ESP32 Forum

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esp_intr_alloc(ETS_CAN_INTR_SOURCE,0,CAN_isr,NULL,NULL);

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#include "soc/soc.h"

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//On RISC-V CPUs, the interrupt sources are all external interrupts, whose type, source and priority are configured by SW.
//There is no HW NMI conception. SW should controlled the masked levels through INT_THRESH_REG.

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 //Initialize configuration structures using macro initializers
    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(GPIO_NUM_4, GPIO_NUM_3, TWAI_MODE_NORMAL);
    twai_timing_config_t t_config = TWAI_TIMING_CONFIG_1MBITS();
    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) {
        printf("Driver installed\n");
    } else {
        printf("Failed to install driver\n");
        return;
    }

    //install CAN ISR
    esp_err_t err = esp_intr_alloc(ETS_TWAI_INTR_SOURCE,0,CAN_isr,NULL,NULL);
    if(err==ESP_OK){
        printf("Interrupt allocated OK\n");
    }
    else if(err==ESP_ERR_INVALID_ARG) {
        printf("Interrupt allocation failed, invalid argument: %i\n", int(err));
    }
    else if(err==ESP_ERR_NOT_FOUND){
        printf("Interrupt allocation failed, no free interrupt found: %i\n", int(err));
    }

    //Start TWAI driver
    if (twai_start() == ESP_OK) {
        printf("Driver started\n");
    } else {
        printf("Failed to start driver\n");
        return;
    }

void ACAN_ESP32::CAN_isr(void *arg_p){
    printf("CAN Intr\n");
    }

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xSemaphoreGiveFromISR(sem_tx_complete, &higherPriorityTaskWoken);

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void ThreadMain(){
      twai_reconfigure_alerts(TWAI_ALERT_ABOVE_ERR_WARN | TWAI_ALERT_ERR_PASS | TWAI_ALERT_BUS_OFF, NULL);
      for(;;) {
        processAlerts();
         
        if(twai_receive(&rx_frame, pdMS_TO_TICKS(2) == ESP_OK)){
            ESP_LOGI(CAN_TAG, "Msg received - Data = %d", rx_frame.data[0]);
          }
        taskYIELD();
      }
    }

    void processAlerts(){
      uint32_t alerts;
      twai_read_alerts(&alerts, pdMS_TO_TICKS(0));
      
      if (alerts & TWAI_ALERT_ABOVE_ERR_WARN) {
          ESP_LOGI(CAN_TAG, "Surpassed Error Warning Limit");
      }
      if (alerts & TWAI_ALERT_ERR_PASS) {
          ESP_LOGI(CAN_TAG, "Entered Error Passive state");
      }
      if (alerts & TWAI_ALERT_BUS_OFF) {
          ESP_LOGI(CAN_TAG, "Bus Off state");
          //Prepare to initiate bus recovery, reconfigure alerts to detect bus recovery completion
          twai_reconfigure_alerts(TWAI_ALERT_BUS_RECOVERED, NULL);
          for (int i = 3; i > 0; i--) {
              ESP_LOGW(CAN_TAG, "Initiate bus recovery in %d", i);
              vTaskDelay(pdMS_TO_TICKS(1000));
          }
          twai_initiate_recovery();    //Needs 128 occurrences of bus free signal
          ESP_LOGI(CAN_TAG, "Initiate bus recovery");
      }
      if (alerts & TWAI_ALERT_BUS_RECOVERED) {
          //Bus recovery was successful, exit control task to uninstall driver
          ESP_LOGI(CAN_TAG, "Bus Recovered");
      }      
    }