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can_handler.h

@@ -0,0 +1,51 @@
+// can_handler.h - CAN FD Handler for MCP2518FD
+
+#ifndef CAN_HANDLER_H
+#define CAN_HANDLER_H
+
+#include <Arduino.h>
+#include <ACAN2517FD.h>
+#include <SPI.h>
+
+#include "config.h"
+#include "types.h"
+
+// CAN Controller instance
+extern ACAN2517FD canController;
+
+// CAN status flags
+extern volatile bool canInitialized;
+extern volatile uint32_t canRxCount;
+extern volatile uint32_t canTxCount;
+extern volatile uint32_t canErrorCount;
+extern volatile uint32_t canOverflowCount;
+
+// Initialize CAN FD controller
+bool initCAN();
+
+// Set CAN mode (0=Normal, 1=ListenOnly, 2=Loopback, 3=ListenOnlyLoopback)
+bool setCANMode(uint8_t mode);
+
+// Get current CAN mode
+uint8_t getCANMode();
+
+// CAN RX Task (runs on Core 0)
+void canRxTask(void *pvParameters);
+
+// CAN TX Task (runs on Core 0)
+void canTxTask(void *pvParameters);
+
+// Send CAN frame
+bool sendCANFrame(uint32_t id, uint8_t* data, uint8_t len, bool isFD = true);
+
+// Set CAN baudrates
+bool setCANBaudrate(uint32_t arbitrationBaud, uint32_t dataBaud);
+
+bool setCANBaudrateAndMode(uint32_t arbitrationBaud, uint32_t dataBaud, uint8_t mode, bool enableFD = true);
+
+void getCANStats(uint32_t& rx, uint32_t& tx, uint32_t& errors);
+
+// Interrupt service routine (forward declaration)
+void IRAM_ATTR onCANInterrupt();
+
+#endif // CAN_HANDLER_H