Make interface_can a class, so it can be instantiated multiple times

Firmware/MotorControl/main.cpp

@@ -7,8 +7,10 @@
 #include <communication/interface_usb.h>
 #include <communication/interface_uart.h>
 #include <communication/interface_i2c.h>
+#include <communication/interface_can.hpp>
 
 BoardConfig_t board_config;
+CANConfig_t can_config;
 Encoder::Config_t encoder_configs[AXIS_COUNT];
 SensorlessEstimator::Config_t sensorless_configs[AXIS_COUNT];
 ControllerConfig_t controller_configs[AXIS_COUNT];
@@ -19,9 +21,13 @@ bool user_config_loaded_;
 SystemStats_t system_stats_ = { 0 };
 
 Axis *axes[AXIS_COUNT];
+ODriveCAN *odCAN;
+
+
 
 typedef Config<
     BoardConfig_t,
+    CANConfig_t,
     Encoder::Config_t[AXIS_COUNT],
     SensorlessEstimator::Config_t[AXIS_COUNT],
     ControllerConfig_t[AXIS_COUNT],
@@ -31,6 +37,7 @@ typedef Config<
 void save_configuration(void) {
     if (ConfigFormat::safe_store_config(
             &board_config,
+            &can_config,
             &encoder_configs,
             &sensorless_configs,
             &controller_configs,
@@ -47,6 +54,7 @@ void load_configuration(void) {
     if (NVM_init() ||
         ConfigFormat::safe_load_config(
                 &board_config,
+                &can_config,
                 &encoder_configs,
                 &sensorless_configs,
                 &controller_configs,
@@ -54,6 +62,7 @@ void load_configuration(void) {
                 &axis_configs)) {
         //If loading failed, restore defaults
         board_config = BoardConfig_t();
+        can_config = CANConfig_t();
         for (size_t i = 0; i < AXIS_COUNT; ++i) {
             encoder_configs[i] = Encoder::Config_t();
             sensorless_configs[i] = SensorlessEstimator::Config_t();
@@ -104,6 +113,7 @@ void vApplicationIdleHook(void) {
         system_stats_.min_stack_space_uart = uxTaskGetStackHighWaterMark(uart_thread) * sizeof(StackType_t);
         system_stats_.min_stack_space_usb_irq = uxTaskGetStackHighWaterMark(usb_irq_thread) * sizeof(StackType_t);
         system_stats_.min_stack_space_startup = uxTaskGetStackHighWaterMark(defaultTaskHandle) * sizeof(StackType_t);
+        system_stats_.min_stack_space_can = uxTaskGetStackHighWaterMark(odCAN->thread_id_) * sizeof(StackType_t);
     }
 }
 }
@@ -154,6 +164,7 @@ int odrive_main(void) {
 #endif
 
     // Construct all objects.
+    odCAN = new ODriveCAN(&hcan1, can_config);
     for (size_t i = 0; i < AXIS_COUNT; ++i) {
         Encoder *encoder = new Encoder(hw_configs[i].encoder_config,
                                        encoder_configs[i]);