| 52 | }; |
| 53 | |
| 54 | void CANDriver::init_once(bool enable_irq) |
| 55 | { |
| 56 | if (twai_driver_install(&g_config, &t_config, &f_config) == ESP_OK) |
| 57 | { |
| 58 | Serial.printf("CAN/TWAI Driver installed\n"); |
| 59 | } |
| 60 | else |
| 61 | { |
| 62 | Serial.printf("Failed to install CAN/TWAI driver\n"); |
| 63 | return; |
| 64 | } |
| 65 | |
| 66 | //Reconfigure alerts to detect rx-related stuff only... |
| 67 | uint32_t alerts_to_enable = TWAI_ALERT_RX_DATA | TWAI_ALERT_RX_QUEUE_FULL; |
| 68 | if (twai_reconfigure_alerts(alerts_to_enable, NULL) == ESP_OK) { |
| 69 | Serial.printf("CAN/TWAI Alerts reconfigured\n"); |
| 70 | } else { |
| 71 | Serial.printf("Failed to reconfigure CAN/TWAI alerts"); |
| 72 | } |
| 73 | |
| 74 | //Start TWAI driver |
| 75 | if (twai_start() == ESP_OK) |
| 76 | { |
| 77 | Serial.printf("CAN/TWAI Driver started\n"); |
| 78 | } |
| 79 | else |
| 80 | { |
| 81 | Serial.printf("Failed to start CAN/TWAI driver\n"); |
| 82 | return; |
| 83 | } |
| 84 | } |
| 85 | |
| 86 | bool CANDriver::init_bus(const uint32_t _bitrate) |
| 87 | { |
nothing calls this directly
no outgoing calls
no test coverage detected