#include "bsp_can.h"

void can_filter_init(void)
{
    CAN_FilterTypeDef can_filter_st;
    can_filter_st.FilterActivation = ENABLE;
    can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;
    can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;
    can_filter_st.FilterIdHigh = 0x0000;
    can_filter_st.FilterIdLow = 0x0000;
    can_filter_st.FilterMaskIdHigh = 0x0000;
    can_filter_st.FilterMaskIdLow = 0x0000;
    can_filter_st.FilterBank = 0;
    can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
    HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);
    HAL_CAN_Start(&hcan1);
    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);

    can_filter_st.SlaveStartFilterBank = 14;
    can_filter_st.FilterBank = 14;
    HAL_CAN_ConfigFilter(&hcan2, &can_filter_st);
    HAL_CAN_Start(&hcan2);
    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
}

/**
 * @brief          发送控制数据
 * @param[in]      can_handle 选择CAN1或CAN2
 * @param[in]      tx_header  CAN发送数据header
 * @param[in]      tx_data    发送数据
 * @return         none
 */
void CAN_SendTxMessage(CanCtrlData_s * can_ctrl_data)
{
    uint32_t send_mail_box;
    uint8_t cnt = 20;  // 重复检测次数

    uint32_t free_TxMailbox =
        HAL_CAN_GetTxMailboxesFreeLevel(can_ctrl_data->hcan);  // 检测是否有空闲邮箱
    while (free_TxMailbox < 3 && cnt--) {                      // 等待空闲邮箱数达到3
        free_TxMailbox = HAL_CAN_GetTxMailboxesFreeLevel(can_ctrl_data->hcan);
    }
    HAL_CAN_AddTxMessage(
        can_ctrl_data->hcan, &can_ctrl_data->tx_header, can_ctrl_data->tx_data, &send_mail_box);
}