From 760fa22648928b9cfd7e378d5d149c34af41e091 Mon Sep 17 00:00:00 2001
From: rlboyle <rlboyle77@gmail.com>
Date: Sat, 14 Feb 2026 22:22:29 -0600
Subject: [PATCH] Added rxfilter configure method

---
 include/esp_can.h | 2 ++
 src/esp_can.cpp   | 6 ++++++
 2 files changed, 8 insertions(+)

diff --git a/include/esp_can.h b/include/esp_can.h
index b8273b9..d805024 100644
--- a/include/esp_can.h
+++ b/include/esp_can.h
@@ -17,6 +17,8 @@ class ESPCAN : public ICAN
 
     void Initialize(BaudRate baud) override;
 
+    void ConfigureRxFilter(uint32_t acceptanceCode, uint32_t acceptanceMask);
+
     bool SendMessage(CANMessage &msg) override;
 
     void RegisterRXMessage(ICANRXMessage &msg) override { rx_messages_.push_back(&msg); }
diff --git a/src/esp_can.cpp b/src/esp_can.cpp
index 2afd596..ec31a95 100644
--- a/src/esp_can.cpp
+++ b/src/esp_can.cpp
@@ -58,6 +58,12 @@ void ESPCAN::Initialize(BaudRate baud)
     }
 }
 
+void ESPCAN::ConfigureRxFilter(uint32_t acceptanceCode, uint32_t acceptanceMask) {
+    f_config.acceptance_code = acceptanceCode;
+    f_config.acceptance_mask = acceptanceMask;
+    f_config.single_filter = true;
+}
+
 bool ESPCAN::SendMessage(CANMessage &msg)
 {
     static twai_status_info_t status;