Method send

RemoteIDModule/CANDriver.cpp:221–258

}

bool CANDriver::send(const CANFrame &frame)
{
    if (frame.isErrorFrame() || frame.dlc > 8) {
        return false;
    }

    twai_message_t message {};
    message.identifier = frame.id;
    message.extd = frame.isExtended() ? 1 : 0;
    message.data_length_code = frame.dlc;
    memcpy(message.data, frame.data, 8);

    twai_status_info_t info {};
    twai_get_status_info(&info);
    switch (info.state) {
    case TWAI_STATE_STOPPED:
        twai_start();
        break;
    case TWAI_STATE_RUNNING:
    case TWAI_STATE_RECOVERING:
        break;
    case TWAI_STATE_BUS_OFF: {
        uint32_t now = millis();
        if (now - last_bus_recovery_ms > 2000) {
            last_bus_recovery_ms = now;
            twai_initiate_recovery();
        }
        break;
    }
    }

    const esp_err_t sts = twai_transmit(&message, pdMS_TO_TICKS(5));
    if (sts == ESP_OK) {
        last_bus_recovery_ms = 0;
    }

    return (sts == ESP_OK);
}

bool CANDriver::receive(CANFrame &out_frame)
{