// can_handler.h - CAN FD Handler for MCP2518FD

#ifndef CAN_HANDLER_H
#define CAN_HANDLER_H

#include <Arduino.h>
#include <ACAN2517FD.h>
#include <SPI.h>

#include "config.h"
#include "types.h"

// CAN Controller instance
extern ACAN2517FD canController;

// CAN status flags
extern volatile bool canInitialized;
extern volatile uint32_t canRxCount;
extern volatile uint32_t canTxCount;
extern volatile uint32_t canErrorCount;
extern volatile uint32_t canOverflowCount;

// Initialize CAN FD controller
bool initCAN();

// Set CAN mode (0=Normal, 1=ListenOnly, 2=Loopback, 3=ListenOnlyLoopback)
bool setCANMode(uint8_t mode);

// Get current CAN mode
uint8_t getCANMode();

// CAN RX Task (runs on Core 0)
void canRxTask(void *pvParameters);

// CAN TX Task (runs on Core 0)
void canTxTask(void *pvParameters);

// Send CAN frame
bool sendCANFrame(uint32_t id, uint8_t* data, uint8_t len, bool isFD = true);

// Set CAN baudrates
bool setCANBaudrate(uint32_t arbitrationBaud, uint32_t dataBaud);

bool setCANBaudrateAndMode(uint32_t arbitrationBaud, uint32_t dataBaud, uint8_t mode, bool enableFD = true);

void getCANStats(uint32_t& rx, uint32_t& tx, uint32_t& errors);

// Interrupt service routine (forward declaration)
void IRAM_ATTR onCANInterrupt();

#endif // CAN_HANDLER_H