Dual builtin CAN not working on ESP32-C6 #74
Description
After updating ArduinoESP32 to v3.1.1 the can msg is not transmitted and the board hangs without any error message.
#include <esp32_can.h>
void setup() {
Serial.begin(115200);
Serial.println("Initializing ...");
CAN0.begin(500000);
CAN0.watchFor();
//CAN1.begin(500000);
//CAN1.watchFor();
}
void loop() {
CAN_FRAME message;
if (CAN0.read(message)) {
printFrame(&message);
message.id = 0x100;
CAN0.sendFrame(message);
}
//CAN_FRAME message2;
//if (CAN1.read(message2)) {
//printFrame(&message2);
//CAN0.sendFrame(message2);
//}
}
void printFrame(CAN_FRAME* message)
{
Serial.print(message->id, HEX);
if (message->extended) Serial.print(" X ");
else Serial.print(" S ");
Serial.print(message->length, DEC);
for (int i = 0; i < message->length; i++) {
Serial.print(message->data.byte[i], HEX);
Serial.print(" ");
}
Serial.println();
}
Serial Output
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Software Info:
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Compile Date/Time : Jan 14 2025 11:55:28
Compile Host OS : windows
ESP-IDF Version : v5.3.2-282-gcfea4f7c98-dirty
Arduino Version : 3.1.1
------------------------------------------
Board Info:
------------------------------------------
Arduino Board : ESP32C6_DEV
Arduino Variant : esp32c6
Arduino FQBN : esp32:esp32:esp32c6:UploadSpeed=921600,CDCOnBoot=cdc,CPUFreq=160,FlashFreq=80,FlashMode=qio,FlashSize=8M,PartitionScheme=default,DebugLevel=debug,EraseFlash=none,JTAGAdapter=default,ZigbeeMode=default
============ Before Setup End ============
[ 4321][I][esp32-hal-periman.c:141] perimanSetPinBus(): Pin 12 already has type USB_DM (38) with bus 0x4080f178
[ 4322][I][esp32-hal-periman.c:141] perimanSetPinBus(): Pin 13 already has type USB_DP (39) with bus 0x4080f178
VMDPR_[ 4333][I][esp32-hal-periman.c:141] perimanSetPinBus(): Pin 12 already has type USB_DM (38) with bus 0x4080f178
[ 4333][I][esp32-hal-periman.c:141] perimanSetPinBus(): Pin 13 already has type USB_DP (39) with bus 0x4080f178
Initializing ...
[ 4334][D][esp32_can_builtin.cpp:268] init(): [CAN] Init called
[ 4335][D][esp32_can_builtin.cpp:270] init(): [CAN] Init done
Driver installed - bus 0
Creating queues
Starting can handler task
Starting low level RX task
Driver started - bus 0
[ 4337][D][esp32_can_builtin.cpp:272] init(): [CAN] Baudrate set
=========== After Setup Start ============
INTERNAL Memory Info:
------------------------------------------
Total Size : 465052 B ( 454.2 KB)
Free Bytes : 407628 B ( 398.1 KB)
Allocated Bytes : 50648 B ( 49.5 KB)
Minimum Free Bytes: 407628 B ( 398.1 KB)
Largest Free Block: 376820 B ( 368.0 KB)
------------------------------------------
GPIO Info:
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GPIO : BUS_TYPE[bus/unit][chan]
--------------------------------------
12 : USB_DM
13 : USB_DP
16 : UART_TX[0]
17 : UART_RX[0]
============ After Setup End =============
448 S 8 52 8 0 5 A0 0 0 0
Receiving works fine no issues there but as soon as CAN0.sendFrame() is send the the mcu hangs.
Tested on both ESP32 and ESP32-C6
Transmit works good with arduino v3.0.5 and esp32_can v0.2.5