.TimeSeg1 = CAN_BS1_13TQ;
	hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
	hcan1.Init.TimeTriggeredMode = DISABLE;
	hcan1.Init.AutoBusOff = DISABLE;
	hcan1.Init.AutoWakeUp = DISABLE;
	hcan1.Init.AutoRetransmission = ENABLE;
	hcan1.Init.ReceiveFifoLocked = DISABLE;
	hcan1.Init.TransmitFifoPriority = ENABLE;
	if (HAL_CAN_Init(&hcan1) != HAL_OK) {
		Error_Handler();
	}
	/* USER CODE BEGIN CAN1_Init 2 */
	canfilterconfig.FilterActivation = CAN_FILTER_ENABLE;
	canfilterconfig.FilterBank = 18; // which filter bank to use from the assigned ones
	canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
	canfilterconfig.FilterIdHigh = 0x000 << 5;
	canfilterconfig.FilterIdLow = 0;
	canfilterconfig.FilterMaskIdHigh = 0x000 << 5;
	canfilterconfig.FilterMaskIdLow = 0x0000;
	canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
	canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
	canfilterconfig.SlaveStartFilterBank = 20; // how many filters to assign to the CAN1 (master can)

	HAL_CAN_ConfigFilter(&hcan1, &canfilterconfig);

	/* USER CODE END CAN1_Init 2 */

}

/**
 * @brief CAN2 Initialization Function
 * @param None
 * @retval None
 */
static void MX_CAN2_Init(void) {

	/* USER CODE BEGIN CAN2_Init 0 */
	CAN_FilterTypeDef canfilterconfig;
	/* USER CODE END CAN2_Init 0 */

	/* USER CODE BEGIN CAN2_Init 1 */

	/* USER CODE END CAN2_Init 1 */
	hcan2.Instance = CAN2;
	hcan2.Init.Prescaler = 2;
	hcan2.Init.Mode = CAN_MODE_NORMAL;
	hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
	hcan2.Init.TimeSeg1 = CAN_BS1_13TQ;
	hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
	hcan2.Init.TimeTriggeredMode = DISABLE;
	hcan2.Init.AutoBusOff = DISABLE;
	hcan2.Init.AutoWakeUp = DISABLE;
	hcan2.Init.AutoRetransmission = ENABLE;
	hcan2.Init.ReceiveFifoLocked = DISABLE;
	hcan2.Init.TransmitFifoPriority = ENABLE;
	if (HAL_CAN_Init(&hcan2) != HAL_OK) {
		Error_Handler();
	}
	/* USER CODE BEGIN CAN2_Init 2 */
	// Configurar la prioridad para CAN2_RX0

	canfilterconfig.FilterActivation = CAN_FILTER_ENABLE;
	canfilterconfig.FilterBank = 21; // which filter bank to use from the assigned ones
	canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
	canfilterconfig.FilterIdHigh = 0x000 << 5;
	canfilterconfig.FilterIdLow = 0;
	canfilterconfig.FilterMaskIdHigh = 0x000 << 5;
	canfilterconfig.FilterMaskIdLow = 0x0000;
	canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
	canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
	canfilterconfig.SlaveStartFilterBank = 20;
	HAL_CAN_ConfigFilter(&hcan2, &canfilterconfig);


	/* USER CODE END CAN2_Init 2 */

}

/**
 * @brief GPIO Initialization Function
 * @param None
 * @retval None
 */
static void MX_GPIO_Init(void) {
	/* USER CODE BEGIN MX_GPIO_Init_1 */
	/* USER CODE END MX_GPIO_Init_1 */

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

	/* USER CODE BEGIN MX_GPIO_Init_2 */
	/* USER CODE END MX_GPIO_Init_2 */
}

/* 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 */
	__disable_irq();
	while (1) {
	}
	/* 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,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */