/**
 * @file
 * @brief Implementation of CanController using STM32 HAL.
 */
#ifndef STA_STM32_CAN_HPP
#define STA_STM32_CAN_HPP

/**
 * @defgroup stm32CAN CAN
 * @ingroup stm32
 * @brief STM32 CAN module.
 *
 * Check @ref stm32BuildConfig for configuration options.
 */

#ifdef DOXYGEN
/**
 * @def STA_STM32_CAN_ENABLE
 * @brief Enable module.
 *
 * @ingroup stm32BuildConfig
 */
#  define STA_STM32_CAN_ENABLE

/**
 * @def STA_STM32_CAN_GLOBAL
 * @brief Create global CanBus object using this CAN instance.
 *
 * @ingroup stm32BuildConfig
 */
#  define STA_STM32_CAN_GLOBAL
#endif // DOXYGEN


#include <sta/config.hpp>
#ifdef STA_STM32_CAN_ENABLE

#include <sta/can_bus/controller.hpp>

#include <sta/stm32/hal.hpp>


namespace sta
{
	/**
	 * @brief Implementation of CanController interface using HAL.
	 *
	 * @ingroup stm32CAN
	 */
	class STM32CanController : public CanController
	{
	public:
		static constexpr uint8_t MAX_FILTER_COUNT = 14; /**< Max number of filters */
		static constexpr uint8_t MAX_FIFO_COUNT   = 2;  /**< Max number of FIFOs */
		static constexpr uint8_t MAX_PAYLOAD_SIZE = 8;  /**< Maximum payload size */

	public:
		/**
		 * @param handle    CAN handle
		 */
		STM32CanController(CAN_HandleTypeDef * handle);

		/**
		 * @brief Enable RX pending interrupts.
		 */
		void enableRxInterrupts();

		/**
		 * @brief Start CAN controller.
		 */
		void start();
		/**
		 * @brief Stop CAN controller.
		 */
		void stop();


		// RX/TX
		//

		bool sendFrame(const CanTxHeader & header, const uint8_t * payload) override;
		bool receiveFrame(uint8_t fifo, CanRxHeader * header, uint8_t * payload) override;

		uint32_t getRxFifoFlags() override;

		// RX Filter
		//

		void configureFilter(uint8_t idx, const CanFilter & filter, bool active = false) override;
		void enableFilter(uint8_t idx) override;
		void disableFilter(uint8_t idx) override;
		void clearFilters() override;

	private:
		/**
		 * @brief Initialize filter settings.
		 */
		void initFilters();

	private:
		CAN_HandleTypeDef * handle_;                    /**< CAN handle */
		CAN_FilterTypeDef   filters_[MAX_FILTER_COUNT]; /**< Filter settings */
	};



#ifdef STA_STM32_CAN_GLOBAL
	/**
	 * @brief Global CAN instance.
	 *
	 * @ingroup stm32CAN
	 */
	extern STM32CanController CanBus;

	/**
	 * @brief Interrupt handler for pending RX frames.
	 *
	 * May be implemented by application.
	 *
	 * @ingroup stm32CAN
	 */
	void CanBus_RxPendingCallback();
#endif // STA_STM32_CAN_GLOBAL
} // namespace sta


#endif // STA_STM32_CAN_ENABLE

#endif // STA_STM32_CAN_HPP