initial commit

components/CANBus_Driver/include/CANBus_Driver.h

@@ -0,0 +1,23 @@
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "driver/twai.h"
+
+#define CAN_TX_GPIO     (gpio_num_t)21
+#define CAN_RX_GPIO     (gpio_num_t)22
+#define CANBUS_SPEED    500000   // 500kbps
+
+#define CAN_QUEUE_LENGTH 32
+#define CAN_QUEUE_ITEM_SIZE sizeof(twai_message_t)
+#define TAG "TWAI"
+
+extern bool receiving_data;
+extern void (*can_message_handler)(twai_message_t *message);
+
+void canbus_init(void);
+void start_can_tasks(void);
+
+#ifdef __cplusplus
+}
+#endif