#ifndef CAN_h
#define CAN_h


#include "ftypes.h"
#include "mcu.h"



// ========================= CAN Configuration ======================= //

#define CAN_PRESCALER	2		// f_osc = 24MHz, f_periph = 12MHz
#define CAN_SEG1		6
#define CAN_SEG2		5
#define CAN_SJW			3



#define CAN_INIT_ERROR		-1
#define CAN_INIT_OK			0
#define CAN_TX_ERROR		-1
#define CAN_TX_OK			0

#define N_FILTERS	14






typedef enum {
	canSTD_ID,
	canEXTENDED_ID
}canIdExtension;

typedef enum {
	canDATA_FRAME,
	canREMOTE_FRAME
}canDataRemote;


typedef enum {
	canFIFO_0,
	canFIFO_1
}canFIFO;


typedef struct {

	canIdExtension std_ext_id;
	canDataRemote data_remote_frame;
	u32 id;
	u8 data [8];
	u8 data_len;

}canMessage_t;

typedef struct {

	u8 TEC;
	u8 REC;
	u8 LEC: 3;
	u8 error_warning:1;
	u8 error_passive:1;
	u8 bus_off:1;

}canNetworkStatus_t;


/* This enum is used for specifying the behavior of the software
 * during transmission, when all the mailboxes are full. Either
 * the message is ignored, the mailbox with lowest priority is
 * overwritten or if a mailbox has same id is overwritten so
 * that the most recent data is transmitted
 * */
typedef enum {
	CAN_DO_NOT_OVERRIDE = 0,
	CAN_OVERRIDE_LOW_PRIO,
	CAN_OVERRIDE_IF_HIGHER_PRIO,
	CAN_OVERRIDE_ID
}canTxOverrideBehaviorE;




i8 can_transmit_f32 (u16 ID, f32 data, canIdExtension idType, canDataRemote dataRemote, canTxOverrideBehaviorE override);
i8 can_transmit_u32 (u16 ID, u32 data, canIdExtension idType, canDataRemote dataRemote, canTxOverrideBehaviorE override);

f32 can_extract_f32 (u8 *payload);
u32 can_extract_u32 (u8 *payload);



i8 can_init (void);
void can_init_minimal (void);
i8 can_transmit (u16 ID, u8 * data, u8 len, canIdExtension idType, canDataRemote dataRemote, canTxOverrideBehaviorE override);
void can_enable_retransmission (void);
void can_disable_retransmission (void);



// with 16bit registers only STD IDs can be mapped
u8 can_config_filter_mask_mode_16bit (u8 filter_id, canFIFO assigned_fifo, canDataRemote dataRemote, u16 id1, u16 id2, u16 mask1, u16 mask2);
u8 can_config_filter_mask_mode_32bit (u8 filter_id, canFIFO assigned_fifo, canIdExtension extendedId, canDataRemote dataRemote, u32 id, u32 mask);
u8 can_config_filter_list_mode_16bit (u8 filter_id, canFIFO assigned_fifo, canDataRemote dataRemote, u16 id1, u16 id2, u16 id3, u16 id4);
u8 can_config_filter_list_mode_32bit (u8 filter_id, canFIFO assigned_fifo, canIdExtension extendedId, canDataRemote dataRemote, u32 id1, u32 id2);

void can_enable_filter  (u8 filter_id);
void can_disable_filter (u8 filter_id);

canNetworkStatus_t can_get_network_status ();



#endif