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/* USER CODE BEGIN Header */

/**

 ******************************************************************************

 * @file           : main.c

 * @brief          : Main program body

 ******************************************************************************

 * @attention

 *

 * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.

 * All rights reserved.</center></h2>

 *

 * This software component is licensed by ST under BSD 3-Clause license,

 * the "License"; You may not use this file except in compliance with the

 * License. You may obtain a copy of the License at:

 *                        opensource.org/licenses/BSD-3-Clause

 *

 ******************************************************************************

 */

/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/

#include "main.h"

/* Private includes ----------------------------------------------------------*/

/* USER CODE BEGIN Includes */

#include "string.h"

#include "base64.h"

#include "libSerial/serial.H"

#include "libSmallPrintf/small_printf.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/

/* USER CODE BEGIN PTD */

typedef enum

{

  FAIL,

  REJECT,

  ACCEPT,

  COMPLETE

} appendStatus;

typedef struct

{

  uint8_t payloadBuffer[233];

  uint32_t payloadId;

  uint8_t payloadRemaining;  // number of bytes remaining

  uint8_t payloadTotal;      // number total number of bytes

  uint8_t payloadOffset;     // byte offset

  uint8_t payloadNextSeq;    // next sequence frame expected

  uint32_t payloadTimestamp; // timestamp of reception

  appendStatus status;

} contextType;

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/

/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/

/* USER CODE BEGIN PM */

#define False (0)

#define True (1)

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

CAN_HandleTypeDef hcan;

UART_HandleTypeDef huart1;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/

void SystemClock_Config(void);

static void MX_GPIO_Init(void);

static void MX_CAN_Init(void);

static void MX_USART1_UART_Init(void);

/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/

/* USER CODE BEGIN 0 */

#define CONTEXTS 6

contextType contexts[CONTEXTS];

CAN_TxHeaderTypeDef TxHeader;

CAN_RxHeaderTypeDef RxHeader;

uint8_t TxData[8];

uint8_t RxData[8];

// Storage for the data

uint32_t TxMailbox;

char const version[] = "$PDGY,Mike_James_Converter_#00001_Mode:15\r\n";

char const keepawake[] = "$PDGY,000000,1,,4,%ld.%03ld,,,\r\n";

// reset a search context

void resetContext(contextType *c)

{

  c->payloadRemaining = 0; // number of bytes remaining

  c->payloadTotal = 0;     // number total number of bytes

  c->payloadOffset = 0;

  c->payloadNextSeq = 0;

  c->payloadTimestamp = 0;

  c->status = FAIL;

  c->payloadId = 0;

}

uint8_t singleFrame(uint32_t pgn)

{

  switch (pgn)

  {

  case 129029:

  case 129038:

  case 126996:

  case 127489:

    return False;

  default:

    break;

  }

  if (pgn >= 130816 && pgn <= 131071)

    return False;

  if (pgn >= 65536 && pgn <= 126975)

    return False;

  return True;

}

// called from CAN frame callback

appendStatus append(contextType *c, CAN_RxHeaderTypeDef *packet)

{

  uint32_t extId = RxHeader.ExtId;

  if (c->payloadId != 0 && c->payloadId != extId)

    return REJECT;

  uint8_t newId = c->payloadId == 0; // set a flag if this is a newly discovered frame

  c->payloadId = extId;

  uint32_t pgn = (c->payloadId >> 8) & ((1 << 18) - 1);

  uint8_t pf = (pgn >> 8) & 0xFF;

  if (pf < 240)

  {

    // process PS if in PDU1 , address is low byte

    pgn = pgn & 0x3FF00;

  }

  uint8_t packetLen = RxHeader.DLC;

  if (singleFrame(pgn))

  {

    c->payloadTimestamp = HAL_GetTick();

    memcpy(c->payloadBuffer, RxData, packetLen);

    c->payloadRemaining = 0;

    c->payloadTotal = packetLen;

    c->status = COMPLETE;

    return c->status; // successfully filled frame

  }

  else

  {

    // sort out fastpacket new ID

    if (newId)

    {

      if ((RxData[0] & 0x1f) != 0)

      {

        resetContext(c);

        return FAIL;

      }

      c->payloadTimestamp = HAL_GetTick();

      c->payloadNextSeq = RxData[0] + 1;

      c->payloadId = extId;

      c->payloadRemaining = RxData[1];

      c->payloadTotal = RxData[1];

      // no data , return

      if (c->payloadTotal == 0)

      {

        resetContext(c);

        return FAIL;

      }

      uint8_t numBytes = packetLen - 2;

      memcpy(c->payloadBuffer, RxData + 2, numBytes);

      // CAN frame can be longer than remaining bytes, do not make payloadRemaining wrap around !

      if (numBytes < c->payloadRemaining)

        c->payloadRemaining -= numBytes;

      else

        c->payloadRemaining = 0;

      c->payloadOffset = numBytes;

    }

    else

    {

      if (RxData[0] != c->payloadNextSeq)

      {

        resetContext(c);

        return FAIL;

      }

      // predict next payload sequence

      c->payloadNextSeq++;

      uint8_t numBytes = packetLen - 1;

      memcpy(c->payloadBuffer + c->payloadOffset, RxData + 1, numBytes);

      c->payloadRemaining -= numBytes;

      c->payloadOffset += numBytes;

    }

  }

  appendStatus stat = (c->payloadRemaining != 0) ? ACCEPT : COMPLETE;

  c->status = stat;

  return stat;

}

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)

{

  HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);

  HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData);

  int i;

  for (i = 0; i < CONTEXTS; ++i)

  {

    contextType *ctx = &contexts[i];

    appendStatus stat = append(ctx, &RxHeader);

    if (stat == ACCEPT || stat == COMPLETE)

      break; // accepted data, stop loop

  }

}

void heartBeat()

{

  char lineBuff[80];

  uint32_t timestamp = HAL_GetTick();

  size_t pos = small_sprintf(lineBuff, keepawake,

                             timestamp / 1000, // seconds

                             timestamp % 1000  // milliseconds

  );

  HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);

  if (pos < SerialTransmitSpace(&uc1))

  {

    __disable_irq();

    sendString(&uc1, (char *)lineBuff, pos);

    __enable_irq();

  }

}

// utility function to set up the filter mask

void CAN_FilterMaskEXT(CAN_FilterTypeDef *filter_, uint32_t id_, uint32_t mask_)

{

  filter_->FilterIdHigh = id_ >> 13;

  filter_->FilterIdLow = ((id_ & 0x1FFF) << 3) | CAN_ID_EXT;

  filter_->FilterMaskIdHigh = mask_ >> 13;

  filter_->FilterMaskIdLow = ((mask_ & 0x1FFF) << 3) | CAN_ID_EXT;

}

void processCmd(char *buff, int len)

{

  buff[len] = 0; // terminate in case of error

  char lineBuff[100];

  int pos = small_sprintf(lineBuff, "$PDGY,ACK,%s\r\n", buff + 6);

  if (pos < SerialTransmitSpace(&uc1))

  {

    __disable_irq();

    sendString(&uc1, (char *)lineBuff, pos);

    __enable_irq();

  }

}

/* USER CODE END 0 */

/**

 * @brief  The application entry point.

 * @retval int

 */

int main(void)

{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */

  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */

  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */

  MX_GPIO_Init();

  MX_CAN_Init();

  MX_USART1_UART_Init();

  /* USER CODE BEGIN 2 */

  HAL_CAN_Start(&hcan);

  init_usart_ctl(&uc1, &huart1);

  EnableSerialRxInterrupt(&uc1);

  // Activate the notification

  HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);

  // send out a version string on the serial port

  sendString(&uc1, (char *)version, sizeof(version));

  uint32_t sendTime = HAL_GetTick() + 1000;

  char cmdBuff[100];

  int cmdPos = 0;

  for (int i = 0; i < CONTEXTS; ++i)

    resetContext(&contexts[i]);

  /* USER CODE END 2 */

  /* Infinite loop */

  /* USER CODE BEGIN WHILE */

  while (1)

  {

    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

    if (SerialCharsReceived(&uc1))

    {

      cmdBuff[cmdPos] = GetCharSerial(&uc1);

      if (cmdBuff[cmdPos] == '\n')

      {

        processCmd(cmdBuff, cmdPos);

        cmdPos = 0;

      }

      else

        cmdPos++;

    }

    if (HAL_GetTick() > sendTime)

    {

      sendTime += 1000;

      heartBeat();

    }

    uint32_t old = HAL_GetTick() - 750;

    for (int i = 0; i < CONTEXTS; ++i)

    {

      contextType *ctx = &contexts[i];

      /// check for too old

      //   if (ctx->status == ACCEPT && ctx->payloadTimestamp < old)

      //   {

      //     resetContext(ctx);

      //     continue;

      //   }

      if (ctx->status == COMPLETE)

      {

        __disable_irq();

        uint8_t prio = (ctx->payloadId >> 26) & 0x7;

        uint8_t src = ctx->payloadId & 0xFF;

        uint8_t dst = 255;

        // mask out the PGN field as 18 bits.

        uint32_t pgn = (ctx->payloadId >> 8) & ((1 << 18) - 1);

        uint8_t pf = (pgn >> 8) & 0xFF;

        if (pf < 240)

        {

          // process PS if in PDU1 , address is low byte

          dst = pgn & 0xFF;

          pgn = pgn & 0x3FF00;

        }

        char lineBuff[300];

        size_t pos = small_sprintf(lineBuff, "!PDGY,%ld,%d,%d,%d,%ld.%03ld,",

                                   pgn,  // PGN

                                   prio, // priority

                                   src,  // source address

                                   dst,  // destination address

                                   ctx->payloadTimestamp / 1000, // milliseconds

                                   ctx->payloadTimestamp % 1000);

        size_t base64_len;

        base64_encode(ctx->payloadBuffer,

                      ctx->payloadTotal,

                      lineBuff + pos,

                      &base64_len);

        pos += base64_len;

        lineBuff[pos++] = '\r';

        lineBuff[pos++] = '\n';

        __enable_irq();

        // skip sending if this would overrun the buffer

        if (pos < SerialTransmitSpace(&uc1))

          sendString(&uc1, lineBuff, pos);

        __disable_irq();

        resetContext(ctx);

        __enable_irq();

      }

    }

  }

  /* USER CODE END 3 */

}

/**

 * @brief System Clock Configuration

 * @retval None

 */

void SystemClock_Config(void)

{

  RCC_OscInitTypeDef RCC_OscInitStruct = {0};

  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters

   * in the RCC_OscInitTypeDef structure.

   */

  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;

  RCC_OscInitStruct.HSIState = RCC_HSI_ON;

  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;

  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;

  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;

  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;

  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)

  {

    Error_Handler();

  }

  /** Initializes the CPU, AHB and APB buses clocks

   */

  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;

  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;

  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;

  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;

  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)

  {

    Error_Handler();

  }

}

/**

 * @brief CAN Initialization Function

 * @param None

 * @retval None

 */

static void MX_CAN_Init(void)

{

  /* USER CODE BEGIN CAN_Init 0 */

  /* USER CODE END CAN_Init 0 */

  /* USER CODE BEGIN CAN_Init 1 */

  /* USER CODE END CAN_Init 1 */

  hcan.Instance = CAN1;

  hcan.Init.Prescaler = 16;

  hcan.Init.Mode = CAN_MODE_NORMAL;

  hcan.Init.SyncJumpWidth = CAN_SJW_2TQ;

  hcan.Init.TimeSeg1 = CAN_BS1_3TQ;

  hcan.Init.TimeSeg2 = CAN_BS2_4TQ;

  hcan.Init.TimeTriggeredMode = DISABLE;

  hcan.Init.AutoBusOff = DISABLE;

  hcan.Init.AutoWakeUp = DISABLE;

  hcan.Init.AutoRetransmission = ENABLE;

  hcan.Init.ReceiveFifoLocked = DISABLE;

  hcan.Init.TransmitFifoPriority = DISABLE;

  if (HAL_CAN_Init(&hcan) != HAL_OK)

  {

    Error_Handler();

  }

  /* USER CODE BEGIN CAN_Init 2 */

  /* USER CODE BEGIN CAN_Init 2 */

  // allow absolutely everything into filter

  CAN_FilterTypeDef filterConfig;

  filterConfig.FilterMode = CAN_FILTERMODE_IDMASK;

  filterConfig.FilterScale = CAN_FILTERSCALE_32BIT;

  filterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;

  filterConfig.FilterActivation = CAN_FILTER_ENABLE;

  filterConfig.FilterBank = 0;

  CAN_FilterMaskEXT(&filterConfig, 0, 0);

  HAL_CAN_ConfigFilter(&hcan, &filterConfig);

  /* USER CODE END CAN_Init 2 */

}

/**

 * @brief USART1 Initialization Function

 * @param None

 * @retval None

 */

static void MX_USART1_UART_Init(void)

{

  /* USER CODE BEGIN USART1_Init 0 */

  /* USER CODE END USART1_Init 0 */

  /* USER CODE BEGIN USART1_Init 1 */

  /* USER CODE END USART1_Init 1 */

  huart1.Instance = USART1;

  huart1.Init.BaudRate = 460800;

  huart1.Init.WordLength = UART_WORDLENGTH_8B;

  huart1.Init.StopBits = UART_STOPBITS_1;

  huart1.Init.Parity = UART_PARITY_NONE;

  huart1.Init.Mode = UART_MODE_TX_RX;

  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;

  huart1.Init.OverSampling = UART_OVERSAMPLING_16;

  if (HAL_UART_Init(&huart1) != HAL_OK)

  {

    Error_Handler();

  }

  /* USER CODE BEGIN USART1_Init 2 */

  /* USER CODE END USART1_Init 2 */

}

/**

 * @brief GPIO Initialization Function

 * @param None

 * @retval None

 */

static void MX_GPIO_Init(void)

{

  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */

  __HAL_RCC_GPIOC_CLK_ENABLE();

  __HAL_RCC_GPIOD_CLK_ENABLE();

  __HAL_RCC_GPIOA_CLK_ENABLE();

  /*Configure GPIO pin Output Level */

  HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin : LED_Pin */

  GPIO_InitStruct.Pin = LED_Pin;

  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;

  GPIO_InitStruct.Pull = GPIO_NOPULL;

  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;

  HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**

 * @brief  This function is executed in case of error occurrence.

 * @retval None

 */

void Error_Handler(void)

{

  /* USER CODE BEGIN Error_Handler_Debug */

  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */

}

#ifdef USE_FULL_ASSERT

/**

 * @brief  Reports the name of the source file and the source line number

 *         where the assert_param error has occurred.

 * @param  file: pointer to the source file name

 * @param  line: assert_param error line source number

 * @retval None

 */

void assert_failed(uint8_t *file, uint32_t line)

{

  /* USER CODE BEGIN 6 */

  /* User can add his own implementation to report the file name and line number,

     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */

  /* USER CODE END 6 */

}

#endif /* USE_FULL_ASSERT */