#![no_std]
#![no_main]

use defmt::*;
use embassy_executor::Spawner;
use embassy_stm32::peripherals::*;
use embassy_stm32::{bind_interrupts, can, rcc, Config};
use embassy_time::Timer;
use {defmt_rtt as _, panic_probe as _};

bind_interrupts!(struct Irqs {
    FDCAN1_IT0 => can::IT0InterruptHandler<FDCAN1>;
    FDCAN1_IT1 => can::IT1InterruptHandler<FDCAN1>;
});

#[embassy_executor::main]
async fn main(_spawner: Spawner) {
    let mut config = Config::default();

    // configure FDCAN to use PLL1_Q at 64 MHz
    config.rcc.pll1 = Some(rcc::Pll {
        source: rcc::PllSource::HSI,
        prediv: rcc::PllPreDiv::DIV4,
        mul: rcc::PllMul::MUL8,
        divp: None,
        divq: Some(rcc::PllDiv::DIV2),
        divr: None,
    });
    config.rcc.fdcan_clock_source = rcc::FdCanClockSource::PLL1_Q;

    let peripherals = embassy_stm32::init(config);

    let mut can = can::Fdcan::new(peripherals.FDCAN1, peripherals.PA11, peripherals.PA12, Irqs);

    can.can.apply_config(
        can::config::FdCanConfig::default().set_nominal_bit_timing(can::config::NominalBitTiming {
            sync_jump_width: 1.try_into().unwrap(),
            prescaler: 8.try_into().unwrap(),
            seg1: 13.try_into().unwrap(),
            seg2: 2.try_into().unwrap(),
        }),
    );

    info!("Configured");

    let mut can = can.into_external_loopback_mode();
    //let mut can = can.into_normal_mode();

    let mut i = 0;
    loop {
        let frame = can::TxFrame::new(
            can::TxFrameHeader {
                len: 1,
                frame_format: can::FrameFormat::Standard,
                id: can::StandardId::new(0x123).unwrap().into(),
                bit_rate_switching: false,
                marker: None,
            },
            &[i],
        )
        .unwrap();
        info!("Writing frame");
        _ = can.write(&frame).await;

        match can.read().await {
            Ok(rx_frame) => info!("Rx: {}", rx_frame.data()[0]),
            Err(_err) => error!("Error in frame"),
        }

        Timer::after_millis(250).await;

        i += 1;
    }
}