/*
 * bsp_FDCAN.h
 *
 *  Created on: Oct 26, 2023
 *      Author: shiya
 */

#ifndef INC_BSP_FDCAN_H_
#define INC_BSP_FDCAN_H_
#include "bsp_Error.pb.h"
#include "../../BASE/Inc/BSP/bsp_com_helper.h"
uint8_t GF_BSP_FDCAN_Init(void);

void GF_BSP_FDCAN_Senddata(uint8_t FDCAN_CH, uint32_t FrameID,
		uint8_t DataLength, uint8_t *Txdata);

extern uint8_t CAN_Buf[8];

extern uint8_t CAN_Buf[8];
extern uint8_t CAN_Buf_2[8];
typedef struct _CANSendHandler
{
	uint32_t CAN_ID;
	uint32_t SendListTimePeriod;
	uint8_t SendLength;
	uint8_t Tx_Buf[8];
	void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t);
	struct _CANSendHandler *pNext;
} CANSendHandler;

typedef struct _FDCANHandler
{

	FDCAN_HandleTypeDef *canfd; //UART to use
	struct _DispacherController *dispacherController;


	uint8_t timeSpan;

	uint8_t SendListExists;
	uint32_t SendList_Period; //时间ms
	uint32_t SendList_time_Count;

	CANSendHandler *pCurrentCANSendHadler; //
	void (*AddCANSendList)(struct _FDCANHandler*, uint32_t, uint8_t, uint8_t*,uint32_t,//这里是修改等待时间
			void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t));

	void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t); // decode can frame, received from other devices

	void (*CAN_Send)(struct _FDCANHandler*, uint32_t, uint8_t, uint8_t*);
	void (*CAN_Send_Data)(struct _FDCANHandler*);
	//(uint8_t FDCAN_CH, uint32_t FrameID,uint8_t DataLength, uint8_t *Txdata)
	uint8_t Rx_Buf[128];            // 接收缓存,最大256字节
	uint8_t Tx_Buf[128];            //发送缓存 157,864
	uint32_t ReceivedLength;
	uint32_t SendLength;
	uint32_t ReceivedFrameID;
	uint32_t SendFrameID;

} FDCANHandler;

extern FDCANHandler FD_CAN_1_Handler;
extern FDCANHandler FD_CAN_2_Handler;
void GF_BSP_CAN_Timer();
void CAN_Send_t(struct _FDCANHandler *fd, uint32_t FrameID, uint8_t DataLength,
		uint8_t *Txdata);
void CAN_Send_Data_t(struct _FDCANHandler *fd);

void GF_CAN_Send_List_Send(FDCANHandler *handler);
void CANHandlerAddTxList(FDCANHandler *handler, uint32_t CAN_ID,
		uint8_t SendLength, uint8_t *Tx_Buf,uint32_t sendListTimePeriod,
		void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t));
void GF_BSP_CANHandler_Init(int can1_sendListPeriod, int can1_DispacherPeriod,
		int can2_sendListPeriod, int can2_DispacherPeriod);
void GF_BSP_CANHandler_Init_CAN(FDCANHandler *handler,
		FDCAN_HandleTypeDef *canfd, int sendListPeriod, int DispacherPeriod);

void DecodeMotorCAN(uint32_t canID, uint8_t *buffer, uint32_t length);

extern FDCANHandler FD_CAN_1_Handler;
extern FDCANHandler FD_CAN_2_Handler;
extern int32_t CAN_ID;
extern int32_t CAN_ID_2;
#endif /* INC_BSP_FDCAN_H_ */