port/esp32: CAN_v2.

IhorNehrutsa · IhorNehrutsa · commit bd3d67333f21 · 2025-03-10T15:57:30.000+02:00
Co-Authored-By: Sveinung Kval Bakken &lt;sveinung.bakken@gmail.com&gt;

Signed-off-by: Ihor Nehrutsa &lt;Ihor.Nehrutsa@gmail.com&gt;
diff --git a/docs/library/machine.CAN.rst b/docs/library/machine.CAN.rst
diff --git a/docs/library/machine.rst b/docs/library/machine.rst
@@ -260,6 +260,7 @@ Classes
    machine.Signal.rst
    machine.ADC.rst
    machine.ADCBlock.rst
+   machine.CAN.rst
    machine.PWM.rst
    machine.UART.rst
    machine.SPI.rst
diff --git a/examples/esp32_can.py b/examples/esp32_can.py
@@ -51,8 +51,8 @@ def send_and_check(can_bus, name, id, expected_result=True, extended=False):
     extframe=True,
     mode=CAN.SILENT_LOOPBACK,
     baudrate=CAN.BAUDRATE_500k,
-    tx_io=18,
-    rx_io=19,
+    tx=18,
+    rx=19,
     auto_restart=False,
 )
 
diff --git a/ports/esp32/esp32_common.cmake b/ports/esp32/esp32_common.cmake
@@ -104,6 +104,7 @@ list(APPEND MICROPY_SOURCE_PORT
     fatfs_port.c
     help.c
     machine_bitstream.c
+    machine_can.c
     machine_timer.c
     machine_pin.c
     machine_touchpad.c
diff --git a/ports/esp32/machine_can.c b/ports/esp32/machine_can.c
diff --git a/ports/esp32/machine_can.h b/ports/esp32/machine_can.h
@@ -23,36 +23,93 @@
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  * THE SOFTWARE.
  */
-#ifndef MICROPY_INCLUDED_ESP32_CAN_H
-#define MICROPY_INCLUDED_ESP32_CAN_H
-
+#ifndef MICROPY_INCLUDED_ESP32_MACHINE_CAN_H
+#define MICROPY_INCLUDED_ESP32_MACHINE_CAN_H
+/*
 #include "modmachine.h"
 #include "freertos/task.h"
 
+#include "mpconfigport.h"
 #include "py/obj.h"
+*/
+#if MICROPY_PY_MACHINE_CAN
 
-#if MICROPY_HW_ENABLE_CAN
+#define CAN_MODE_SILENT_LOOPBACK (0x10)
 
-#define DEVICE_NAME "CAN"
+typedef enum {
+    MODE_NORMAL = TWAI_MODE_NORMAL,
+    MODE_SLEEP = -1,
+    MODE_LOOPBACK = -2, // TWAI_MODE_NORMAL | CAN_MODE_SILENT_LOOPBACK,
+    MODE_SILENT = TWAI_MODE_NO_ACK,
+    MODE_SILENT_LOOPBACK = -3,
+    MODE_LISTEN_ONLY = TWAI_MODE_LISTEN_ONLY, // esp32 specific
+} can_mode_t;
 
-typedef enum _filter_mode_t {
-    FILTER_RAW_SINGLE = 0,
+typedef enum {
+    FILTER_RAW_SINGLE = 1,
     FILTER_RAW_DUAL,
     FILTER_ADDRESS
 } filter_mode_t;
 
-typedef struct _esp32_can_config_t {
+typedef enum {
+    RX_STATE_FIFO_EMPTY = 1,
+    RX_STATE_MESSAGE_PENDING,
+    RX_STATE_FIFO_FULL,
+    RX_STATE_FIFO_OVERFLOW,
+} rx_state_t;
+
+typedef enum {
+    NOT_INITIATED = TWAI_STATE_STOPPED - 1,
+    STOPPED = TWAI_STATE_STOPPED,
+    RUNNING = TWAI_STATE_RUNNING,
+    BUS_OFF = TWAI_STATE_BUS_OFF,
+    RECOVERING = TWAI_STATE_RECOVERING,
+} state_t;
+
+typedef enum {
+    ERROR = -1,
+    /*
+    ERROR_ACTIVE = TWAI_ERROR_ACTIVE,
+    ERROR_WARNING = TWAI_ERROR_WARNING,
+    ERROR_PASSIVE = TWAI_ERROR_PASSIVE,
+    ERROR_BUS_OFF = TWAI_ERROR_BUS_OFF,
+    */
+} error_state_t;
+
+
+typedef enum {
+    RTR = 1,
+    EXTENDED_ID,
+    FD_F,
+    BRS,
+} message_flags_t;
+
+typedef enum {
+    CRC = 1,
+    FORM,
+    OVERRUN,
+    ESI,
+} recv_errors_t;
+
+typedef enum {
+    ARB = 1,
+    NACK,
+    ERR,
+} send_errors_t;
+
+typedef struct {
     twai_timing_config_t timing;
     twai_filter_config_t filter;
     twai_general_config_t general;
-    uint32_t baudrate; // bit/s
+    uint32_t bitrate; // bit/s
     bool initialized;
 } esp32_can_config_t;
 
-typedef struct _esp32_can_obj_t {
+typedef struct {
     mp_obj_base_t base;
     esp32_can_config_t *config;
-    mp_obj_t rxcallback;
+    mp_obj_t rx_callback;
+    mp_obj_t tx_callback;
     TaskHandle_t irq_handler;
     byte rx_state;
     bool extframe : 1;
@@ -62,17 +119,12 @@ typedef struct _esp32_can_obj_t {
     uint16_t num_error_warning; // FIXME: populate this value somewhere
     uint16_t num_error_passive;
     uint16_t num_bus_off;
+    twai_handle_t handle;
+    twai_status_info_t status;
 } esp32_can_obj_t;
 
-typedef enum _rx_state_t {
-    RX_STATE_FIFO_EMPTY = 0,
-    RX_STATE_MESSAGE_PENDING,
-    RX_STATE_FIFO_FULL,
-    RX_STATE_FIFO_OVERFLOW,
-} rx_state_t;
-
 extern const mp_obj_type_t machine_can_type;
 
-#endif // MICROPY_HW_ENABLE_CAN
+#endif // MICROPY_PY_MACHINE_CAN
 
-#endif // MICROPY_INCLUDED_ESP32_CAN_H
+#endif // MICROPY_INCLUDED_ESP32_MACHINE_CAN_H
diff --git a/ports/esp32/modmachine.c b/ports/esp32/modmachine.c
@@ -54,6 +54,7 @@
 #define MICROPY_PY_MACHINE_EXTRA_GLOBALS \
     { MP_ROM_QSTR(MP_QSTR_sleep), MP_ROM_PTR(&machine_lightsleep_obj) }, \
     \
+    { MP_ROM_QSTR(MP_QSTR_CAN), MP_ROM_PTR(&machine_can_type) }, \
     { MP_ROM_QSTR(MP_QSTR_Timer), MP_ROM_PTR(&machine_timer_type) }, \
     MICROPY_PY_MACHINE_SDCARD_ENTRY \
     { MP_ROM_QSTR(MP_QSTR_Pin), MP_ROM_PTR(&machine_pin_type) }, \
diff --git a/ports/esp32/modmachine.h b/ports/esp32/modmachine.h
@@ -12,6 +12,7 @@ typedef enum {
 extern const mp_obj_type_t machine_touchpad_type;
 extern const mp_obj_type_t machine_dac_type;
 extern const mp_obj_type_t machine_sdcard_type;
+extern const mp_obj_type_t machine_can_type;
 
 void machine_init(void);
 void machine_deinit(void);
diff --git a/ports/esp32/mpconfigport.h b/ports/esp32/mpconfigport.h
@@ -62,7 +62,7 @@
 #define MICROPY_STACK_CHECK_MARGIN          (1024)
 #define MICROPY_ENABLE_EMERGENCY_EXCEPTION_BUF (1)
 #define MICROPY_LONGINT_IMPL                (MICROPY_LONGINT_IMPL_MPZ)
-#define MICROPY_ERROR_REPORTING             (MICROPY_ERROR_REPORTING_NORMAL)
+#define MICROPY_ERROR_REPORTING             (MICROPY_ERROR_REPORTING_NORMAL+1)
 #define MICROPY_WARNINGS                    (1)
 #define MICROPY_FLOAT_IMPL                  (MICROPY_FLOAT_IMPL_FLOAT)
 #define MICROPY_STREAMS_POSIX_API           (1)
@@ -153,6 +153,7 @@
 #define MICROPY_PY_MACHINE_UART_INCLUDEFILE "ports/esp32/machine_uart.c"
 #define MICROPY_PY_MACHINE_UART_SENDBREAK   (1)
 #define MICROPY_PY_MACHINE_UART_IRQ         (1)
+#define MICROPY_PY_MACHINE_CAN              (1)
 #define MICROPY_PY_MACHINE_WDT              (1)
 #define MICROPY_PY_MACHINE_WDT_INCLUDEFILE  "ports/esp32/machine_wdt.c"
 #define MICROPY_PY_NETWORK (1)

Original file line number	Diff line number	Diff line change
`@@ -54,6 +54,7 @@`
`54`	`54`	`#define MICROPY_PY_MACHINE_EXTRA_GLOBALS \`
`55`	`55`	`{ MP_ROM_QSTR(MP_QSTR_sleep), MP_ROM_PTR(&machine_lightsleep_obj) }, \`
`56`	`56`	`\`
	`57`	`+ { MP_ROM_QSTR(MP_QSTR_CAN), MP_ROM_PTR(&machine_can_type) }, \`
`57`	`58`	`{ MP_ROM_QSTR(MP_QSTR_Timer), MP_ROM_PTR(&machine_timer_type) }, \`
`58`	`59`	`MICROPY_PY_MACHINE_SDCARD_ENTRY \`
`59`	`60`	`{ MP_ROM_QSTR(MP_QSTR_Pin), MP_ROM_PTR(&machine_pin_type) }, \`