#include <stdio.h>
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_can.h"
#include "misc.h"


	//Declaration of the Variables
	CanRxMsg RxMsg;
	CanTxMsg TxMsg;
	CanTxMsg TxMsg2;
	uint32_t counter1 = 0;		// counter for message 1
	uint32_t counter2 = 0;		// counter for message 2
	//counter1 = 0;
	//counter2 = 0;

void NVIC_Config (void) //configuration of the Interrupt
		{
			NVIC_InitTypeDef		NVIC_structure;
			NVIC_structure.NVIC_IRQChannel = CAN1_RX0_IRQn;
			NVIC_structure.NVIC_IRQChannelPreemptionPriority = 1;
			NVIC_structure.NVIC_IRQChannelSubPriority = 1;
			NVIC_structure.NVIC_IRQChannelCmd = ENABLE;
			NVIC_Init(&NVIC_structure);
		}
void NVIC_Config2 (void)
{
	NVIC_InitTypeDef		NVIC_structure;
	NVIC_structure.NVIC_IRQChannel = CAN1_RX1_IRQn  ;
	NVIC_structure.NVIC_IRQChannelPreemptionPriority = 0;
	NVIC_structure.NVIC_IRQChannelSubPriority = 0;
	NVIC_structure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init(&NVIC_structure);
	
}
//main function
int main(void)
{
	//Variables and structures
	GPIO_InitTypeDef		GPIO_InitStructure;
	CAN_InitTypeDef			CAN_InitStructure;
	CAN_FilterInitTypeDef	CAN_FilterInitStructure;



	//Initialize System
	SystemInit();


	//Enable CAN1 and GPIOD
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);	//enable CAN1 clock
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);	//enable Port D clock

	//LEDs
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; //green , orange
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
	GPIO_Init(GPIOD, &GPIO_InitStructure);

	//Configure PD0
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
	GPIO_Init(GPIOD, &GPIO_InitStructure);
	//CAN1_RX to PD0
	GPIO_PinAFConfig(GPIOD, GPIO_PinSource0, GPIO_AF_CAN1);

	//Configure PD1 to AF9
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
	GPIO_Init(GPIOD, &GPIO_InitStructure);
	//Map CAN1_TX to PD1
	GPIO_PinAFConfig(GPIOD, GPIO_PinSource1, GPIO_AF_CAN1);

	//CAN1 on standard
	CAN_DeInit(CAN1);

	//Configure CAN
	CAN_InitStructure.CAN_TTCM = DISABLE;
	CAN_InitStructure.CAN_ABOM = DISABLE;
	CAN_InitStructure.CAN_AWUM = ENABLE;
	CAN_InitStructure.CAN_NART = DISABLE;
	CAN_InitStructure.CAN_RFLM = DISABLE;
	CAN_InitStructure.CAN_TXFP = DISABLE;
	CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
	CAN_InitStructure.CAN_SJW  = CAN_SJW_1tq;

	//Baud rate = 125 Kb/s
	CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
	CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq;
	CAN_InitStructure.CAN_Prescaler = 24;
	CAN_Init(CAN1, &CAN_InitStructure);

	//Initialize CAN filter
	CAN_FilterInitStructure.CAN_FilterNumber = 0;
	CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
	CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
	CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
	CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
	CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
	CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
	CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
	CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
	CAN_FilterInit(&CAN_FilterInitStructure);

	//turn on CAN1 interrupt
	CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);

	//initialize interrupts
	NVIC_Config();

//Endless loop
while(1)
			{



				//sleep mode
				__WFI();

				//wake up from sleep mode through CAN interrupt on receiving message
			}
}

void CAN1_RX0_IRQHandler (void)
{
			CAN_Receive(CAN1, CAN_FIFO0, &RxMsg);

			if (counter1 == 10)
									{

										//create message 
										TxMsg.StdId = 0x11D;
										TxMsg.ExtId = 0;
										TxMsg.DLC = 1;
										TxMsg.IDE = CAN_ID_STD;
										TxMsg.RTR = CAN_RTR_DATA;
										TxMsg.Data[0] = counter2;		        // send  number of received messages

										CAN_Transmit(CAN1, &TxMsg);
										GPIO_ToggleBits(GPIOD,GPIO_Pin_12);		//blink green LED

									}	
					if(RxMsg.StdId == 0x67)
						{
							
							counter1++;
						}

						
					else if(RxMsg.StdId == 0x52)
						{
							counter2++;

						}



		

}