Native ESP32 CAN support (#1629)

Co-authored-by: Guillermo Ruffino <glm.net@gmail.com>
Co-authored-by: Jesse Hills <3060199+jesserockz@users.noreply.github.com>

esphome/components/esp32_can/canbus.py

@@ -0,0 +1,39 @@
+import esphome.codegen as cg
+import esphome.config_validation as cv
+from esphome import pins
+from esphome.components import canbus
+from esphome.const import CONF_ID, CONF_RX_PIN, CONF_TX_PIN
+from esphome.components.canbus import CanbusComponent, CanSpeed, CONF_BIT_RATE
+
+CODEOWNERS = ["@Sympatron"]
+DEPENDENCIES = ["esp32"]
+
+esp32_can_ns = cg.esphome_ns.namespace("esp32_can")
+esp32_can = esp32_can_ns.class_("ESP32Can", CanbusComponent)
+
+# Currently the driver only supports a subset of the bit rates defined in canbus
+CAN_SPEEDS = {
+    "50KBPS": CanSpeed.CAN_50KBPS,
+    "100KBPS": CanSpeed.CAN_100KBPS,
+    "125KBPS": CanSpeed.CAN_125KBPS,
+    "250KBPS": CanSpeed.CAN_250KBPS,
+    "500KBPS": CanSpeed.CAN_500KBPS,
+    "1000KBPS": CanSpeed.CAN_1000KBPS,
+}
+
+CONFIG_SCHEMA = canbus.CANBUS_SCHEMA.extend(
+    {
+        cv.GenerateID(): cv.declare_id(esp32_can),
+        cv.Optional(CONF_BIT_RATE, default="125KBPS"): cv.enum(CAN_SPEEDS, upper=True),
+        cv.Required(CONF_RX_PIN): pins.internal_gpio_input_pin_number,
+        cv.Required(CONF_TX_PIN): pins.internal_gpio_output_pin_number,
+    }
+)
+
+
+async def to_code(config):
+    var = cg.new_Pvariable(config[CONF_ID])
+    await canbus.register_canbus(var, config)
+
+    cg.add(var.set_rx(config[CONF_RX_PIN]))
+    cg.add(var.set_tx(config[CONF_TX_PIN]))