#include "../ivec_ECU/ivec_ecu_can/inc/ivec_ecu_can.h"
#include "../ivec_ECU/ivec_ecu_uart/inc/ivec_ecu_uart.h"
#include "../Core/Include/ivec_mcal_uart.h"
extern int maskCount;
extern int filterCount;

static can_buff_t g_canBuffer[1024] = {0}; /*All the CAN Id, Len and Data are stored in this array*/
QUEUE(g_canQueue, g_canBuffer);


void mcu_FDCAN_RxFifo_Callback(uint32_t Identifier, uint8_t *data, uint16_t DataLength)
{
    if (!IS_FULL(g_canQueue)) {
        store_msg_from_isr_to_queue(Identifier, data, DataLength);
    }

}

uint8_t store_msg_from_isr_to_queue(uint32_t id, uint8_t* data, uint8_t len)
{
    can_buff_t buff = {0};
    buff.id = id;
    buff.length = len;
    memcpy(buff.data, data, len);
    ENQUEUE(g_canQueue, buff);
    return 0;
}

IVEC_EcuCommonErr_e xECU_WriteDataOverCAN(uint8_t* pucBuf, uint32_t ulId, int retCode, uint32_t BufNum)
{
    IVEC_EcuCommonErr_e l_xFuncStatus = commonECU_WRITE_FAIL;
    uint8_t l_i32Ret;

    uint16_t TxData[8] = {0};  // Define a buffer for the CAN payload data
    for (int i = 0; i < retCode; i++) {
       TxData[i] = (uint16_t)(pucBuf[i] ^ 0x0000);
    }
    int Bytes = retCode;
    l_i32Ret = xMCAL_MCANTx(CANFD0, ulId, TxData, BufNum, Bytes);
    if(l_i32Ret == IVEC_MCAL_STATUS_SUCCESS)
    {
        l_xFuncStatus = commonECU_SUCCESS;
    }
    return l_xFuncStatus;
}

IVEC_EcuCommonErr_e xECU_CANGetData(can_buff_t *pxBuff)
{
    IVEC_EcuCommonErr_e l_xFuncStatus = commonECU_FAIL;
    if (!IS_EMPTY(g_canQueue))
    {

        can_buff_t xBuff = { 0x00 };
        DEQUEUE(g_canQueue, xBuff);
        memcpy(pxBuff,&xBuff,sizeof(can_buff_t));
        l_xFuncStatus = commonECU_SUCCESS;
    }

    return l_xFuncStatus;
}

IVEC_EcuCommonErr_e xECU_CanReInit(MCAN_Regs* MCAN,uint16_t speed)
{
    IVEC_EcuCommonErr_e l_xFuncStatus = commonECU_SUCCESS;
    uint8_t l_i32Ret;

    if(maskCount >= 0)
    {
        vCanFilterReset();
    }

    l_i32Ret = xMCAL_MCANDeInit(MCAN);
    if(l_i32Ret != IVEC_MCAL_STATUS_SUCCESS)
    {
        l_xFuncStatus = commonECU_DEINIT_FAIL;
    }

    //DL_MCAN_reset(MCAN);
    //        DL_GPIO_enablePower(GPIOA);
    //        DL_GPIO_enablePower(GPIOB);
    DL_MCAN_enablePower(MCAN);
    delay_cycles(POWER_STARTUP_DELAY);

    DL_GPIO_initPeripheralOutputFunction(GPIO_MCAN0_IOMUX_CAN_TX, GPIO_MCAN0_IOMUX_CAN_TX_FUNC);
    DL_GPIO_initPeripheralInputFunction(GPIO_MCAN0_IOMUX_CAN_RX, GPIO_MCAN0_IOMUX_CAN_RX_FUNC);
    l_i32Ret = xMCAL_MCANInit(MCAN,speed);
    if(maskCount >= 0)
    {
        vCanConfigFilter();
    }
    if(l_i32Ret != IVEC_MCAL_STATUS_SUCCESS)
    {
        l_xFuncStatus = commonECU_INIT_FAIL;
    }
    return l_xFuncStatus;

}

IVEC_EcuCommonErr_e xECU_CANInit(MCAN_Regs* MCAN, xCAN_baud_t BAUD)
{
    IVEC_EcuCommonErr_e l_xFuncStatus = commonECU_SUCCESS;
    uint8_t l_i32Ret;
    l_i32Ret = xMCAL_MCANInit(MCAN,BAUD);
    if(l_i32Ret != IVEC_MCAL_STATUS_SUCCESS)
    {
        l_xFuncStatus = commonECU_INIT_FAIL;
    }
    return l_xFuncStatus;
}
IVEC_EcuCommonErr_e xECU_CANDeInit(MCAN_Regs* MCAN)
{
    IVEC_EcuCommonErr_e l_xFuncStatus = commonECU_SUCCESS;
    uint8_t l_i32Ret;
    l_i32Ret = xMCAL_MCANDeInit(MCAN);
    if(l_i32Ret != IVEC_MCAL_STATUS_SUCCESS)
    {
        l_xFuncStatus = commonECU_INIT_FAIL;
    }
    return l_xFuncStatus;
}

IVEC_EcuCommonErr_e xECU_GetCanStatus(MCAN_Regs* MCAN, uint16_t speed)
{
    char l_ucErrorString[32] = {0};
    if( xMCAL_getMCAN_ErrorStatus(&l_ucErrorString) == IVEC_MCAL_STATUS_ERROR )
    {
        xECU_CanReInit(MCAN, speed);
    }
}