CAN.h

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/* 
 *  Using the FlexCAN library included by Teensyduino.
 *  This class uses the singleton design pattern. Read about it here: https://www.tutorialspoint.com/Explain-Cplusplus-Singleton-design-pattern
 */
 
#ifndef CAN_H
#define CAN_H
 
#include "Logger.h"
#include "Arduino.h"
// Arduino compiles everything in the src folder even if not included so it causes and error for the nano if this is not included.
#if defined(ARDUINO_TEENSY36)  || defined(ARDUINO_TEENSY41)
 
#include "FlexCAN_T4.h"
#if defined(ARDUINO_TEENSY36)
static FlexCAN_T4<CAN0, RX_SIZE_256, TX_SIZE_16> Can0;
#elif defined(ARDUINO_TEENSY41)
static FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> Can0;
#endif
 
class CAN 
{
    public:
        static CAN* getInstance()
        {
            static CAN* instance = new CAN;
            return instance;
        }
 
        void send(CAN_message_t msg)
        {
            if(!Can0.write(msg)) 
            {
                logger::println("Error Sending" + String(msg.id), LogLevel::Error);
            }
        }
 
        CAN_message_t read()
        {
            CAN_message_t msg;
            Can0.read(msg);
            return msg;
        }
 
    private:
        CAN()
        {   
            Can0.begin();
            Can0.setBaudRate(1000000);
        }
};
 
#endif
#endif