/**
 * can/can.h	avr8 can bus interface api
 * 
 * (c) 2016 Harald Christian Joachim Wolff
 * 
 **/
#pragma once

#include <sys/mutex.h>
#include <sys/types.h>
#include <sys/threads.h>

#include <util/list.h>


#include <stdint.h>

#define CAN_SPEED_MASK	0x000F
#define CAN_1MBIT	0x0001
#define CAN_125KBIT	0x0002

typedef union {
	uint8_t		bytes[4];
	uint16_t	words[2];
	struct {
		uint32_t	addr:29;
		uint32_t	rtr:1;
		uint32_t	reserved:1;
		uint32_t	ide:1;
	};
	uint32_t	value;
} canid_t;

typedef struct {
	uint8_t		tx:1;
	uint8_t		error:1;
	uint8_t		reserve:2;
	uint8_t		len:4;
} canflags_t;

typedef union {
	uint8_t		bytes[8];
	uint16_t	words[4];
	uint32_t	dwords[2];
	uint64_t	qword;
	
	int8_t		i8[8];
	int16_t		i16[4];
	int32_t		i32[2];
	int64_t		i64;
} canpayload_t;

typedef struct {
	
	canflags_t	flags;
	canid_t		id;
	canpayload_t
				payload;

	uint16_t		frame_id;
	
	list_t		list;
	
	thread_t	*notify;
	
} canframe_t;

typedef struct {
	canid_t		id;
	canid_t		mask;
	
	uint16_t		last_seen_frame_id;

	list_t		list;
} canfilter_t;

typedef struct {
	uint32_t	setup;
	
	int			rxpool_next;
	int			rxpool_length;
	canframe_t	*rxpool;
		
	int			frame_id_tx,
				frame_id_rx;

	list_t		rx_filters;
	list_t		tx_queue;

} _can_device_t;

int 		can_init_device(uint32_t config,int rxpool_length);
uint32_t	can_get_device_config(void);

int			can_send(canframe_t *frame);
int			can_send_simple(canid_t cid,uint8_t len,canpayload_t payload);

int			can_recv(canfilter_t *filter,canframe_t *frame);
int			can_recv_timeout(canfilter_t *filter,canframe_t *frame,int ms);


/** OLD API **/

void can_interface_enable(void) __attribute__((weak));
void can_interface_disable(void) __attribute__((weak));