#define CAN1_RCC RCC_APB1Periph_CAN1
#define CAN1_RX_PIN GPIO_Pin_0
#define CAN1_TX_PIN GPIO_Pin_1
#define CAN1_GPIO_PORT GPIOD
#define CAN1_GPIO_RCC RCC_AHB1Periph_GPIOD
#define CAN1_AF_PORT GPIO_AF_CAN1
#define CAN1_RX_SOURCE GPIO_PinSource0
#define CAN1_TX_SOURCE GPIO_PinSource1

#define CAN2_RCC (RCC_APB1Periph_CAN1 | RCC_APB1Periph_CAN2)
#define CAN2_RX_PIN GPIO_Pin_5
#define CAN2_TX_PIN GPIO_Pin_13
#define CAN2_GPIO_PORT GPIOB
#define CAN2_GPIO_RCC RCC_AHB1Periph_GPIOB
#define CAN2_AF_PORT GPIO_AF_CAN2
#define CAN2_RX_SOURCE GPIO_PinSource5
#define CAN2_TX_SOURCE GPIO_PinSource13

#define MASTER_START_BANK 0
#define SLAVE_START_BANK 14

uint8_t can1_Init(void)
/******************************************************************************
Initialize CAN
INPUT
OUTPUT
******************************************************************************/
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;

uint8_t RetStatus;

CAN1_RX0_xQueue = xQueueCreate( 32, sizeof( CanRxMsg ) );
CAN1_RX1_xQueue = xQueueCreate( 32, sizeof( CanRxMsg ) );
CAN1_TX_xQueue = xQueueCreate( 32, sizeof( CanTxMsg ) );

// Enable GPIO clock
RCC_AHB1PeriphClockCmd(CAN1_GPIO_RCC, ENABLE);

// Connect CAN pins to AF9
GPIO_PinAFConfig(CAN1_GPIO_PORT, CAN1_RX_SOURCE, CAN1_AF_PORT);
GPIO_PinAFConfig(CAN1_GPIO_PORT, CAN1_TX_SOURCE, CAN1_AF_PORT);

// Configure CAN RX and TX pins
GPIO_InitStructure.GPIO_Pin = CAN1_RX_PIN | CAN1_TX_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(CAN1_GPIO_PORT, &GPIO_InitStructure);

// CAN configuration
// Enable CAN clock
RCC_APB1PeriphClockCmd(CAN1_RCC, ENABLE);

// CAN register init
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);

CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = DISABLE;//ENABLE;
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TXFP = DISABLE;//ENABLE;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
// CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack;

//250KBps (CAN 30MHz)
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_2tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq;
CAN_InitStructure.CAN_Prescaler = 11;

RetStatus = CAN_Init(CAN1, &CAN_InitStructure);
if(RetStatus == CAN_InitStatus_Failed)
{
debug_printf("\r\nRetStatus = 0x%xh", RetStatus);
debug_printf("\r\nCAN1_InitStatus_Failed");
return RetStatus;
}
else
{
debug_printf("\r\nRetStatus = 0x%xh", RetStatus);
debug_printf("\r\nCAN1 initial as CAN_Mode_Normal success");
RetStatus=1;
}

//Filter Configuration
CAN_FilterInitStructure.CAN_FilterNumber = MASTER_START_BANK;
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;//0xFFFF;//0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;//0xFFFF;//0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);

NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY - 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);

NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY - 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
CAN_ITConfig(CAN1, CAN_IT_FMP1, ENABLE);

NVIC_InitStructure.NVIC_IRQChannel = CAN1_TX_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY - 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);

return RetStatus;
}

uint8_t can2_Init(void)
/******************************************************************************
Initialize CAN2
INPUT
OUTPUT = 0-filed; 1- ok
******************************************************************************/
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;

uint8_t RetStatus;

CAN2_RX0_xQueue = xQueueCreate( 32, sizeof( CanRxMsg ) );
CAN2_RX1_xQueue = xQueueCreate( 32, sizeof( CanRxMsg ) );
CAN2_TX_xQueue = xQueueCreate( 32, sizeof( CanTxMsg ) );

// Enable GPIO clock
RCC_AHB1PeriphClockCmd(CAN2_GPIO_RCC, ENABLE);

// Configure CAN RX and TX pins
GPIO_InitStructure.GPIO_Pin = CAN2_RX_PIN | CAN2_TX_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(CAN2_GPIO_PORT, &GPIO_InitStructure);

// Connect CAN pins to AF9
GPIO_PinAFConfig(CAN2_GPIO_PORT, CAN2_RX_SOURCE, CAN2_AF_PORT);
GPIO_PinAFConfig(CAN2_GPIO_PORT, CAN2_TX_SOURCE, CAN2_AF_PORT);

// CAN configuration
// Enable CAN clock
RCC_APB1PeriphClockCmd(CAN2_RCC, ENABLE);

// CAN register init
CAN_DeInit(CAN2);
CAN_StructInit(&CAN_InitStructure);

CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = ENABLE;
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TXFP = ENABLE;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;

//500KBps (CAN 30MHz)
CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_Prescaler = 4;

RetStatus = CAN_Init(CAN2, &CAN_InitStructure);
if(RetStatus == CAN_InitStatus_Failed)
{
debug_printf("\r\nRetStatus = 0x%xh", RetStatus);
debug_printf("\r\nCAN2_InitStatus_Failed");
return RetStatus;
}
else
{
debug_printf("\r\nRetStatus = 0x%xh", RetStatus);
debug_printf("\r\nCAN2 initial as CAN_Mode_Normal=success");
RetStatus=1;
}

//Filter Configuration
CAN_FilterInitStructure.CAN_FilterNumber = SLAVE_START_BANK;// 0..13 for CAN1, 14..27 for CAN2
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 = CAN_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);

NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY - 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
CAN_ITConfig(CAN2, CAN_IT_FMP0, ENABLE);

NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY - 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
CAN_ITConfig(CAN2, CAN_IT_FMP1, ENABLE);

NVIC_InitStructure.NVIC_IRQChannel = CAN2_TX_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY - 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
CAN_ITConfig(CAN2, CAN_IT_TME, ENABLE);

return RetStatus;
}

void CAN1_RX0_IRQHandler (void)
{
debug_printf("\n\rCAN1_RX0_IRQHandler--OK");

portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

static CanRxMsg RxMsg;

memset(&RxMsg, 0, sizeof(CanRxMsg));

if(CAN_GetITStatus(CAN1, CAN_IT_FMP0) == SET)
{
CAN_Receive(CAN1, CAN_FIFO0, &RxMsg);
xQueueSendFromISR( CAN1_RX0_xQueue, ( void * ) &RxMsg, &xHigherPriorityTaskWoken );
}

debug_printf("\n\rCAN1_RX0_IRQHandler--exit");
portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
}