EspCan.h File Reference

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

#include "McuSelect.h"
#include "esp_twai.h"
#include "esp_twai_onchip.h"
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
#include "BaseCan.h"
#include "HfSpscRing.h"
#include "PlatformMutex.h"
#include "utils/EspTypes_CAN.h"
#include <atomic>
#include <memory>

Include dependency graph for EspCan.h:

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Classes
struct	hf_esp_can_config_t
	ESP32 TWAI node configuration structure for ESP-IDF v5.5. More...
struct	hf_esp_can_timing_config_t
	Advanced bit timing configuration for fine-tuning. More...
struct	hf_esp_can_filter_config_t
	CAN message filter configuration for hardware filtering. More...
struct	hf_esp_can_error_info_t
	Comprehensive error information structure for error callbacks. More...
struct	hf_esp_can_state_info_t
	Bus state information for state change callbacks. More...
struct	hf_esp_can_tx_info_t
	Transmission completion information. More...
class	EspCan
	ESP32 CAN (TWAI) implementation using ESP-IDF v5.5+ node-based API. More...
struct	EspCan::TxSlot

Typedefs
using	hf_esp_can_receive_callback_t = void(*)(const hf_can_message_t &message, void *user_data)
	User callback function types with user data support.
using	hf_esp_can_error_callback_t = void(*)(const hf_esp_can_error_info_t &error_info, void *user_data)
using	hf_esp_can_state_callback_t = void(*)(const hf_esp_can_state_info_t &state_info, void *user_data)
using	hf_esp_can_tx_callback_t = void(*)(const hf_esp_can_tx_info_t &tx_info, void *user_data)

Enumerations
enum class	hf_esp_can_rx_mode_t : uint8_t { AUTO = 0 , QUEUE_ALWAYS = 1 }
	Where EspCan delivers received frames. More...

Detailed Description

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

This file contains the ESP32 CAN (TWAI) implementation that extends the BaseCan abstract class. It provides a clean, minimal, and robust CAN interface using the modern ESP-IDF v5.5+ handle-based TWAI node API with comprehensive testing support for ESP32 with external SN65 transceiver.

Key Features:

• 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

Each EspCan instance represents a single TWAI node

Higher-level applications should instantiate multiple EspCan objects for multi-controller boards

Typedef Documentation

hf_esp_can_error_callback_t

using hf_esp_can_error_callback_t = void (*)(const hf_esp_can_error_info_t& error_info, void* user_data)

hf_esp_can_receive_callback_t

using hf_esp_can_receive_callback_t = void (*)(const hf_can_message_t& message, void* user_data)

User callback function types with user data support.

hf_esp_can_state_callback_t

using hf_esp_can_state_callback_t = void (*)(const hf_esp_can_state_info_t& state_info, void* user_data)

hf_esp_can_tx_callback_t

using hf_esp_can_tx_callback_t = void (*)(const hf_esp_can_tx_info_t& tx_info, void* user_data)

Enumeration Type Documentation

hf_esp_can_rx_mode_t

enum class hf_esp_can_rx_mode_t : uint8_t

strong

Where EspCan delivers received frames.

Received frames are taken from the controller in the TWAI RX interrupt. Receive callbacks run in that ISR context.

Enumerator
AUTO	A registered receive callback gets each frame; with no callback the frame goes into the RX ring for ReceiveMessage(). Default.
QUEUE_ALWAYS	Every frame goes into the RX ring; a registered callback is also called.