43 lines
775 B
C++
43 lines
775 B
C++
#include "can_receiver.hpp"
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#include "driver/twai.h"
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#include <string.h>
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void CANReceiver::Init()
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{
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twai_general_config_t g_config =
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TWAI_GENERAL_CONFIG_DEFAULT(
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GPIO_NUM_21,
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GPIO_NUM_22,
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TWAI_MODE_NORMAL
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);
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twai_timing_config_t t_config =
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TWAI_TIMING_CONFIG_500KBITS();
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twai_filter_config_t f_config =
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TWAI_FILTER_CONFIG_ACCEPT_ALL();
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twai_driver_install(
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&g_config,
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&t_config,
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&f_config
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);
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twai_start();
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}
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bool CANReceiver::Read(uint16_t& ppm)
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{
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twai_message_t rx;
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if(twai_receive(&rx, pdMS_TO_TICKS(1000)) == ESP_OK)
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{
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ppm =
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(rx.data[0] << 8) |
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rx.data[1];
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return true;
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}
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return false;
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} |