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/*-----------------------------------------------------------------------------
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/*-----------------------------------------------------------------------------
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 * Includes
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 * Includes
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 *---------------------------------------------------------------------------*/
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 *---------------------------------------------------------------------------*/
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#include <inttypes.h>
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#include <inttypes.h>
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#include <can_cfg.h>
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#include <can_cfg.h>
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/*-----------------------------------------------------------------------------
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 * Defines
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 *---------------------------------------------------------------------------*/
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/*
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 * The supported CAN controller devices are listed below.
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 */
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#define CAN_CONTROLLER_NULL     0       /* Virtual null-device */
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#define CAN_CONTROLLER_MCP2515  1       /* Microchip MCP2515 via SPI */
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/*-----------------------------------------------------------------------------
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/*-----------------------------------------------------------------------------
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 * Type Definitions
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 * Type Definitions
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 *---------------------------------------------------------------------------*/
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 *---------------------------------------------------------------------------*/
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/**
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/**
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 * CAN Bitrate type.
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 * CAN Bitrate Type. The supported bitrates.
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 */
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 */
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typedef enum {
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typedef enum {
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    CAN_BITRATE_125K = 0,
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    CAN_BITRATE_125K = 0,           /* Max cable length: 500m */
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    CAN_BITRATE_250K = 1,
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    CAN_BITRATE_250K = 1,           /* Max cable length: 250m */
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    CAN_BITRATE_500K = 2,
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    CAN_BITRATE_500K = 2,           /* Max cable length: 100m */
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    CAN_BITRATE_1M = 3
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    CAN_BITRATE_1M = 3              /* Max cable length: 40m */
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} Can_Bitrate_t;
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} Can_Bitrate_t;
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/**
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/**
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 * CAN Return Type. Most CAN functions return one of these.
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 * CAN Return Type. Most CAN functions return one of these.
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 */
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 */
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typedef enum {
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typedef enum {
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    CAN_OK = 0,
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    CAN_FAIL = -1,                  /* The function failed */
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    CAN_FAILINIT = 1,
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    CAN_OK = 1,                     /* The function succeeded */
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    CAN_FAILTX = 2,
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    CAN_MSG_AVAILABLE = 2,          /* Messsages are available */
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    CAN_MSGAVAIL = 3,
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    CAN_NO_MSG_AVAILABLE = -2,      /* Messages are NOT available */
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    CAN_NOMSG = 4,
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    CAN_CTRLERROR = 5,
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    //CAN_CTRLERROR = -4
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    CAN_FAIL = 0xFF
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} Can_Return_t;
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} Can_Return_t;
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/**
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/**
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 * CAN Message Type. Stores a complete CAN frame.
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 * CAN Message Type. Stores a complete CAN frame.
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 */
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 */
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typedef struct {
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typedef struct {
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    /*
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    /*
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     * ID section. Contains either 29bit ID or 11bit ID (depending on ExtendedFlag).
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     * ID section. Contains either 29bit ID or 11bit ID (depending on ExtendedFlag).
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     */
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     */
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    uint32_t Id;
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    uint32_t Id;
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    /*
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    /*
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     * DLC section. Contains the data length expressed in number of bytes. Range [0,8].
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     * DLC section. Contains the data length expressed in number of bytes. Range [0,8].
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     */
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     */
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    uint8_t DataLength;
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    uint8_t DataLength;
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    /**
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    /**
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 * Public Function Prototypes
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 * Public Function Prototypes
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 *---------------------------------------------------------------------------*/
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 *---------------------------------------------------------------------------*/
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Can_Return_t Can_Init(void);
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Can_Return_t Can_Init(void);
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Can_Return_t Can_Send(Can_Message_t* msg);
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Can_Return_t Can_Send(Can_Message_t* msg);
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Can_Return_t Can_ReceiveAvailable(void);
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void Can_Service(void);
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Can_Return_t Can_Receive(Can_Message_t *msg);
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Can_Return_t Can_Receive(Can_Message_t *msg);
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Can_Return_t Can_CheckError(void);
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#if (CANDEBUG)
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void can_debug1(void);
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void can_dumpMessage(CanMessage *msg);
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uint8_t can_testTransmit(const uint8_t ext, const uint8_t data2);
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void can_dumpStatus(void);
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#endif
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#endif
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#endif