/**
 * @file can.h
 *
 * @brief Header file for Controller Area Network (CAN) functionality in the ChainLube application.
 *
 * This file provides functions and structures related to Controller Area Network (CAN)
 * communication for the ChainLube project. It includes functions for initializing CAN,
 * processing CAN messages, and retrieving wheel speed from CAN data.
 *
 * @author Marcel Peterkau
 * @date   09.01.2024
 */

#ifndef _CAN_H_
#define _CAN_H_

#include <Arduino.h>
#include <mcp_can.h>
#include <SPI.h>
#include "common.h"
#include "globals.h"
#include "dtc.h"
#include "debugger.h"

// CAN frame structure definition
struct can_frame
{
    unsigned long can_id;
    uint8_t can_dlc;
    uint8_t data[8] __attribute__((aligned(8)));
};

// Function prototypes
void Init_CAN();
void CAN_Process();
uint32_t Process_CAN_WheelSpeed();

#endif