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>

tests/test1.yaml

@@ -2472,6 +2472,11 @@ text_sensor:
           id: glob_int
           value: '0'
       - canbus.send:
+          canbus_id: mcp2515_can
+          can_id: 23
+          data: [0x10, 0x20, 0x30]
+      - canbus.send:
+          canbus_id: esp32_internal_can
           can_id: 23
           data: [0x10, 0x20, 0x30]
   - platform: template
@@ -2509,6 +2514,7 @@ rtttl:
 
 canbus:
   - platform: mcp2515
+    id: mcp2515_can
     cs_pin: GPIO17
     can_id: 4
     bit_rate: 50kbps
@@ -2525,6 +2531,25 @@ canbus:
                 lambda: 'return x[0] == 0x11;'
               then:
                 light.toggle: ${roomname}_lights
+  - platform: esp32_can
+    id: esp32_internal_can
+    rx_pin: GPIO04
+    tx_pin: GPIO05
+    can_id: 4
+    bit_rate: 50kbps
+    on_frame:
+      - can_id: 500
+        then:
+          - lambda: |-
+              std::string b(x.begin(), x.end());
+              ESP_LOGD("canid 500", "%s", &b[0] );
+      - can_id: 23
+        then:
+          - if:
+              condition:
+                lambda: 'return x[0] == 0x11;'
+              then:
+                light.toggle: ${roomname}_lights
 
 teleinfo:
   id: myteleinfo