diff --git a/CMakeLists.txt b/CMakeLists.txt
index 99d206c..b15cd78 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -19,9 +19,16 @@ set(TARGET_NAME ${CMAKE_PROJECT_NAME})
 # Set path names
 set(FreeRTOS_PATH FreeRTOS-Kernel/)
 set(MISSION_PATH mission/)
-set(FreeRTOS_CONFIG_PATH bsp_z7/freeRTOS)
-set(BSP_PATH bsp_z7)
-set(CMAKE_MODULE_PATH Findcommon.cmake)
+
+
+set(TargetIsLinux TRUE)
+    
+endif()
+
+set(TargetIsZedboard TRUE)   
+    set(FreeRTOS_CONFIG_PATH bsp_z7/freeRTOS)
+    set(BSP_PATH bsp_z7)
+endif()
 
 set (LWIP_DIR contrib/lwip)
 
@@ -30,6 +37,12 @@ set (LWIP_DIR contrib/lwip)
 # Configuration
 # ##############################################################################
 
+
+if(${TargetIsLinux} TRUE)
+    add_compile_definitions(ZYNQ_USE_UART0)
+endif()
+
+
 set(ZYNQ_UART UART1 CACHE STRING "Which PS UART to use for stdout")
 set_property(CACHE ZYNQ_UART PROPERTY STRINGS UART0 UART1)
 
diff --git a/mission/can_rust_helper.c b/mission/can_rust_helper.c
index 078d7f8..135ee4d 100644
--- a/mission/can_rust_helper.c
+++ b/mission/can_rust_helper.c
@@ -335,3 +335,5 @@ static int RecvFrame(XCanPs *InstancePtr)
 
 	return Status;
 }
+
+#  define FALSE		2U
\ No newline at end of file
diff --git a/mission/gpio_rust_helper.c b/mission/gpio_rust_helper.c
index 4308b0b..186ad48 100644
--- a/mission/gpio_rust_helper.c
+++ b/mission/gpio_rust_helper.c
@@ -6,6 +6,27 @@
 /* GPIO SETUP AND USAGE                                     */
 /************************************************************/
 
+
+if(TargetIsLinux)
+    
+XGpioPs gpio;
+void gpio_setup() {
+}
+
+
+void gpio_write_pin(uint32_t pin, uint32_t data) {
+}
+
+uint32_t gpio_read_pin(uint32_t pin) {
+  return 1;
+}
+
+void gpio_toggle_pin(uint32_t pin) {
+}
+endif()
+
+if(TargetIsZedboard TRUE)   
+
 XGpioPs gpio;
 void gpio_setup() {
   XGpioPs_Config config;
@@ -34,4 +55,7 @@ void gpio_toggle_pin(uint32_t pin) {
   static int pinvalue = 1;
   pinvalue = pinvalue ^ 1;
   XGpioPs_WritePin(&gpio, pin, pinvalue);
-}
\ No newline at end of file
+}
+
+
+endif()
\ No newline at end of file
diff --git a/mission_rust/src/fsrc/osal/mod.rs b/mission_rust/src/fsrc/osal/mod.rs
index a890e9e..da24140 100644
--- a/mission_rust/src/fsrc/osal/mod.rs
+++ b/mission_rust/src/fsrc/osal/mod.rs
@@ -57,16 +57,67 @@ extern "C" {
     pub fn gpio_read_pin(pin: u32) -> u32;
     pub fn gpio_toggle_pin(pin: u32) -> ();
 
-    // CAN Samples
-
-
-    pub fn canps_poll_example() -> i32;
-
 }
 
+pub mod can {
+    use core::fmt::Error;
 
 
 
+    pub fn read_data() -> Result<i32, Error>
+    {
+
+        if (unsafe {can_unsafe::canps_get_status().is_initialized == false}) {
+            return Err(Error);
+        }
+        unsafe  {
+            Ok(can_unsafe::canps_poll_example())
+        }    
+    }
+
+    mod can_unsafe {
+        extern "C" {
+            
+            // CAN Samples
+
+
+            pub fn canps_setup() -> i32;
+
+            pub fn canps_send_data() -> i32;
+            pub fn canps_read_data() -> i32;
+
+            pub fn canps_get_status() -> canps_status;
+
+            pub fn canps_poll_example() -> i32;
+
+        }
+
+        #[repr(C)]
+        pub struct canps_status {
+            pub is_initialized: bool
+        }
+    }
+}
+
+    // RustFSW 
+    // -> hal::can 
+    //     -> hal::can::unsafe // 
+    //         -> mission/can_rust_helper.c // 
+    //             -> BSP/XCanPS
+
+mod safe_osal {
+
+    /*
+    * Is safe. Trust me, I'm an engineer.
+    */
+    pub fn gpio_setup() {
+        unsafe {
+            crate::osal::gpio_setup();
+        }
+    }
+}
+
+
 
 pub fn task_delete_self() {
     unsafe {
diff --git a/mission_rust/src/lib.rs b/mission_rust/src/lib.rs
index a936755..7d94ed7 100644
--- a/mission_rust/src/lib.rs
+++ b/mission_rust/src/lib.rs
@@ -186,7 +186,7 @@ fn mission() {
 
     sifln!("Call canps poll example()");
 
-    canps_poll_example();
+    can::unsafe::canps_poll_example();
     }
     sifln!("Called canps poll example()");