ESP32_Arduino_CAN/examples/esp32can_mirror/esp32can_mirror.ino

#include <Arduino.h>
#include <ESP32CAN.h>
#include <CAN_config.h>

CAN_device_t CAN_cfg;                // CAN Config
const int rx_queue_size = 10;       // Receive Queue size

void setup() {
  Serial.begin(115200);
  Serial.println("Mirror Demo - ESP32-Arduino-CAN");
  CAN_cfg.speed = CAN_SPEED_125KBPS;
  CAN_cfg.tx_pin_id = GPIO_NUM_5;
  CAN_cfg.rx_pin_id = GPIO_NUM_4;
  CAN_cfg.rx_queue = xQueueCreate(rx_queue_size, sizeof(CAN_frame_t));
  // Init CAN Module
  ESP32Can.CANInit();
}

void loop() {
  CAN_frame_t rx_frame;
  //receive next CAN frame from queue
  if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE) {

    if (rx_frame.FIR.B.FF == CAN_frame_std) {
      printf("New standard frame");
    }
    else {
      printf("New extended frame");
    }

    if (rx_frame.FIR.B.RTR == CAN_RTR) {
      printf(" RTR from 0x%08X, DLC %d\r\n", rx_frame.MsgID,  rx_frame.FIR.B.DLC);
    }
    else {
      printf(" from 0x%08X, DLC %d, Data ", rx_frame.MsgID,  rx_frame.FIR.B.DLC);
      for (int i = 0; i < rx_frame.FIR.B.DLC; i++) {
        printf("0x%02X ", rx_frame.data.u8[i]);
      }
      printf("\n");
    }

    //respond to sender
    ESP32Can.CANWriteFrame(&rx_frame);
  }

}