This is refactored NMEA2000_esp32 library using TWAI CAN driver. Main reason for this rewrite is that original library was not supported by newer ESP32 C3.
Only one change needed in comparison to original library - to add message listener as a separate task:
xTaskCreatePinnedToCore(
receiveNmeaMessage, /* Function to implement the task */
"Task3", /* Name of the task */
4096, /* Stack size in words */
NULL, /* Task input parameter */
2 | portPRIVILEGE_BIT, /* Priority of the task */
NULL, /* Task handle. */
0); /* Core where the task should run */
void receiveNmeaMessage(void *parameter) {
while (true) {
ESP32_CAN_read_frame();
}
}
Inherited object for use NMEA2000 library for ESP32 Boards. See also NMEA2000 library.
To use this library, you will also need NMEA2000 library.
The library defines as default Tx pin to GPIO 16 and Rx pint to GPIO 4. You can change these with defines:
#define ESP32_CAN_TX_PIN GPIO_NUM_16 #define ESP32_CAN_RX_PIN GPIO_NUM_4
before including NMEA2000_CAN.h or NMEA2000_esp32.h
Thanks to Thomas Barth, barth-dev.de for his implementation of ESP32 CAN driver. Instead of using his driver as external driver I implemented the code to the NMEA2000_esp32 to avoid conflicts.
04.10.2022 - Add ESP-IDF support
15.11.2020 - Added CAN reset to CAN_init - Fix for ESP32 rev>=2. New chips uses Baud Rate Prescaler Divider (BRP_DIV) bit, which was set on interrupt vector causing invalid baud rate.
05.11.2019 - Fixed can frame buffer handling. After ESP soft reset can controller could have false data on frame length and cause writing outside of frame buffer.
20.10.2019 - Fixed pin definition at startup to avoid error frame.
06.04.2014 Initial commit.
2015-2022 Copyright (c) Kave Oy, www.kave.fi All right reserved.
Author: Timo Lappalainen
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