#include <cstdint>

#ifndef ES_CAN_H
#define ES_CAN_H

// Initialise the CAN module
uint32_t CAN_Init(bool loopback = false);

// Enable the CAN module
uint32_t CAN_Start();

// Set up a recevie filter
// Defaults to receive everything
uint32_t setCANFilter(uint32_t filterID = 0, uint32_t maskID = 0, uint32_t filterBank = 0);

// Send a message
uint32_t CAN_TX(uint32_t ID, uint8_t data[8]);

// Get the number of received messages
uint32_t CAN_CheckRXLevel();

// Get a received message from the FIFO
uint32_t CAN_RX(uint32_t &ID, uint8_t data[8]);

// Set up an interrupt on received messages
uint32_t CAN_RegisterRX_ISR(void (&callback)());

// Set up an interrupt on transmitted messages
uint32_t CAN_RegisterTX_ISR(void (&callback)());

#endif