/*
 * SPDX-FileCopyrightText: 2010-2022 Espressif Systems (Shanghai) CO LTD
 *
 * SPDX-License-Identifier: CC0-1.0
 */

#include <stdio.h>
#include <string.h>
#include <inttypes.h>
#include "sdkconfig.h"

#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "freertos/queue.h"

#include "esp_chip_info.h"
#include "esp_flash.h"
#include "esp_system.h"

#include "driver/gpio.h"
#include "driver/spi_master.h"

#include "mcp2521.hpp"

#define SPI_PIN_CS0 GPIO_NUM_5
#define SPI_PIN_SCLK GPIO_NUM_18
#define SPI_PIN_MISO GPIO_NUM_19
#define SPI_PIN_MOSI GPIO_NUM_23
#define CAN_INT_PIN GPIO_NUM_21

#define EXTERNAL_TRIGGER GPIO_NUM_26

void onRX(void *arg) {
    MCP2521 *mcp2521 = (MCP2521 *)arg;

    rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
    uint8_t data[8];

    mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);

    printf("RX: (%x) ", info.id);
    for (int i = 0; i < info.length; i++) {
        printf("%x ", data[i]);
    }
    printf("\n");
}

extern "C" void app_main() {
    printf("Hello world!\n");

    const gpio_num_t LED_PIN = GPIO_NUM_2;
    gpio_set_direction(LED_PIN, GPIO_MODE_OUTPUT);

    gpio_set_direction(EXTERNAL_TRIGGER, GPIO_MODE_OUTPUT);
    gpio_set_level(EXTERNAL_TRIGGER, true);

    vTaskDelay(100 / portTICK_PERIOD_MS);
    

    spi_bus_config_t spi_bus;

    MCP2521_Hardware_Handle_ESP hardware_mcp2521(
        VSPI_HOST,
        &spi_bus,
        SPI_PIN_MOSI,
        SPI_PIN_MISO,
        SPI_PIN_SCLK,
        SPI_PIN_CS0,
        CAN_INT_PIN
    );

    MCP2521 mcp2521(&hardware_mcp2521);

    uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};

    gpio_set_level(EXTERNAL_TRIGGER, false);
    mcp2521.reset();
    mcp2521.enable_interrupts(true, true, true, true, true, true, true, true);

    mcp2521.register_rx0_handler(onRX, &mcp2521);
    mcp2521.register_rx1_handler(onRX, &mcp2521);
    mcp2521.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);

    vTaskDelay(3 / portTICK_PERIOD_MS);

    mcp2521.prepare_tx(
        MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);

    mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);

    mcp2521.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
    mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);


    vTaskDelay(20 / portTICK_PERIOD_MS);

    bool flag = true;
    while (true) {
        gpio_set_level(LED_PIN, flag);
        flag = !flag;

        vTaskDelay(100 / portTICK_PERIOD_MS);
    }
}