#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_can.h"
#include "inc/hw_ints.h"
#include "inc/hw_nvic.h"
#include "inc/hw_sysctl.h"
#include "driverlib/can.h"
#include "driverlib/interrupt.h"
#include "driverlib/sysctl.h"
#include "driverlib/gpio.h"
#include "utils/uartstdio.h"


volatile unsigned long g_ulMsgCount = 0;


volatile unsigned long g_bErrFlag = 0;



//*****************************************************************************
// This function provides a 1 second delay using a simple polling method.
//*****************************************************************************
void
SimpleDelay(void)
{
    // Delay cycles for 1 second
    SysCtlDelay(SysCtlClockGet(SYSTEM_CLOCK_SPEED) / 3);
}


void
CANIntHandler(void)
{
    unsigned long ulStatus;


    ulStatus = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE);


    if(ulStatus == CAN_INT_INT0ID_STATUS)
    {

        ulStatus = CANStatusGet(CAN0_BASE, CAN_STS_CONTROL);

        g_bErrFlag = 1;
    }


    else if(ulStatus == 1)
    {

        CANIntClear(CAN0_BASE, 1);

    
        g_ulMsgCount++;

  
        g_bErrFlag = 0;
    }


    else
    {
    
    }
}


tCANMsgObject sTXCANMessage;
tCANMsgObject sRXCANMessage;
unsigned char ucTXMsgData[4], ucRXMsgData[4];

int
main(void)
{



    HWREG(SYSCTL_MWRALLOW) =  0xA5A5A5A5;


    SysCtlClockConfigSet(SYSCTL_SYSDIV_1 | SYSCTL_M3SSDIV_2 | SYSCTL_USE_PLL |
                         (SYSCTL_SPLLIMULT_M & 0x0F));





    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);


    GPIOPinConfigure(GPIO_PB4_CAN0RX);
    GPIOPinConfigure(GPIO_PB5_CAN0TX);


    GPIOPinTypeCAN(GPIO_PORTB_BASE, GPIO_PIN_4 | GPIO_PIN_5);

 
    SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);


    CANInit(CAN0_BASE);
    CANEnable(CAN0_BASE);

    CANClkSourceSelect(CAN0_BASE,CAN_CLK_M3);

    CANBitRateSet(CAN0_BASE, SysCtlClockGet(SYSTEM_CLOCK_SPEED), 500000);

 
    CANIntRegister(CAN0_BASE,INT_CAN0INT0,&CANIntHandler); // if using dynamic vectors
    CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);



    *(unsigned long *)ucTXMsgData = 0;
    sTXCANMessage.ulMsgID = 1;                        
    sTXCANMessage.ulMsgIDMask = 0;                    
    sTXCANMessage.ulFlags = MSG_OBJ_NO_FLAGS;    
    sTXCANMessage.ulMsgLen = sizeof(ucTXMsgData);    
    sTXCANMessage.pucMsgData = ucTXMsgData;           

 
    *(unsigned long *)ucRXMsgData = 0;
    sRXCANMessage.ulMsgID = 1;                       
    sRXCANMessage.ulMsgIDMask = 0;                    
    sRXCANMessage.ulFlags = MSG_OBJ_RX_INT_ENABLE;        
    sRXCANMessage.ulMsgLen = sizeof(ucRXMsgData);     
    sRXCANMessage.pucMsgData = ucRXMsgData;          


    for(;;)
    {
       
        
        CANMessageSet(CAN0_BASE, 1, &sRXCANMessage, MSG_OBJ_TYPE_RX);

        CANMessageSet(CAN0_BASE, 2, &sTXCANMessage, MSG_OBJ_TYPE_TX);

       
        SimpleDelay();

   

            CANMessageGet(CAN0_BASE, 2, &sRXCANMessage, true);

        

       
        (*(unsigned long *)ucTXMsgData)++;
    }

}