#ifndef __CAN_H__
#define __CAN_H__
#include "sys.h"

typedef void(*can_rcv_cb_def)(uint8_t can_id_type, uint32_t can_id, uint8_t* can_payload, uint8_t can_payload_len);
typedef void(*can_send_suc_cb_def)(void);
typedef void(*can_err_cb_def)(uint32_t err_code);

typedef struct can_header
{
    uint8_t can_id_type;
    uint32_t can_id;
    uint8_t payload_len;
    uint8_t payload[8];
}CAN_HEADER_T;

int HAL_CanInit(void);
int HAL_CanStart(void);
int HAL_CanFilterConfig(void);
void HAL_CanCallbackRegister(can_rcv_cb_def rcv_cb, can_send_suc_cb_def send_cb, can_err_cb_def err_cb);
int8_t HAL_CanTxData(uint8_t can_id_type, uint32_t can_id, uint8_t *data, uint8_t data_len);

#endif //__CAN_H__