feat(can_open_node): Added canopen protocol for twai driver (IEC-500) by wanckl · Pull Request #704 · espressif/idf-extra-components

wanckl · 2026-03-17T06:39:53Z

Checklist

Component contains License
Component contains README.md
Component contains idf_component.yml file with url field defined
Component was added to upload job
Component was added to build job
Optional: Component contains unit tests
CI passing

Change description

Please describe your change here

CLAassistant · 2026-03-17T06:40:03Z

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Copilot

Pull request overview

Adds an ESP-IDF component that integrates CANopenNode with the ESP32 TWAI driver and provides initial target/driver scaffolding.

Changes:

Introduces ESP32 target definitions (CO_driver_target.h) and a TWAI-backed CANopenNode driver (CO_driver_esp32.c)
Adds component metadata/build configuration (idf_component.yml, CMakeLists.txt) and initial documentation/license
Adds CANopenNode as a git submodule

Reviewed changes

Copilot reviewed 8 out of 8 changed files in this pull request and generated 11 comments.

Show a summary per file

File	Description
esp_canopennode/src/CO_driver_target.h	ESP32/CANopenNode target types, macros, and synchronization placeholders
esp_canopennode/src/CO_driver_esp32.c	TWAI receive callback + CANopenNode CAN module init/send APIs
esp_canopennode/idf_component.yml	Component registry metadata and ESP-IDF dependency constraint
esp_canopennode/README.md	Component overview and placeholder quick start
esp_canopennode/LICENSE	Apache-2.0 license file
esp_canopennode/CMakeLists.txt	Component build wiring + CANopenNode sources inclusion
esp_canopennode/CANopenNode	Adds CANopenNode submodule pointer
.gitmodules	Registers CANopenNode submodule

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esp_canopennode/src/CO_driver_esp32.c

canopennode/src/CO_driver_esp32.c

esp_canopennode/src/CO_driver_esp32.c

esp_canopennode/src/CO_driver_target.h

.gitmodules

esp_canopennode/README.md

esp_canopennode/LICENSE

esp_canopennode/idf_component.yml

canopennode/CMakeLists.txt

wanckl · 2026-04-02T09:22:25Z

@CLAassistant ?

canopennode/src/CO_driver_esp32.c

+
+    // Try to transmit immediately. If failed, queue the frame in the CANopenNode
+    // software buffer for later retry by CO_CANmodule_process.
+    printf("CO Sending %lx [%d]\n", buffer->tx_frame.header.id, buffer->tx_frame.header.dlc);


…driver Supports: NMT_Heartbeat, Emergency, OD

Copilot

Pull request overview

This PR introduces a new canopennode ESP-IDF extra component which integrates the upstream CANopenNode stack (via submodule) with the ESP TWAI driver, and adds a minimal heartbeat example plus component metadata/CI wiring needed for publishing.

Changes:

Added an ESP-IDF/TWAI-specific CANopenNode driver target header and ESP32 driver implementation.
Added a heartbeat example project (generated OD files + app) and basic component scaffolding (LICENSE/README/Kconfig/SBOM/manifest).
Registered the new component in repo automation/configuration (submodule + upload workflow + issue template component list).

Reviewed changes

Copilot reviewed 21 out of 21 changed files in this pull request and generated 11 comments.

Show a summary per file

File	Description
`canopennode/src/CO_driver_target.h`	Adds ESP-IDF/TWAI target types/macros and locking primitives for CANopenNode.
`canopennode/src/CO_driver_esp32.c`	Implements CAN module init, RX callbacks, TX buffering/sending, and processing hooks on top of TWAI.
`canopennode/sbom_canopennode.yml`	Adds SBOM metadata for the upstream CANopenNode dependency.
`canopennode/idf_component.yml`	Adds component manifest (version/IDF dependency/SBOM).
`canopennode/examples/heartbeat/main/idf_component.yml`	Adds example manifest and dependency on the new component.
`canopennode/examples/heartbeat/main/canopen_heartbeat.h`	Adds (currently minimal) example header scaffold.
`canopennode/examples/heartbeat/main/canopen_heartbeat.c`	Adds heartbeat demo app using TWAI on-chip node + CANopenNode init/process loop.
`canopennode/examples/heartbeat/main/OD.xpd`	Adds CANopenEditor project export for the example OD.
`canopennode/examples/heartbeat/main/OD.h`	Adds generated Object Dictionary header for the example.
`canopennode/examples/heartbeat/main/OD.c`	Adds generated Object Dictionary implementation for the example.
`canopennode/examples/heartbeat/main/CMakeLists.txt`	Adds example “main” component build definition.
`canopennode/examples/heartbeat/README.md`	Adds short description of the heartbeat example.
`canopennode/examples/heartbeat/CMakeLists.txt`	Adds top-level example project build file.
`canopennode/README.md`	Adds top-level component README stub.
`canopennode/LICENSE`	Adds Apache-2.0 license file for the component.
`canopennode/Kconfig`	Adds Kconfig option for OD build mode selection.
`canopennode/CMakeLists.txt`	Adds component build definition linking CANopenNode sources + TWAI dependency.
`.gitmodules`	Adds CANopenNode upstream as a git submodule under `canopennode/CANopenNode`.
`.github/workflows/upload_component.yml`	Adds `canopennode` to the upload workflow component list.
`.github/ISSUE_TEMPLATE/bug-report.yml`	Adds `canopennode` to the bug report component dropdown.

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Copilot · 2026-04-14T11:02:20Z

canopennode/src/CO_driver_esp32.c

+    ESP_LOGI(TAG, "CO Sending %lx [%d]", buffer->tx_frame.header.id, buffer->tx_frame.header.dlc);
+    _lock_acquire(&CANmodule->tx_mutex);
+    if (ESP_OK != twai_node_transmit((twai_node_handle_t)CANmodule->CANptr, &buffer->tx_frame, 0U)) {
+        if (!buffer->bufferFull) {
+            CANmodule->CANtxCount++;
+        }
+        buffer->bufferFull = true;
+        return CO_ERROR_TX_BUSY;
+    }


CO_CANsend acquires tx_mutex, but on transmit failure it returns CO_ERROR_TX_BUSY without releasing the lock. This will deadlock all subsequent sends/processing that tries to take tx_mutex. Ensure the mutex is released on all return paths (e.g., release before returning or use a single exit path).

Copilot · 2026-04-14T11:02:21Z

canopennode/examples/heartbeat/main/canopen_heartbeat.c

+    ESP_ERROR_CHECK(twai_new_node_onchip(&node_config, &node_hdl));
+
+    CO = CO_new(NULL, NULL);
+    CO_CANinit(CO, node_hdl, 500);


The example configures the TWAI bitrate to 200000, but passes 500 to CO_CANinit. Since the driver ignores CANbitRate, this mismatch is confusing and can lead to incorrect expectations when copying the example. Make these values consistent (either configure TWAI to 500000 or pass 200 (or whatever unit CO_CANinit expects)).

Suggested change

CO_CANinit(CO, node_hdl, 500);

CO_CANinit(CO, node_hdl, 200);

Copilot · 2026-04-14T11:02:21Z

canopennode/idf_component.yml

+version: "0.1.0"
+description: CANopenNode protocol implementation for ESP-IDF
+dependencies:
+  idf: ">=6.1.0"
+sbom:
+  manifests:
+    - path: sbom_canopennode.yml
+      dest: CANopenNode


The component manifest is missing the url field (and also lacks repository/issues fields that other components in this repo typically provide). This breaks consistency with the repository’s component manifests and the PR checklist item requiring url. Add url (and consider adding repository/issues as done in other components).

Copilot · 2026-04-14T11:02:21Z

canopennode/src/CO_driver_target.h

+static __attribute__((__unused__)) portMUX_TYPE co_can_lock = portMUX_INITIALIZER_UNLOCKED;
+#define CO_LOCK_CAN_SEND(CAN_MODULE)   portENTER_CRITICAL(&co_can_lock)
+#define CO_UNLOCK_CAN_SEND(CAN_MODULE) portEXIT_CRITICAL(&co_can_lock)
+#define CO_LOCK_EMCY(CAN_MODULE)       portENTER_CRITICAL(&co_can_lock)
+#define CO_UNLOCK_EMCY(CAN_MODULE)     portEXIT_CRITICAL(&co_can_lock)
+#define CO_LOCK_OD(CAN_MODULE)         portENTER_CRITICAL(&co_can_lock)
+#define CO_UNLOCK_OD(CAN_MODULE)       portEXIT_CRITICAL(&co_can_lock)


co_can_lock is defined as a static variable in a header. Any source file including this header will get its own separate lock instance, so CO_LOCK_* macros won’t actually synchronize across translation units (and can lead to race conditions between stack modules). Move the lock definition into a single C file and declare it extern in the header, or change the macros to lock a per-module lock inside CO_CANmodule_t.

Suggested change

static __attribute__((__unused__)) portMUX_TYPE co_can_lock = portMUX_INITIALIZER_UNLOCKED;

#define CO_LOCK_CAN_SEND(CAN_MODULE) portENTER_CRITICAL(&co_can_lock)

#define CO_UNLOCK_CAN_SEND(CAN_MODULE) portEXIT_CRITICAL(&co_can_lock)

#define CO_LOCK_EMCY(CAN_MODULE) portENTER_CRITICAL(&co_can_lock)

#define CO_UNLOCK_EMCY(CAN_MODULE) portEXIT_CRITICAL(&co_can_lock)

#define CO_LOCK_OD(CAN_MODULE) portENTER_CRITICAL(&co_can_lock)

#define CO_UNLOCK_OD(CAN_MODULE) portEXIT_CRITICAL(&co_can_lock)

#define CO_LOCK_CAN_SEND(CAN_MODULE) portENTER_CRITICAL(&((CAN_MODULE)->state_lock))

#define CO_UNLOCK_CAN_SEND(CAN_MODULE) portEXIT_CRITICAL(&((CAN_MODULE)->state_lock))

#define CO_LOCK_EMCY(CAN_MODULE) portENTER_CRITICAL(&((CAN_MODULE)->state_lock))

#define CO_UNLOCK_EMCY(CAN_MODULE) portEXIT_CRITICAL(&((CAN_MODULE)->state_lock))

#define CO_LOCK_OD(CAN_MODULE) portENTER_CRITICAL(&((CAN_MODULE)->state_lock))

#define CO_UNLOCK_OD(CAN_MODULE) portEXIT_CRITICAL(&((CAN_MODULE)->state_lock))

Copilot · 2026-04-14T11:02:21Z

canopennode/src/CO_driver_target.h

+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/portmacro.h"
+#include "esp_twai.h"
+


CO_CANmodule_t uses _lock_t, but this header doesn’t include <sys/lock.h> (where _lock_t is typically defined). This can cause build failures depending on include order. Include the defining header explicitly to make the type available.

Copilot · 2026-04-14T11:02:22Z

canopennode/src/CO_driver_esp32.c

+    buffer->CANrx_callback = CANrx_callback;
+    buffer->ident = (ident & TWAI_STD_ID_MASK) | (rtr ? CO_ID_FLAG_RTR : 0U);
+    buffer->mask = (mask & TWAI_STD_ID_MASK) | CO_ID_FLAG_RTR;
+    return ESP_OK;


CO_CANrxBufferInit returns ESP_OK, but the function’s return type is CO_ReturnError_t. Even if the numeric value matches today, it mixes error domains and is brittle. Return the appropriate CANopenNode status (e.g., CO_ERROR_NO) instead.

Suggested change

return ESP_OK;

return CO_ERROR_NO;

Copilot · 2026-04-14T11:02:22Z

canopennode/examples/heartbeat/main/idf_component.yml

+## IDF Component Manager Manifest File
+dependencies:
+  idf:
+    version: ">=5.5.4"


The example’s idf_component.yml declares idf: ">=5.5.4", but the canopennode component manifest requires idf: ">=6.1.0". This will allow users to try building the example on unsupported IDF versions. Align the example’s minimum IDF version with the component’s requirement.

Suggested change

version: ">=5.5.4"

version: ">=6.1.0"

Copilot · 2026-04-14T11:02:22Z

canopennode/Kconfig

+        bool "Use custom OD.c/h (object directory) files"
+        default false
+        help
+            No help
+


Kconfig prompt says "object directory" (should be "object dictionary" in CANopen terminology) and the help text is a placeholder ("No help"). Update the prompt/help so users understand what enabling CO_MULTIPLE_OD changes and how OD.c/h are expected to be provided.

Suggested change

bool "Use custom OD.c/h (object directory) files"

default false

help

No help

bool "Use custom OD.c/h (object dictionary) files"

default false

help

Enable support for using application-specific CANopen object

dictionary files (OD.c/OD.h) instead of a single default OD.

When this option is enabled, the application or build system

must provide the appropriate OD.c and OD.h files for each

configuration that is built.

Copilot · 2026-04-14T11:02:23Z

canopennode/examples/heartbeat/main/CMakeLists.txt

@@ -0,0 +1,5 @@
+idf_component_register(
+    SRCS "canopen_heartbeat.c" "OD.c"
+    REQUIRES 


idf_component_register has an empty REQUIRES section. Depending on how the argument parsing works, this can be confusing and may be mis-parsed. Remove the empty keyword or specify the actual required components for this example.

Suggested change

REQUIRES

Copilot · 2026-04-14T11:02:23Z

canopennode/src/CO_driver_esp32.c

+CO_ReturnError_t CO_CANsend(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer)
+{
+    ESP_RETURN_ON_FALSE(buffer, CO_ERROR_ILLEGAL_ARGUMENT, TAG, "CO_CANsend invalid args");
+
+    // Try to transmit immediately. If failed, queue the frame in the CANopenNode
+    // software buffer for later retry by CO_CANmodule_process.
+    ESP_LOGI(TAG, "CO Sending %lx [%d]", buffer->tx_frame.header.id, buffer->tx_frame.header.dlc);
+    _lock_acquire(&CANmodule->tx_mutex);
+    if (ESP_OK != twai_node_transmit((twai_node_handle_t)CANmodule->CANptr, &buffer->tx_frame, 0U)) {


CO_CANsend dereferences CANmodule (tx_mutex/CANptr/CANtxCount) but only validates buffer. If CANmodule is NULL (or CANmodule->CANptr is NULL), this will crash. Validate CANmodule (and CANptr) in the argument check the same way other APIs in this file do.

espressif-bot added the Status: Opened label Mar 17, 2026

github-actions bot changed the title ~~feat(can_open_node): Added canopen protocol for twai driver~~ feat(can_open_node): Added canopen protocol for twai driver (IEC-500) Mar 17, 2026

suda-morris requested review from Copilot and suda-morris March 17, 2026 06:58

Copilot AI reviewed Mar 17, 2026

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wanckl force-pushed the feat/twai_canopennode_support branch 3 times, most recently from 57b7b9a to be95521 Compare April 2, 2026 09:19

github-advanced-security bot found potential problems Apr 2, 2026

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feat(can_open_node): Added canopen protocol minimal support for twai …

42e4dc7

…driver Supports: NMT_Heartbeat, Emergency, OD

wanckl force-pushed the feat/twai_canopennode_support branch from be95521 to 42e4dc7 Compare April 8, 2026 08:25

suda-morris requested a review from Copilot April 14, 2026 10:57

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	CO_CANinit(CO, node_hdl, 500);
	CO_CANinit(CO, node_hdl, 200);

-        bool "Use custom OD.c/h (object directory) files"
-        default false
-        help
-            No help
+        bool "Use custom OD.c/h (object dictionary) files"
+        default false
+        help
+            Enable support for using application-specific CANopen object
+            dictionary files (OD.c/OD.h) instead of a single default OD.
+            When this option is enabled, the application or build system
+            must provide the appropriate OD.c and OD.h files for each
+            configuration that is built.

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wanckl commented Mar 17, 2026 •

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