Squashed commit of the following:

commit c6fd825e39
Author: AlexanderHD27 <alexander@hal>
Date:   Wed Nov 6 23:14:14 2024 +0100

    Moved CAN Interface code to comment libary folder with symlink

commit e7a0035041
Author: AlexanderHD27 <alexander@hal>
Date:   Wed Nov 6 22:01:28 2024 +0100

    Got MCP2521 to work

commit 4bfb1f533e
Author: AlexanderHD27 <alexander@hal>
Date:   Wed Oct 16 21:29:35 2024 +0200

    Did something to YGantryMount. It works. trust me

commit 5683168a47
Author: AlexanderHD27 <alexander@hal>
Date:   Wed Oct 16 21:28:36 2024 +0200

    Implemented Command-Level Interaction with CAN Interface

commit 9c0c676be8
Author: AlexanderHD27 <alexander@hal>
Date:   Mon Oct 14 09:20:37 2024 +0200

    Added Vscode Profile file

commit b150a905a3
Author: AlexanderHD27 <alexander@hal>
Date:   Mon Oct 14 09:19:00 2024 +0200

    Implemented Low Level Compunications

commit 7eebf619ae
Author: AlexanderHD27 <alexander@hal>
Date:   Mon Oct 7 14:46:15 2024 +0200

    Created Head Pipe Mount

commit 93c40e1805
Author: AlexanderHD27 <alexander@hal>
Date:   Mon Oct 7 14:44:11 2024 +0200

    First Revision of YGantryMount

commit 91c2125458
Author: AlexanderHD27 <alexander@hal>
Date:   Thu Oct 3 19:52:37 2024 +0200

    Added Kicad Backups 2 gitignore

commit 096a6c18d6
Author: AlexanderHD27 <alexander@hal>
Date:   Thu Oct 3 19:49:21 2024 +0200

    Created ESP-IDF for can-interface

commit 48fded7981
Author: AlexanderHD27 <alexander@hal>
Date:   Sat Sep 28 19:54:29 2024 +0200

    Added files from Pico sdk to gitignore

commit ec5e5cbf13
Author: AlexanderHD27 <alexander@hal>
Date:   Sat Sep 14 21:09:50 2024 +0200

    Create Marker for position Calibration

commit 58d31964b2
Author: AlexanderHD27 <alexander@hal>
Date:   Wed Sep 11 23:32:55 2024 +0200

    Upgrade to pico SDK 2.0.0

common-libaries/mcp2521/include/mcp2521_command.hpp

@@ -0,0 +1,102 @@
+#pragma once
+#include "mcp2521_addresses.hpp"
+#include "mcp2521_hardware_handle.hpp"
+
+#include <stdint.h>
+
+enum MCP2521_RX_BUFFER {
+    RXB0 = 0,
+    RXB1 = 1
+};
+
+enum MCP2521_TX_BUFFER {
+    TXB0 = 0,
+    TXB1 = 1,
+    TXB2 = 2
+};
+
+enum MCP2521_BUFFER_TYPE {
+    ID = 0,
+    DATA = 1
+};
+
+enum MCP2521_OPERATION_MODE {
+    NORMAL      = 0b000,
+    SLEEP       = 0b001,
+    LOOPBACK    = 0b010,
+    LISTEN_ONLY = 0b011,
+    CONFIG      = 0b100
+};
+
+struct rx_info {
+    bool extended;
+
+    uint16_t id;
+    uint32_t extended_id;
+
+    bool rtr;
+    bool extended_rtr;
+
+    uint8_t length;
+};
+
+class MCP2521_Command_Interface {
+private:
+    MCP2521_Hardware_Handle * hardware_handle;
+
+    intHandlerFunction_t rx0_handler;
+    intHandlerFunction_t rx1_handler;
+    intHandlerFunction_t tx0_handler;
+    intHandlerFunction_t tx1_handler;
+    intHandlerFunction_t tx2_handler;
+    intHandlerFunction_t error_handler;
+    intHandlerFunction_t wakeup_handler;
+    intHandlerFunction_t message_error_handler;
+
+    void * rx0_handler_arg;
+    void * rx1_handler_arg;
+    void * tx0_handler_arg;
+    void * tx1_handler_arg;
+    void * tx2_handler_arg;
+    void * error_handler_arg;
+    void * wakeup_handler_arg;
+    void * message_error_handler_arg;
+public:
+
+    MCP2521_Command_Interface(
+        MCP2521_Hardware_Handle * hardware_handle
+    );
+
+    void handleInterrupt();
+    
+    void reset();
+    
+    void read_reg(uint8_t address, uint8_t *data, size_t length);
+    uint8_t read_reg(uint8_t address);
+
+    void read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
+    
+    void write_reg(uint8_t address, uint8_t *data, size_t length);
+    void write_reg(uint8_t address, uint8_t data);
+
+    void write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
+
+    void request_to_send(bool txb2, bool txb1, bool txb0);
+    void request_to_send(MCP2521_TX_BUFFER buffer);
+
+    uint8_t read_status();
+    uint8_t read_rx_status();
+
+    void bit_modify(uint8_t address, uint8_t mask, uint8_t data);
+
+    // Registering Handlers for Interrupts
+    void register_rx0_handler(intHandlerFunction_t handler, void * arg);
+    void register_rx1_handler(intHandlerFunction_t handler, void * arg);
+    void register_tx0_handler(intHandlerFunction_t handler, void * arg);
+    void register_tx1_handler(intHandlerFunction_t handler, void * arg);
+    void register_tx2_handler(intHandlerFunction_t handler, void * arg);
+    void register_error_handler(intHandlerFunction_t handler, void * arg);
+    void register_wakeup_handler(intHandlerFunction_t handler, void * arg);
+    void register_message_error_handler(intHandlerFunction_t handler, void * arg);
+};
+