#ifndef __CAN1_H__
#define __CAN1_H__

#include "rtthread.h"
#include <dronecan_msgs.h>
struct uavcan_navigation_GlobalNavigationSolution;
struct uavcan_equipment_range_sensor_Measurement;

void can_init(void);
void DroneCAN_Start(void);
void MyCAN_Transmit(uint32_t ID, uint8_t Length, uint8_t *Data, uint8_t sendbit);
uint16_t Get_Crc16(uint8_t *puchMsg, uint16_t usDataLen);
uint8_t MyCAN_ReceiveFlag(void);
void MyCAN_Receive(uint32_t *ID, uint8_t *Length, uint8_t *Data);
void DroneCAN_SendGlobalNavigationSolution(struct uavcan_navigation_GlobalNavigationSolution *msg);
void DroneCAN_SendRangeSensorMeasurement( struct uavcan_equipment_range_sensor_Measurement *msg );
void DroneCAN_SendNodeStatus(struct uavcan_protocol_NodeStatus *msg);
bool DroneCAN_IsNodeIDAllocated( void );
#endif