CAN bus implementation by bclbruno · Pull Request #5120 · letscontrolit/ESPEasy

bclbruno · 2024-09-11T01:17:22Z

Add CAN hardware implementation
- Added CAN bus configuration to HardwarePage: TxPin, RxPin, Baudrate, NodeId
- Added CAN bus configuration to Settings structure
- Added CAN bus pins to markup and string generation
- Added sendcan and sendtocan commands
[C20] Add CAN controller
[P155] Add CAN importer plugin

TODOs:

Set the plugin and controller IDs (It's set as P155 and C20 just as a place holder)
doc?

tonhuisman · 2024-09-11T06:18:56Z

@bclbruno I have assigned Plugin ID P174 for the CAN Importer plugin and Controller ID C022 for the CAN Controller, as these are the next available IDs. Please update your code, as the current IDs are already in use.

tonhuisman · 2024-09-11T06:23:39Z

+        for (int i = 0; i < valueCount; ++i) {
+        if (lines[i].length() == 0) {
+          lines[i] = concat(F("val"), i + 1);
+        }
+          ExtraTaskSettings.setTaskDeviceValueName(i, lines[i]);
+        }


Please use Uncrustify to format the sources (exception: external libraries), to avoid mis-alignments like these.

tonhuisman · 2024-09-11T06:25:26Z

+      String log_debug = F("Disconnected");
+      addLogMove(LOG_LEVEL_INFO, log_debug);


To preserve code-size and memory use, this can be a single statement, no need to instantiate that String first.
addLog(LOG_LEVEL_INFO, F("Disconnected"));

tonhuisman · 2024-09-11T06:32:48Z

+
+    case ESPEasy_cmd_e::sendcan:                    COMMAND_CASE_A(Command_CAN_SendCAN,    -1);      //CAN.h
+    case ESPEasy_cmd_e::sendtocan:                  COMMAND_CASE_A(Command_CAN_SendToCAN,  -1);      //CAN.h
+


There's a missing #if FEATURE_CAN here

Commands are in this switch statement in alphabetical order, by default

tonhuisman · 2024-09-11T06:35:02Z

  "wdconfig|"
  "wdread|"
 #endif // ifndef LIMIT_BUILD_SIZE
+#ifdef FEUTER_CAN


That's probably a typo, should better be #if FEATURE_CAN

We've stopped using #ifdef for feature-flags, to make handling defaults possible, that can also be controller from a Custom.h file, to be explicitly enabled (1) or disabled (0)

tonhuisman · 2024-09-11T06:43:23Z

+#ifdef FEATURE_CAN
+    #define USES_C020 //CAN
+    #define USES_C021
+    #define USES_P155
+#endif


This should be like:

#ifndef FEATURE_CAN #ifdef ESP32 #define FEATURE_CAN 1 #endif #ifdef ESP8266 #define FEATURE_CAN 0 // Default disabled for ESP8266 for size reasons #endif #endif #if FEATURE_CAN #ifndef USES_C022 // CAN Controller #define USE_C022 #endif #ifndef USES_P174 #define USES_P174 // CAN Import plugin #endif #endif

(For Plugin, Controller and Notifiers we still use #ifdef USES_... checks...)
Not sure why you also try to enable Controller C021? If that's one you also created yourself, then it should probably get ID C023, as C021 is reserved for a (planned) LoRa controller 🤔

tonhuisman · 2024-09-11T06:45:18Z

+  uint8_t CAN_Tx_pin   = -1;
+  uint8_t CAN_Rx_pin   = -1;
+  long    CAN_baudrate = DEFAULT_CAN_BAUDRATE;
+  int     CAN_node_id  = 0;


I think this belongs in the CAN Controller, where the CAN Importer can get it's pins from, if needed, as the CAN Controller seems t o be a requirement for the importer to function.

Current implementation can only build on ESP32-classic. May need significant code changes for ESP32C3/C6/S2/S3

tonhuisman · 2024-09-22T21:01:58Z

+#if FEATURE_CAN
+  #define USES_C022 //CAN
+  #define USES_P174
+#endif


This is a duplicate for lines 3431..3441

…tion

tonhuisman · 2024-12-15T20:33:27Z

+  addLogMove(LOG_LEVEL_INFO, log);
+
+  for (taskIndex_t x = 0; x < TASKS_MAX; x++) {
+    constexpr pluginID_t PLUGIN_ID_CAN_HELPER(155);


That 155 seems to be a typo, AFAICS the helper plugin (now) has PluginID 174.

tonhuisman · 2024-12-15T20:37:32Z

+    {
+      String lines[VARS_PER_TASK];
+
+      addRowLabel(F("Node"));


For the PLUGIN_WEBFORM_SAVE function, no new UI elements should be added.

tonhuisman · 2024-12-15T20:38:47Z

+    case PLUGIN_READ:
+    {
+
+      addLogMove(LOG_LEVEL_DEBUG, strformat(


DEBUG level logging must be wrapped with #ifndef BUILD_NO_DEBUG / #endif

tonhuisman · 2024-12-15T20:39:54Z

+
+      for (int i = 0; i < VARS_PER_TASK; ++i) {
+        lines[i] = webArg(concat(F("p174_value"), i));
+        if (lines[i].length() == 0) {


The String class has an isEmpty() method available (multiple occurrences found)

…tion

TD-er · 2026-06-05T14:41:54Z

There are quite a few merge conflicts.
Can you please have a look at this?

TD-er · 2026-06-05T15:09:34Z

I tried to merge it as it also required some manual interactions. Hopefully I didn't break anything :)

TD-er · 2026-06-06T10:37:19Z

Hopefully the build will now complete successfully.
There are more ESP32-variants supporting CAN/TWAI so maybe it is a good idea to look for using either another lib or draw inspiration from a library like this one: https://github.com/handmade0octopus/ESP32-TWAI-CAN/blob/master/src/ESP32-TWAI-CAN.cpp

There are also examples (now, likely not when you started the PR) for using TWAI in arduino-esp32: https://github.com/espressif/arduino-esp32/tree/master/libraries/ESP32/examples/TWAI

This way it doesn't depend on such highly platform specific code as used in the lib currently included in the PR.

I did have to move the settings members to the end of the settings struct, as there have been some network related settings added to the Settings struct and the original location would have rendered existing settings without this PR code incompatible.

Right now the code is up-to-date with the current mega branch.

bruno-clima added 4 commits September 10, 2024 21:58

CAN Hardware Implementation

a14254a

CAN controller implementation

66680c6

Plugin implementation

2d9e6ce

Fix Markup

612180e

tonhuisman reviewed Sep 11, 2024

View reviewed changes

TD-er added 4 commits September 22, 2024 13:39

Merge branch 'mega' into can_implementation

0b51184

[CAN] Make it compile

9548e18

[CAN] Rename plugin and controller to reserved IDs

29f10cf

[CAN] Fix command decoder for CAN commands

0bc2b45

TD-er force-pushed the can_implementation branch from 44f2f69 to 0bc2b45 Compare September 22, 2024 13:27

TD-er added 6 commits September 22, 2024 16:09

[CAN] Make lib compile for ESP-IDF5.1

280de6c

[CAN] Limit to ESP32-classic only

f4f2758

Current implementation can only build on ESP32-classic. May need significant code changes for ESP32C3/C6/S2/S3

[CAN] custom_IR_ESP32c3_4M316k_CDC did not ignore CAN lib

86d8d1a

[CAN] Some more envs with their own lib_ignore not ignoring CAN lib

9d37835

[CAN] FIX ESP8266 builds

41d5b37

[CAN] Fix numerous other ESP8266 builds lib_ignore CAN library

a554806

tonhuisman reviewed Sep 22, 2024

View reviewed changes

TD-er added 5 commits September 22, 2024 23:07

[CAN] Fix settings struct size check

da18373

[CAN] And another few envs needing CAN lib_ignore

9c713ba

Merge branch 'mega' into can_implementation

fec5a72

Merge branch 'mega' into can_implementation

46a2b50

Merge branch 'mega' into can_implementation

12603d7

tonhuisman mentioned this pull request Oct 1, 2024

[Plugins] List of planned new plugins (request a Plugin-ID here) #3839

Open

Merge branch 'mega' into can_implementation

2431e69

TD-er added 3 commits October 2, 2024 22:54

Merge branch 'mega' into can_implementation

741fe66

Merge remote-tracking branch 'letscontrolit/mega' into can_implementa…

284e889

…tion

Merge branch 'mega' into can_implementation

6760c24

tonhuisman reviewed Dec 15, 2024

View reviewed changes

Merge branch 'mega' into can_implementation

f0de70e

tonhuisman reviewed Dec 15, 2024

View reviewed changes

TD-er added 8 commits December 16, 2024 23:15

Merge branch 'mega' into can_implementation

1f98e52

Merge remote-tracking branch 'letscontrolit/mega' into can_implementa…

89772f1

…tion

Merge branch 'mega' into can_implementation

3941614

Merge branch 'mega' into can_implementation

8ecac50

Merge branch 'mega' into can_implementation

1258f4e

Merge branch 'mega' into can_implementation

2fc0b69

Merge remote-tracking branch 'letscontrolit/mega' into can_implementa…

5c6924b

…tion

Merge branch 'mega' into can_implementation

2f19362

Merge branch 'mega' into can_implementation

cc33f3f

TD-er added 6 commits June 5, 2026 17:40

[CAN] Fix merge issues

a5237ab

[CAN] Fixed failing ESP8266 build

aee5d87

[CAN] Fix failing build on ESP32S2

75a68d2

[CAN] Fix failing custom_IR_ESP32s2_4M316k

4c17cf5

[CAN] Fix failing build for custom_IR_ESP32s3_4M316k

f63e6c3

[CAN] Fixed failing max_ESP32c6 builds

621da76

		String log_debug = F("Disconnected");
		addLogMove(LOG_LEVEL_INFO, log_debug);


		case ESPEasy_cmd_e::sendcan: COMMAND_CASE_A(Command_CAN_SendCAN, -1); //CAN.h
		case ESPEasy_cmd_e::sendtocan: COMMAND_CASE_A(Command_CAN_SendToCAN, -1); //CAN.h

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bclbruno commented Sep 11, 2024 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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tonhuisman Sep 11, 2024 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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TD-er commented Jun 5, 2026

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bclbruno commented Sep 11, 2024 •

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