#include "F28x_Project.h"
#include "F2837xS_device.h"
#include "F2837xS_Examples.h"
#include "hw_can.h"

bool LedFlag0 = 0;

typedef struct
{
	uint32_t ui32MsgID;
    unsigned char uc8MsgData[8];
}CanMsgObject;
CanMsgObject CanTXTest;
extern void InitCANMessage(CanMsgObject *msg);

void CanMsgSend(uint32_t ID, unsigned char Data[8])
{
    /*
     * Transfer direction: IF1/IF2 Register -> Message object
     * Arbitration & Control & DATA_A & DATA_B Bits could be changed
     * Use message RAM 01
     */
	while(CanaRegs.CAN_IF1CMD.bit.Busy);
    CanaRegs.CAN_IF1CMD.bit.DIR = 1;
    CanaRegs.CAN_IF1CMD.bit.Arb = 1;
    CanaRegs.CAN_IF1CMD.bit.Control = 1;
    CanaRegs.CAN_IF1CMD.bit.DATA_A = 1;
    CanaRegs.CAN_IF1CMD.bit.DATA_B = 1;
    CanaRegs.CAN_IF1CMD.bit.MSG_NUM = 1;
    //Disable Mask
    CanaRegs.CAN_IF1MSK.all = 0;
    /*
     * Enable mailbox & Transmit direction
     * ID[28:18]
     */
    CanaRegs.CAN_IF1ARB.bit.Dir = 1;
    CanaRegs.CAN_IF1ARB.bit.MsgVal = 1;
    CanaRegs.CAN_IF1ARB.bit.ID = ((ID << 18) & 0x1FFC0000);
    /*
     * Need to be sent
     * Set this message as the last one
     * Data length is 8
     */
    CanaRegs.CAN_IF1MCTL.bit.TxRqst = 1;
    CanaRegs.CAN_IF1MCTL.bit.EoB = 1;
    CanaRegs.CAN_IF1MCTL.bit.DLC = 8;

    CanaRegs.CAN_IF1DATA.bit.Data_0 = Data[0];
    CanaRegs.CAN_IF1DATA.bit.Data_1 = Data[1];
    CanaRegs.CAN_IF1DATA.bit.Data_2 = Data[2];
    CanaRegs.CAN_IF1DATA.bit.Data_3 = Data[3];
    CanaRegs.CAN_IF1DATB.bit.Data_4 = Data[4];
    CanaRegs.CAN_IF1DATB.bit.Data_5 = Data[5];
    CanaRegs.CAN_IF1DATB.bit.Data_6 = Data[6];
    CanaRegs.CAN_IF1DATB.bit.Data_7 = Data[7];
}
void main(void)
{
	InitCANMessage(&CanTXTest);
    InitSysCtrl();
    InitGpio();
    //GPIO
	GPIO_SetupPinMux(12, GPIO_MUX_CPU1, 0);
	GPIO_SetupPinOptions(12, GPIO_OUTPUT, GPIO_PUSHPULL);
    GPIO_SetupPinMux(30, GPIO_MUX_CPU1, 1);
    GPIO_SetupPinOptions(30, GPIO_INPUT, GPIO_ASYNC);
    GPIO_SetupPinMux(31, GPIO_MUX_CPU1, 1);
    GPIO_SetupPinOptions(31, GPIO_OUTPUT, GPIO_PUSHPULL);

	InitCAN();
	/*
	 * Bit rate set (Protected by CCE bit)
	 * Choose XTAL (CANABCLKSEL = 01) Tq = (BRP+1)*Toscclk
	 * Tbit = [(SJW+1)+(TSEG1+1)+(TSEG2+1)]*Tq
	 * Band Rate = 1/Tbit = CANCLK/(BRP+1)*(TSEG2+TESG1+SJW+3)
	 * CAN_O_BTR = 0b0[15] TESG2[14:12] TSEG1[11:8] SJW[7:6] BRP[5:0]
	 * 0x00000141 -> CANCLK/(2*10) = 10/20 Mbps
	 */
	ClkCfgRegs.CLKSRCCTL2.bit.CANABCLKSEL = 1;
	CanaRegs.CAN_CTL.bit.CCE = 1;
	CanaRegs.CAN_BTR.all = 0x00002501;
	CanaRegs.CAN_CTL.bit.CCE = 0;
	CanaRegs.CAN_CTL.bit.Init = 0;

	for(;;)
	{
		CanMsgSend(CanTXTest.ui32MsgID,CanTXTest.uc8MsgData);
		LedFlag0=LedFlag0==0?1:0;
		GPIO_WritePin(12,LedFlag0);
		DELAY_US(1000*1000);
	}
}
void InitCANMessage(CanMsgObject *msg)
{
	msg->ui32MsgID = 0x0020;
	msg->uc8MsgData[0] = 0;
	msg->uc8MsgData[1] = 1;
	msg->uc8MsgData[2] = 2;
	msg->uc8MsgData[3] = 3;
	msg->uc8MsgData[4] = 4;
	msg->uc8MsgData[5] = 5;
	msg->uc8MsgData[6] = 6;
	msg->uc8MsgData[7] = 7;
}