#pragma once 
#include "config.h"
#include "STM32_CAN.h"
#include "flash.h"
#include "reg_cah.h"

#define CAN_TIMEOUT 50
#define CAN_SILENCE_TIMEOUT 500
#define MAX_CAN_READS 2
extern FLASH_RECORD *flash_rec;
extern volatile uint16_t msg_id;
extern volatile uint16_t id_x;
extern volatile uint8_t msg_ch;
extern volatile uint8_t crc_h;
extern volatile uint8_t crc_l;
extern volatile bool send_blocked;

static volatile bool need_send_angle = false;
static volatile bool need_send_velocity = false;

void send_velocity();
void send_angle();
void send_motor_enabled();
void send_motor_enabled();
void send_id();
void firmware_update();
void send_pid_angle(uint8_t param_pid);
void send_with_confirmation(void (*send_func)(void));
// void send_torque();
void send_pid(uint8_t param_pid);
void setup_id(uint8_t my_id);
void setup_angle(float target_angle);
void setup_velocity(float target_velocity);
void process_can_messages();

void listen_can(const CAN_message_t &msg);