| #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(uint32_t id0, uint32_t id1); |
| |
| // Mailbox is 2 or 3 for the two send mailboxes. |
| int can_send(uint32_t can_id, const unsigned char *data, unsigned int length, |
| unsigned int mailbox); |
| |
| // Sets *length to -1 if there isn't a new piece of data to receive. |
| // Mailbox is 0 or 1 for the two receive mailboxes. |
| void can_receive_command(unsigned char *data, int *length, int mailbox); |
| |
| #ifdef __cplusplus |
| } |
| #endif |
| |
| #endif // PERIPHERAL_CAN_H_ |