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Update ESP32SJA1000.cpp #155

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59 changes: 46 additions & 13 deletions src/ESP32SJA1000.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,8 +3,22 @@

#ifdef ARDUINO_ARCH_ESP32

#include "esp_intr.h"
#include "soc/dport_reg.h"
// ESP32-S3 Check for both ESP-IDF and Arduino environments
#if defined(ESP_PLATFORM) && (__has_include("esp_intr_alloc.h"))
#include "esp_intr_alloc.h"
#include "rom/gpio.h"
#include "soc/interrupts.h"
#include "soc/system_reg.h"
#define ARDUINO_ESP32S3

#elif defined(ESP_PLATFORM) && (__has_include("esp_intr.h"))
#include "esp_intr.h"
#include "soc/dport_reg.h"

#else
#error "Unsupported ESP32 variant or missing header files"
#endif

#include "driver/gpio.h"

#include "ESP32SJA1000.h"
Expand Down Expand Up @@ -53,17 +67,27 @@ int ESP32SJA1000Class::begin(long baudRate)

_loopback = false;

DPORT_CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST);
DPORT_SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_CAN_CLK_EN);
#ifdef ARDUINO_ESP32S3
CLEAR_PERI_REG_MASK(SYSTEM_PERIP_RST_EN1_REG, SYSTEM_TWAI_RST);
SET_PERI_REG_MASK(SYSTEM_PERIP_CLK_EN1_REG, SYSTEM_TWAI_CLK_EN);
#else
DPORT_CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST);
DPORT_SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_CAN_CLK_EN);
#endif

// RX pin
// RX pin and // TX pin
gpio_set_direction(_rxPin, GPIO_MODE_INPUT);
gpio_matrix_in(_rxPin, CAN_RX_IDX, 0);
gpio_pad_select_gpio(_rxPin);

// TX pin
gpio_set_direction(_txPin, GPIO_MODE_OUTPUT);
gpio_matrix_out(_txPin, CAN_TX_IDX, 0, 0);

#ifdef ARDUINO_ESP32S3
gpio_matrix_in(_rxPin, TWAI_RX_IDX, 0);
gpio_matrix_out(_txPin, TWAI_TX_IDX, 0, 0);
#else
gpio_matrix_in(_rxPin, CAN_RX_IDX, 0);
gpio_matrix_out(_txPin, CAN_TX_IDX, 0, 0);
#endif

gpio_pad_select_gpio(_rxPin);
gpio_pad_select_gpio(_txPin);

modifyRegister(REG_CDR, 0x80, 0x80); // pelican mode
Expand Down Expand Up @@ -156,8 +180,13 @@ void ESP32SJA1000Class::end()
_intrHandle = NULL;
}

DPORT_SET_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST);
DPORT_CLEAR_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_CAN_CLK_EN);
#ifdef ARDUINO_ESP32S3
CLEAR_PERI_REG_MASK(SYSTEM_PERIP_RST_EN1_REG, SYSTEM_TWAI_RST);
SET_PERI_REG_MASK(SYSTEM_PERIP_CLK_EN1_REG, SYSTEM_TWAI_CLK_EN);
#else
DPORT_CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST);
DPORT_SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_CAN_CLK_EN);
#endif

CANControllerClass::end();
}
Expand Down Expand Up @@ -268,7 +297,11 @@ void ESP32SJA1000Class::onReceive(void(*callback)(int))
}

if (callback) {
esp_intr_alloc(ETS_CAN_INTR_SOURCE, 0, ESP32SJA1000Class::onInterrupt, this, &_intrHandle);
#ifdef ARDUINO_ESP32S3
esp_intr_alloc(ETS_TWAI_INTR_SOURCE, 0, ESP32SJA1000Class::onInterrupt, this, &_intrHandle);
#else
esp_intr_alloc(ETS_CAN_INTR_SOURCE, 0, ESP32SJA1000Class::onInterrupt, this, &_intrHandle);
#endif
}
}

Expand Down