arduino esp32s3 只有TWAIreceive例子,能否提供一个匹配的发送例子

[luyevzranr]

arduino esp32s3 只有TWAIreceive例子,能否提供一个匹配的发送例子

接收例子源码:
/* ESP32 TWAI receive example.
Receive messages and sends them over serial.

Connect a CAN bus transceiver to the RX/TX pins.
For example: SN65HVD230

TWAI_MODE_LISTEN_ONLY is used so that the TWAI controller will not influence the bus.

The API gives other possible speeds and alerts:
https://docs.espressif.com/projects/esp ... /twai.html

Example output from a can bus message:
-> Message received
-> Message is in Standard Format
-> ID: 604
-> Byte: 0 = 00, 1 = 0f, 2 = 13, 3 = 02, 4 = 00, 5 = 00, 6 = 08, 7 = 00

Example output with alerts:
-> Alert: A (Bit, Stuff, CRC, Form, ACK) error has occurred on the bus.
-> Bus error count: 171
-> Alert: The RX queue is full causing a received frame to be lost.
-> RX buffered: 4 RX missed: 46 RX overrun 0

created 05-11-2022 by Stephan Martin (designer2k2)
*/

#include "driver/twai.h"

// Pins used to connect to CAN bus transceiver:
#define RX_PIN 4
#define TX_PIN 5

// Intervall:
#define POLLING_RATE_MS 1000

static bool driver_installed = false;

void setup() {
// Start Serial:
Serial.begin(115200);

// Initialize configuration structures using macro initializers
twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT((gpio_num_t)TX_PIN, (gpio_num_t)RX_PIN,TWAI_MODE_NORMAL );//TWAI_MODE_NO_ACK TWAI_MODE_LISTEN_ONLY
twai_timing_config_t t_config = TWAI_TIMING_CONFIG_500KBITS(); //Look in the api-reference for other speed sets.
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) {
Serial.println("Driver installed");
} else {
Serial.println("Failed to install driver");
return;
}

// Start TWAI driver
if (twai_start() == ESP_OK) {
Serial.println("Driver started");
} else {
Serial.println("Failed to start driver");
return;
}

// Reconfigure alerts to detect frame receive, Bus-Off error and RX queue full states
uint32_t alerts_to_enable = TWAI_ALERT_RX_DATA | TWAI_ALERT_ERR_PASS | TWAI_ALERT_BUS_ERROR | TWAI_ALERT_RX_QUEUE_FULL;
if (twai_reconfigure_alerts(alerts_to_enable, NULL) == ESP_OK) {
Serial.println("CAN Alerts reconfigured");
} else {
Serial.println("Failed to reconfigure alerts");
return;
}

// TWAI driver is now successfully installed and started
driver_installed = true;
}

static void handle_rx_message(twai_message_t& message) {
// Process received message
if (message.extd) {
Serial.println("Message is in Extended Format");
} else {
Serial.println("Message is in Standard Format");
}
Serial.printf("ID: %x\nByte:", message.identifier);
if (!(message.rtr)) {
for (int i = 0; i < message.data_length_code; i++) {
Serial.printf(" %d = %02x,", i, message.data);
}
Serial.println("");
}
}

void loop() {
if (!driver_installed) {
// Driver not installed
delay(1000);
return;
}
// Check if alert happened
uint32_t alerts_triggered;
twai_read_alerts(&alerts_triggered, pdMS_TO_TICKS(POLLING_RATE_MS));
twai_status_info_t twaistatus;
twai_get_status_info(&twaistatus);

// Handle alerts
if (alerts_triggered & TWAI_ALERT_ERR_PASS) {
Serial.println("Alert: TWAI controller has become error passive.");
}
if (alerts_triggered & TWAI_ALERT_BUS_ERROR) {
Serial.println("Alert: A (Bit, Stuff, CRC, Form, ACK) error has occurred on the bus.");
Serial.printf("Bus error count: %d\n", twaistatus.bus_error_count);
}
if (alerts_triggered & TWAI_ALERT_RX_QUEUE_FULL) {
Serial.println("Alert: The RX queue is full causing a received frame to be lost.");
Serial.printf("RX buffered: %d\t", twaistatus.msgs_to_rx);
Serial.printf("RX missed: %d\t", twaistatus.rx_missed_count);
Serial.printf("RX overrun %d\n", twaistatus.rx_overrun_count);
}

// Check if message is received
if (alerts_triggered & TWAI_ALERT_RX_DATA) {
// One or more messages received. Handle all.
twai_message_t message;
while (twai_receive(&message, 0) == ESP_OK) {
handle_rx_message(message);
}
}
}

[ESP_Eavo]

ESP Arduino 是海外团队支持的，建议您提交在：https://github.com/espressif/arduino-esp32/issues。