does not compile, probably, just some notes.

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 {

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()");