#include "main.h"
#include "CToC.h"
#include "can.h"
#include "dma.h"
#include "gpio.h"
#include "Remote.h"    
#include "RefereeSystem.h" 
#include "Parameter.h"


static CAN_TxHeaderTypeDef TxMessage;
static uint8_t             TxMessage_Data[8];
uint8_t CToC_MasterSendData(void)
{ 
	
	uint32_t send_mail_box;
	TxMessage.StdId=CToC_SlaveID1;
	TxMessage.IDE = CAN_ID_STD;
  TxMessage.RTR = CAN_RTR_DATA;
	TxMessage.DLC=0x08;
	if((PC_Go==0 && PC_Back==0 && PC_Left==0 && PC_Right==0 && PC_Spin==0 && PC_Pitch==0) && RefereeSystem_Status==0)//?????
	{
		TxMessage_Data[0]=(uint8_t)((uint16_t)Remote_RxData.Remote_R_RL>>8);//????????
		TxMessage_Data[1]=(uint8_t)((uint16_t)Remote_RxData.Remote_R_RL & 0x00FF);//????????
		TxMessage_Data[2]=(uint8_t)((uint16_t)Remote_RxData.Remote_R_UD>>8);//????????
		TxMessage_Data[3]=(uint8_t)((uint16_t)Remote_RxData.Remote_R_UD & 0x00FF);//????????
		TxMessage_Data[4]=(uint8_t)(Remote_RxData.Remote_L_RL>>8);//????????
		TxMessage_Data[5]=(uint8_t)(Remote_RxData.Remote_L_RL & 0x00FF);//????????
		TxMessage_Data[6]=(uint8_t)(Remote_RxData.Remote_L_UD>>8);//????????
		TxMessage_Data[7]=(uint8_t)(Remote_RxData.Remote_L_UD & 0x00FF);//????????
	}
	else//????
	{
		TxMessage_Data[0]=(uint8_t)((1024+(PC_Right-PC_Left)*660)>>8);//??AD,????????(???)
		TxMessage_Data[1]=(uint8_t)((1024+(PC_Right-PC_Left)*660) & 0x00FF);//??AD,????????(???)
		TxMessage_Data[2]=(uint8_t)((1024+(PC_Go-PC_Back)*660)>>8);//??WS,????????(???)
		TxMessage_Data[3]=(uint8_t)((1024+(PC_Go-PC_Back)*660) & 0x00FF);//??WS,????????(???)
		TxMessage_Data[4]=(uint8_t)((uint16_t)(1024+PC_Spin*PC_Mouse_RLSensitivity)>>8);//????,????????(???)
		TxMessage_Data[5]=(uint8_t)((uint16_t)(1024+PC_Spin*PC_Mouse_RLSensitivity) & 0x00FF);//????,????????(???)
		TxMessage_Data[6]=(uint8_t)((uint16_t)(1024+PC_Pitch*PC_Mouse_DUSensitivity)>>8);//????,????????(???)
		TxMessage_Data[7]=(uint8_t)((uint16_t)(1024+PC_Pitch*PC_Mouse_DUSensitivity) & 0x00FF);//????,????????(???)
	}
	
	HAL_StatusTypeDef status = HAL_CAN_AddTxMessage(&hcan2, &TxMessage,TxMessage_Data, &send_mail_box);
if (status != HAL_OK) {
    return 0; 
}

uint16_t i = 0;
while ((HAL_CAN_IsTxMessagePending(&hcan2, send_mail_box)) && (i < 0xFFF)) {
    i++;
}
if (i >= 0xFFF) {
    return 0; 
}
    return 1; 
}



//can 2 rx
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 = (CToC_MasterID1<<5);
    can_filter_st.FilterIdLow =(CToC_MasterID1<<5);
    can_filter_st.FilterMaskIdHigh = 0xFFE3;
    can_filter_st.FilterMaskIdLow = 0xFFE3;
    can_filter_st.FilterBank = 0;
    can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;

	  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);
}




static CAN_TxHeaderTypeDef TxMessage1;
static uint8_t             TxMessage_Data1[8];
uint8_t CToC_MasterSendControl(void)
{

	uint32_t send_mail_box;
	TxMessage1.StdId=CToC_SlaveID2;
	TxMessage1.IDE = CAN_ID_STD;
  TxMessage1.RTR = CAN_RTR_DATA;
	TxMessage1.DLC=0x08;
	TxMessage_Data1[0]=Remote_Status;
	TxMessage_Data1[1]=Remote_RxData.Remote_RS;
	TxMessage_Data1[2]=Remote_RxData.Remote_KeyPush_Ctrl;
	TxMessage_Data1[3]=Remote_RxData.Remote_KeyPush_Shift;
	TxMessage_Data1[4]=Remote_StartFlag;
	TxMessage_Data1[5]=Remote_RxData.Remote_LS;
	TxMessage_Data1[6]=Remote_RxData.Remote_Key_Alpha1;
	TxMessage_Data1[7]=Remote_RxData.Remote_Key_Alpha2;
	
	HAL_StatusTypeDef status = HAL_CAN_AddTxMessage(&hcan2, &TxMessage1,TxMessage_Data1, &send_mail_box);
if (status != HAL_OK) {
    return 0; 
}

uint16_t i = 0;
while ((HAL_CAN_IsTxMessagePending(&hcan2, send_mail_box)) && (i < 0xFFF)) {
    i++;
}
if (i >= 0xFFF) {
    return 0; 
}
    return 1; 
}





void CToC_CANDataProcess(uint32_t ID,uint8_t *Data)
{
	static uint8_t Last_ShooterStatus=0;
	if(ID==CToC_MasterID1)
	{
		Last_ShooterStatus=RefereeSystem_ShooterStatus;
		RefereeSystem_ShooterStatus=Data[0];
		if(Last_ShooterStatus==0 && RefereeSystem_ShooterStatus==1)RefereeSystem_ShooterOpenFlag=1;
	}
}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
    CAN_RxHeaderTypeDef rx_header;
    uint8_t rx_data[8];
    
   
    HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data);
if (hcan->Instance == CAN2) {
       
        CToC_CANDataProcess(rx_header.StdId, rx_data);
    }
}