1st twai version with send/receive

lib/nmea2ktwai/Nmea2kTwai.cpp

@@ -0,0 +1,81 @@
+#include "Nmea2kTwai.h"
+#include "driver/gpio.h"
+#include "driver/twai.h"
+#include "GwLog.h"
+
+#define TWAI_DEBUG 1
+#if TWAI_DEBUG == 1
+    #define TWAI_LOG(...) LOG_DEBUG(__VA_ARGS__)
+    #define TWAI_LDEBUG(...)
+#else
+  #if TWAI_DEBUG == 2
+    #define TWAI_LOG(...) LOG_DEBUG(__VA_ARGS__)
+    #define TWA_LDEBUG(...) LOG_DEBUG(__VA_ARGS__)
+  #else
+    #define TWAI_LOG(...)
+    #define TWAI_LDEBUG(...)
+  #endif  
+#endif
+
+Nmea2kTwai::Nmea2kTwai(gpio_num_t _TxPin,  gpio_num_t _RxPin,GwLog *l):
+     tNMEA2000(),RxPin(_RxPin),TxPin(_TxPin),logger(l)
+{
+}
+
+bool Nmea2kTwai::CANSendFrame(unsigned long id, unsigned char len, const unsigned char *buf, bool wait_sent)
+{
+    twai_message_t message;
+    message.identifier = id;
+    message.extd = 1;
+    message.data_length_code = len;
+    memcpy(message.data,buf,len);
+    esp_err_t rt=twai_transmit(&message,0);
+    if (rt != ESP_OK){
+        TWAI_LOG(GwLog::DEBUG,"twai transmit for %ld failed: %d",id,(int)rt);
+        return false;
+    }
+    TWAI_LDEBUG(GwLog::DEBUG,"twai transmit id %ld, len %d",id,(int)len);
+    return true;
+}
+bool Nmea2kTwai::CANOpen()
+{
+    esp_err_t rt=twai_start();
+    if (rt != ESP_OK){
+        LOG_DEBUG(GwLog::ERROR,"CANOpen failed: %d",(int)rt);
+        return false;
+    }
+    else{
+        LOG_DEBUG(GwLog::LOG,"CANOpen ok");
+    }
+    return true;
+}
+bool Nmea2kTwai::CANGetFrame(unsigned long &id, unsigned char &len, unsigned char *buf)
+{
+    twai_message_t message;
+    esp_err_t rt=twai_receive(&message,0);
+    if (rt != ESP_OK){
+        return false;
+    }
+    id=message.identifier;
+    len=message.data_length_code;
+    TWAI_LDEBUG(GwLog::DEBUG,"twai rcv id=%ld,len=%d, ext=%d",message.identifier,message.data_length_code,message.extd);
+    memcpy(buf,message.data,message.data_length_code);
+    return true;
+}
+// This will be called on Open() before any other initialization. Inherit this, if buffers can be set for the driver
+// and you want to change size of library send frame buffer size. See e.g. NMEA2000_teensy.cpp.
+void Nmea2kTwai::InitCANFrameBuffers()
+{
+    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(TxPin,RxPin, TWAI_MODE_NORMAL);
+    twai_timing_config_t t_config = TWAI_TIMING_CONFIG_250KBITS();
+    twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
+    esp_err_t rt=twai_driver_install(&g_config, &t_config, &f_config);
+    if (rt == ESP_OK) {
+        LOG_DEBUG(GwLog::LOG,"twai driver initialzed, rx=%d,tx=%d",(int)RxPin,(int)TxPin);
+    }
+    else{
+        LOG_DEBUG(GwLog::ERROR,"twai driver init failed: %d",(int)rt);
+    }
+    tNMEA2000::InitCANFrameBuffers();
+    
+}

lib/nmea2ktwai/Nmea2kTwai.h

@@ -0,0 +1,27 @@
+#ifndef _NMEA2KTWAI_H
+#define _NMEA2KTWAI_H
+#include "NMEA2000.h"
+#include "GwLog.h"
+
+class Nmea2kTwai : public tNMEA2000{
+    public:
+        Nmea2kTwai(gpio_num_t _TxPin,  gpio_num_t _RxPin,GwLog *logger);
+    protected:
+    // Virtual functions for different interfaces. Currently there are own classes
+    // for Arduino due internal CAN (NMEA2000_due), external MCP2515 SPI CAN bus controller (NMEA2000_mcp),
+    // Teensy FlexCAN (NMEA2000_Teensy), NMEA2000_avr for AVR, NMEA2000_mbed for MBED and NMEA2000_socketCAN for e.g. RPi.
+    virtual bool CANSendFrame(unsigned long id, unsigned char len, const unsigned char *buf, bool wait_sent=true);
+    virtual bool CANOpen();
+    virtual bool CANGetFrame(unsigned long &id, unsigned char &len, unsigned char *buf);
+    // This will be called on Open() before any other initialization. Inherit this, if buffers can be set for the driver
+    // and you want to change size of library send frame buffer size. See e.g. NMEA2000_teensy.cpp.
+    virtual void InitCANFrameBuffers();
+
+    private:
+    gpio_num_t TxPin;  
+    gpio_num_t RxPin;
+    GwLog *logger;
+
+};
+
+#endif

src/main.cpp

@@ -12,6 +12,7 @@
   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */
 #include "GwAppInfo.h"
+#define USE_TWAI
 // #define GW_MESSAGE_DEBUG_ENABLED
 //#define FALLBACK_SERIAL
 //#define CAN_ESP_DEBUG
@@ -65,17 +66,14 @@ const unsigned long HEAP_REPORT_TIME=2000; //set to 0 to disable heap reporting
 #include "GwTcpClient.h"
 #include "GwChannel.h"
 #include "GwChannelList.h"
-
-#include <NMEA2000_esp32.h>       // forked from https://github.com/ttlappalainen/NMEA2000_esp32
 #ifdef FALLBACK_SERIAL
   #ifdef CAN_ESP_DEBUG
     #define CDBS &Serial
   #else
     #define CDBS NULL
   #endif
-  tNMEA2000 &NMEA2000=*(new tNMEA2000_esp32(ESP32_CAN_TX_PIN,ESP32_CAN_RX_PIN,CDBS));
 #else
-  tNMEA2000 &NMEA2000=*(new tNMEA2000_esp32());
+  #define CDBS NULL
 #endif
 
 
@@ -111,6 +109,15 @@ typedef std::map<String,String> StringMap;
 
 GwLog logger(LOGLEVEL,NULL);
 GwConfigHandler config(&logger);
+
+#ifndef USE_TWAI
+#include <NMEA2000_esp32.h>       // forked from https://github.com/ttlappalainen/NMEA2000_esp32
+tNMEA2000 &NMEA2000=*(new tNMEA2000_esp32(ESP32_CAN_TX_PIN,ESP32_CAN_RX_PIN,CDBS));
+#else
+#include "Nmea2kTwai.h"
+tNMEA2000 &NMEA2000=*(new Nmea2kTwai(ESP32_CAN_TX_PIN,ESP32_CAN_RX_PIN,&logger));
+#endif
+
 #ifdef GWBUTTON_PIN
 bool fixedApPass=false;
 #else