From 55fe4bbdc907ae48697e1536c7d67ffc3217efe0 Mon Sep 17 00:00:00 2001
From: kkira <kira.n.neit@gmail.com>
Date: Thu, 18 Jun 2026 21:16:46 +0300
Subject: [PATCH] CAN ESP32

---
 ESP32_ESP-IDF/main/can/can_receiver.cpp | 43 +++++++++++++++++++++++++
 ESP32_ESP-IDF/main/can/can_receiver.hpp |  8 +++++
 2 files changed, 51 insertions(+)
 create mode 100644 ESP32_ESP-IDF/main/can/can_receiver.cpp
 create mode 100644 ESP32_ESP-IDF/main/can/can_receiver.hpp

diff --git a/ESP32_ESP-IDF/main/can/can_receiver.cpp b/ESP32_ESP-IDF/main/can/can_receiver.cpp
new file mode 100644
index 0000000..e424cdd
--- /dev/null
+++ b/ESP32_ESP-IDF/main/can/can_receiver.cpp
@@ -0,0 +1,43 @@
+#include "can_receiver.hpp"
+
+#include "driver/twai.h"
+
+void CANReceiver::Init()
+{
+    twai_general_config_t g_config =
+        TWAI_GENERAL_CONFIG_DEFAULT(
+            GPIO_NUM_21,
+            GPIO_NUM_22,
+            TWAI_MODE_NORMAL
+        );
+
+    twai_timing_config_t t_config =
+        TWAI_TIMING_CONFIG_500KBITS();
+
+    twai_filter_config_t f_config =
+        TWAI_FILTER_CONFIG_ACCEPT_ALL();
+
+    twai_driver_install(
+        &g_config,
+        &t_config,
+        &f_config
+    );
+
+    twai_start();
+}
+
+bool CANReceiver::Read(uint16_t& ppm)
+{
+    twai_message_t rx;
+
+    if(twai_receive(&rx, pdMS_TO_TICKS(1000)) == ESP_OK)
+    {
+        ppm =
+            (rx.data[0] << 8) |
+            rx.data[1];
+
+        return true;
+    }
+
+    return false;
+}
\ No newline at end of file
diff --git a/ESP32_ESP-IDF/main/can/can_receiver.hpp b/ESP32_ESP-IDF/main/can/can_receiver.hpp
new file mode 100644
index 0000000..bbc3a6f
--- /dev/null
+++ b/ESP32_ESP-IDF/main/can/can_receiver.hpp
@@ -0,0 +1,8 @@
+#pragma once
+
+class CANReceiver
+{
+public:
+    static void Init();
+    static bool Read(uint16_t& ppm);
+};
\ No newline at end of file