Expose initialization mode

Added initialization_mode method to DynAux trait, to enable software
support for disabling of the CAN bus.

mcan/CHANGELOG.md

@@ -3,6 +3,7 @@
 Tagging in git follows a pattern: `mcan/<version>`.
 
 ## [Unreleased]
+- Add Can::aux::initialization_mode
 - Adhere to `filter_map_bool_then` clippy lint (#42)
 
 ## [0.3.0] - 2023-04-24

mcan/src/bus.rs

@@ -153,6 +153,10 @@ pub trait DynAux {
     /// CAN dependencies type
     type Deps;
 
+    /// Enters Initialization mode, without enabling configuration, to
+    /// disable CAN operation.
+    fn initialization_mode(&self);
+
     /// Re-enters "Normal Operation" if in "Software Initialization" mode.
     /// In Software Initialization, messages are not received or transmitted.
     /// Configuration cannot be changed. In Normal Operation, messages can
@@ -186,6 +190,10 @@ impl<'a, Id: mcan_core::CanId, D: mcan_core::Dependencies<Id>> DynAux for Aux<'a
     type Id = Id;
     type Deps = D;
 
+    fn initialization_mode(&self) {
+        self.reg.initialization_mode();
+    }
+
     fn operational_mode(&self) {
         self.reg.operational_mode();
     }

mcan/src/reg.rs

@@ -49,6 +49,10 @@ impl<Id: mcan_core::CanId> Can<Id> {
         self.enable_cce();
     }
 
+    pub(crate) fn initialization_mode(&self) {
+        self.set_init(true);
+    }
+
     pub(crate) fn operational_mode(&self) {
         self.set_init(false);
     }