/*
 * msp_LeiSai_ISV2_CAN.c
 *
 *  Created on: Oct 22, 2024
 *      Author: akeguo
 */

#include "msp_LeiSai_ISV2_CAN.h"

ISV_MotorParameters* ISV_Motors[4];


FDCANHandler *LeiSaiISV_Motor_Controller;
HardWareController *LeiSaiISV_HardController;
DispacherController *LeiSaiISV_DispacherController;
void Decode_LeiSai_CAN(uint32_t canID, uint8_t *buffer, uint32_t length);
void LeiSai_ISV_Motor_Control();
void LeiSai_ISV_Motor_Control_intialize(FDCANHandler *Handler)
{
	//初始化

	LeiSaiISV_Motor_Controller = Handler;
	LeiSaiISV_Motor_Controller->CAN_Decode = Decode_LeiSai_CAN;



	HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,
			"LeiSai_ISV2CAN", 0,LeiSai_ISV2CAN);


	LeiSaiISV_DispacherController = Handler->dispacherController;
	LeiSaiISV_DispacherController->Add_Dispatcher_List(LeiSaiISV_DispacherController,
			LeiSai_ISV_Motor_Control);

}
void Decode_LeiSai_CAN(uint32_t canID, uint8_t *buffer, uint32_t length)
{
	//buffer[0] is CAN ID;
		if (canID == 0x701 || canID == 0x601) //心跳包
		{
			HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
					"LeiSai_ISV2CAN", 1);
		}
}


void LeiSai_CANSendMessageSDO(int MotorID, uint8_t Function, uint16_t ControlWord,
		uint8_t subWord, int32_t ControlWordValue)
{
	//copy the corresponsiding data to the send Array
	LeiSaiISV_Motor_Controller->Tx_Buf[0] = Function;
	memcpy(&LeiSaiISV_Motor_Controller->Tx_Buf[1], &ControlWord, 2);
	LeiSaiISV_Motor_Controller->Tx_Buf[3] = subWord;
	memcpy(&LeiSaiISV_Motor_Controller->Tx_Buf[4], &ControlWordValue, 4);
	//send 8 bytes data
	LeiSaiISV_Motor_Controller->CAN_Send(LeiSaiISV_Motor_Controller, 0x600 + MotorID, 8,
			LeiSaiISV_Motor_Controller->Tx_Buf);
}

void LeiSai_CANSendMessageSDO_ADD_To_SendList(int MotorID, uint8_t Function,
		uint16_t ControlWord, uint8_t subWord, int32_t ControlWordValue)
{
	//copy the corresponsiding data to the send Array
	LeiSaiISV_Motor_Controller->Tx_Buf[0] = Function;
	memcpy(&LeiSaiISV_Motor_Controller->Tx_Buf[1], &ControlWord, 2);
	LeiSaiISV_Motor_Controller->Tx_Buf[3] = subWord;
	memcpy(&LeiSaiISV_Motor_Controller->Tx_Buf[4], &ControlWordValue, 4);
	//send 8 bytes data

	LeiSaiISV_Motor_Controller->AddCANSendList(LeiSaiISV_Motor_Controller, 0x600 + MotorID, 8,
			LeiSaiISV_Motor_Controller->Tx_Buf, 4, NULL);
}

void LeiSai_ISV_Motor_Control()
{

}