Add support for ESP32 boards using the native TWAI (CAN) driver. - #20

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solomondg merged 4 commits into
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esp32-twai-support
Jan 24, 2026
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Add support for ESP32 boards using the native TWAI (CAN) driver.#20
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Changes:

  • Add ODriveESP32TWAI.hpp interface
  • Add IS_ESP32_TWAI option to SineWaveCAN example
  • Add esp32 PlatformIO target

This PR supersedes #11 .

Not tested yet - will desk test ASAP.

@solomondg
Add support for ESP32 boards using the native TWAI (CAN) driver.
da8960b
Changes:
- Add ODriveESP32TWAI.hpp interface that calls twai_transmit/twai_receive directly
- Add IS_ESP32_TWAI option to SineWaveCAN example
- Add esp32 PlatformIO target
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Pending desk test.

Comment threadexamples/SineWaveCAN/SineWaveCAN.ino Outdated
Comment threadsrc/ODriveESP32TWAI.hpp Outdated
twai_message_t tx_msg = {};
tx_msg.identifier = id;
tx_msg.data_length_code = length;
tx_msg.extd = (id > 0x7FF) ? 1 : 0;

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The existing drivers use id & 0x80000000 as the extended-id flag, so we should do the same here.

Comment threadsrc/ODriveESP32TWAI.hpp Outdated
Comment threadplatformio.ini
@samuelsadoksamuelsadok mentioned this pull request Jan 7, 2026
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@samuelsadok Desk tested OK w/ ESP32-WROOM-32 devkit + SN65HVD230 breakout. Hit your comments. Should be good to merge if all looks good to you. Only possible change is moving the TWAI setup code (namely the large case/switch statement) to ODriveESP32TWAI.hpp to reduce visual noise in SineWaveCAN.ino

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ok looks good to me.

The setupCan() is a bit of visual noise, that is true, but that is also true for the larger section that does the hardware setup. The thing is that it's quite board dependent, so it can't be straight-up in a library header (you could even have multiple CAN interfaces, so you can't just make simple GPIO/baudrate defines before the library include).

What you could do, is just move the generic portion (the switch statement) over to a helper function in the header. Up to you if you want to do that in this PR.

Long term maybe we'll start putting each of these sections in its separate board header that users can copy and adapt for their board.

@solomondg
solomondg merged commit 4ea6242 into masterJan 24, 2026
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samuelsadok deleted the esp32-twai-support branch January 26, 2026 12:20
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, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Add copy buttons to all 
 blocks\n(function() {\n function addCopyButtons() {\n document.querySelectorAll('pre code').forEach(function(codeBlock) {\n if (codeBlock.parentElement.hasAttribute('data-copy-added')) return;\n codeBlock.parentElement.setAttribute('data-copy-added', 'true');\n \n var btn = document.createElement('button');\n btn.textContent = 'Copy';\n btn.style.cssText = 'position:absolute;top:4px;right:4px;padding:2px 8px;font-size:11px;background:#4ecdc4;border:none;border-radius:4px;color:#1a1a2e;cursor:pointer;opacity:0.7;transition:opacity 0.2s;';\n btn.onmouseover = function() { this.style.opacity = '1'; };\n btn.onmouseout = function() { this.style.opacity = '0.7'; };\n btn.onclick = function() {\n navigator.clipboard.writeText(codeBlock.textContent).then(function() {\n btn.textContent = 'Copied!';\n setTimeout(function() { btn.textContent = 'Copy'; }, 1500);\n });\n };\n codeBlock.parentElement.style.position = 'relative';\n codeBlock.parentElement.appendChild(btn);\n });\n }\n \n addCopyButtons();\n \n // Re-run on dynamic content\n var observer = new MutationObserver(addCopyButtons);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Add Copy Buttons to Code Blocks");
}
} catch(__e) { console.warn('[Userscript:Add Copy Buttons to Code Blocks]', __e); }
})();
(function(){
try {
var __m = "github.com";
var __re = new RegExp('^' + "github\\.com" + '

Skip to content
Add support for ESP32 boards using the native TWAI (CAN) driver. - #20
Merged
solomondg merged 4 commits into
masterfrom 
esp32-twai-support
Jan 24, 2026
Merged
Add support for ESP32 boards using the native TWAI (CAN) driver.#20
solomondg merged 4 commits into
masterfrom 
esp32-twai-support
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@solomondg
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Jan 6, 2026

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Changes:
  • Add ODriveESP32TWAI.hpp interface
  • Add IS_ESP32_TWAI option to SineWaveCAN example
  • Add esp32 PlatformIO target
This PR supersedes #11 .
Not tested yet - will desk test ASAP.
@solomondg
Add support for ESP32 boards using the native TWAI (CAN) driver.
da8960b
Changes:
- Add ODriveESP32TWAI.hpp interface that calls twai_transmit/twai_receive directly
- Add IS_ESP32_TWAI option to SineWaveCAN example
- Add esp32 PlatformIO target
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Pending desk test.
Comment threadexamples/SineWaveCAN/SineWaveCAN.ino
Outdated

Comment threadsrc/ODriveESP32TWAI.hpp
Outdated

 twai_message_t tx_msg = {};
 tx_msg.identifier = id;
 tx_msg.data_length_code = length;
 tx_msg.extd = (id > 0x7FF) ? 1 : 0;
@samuelsadoksamuelsadokJan 7, 2026

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The existing drivers use id & 0x80000000 as the extended-id flag, so we should do the same here.
Comment threadsrc/ODriveESP32TWAI.hpp
Outdated

Comment threadplatformio.ini
@samuelsadoksamuelsadok
mentioned this pull request
Jan 7, 2026
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@samuelsadok Desk tested OK w/ ESP32-WROOM-32 devkit + SN65HVD230 breakout. Hit your comments. Should be good to merge if all looks good to you. Only possible change is moving the TWAI setup code (namely the large case/switch statement) to ODriveESP32TWAI.hpp to reduce visual noise in SineWaveCAN.ino
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ok looks good to me.
The setupCan() is a bit of visual noise, that is true, but that is also true for the larger section that does the hardware setup. The thing is that it's quite board dependent, so it can't be straight-up in a library header (you could even have multiple CAN interfaces, so you can't just make simple GPIO/baudrate defines before the library include).
What you could do, is just move the generic portion (the switch statement) over to a helper function in the header. Up to you if you want to do that in this PR.
Long term maybe we'll start putting each of these sections in its separate board header that users can copy and adapt for their board.
@solomondg
solomondg
merged commit 4ea6242
into
masterJan 24, 2026

4 checks passed

@samuelsadok
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deleted the

esp32-twai-support

branch
January 26, 2026 12:20
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, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Force GitHub README to respect dark mode\n(function() {\n var style = document.createElement('style');\n style.textContent = '\n .markdown-body {\n color-scheme: dark light;\n }\n .markdown-body pre { background: #161b22 !important; }\n .markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }\n .markdown-body table th, .markdown-body table td { border-color: #30363d !important; }\n .markdown-body img { background: #0d1117; }\n .markdown-body blockquote { border-left-color: #8b949e; }\n .markdown-body hr { border-color: #30363d; }\n ';\n document.head.appendChild(style);\n})();", "GitHub Dark Mode README Fix");
}
} catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
Add support for ESP32 boards using the native TWAI (CAN) driver. - #20
Merged
solomondg merged 4 commits into
masterfrom 
esp32-twai-support
Jan 24, 2026
Merged
Add support for ESP32 boards using the native TWAI (CAN) driver.#20
solomondg merged 4 commits into
masterfrom 
esp32-twai-support
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@solomondg
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Jan 6, 2026

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Changes:
  • Add ODriveESP32TWAI.hpp interface
  • Add IS_ESP32_TWAI option to SineWaveCAN example
  • Add esp32 PlatformIO target
This PR supersedes #11 .
Not tested yet - will desk test ASAP.
@solomondg
Add support for ESP32 boards using the native TWAI (CAN) driver.
da8960b
Changes:
- Add ODriveESP32TWAI.hpp interface that calls twai_transmit/twai_receive directly
- Add IS_ESP32_TWAI option to SineWaveCAN example
- Add esp32 PlatformIO target
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Pending desk test.
Comment threadexamples/SineWaveCAN/SineWaveCAN.ino
Outdated

Comment threadsrc/ODriveESP32TWAI.hpp
Outdated

 twai_message_t tx_msg = {};
 tx_msg.identifier = id;
 tx_msg.data_length_code = length;
 tx_msg.extd = (id > 0x7FF) ? 1 : 0;
@samuelsadoksamuelsadokJan 7, 2026

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The existing drivers use id & 0x80000000 as the extended-id flag, so we should do the same here.
Comment threadsrc/ODriveESP32TWAI.hpp
Outdated

Comment threadplatformio.ini
@samuelsadoksamuelsadok
mentioned this pull request
Jan 7, 2026
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@samuelsadok Desk tested OK w/ ESP32-WROOM-32 devkit + SN65HVD230 breakout. Hit your comments. Should be good to merge if all looks good to you. Only possible change is moving the TWAI setup code (namely the large case/switch statement) to ODriveESP32TWAI.hpp to reduce visual noise in SineWaveCAN.ino
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ok looks good to me.
The setupCan() is a bit of visual noise, that is true, but that is also true for the larger section that does the hardware setup. The thing is that it's quite board dependent, so it can't be straight-up in a library header (you could even have multiple CAN interfaces, so you can't just make simple GPIO/baudrate defines before the library include).
What you could do, is just move the generic portion (the switch statement) over to a helper function in the header. Up to you if you want to do that in this PR.
Long term maybe we'll start putting each of these sections in its separate board header that users can copy and adapt for their board.
@solomondg
solomondg
merged commit 4ea6242
into
masterJan 24, 2026

4 checks passed

@samuelsadok
samuelsadok
deleted the

esp32-twai-support

branch
January 26, 2026 12:20
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, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Highlight search terms from Google/DuckDuckGo/Bing referrer\n(function() {\n var ref = document.referrer;\n var terms = [];\n \n if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {\n var url = new URL(ref);\n var q = url.searchParams.get('q') || url.searchParams.get('p');\n if (q) {\n terms = q.split(/\\s+/).filter(function(t) { return t.length > 2; });\n }\n }\n \n if (terms.length === 0) return;\n \n var style = document.createElement('style');\n style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';\n document.head.appendChild(style);\n \n function highlight(node) {\n if (node.nodeType === 3) { // text node\n var text = node.textContent;\n var found = false;\n terms.forEach(function(term) {\n var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\') + ')', 'gi');\n if (regex.test(text)) {\n found = true;\n var frag = document.createDocumentFragment();\n var parts = text.split(regex);\n parts.forEach(function(part, i) {\n if (i % 2 === 0) {\n frag.appendChild(document.createTextNode(part));\n } else {\n var span = document.createElement('span');\n span.className = 'userscript-highlight';\n span.textContent = part;\n frag.appendChild(span);\n }\n });\n node.parentNode.replaceChild(frag, node);\n }\n });\n } else if (node.nodeType === 1 && node.childNodes) { // element\n var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];\n if (!skipTags.includes(node.tagName)) {\n Array.from(node.childNodes).forEach(highlight);\n }\n }\n }\n \n highlight(document.body);\n \n // Re-highlight on dynamic content\n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1 || node.nodeType === 3) highlight(node);\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Highlight Search Terms");
}
} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
Add support for ESP32 boards using the native TWAI (CAN) driver. - #20
Merged
solomondg merged 4 commits into
masterfrom 
esp32-twai-support
Jan 24, 2026
Merged
Add support for ESP32 boards using the native TWAI (CAN) driver.#20
solomondg merged 4 commits into
masterfrom 
esp32-twai-support
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@solomondg
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Changes:
  • Add ODriveESP32TWAI.hpp interface
  • Add IS_ESP32_TWAI option to SineWaveCAN example
  • Add esp32 PlatformIO target
This PR supersedes #11 .
Not tested yet - will desk test ASAP.
@solomondg
Add support for ESP32 boards using the native TWAI (CAN) driver.
da8960b
Changes:
- Add ODriveESP32TWAI.hpp interface that calls twai_transmit/twai_receive directly
- Add IS_ESP32_TWAI option to SineWaveCAN example
- Add esp32 PlatformIO target
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Pending desk test.
Comment threadexamples/SineWaveCAN/SineWaveCAN.ino
Outdated

Comment threadsrc/ODriveESP32TWAI.hpp
Outdated

 twai_message_t tx_msg = {};
 tx_msg.identifier = id;
 tx_msg.data_length_code = length;
 tx_msg.extd = (id > 0x7FF) ? 1 : 0;
@samuelsadoksamuelsadokJan 7, 2026

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The existing drivers use id & 0x80000000 as the extended-id flag, so we should do the same here.
Comment threadsrc/ODriveESP32TWAI.hpp
Outdated

Comment threadplatformio.ini
@samuelsadoksamuelsadok
mentioned this pull request
Jan 7, 2026
 Closed

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@samuelsadok Desk tested OK w/ ESP32-WROOM-32 devkit + SN65HVD230 breakout. Hit your comments. Should be good to merge if all looks good to you. Only possible change is moving the TWAI setup code (namely the large case/switch statement) to ODriveESP32TWAI.hpp to reduce visual noise in SineWaveCAN.ino
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ok looks good to me.
The setupCan() is a bit of visual noise, that is true, but that is also true for the larger section that does the hardware setup. The thing is that it's quite board dependent, so it can't be straight-up in a library header (you could even have multiple CAN interfaces, so you can't just make simple GPIO/baudrate defines before the library include).
What you could do, is just move the generic portion (the switch statement) over to a helper function in the header. Up to you if you want to do that in this PR.
Long term maybe we'll start putting each of these sections in its separate board header that users can copy and adapt for their board.
@solomondg
solomondg
merged commit 4ea6242
into
masterJan 24, 2026

4 checks passed

@samuelsadok
samuelsadok
deleted the

esp32-twai-support

branch
January 26, 2026 12:20
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, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Strip utm_, fbclid, gclid, etc. from all links on page\n(function() {\n var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',\n 'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',\n 'ref', 'ref_src', 'source', 'medium', 'campaign'];\n \n function cleanUrl(url) {\n try {\n var u = new URL(url, window.location.origin);\n var changed = false;\n trackingParams.forEach(function(p) {\n if (u.searchParams.has(p)) {\n u.searchParams.delete(p);\n changed = true;\n }\n });\n return changed ? u.toString() : url;\n } catch (e) {\n return url;\n }\n }\n \n function cleanLinks() {\n document.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n \n cleanLinks();\n \n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1) {\n if (node.tagName === 'A') cleanLinks();\n node.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Remove Tracking Parameters from Links");
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '

Skip to content
Add support for ESP32 boards using the native TWAI (CAN) driver. - #20
Merged
solomondg merged 4 commits into
masterfrom 
esp32-twai-support
Jan 24, 2026
Merged
Add support for ESP32 boards using the native TWAI (CAN) driver.#20
solomondg merged 4 commits into
masterfrom 
esp32-twai-support
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Changes:
  • Add ODriveESP32TWAI.hpp interface
  • Add IS_ESP32_TWAI option to SineWaveCAN example
  • Add esp32 PlatformIO target
This PR supersedes #11 .
Not tested yet - will desk test ASAP.
@solomondg
Add support for ESP32 boards using the native TWAI (CAN) driver.
da8960b
Changes:
- Add ODriveESP32TWAI.hpp interface that calls twai_transmit/twai_receive directly
- Add IS_ESP32_TWAI option to SineWaveCAN example
- Add esp32 PlatformIO target
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Pending desk test.
Comment threadexamples/SineWaveCAN/SineWaveCAN.ino
Outdated

Comment threadsrc/ODriveESP32TWAI.hpp
Outdated

 twai_message_t tx_msg = {};
 tx_msg.identifier = id;
 tx_msg.data_length_code = length;
 tx_msg.extd = (id > 0x7FF) ? 1 : 0;
@samuelsadoksamuelsadokJan 7, 2026

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The existing drivers use id & 0x80000000 as the extended-id flag, so we should do the same here.
Comment threadsrc/ODriveESP32TWAI.hpp
Outdated

Comment threadplatformio.ini
@samuelsadoksamuelsadok
mentioned this pull request
Jan 7, 2026
 Closed

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@samuelsadok Desk tested OK w/ ESP32-WROOM-32 devkit + SN65HVD230 breakout. Hit your comments. Should be good to merge if all looks good to you. Only possible change is moving the TWAI setup code (namely the large case/switch statement) to ODriveESP32TWAI.hpp to reduce visual noise in SineWaveCAN.ino
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ok looks good to me.
The setupCan() is a bit of visual noise, that is true, but that is also true for the larger section that does the hardware setup. The thing is that it's quite board dependent, so it can't be straight-up in a library header (you could even have multiple CAN interfaces, so you can't just make simple GPIO/baudrate defines before the library include).
What you could do, is just move the generic portion (the switch statement) over to a helper function in the header. Up to you if you want to do that in this PR.
Long term maybe we'll start putting each of these sections in its separate board header that users can copy and adapt for their board.
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, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Auto-enable theater mode on YouTube\n(function() {\n function tryTheater() {\n var btn = document.querySelector('button[aria-label=\"Theater mode\"], ytd-player #player button[title=\"Theater mode\"]');\n if (btn && !btn.classList.contains('activated')) {\n btn.click();\n }\n }\n \n // Try immediately\n tryTheater();\n \n // Try after navigation (SPA)\n var lastUrl = location.href;\n setInterval(function() {\n if (location.href !== lastUrl) {\n lastUrl = location.href;\n setTimeout(tryTheater, 500);\n }\n }, 1000);\n \n // Also try on player load\n var observer = new MutationObserver(tryTheater);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "YouTube Theater Mode Default");
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
Add support for ESP32 boards using the native TWAI (CAN) driver. - #20
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solomondg merged 4 commits into
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esp32-twai-support
Jan 24, 2026
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Add support for ESP32 boards using the native TWAI (CAN) driver.#20
solomondg merged 4 commits into
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esp32-twai-support
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Jan 6, 2026

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Changes:
  • Add ODriveESP32TWAI.hpp interface
  • Add IS_ESP32_TWAI option to SineWaveCAN example
  • Add esp32 PlatformIO target
This PR supersedes #11 .
Not tested yet - will desk test ASAP.
@solomondg
Add support for ESP32 boards using the native TWAI (CAN) driver.
da8960b
Changes:
- Add ODriveESP32TWAI.hpp interface that calls twai_transmit/twai_receive directly
- Add IS_ESP32_TWAI option to SineWaveCAN example
- Add esp32 PlatformIO target
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Pending desk test.
Comment threadexamples/SineWaveCAN/SineWaveCAN.ino
Outdated

Comment threadsrc/ODriveESP32TWAI.hpp
Outdated

 twai_message_t tx_msg = {};
 tx_msg.identifier = id;
 tx_msg.data_length_code = length;
 tx_msg.extd = (id > 0x7FF) ? 1 : 0;
@samuelsadoksamuelsadokJan 7, 2026

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The existing drivers use id & 0x80000000 as the extended-id flag, so we should do the same here.
Comment threadsrc/ODriveESP32TWAI.hpp
Outdated

Comment threadplatformio.ini
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@samuelsadok Desk tested OK w/ ESP32-WROOM-32 devkit + SN65HVD230 breakout. Hit your comments. Should be good to merge if all looks good to you. Only possible change is moving the TWAI setup code (namely the large case/switch statement) to ODriveESP32TWAI.hpp to reduce visual noise in SineWaveCAN.ino
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ok looks good to me.
The setupCan() is a bit of visual noise, that is true, but that is also true for the larger section that does the hardware setup. The thing is that it's quite board dependent, so it can't be straight-up in a library header (you could even have multiple CAN interfaces, so you can't just make simple GPIO/baudrate defines before the library include).
What you could do, is just move the generic portion (the switch statement) over to a helper function in the header. Up to you if you want to do that in this PR.
Long term maybe we'll start putting each of these sections in its separate board header that users can copy and adapt for their board.
@solomondg
solomondg
merged commit 4ea6242
into
masterJan 24, 2026

4 checks passed

@samuelsadok
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esp32-twai-support

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January 26, 2026 12:20
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, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Remove or un-stick sticky/fixed headers that block content\n(function() {\n function unstick() {\n document.querySelectorAll('header, nav, [role=\"banner\"], .header, .navbar, .sticky, .fixed-top, [style*=\"position: fixed\"], [style*=\"position:sticky\"]').forEach(function(el) {\n if (el.style.position === 'fixed' || el.style.position === 'sticky' || \n getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {\n el.style.position = 'static';\n el.style.top = 'auto';\n el.style.zIndex = 'auto';\n }\n });\n }\n \n unstick();\n \n var observer = new MutationObserver(unstick);\n observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });\n})();", "Kill Sticky Headers");
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
Add support for ESP32 boards using the native TWAI (CAN) driver. - #20
Merged
solomondg merged 4 commits into
masterfrom 
esp32-twai-support
Jan 24, 2026
Merged
Add support for ESP32 boards using the native TWAI (CAN) driver.#20
solomondg merged 4 commits into
masterfrom 
esp32-twai-support
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@solomondg
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Jan 6, 2026

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Changes:
  • Add ODriveESP32TWAI.hpp interface
  • Add IS_ESP32_TWAI option to SineWaveCAN example
  • Add esp32 PlatformIO target
This PR supersedes #11 .
Not tested yet - will desk test ASAP.
@solomondg
Add support for ESP32 boards using the native TWAI (CAN) driver.
da8960b
Changes:
- Add ODriveESP32TWAI.hpp interface that calls twai_transmit/twai_receive directly
- Add IS_ESP32_TWAI option to SineWaveCAN example
- Add esp32 PlatformIO target
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Pending desk test.
Comment threadexamples/SineWaveCAN/SineWaveCAN.ino
Outdated

Comment threadsrc/ODriveESP32TWAI.hpp
Outdated

 twai_message_t tx_msg = {};
 tx_msg.identifier = id;
 tx_msg.data_length_code = length;
 tx_msg.extd = (id > 0x7FF) ? 1 : 0;
@samuelsadoksamuelsadokJan 7, 2026

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The existing drivers use id & 0x80000000 as the extended-id flag, so we should do the same here.
Comment threadsrc/ODriveESP32TWAI.hpp
Outdated

Comment threadplatformio.ini
@samuelsadoksamuelsadok
mentioned this pull request
Jan 7, 2026
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@samuelsadok Desk tested OK w/ ESP32-WROOM-32 devkit + SN65HVD230 breakout. Hit your comments. Should be good to merge if all looks good to you. Only possible change is moving the TWAI setup code (namely the large case/switch statement) to ODriveESP32TWAI.hpp to reduce visual noise in SineWaveCAN.ino
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ok looks good to me.
The setupCan() is a bit of visual noise, that is true, but that is also true for the larger section that does the hardware setup. The thing is that it's quite board dependent, so it can't be straight-up in a library header (you could even have multiple CAN interfaces, so you can't just make simple GPIO/baudrate defines before the library include).
What you could do, is just move the generic portion (the switch statement) over to a helper function in the header. Up to you if you want to do that in this PR.
Long term maybe we'll start putting each of these sections in its separate board header that users can copy and adapt for their board.
@solomondg
solomondg
merged commit 4ea6242
into
masterJan 24, 2026

4 checks passed

@samuelsadok
samuelsadok
deleted the

esp32-twai-support

branch
January 26, 2026 12:20
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, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Universal Dark Mode - works on any site\n(function() {\n var enabled = true;\n \n function applyDarkMode() {\n if (!enabled) return;\n \n // Create style element if it doesn't exist\n var style = document.getElementById('universal-dark-mode-style');\n if (!style) {\n style = document.createElement('style');\n style.id = 'universal-dark-mode-style';\n document.head.appendChild(style);\n }\n \n // Dark mode CSS - inverts colors but preserves images/video\n style.textContent = '\n /* Invert everything except media */\n html {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #1a1a2e !important;\n }\n \n /* Restore images, videos, iframes, canvas */\n img, video, iframe, canvas, svg, picture, [style*=\"background-image\"] {\n filter: invert(1) hue-rotate(180deg) !important;\n }\n \n /* Preserve specific elements that should not be inverted */\n .no-dark-mode, .no-dark-mode *,\n [data-theme=\"light\"], [data-theme=\"light\"],\n .ace_editor, .ace_editor *,\n .CodeMirror, .CodeMirror *,\n .monaco-editor, .monaco-editor *,\n .markdown-body pre, .markdown-body pre *,\n .highlight, .highlight *,\n pre code, pre code * {\n filter: none !important;\n }\n \n /* Fix common UI elements */\n .modal, .popup, .dropdown-menu, .tooltip, .popover {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #2d2d44 !important;\n border-color: #444 !important;\n }\n \n /* Scrollbars */\n ::-webkit-scrollbar { background: #1a1a2e !important; }\n ::-webkit-scrollbar-thumb { background: #444 !important; }\n ::-webkit-scrollbar-thumb:hover { background: #555 !important; }\n \n /* Selection */\n ::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ';\n }\n \n function removeDarkMode() {\n var style = document.getElementById('universal-dark-mode-style');\n if (style) style.remove();\n }\n \n // Toggle with Alt+Shift+D\n document.addEventListener('keydown', function(e) {\n if (e.altKey && e.shiftKey && e.key === 'D') {\n e.preventDefault();\n enabled = !enabled;\n if (enabled) {\n applyDarkMode();\n console.log('[Universal Dark Mode] Enabled');\n } else {\n removeDarkMode();\n console.log('[Universal Dark Mode] Disabled');\n }\n }\n });\n \n // Apply on load\n applyDarkMode();\n \n // Re-apply on dynamic content\n var observer = new MutationObserver(function(mutations) {\n if (enabled && !document.getElementById('universal-dark-mode-style')) {\n applyDarkMode();\n }\n });\n observer.observe(document.head, { childList: true });\n \n console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');\n})();", "Universal Dark Mode");
}
} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();

Skip to content
Add support for ESP32 boards using the native TWAI (CAN) driver. - #20
Merged
solomondg merged 4 commits into
masterfrom 
esp32-twai-support
Jan 24, 2026
Merged
Add support for ESP32 boards using the native TWAI (CAN) driver.#20
solomondg merged 4 commits into
masterfrom 
esp32-twai-support
Conversation
@solomondg
@solomondgsolomondg
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Jan 6, 2026

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Changes:
  • Add ODriveESP32TWAI.hpp interface
  • Add IS_ESP32_TWAI option to SineWaveCAN example
  • Add esp32 PlatformIO target
This PR supersedes #11 .
Not tested yet - will desk test ASAP.
@solomondg
Add support for ESP32 boards using the native TWAI (CAN) driver.
da8960b
Changes:
- Add ODriveESP32TWAI.hpp interface that calls twai_transmit/twai_receive directly
- Add IS_ESP32_TWAI option to SineWaveCAN example
- Add esp32 PlatformIO target
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Jan 6, 2026•

edited

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Pending desk test.
Comment threadexamples/SineWaveCAN/SineWaveCAN.ino
Outdated

Comment threadsrc/ODriveESP32TWAI.hpp
Outdated

 twai_message_t tx_msg = {};
 tx_msg.identifier = id;
 tx_msg.data_length_code = length;
 tx_msg.extd = (id > 0x7FF) ? 1 : 0;
@samuelsadoksamuelsadokJan 7, 2026

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The existing drivers use id & 0x80000000 as the extended-id flag, so we should do the same here.
Comment threadsrc/ODriveESP32TWAI.hpp
Outdated

Comment threadplatformio.ini
@samuelsadoksamuelsadok
mentioned this pull request
Jan 7, 2026
 Closed

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@samuelsadok Desk tested OK w/ ESP32-WROOM-32 devkit + SN65HVD230 breakout. Hit your comments. Should be good to merge if all looks good to you. Only possible change is moving the TWAI setup code (namely the large case/switch statement) to ODriveESP32TWAI.hpp to reduce visual noise in SineWaveCAN.ino
samuelsadok
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ok looks good to me.
The setupCan() is a bit of visual noise, that is true, but that is also true for the larger section that does the hardware setup. The thing is that it's quite board dependent, so it can't be straight-up in a library header (you could even have multiple CAN interfaces, so you can't just make simple GPIO/baudrate defines before the library include).
What you could do, is just move the generic portion (the switch statement) over to a helper function in the header. Up to you if you want to do that in this PR.
Long term maybe we'll start putting each of these sections in its separate board header that users can copy and adapt for their board.
@solomondg
solomondg
merged commit 4ea6242
into
masterJan 24, 2026

4 checks passed

@samuelsadok
samuelsadok
deleted the

esp32-twai-support

branch
January 26, 2026 12:20
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