XIAO_ESP32S3_TWAI_Test.ino

#include "driver/twai.h"

twai_message_t rx_frame = {};
gpio_num_t tx = GPIO_NUM_1;
gpio_num_t rx = GPIO_NUM_2;

void setup() {
  delay(2000);
    gpio_reset_pin(rx);
    gpio_reset_pin(tx);


    //twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(tx, rx, TWAI_MODE_NORMAL);
    twai_general_config_t g_config = {
        .mode = TWAI_MODE_NORMAL,
        .tx_io = (gpio_num_t)tx,
        .rx_io = (gpio_num_t)rx,
        .clkout_io = TWAI_IO_UNUSED,
        .bus_off_io = TWAI_IO_UNUSED,
        .tx_queue_len = 5,
        .rx_queue_len = 5,
        .alerts_enabled = TWAI_ALERT_ALL,
        .clkout_divider = 0};

    twai_timing_config_t t_config = TWAI_TIMING_CONFIG_500KBITS();
    twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();

    // Install TWAI driver
    if (twai_driver_install(&g_config, &t_config, &f_config) == ESP_OK) {
        printf("Driver installed\n");
    } else {
        printf("Failed to install driver\n");
    }
    // Start TWAI driver
    if (twai_start() == ESP_OK) {
        printf("Driver started\n");
    } else {
        printf("Failed to start driver\n");
    }

    delay(100);

    twai_status_info_t status;
    twai_get_status_info(&status);
    printf("TWAI state 0x%X\n", status.state);
}

uint32_t alerts_triggered;
esp_err_t status;

void loop() {
    delay(1000);


    twai_message_t tx_frame = {};
    tx_frame.extd = 1;
    tx_frame.identifier = (uint32_t(0x8000) << 16) + (uint16_t(0x01) << 8) + 25;
    tx_frame.data_length_code = 0x03;
    tx_frame.data[0] = 26;
    tx_frame.data[1] = 0x00;
    tx_frame.data[2] = 0x00;  // 
    //Queue message for transmission
    status = twai_transmit(&tx_frame, pdMS_TO_TICKS(10));
    if (status != ESP_OK) {
        twai_read_alerts(&alerts_triggered, pdMS_TO_TICKS(2000));
         printf("Failed to queue message for transmission alert 0x%X, status 0x%X %S\n", alerts_triggered , status, esp_err_to_name(status));
    }


    status = twai_receive( &rx_frame, 3 * portTICK_PERIOD_MS);
    while (status == ESP_OK) {
      status = twai_receive( &rx_frame, 3 * portTICK_PERIOD_MS);
      if((status == ESP_OK)) {
        printf("Received package\n");
      } else {
        printf("Failed to receive messages,  alert 0x%X, status 0x%X %S\n", alerts_triggered , status, esp_err_to_name(status));
      }
    }
}