Code for the motor controller
This is basically what we used in Detroit.
Change-Id: If2820d7ec5fcbc5f33b4082025027a6e969ad0e1
diff --git a/motors/peripheral/can.h b/motors/peripheral/can.h
new file mode 100644
index 0000000..acd6cce
--- /dev/null
+++ b/motors/peripheral/can.h
@@ -0,0 +1,24 @@
+#ifndef PERIPHERAL_CAN_H_
+#define PERIPHERAL_CAN_H_
+
+#include <stdint.h>
+
+// The code defined here calls functions in vesc/vesc_can.h from various
+// interrupts and expects them to call back into this file to do something.
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void can_init(void);
+
+int can_send(uint32_t can_id, const unsigned char *data, unsigned int length);
+
+// Sets *length to -1 if there isn't a new piece of data to receive.
+void can_receive_command(unsigned char *data, int *length);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // PERIPHERAL_CAN_H_