#include "Can.h"
#include "OTA.h"
#include "config.h"
#include "gd32c10x.h"
#include "gd32c10x_can.h"
#include "gd32c10x_dma.h"
#include "gd32c10x_gpio.h"
#include "main.h"
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>

CAN_transmiter CAN0_transmiter; // CAN初始化
extern BootloaderSystem sys;
extern OTAHandler ota;

// 添加DMA相关变量
dma_parameter_struct dma_rx_parameter;
dma_parameter_struct dma_tx_parameter;
uint8_t can_rx_buffer[8]; // CAN接收缓冲区
uint8_t can_tx_buffer[8]; // CAN发送缓冲区

/*!
	\brief      initialize CAN GPIO
	\param[in]  none
	\param[out] none
	\retval     ErrStatus: SUCCESS or ERROR
*/
u8 can_gpio_init() {
	/* enable CAN clock */
	rcu_periph_clock_enable(RCU_CAN0);
	rcu_periph_clock_enable(RCU_GPIOB);
	rcu_periph_clock_enable(RCU_AF);

	/* configure CAN0 GPIO */
	gpio_init(GPIOB, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, GPIO_PIN_8);	  // rx
	gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9); // tx
	gpio_pin_remap_config(GPIO_CAN0_PARTIAL_REMAP, ENABLE);
	/* enable the EN GPIO clock */
	gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
	gpio_bit_reset(GPIOB, GPIO_PIN_13);
	return 0;
}

/*!
	\brief      初始化CAN DMA
	\param[in]  none
	\param[out] none
	\retval     none
*/
void can_dma_init(void) {
	// 使能DMA时钟
	rcu_periph_clock_enable(RCU_DMA0);

	// 配置接收DMA
	dma_struct_para_init(&dma_rx_parameter);
	dma_rx_parameter.periph_addr =
		(uint32_t)(&CAN_RFIFOMDATA0(CAN0, CAN_FIFO0)); // CAN接收数据寄存器地址
	dma_rx_parameter.memory_addr = (uint32_t)can_rx_buffer;	   // 接收缓冲区地址
	dma_rx_parameter.direction = DMA_PERIPHERAL_TO_MEMORY;	   // 外设到内存
	dma_rx_parameter.memory_width = DMA_MEMORY_WIDTH_8BIT;	   // 内存宽度8位
	dma_rx_parameter.periph_width = DMA_PERIPHERAL_WIDTH_8BIT; // 外设宽度8位
	dma_rx_parameter.priority = DMA_PRIORITY_HIGH;			   // 高优先级
	dma_rx_parameter.number = 8;							   // 传输字节数
	dma_rx_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE; // 外设地址不递增
	dma_rx_parameter.memory_inc = DMA_MEMORY_INCREASE_ENABLE;  // 内存地址递增
	dma_init(DMA0, DMA_CH4, &dma_rx_parameter);				   // 使用DMA通道4

	// 配置发送DMA
	dma_struct_para_init(&dma_tx_parameter);
	dma_tx_parameter.periph_addr =
		(uint32_t)(&CAN_TMI0(CAN0)); // CAN发送数据寄存器地址
	dma_tx_parameter.memory_addr = (uint32_t)can_tx_buffer;	   // 发送缓冲区地址
	dma_tx_parameter.direction = DMA_MEMORY_TO_PERIPHERAL;	   // 内存到外设
	dma_tx_parameter.memory_width = DMA_MEMORY_WIDTH_8BIT;	   // 内存宽度8位
	dma_tx_parameter.periph_width = DMA_PERIPHERAL_WIDTH_8BIT; // 外设宽度8位
	dma_tx_parameter.priority = DMA_PRIORITY_HIGH;			   // 高优先级
	dma_tx_parameter.number = 8;							   // 传输字节数
	dma_tx_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE; // 外设地址不递增
	dma_tx_parameter.memory_inc = DMA_MEMORY_INCREASE_ENABLE;  // 内存地址递增
	dma_init(DMA0, DMA_CH5, &dma_tx_parameter);				   // 使用DMA通道5

	// 使能DMA通道
	dma_channel_enable(DMA0, DMA_CH4);
	dma_channel_enable(DMA0, DMA_CH5);
}

/*!
	\brief      初始化CAN0 CANFD模式
	\param[in]  none
	\param[out] none
	\retval     none
*/
void canfd_config(void) {
	can_gpio_init();
	can_dma_init();
	can_parameter_struct can_parameter;
	can_fdframe_struct can_fd_parameter;
	can_fd_tdc_struct can_fd_tdc_parameter;
	can_filter_parameter_struct can_filter;

	/* initialize CAN register */
	can_deinit(CAN0);

	/* initialize CAN */
	can_parameter.time_triggered = DISABLE;
	can_parameter.auto_bus_off_recovery = DISABLE;
	can_parameter.auto_wake_up = DISABLE;
	can_parameter.auto_retrans = ENABLE;
	can_parameter.rec_fifo_overwrite = ENABLE;
	can_parameter.trans_fifo_order = ENABLE;
	can_parameter.working_mode = CAN_NORMAL_MODE;
	/* baudrate 1Mbps, sample piont at 80% */
	can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
	can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
	can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
	can_parameter.prescaler = 6;
	can_init(CAN0, &can_parameter);

	can_struct_para_init(CAN_FD_FRAME_STRUCT, &can_fd_parameter);
	can_fd_parameter.fd_frame = ENABLE;
	can_fd_parameter.excp_event_detect = ENABLE;
	can_fd_parameter.delay_compensation = ENABLE;
	can_fd_tdc_parameter.tdc_filter = 0x04;
	can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET;
	can_fd_tdc_parameter.tdc_offset = 0x04;
	can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter;
	can_fd_parameter.iso_bosch = CAN_FDMOD_ISO;
	can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE;
	/* FD mode data baudrate 2Mbps, sample piont at 80% */
	can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ;
	can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_3TQ;
	can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ;
	/* CAN-FD data segement prescaler should be the same as non-data segement
	 * prescaler */
	can_fd_parameter.data_prescaler = 6;
	can_fd_init(CAN0, &can_fd_parameter);

	/* initialize filter */
	can_filter.filter_mode = CAN_FILTERMODE_MASK;
	can_filter.filter_bits = CAN_FILTERBITS_32BIT;
	/* configure filter ID */
	can_filter.filter_list_high = 0x0000;
	can_filter.filter_list_low = 0x0000;
	/* configure filter mask */
	can_filter.filter_mask_high = 0x0000;
	can_filter.filter_mask_low = 0x0000;
	/* select receiver fifo */
	can_filter.filter_fifo_number = CAN_FIFO0;
	can_filter.filter_enable = ENABLE;
	/* configure filter number */
	can_filter.filter_number = 0;
	can_filter_init(&can_filter);

	/* configure CAN0 NVIC */
	nvic_irq_enable(CAN0_RX0_IRQn, 1, 0);
	/* enable can receive FIFO0 not empty interrupt */
	can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
	// 使能DMA中断
	nvic_irq_enable(DMA0_Channel4_IRQn, 1, 1);
	dma_interrupt_enable(DMA0, DMA_CH4, DMA_INT_FTF);
}

/*!
	\brief CAN_transmiter构造函数
	\note  初始化CAN通信相关参数和硬件配置
*/
u8 CAN_transmiter::init() {
	// 初始化CAN硬件
	canfd_config();

	// 初始化发送消息结构体
	can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &transmit_message);
	/* initialize receive message */
	can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message);

	// 初始化DMA缓冲区
	memset(can_rx_buffer, 0, sizeof(can_rx_buffer));
	memset(can_tx_buffer, 0, sizeof(can_tx_buffer));
	return 0;
}

/**
 * @brief  CAN通信检查函数
 * @retval 0: 无新消息
 *         1: 有新消息
 */
void CAN_transmiter::communication_check() {
	// CAN0 发送数据标志
	if (SET == can0_send_flag) {
		// printf("\r\n can0 %X receive data:", receive_message.rx_efid);
		// CAN0_transmiter.CAN_all_Send();
		// CANFD_all_Send();
		can0_send_flag = RESET;
	}

	// CAN0 接收数据标志
	if (SET == can0_receive_flag) {
		// printf("can0 %X receive data,length%d:", receive_message.rx_efid,
		// 	   receive_message.rx_dlen);
		// for (int i = 0; i < receive_message.rx_dlen; i++) {
		// 	printf(" 0x%02x", receive_message.rx_data[i]);
		// }
		// printf("\n");
		if (receive_message.rx_efid == CANFD_OTA_DATA_ID or
			receive_message.rx_efid == CANFD_OTA_REQ_ID) {
			ota.handleOTAMessage(receive_message.rx_efid,
								 receive_message.rx_data,
								 receive_message.rx_dlen);
		} else {

#if CAN_DEBUG
			printf("Unknown CAN ID: %X\n", receive_message.rx_efid);
			
#endif
		}
		can0_receive_flag = RESET;
	}
}

u8 CAN_transmiter::sendDATA_ACK(u32 packet_num, u8 *data) { // 握手的时候
	memset(transmit_data, 0, sizeof(transmit_data));
	transmit_data[0] = 0xBA;
	transmit_data[1] = 0xC0;
	// 修复原始代码中不完整的循环
	for (int i = 2; i < 6; i++) {
		transmit_data[i] = data[i - 2];
	}

	return CANFD_AsyncSend(CANFD_OTA_ACK_ID, 6, transmit_data);
}

u8 CAN_transmiter::sendDATA_ACK(u32 packet_num,
								bool if_success) { // 发送数据的时候
	memset(transmit_data, 0, 4);
	if (if_success) {
		transmit_data[0] = 0x01;
		transmit_data[1] = 0x00;
	}

	return CANFD_AsyncSend(CANFD_OTA_ACK_ID, 4, transmit_data);
}

/**
 * @brief  CAN0中断服务程序
 * @retval 无
 */
void CAN0_RX0_IRQHandler(void) {
	// 检查是否是FIFO0消息挂起中断
	if (can_interrupt_flag_get(CAN0, CAN_INT_FLAG_RFL0) != RESET) {
		// 清除中断标志
		can_interrupt_flag_clear(CAN0, CAN_INT_FLAG_RFL0);

		// 使用DMA读取接收到的数据
		dma_channel_disable(DMA0, DMA_CH4);
		dma_rx_parameter.number =
			can_receive_message_length_get(CAN0, CAN_FIFO0);
		dma_init(DMA0, DMA_CH4, &dma_rx_parameter);
		dma_channel_enable(DMA0, DMA_CH4);

		// 读取接收到的数据
		can_message_receive(CAN0, CAN_FIFO0, &CAN0_transmiter.receive_message);

		// 接收标志位置1
		CAN0_transmiter.can0_receive_flag = SET;
	}

	// 检查其他可能的中断源
	if (can_interrupt_flag_get(CAN0, CAN_INT_FLAG_RFF0) != RESET) {
		// FIFO0满中断
		can_interrupt_flag_clear(CAN0, CAN_INT_FLAG_RFF0);
#if CAN_DEBUG
		printf("CAN FIFO0 full\n");
#endif
	}

	if (can_interrupt_flag_get(CAN0, CAN_INT_FLAG_RFO0) != RESET) {
		// FIFO0溢出中断
		can_interrupt_flag_clear(CAN0, CAN_INT_FLAG_RFO0);
#if CAN_DEBUG
		printf("CAN FIFO0 overflow\n");

#endif
	}
}

/**
 * @brief  DMA通道4中断服务程序(CAN接收DMA)
 * @retval 无
 */
void DMA0_Channel4_IRQHandler(void) {
	if (dma_interrupt_flag_get(DMA0, DMA_CH4, DMA_INT_FLAG_FTF)) {
		// 清除DMA传输完成中断标志
		dma_interrupt_flag_clear(DMA0, DMA_CH4, DMA_INT_FLAG_G);

		// 将DMA缓冲区的数据复制到接收消息结构体
		for (int i = 0; i < CAN0_transmiter.receive_message.rx_dlen && i < 8;
			 i++) {
			CAN0_transmiter.receive_message.rx_data[i] = can_rx_buffer[i];
		}
	}
}

/**
 * @brief  DMA通道5中断服务程序(CAN/CANFD发送DMA)
 * @retval 无
 */
void DMA0_Channel5_IRQHandler(void) {
	if (dma_interrupt_flag_get(DMA0, DMA_CH5, DMA_INT_FLAG_FTF)) {
		// DMA传输完成，可以在此处执行后续处理
		// 清除DMA传输完成中断标志
		dma_interrupt_flag_clear(DMA0, DMA_CH5, DMA_INT_FLAG_FTF);
		// 可以在此添加后续处理逻辑，如发送下一个数据包等
	}
}

/**
 * @brief  异步CANFD数据发送(使用DMA和中断机制)
 * @param  id CAN消息ID
 * @param  length CAN消息长度
 * @param  data CAN消息数据
 */
u8 CAN_transmiter::CANFD_AsyncSend(u32 id, u8 length, u8 *data) {
	u8 valid_length = length;
	// 检查CANFD模式是否启用
	if (!(CAN_CTL(CAN0) & CAN_CTL_DFZ)) {
#if CAN_DEBUG
		printf("CANFD mode not enabled\r\n");
#endif
		return 0;
	}

	// 检查数据指针是否有效
	if (data == nullptr) {
#if CAN_DEBUG
		printf("Invalid data pointer\r\n");

#endif
		return 0;
	}

	// 检查数据长度是否符合CANFD规范
	if (length > 8) {
		if (length > 8 and length < 13) {
			valid_length = 12;
		} else if (length > 12 and length < 17) {
			valid_length = 16;
		} else if (length > 16 and length < 21) {
			valid_length = 20;
		} else if (length > 20 and length < 24) {
			valid_length = 24;
		} else if (length > 28 and length < 33) {
			valid_length = 32;
		} else if (length > 32 and length < 49) {
			valid_length = 48;
		} else if (length > 48 and length < 65) {
			valid_length = 64;
		} else {
#if CAN_DEBUG
			printf("CANFD data length error\r\n");

#endif
			return 0;
		}
	}

	/* 配置发送消息参数 */
	transmit_message.tx_ft = CAN_FT_DATA;	  // 数据帧
	transmit_message.tx_ff = CAN_FF_EXTENDED; // 扩展帧格式
	transmit_message.tx_efid = id;			  // 扩展帧ID
	transmit_message.tx_dlen = valid_length;  // 设置数据长度

	// 设置CANFD特定参数
	transmit_message.fd_flag = CAN_FDF_FDFRAME; // CANFD帧格式
	transmit_message.fd_brs = ENABLE;			// 使能比特率切换
	transmit_message.fd_esi = DISABLE;			// 错误状态指示
	// 复制数据到发送缓冲区
	for (int i = 0; i < valid_length; i++) {
		if (i < length) {
			transmit_message.tx_data[i] = *(data + i);
		} else {
			transmit_message.tx_data[i] = 0;
		}
	}

	// 自动选择空闲mailbox发送消息
	transmit_mailbox = can_message_transmit(CAN0, &transmit_message);

	// 检查是否成功获取mailbox
	if (transmit_mailbox == CAN_NOMAILBOX) {

#if CAN_DEBUG
		// 没有可用的mailbox，启用发送中断以便在邮箱可用时重试
		printf("No available mailbox for CANFD transmission, enabling TX "
			   "interrupt\r\n");

#endif
		return 0;
	}

	// 启用CAN发送中断以检测传输完成
	can_interrupt_enable(CAN0, CAN_INTEN_TMEIE);
	return 1;
}

// 添加CAN传输中断处理函数
void CAN0_TX_IRQHandler(void) {
	// 检查是否有发送邮箱空闲
	if (can_flag_get(CAN0, CAN_FLAG_TME0) != RESET ||
		can_flag_get(CAN0, CAN_FLAG_TME1) != RESET ||
		can_flag_get(CAN0, CAN_FLAG_TME2) != RESET) {
		// 邮箱已空闲，可以发送新消息
		// 可以在这里处理待发送队列中的消息
		// 清除发送中断标志
		can_flag_clear(CAN0, CAN_FLAG_TME0);
		can_flag_clear(CAN0, CAN_FLAG_TME1);
		can_flag_clear(CAN0, CAN_FLAG_TME2);
	}
}