Add support for ESP32 boards using the native TWAI (CAN) driver. #20
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Changes: - Add ODriveESP32TWAI.hpp interface that calls twai_transmit/twai_receive directly - Add IS_ESP32_TWAI option to SineWaveCAN example - Add esp32 PlatformIO target
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samuelsadok
reviewed
Jan 7, 2026
examples/SineWaveCAN/SineWaveCAN.ino
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| return false; | ||
| } | ||
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| can_intf.initialized = true; |
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arguably it is the user's responsibility to call setupCan() before using the interface. Our other CAN drivers don't do this check.
src/ODriveESP32TWAI.hpp
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| twai_message_t tx_msg = {}; | ||
| tx_msg.identifier = id; | ||
| tx_msg.data_length_code = length; | ||
| tx_msg.extd = (id > 0x7FF) ? 1 : 0; |
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The existing drivers use id & 0x80000000 as the extended-id flag, so we should do the same here.
src/ODriveESP32TWAI.hpp
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| } | ||
| } | ||
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| return twai_transmit(&tx_msg, pdMS_TO_TICKS(100)) == ESP_OK; |
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the timeout makes this look like it blocks until the message is sent. But I think all other drivers are non-blocking. Is there any non-blocking version of this call? Or is this non-blocking and the timeout is more like a time-to-live for the message?
| https://github.com/pazi88/STM32_CAN.git#1.2.0 | ||
| https://github.com/pazi88/STM32_CAN.git#1.2.0 | ||
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| [env:esp32] |
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picked up by CI and compiles, great!
…, make twai_transmit non-blocking
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Changes:
This PR supersedes #11 .
Not tested yet - will desk test ASAP.