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Make library compatible with 3.0.0 ESP32 #50

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Make library compatible with 3.0.0 ESP32 #50

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11 changes: 7 additions & 4 deletions src/CAN.c
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@
#include "freertos/FreeRTOS.h"
#include "freertos/queue.h"

#include "esp_intr.h"
#include "esp_intr_alloc.h"
#include "soc/dport_reg.h"
#include <math.h>

Expand All @@ -43,6 +43,9 @@
#include "can_regdef.h"
#include "CAN_config.h"

#define TWAI_TX_IDX 123
#define TWAI_RX_IDX 94

// CAN Filter - no acceptance filter
static CAN_filter_t __filter = { Dual_Mode, 0, 0, 0, 0, 0Xff, 0Xff, 0Xff, 0Xff };

Expand Down Expand Up @@ -176,12 +179,12 @@ int CAN_init() {
// configure TX pin
gpio_set_level(CAN_cfg.tx_pin_id, 1);
gpio_set_direction(CAN_cfg.tx_pin_id, GPIO_MODE_OUTPUT);
gpio_matrix_out(CAN_cfg.tx_pin_id, CAN_TX_IDX, 0, 0);
gpio_matrix_out(CAN_cfg.tx_pin_id, TWAI_TX_IDX, 0, 0);
gpio_pad_select_gpio(CAN_cfg.tx_pin_id);

// configure RX pin
gpio_set_direction(CAN_cfg.rx_pin_id, GPIO_MODE_INPUT);
gpio_matrix_in(CAN_cfg.rx_pin_id, CAN_RX_IDX, 0);
gpio_matrix_in(CAN_cfg.rx_pin_id, TWAI_RX_IDX, 0);
gpio_pad_select_gpio(CAN_cfg.rx_pin_id);

// set to PELICAN mode
Expand Down Expand Up @@ -296,4 +299,4 @@ int CAN_config_filter(const CAN_filter_t* p_filter) {
__filter.AMR3 = p_filter->AMR3;

return 0;
}
}