esp32_can.h

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#pragma once
 
#ifdef USE_ESP32
 
#include "esphome/components/canbus/canbus.h"
#include "esphome/core/component.h"
 
#include <driver/twai.h>
 
namespace esphome::esp32_can {
 
enum CanMode : uint8_t {
  CAN_MODE_NORMAL = 0,
  CAN_MODE_LISTEN_ONLY = 1,
  CAN_MODE_NO_ACK = 2,
};
 
class ESP32Can final : public canbus::Canbus {
 public:
  void set_rx(int rx) { rx_ = rx; }
  void set_tx(int tx) { tx_ = tx; }
  void set_mode(CanMode mode) { mode_ = mode; }
  void set_tx_queue_len(uint32_t tx_queue_len) { this->tx_queue_len_ = tx_queue_len; }
  void set_rx_queue_len(uint32_t rx_queue_len) { this->rx_queue_len_ = rx_queue_len; }
  void set_tx_enqueue_timeout_ms(uint32_t tx_enqueue_timeout_ms) {
    this->tx_enqueue_timeout_ticks_ = pdMS_TO_TICKS(tx_enqueue_timeout_ms);
  }
  canbus::CanStatus get_status() override;
  ESP32Can() {};
 
 protected:
  bool setup_internal() override;
  canbus::CanEventFlags get_events() override;
  canbus::Error send_message(struct canbus::CanFrame *frame) override;
  canbus::Error read_message(struct canbus::CanFrame *frame) override;
  void handle_bus_off_recovery_();
 
  int rx_{-1};
  int tx_{-1};
  CanMode mode_{CAN_MODE_NORMAL};
  bool recovery_pending_{false};
  bool restart_pending_{false};
  TickType_t tx_enqueue_timeout_ticks_{};
  optional<uint32_t> tx_queue_len_{};
  optional<uint32_t> rx_queue_len_{};
  twai_handle_t twai_handle_{nullptr};
};
 
}  // namespace esphome::esp32_can
 
#endif