#ifndef __CANBUS_H__
#define __CANBUS_H__

#include <zephyr/drivers/can.h>
#include <zephyr/kernel.h>
#include "canbus_registers.h"

#define CANBUS_RX_THREAD_STACK_SIZE (512)
#define CANBUS_RX_THREAD_PRIORITY (5)
#define CANBUS_RX_MSGQ_SIZE (5)

typedef struct can_frame_t{
    /** Standard (11-bit) or extended (29-bit) CAN identifier. */
    uint32_t id;
    /** Data Length Code (DLC) indicating data length in bytes. */
    uint8_t dlc;
    /** Flags. */
    uint8_t flags;
    /** The frame payload data. */
    union {
        /** Payload data accessed as unsigned 8 bit values. */
        uint8_t data[8];
        uint16_t data_16[4];
        uint32_t data_32[2];
    } data;
} can_frame_t;

int canbus_init(void);
int canbus_send_register(uint8_t node_id, uint8_t register_address, uint8_t *data, size_t data_length);
int canbus_request_register(uint8_t node_id, uint8_t register_address);

#endif // __CANBUS_H__