From 53bee3f4ad501f121a42aa57806062ab40258edb Mon Sep 17 00:00:00 2001
From: Arne Edholm <arne.edholm@volvocars.com>
Date: Mon, 9 Oct 2023 23:11:58 +0200
Subject: [PATCH] Expose initialization mode

Added initialization_mode method to DynAux trait, to enable software
support for disabling of the CAN bus.
---
 mcan/CHANGELOG.md | 1 +
 mcan/src/bus.rs   | 8 ++++++++
 mcan/src/reg.rs   | 4 ++++
 3 files changed, 13 insertions(+)

diff --git a/mcan/CHANGELOG.md b/mcan/CHANGELOG.md
index cb6805c..67e26a7 100644
--- a/mcan/CHANGELOG.md
+++ b/mcan/CHANGELOG.md
@@ -3,6 +3,7 @@
 Tagging in git follows a pattern: `mcan/<version>`.
 
 ## [Unreleased]
+- Add Can::aux::initialization_mode
 
 ## [0.3.0] - 2023-04-24
 
diff --git a/mcan/src/bus.rs b/mcan/src/bus.rs
index c09a701..0762b4e 100644
--- a/mcan/src/bus.rs
+++ b/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();
     }
diff --git a/mcan/src/reg.rs b/mcan/src/reg.rs
index 926d1d1..4fe667f 100644
--- a/mcan/src/reg.rs
+++ b/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);
     }