Add method to finalize config into initialization mode (#47)

It is useful for applications to be able to decide when to bring MCAN
into operational mode. Therefore, add the option for user to finalize
the configuration into initialization mode rather than operational mode
directly.

mcan/CHANGELOG.md

@@ -5,6 +5,7 @@ Tagging in git follows a pattern: `mcan/<version>`.
 ## [Unreleased]
 - *Breaking* Update the register mappings with svd2rust 0.30.2 and form 0.10.0 (#46)
 - Add safe way to shutdown the bus when actively transmitting/receiving (#45)
+- Add method to finalize configuration into initialization mode (#47)
 
 ## [0.4.0] - 2023-10-24
 

mcan/src/bus.rs

@@ -575,6 +575,16 @@ impl<'a, Id: mcan_core::CanId, D: mcan_core::Dependencies<Id>, C: Capacities>
         Ok(can)
     }
 
+    /// Locks the configuration and enters initialization mode.
+    pub fn finalize_initialized(mut self) -> Result<Can<'a, Id, D, C>, ConfigurationError> {
+        self.apply_configuration()?;
+
+        let can = self.0;
+        can.aux.initialization_mode();
+
+        Ok(can)
+    }
+
     /// Locks the configuration and enters normal operation.
     pub fn finalize(mut self) -> Result<Can<'a, Id, D, C>, ConfigurationError> {
         self.apply_configuration()?;