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Fix wrong API usage in disable() and beginAutoSpeed() #83

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Fix wrong API usage in disable() and beginAutoSpeed() #83

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16a8607
Fix wrong API usage in disable() and beginAutoSpeed()
sans-ltd Apr 3, 2025
07f9f94
Fix loop of forwarding messages.
sans-ltd Apr 4, 2025
13692f7
Also set dlc_non_comp (just for completion, as seen in the twai docs)
sans-ltd Apr 4, 2025
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26 changes: 25 additions & 1 deletion src/esp32_can_builtin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -322,7 +322,11 @@ uint32_t ESP32CAN::beginAutoSpeed()
_init();

readyForTraffic = false;
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
twai_stop_v2(bus_handle);
#else
twai_stop();
#endif
twai_general_cfg.mode = TWAI_MODE_LISTEN_ONLY;
int idx = 0;
while (valid_timings[idx].speed != 0)
Expand All @@ -348,7 +352,11 @@ uint32_t ESP32CAN::beginAutoSpeed()
idx++;
}
Serial.println("None of the tested CAN speeds worked!");
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
twai_stop_v2(bus_handle);
#else
twai_stop();
#endif
return 0;
}

Expand Down Expand Up @@ -461,9 +469,18 @@ void ESP32CAN::enable()
void ESP32CAN::disable()
{
twai_status_info_t info;
if (twai_get_status_info(&info) == ESP_OK) {
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
auto result = twai_get_status_info_v2(bus_handle, &info);
#else
auto result = twai_get_status_info(&info);
#endif
if (result == ESP_OK) {
if (info.state == TWAI_STATE_RUNNING) {
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
twai_stop_v2(bus_handle);
#else
twai_stop();
#endif
}

for (auto task : {task_CAN_handler, task_LowLevelRX_handler}) {
Expand All @@ -480,7 +497,11 @@ void ESP32CAN::disable()
}
}

#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
twai_driver_uninstall_v2(bus_handle);
#else
twai_driver_uninstall();
#endif
} else {
return;
}
Expand Down Expand Up @@ -559,6 +580,9 @@ bool ESP32CAN::sendFrame(CAN_FRAME& txFrame)
__TX_frame.data_length_code = txFrame.length;
__TX_frame.rtr = txFrame.rtr;
__TX_frame.extd = txFrame.extended;
__TX_frame.self = 0;
__TX_frame.ss = 0;
__TX_frame.dlc_non_comp = 0;
for (int i = 0; i < 8; i++) __TX_frame.data[i] = txFrame.data.byte[i];

//don't wait long if the queue was full. The end user code shouldn't be sending faster
Expand Down