esp32_can.cpp

#include <Arduino.h>
#include <ESP32CAN.h>
#include <CAN_config.h>


CAN_device_t CAN_cfg;

void setup() {
    Serial.begin(115200);
    Serial.println("esp32 CAN demo...kaji tech");
    CAN_cfg.speed=CAN_SPEED_1000KBPS;
    CAN_cfg.tx_pin_id = GPIO_NUM_5;
    CAN_cfg.rx_pin_id = GPIO_NUM_4;
    CAN_cfg.rx_queue = xQueueCreate(10,sizeof(CAN_frame_t));
    //start CAN Module
    ESP32Can.CANInit();
}

void loop() {
    CAN_frame_t rx_frame;
    //receive next CAN frame from queue
    if(xQueueReceive(CAN_cfg.rx_queue,&rx_frame, 3*portTICK_PERIOD_MS)==pdTRUE){

      //do stuff!
      if(rx_frame.FIR.B.FF==CAN_frame_std)
        printf("New standard frame");
      else
        printf("New extended frame");

      if(rx_frame.FIR.B.RTR==CAN_RTR)
        printf(" RTR from 0x%08x, DLC %d\r\n",rx_frame.MsgID,  rx_frame.FIR.B.DLC);
      else{
        printf(" from 0x%08x, DLC %d\n",rx_frame.MsgID,  rx_frame.FIR.B.DLC);
        for(int i = 0; i < 8; i++){
          printf("%c\t", (char)rx_frame.data.u8[i]);
        }
        printf("\n");
      }
    }
    else
    {
      rx_frame.FIR.B.FF = CAN_frame_std;
      rx_frame.MsgID = 1;
      rx_frame.FIR.B.DLC = 8;
      rx_frame.data.u8[0] = 'h';
      rx_frame.data.u8[1] = 'e';
      rx_frame.data.u8[2] = 'l';
      rx_frame.data.u8[3] = 'l';
      rx_frame.data.u8[4] = 'o';
      rx_frame.data.u8[5] = 'c';
      rx_frame.data.u8[6] = 'a';
      rx_frame.data.u8[7] = 'n';
      
      ESP32Can.CANWriteFrame(&rx_frame);
      delay(1000);
      printf("send frame\n");
    }
}