//*****************************************************************************
//
// CanFunctions.c - CAN functions used in the CAN - UART bridge.
//
// Copyright (c) 2020 Texas Instruments Incorporated.  All rights reserved.
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//
//*****************************************************************************

#include <stdint.h>
#include <stdbool.h>
#include "inc/hw_can.h"
#include "inc/hw_ints.h"
#include "inc/hw_memmap.h"
#include "driverlib/can.h"
#include "driverlib/fpu.h"
#include "driverlib/gpio.h"
#include "driverlib/interrupt.h"
#include "driverlib/pin_map.h"
#include "driverlib/rom.h"
#include "driverlib/rom_map.h"
#include "driverlib/sysctl.h"
#include "driverlib/uart.h"
#include "main.h"

//*****************************************************************************
//
// CAN 0 Interrupt Handler. It checks for the cause of the interrupt, and
// maintains a count of all messages that have been transmitted / received
//
//*****************************************************************************
void
CAN0IntHandler(void)
{
    uint32_t ui32Status;
    int i;

    //
    // Read the CAN interrupt status to find the cause of the interrupt
    //
    // CAN_INT_STS_CAUSE register values
    // 0x0000        = No Interrupt Pending
    // 0x0001-0x0020 = Number of message object that caused the interrupt
    // 0x8000        = Status interrupt
    // all other numbers are reserved and have no meaning in this system
    //
    ui32Status = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE);

    //
    // If this was a status interrupt acknowledge it by reading the CAN
    // controller status register.
    //
    if(ui32Status == CAN_INT_INTID_STATUS)
    {
        //
        // Read the controller status.  This will return a field of status
        // error bits that can indicate various errors. Refer to the
        // API documentation for details about the error status bits.
        // The act of reading this status will clear the interrupt.
        //
        ui32Status = CANStatusGet(CAN0_BASE, CAN_STS_CONTROL);

        //
        // Add ERROR flags to list of current errors. To be handled
        // later, because it would take too much time here in the
        // interrupt. (Buss off or Error Warning)
        //
        g_ui32ErrFlag |= ui32Status;
    }

    //
    // Check if the cause is message object RXOBJECT, which we are using
    // for receiving messages.
    //
    else if(ui32Status == RXOBJECT)
    {
        //
        // Getting to this point means that the RX interrupt occurred on
        // message object RXOBJECT, and the message reception is complete.
        // Read the message from the CAN.  Message object RXOBJECT is used
        // (which is not the same thing as CAN ID).
        //
        CANMessageGet(CAN0_BASE, RXOBJECT, &g_sCAN0RxMessage, true);
        for(i = 0; i < g_sCAN0RxMessage.ui32MsgLen; i++)
        {
            if(circular_buf_put(&g_sCANBuffer, g_ui8RXMsgData[i]) == false)
            {
                g_ui32ErrFlag |= ERROR_CAN_FIFO_FULL;
                break;
            }
        }
        if(g_sCAN0RxMessage.ui32Flags & MSG_OBJ_DATA_LOST)
        {
            g_ui32ErrFlag |= ERROR_CAN_MSG_LOST;
        }

    }

}
//*****************************************************************************
//
// Setup CAN0 to both send and receive at 500KHz.
// Interrupts on
// Use PA0 / PA1
//
//*****************************************************************************
void
InitCAN0(void)
{
    //
    // For this example CAN0 is used with RX and TX pins on port A0 and A1.
    // GPIO port A needs to be enabled so these pins can be used.
    //
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);

    //
    // Configure the GPIO pin muxing to select CAN0 functions for these pins.
    // This step selects which alternate function is available for these pins.
    //
    GPIOPinConfigure(GPIO_PA0_CAN0RX);
    GPIOPinConfigure(GPIO_PA1_CAN0TX);

    //
    // Enable the alternate function on the GPIO pins.  The above step selects
    // which alternate function is available.  This step actually enables the
    // alternate function instead of GPIO for these pins.
    //
    GPIOPinTypeCAN(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);

    //
    // The GPIO port and pins have been set up for CAN.  The CAN peripheral
    // must be enabled.
    //
    SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);

    //
    // Initialize the CAN controller
    //
    CANInit(CAN0_BASE);

    //
    // Set up the bit rate for the CAN bus.  This function sets up the CAN
    // bus timing for a nominal configuration.  You can achieve more control
    // over the CAN bus timing by using the function CANBitTimingSet() instead
    // of this one, if needed.
    // In this example, the CAN bus is set to 1 MHz.
    //
    CANBitRateSet(CAN0_BASE, ui32SysClock, CAN_BAUD);

    //
    // Enable interrupts on the CAN peripheral.  This example uses static
    // allocation of interrupt handlers which means the name of the handler
    // is in the vector table of startup code.
    //
    CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR );

    //
    // Enable the CAN interrupt on the processor (NVIC).
    //
    MAP_IntEnable(INT_CAN0);

    //
    // Enable the CAN for operation.
    //
    CANEnable(CAN0_BASE);

    //
    // Initialize a message object to be used for receiving CAN messages
    //
    g_sCAN0RxMessage.ui32MsgID = CAN0RXID;
    g_sCAN0RxMessage.ui32MsgIDMask = 0;
    g_sCAN0RxMessage.ui32Flags = MSG_OBJ_RX_INT_ENABLE;
    g_sCAN0RxMessage.ui32MsgLen = 8;
    g_sCAN0RxMessage.pui8MsgData = g_ui8RXMsgData;

    //
    // Now load the message object into the CAN peripheral.  Once loaded the
    // CAN will receive any message on the bus, and an interrupt will occur.
    // Use message object RXOBJECT for receiving messages (this is not the
    //same as the CAN ID which can be any value in this example).
    //
    CANMessageSet(CAN0_BASE, RXOBJECT, &g_sCAN0RxMessage, MSG_OBJ_TYPE_RX);

    //
    // Initialize the message object that will be used for sending CAN
    // messages.
    //
    g_sCAN0TxMessage.ui32MsgID = CAN0TXID;
    g_sCAN0TxMessage.ui32MsgIDMask = 0;
    g_sCAN0TxMessage.ui32Flags = MSG_OBJ_NO_FLAGS;

    // Initialize the circular buffer
    circular_buf_init(&g_sCANBuffer, g_ui8CANRxBuffer);
}

//*****************************************************************************
//
// Can ERROR handling. When a message is received if there is an error it is
// saved to g_ui32ErrFlag, the Error Flag Set. Below the flags are checked
// and cleared. It is left up to the user to add handling functionality if so
// desired.
//
// For more information on the error flags please see the CAN section of the
// microcontroller datasheet.
//
// NOTE: you may experience errors during setup when only one board is powered
// on. This is caused by one board sending signals and there not being another
// board there to acknowledge it. Don't worry about these errors, they can be
// disregarded.
//
//*****************************************************************************

void
CANErrorHandler(void)
{
    //
    // CAN controller has entered a Bus Off state.
    //
    if(g_ui32ErrFlag & CAN_STATUS_BUS_OFF)
    {
        //
        // Handle Error Condition here
        //

        //
        // Clear CAN_STATUS_BUS_OFF Flag
        //
        g_ui32ErrFlag &= ~(CAN_STATUS_BUS_OFF);

    }

    //
    // CAN controller error level has reached warning level.
    //
    if(g_ui32ErrFlag & CAN_STATUS_EWARN)
    {
        //
        // Handle Error Condition here
        //

        //
        // Clear CAN_STATUS_EWARN Flag
        //
        g_ui32ErrFlag &= ~(CAN_STATUS_EWARN);
    }

    //
    // CAN controller error level has reached error passive level.
    //
    if(g_ui32ErrFlag & CAN_STATUS_EPASS)
    {
        //
        // Handle Error Condition here
        //

        //
        // Clear CAN_STATUS_EPASS Flag
        //
        g_ui32ErrFlag &= ~(CAN_STATUS_EPASS);
    }

    //
    // A message was received successfully since the last read of this status.
    //
    if(g_ui32ErrFlag & CAN_STATUS_RXOK)
    {
        //
        // Handle Error Condition here
        //

        //
        // Clear CAN_STATUS_RXOK Flag
        //
        g_ui32ErrFlag &= ~(CAN_STATUS_RXOK);
    }

    //
    // A message was transmitted successfully since the last read of this
    // status.
    //
    if(g_ui32ErrFlag & CAN_STATUS_TXOK)
    {
        //
        // Handle Error Condition here
        //

        //
        // Clear CAN_STATUS_TXOK Flag
        //
        g_ui32ErrFlag &= ~(CAN_STATUS_TXOK);
    }

    //
    // This is the mask for the last error code field.
    //
    if(g_ui32ErrFlag & CAN_STATUS_LEC_MSK)
    {
        //
        // Handle Error Condition here
        //

        //
        // Clear CAN_STATUS_LEC_MSK Flag
        //
        g_ui32ErrFlag &= ~(CAN_STATUS_LEC_MSK);
    }

    //
    // A bit stuffing error has occurred.
    //
    if(g_ui32ErrFlag & CAN_STATUS_LEC_STUFF)
    {
        //
        // Handle Error Condition here
        //

        //
        // Clear CAN_STATUS_LEC_STUFF Flag
        //
        g_ui32ErrFlag &= ~(CAN_STATUS_LEC_STUFF);
    }

    //
    // A formatting error has occurred.
    //
    if(g_ui32ErrFlag & CAN_STATUS_LEC_FORM)
    {
        //
        // Handle Error Condition here
        //

        //
        // Clear CAN_STATUS_LEC_FORM Flag
        //
        g_ui32ErrFlag &= ~(CAN_STATUS_LEC_FORM);
    }

    //
    // An acknowledge error has occurred.
    //
    if(g_ui32ErrFlag & CAN_STATUS_LEC_ACK)
    {
        //
        // Handle Error Condition here
        //

        //
        // Clear CAN_STATUS_LEC_ACK Flag
        //
        g_ui32ErrFlag &= ~(CAN_STATUS_LEC_ACK);
    }

    //
    // The bus remained a bit level of 1 for longer than is allowed.
    //
    if(g_ui32ErrFlag & CAN_STATUS_LEC_BIT1)
    {
        //
        // Handle Error Condition here
        //

        //
        // Clear CAN_STATUS_LEC_BIT1 Flag
        //
        g_ui32ErrFlag &= ~(CAN_STATUS_LEC_BIT1);
    }

    //
    // The bus remained a bit level of 0 for longer than is allowed.
    //
    if(g_ui32ErrFlag & CAN_STATUS_LEC_BIT0)
    {
        //
        // Handle Error Condition here
        //

        //
        // Clear CAN_STATUS_LEC_BIT0 Flag
        //
        g_ui32ErrFlag &= ~(CAN_STATUS_LEC_BIT0);
    }

    //
    // A CRC error has occurred.
    //
    if(g_ui32ErrFlag & CAN_STATUS_LEC_CRC)
    {
        //
        // Handle Error Condition here
        //

        //
        // Clear CAN_STATUS_LEC_CRC Flag
        //
        g_ui32ErrFlag &= ~(CAN_STATUS_LEC_CRC);
    }

    //
    // This is the mask for the CAN Last Error Code (LEC).
    //
    if(g_ui32ErrFlag & CAN_STATUS_LEC_MASK)
    {
        //
        // Handle Error Condition here
        //

        //
        // Clear CAN_STATUS_LEC_MASK Flag
        //
        g_ui32ErrFlag &= ~(CAN_STATUS_LEC_MASK);
    }

    //
    // If there are any bits still set in g_ui32ErrFlag then something  not
    // handled has happened. Print the value of g_ui32ErrFlag.
    //
    if(g_ui32ErrFlag !=0)
    {
        //
        // Handle Error Condition here
        //
    }
}

