#ifndef BSP_CAN_H
#define BSP_CAN_H
#include "stm32f4xx_hal.h"

// clang-format off
#define BOARD_DATA_ANY     ((uint16_t)0x500)
#define BOARD_DATA_UINT16  ((uint16_t)0x600)
// clang-format on

typedef CAN_HandleTypeDef hcan_t;

typedef struct __CanCtrlData
{
    hcan_t * hcan;
    CAN_TxHeaderTypeDef tx_header;
    uint8_t tx_data[8];
} CanCtrlData_s;

/* CAN 接收回调:在 CAN RX0 中断上下文中执行,必须尽量短 */
typedef void (*can_rx_callback_f)(uint32_t std_id, const uint8_t rx_data[8], uint32_t dlc);

extern hcan_t hcan1;
extern hcan_t hcan2;

/* 初始化过滤器并启动两路 CAN,同时使能 CAN1_RX0/CAN2_RX0 NVIC(ioc 未开 CAN2 中断,由代码补齐)
 * 必须在 osKernelStart 之后的任务上下文中调用一次 */
extern void can_start(void);

/* 注册按 (hcan, 标准ID) 分发的接收回调,返回 0-成功,-1-表满 */
extern int can_rx_register(hcan_t * hcan, uint32_t std_id, can_rx_callback_f callback);

extern void CAN_SendTxMessage(CanCtrlData_s * can_ctrl_data);
#endif