/*
  mcp_can.h
  2012 Copyright (c) Seeed Technology Inc.  All right reserved.

  Author:Loovee
  Contributor: Cory J. Fowler
  2014-1-16
  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  This library is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General Public
  License along with this library; if not, write to the Free Software
  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-
  1301  USA
*/
#ifndef _MCP2515_H_
#define _MCP2515_H_

#include "mcp_can_dfs.h"
#define MAX_CHAR_IN_MESSAGE 8

class MCP_CAN
{
private:
  INT8U m_nExtFlg;                   /* identifier xxxID             */
                                     /* either extended (the 29 LSB) */
                                     /* or standard (the 11 LSB)     */
  INT32U m_nID;                      /* can id                       */
  INT8U m_nDlc;                      /* data length:                 */
  INT8U m_nDta[MAX_CHAR_IN_MESSAGE]; /* data                         */
  INT8U m_nRtr;                      /* rtr                          */
  INT8U m_nfilhit;
  INT8U SPICS;

  /*
   *  mcp2515 driver function
   */
  // private:
private:
  void mcp2515_reset(void); /* reset mcp2515                */

  INT8U mcp2515_readRegister(const INT8U address); /* read mcp2515's register      */

  void mcp2515_readRegisterS(const INT8U address,
                             INT8U values[],
                             const INT8U n);
  void mcp2515_setRegister(const INT8U address, /* set mcp2515's register       */
                           const INT8U value);

  void mcp2515_setRegisterS(const INT8U address, /* set mcp2515's registers      */
                            const INT8U values[],
                            const INT8U n);

  void mcp2515_initCANBuffers(void);

  void mcp2515_modifyRegister(const INT8U address, /* set bit of one register      */
                              const INT8U mask,
                              const INT8U data);

  INT8U mcp2515_readStatus(void);                     /* read mcp2515's Status        */
  INT8U mcp2515_setCANCTRL_Mode(const INT8U newmode); /* set mode                     */
  INT8U mcp2515_configRate(const INT8U canSpeed);     /* set boadrate                 */
  INT8U mcp2515_init(const INT8U canSpeed);           /* mcp2515init                  */

  void mcp2515_write_id(const INT8U mcp_addr, /* write can id                 */
                        const INT8U ext,
                        const INT32U id);

  void mcp2515_read_id(const INT8U mcp_addr, /* read can id                  */
                       INT8U *ext,
                       INT32U *id);

  void mcp2515_write_canMsg(const INT8U buffer_sidh_addr); /* write can msg                */
  void mcp2515_read_canMsg(const INT8U buffer_sidh_addr);  /* read can msg                 */
  void mcp2515_start_transmit(const INT8U mcp_addr);       /* start transmit               */
  INT8U mcp2515_getNextFreeTXBuf(INT8U *txbuf_n);          /* get Next free txbuf          */

  /*
   *  can operator function
   */

  INT8U setMsg(INT32U id, INT8U ext, INT8U len, INT8U *pData); /* set message                  */
  INT8U clearMsg();                                            /* clear all message to zero    */
  INT8U readMsg();                                             /* read message                 */
  INT8U sendMsg();                                             /* send message                 */

public:
  MCP_CAN(INT8U _CS);
  INT8U begin(INT8U speedset);                                   /* init can                     */
  INT8U init_Mask(INT8U num, INT8U ext, INT32U ulData);          /* init Masks                   */
  INT8U init_Filt(INT8U num, INT8U ext, INT32U ulData);          /* init filters                 */
  INT8U sendMsgBuf(INT32U id, INT8U ext, INT8U len, INT8U *buf); /* send buf                     */
  INT8U readMsgBuf(INT8U *len, INT8U *buf);                      /* read buf                     */
  INT8U checkReceive(void);                                      /* if something received        */
  INT8U checkError(void);                                        /* if something error           */
  INT32U getCanId(void);                                         /* get can id when receive      */
};

extern MCP_CAN CAN;
#endif
/*********************************************************************************************************
  END FILE
*********************************************************************************************************/