#pragma once

// IRQs: FDCAN1_IT0, FDCAN1_IT1
//       FDCAN2_IT0, FDCAN2_IT1
//       FDCAN3_IT0, FDCAN3_IT1

#define CANFD

typedef struct {
  volatile uint32_t header[2];
  volatile uint32_t data_word[CANPACKET_DATA_SIZE_MAX/4U];
} canfd_fifo;

#define CANS_ARRAY_SIZE 3
extern FDCAN_GlobalTypeDef *cans[CANS_ARRAY_SIZE];

#define CAN_ACK_ERROR 3U

void can_clear_send(FDCAN_GlobalTypeDef *FDCANx, uint8_t can_number);
void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg);

// ***************************** CAN *****************************
// FDFDCANx_IT1 IRQ Handler (TX)
void process_can(uint8_t can_number);
// FDFDCANx_IT0 IRQ Handler (RX and errors)
// blink blue when we are receiving CAN messages
void can_rx(uint8_t can_number);
bool can_init(uint8_t can_number);