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ACAN_ESP32: Add ACAN_ESP32::end() to stop the controller and remove ISR #15

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ACAN_ESP32: Add ACAN_ESP32::end() to stop the controller and remove ISR #15

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19 changes: 19 additions & 0 deletions src/ACAN_ESP32.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -212,6 +212,25 @@ uint32_t ACAN_ESP32::begin (const ACAN_ESP32_Settings & inSettings,
return errorCode ;
}

//----------------------------------------------------------------------------------------
// Stop CAN controller and uninstall ISR
//----------------------------------------------------------------------------------------

void ACAN_ESP32::end (void) {
//--------------------------------- Abort any pending transfer, don't care about resetting
TWAI_CMD_REG = TWAI_ABORT_TX ;

//--------------------------------- Disable Interupts
TWAI_INT_ENA_REG = 0 ;
if (mInterruptHandler != nullptr) {
esp_intr_free (mInterruptHandler) ;
mInterruptHandler = nullptr ;
}

//--------------------------------- Disable CAN module
periph_module_disable (PERIPH_TWAI_MODULE) ;
}

//----------------------------------------------------------------------------------------
//--- Status Flags (returns 0 if no error)
// Bit 0 : hardware receive FIFO overflow
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5 changes: 5 additions & 0 deletions src/ACAN_ESP32.h
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,11 @@ class ACAN_ESP32 {
public: uint32_t begin (const ACAN_ESP32_Settings & inSettings,
const ACAN_ESP32_Filter & inFilterSettings = ACAN_ESP32_Filter::acceptAll ()) ;

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Deinit: Stop CAN controller and uninstall ISR
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
public: void end (void) ;

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// CAN Configuration Private Methods
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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