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31 lines
750 B
Plaintext
31 lines
750 B
Plaintext
#include <cstdint>
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#ifndef ES_CAN_H
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#define ES_CAN_H
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// Initialise the CAN module
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uint32_t CAN_Init(bool loopback = false);
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// Enable the CAN module
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uint32_t CAN_Start();
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// Set up a recevie filter
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// Defaults to receive everything
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uint32_t setCANFilter(uint32_t filterID = 0, uint32_t maskID = 0, uint32_t filterBank = 0);
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// Send a message
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uint32_t CAN_TX(uint32_t ID, uint8_t data[8]);
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// Get the number of received messages
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uint32_t CAN_CheckRXLevel();
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// Get a received message from the FIFO
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uint32_t CAN_RX(uint32_t &ID, uint8_t data[8]);
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// Set up an interrupt on received messages
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uint32_t CAN_RegisterRX_ISR(void (&callback)());
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// Set up an interrupt on transmitted messages
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uint32_t CAN_RegisterTX_ISR(void (&callback)());
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#endif |