EspCan.cpp File Reference

ESP32 CAN (TWAI) implementation for the HardFOC system - ESP-IDF v5.5 Compatible. More...

#include "EspCan.h"
#include <algorithm>
#include <climits>
#include <cstring>
#include "esp_log.h"
#include "esp_timer.h"
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
#include "freertos/task.h"

Include dependency graph for EspCan.cpp:

Namespaces
namespace	anonymous_namespace{EspCan.cpp}

Functions
TickType_t	anonymous_namespace{EspCan.cpp}::MsToTicksCeil (hf_u32_t timeout_ms) noexcept
	Milliseconds to ticks, rounded up so a non-zero timeout never becomes 0 ticks.
int	anonymous_namespace{EspCan.cpp}::ToTwaiTimeout (hf_u32_t timeout_ms) noexcept
	BaseCan timeout to the TWAI driver's int timeout (-1 = forever).
hf_can_bus_state_t	anonymous_namespace{EspCan.cpp}::MapTwaiState (twai_error_state_t state) noexcept
	TWAI driver error state to hf_can_bus_state_t.

Variables
static const char *	TAG = "EspCan"

Detailed Description

ESP32 CAN (TWAI) implementation for the HardFOC system - ESP-IDF v5.5 Compatible.

This file provides a comprehensive CAN bus implementation for the ESP32 microcontroller family using modern ESP-IDF v5.5+ TWAI node-based APIs. The implementation provides advanced features for ESP32 with external SN65 transceivers.

Key Features Implemented:

• ESP-IDF v5.5+ handle-based TWAI node API
• ESP32 compatible TWAI controller support
• Event-driven callback-based message reception
• Advanced acceptance filtering (single/dual mask modes)
• Comprehensive error detection and bus recovery
• Advanced bit timing configuration for various baud rates
• Thread-safe operations with proper resource management
• Support for external SN65 CAN transceivers
• Comprehensive diagnostics and performance monitoring

Author

Nebiyu Tadesse

Date

2025

Copyright

HardFOC

Note

This implementation requires ESP-IDF v5.5 or later

Requires ESP-IDF v5.5 or later for full feature support

Variable Documentation

TAG

const char* TAG = "EspCan"

static