/**
 * @file can_config.h
 * @brief CAN bus configuration for automotive applications
 */

#ifndef CAN_CONFIG_H
#define CAN_CONFIG_H

#include <stdint.h>

/* ============================================================================
 * CAN Hardware Configuration
 * ============================================================================ */

/* Number of CAN controllers */
#define CAN_CONTROLLER_COUNT        2

/* CAN controller base addresses */
#define CAN0_BASE_ADDRESS           0x40006400U
#define CAN1_BASE_ADDRESS           0x40006800U

/* CAN controller interrupts */
#define CAN0_IRQ_NUMBER             19
#define CAN1_IRQ_NUMBER             20

/* CAN controller priorities */
#define CAN0_IRQ_PRIORITY           5
#define CAN1_IRQ_PRIORITY           5

/* ============================================================================
 * CAN Baudrate Configuration
 * ============================================================================ */

/* CAN baudrates */
#define CAN_BAUDRATE_125K           125000
#define CAN_BAUDRATE_250K           250000
#define CAN_BAUDRATE_500K           500000
#define CAN_BAUDRATE_1M             1000000

/* CAN FD baudrates */
#define CAN_FD_BAUDRATE_2M          2000000
#define CAN_FD_BAUDRATE_5M          5000000
#define CAN_FD_BAUDRATE_8M          8000000

/* Default CAN baudrate */
#define CAN_DEFAULT_BAUDRATE        CAN_BAUDRATE_500K

/* CAN FD data baudrate */
#define CAN_FD_DATA_BAUDRATE        CAN_FD_BAUDRATE_2M

/* ============================================================================
 * CAN Frame Configuration
 * ============================================================================ */

/* Enable CAN FD */
#define CAN_FD_ENABLED              1

/* Maximum CAN frame length */
#define CAN_MAX_FRAME_LENGTH        64

/* Enable automatic retransmission */
#define CAN_AUTO_RETRANSMIT         1

/* Maximum retransmission attempts */
#define CAN_MAX_RETRANSMIT          3

/* ============================================================================
 * CAN Message IDs
 * ============================================================================ */

/* OBD-II IDs */
#define CAN_ID_OBD_REQUEST          0x7DF
#define CAN_ID_OBD_RESPONSE         0x7E8
#define CAN_ID_OBD_RESPONSE_2       0x7E9

/* Diagnostic IDs */
#define CAN_ID_DIAG_REQUEST         0x700
#define CAN_ID_DIAG_RESPONSE        0x708

/* Network management IDs */
#define CAN_ID_NM_BASE              0x400
#define CAN_ID_NM_END               0x4FF

/* ============================================================================
 * Application Message IDs
 * ============================================================================ */

/* Engine control messages */
#define CAN_ID_ENGINE_DATA          0x100
#define CAN_ID_ENGINE_CONTROL       0x101
#define CAN_ID_ENGINE_STATUS        0x102
#define CAN_ID_ENGINE_FAULT         0x103

/* Transmission messages */
#define CAN_ID_TRANSMISSION_DATA    0x110
#define CAN_ID_TRANSMISSION_CONTROL 0x111
#define CAN_ID_GEAR_POSITION        0x112

/* Brake control messages */
#define CAN_ID_BRAKE_DATA           0x120
#define CAN_ID_BRAKE_CONTROL        0x121
#define CAN_ID_ABS_DATA             0x122
#define CAN_ID_WHEEL_SPEED          0x123

/* Steering messages */
#define CAN_ID_STEERING_ANGLE       0x130
#define CAN_ID_STEERING_TORQUE      0x131
#define CAN_ID_STEERING_CONTROL     0x132

/* Body control messages */
#define CAN_ID_BODY_CONTROL         0x140
#define CAN_ID_DOOR_STATUS          0x141
#define CAN_ID_LIGHT_STATUS         0x142
#define CAN_ID_WINDOW_CONTROL       0x143

/* Dashboard messages */
#define CAN_ID_SPEED                0x150
#define CAN_ID_RPM                  0x151
#define CAN_ID_FUEL_LEVEL           0x152
#define CAN_ID_TEMPERATURE          0x153

/* Safety messages */
#define CAN_ID_AIRBAG_STATUS        0x160
#define CAN_ID_SEATBELT_STATUS      0x161
#define CAN_ID_CRASH_DETECTION      0x162

/* ============================================================================
 * CAN Filter Configuration
 * ============================================================================ */

typedef struct {
    uint32_t filter_id;
    uint32_t filter_mask;
    bool is_extended;
    uint8_t controller;
    uint8_t fifo;
} CanFilterConfig_t;

/* Default CAN filters */
static const CanFilterConfig_t can_filters[] = {
    /* Engine messages */
    {.filter_id = 0x100, .filter_mask = 0x1F0, .is_extended = false, .controller = 0, .fifo = 0},
    /* Transmission messages */
    {.filter_id = 0x110, .filter_mask = 0x1F0, .is_extended = false, .controller = 0, .fifo = 0},
    /* Brake messages */
    {.filter_id = 0x120, .filter_mask = 0x1F0, .is_extended = false, .controller = 0, .fifo = 0},
    /* Steering messages */
    {.filter_id = 0x130, .filter_mask = 0x1F0, .is_extended = false, .controller = 0, .fifo = 0},
    /* Body control messages */
    {.filter_id = 0x140, .filter_mask = 0x1F0, .is_extended = false, .controller = 0, .fifo = 1},
    /* Dashboard messages */
    {.filter_id = 0x150, .filter_mask = 0x1F0, .is_extended = false, .controller = 0, .fifo = 1},
    /* Safety messages */
    {.filter_id = 0x160, .filter_mask = 0x1F0, .is_extended = false, .controller = 0, .fifo = 0},
    /* OBD-II messages */
    {.filter_id = 0x7DF, .filter_mask = 0x7FF, .is_extended = false, .controller = 1, .fifo = 0},
    /* Diagnostic messages */
    {.filter_id = 0x700, .filter_mask = 0x7F0, .is_extended = false, .controller = 1, .fifo = 1},
    /* Network management */
    {.filter_id = 0x400, .filter_mask = 0x700, .is_extended = false, .controller = 0, .fifo = 1}
};

#define CAN_FILTER_COUNT    (sizeof(can_filters) / sizeof(CanFilterConfig_t))

/* ============================================================================
 * CAN TP Configuration
 * ============================================================================ */

/* CAN TP timeouts */
#define CAN_TP_N_AS_TIMEOUT         1000   /* ms */
#define CAN_TP_N_BS_TIMEOUT         1000   /* ms */
#define CAN_TP_N_CR_TIMEOUT         1000   /* ms */

/* CAN TP parameters */
#define CAN_TP_STMIN_DEFAULT        10     /* ms */
#define CAN_TP_BS_DEFAULT           8      /* frames */
#define CAN_TP_MAX_PAYLOAD          4096   /* bytes */

/* ============================================================================
 * CAN NM Configuration
 * ============================================================================ */

/* CAN NM parameters */
#define CAN_NM_TIMEOUT              2000   /* ms */
#define CAN_NM_REPEAT_TIME          500    /* ms */
#define CAN_NM_WAIT_BUS_SLEEP       2000   /* ms */

/* ============================================================================
 * CAN Statistics
 * ============================================================================ */

/* Enable CAN statistics collection */
#define CAN_STATS_ENABLED           1

/* Statistics buffer size */
#define CAN_STATS_BUFFER_SIZE       100

#endif /* CAN_CONFIG_H */