#pragma once
#include <stdint.h>

#define CAN_FLAG_ECHO  (0x20)
#define CAN_FLAG_RTR   (0x40)
#define CAN_FLAG_EXTID (0x80)

#define CAN_ERROR_FLAG_BUSOFF (1 << 0)
#define CAN_ERROR_FLAG_RX_OVF (1 << 1)
#define CAN_ERROR_FLAG_TX_ERR (1 << 2)

typedef struct
{
    uint32_t id;
    uint8_t  data[8];
    uint8_t  dlc;
    uint8_t  flags;
    /* for self receive */
    uint8_t  dummy;
    /* in pcan ticks */
    uint16_t timestamp;
} can_message_t;

void pcan_can_init(void);
void pcan_can_poll(void);
void pcan_can_set_bitrate(uint16_t brp, uint8_t tseg1, uint8_t tseg2, uint8_t sjw);
int  pcan_can_send_message(const can_message_t *msg);
void pcan_can_install_rx_callback(void (*cb)(can_message_t *));
void pcan_can_install_error_callback(void (*cb)(uint8_t, uint8_t, uint8_t));
void pcan_can_set_bus_active(uint16_t mode);
void pcan_can_set_silent(uint8_t silent_mode);
void pcan_can_set_loopback(uint8_t loopback);