#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <string.h>
#include <console.h>
#include <aic_common.h>
#include <aic_errno.h>
#include <aic_hal_can.h>

uint8_t rx_done = 0;

#define CAN_HELP                                            \
    "test_can <CAN BUS ID>:\n"                              \
    "This program is used to test self-test mode of CAN\n"  \
    "You should connect TX and RX\n"                        \
    "Example:\n"                                            \
    "test_can 0    test CAN0 self-test mode\n"              \
    "test_can 1    test CAN1 self-test mode\n"

void can_usage(void)
{
    puts(CAN_HELP);
}

void can_rx_callback(can_handle * phandle, void *arg)
{
    if ((u32)arg == CAN_EVENT_RX_IND)
        rx_done = 1;
}

static int test_can_example(int argc, char *argv[])
{
    int idx;
    can_handle can;
    can_msg_t msg, rx_msg;

    if (argc != 2)
    {
        can_usage();
        return 0;
    }

    idx = atoi(argv[1]);

    /* Initialize CAN */
    hal_can_init(&can, idx);
    /* Set can baudrate */
    hal_can_ioctl(&can, CAN_IOCTL_SET_BAUDRATE, (void *)1000000UL);
    /* Set can mode */
    hal_can_ioctl(&can, CAN_IOCTL_SET_MODE, (void *)CAN_SELFTEST_MODE);
    /* Configure interrupt routine */
    aicos_request_irq(CAN0_IRQn + idx, hal_can_isr_handler,
                      0, NULL, (void *)&can);
    hal_can_enable_interrupt(&can);
    /* Set can callback */
    hal_can_attach_callback(&can, can_rx_callback, NULL);

    /* Send CAN frame */
    msg.id = 0x1FF;
    msg.ide = 0;
    msg.rtr = 0;
    msg.dlc = 8;
    msg.data[0] = 0x00;
    msg.data[1] = 0x11;
    msg.data[2] = 0x22;
    msg.data[3] = 0x33;
    msg.data[4] = 0x44;
    msg.data[5] = 0x55;
    msg.data[6] = 0x66;
    msg.data[7] = 0x77;
    hal_can_send_frame(&can, &msg, SELF_REQ);
    /* Receive CAN frame*/
    while (!rx_done);
    rx_done = 0;
    hal_can_receive_frame(&can, &rx_msg);
    printf("self-test received msg:\n\t");
    for (int i =0; i < rx_msg.dlc; i++)
    {
        printf("%02x ", rx_msg.data[i]);
    }
    printf("\n");

    hal_can_detach_callback(&can);
    hal_can_uninit(&can);

    return 0;
}

CONSOLE_CMD(test_can, test_can_example, "CAN self-test example");