Once I made this change a new set of errors have appeared, which primarily state that a set of DPORT related variables (apologies if I used the wrong term here, I'm not familiar with this set of registers) is not declared in the scope. Here is a snippet of the errors I am receiving - more errors continue in the same vein as those displayed.
Perhaps a fix for this is adjusting the included files but I'm unfamiliar with the architecture of the board to know where to look and I have not found a solution online.
I've been unable to find a solution to these errors and any assistance in getting to the bottom of them would be amazing. I understand that perhaps this library may not be compatible with the ESP32S2 chip or perhaps I've skipped over some obvious note in the block of red-text-error - so this may have ended up being a dumb question, so thanks again for any help.
Thank you for the response. For this project I'm using the ESP32S2 Dev Module from Espressif's esp32 system. The minimal reproducible example of the code is the inclusion statement for the CAN library:
#include <CAN.h>
Which then produces the following error:
In file included from /Users/scottbrown/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32s2/include/soc/esp32s2/include/soc/dport_reg.h:21,
from /Users/scottbrown/Documents/Arduino/libraries/CAN/src/ESP32SJA1000.cpp:7:
/Users/scottbrown/Documents/Arduino/libraries/CAN/src/ESP32SJA1000.cpp: In member function 'virtual int ESP32SJA1000Class::begin(long int)':
/Users/scottbrown/Documents/Arduino/libraries/CAN/src/ESP32SJA1000.cpp:56:53: error: 'DPORT_CAN_RST' was not declared in this scope; did you mean 'DPORT_WDG_RST'?
56 | DPORT_CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST);
| ^~~~~~~~~~~~~
/Users/scottbrown/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32s2/include/soc/esp32s2/include/soc/dport_access.h:78:88: note: in definition of macro '_DPORT_WRITE_PERI_REG'
78 | #define _DPORT_WRITE_PERI_REG(addr, val) (*((volatile uint32_t *)(addr))) = (uint32_t)(val)
| ^~~
/Users/scottbrown/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32s2/include/soc/esp32s2/include/soc/dport_access.h:88:46: note: in expansion of macro 'DPORT_WRITE_PERI_REG'
88 | #define DPORT_CLEAR_PERI_REG_MASK(reg, mask) DPORT_WRITE_PERI_REG((reg), (DPORT_READ_PERI_REG(reg)&(~(mask))))
| ^~~~~~~~~~~~~~~~~~~~
/Users/scottbrown/Documents/Arduino/libraries/CAN/src/ESP32SJA1000.cpp:56:3: note: in expansion of macro 'DPORT_CLEAR_PERI_REG_MASK'
56 | DPORT_CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST);
| ^~~~~~~~~~~~~~~~~~~~~~~~~
/Users/scottbrown/Documents/Arduino/libraries/CAN/src/ESP32SJA1000.cpp:57:51: error: 'DPORT_CAN_CLK_EN' was not declared in this scope; did you mean 'DPORT_USB_CLK_EN'?
57 | DPORT_SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_CAN_CLK_EN);
| ^~~~~~~~~~~~~~~~
/Users/scottbrown/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32s2/include/soc/esp32s2/include/soc/dport_access.h:78:88: note: in definition of macro '_DPORT_WRITE_PERI_REG'
78 | #define _DPORT_WRITE_PERI_REG(addr, val) (*((volatile uint32_t *)(addr))) = (uint32_t)(val)
| ^~~
/Users/scottbrown/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32s2/include/soc/esp32s2/include/soc/dport_access.h:91:46: note: in expansion of macro 'DPORT_WRITE_PERI_REG'
91 | #define DPORT_SET_PERI_REG_MASK(reg, mask) DPORT_WRITE_PERI_REG((reg), (DPORT_READ_PERI_REG(reg)|(mask)))
| ^~~~~~~~~~~~~~~~~~~~
/Users/scottbrown/Documents/Arduino/libraries/CAN/src/ESP32SJA1000.cpp:57:3: note: in expansion of macro 'DPORT_SET_PERI_REG_MASK'
57 | DPORT_SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_CAN_CLK_EN);
| ^~~~~~~~~~~~~~~~~~~~~~~
/Users/scottbrown/Documents/Arduino/libraries/CAN/src/ESP32SJA1000.cpp:61:26: error: 'CAN_RX_IDX' was not declared in this scope; did you mean 'TWAI_RX_IDX'?
61 | gpio_matrix_in(_rxPin, CAN_RX_IDX, 0);
| ^~~~~~~~~~
| TWAI_RX_IDX
/Users/scottbrown/Documents/Arduino/libraries/CAN/src/ESP32SJA1000.cpp:61:3: error: 'gpio_matrix_in' was not declared in this scope
61 | gpio_matrix_in(_rxPin, CAN_RX_IDX, 0);
| ^~~~~~~~~~~~~~
/Users/scottbrown/Documents/Arduino/libraries/CAN/src/ESP32SJA1000.cpp:62:3: error: 'gpio_pad_select_gpio' was not declared in this scope; did you mean 'esp_rom_gpio_pad_select_gpio'?
62 | gpio_pad_select_gpio(_rxPin);
| ^~~~~~~~~~~~~~~~~~~~
| esp_rom_gpio_pad_select_gpio
/Users/scottbrown/Documents/Arduino/libraries/CAN/src/ESP32SJA1000.cpp:66:27: error: 'CAN_TX_IDX' was not declared in this scope; did you mean 'TWAI_TX_IDX'?
66 | gpio_matrix_out(_txPin, CAN_TX_IDX, 0, 0);
| ^~~~~~~~~~
| TWAI_TX_IDX
/Users/scottbrown/Documents/Arduino/libraries/CAN/src/ESP32SJA1000.cpp:66:3: error: 'gpio_matrix_out' was not declared in this scope; did you mean 'gpio_iomux_out'?
66 | gpio_matrix_out(_txPin, CAN_TX_IDX, 0, 0);
| ^~~~~~~~~~~~~~~
| gpio_iomux_out
/Users/scottbrown/Documents/Arduino/libraries/CAN/src/ESP32SJA1000.cpp: In member function 'virtual void ESP32SJA1000Class::end()':
/Users/scottbrown/Documents/Arduino/libraries/CAN/src/ESP32SJA1000.cpp:171:51: error: 'DPORT_CAN_RST' was not declared in this scope; did you mean 'DPORT_WDG_RST'?
171 | DPORT_SET_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST);
| ^~~~~~~~~~~~~
/Users/scottbrown/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32s2/include/soc/esp32s2/include/soc/dport_access.h:78:88: note: in definition of macro '_DPORT_WRITE_PERI_REG'
78 | #define _DPORT_WRITE_PERI_REG(addr, val) (*((volatile uint32_t *)(addr))) = (uint32_t)(val)
| ^~~
/Users/scottbrown/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32s2/include/soc/esp32s2/include/soc/dport_access.h:91:46: note: in expansion of macro 'DPORT_WRITE_PERI_REG'
91 | #define DPORT_SET_PERI_REG_MASK(reg, mask) DPORT_WRITE_PERI_REG((reg), (DPORT_READ_PERI_REG(reg)|(mask)))
| ^~~~~~~~~~~~~~~~~~~~
/Users/scottbrown/Documents/Arduino/libraries/CAN/src/ESP32SJA1000.cpp:171:3: note: in expansion of macro 'DPORT_SET_PERI_REG_MASK'
171 | DPORT_SET_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST);
| ^~~~~~~~~~~~~~~~~~~~~~~
/Users/scottbrown/Documents/Arduino/libraries/CAN/src/ESP32SJA1000.cpp:172:53: error: 'DPORT_CAN_CLK_EN' was not declared in this scope; did you mean 'DPORT_USB_CLK_EN'?
172 | DPORT_CLEAR_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_CAN_CLK_EN);
| ^~~~~~~~~~~~~~~~
/Users/scottbrown/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32s2/include/soc/esp32s2/include/soc/dport_access.h:78:88: note: in definition of macro '_DPORT_WRITE_PERI_REG'
78 | #define _DPORT_WRITE_PERI_REG(addr, val) (*((volatile uint32_t *)(addr))) = (uint32_t)(val)
| ^~~
/Users/scottbrown/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32s2/include/soc/esp32s2/include/soc/dport_access.h:88:46: note: in expansion of macro 'DPORT_WRITE_PERI_REG'
88 | #define DPORT_CLEAR_PERI_REG_MASK(reg, mask) DPORT_WRITE_PERI_REG((reg), (DPORT_READ_PERI_REG(reg)&(~(mask))))
| ^~~~~~~~~~~~~~~~~~~~
/Users/scottbrown/Documents/Arduino/libraries/CAN/src/ESP32SJA1000.cpp:172:3: note: in expansion of macro 'DPORT_CLEAR_PERI_REG_MASK'
172 | DPORT_CLEAR_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_CAN_CLK_EN);
| ^~~~~~~~~~~~~~~~~~~~~~~~~
/Users/scottbrown/Documents/Arduino/libraries/CAN/src/ESP32SJA1000.cpp: In member function 'virtual void ESP32SJA1000Class::onReceive(void (*)(int))':
/Users/scottbrown/Documents/Arduino/libraries/CAN/src/ESP32SJA1000.cpp:283:20: error: 'ETS_CAN_INTR_SOURCE' was not declared in this scope
283 | esp_intr_alloc(ETS_CAN_INTR_SOURCE, 0, ESP32SJA1000Class::onInterrupt, this, &_intrHandle);
| ^~~~~~~~~~~~~~~~~~~
exit status 1
Compilation error: exit status 1
I just installed the CAN library. I then loaded the sample sketch CanReceiver and it compiled clean for a NANO but failed on missing esp_intr.h. I am stumped for the moment.
I just rolled back the esp32 boards to 2.0.17 and it compiled BUT it has the following warning
#warning esp_intr.h is deprecated, please include esp_intr_alloc.h instead [-Wcpp]
It looks like the author has not fixed the library code. You can either do the same and roll back, but then you will need to do that any time you were working with CAN unless you blocked ALL updates which I strongly advise against. Try contacting the author on github.
#include <ESP32-TWAI-CAN.hpp>
#define CAN_TX 45 // Connects to CTX
#define CAN_RX 46 // Connects to CRX
CanFrame rxFrame; // Create frame to read
void setup() {
// Set up serial for debugging
Serial.begin(115200);
delay(500);
// Set the pins
ESP32Can.setPins(CAN_TX, CAN_RX);
Serial.println("test3");
// Start the CAN bus at 500 kbps
if(ESP32Can.begin(ESP32Can.convertSpeed(500))) {
Serial.println("CAN bus started!");
} else {
Serial.println("CAN bus failed!");
}
}
void loop() {
canSender(); // call function to send data through CAN
//canReceiver(); // call function to recieve data through CAN
}
void canSender() {
// send packet: id is 11 bits, packet can contain up to 8 bytes of data
Serial.print("Sending packet ... ");
CanFrame testFrame = { 0 };
testFrame.identifier = 0x12; // Sets the ID
testFrame.extd = 0; // Set extended frame to false
testFrame.data_length_code = 8; // Set length of data - change depending on data sent
testFrame.data[0] = '1'; // Write data to buffer. data is not sent until writeFrame() is called.
testFrame.data[1] = '2';
testFrame.data[2] = '3';
testFrame.data[3] = '4';
testFrame.data[4] = '5';
testFrame.data[5] = '6';
testFrame.data[6] = '7';
testFrame.data[7] = '8';
ESP32Can.writeFrame(testFrame); // transmit frame
Serial.println("done");
delay(1000);
}
void canReceiver() {
// try to parse packet
if(ESP32Can.readFrame(rxFrame, 700)) { // 1000 is the timeout value
// Communicate that a packet was recieved
Serial.printf("Received frame: %03X \r\n", rxFrame.identifier);
// Communicate packet information
for(int i = 0; i <= rxFrame.data_length_code - 1; i ++) {
Serial.print((char) rxFrame.data[i]); // Transmit value from the frame
}
} else {
Serial.println("No frame recieved");
}
}
