#include <stdio.h>
#include "driver/twai.h"

#define CAN0_TX_PIN GPIO_NUM_22
#define CAN0_RX_PIN GPIO_NUM_23

void app_main(void)
{
    // 1. Configure CAN0
      twai_handle_t can0_handle = NULL;
      twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT_V2(0, CAN0_TX_PIN, CAN0_RX_PIN, TWAI_MODE_NORMAL);
      twai_timing_config_t t_config = TWAI_TIMING_CONFIG_500KBITS();
      twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();

    // 2. Install driver
      if (twai_driver_install_v2(&g_config, &t_config, &f_config, &can0_handle) == ESP_OK)
      {
            twai_start();
            printf("CAN0 started!\n");
      }

    // 3. Simple loop to receive messages
      twai_message_t rx_msg;
      while (1)
      {
            if (twai_receive(&rx_msg, pdMS_TO_TICKS(100)) == ESP_OK)
            {
                  printf("Received CAN message: ID=0x%X DLC=%d Data=", rx_msg.identifier, rx_msg.data_length_code);
                  for (int i = 0; i < rx_msg.data_length_code; i++)
                  {
                        printf("%02X ", rx_msg.data[i]);
                  }
                  printf("\n");
            }
      }
}