can.h

#pragma once
#include <utils/queue.h>
#include <comm/can.h>
 
#include "gpio.h"
#include "registry.h"
 
namespace CAN {
struct HW : public CAN {
    inline static Registry<HW, CAN_HandleTypeDef, 2> reg;
    struct Config {
        CAN_TypeDef *can; 
        AFIO rx, tx; 
        uint32_t kbaud; 
    };
    HW(const Config &);
    ~HW();
    bool full() override;
    void push(Message &&) override;
    using Sink::push;
    Message pop() override { return rx.pop(); };
    bool empty() override { return rx.empty(); };
 
    Queue<Message> rx;
 
    struct TX {
        Queue<Message> q;
        uint8_t active;
    } tx{};
 
    void irqHandler() { HAL_CAN_IRQHandler(&handle); };
    CAN_HandleTypeDef handle{};
};
}