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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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.
…, make twai_transmit non-blocking
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@samuelsadok Desk tested OK w/ ESP32-WROOM-32 devkit + SN65HVD230 breakout. Hit your comments. Should be good to merge if all looks good to you. Only possible change is moving the TWAI setup code (namely the large case/switch statement) to |
samuelsadok
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samuelsadok
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ok looks good to me.
The setupCan() is a bit of visual noise, that is true, but that is also true for the larger section that does the hardware setup. The thing is that it's quite board dependent, so it can't be straight-up in a library header (you could even have multiple CAN interfaces, so you can't just make simple GPIO/baudrate defines before the library include).
What you could do, is just move the generic portion (the switch statement) over to a helper function in the header. Up to you if you want to do that in this PR.
Long term maybe we'll start putting each of these sections in its separate board header that users can copy and adapt for their board.
Changes:
This PR supersedes #11 .
Not tested yet - will desk test ASAP.