#ifndef INC_MMR_CAN_H_
#define INC_MMR_CAN_H_

#include <stdint.h>
#include <stdbool.h>
#include "mmr_can_includes.h"
#include "mmr_can_types.h"
#include "mmr_can_optimize.h"

#define MMR_CAN_RX_FIFO CAN_RX_FIFO0


#if MMR_CAN_RX_FIFO == CAN_RX_FIFO0
#define MMR_CAN_RX_INTERRUPT CAN_IT_RX_FIFO0_MSG_PENDING
#else
#define MMR_CAN_RX_INTERRUPT CAN_IT_RX_FIFO1_MSG_PENDING
#endif

#define MMR_CAN_ID 0x103
#define MMR_CAN_BUFFER_LEN 8

typedef uint8_t CanRxBuffer[MMR_CAN_BUFFER_LEN];


typedef struct {
  bool enabled;

  /**
   * The fifo that the filter should operate
   * on
   */
  CanFilterFifo fifo;

  /**
   * The filter bank to use
   *
   * In systems with more than one CAN interface,
   * this must go from 0 to slaveBankStart.
   */
  CanFilterBank bank;

  /**
   * The start of the slave filter banks.
   * This value is ignored for single-CAN boards.
   */
  CanFilterBank slaveBankStart;

  /**
   * The mask to use with this filter.
   */
  CanFilterMask idMask;
} MmrCanFilterSettings;

typedef struct {
  /**
   * The id of the CAN interface that will receive the packet.
   *
   * If you are using the CANbus in loopback mode, it can be the
   * id that the sender is using.
   */
  CanId remoteId;
  CanMailbox *mailbox;
  uint8_t *data;
  uint8_t length;
} MmrCanPacket;


#define MMR_CAN_FilterConfigDefault(phcan) \
  MMR_CAN_FilterConfig(phcan, MMR_CAN_GetDefaultFilterSettings())

HalStatus MMR_CAN_FilterConfig(CanHandle *hcan, MmrCanFilterSettings settings);
CanFilterMask MMR_CAN_AlignStandardMask(CanFilterMask baseMask);
MmrCanFilterSettings MMR_CAN_GetDefaultFilterSettings();

HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet);

#endif /* INC_MMR_CAN_H_ */