#include <can/can.h>
#include <rb2/regbus.h>

typedef struct {
	RB2_LINK	link;
	
	uint16_t	axes_on_can;
	uint16_t	nodes_on_can;
	
	canframe_t	rxframe;
	canframe_t	txframe;
	
	canfilter_t	filter_rx;
	
	list_t		pool;
	
} rb2_canlink_t;

rb2_telegram_buffer_t *	rb2_can_receive	(RB2_LINK *link);
uint8_t					rb2_can_send	(RB2_LINK *link,rb2_telegram_buffer_t *telegram);


rb2_canlink_t
		*rb2_canlink;


RB2_LINK*	rb2_create_can_link(void){
	
	if (rb2_canlink){
		return &(rb2_canlink->link);
	};
	
	rb2_canlink = malloc(sizeof(rb2_canlink_t));
	if (rb2_canlink){
		
		memset(rb2_canlink, 0x00, sizeof(rb2_canlink_t));
			
		rb2_canlink->filter_rx.id = (canid_t){
					ide:	1,
					addr:	(1L<<25)
				};
		rb2_canlink->filter_rx.mask = (canid_t){
					ide:	1,
					addr:	0x1EFF0000
				};
		
	};
	return &(rb2_canlink->link);
};




rb2_telegram_buffer_t*	rb2_can_receive	(RB2_LINK *link){
	
	
	return NULL;
};

uint8_t					rb2_can_send	(RB2_LINK *link,rb2_telegram_buffer_t *telegram){
	
	return 0;
};