/*!
    \file    can.h
    \brief   CAN配置头文件

    \version 2026-03-09, V1.4.0, firmware for GD32H7xx
*/

#ifndef CAN_H
#define CAN_H

#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif

#define CAN_RX_BUFFER_SIZE   32U

typedef enum {
    E_CAN_0 = 0,
    E_CAN_1 = 1,
    E_CAN_2 = 2
} E_CAN_ID;

typedef struct {
    uint32_t ID;
    uint8_t Len;
    uint8_t Data[8U];
} CAN_DATA;

/* CAN统一初始化接口 */
void v_can_interface_init(void);
uint8_t u8_can_is_initialized(void);

/* CAN 中断分发（供 gd32h7xx_it.c 复用） */
void v_can_irq_handler(uint8_t can_port);

/* 对外统一发送/接收接口（扩展帧、数据帧） */
void v_can_tx(E_CAN_ID can_id, const CAN_DATA *can_data);
uint8_t u8_can_rx(E_CAN_ID can_id, CAN_DATA *can_data);

/* 兼容当前工程的原统一接口 */
uint8_t can_send_data(uint8_t can_port, uint32_t id, uint8_t *data, uint8_t dlc, uint8_t ide, uint8_t rtr);
uint8_t can_receive_data(uint8_t can_port, uint32_t *id, uint8_t *data, uint8_t *dlc, uint8_t *ide, uint8_t *rtr);

/* 扩展帧ID打包/解析工具 */
uint32_t u32_get_can_ID(uint8_t prior, uint8_t cmd, uint8_t desAddr, uint8_t oriAddr);
uint8_t u8_can_ID_unpack(uint32_t u32_id, uint8_t *prior, uint8_t *cmd, uint8_t *desAddr, uint8_t *oriAddr);

#ifdef __cplusplus
}
#endif

#endif /* CAN_H */