#include "by_can.h"

#include <string.h>
#include <assert.h>
#include "by_utils.h"
#include "by_debug.h"

by_error_status by_can_send_stdd(uint32_t id, const uint8_t *data, uint8_t len, uint16_t timeout)
{

  assert(id < 0x7FF);

  if (len > 8) {
    len = 8;
  }

  uint8_t transmit_mailbox;
  can_tx_message_type tx_message_struct;
  tx_message_struct.standard_id = id;                                /* 设置发送数据帧的 ID=0x400 */
  tx_message_struct.extended_id = 0;                                 /* 不设置 */
  tx_message_struct.id_type     = CAN_ID_STANDARD;                   /* 发送数据帧类型（标准/扩展）：标准数据帧 */
  tx_message_struct.frame_type  = CAN_TFT_DATA;                      /* 发送帧类型（远程/数据）：数据帧 */
  tx_message_struct.dlc         = len;                               /* 发送数据长度（0~8）：8 */
  memcpy(tx_message_struct.data, data, len);                         /* 复制发送数据 */
  transmit_mailbox = can_message_transmit(CAN1, &tx_message_struct); /* 将以上待发送报文写入发送邮箱并请求发送 */

  /* 等待该邮箱发送成功—对应邮箱发送成功标志置起 */
  while (can_transmit_status_get(CAN1, (can_tx_mailbox_num_type)transmit_mailbox) != CAN_TX_STATUS_SUCCESSFUL) {
    // LOGD("CAN#SEND: timeout=%d", timeout);
    if (0 == timeout--) {
      LOGW("CAN#TIMEOUT: ID=0x%x", id);

      return BY_ERROR;
    }
    delay_us(10);
  }

  return BY_SUCCESS;
}