/*!
 * @file Adafruit_ZeroCAN.h
 *
 * This is a library for the CAN peripheral on SAME51 devices
 *
 * Adafruit invests time and resources providing this open source code,
 * please support Adafruit and open-source hardware by purchasing
 * products from Adafruit!
 *
 * Written by Jeff Epler for Adafruit Industries.
 *
 * BSD license, all text here must be included in any redistribution.
 *
 */

#pragma once

#include <Arduino.h>

struct _adafruit_ZeroCAN_state;

class Adafruit_ZeroCAN {
public:
  enum BusState { ERROR_ACTIVE, ERROR_WARNING, ERROR_PASSIVE, BUS_OFF };

  struct Message {
    uint32_t id;
    bool extended;
    bool rtr;
    uint8_t size;
    uint8_t data[8];
  };

  struct Match {
    uint32_t id;
    uint32_t mask;
    bool extended;
  };

  class Listener {
  public:
    Listener();
    bool begin(Adafruit_ZeroCAN &can, Match *matches, size_t nmatch);
    ~Listener();
    bool in_waiting() const;
    bool read(Message &);
  };

  Adafruit_ZeroCAN(uint8_t TX_PIN, uint8_t RX_PIN);
  Adafruit_ZeroCAN();
  ~Adafruit_ZeroCAN() {}

  bool begin(int baudrate, bool loopback, bool silent);

  int transmitErrorCount() const;
  int receiveErrorCount() const;
  BusState busState() const;

  bool send(const Message &m);
  void restart();

private:
  struct State;
  int8_t _tx, _rx;
  void *_hw;
  _adafruit_ZeroCAN_state *state;
};