Adds a CAN driver for arduino-esp32 that is based on the vanilla TWAI APIs (#854)

- Adds a new Arduino driver Esp32Can.hxx, which utilizes the TWAI driver instead of the low-level HAL driver. This should work better across different IDF versions, as the API is simpler and more stable.
- The driver is a vanilla implementation of the available(), availableForRead(), read() and write() functions.
- Updates all arduino examples, ripping out TWAI references.  

===

* Add Esp32Can driver and update example for testing

This commit introduces a new CAN driver implementation for the ESP32, named `Esp32Can`. This driver uses the ESP-IDF TWAI peripheral directly, providing a non-blocking interface that is consistent with other Arduino-style CAN drivers in the project, such as `FeatherM4Can`.

The `Esp32Can` class inherits from `openmrn_arduino::Can` and implements the `available()`, `availableForWrite()`, `read()`, and `write()` methods. The driver is configured for a 125 kbit/s bus speed.

To facilitate testing, the `CanLoadTest.ino` example under `arduino/examples/ESP32` has been modified to use the new `Esp32Can` driver. This allows for direct testing of the new implementation in a practical application.

* Add Esp32Can driver and update example for testing

This commit introduces a new CAN driver implementation for the ESP32, named `Esp32Can`. This driver uses the ESP-IDF TWAI peripheral directly, providing a non-blocking interface that is consistent with other Arduino-style CAN drivers in the project, such as `FeatherM4Can`.

The `Esp32Can` class inherits from `openmrn_arduino::Can` and implements the `available()`, `availableForWrite()`, `read()`, and `write()` methods. The driver is configured for a 125 kbit/s bus speed.

To facilitate testing, the `CanLoadTest.ino` example under `arduino/examples/ESP32` has been modified to use the new `Esp32Can` driver. This allows for direct testing of the new implementation in a practical application.

* Fixes some compile errors.

* Update includes and adds another guard.

* I've refactored the ESP32 IOBoard example to align with the CanLoadTest.

This change updates the `arduino/examples/ESP32/IOBoard` example to follow the same patterns and conventions as the `CanLoadTest` example.

The key changes are:
- Replaced the `Esp32HardwareTwai` driver with the `Esp32Can` driver for CAN bus communication.
- Replaced the `USE_TWAI` and `USE_TWAI_ASYNC` macros with a single `USE_CAN` macro.
- Updated the configuration in `config.h` to reflect the driver change and incremented the canonical version to ensure configuration is re-evaluated.

* Update esp32c3 and esp32s2 examples as well.

* Also update WifiCanBridge.

* Updates comments.

* Update arduino library version.

* Fix missing include in mdns that causes compile errors.

* Adds recovery.

* fix local variable's style.

---------

Co-authored-by: google-labs-jules[bot] <161369871+google-labs-jules[bot]@users.noreply.github.com>

Author: balazsracz

arduino/OpenMRNLite.h

@@ -75,17 +75,8 @@ constexpr UBaseType_t OPENMRN_TASK_PRIORITY = ESP_TASK_TCPIP_PRIO - 1;
 // ESP32-H2 and ESP32-C2 do not have a built-in TWAI controller.
 #if !defined(CONFIG_IDF_TARGET_ESP32H2) && !defined(CONFIG_IDF_TARGET_ESP32C2)
 
-// If we are using ESP-IDF v4.3 (or later) enable the usage of the TWAI device
-// which allows usage of the filesystem based CAN interface methods.
-#include "freertos_drivers/esp32/Esp32HardwareTwai.hxx"
-#define HAVE_CAN_FS_DEVICE
-
-// The ESP-IDF VFS layer has an optional wrapper around the select() interface
-// when disabled we can not use select() for the CAN/TWAI driver. Normally this
-// is enabled for arduino-esp32.
-#if CONFIG_VFS_SUPPORT_SELECT
-#define HAVE_CAN_FS_SELECT
-#endif
+// If we are using ESP-IDF v4.3 (or later) enable the usage of the TWAI device.
+#include "freertos_drivers/esp32/Esp32Can.hxx"
 
 #endif // NOT ESP32-H2 and NOT ESP32-C2
 

arduino/examples/ESP32/CanLoadTest/CanLoadTest.ino

@@ -46,31 +46,18 @@
 
 
 // Pick an operating mode below, if you select USE_WIFI it will expose this
-// node on WIFI. If USE_TWAI / USE_TWAI_ASYNC are enabled the node
-// will be available on CAN.
+// node on WIFI. If USE_CAN is enabled the node will be available on CAN.
 //
 // Enabling both options will allow the ESP32 to be accessible from
-// both WiFi and TWAI interfaces.
+// both WiFi and CAN interfaces.
 
-#define USE_WIFI
-//#define USE_TWAI
-//#define USE_TWAI_ASYNC
+//#define USE_WIFI
+#define USE_CAN
 
 // uncomment the line below to have all packets printed to the Serial
 // output. This is not recommended for production deployment.
 //#define PRINT_PACKETS
 
-// Configuration option validation
-
-// If USE_TWAI_ASYNC is enabled but USE_TWAI is not, enable USE_TWAI.
-#if defined(USE_TWAI_ASYNC) && !defined(USE_TWAI)
-#define USE_TWAI
-#endif // USE_TWAI_ASYNC && !USE_TWAI
-
-#if defined(USE_TWAI) && ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(4,3,0)
-#error Esp32HardwareTwai is not supported on this version of arduino-esp32.
-#endif // USE_TWAI && IDF < v4.3
-
 #include "config.h"
 
 /// This is the node id to assign to this device, this must be unique
@@ -110,7 +97,7 @@ OVERRIDE_CONST(gridconnect_bridge_max_outgoing_packets, 2);
 
 #endif // USE_WIFI
 
-#if defined(USE_TWAI)
+#if defined(USE_CAN)
 /// This is the ESP32 pin connected to the SN65HVD23x/MCP2551 R (RX) pin.
 /// Recommended pins: 4, 16, 21.
 /// Note: Any pin can be used for this other than 6-11 which are connected to
@@ -126,8 +113,7 @@ constexpr gpio_num_t CAN_RX_PIN = GPIO_NUM_4;
 /// Note: If you are using a pin other than 5 you will likely need to adjust
 /// the GPIO pin definitions for the outputs.
 constexpr gpio_num_t CAN_TX_PIN = GPIO_NUM_5;
-
-#endif // USE_TWAI
+#endif // USE_CAN
 
 /// This is the primary entrypoint for the OpenMRN/LCC stack.
 OpenMRN openmrn(NODE_ID);
@@ -146,9 +132,9 @@ static constexpr openlcb::ConfigDef cfg(0);
 Esp32WiFiManager wifi_mgr(ssid, password, openmrn.stack(), cfg.seg().wifi());
 #endif // USE_WIFI
 
-#if defined(USE_TWAI)
-Esp32HardwareTwai twai(CAN_RX_PIN, CAN_TX_PIN);
-#endif // USE_TWAI
+#if defined(USE_CAN)
+Esp32Can can_driver(CAN_TX_PIN, CAN_RX_PIN);
+#endif // USE_CAN
 
 class FactoryResetHelper : public DefaultConfigUpdateListener {
 public:
@@ -245,10 +231,11 @@ void setup()
     openmrn.stack()->create_config_file_if_needed(cfg.seg().internal_config(),
         openlcb::CANONICAL_VERSION, openlcb::CONFIG_FILE_SIZE);
 
-#if defined(USE_TWAI)
-    twai.hw_init();
-#endif // USE_TWAI
-
+#if defined(USE_CAN)
+    can_driver.begin();
+    openmrn.add_can_port(&can_driver);
+#endif // USE_CAN
+    
     // Start the OpenMRN stack
     openmrn.begin();
     openmrn.start_executor_thread();
@@ -260,14 +247,6 @@ void setup()
     // have performance impact.
     openmrn.stack()->print_all_packets();
 #endif // PRINT_PACKETS
-
-#if defined(USE_TWAI_ASYNC)
-    // add TWAI driver with non-blocking usage
-    openmrn.add_can_port_async("/dev/twai/twai0");
-#elif defined(USE_TWAI)
-    // add TWAI driver with select() usage
-    openmrn.add_can_port_select("/dev/twai/twai0");
-#endif // USE_TWAI_ASYNC / USE_TWAI
 }
 
 void loop()

arduino/examples/ESP32/CanLoadTest/config.h

@@ -9,8 +9,8 @@
 #include "freertos_drivers/esp32/Esp32WiFiConfiguration.hxx"
 
 // catch invalid configuration at compile time
-#if !defined(USE_TWAI) && !defined(USE_WIFI)
-#error "Invalid configuration detected, USE_TWAI or USE_WIFI must be defined."
+#if !defined(USE_CAN) && !defined(USE_WIFI)
+#error "Invalid configuration detected, USE_CAN or USE_WIFI must be defined."
 #endif
 
 namespace openlcb
@@ -32,11 +32,11 @@ namespace openlcb
 extern const SimpleNodeStaticValues SNIP_STATIC_DATA = {
     4,
     "OpenMRN",
-#if defined(USE_WIFI) && !defined(USE_TWAI)
+#if defined(USE_WIFI) && !defined(USE_CAN)
     "Arduino IO Board (WiFi)",
-#elif defined(USE_TWAI) && !defined(USE_WIFI)
+#elif defined(USE_CAN) && !defined(USE_WIFI)
     "Arduino IO Board (CAN)",
-#elif defined(USE_TWAI) && defined(USE_WIFI)
+#elif defined(USE_CAN) && defined(USE_WIFI)
     "Arduino IO Board (WiFi/CAN)",
 #else
     "Arduino IO Board",

arduino/examples/ESP32/IOBoard/IOBoard.ino

@@ -42,15 +42,13 @@
 #include "utils/GpioInitializer.hxx"
 
 // Pick an operating mode below, if you select USE_WIFI it will expose this
-// node on WIFI. If USE_TWAI / USE_TWAI_ASYNC are enabled the node
-// will be available on CAN.
+// node on WIFI. If USE_CAN is enabled the node will be available on CAN.
 //
 // Enabling both options will allow the ESP32 to be accessible from
 // both WiFi and CAN interfaces.
 
 #define USE_WIFI
-#define USE_TWAI
-//#define USE_TWAI_ASYNC
+#define USE_CAN
 
 // uncomment the line below to have all packets printed to the Serial
 // output. This is not recommended for production deployment.
@@ -63,7 +61,7 @@
 //#define FACTORY_RESET_GPIO_PIN 22
 
 // Uncomment FIRMWARE_UPDATE_BOOTLOADER to enable the bootloader feature when
-// using the TWAI device.
+// using the CAN device.
 //
 // Since many ESP32 DevKit boards do not have an on-board LED, there are no
 // LED indicators enabled by default. If indicator LEDs are desired they can be
@@ -74,12 +72,8 @@
 // the Arduino IDE.
 //#define FIRMWARE_UPDATE_BOOTLOADER
 
-#if defined(USE_TWAI_ASYNC) && !defined(USE_TWAI)
-#define USE_TWAI
-#endif // USE_TWAI_ASYNC && !USE_TWAI
-
-#if defined(FIRMWARE_UPDATE_BOOTLOADER) && !defined(USE_TWAI)
-#error FIRMWARE_UPDATE_BOOTLOADER requires USE_TWAI or USE_TWAI_SELECT.
+#if defined(FIRMWARE_UPDATE_BOOTLOADER) && !defined(USE_CAN)
+#error FIRMWARE_UPDATE_BOOTLOADER requires USE_CAN.
 #endif
 
 #include "config.h"
@@ -118,7 +112,7 @@ const char *hostname = "esp32mrn";
 
 #endif // USE_WIFI
 
-#if defined(USE_TWAI)
+#if defined(USE_CAN)
 /// This is the ESP32 pin connected to the SN65HVD23x/MCP2551 R (RX) pin.
 /// Recommended pins: 4, 16, 21.
 /// Note: Any pin can be used for this other than 6-11 which are connected to
@@ -135,7 +129,7 @@ constexpr gpio_num_t CAN_RX_PIN = GPIO_NUM_4;
 /// the GPIO pin definitions for the outputs.
 constexpr gpio_num_t CAN_TX_PIN = GPIO_NUM_5;
 
-#endif // USE_TWAI
+#endif // USE_CAN
 
 #if defined(FIRMWARE_UPDATE_BOOTLOADER)
 // Include the Bootloader HAL implementation for the ESP32. This should only
@@ -160,9 +154,9 @@ static constexpr openlcb::ConfigDef cfg(0);
 Esp32WiFiManager wifi_mgr(ssid, password, openmrn.stack(), cfg.seg().wifi());
 #endif // USE_WIFI
 
-#if defined(USE_TWAI)
-Esp32HardwareTwai twai(CAN_RX_PIN, CAN_TX_PIN);
-#endif // USE_TWAI
+#if defined(USE_CAN)
+Esp32Can can_driver(CAN_TX_PIN, CAN_RX_PIN);
+#endif // USE_CAN
 
 // Declare output pins
 // NOTE: pins 6-11 are connected to the onboard flash and can not be used for
@@ -327,6 +321,9 @@ void check_for_factory_reset()
 
 void setup()
 {
+#ifdef USE_WIFI
+    //wifi_mgr.enable_verbose_logging();
+#endif
     Serial.begin(115200L);
     uint8_t reset_reason = Esp32SocInfo::print_soc_info();
     LOG(INFO, "[Node] ID: %s", uint64_to_string_hex(NODE_ID).c_str());
@@ -363,17 +360,13 @@ void setup()
     // before we startup the OpenMRN stack.
     if (request_bootloader())
     {
-        esp32_bootloader_run(NODE_ID, TWAI_RX_PIN, TWAI_TX_PIN);
+        esp32_bootloader_run(NODE_ID, CAN_RX_PIN, CAN_TX_PIN);
         // This line should not be reached as the esp32_bootloader_run method
         // will not return by default.
         HASSERT(false);
     }
 #endif // FIRMWARE_UPDATE_BOOTLOADER
 
-#if defined(USE_TWAI)
-    twai.hw_init();
-#endif // USE_TWAI
-
     check_for_factory_reset();
 
     // Create the CDI.xml dynamically
@@ -383,6 +376,11 @@ void setup()
     openmrn.stack()->create_config_file_if_needed(cfg.seg().internal_config(),
         openlcb::CANONICAL_VERSION, openlcb::CONFIG_FILE_SIZE);
 
+#if defined(USE_CAN)
+    can_driver.begin();
+    openmrn.add_can_port(&can_driver);
+#endif // USE_CAN
+
     // Start the OpenMRN stack
     openmrn.begin();
     if (reset_reason == RTCWDT_BROWN_OUT_RESET)
@@ -399,12 +397,6 @@ void setup()
     openmrn.stack()->print_all_packets();
 #endif // PRINT_PACKETS
 
-#if defined(USE_TWAI_ASYNC)
-    openmrn.add_can_port_async("/dev/twai/twai0");
-#elif defined(USE_TWAI)
-    openmrn.add_can_port_select("/dev/twai/twai0");
-#endif // USE_TWAI_ASYNC
-
     openmrn.start_executor_thread();
 }
 

arduino/examples/ESP32/IOBoard/config.h

@@ -9,8 +9,8 @@
 #include "freertos_drivers/esp32/Esp32WiFiConfiguration.hxx"
 
 // catch invalid configuration at compile time
-#if !defined(USE_TWAI) && !defined(USE_WIFI)
-#error "Invalid configuration detected, USE_TWAI or USE_WIFI must be defined."
+#if !defined(USE_CAN) && !defined(USE_WIFI)
+#error "Invalid configuration detected, USE_CAN or USE_WIFI must be defined."
 #endif
 
 namespace openlcb
@@ -32,12 +32,12 @@ namespace openlcb
 extern const SimpleNodeStaticValues SNIP_STATIC_DATA = {
     4,
     "OpenMRN",
-#if defined(USE_WIFI) && !defined(USE_TWAI)
+#if defined(USE_WIFI) && !defined(USE_CAN)
     "Arduino IO Board (WiFi)",
-#elif defined(USE_TWAI) && !defined(USE_WIFI)
-    "Arduino IO Board (TWAI)",
-#elif defined(USE_TWAI) && defined(USE_WIFI)
-    "Arduino IO Board (WiFi/TWAI)",
+#elif defined(USE_CAN) && !defined(USE_WIFI)
+    "Arduino IO Board (CAN)",
+#elif defined(USE_CAN) && defined(USE_WIFI)
+    "Arduino IO Board (WiFi/CAN)",
 #else
     "Arduino IO Board",
 #endif
@@ -56,7 +56,7 @@ using AllProducers = RepeatedGroup<ProducerConfig, NUM_INPUTS>;
 
 /// Modify this value every time the EEPROM needs to be cleared on the node
 /// after an update.
-static constexpr uint16_t CANONICAL_VERSION = 0x100a;
+static constexpr uint16_t CANONICAL_VERSION = 0x100b;
 
 /// Defines the main segment in the configuration CDI. This is laid out at
 /// origin 128 to give space for the ACDI user data at the beginning.

arduino/examples/ESP32/WifiCanBridge/WifiCanBridge.ino

@@ -106,8 +106,8 @@ static constexpr openlcb::ConfigDef cfg(0);
 
 Esp32WiFiManager wifi_mgr(ssid, password, openmrn.stack(), cfg.seg().wifi());
 
-// @ref Esp32HardwareTwai instance to use for this node.
-static Esp32HardwareTwai twai(CAN_RX_PIN, CAN_TX_PIN);
+// @ref Esp32Can instance to use for this node.
+static Esp32Can can_driver(CAN_TX_PIN, CAN_RX_PIN);
 
 class FactoryResetHelper : public DefaultConfigUpdateListener
 {
@@ -172,10 +172,10 @@ void setup()
     openmrn.stack()->create_config_file_if_needed(cfg.seg().internal_config(),
         openlcb::CANONICAL_VERSION, openlcb::CONFIG_FILE_SIZE);
 
-    // Initialize the TWAI peripheral
-    twai.hw_init();
-    // Add TWAI port to the stack
-    openmrn.add_can_port_select("/dev/twai/twai0");
+    // Initialize the CAN peripheral
+    can_driver.begin();
+    // Add CAN port to the stack
+    openmrn.add_can_port(&can_driver);
 
     // Start the OpenMRN stack
     openmrn.begin();

arduino/examples/ESP32/WifiCanBridge/config.h

@@ -33,7 +33,7 @@ extern const SimpleNodeStaticValues SNIP_STATIC_DATA = {
 
 /// Modify this value every time the EEPROM needs to be cleared on the node
 /// after an update.
-static constexpr uint16_t CANONICAL_VERSION = 0x1008;
+static constexpr uint16_t CANONICAL_VERSION = 0x1009;
 
 /// Defines the main segment in the configuration CDI. This is laid out at
 /// origin 128 to give space for the ACDI user data at the beginning.