#ifndef HVCALLBACK_H_
#define HVCALLBACK_H_

#include <uavcan/uavcan.hpp>

#include <AP_HAL/CAN.h>
#include <AP_HAL/Semaphores.h>
#include <AP_Param/AP_Param.h>

#include <uavcan/helpers/heap_based_pool_allocator.hpp>
#include "AP_UAVCAN_Servers.h"




  struct HVmes
  {
	  int16_t voltage;
	  int32_t speed;
	  int16_t currentlimit;
	  uint32_t fault;
	  int16_t Imax;
	  int16_t speedref;
	  int16_t torqueIQ;
	  int16_t temperature;
	  int16_t motortemperature;
	  
  };

  extern uint8_t hv_motor_cmd_temp ;
  extern uint8_t hv_motor_cmd;
  extern int16_t hv_motor_speed_32 ;

  struct HVmotor
  {
	  
	  int16_t speed;
	  int16_t current;
	  int16_t voltage;
	  int16_t temperature;
	  int16_t motortemperature;
	  uint16_t fault;
	  
  };
 


void HVcycle(uint8_t _code,uint8_t _buffer[6],HVmes &Thruster);
void Haoye(uint8_t _buffer[7],HVmotor &HVmotor);



#endif