From 0a40a30e4a9a91bc6343bae74a7d4b6d20b83281 Mon Sep 17 00:00:00 2001 From: Patrick Date: Sat, 4 Oct 2025 01:10:19 +0200 Subject: [PATCH] [esp32_can] support multiple CAN instances for platforms that support it (#10712) Co-authored-by: Jonathan Swoboda <154711427+swoboda1337@users.noreply.github.com> --- esphome/components/esp32_can/esp32_can.cpp | 26 +++++- esphome/components/esp32_can/esp32_can.h | 3 + .../esp32_can/test.esp32-c6-idf.yaml | 89 +++++++++++++++++++ 3 files changed, 114 insertions(+), 4 deletions(-) create mode 100644 tests/components/esp32_can/test.esp32-c6-idf.yaml diff --git a/esphome/components/esp32_can/esp32_can.cpp b/esphome/components/esp32_can/esp32_can.cpp index b5e72497ce..252482dc5e 100644 --- a/esphome/components/esp32_can/esp32_can.cpp +++ b/esphome/components/esp32_can/esp32_can.cpp @@ -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; } diff --git a/esphome/components/esp32_can/esp32_can.h b/esphome/components/esp32_can/esp32_can.h index 416f037083..dc44aceb36 100644 --- a/esphome/components/esp32_can/esp32_can.h +++ b/esphome/components/esp32_can/esp32_can.h @@ -5,6 +5,8 @@ #include "esphome/components/canbus/canbus.h" #include "esphome/core/component.h" +#include + namespace esphome { namespace esp32_can { @@ -29,6 +31,7 @@ class ESP32Can : public canbus::Canbus { TickType_t tx_enqueue_timeout_ticks_{}; optional tx_queue_len_{}; optional rx_queue_len_{}; + twai_handle_t twai_handle_{nullptr}; }; } // namespace esp32_can diff --git a/tests/components/esp32_can/test.esp32-c6-idf.yaml b/tests/components/esp32_can/test.esp32-c6-idf.yaml new file mode 100644 index 0000000000..6ef730c378 --- /dev/null +++ b/tests/components/esp32_can/test.esp32-c6-idf.yaml @@ -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... + }