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#ifndef CANDRIVERHELPER_H
#define CANDRIVERHELPER_H

#include <etl/vector.h>
#include <etl/optional.h>

struct ee_rscfd_message;

namespace CanBus {
namespace CanDriverHelper {

typedef void (*InterruptVector)();
typedef void (*CanMessageHandler)(ee_rscfd_message &);

// AFL hardware limits
const unsigned int MAX_RECEIVE_RULES_PER_CHANNEL = 128;
const unsigned int MAX_RECEIVE_RULES_FOR_UNIT = 64 * 3;

struct MessageFiler
{
    uint32_t id;
    uint32_t mask;
    etl::optional<bool> remoteFrame;
    etl::optional<bool> extenedFrame;
};
typedef etl::vector<MessageFiler, MAX_RECEIVE_RULES_PER_CHANNEL> MessageFilterList;

void configure(bool canFD, uint32_t bitrate, uint32_t dataBitrate, uint32_t numChannels);
bool stopCAN(uint32_t controllerId);

bool initCAN(uint32_t controllerId, uint32_t numChannels);
bool startCAN(uint32_t controllerId, uint32_t channelNo);

bool setupReceieveRules(uint32_t controllerId, uint32_t channelNo, const MessageFilterList &filterList);
bool setupFIFOs(uint32_t controllerId);

bool setGlobalInterrupts(uint32_t controllerId, InterruptVector errorInterrupt);
bool setChannelInterrupts(uint32_t controllerId, uint32_t channelNo, InterruptVector errorInterrupt);

bool printFIFOStatus(uint32_t controllerId, bool checkEmpty, bool checkFull, bool checkLost);

bool receiveMessages(uint32_t controllerId, CanMessageHandler receivedMessageHandler);
bool sendMessage(unsigned int controllerId, unsigned int channelNo, ee_rscfd_message &message);

uint16_t getError(uint32_t controllerId, uint32_t channelNo);

} // namespace CanDriverHelper
} // namespace CanBus

#endif // CANDRIVERHELPER_H