esp32_can
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collin80
ESP32 CAN not working after update ArduinoESP32 to v3.1.1 and esp32_can to 0.3.0
After update ArduinoESP32 to v3.1.1 and esp32_can to 0.3.0 board hangs on a ESP32.
the main loop hangs after:
xTaskCreate(ESP32CAN::task_CAN, canHandlerTaskName, 8192, this, 15, &task_CAN_handler);
it seems task_CAN keeps running.
Same code on a ESP32-C6 works without issues.
#include <esp32_can.h>
void setup() {
Serial.begin(115200);
Serial.println("Initializing ...");
CAN0.setDebuggingMode(true);
CAN0.setCANPins(GPIO_NUM_4, GPIO_NUM_5);
CAN0.begin(CAN_BPS_500K);
CAN0.watchFor();
}
void loop() {
CAN_FRAME message;
if (CAN0.read(message)) {
printFrame(&message);
message.id = 0x100;
CAN0.sendFrame(message);
}
}
Port open
t to 0x400d4d40
[ 66][V][esp32-hal-periman.c:235] perimanSetBusDeinit(): Deinit function for type UART_TX (3) successfully set to 0x400d4d10
[ 80][V][esp32-hal-periman.c:235] perimanSetBusDeinit(): Deinit function for type UART_CTS (4) successfully set to 0x400d4ce0
[ 93][V][esp32-hal-periman.c:235] perimanSetBusDeinit(): Deinit function for type UART_RTS (5) successfully set to 0x400d4cb0
[ 107][V][esp32-hal-periman.c:235] perimanSetBusDeinit(): Deinit function for type UART_RX (2) successfully set to 0x400d4d40
[ 120][V][esp32-hal-periman.c:235] perimanSetBusDeinit(): Deinit function for type UART_TX (3) successfully set to 0x400d4d10
[ 134][V][esp32-hal-periman.c:235] perimanSetBusDeinit(): Deinit function for type UART_CTS (4) successfully set to 0x400d4ce0
[ 147][V][esp32-hal-periman.c:235] perimanSetBusDeinit(): Deinit function for type UART_RTS (5) successfully set to 0x400d4cb0
f�(359) esp_core_dump_flash: No core dump partition found!
E (359) esp_core_dump_flash: No core dump partition found!
[ 163][D][esp32-hal-cpu.c:263] setCpuFrequencyMhz(): PLL: 480 / 2 = 240 Mhz, APB: 80000000 Hz
[ 195][V][esp32-hal-periman.c:160] perimanSetPinBus(): Pin 3 successfully set to type UART_RX (2) with bus 0x3ffbdb60
[ 206][V][esp32-hal-periman.c:160] perimanSetPinBus(): Pin 1 successfully set to type UART_TX (3) with bus 0x3ffbdb60
=========== Before Setup Start ===========
Chip Info:
------------------------------------------
Model : ESP32
Package : D0WD-Q5
Revision : 1.01
Cores : 2
CPU Frequency : 240 MHz
XTAL Frequency : 40 MHz
Features Bitfield : 0x00000032
Embedded Flash : No
Embedded PSRAM : No
2.4GHz WiFi : Yes
Classic BT : Yes
BT Low Energy : Yes
IEEE 802.15.4 : No
------------------------------------------
INTERNAL Memory Info:
------------------------------------------
Total Size : 367648 B ( 359.0 KB)
Free Bytes : 327584 B ( 319.9 KB)
Allocated Bytes : 32816 B ( 32.0 KB)
Minimum Free Bytes: 322272 B ( 314.7 KB)
Largest Free Block: 110580 B ( 108.0 KB)
------------------------------------------
Flash Info:
------------------------------------------
Chip Size : 16777216 B (16 MB)
Block Size : 65536 B ( 64.0 KB)
Sector Size : 4096 B ( 4.0 KB)
Page Size : 256 B ( 0.2 KB)
Bus Speed : 80 MHz
Bus Mode : QIO
------------------------------------------
Partitions Info:
------------------------------------------
nvs : addr: 0x00009000, size: 20.0 KB, type: DATA, subtype: NVS
otadata : addr: 0x0000E000, size: 8.0 KB, type: DATA, subtype: OTA
app0 : addr: 0x00010000, size: 4608.0 KB, type: APP, subtype: OTA_0
app1 : addr: 0x00490000, size: 4608.0 KB, type: APP, subtype: OTA_1
spiffs : addr: 0x00910000, size: 7104.0 KB, type: DATA, subtype: SPIFFS
------------------------------------------
Software Info:
------------------------------------------
Compile Date/Time : Jan 15 2025 15:26:12
Compile Host OS : windows
ESP-IDF Version : v5.3.2-282-gcfea4f7c98-dirty
Arduino Version : 3.1.1
------------------------------------------
Board Info:
------------------------------------------
Arduino Board : ESP32_DEV
Arduino Variant : esp32
Arduino FQBN : esp32:esp32:esp32:UploadSpeed=921600,CPUFreq=240,FlashFreq=80,FlashMode=qio,FlashSize=16M,PartitionScheme=7mb_spiffs,DebugLevel=verbose,PSRAM=disabled,LoopCore=1,EventsCore=1,EraseFlash=none,JTAGAdapter=default,ZigbeeMode=default
============ Before Setup End ============
[ 4697][V][esp32-hal-uart.c:421] uartBegin(): UART0 baud(115200) Mode(800001c) rxPin(3) txPin(1)
[ 4706][V][esp32-hal-uart.c:510] uartBegin(): UART0 not installed. Starting installation
[ 4717][V][esp32-hal-uart.c:575] uartBegin(): UART0 initialization done.
VMDPR_[ 4743][V][esp32-hal-uart.c:421] uartBegin(): UART0 baud(115200) Mode(800001c) rxPin(3) txPin(1)
[ 4752][V][esp32-hal-uart.c:434] uartBegin(): UART0 Driver already installed.
Initializing ...
[ 4759][D][esp32_can_builtin.cpp:268] init(): [CAN] Init called
Built in CAN Init
_init done
[ 4767][D][esp32_can_builtin.cpp:270] init(): [CAN] Init done
Driver installed - bus 0
Creating queues
Starting can handler task
adding vTaskDelay(pdMS_TO_TICKS(100)); to task_CAN gets the loop to run again. Not sure if this is a correct way to fix it and if its a good value as i took it from task_LowLevelRX.
esp32_can_builtin.cpp
void ESP32CAN::task_CAN( void *pvParameters )
{
ESP32CAN* espCan = (ESP32CAN*)pvParameters;
CAN_FRAME rxFrame;
for (;;)
{
if (uxQueueMessagesWaiting(espCan->callbackQueue)) {
//receive next CAN frame from queue and fire off the callback
if(xQueueReceive(espCan->callbackQueue, &rxFrame, portMAX_DELAY) == pdTRUE)
{
espCan->sendCallback(&rxFrame);
}
}
else vTaskDelay(pdMS_TO_TICKS(100));
#if defined(CONFIG_FREERTOS_UNICORE)
delay(10);
#endif
}
vTaskDelete(NULL);
}
Indeed, you are correct. I'm seeing the same thing. I have added a 100ms delay before the loop and it seems to work. It seems like not having a slight start up delay causes it to get ahead of itself somewhere. I did not add any delays to the actual loop itself. I'm still testing but I may upload this as a fix.
Created a pull request on this: https://github.com/collin80/esp32_can/pull/78
The delay should be propably as low as possible. Maybe we just can reset the watchdog also manually here
