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Code Issues Releases Wiki Activity

[esp32_can] support multiple CAN instances for platforms that support it (#10712)

Browse Source 
Co-authored-by: Jonathan Swoboda <154711427+swoboda1337@users.noreply.github.com>
This commit is contained in:
Patrick
2025-10-04 01:10:19 +02:00
committed by GitHub
parent d43b844e06
commit 0a40a30e4a
3 changed files with 114 additions and 4 deletions
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26
esphome/components/esp32_can/esp32_can.cpp
View File

@@ -67,8 +67,16 @@ static bool get_bitrate(canbus::CanSpeed bitrate, twai_timing_config_t *t_config
}
bool ESP32Can::setup_internal() {
static int next_twai_ctrl_num = 0;
if (next_twai_ctrl_num >= SOC_TWAI_CONTROLLER_NUM) {
ESP_LOGW(TAG, "Maximum number of esp32_can components created already");
this->mark_failed();
return false;
}
twai_general_config_t g_config =
TWAI_GENERAL_CONFIG_DEFAULT((gpio_num_t) this->tx_, (gpio_num_t) this->rx_, TWAI_MODE_NORMAL);
g_config.controller_id = next_twai_ctrl_num++;
if (this->tx_queue_len_.has_value()) {
g_config.tx_queue_len = this->tx_queue_len_.value();
}
@@ -86,14 +94,14 @@ bool ESP32Can::setup_internal() {
}
// Install TWAI driver
if (twai_driver_install(&g_config, &t_config, &f_config) != ESP_OK) {
if (twai_driver_install_v2(&g_config, &t_config, &f_config, &(this->twai_handle_)) != ESP_OK) {
// Failed to install driver
this->mark_failed();
return false;
}
// Start TWAI driver
if (twai_start() != ESP_OK) {
if (twai_start_v2(this->twai_handle_) != ESP_OK) {
// Failed to start driver
this->mark_failed();
return false;
@@ -102,6 +110,11 @@ bool ESP32Can::setup_internal() {
}
canbus::Error ESP32Can::send_message(struct canbus::CanFrame *frame) {
if (this->twai_handle_ == nullptr) {
// not setup yet or setup failed
return canbus::ERROR_FAIL;
}
if (frame->can_data_length_code > canbus::CAN_MAX_DATA_LENGTH) {
return canbus::ERROR_FAILTX;
}
@@ -124,7 +137,7 @@ canbus::Error ESP32Can::send_message(struct canbus::CanFrame *frame) {
memcpy(message.data, frame->data, frame->can_data_length_code);
}
if (twai_transmit(&message, this->tx_enqueue_timeout_ticks_) == ESP_OK) {
if (twai_transmit_v2(this->twai_handle_, &message, this->tx_enqueue_timeout_ticks_) == ESP_OK) {
return canbus::ERROR_OK;
} else {
return canbus::ERROR_ALLTXBUSY;
@@ -132,9 +145,14 @@ canbus::Error ESP32Can::send_message(struct canbus::CanFrame *frame) {
}
canbus::Error ESP32Can::read_message(struct canbus::CanFrame *frame) {
if (this->twai_handle_ == nullptr) {
// not setup yet or setup failed
return canbus::ERROR_FAIL;
}
twai_message_t message;
if (twai_receive(&message, 0) != ESP_OK) {
if (twai_receive_v2(this->twai_handle_, &message, 0) != ESP_OK) {
return canbus::ERROR_NOMSG;
}

3
esphome/components/esp32_can/esp32_can.h
View File

@@ -5,6 +5,8 @@
#include "esphome/components/canbus/canbus.h"
#include "esphome/core/component.h"
#include <driver/twai.h>
namespace esphome {
namespace esp32_can {
@@ -29,6 +31,7 @@ class ESP32Can : public canbus::Canbus {
TickType_t tx_enqueue_timeout_ticks_{};
optional<uint32_t> tx_queue_len_{};
optional<uint32_t> rx_queue_len_{};
twai_handle_t twai_handle_{nullptr};
};
} // namespace esp32_can

89
tests/components/esp32_can/test.esp32-c6-idf.yaml Normal file
View File

@@ -0,0 +1,89 @@
esphome:
on_boot:
then:
- canbus.send:
# Extended ID explicit
canbus_id: esp32_internal_can
use_extended_id: true
can_id: 0x100
data: [0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08]
- canbus.send:
# Standard ID by default
canbus_id: esp32_internal_can
can_id: 0x100
data: [0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08]
- canbus.send:
# Extended ID explicit
canbus_id: esp32_internal_can_2
use_extended_id: true
can_id: 0x100
data: [0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08]
- canbus.send:
# Standard ID by default
canbus_id: esp32_internal_can_2
can_id: 0x100
data: [0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08]
canbus:
- platform: esp32_can
id: esp32_internal_can
rx_pin: GPIO8
tx_pin: GPIO7
can_id: 4
bit_rate: 50kbps
on_frame:
- can_id: 500
then:
- lambda: |-
std::string b(x.begin(), x.end());
ESP_LOGD("canbus1", "canid 500 %s", b.c_str() );
- can_id: 0b00000000000000000000001000000
can_id_mask: 0b11111000000000011111111000000
use_extended_id: true
then:
- lambda: |-
auto pdo_id = can_id >> 14;
switch (pdo_id)
{
case 117:
ESP_LOGD("canbus1", "exhaust_fan_duty");
break;
case 118:
ESP_LOGD("canbus1", "supply_fan_duty");
break;
case 119:
ESP_LOGD("canbus1", "supply_fan_flow");
break;
// to be continued...
}
- platform: esp32_can
id: esp32_internal_can_2
rx_pin: GPIO10
tx_pin: GPIO9
can_id: 4
bit_rate: 50kbps
on_frame:
- can_id: 500
then:
- lambda: |-
std::string b(x.begin(), x.end());
ESP_LOGD("canbus2", "canid 500 %s", b.c_str() );
- can_id: 0b00000000000000000000001000000
can_id_mask: 0b11111000000000011111111000000
use_extended_id: true
then:
- lambda: |-
auto pdo_id = can_id >> 14;
switch (pdo_id)
{
case 117:
ESP_LOGD("canbus2", "exhaust_fan_duty");
break;
case 118:
ESP_LOGD("canbus2", "supply_fan_duty");
break;
case 119:
ESP_LOGD("canbus2", "supply_fan_flow");
break;
// to be continued...
}