ra8_canfd.h

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#pragma once
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include <stdint.h>
 
#include "ra8_canfd_regs.h"
#include "ra8_err.h"

typedef struct {
  uint32_t id;                               
  uint8_t  dlc;                              
  uint8_t  is_extended;                      
  uint8_t  is_fd;                            
  uint8_t  is_brs;                           
  uint8_t  data[k_ra8_canfd_data_bytes_max]; 
} ra8_canfd_frame_t;

[[nodiscard]] ra8_err_t ra8_canfd_init(uint8_t channel);

[[nodiscard]] ra8_err_t ra8_canfd_deinit(uint8_t channel);

[[nodiscard]] ra8_err_t
ra8_canfd_set_bitrate(uint8_t channel, uint32_t bitrate_bps, uint32_t data_bitrate_bps);

[[nodiscard]] ra8_err_t ra8_canfd_transmit(uint8_t channel, const ra8_canfd_frame_t* frame);

[[nodiscard]] ra8_err_t ra8_canfd_receive(uint8_t channel, ra8_canfd_frame_t* out_frame);

[[nodiscard]] ra8_err_t
ra8_canfd_get_error_state(uint8_t channel, uint8_t* tx_err, uint8_t* rx_err);

typedef void (*ra8_canfd_event_fn_t)(void* ctx, uint8_t channel, uint32_t status_mask);

[[nodiscard]] ra8_err_t ra8_canfd_get_status(uint8_t channel, uint32_t* out_mask);

[[nodiscard]] ra8_err_t ra8_canfd_clear_status(uint8_t channel, uint32_t mask);

[[nodiscard]] ra8_err_t ra8_canfd_attach_handler(ra8_canfd_event_fn_t fn, void* ctx);

void ra8_canfd_dispatch(uint8_t channel);

[[nodiscard]] ra8_err_t
ra8_canfd_filter_set(uint16_t filter_id, uint32_t accept_id, uint32_t mask, uint8_t dlc);

typedef enum : uint8_t {
  k_ra8_canfd_afl_rule_capacity = 16U, 
} ra8_canfd_afl_capacity_t;

typedef struct {
  uint32_t id;        
  uint32_t mask;      
  bool     extended;  
  bool     rtr;       
  uint8_t  target_rx; 
} ra8_canfd_afl_rule_t;

[[nodiscard]] ra8_err_t
ra8_canfd_set_accept_filter(uint8_t channel, const ra8_canfd_afl_rule_t* rules, uint8_t count);

[[nodiscard]] ra8_err_t ra8_canfd_set_brs(uint8_t channel, uint32_t fast_bitrate);

typedef struct {
  bool    enable; 
  bool    manual; 
  uint8_t offset; 
} ra8_canfd_tdc_cfg_t;

[[nodiscard]] ra8_err_t ra8_canfd_set_tdc(uint8_t channel, const ra8_canfd_tdc_cfg_t* cfg);

[[nodiscard]] ra8_err_t ra8_canfd_set_iso_mode(bool enable);

[[nodiscard]] ra8_err_t ra8_canfd_set_test_mode(uint8_t channel, ra8_ctms_mode_t mode);

[[nodiscard]] ra8_err_t ra8_canfd_enter_stop(uint8_t channel);

[[nodiscard]] ra8_err_t ra8_canfd_exit_stop(uint8_t channel);
 
#ifdef __cplusplus
}
#endif