/**
  ******************************************************************************
  * File Name          : can_comm.c
  * Description        : This file provides code for the configuration
  *                      of CAN communication.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include <includes.h>
#include "pl455.h"
#include "delay.h"
#include "uart2.h"

/* Private define ------------------------------------------------------------*/
#define WAKEUP_GPIO PDout(4)
#define FAULT_N			PDin(3)

typedef void (*FuncPtrS)(uint8_t *, uint16_t);
typedef uint8_t (*FuncPtrR)(uint8_t *, uint16_t);

FuncPtrS xpl455_out = NULL;
FuncPtrR xpl455_in = NULL;

/* Private function prototypes -----------------------------------------------*/
int WriteFrame(uint8_t bID, uint16_t wAddr, uint8_t * pData, uint8_t bLen, uint8_t bWriteType);
uint16_t CRC16(uint8_t *pBuf, int nLen);
void sendPacket(uint16_t len, uint8_t *sdata);

/* Private functions ---------------------------------------------------------*/
void pl455_gpio_Init(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;
	
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); 	// GPIOD clock
	
	// PL455 Wakeup
	GPIO_InitStructure.GPIO_Pin		= GPIO_Pin_4;						
	GPIO_InitStructure.GPIO_Mode	= GPIO_Mode_OUT;					// Output
	GPIO_InitStructure.GPIO_OType	= GPIO_OType_PP;  				// Push-pull output
	GPIO_InitStructure.GPIO_PuPd	= GPIO_PuPd_NOPULL;  			// Pull the output
	GPIO_InitStructure.GPIO_Speed	= GPIO_Speed_50MHz; 			// High-speed GPIO
	GPIO_Init(GPIOD, &GPIO_InitStructure);
	
	// PL455 Fault_N
	GPIO_InitStructure.GPIO_Pin		= GPIO_Pin_3;
	GPIO_InitStructure.GPIO_Mode	= GPIO_Mode_IN;						// Input
	GPIO_InitStructure.GPIO_PuPd	= GPIO_PuPd_UP;  					// Pull the output
	GPIO_InitStructure.GPIO_Speed	= GPIO_Speed_50MHz; 			// High-speed GPIO
	GPIO_Init(GPIOD, &GPIO_InitStructure);

	GPIO_ResetBits(GPIOD, GPIO_Pin_4); 											// GPIOD line
}

void comm_gpio_init(void)
{
	//GPIO port settings
	GPIO_InitTypeDef GPIO_InitStructure;
	
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD,ENABLE); 			// Enable GPIOD clock
 
	USART_ClearFlag(USART2, USART_FLAG_TC);
	USART_ITConfig(USART2, USART_IT_RXNE, DISABLE);						// Open break
	USART_Cmd(USART2, DISABLE);  															// Disable serial port 2 

	//USART2 port configuration
	GPIO_InitStructure.GPIO_Pin 	= GPIO_Pin_5 | GPIO_Pin_6; 	// GPIOD5, 6
	GPIO_InitStructure.GPIO_Mode 	= GPIO_Mode_OUT;						// Multiplexing function
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;				// Speed 50MHz
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; 						// Push-pull multiplexed output
	GPIO_InitStructure.GPIO_PuPd 	= GPIO_PuPd_NOPULL; 				// Non Pull-up
	GPIO_Init(GPIOD, &GPIO_InitStructure); 										// Initialize PD5, 6 for USART2 TX, RX
	
	GPIO_ResetBits(GPIOD, GPIO_Pin_5 | GPIO_Pin_6); 					// GPIOD line
}

void setSendFunc(void (*FuncPtrS)(uint8_t *, uint16_t))
{
	xpl455_out = FuncPtrS;
}

void setRecvFunc(uint8_t (*FuncPtrR)(uint8_t *, uint16_t))
{
	xpl455_in = FuncPtrR;
}

void CommClear(void)
{
	comm_gpio_init();

	delay_os_ms(250 * 2); 			// ~= 1/BAUDRATE/16*(155+1)*1.01
	
	uart2_init(250000);
}

void CommReset(void)
{
	comm_gpio_init();

	delay_us(200); 					// should cover any possible baud rate
	
	uart2_init(250000);
}

void pl455_wakeup(void)
{
	// toggle wake signal
	WAKEUP_GPIO = 0; // assert wake (active low)
	delay_os_ms(1);
	WAKEUP_GPIO = 1; // deassert wake
}

uint8_t GetFaultStat(void)
{
	return FAULT_N;
}

int WriteReg(uint8_t bID, uint16_t wAddr, uint64_t dwData, uint8_t bLen, uint8_t bWriteType)
{
	int bRes = 0;
	uint8_t bBuf[8] = {0};
	switch(bLen)
	{
		case 1:
			bBuf[0] =  dwData & 0x00000000000000FF;
			bRes = WriteFrame(bID, wAddr, bBuf, 1, bWriteType);
			break;
		case 2:
			bBuf[0] = (dwData & 0x000000000000FF00) >> 8;
			bBuf[1] =  dwData & 0x00000000000000FF;
			bRes = WriteFrame(bID, wAddr, bBuf, 2, bWriteType);
			break;
		case 3:
			bBuf[0] = (dwData & 0x0000000000FF0000) >> 16;
			bBuf[1] = (dwData & 0x000000000000FF00) >> 8;
			bBuf[2] =  dwData & 0x00000000000000FF;
			bRes = WriteFrame(bID, wAddr, bBuf, 3, bWriteType);
			break;
		case 4:
			bBuf[0] = (dwData & 0x00000000FF000000) >> 24;
			bBuf[1] = (dwData & 0x0000000000FF0000) >> 16;
			bBuf[2] = (dwData & 0x000000000000FF00) >> 8;
			bBuf[3] =  dwData & 0x00000000000000FF;
			bRes = WriteFrame(bID, wAddr, bBuf, 4, bWriteType);
			break;
		case 5:
			bBuf[0] = (dwData & 0x000000FF00000000) >> 32;
			bBuf[1] = (dwData & 0x00000000FF000000) >> 24;
			bBuf[2] = (dwData & 0x0000000000FF0000) >> 16;
			bBuf[3] = (dwData & 0x000000000000FF00) >> 8;
			bBuf[4] =  dwData & 0x00000000000000FF;
			bRes = WriteFrame(bID, wAddr, bBuf, 5, bWriteType);
			break;
		case 6:
			bBuf[0] = (dwData & 0x0000FF0000000000) >> 40;
			bBuf[1] = (dwData & 0x000000FF00000000) >> 32;
			bBuf[2] = (dwData & 0x00000000FF000000) >> 24;
			bBuf[3] = (dwData & 0x0000000000FF0000) >> 16;
			bBuf[4] = (dwData & 0x000000000000FF00) >> 8;
			bBuf[5] =  dwData & 0x00000000000000FF;
			bRes = WriteFrame(bID, wAddr, bBuf, 6, bWriteType);
			break;
		case 7:
			bBuf[0] = (dwData & 0x00FF000000000000) >> 48;
			bBuf[1] = (dwData & 0x0000FF0000000000) >> 40;
			bBuf[2] = (dwData & 0x000000FF00000000) >> 32;
			bBuf[3] = (dwData & 0x00000000FF000000) >> 24;
			bBuf[4] = (dwData & 0x0000000000FF0000) >> 16;
			bBuf[5] = (dwData & 0x000000000000FF00) >> 8;
			bBuf[6] =  dwData & 0x00000000000000FF;;
			bRes = WriteFrame(bID, wAddr, bBuf, 7, bWriteType);
			break;
		case 8:
			bBuf[0] = (dwData & 0xFF00000000000000) >> 56;
			bBuf[1] = (dwData & 0x00FF000000000000) >> 48;
			bBuf[2] = (dwData & 0x0000FF0000000000) >> 40;
			bBuf[3] = (dwData & 0x000000FF00000000) >> 32;
			bBuf[4] = (dwData & 0x00000000FF000000) >> 24;
			bBuf[5] = (dwData & 0x0000000000FF0000) >> 16;
			bBuf[6] = (dwData & 0x000000000000FF00) >> 8;
			bBuf[7] =  dwData & 0x00000000000000FF;
			bRes = WriteFrame(bID, wAddr, bBuf, 8, bWriteType);
			break;
		default:
			break;
	}
	return bRes;
}

int WriteFrame(uint8_t bID, uint16_t wAddr, uint8_t * pData, uint8_t bLen, uint8_t bWriteType)
{
	int	bPktLen = 0;
	uint8_t pFrame[32];
	uint8_t *pBuf = pFrame;
	uint16_t wCRC;

	if (bLen == 7 || bLen > 8)
		return 0;

	memset(pFrame, 0x7F, sizeof(pFrame));
	if (wAddr > 255)
	{
		*pBuf++ = 0x88 | bWriteType | bLen;	// use 16-bit address
		if (bWriteType == FRMWRT_SGL_R || bWriteType == FRMWRT_SGL_NR || bWriteType == FRMWRT_GRP_R || bWriteType == FRMWRT_GRP_NR)//(bWriteType != FRMWRT_ALL_NR)// || (bWriteType != FRMWRT_ALL_R))
		{
			*pBuf++ = (bID & 0x00FF);
		}
		*pBuf++ = (wAddr & 0xFF00) >> 8;
		*pBuf++ =  wAddr & 0x00FF;
	}
	else
	{
		*pBuf++ = 0x80 | bWriteType | bLen;	// use 8-bit address
		if (bWriteType == FRMWRT_SGL_R || bWriteType == FRMWRT_SGL_NR || bWriteType == FRMWRT_GRP_R || bWriteType == FRMWRT_GRP_NR)
		{
			*pBuf++ = (bID & 0x00FF);
		}
		*pBuf++ = wAddr & 0x00FF;
	}

	while(bLen--)
		*pBuf++ = *pData++;

	bPktLen = pBuf - pFrame;

	wCRC = CRC16(pFrame, bPktLen);
	*pBuf++ = wCRC & 0x00FF;
	*pBuf++ = (wCRC & 0xFF00) >> 8;
	bPktLen += 2;

//	sciSend(scilinREG, bPktLen, pFrame);
	sendPacket(bPktLen, pFrame);

	return bPktLen;
}

int ReadReg(uint8_t bID, uint16_t wAddr, void * pData, uint8_t bLen, uint32_t dwTimeOut)
{
	int bRes = 0;
	uint8_t bRX[8];

	memset(bRX, 0, sizeof(bRX));
	switch(bLen)
	{
		case 1:
			bRes = ReadFrameReq(bID, wAddr, 1);
			bRes = WaitRespFrame(bRX, 4, dwTimeOut);
			if (bRes == 1)
				*((uint8_t *)pData) = bRX[1] & 0x00FF;
			else
				bRes = 0;
			break;
		case 2:
			bRes = ReadFrameReq(bID, wAddr, 2);
			bRes = WaitRespFrame(bRX, 5, dwTimeOut);
			if (bRes == 2)
				*((uint16_t *)pData) = ((uint16_t)bRX[1] << 8) | (bRX[2] & 0x00FF);
			else
				bRes = 0;
			break;
		case 3:
			bRes = ReadFrameReq(bID, wAddr, 3);
			bRes = WaitRespFrame(bRX, 6, dwTimeOut);
			if (bRes == 3)
				*((uint32_t *)pData) = ((uint32_t)bRX[1] << 16) | ((uint16_t)bRX[2] << 8) | (bRX[3] & 0x00FF);
			else
				bRes = 0;
			break;
		case 4:
			bRes = ReadFrameReq(bID, wAddr, 4);
			bRes = WaitRespFrame(bRX, 7, dwTimeOut);
			if (bRes == 4)
				*((uint32_t *)pData) = ((uint32_t)bRX[1] << 24) | ((uint32_t)bRX[2] << 16) | ((uint16_t)bRX[3] << 8) | (bRX[4] & 0x00FF);
			else
				bRes = 0;
			break;
		default:
			break;
	}
	return bRes;
}

int ReadFrameReq(uint8_t bID, uint16_t wAddr, uint8_t bByteToReturn)
{
	uint8_t bReturn = bByteToReturn - 1;

	if (bReturn > 127)
		return 0;

	return WriteFrame(bID, wAddr, &bReturn, 1, FRMWRT_SGL_R);
}

int WaitRespFrame(uint8_t *pFrame, uint8_t bLen, uint32_t dwTimeOut)
{
	uint16_t wCRC = 0, wCRC16;
	uint8_t bBuf[132];
	uint8_t bRxDataLen;

	memset(bBuf, 0, sizeof(bBuf));

//	sciEnableNotification(scilinREG, SCI_RX_INT);
//	rtiEnableNotification(rtiNOTIFICATION_COMPARE1);
	 /* rtiNOTIFICATION_COMPARE0 = 1ms
	 *  rtiNOTIFICATION_COMPARE1 = 5ms
	 *  rtiNOTIFICATION_COMPARE2 = 8ms
	 *  rtiNOTIFICATION_COMPARE3 = 10ms
	 */
//	sciReceive(scilinREG, bLen, bBuf);
	
	if (xpl455_in)
	{
		if (xpl455_in(bBuf, bLen) == false) return 0;
	}
//	rtiResetCounter(rtiCOUNTER_BLOCK0);
//	rtiStartCounter(rtiCOUNTER_BLOCK0);

//	while(UART_RX_RDY == 0U)
//	{
//		// Check for timeout.
//		if(RTI_TIMEOUT == 1U)
//		{
//			RTI_TIMEOUT = 0;
//			return 0; // timed out
//		}
//	} /* Wait */
//	rtiStopCounter(rtiCOUNTER_BLOCK0);

//	UART_RX_RDY = 0;
	bRxDataLen = bBuf[0];

	delay_os_ms(dwTimeOut);

	// rebuild bBuf to have bLen as first byte to use the same CRC function as TX
//	i = bRxDataLen + 3;
//	while(--i >= 0)
//	{
//		bBuf[i + 1] = bBuf[i];
//	}
//	bBuf[0] = bRxDataLen;

	wCRC = bBuf[bRxDataLen + 2];
	wCRC |= ((uint16_t)bBuf[bRxDataLen + 3] << 8);
	wCRC16 = CRC16(bBuf, bRxDataLen + 2);
	if (wCRC != wCRC16)
		return -1;

	memcpy(pFrame, bBuf, bRxDataLen + 4);

	return bRxDataLen + 1;
}

void sendPacket(uint16_t len, uint8_t *sdata)
{
	if (xpl455_out != NULL)
	{
		xpl455_out(sdata, len);
	}
}

// CRC16 for PL455
// ITU_T polynomial: x^16 + x^15 + x^2 + 1
const uint16_t crc16_table[256] = {
	0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
	0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440,
	0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40,
	0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841,
	0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40,
	0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41,
	0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641,
	0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040,
	0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240,
	0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441,
	0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41,
	0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840,
	0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41,
	0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40,
	0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640,
	0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041,
	0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240,
	0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441,
	0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41,
	0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840,
	0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41,
	0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40,
	0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640,
	0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041,
	0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241,
	0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440,
	0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40,
	0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841,
	0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40,
	0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41,
	0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
	0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040
};

uint16_t CRC16(uint8_t *pBuf, int nLen)
{
	uint16_t wCRC = 0;
	int i;

	for (i = 0; i < nLen; i++)
	{
		wCRC ^= (*pBuf++) & 0x00FF;
		wCRC = crc16_table[wCRC & 0x00FF] ^ (wCRC >> 8);
	}

	return wCRC;
}

/******************* (C) COPYRIGHT 2015 STMicroelectronics *****END OF FILE****/