| 258 | } |
| 259 | |
| 260 | bool CANDriver::receive(CANFrame &out_frame) |
| 261 | { |
| 262 | twai_message_t message {}; |
| 263 | esp_err_t recverr = twai_receive(&message, pdMS_TO_TICKS(5)); |
| 264 | if (recverr != ESP_OK) { |
| 265 | return false; |
| 266 | } |
| 267 | |
| 268 | memcpy(out_frame.data, message.data, 8);// copy new data |
| 269 | out_frame.dlc = message.data_length_code; |
| 270 | out_frame.id = message.identifier; |
| 271 | if (message.extd) { |
| 272 | out_frame.id |= CANARD_CAN_FRAME_EFF; |
| 273 | } |
| 274 | if (out_frame.id & CANFrame::FlagERR) { // same as a message.isErrorFrame() if done later. |
| 275 | return false; |
| 276 | } |
| 277 | return true; |
| 278 | } |
| 279 | |
| 280 | #endif // AP_DRONECAN_ENABLED |