#ifndef CAN_DRIVER_H
#define CAN_DRIVER_H
#include <stdint.h>
#include <stdbool.h>
#define CAN_NUM_MOTORS          2u
#define CAN_NODE_LEFT           0u
#define CAN_NODE_RIGHT          1u
#define CAN_ID_VEL_CMD_BASE     0x100u
#define CAN_ID_ENABLE_CMD_BASE  0x110u
#define CAN_ID_FEEDBACK_BASE    0x200u
#define CAN_FILTER_STDID        0x200u
#define CAN_FILTER_MASK         0x7E0u
#define CAN_PRESCALER           6u
#define CAN_TX_RATE_HZ          100u
#define CAN_NODE_TIMEOUT_MS     100u
#define CAN_WDOG_RESTART_MS     200u
typedef struct { int16_t velocity_rpm; int16_t torque_x100; } can_cmd_t;
typedef struct {
    int16_t velocity_rpm; int16_t current_ma; int16_t position_x100;
    int8_t temperature_c; uint8_t fault; uint32_t last_rx_ms;
} can_feedback_t;
typedef struct {
    uint32_t tx_count; uint32_t rx_count; uint16_t err_count;
    uint8_t bus_off; uint8_t _pad;
} can_stats_t;
typedef enum {
    CAN_ERR_NOMINAL = 0u, CAN_ERR_WARNING = 1u,
    CAN_ERR_ERROR_PASSIVE = 2u, CAN_ERR_BUS_OFF = 3u,
} can_error_state_t;
typedef struct {
    uint32_t restart_count; uint32_t busoff_count;
    uint16_t errpassive_count; uint16_t errwarn_count;
    can_error_state_t error_state; uint8_t tec; uint8_t rec; uint8_t busoff_pending;
    uint32_t busoff_ms;
} can_wdog_t;
void can_driver_init(void);
void can_driver_send_cmd(uint8_t node_id, const can_cmd_t *cmd);
void can_driver_send_enable(uint8_t node_id, bool enable);
bool can_driver_get_feedback(uint8_t node_id, can_feedback_t *out);
bool can_driver_is_alive(uint8_t node_id, uint32_t now_ms);
void can_driver_get_stats(can_stats_t *out);
void can_driver_process(void);
can_error_state_t can_driver_watchdog_tick(uint32_t now_ms);
void can_driver_get_wdog(can_wdog_t *out);
#ifdef TEST_HOST
void can_driver_inject_esr(uint32_t esr_val);
#endif
typedef void (*can_ext_frame_cb_t)(uint32_t ext_id, const uint8_t *data, uint8_t len);
typedef void (*can_std_frame_cb_t)(uint16_t std_id, const uint8_t *data, uint8_t len);
void can_driver_set_ext_cb(can_ext_frame_cb_t cb);
void can_driver_set_std_cb(can_std_frame_cb_t cb);
void can_driver_send_ext(uint32_t ext_id, const uint8_t *data, uint8_t len);
void can_driver_send_std(uint16_t std_id, const uint8_t *data, uint8_t len);
#endif /* CAN_DRIVER_H */