diff --git a/main/can.c b/main/can.c
new file mode 100644
--- /dev/null
+++ b/main/can.c
@@ -0,0 +1,67 @@
+//
+// can
+//
+
+#include "can.h"
+#include "esp_log.h"
+#include "driver/twai.h"
+
+// EMZ FIXME
+#define TX_GPIO_NUM 5
+#define RX_GPIO_NUM 6
+#define RX_TASK_PRIO 3
+
+
+// Private variables
+static const char *TAG = "canbus";
+
+
+// static QueueHandle_t tx_task_queue;
+// static QueueHandle_t rx_task_queue;
+
+
+// Task for receiving CAN messages
+static void twai_receive_task(void *arg)
+{
+    while (1) {
+        twai_message_t rx_msg;
+        twai_receive(&rx_msg, portMAX_DELAY);
+        if (rx_msg.identifier == 0xdead) {
+            ESP_LOGI(TAG, "Received data ");
+        }
+
+    }
+    vTaskDelete(NULL);
+}
+
+
+// Initialize the CAN bus
+void can_init(void)
+{
+    // CAN bus configuration
+    twai_timing_config_t t_config = TWAI_TIMING_CONFIG_125KBITS();
+    twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
+    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(TX_GPIO_NUM, RX_GPIO_NUM, TWAI_MODE_NORMAL);
+	
+    // Move canbus irq to free up the default level 1 IRQ it will take up (processor panics if we don't do this)
+    g_config.intr_flags = ESP_INTR_FLAG_LOWMED;
+
+    // Install TWAI driver
+    ESP_ERROR_CHECK(twai_driver_install(&g_config, &t_config, &f_config));
+    ESP_LOGI(TAG, "Driver installed");
+    ESP_ERROR_CHECK(twai_start());
+    ESP_LOGI(TAG, "Driver started");
+
+    // rx_task_queue = xQueueCreate(1, sizeof(rx_task_action_t));
+    // tx_task_queue = xQueueCreate(1, sizeof(tx_task_action_t));
+    xTaskCreatePinnedToCore(twai_receive_task, "TWAI_rx", 4096, NULL, RX_TASK_PRIO, NULL, tskNO_AFFINITY);
+}
+
+
+// Send message on the CAN bus
+void can_send(uint32_t id, uint8_t* data, uint8_t len, uint32_t timeout)
+{
+    // Gross
+    twai_message_t msg = { .identifier = id, .data_length_code = len, .ss = 1, .data = {data[0],data[1],data[2],data[3],data[4],data[5],data[6],data[7]} };
+    twai_transmit(&msg, timeout);
+}
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