Add support for CAN bus for ESP32

[robota10]

Description

When using the CAN bus under EPS32, the target is not supported error.

System Information
HAL build info: nanoCLR running @ ESP32 built with ESP-IDF ac5d805
Target: ESP32_BLE_REV3
Platform: ESP32

Firmware build Info:
Date: Aug 8 2023
Type: MinSizeRel build, chip rev. 3, support for PSRAM, support for BLE
CLR Version: 1.8.1.423
Compiler: GNU ARM GCC v8.4.0

OEM Product codes (vendor, model, SKU): 0, 0, 0

Serial Numbers (module, system):
00000000000000000000000000000000
0000000000000000

Target capabilities:
Has nanoBooter: NO
IFU capable: NO
Has proprietary bootloader: YES

AppDomains:

Assemblies:

Native Assemblies:
mscorlib v100.5.0.18, checksum 0xCCE8376E
nanoFramework.Runtime.Native v100.0.9.0, checksum 0x109F6F22
nanoFramework.Hardware.Esp32 v100.0.9.0, checksum 0xC0E1540A
nanoFramework.Hardware.Esp32.Rmt v100.0.4.0, checksum 0x608C5658
nanoFramework.Device.Bluetooth v100.0.5.0, checksum 0xD163A9D5
nanoFramework.Device.OneWire v100.0.4.0, checksum 0xB95C43B4
nanoFramework.Networking.Sntp v100.0.4.4, checksum 0xE2D9BDED
nanoFramework.ResourceManager v100.0.0.1, checksum 0xDCD7DF4D
nanoFramework.System.Collections v100.0.1.0, checksum 0x2DC2B090
nanoFramework.System.Text v100.0.0.1, checksum 0x8E6EB73D
nanoFramework.Runtime.Events v100.0.8.0, checksum 0x0EAB00C9
EventSink v1.0.0.0, checksum 0xF32F4C3E
System.IO.FileSystem v1.0.0.0, checksum 0x3AB74021
System.Math v100.0.5.4, checksum 0x46092CB1
System.Net v100.1.5.0, checksum 0x5BAB8CB3
System.Device.Adc v100.0.0.0, checksum 0xE5B80F0B
System.Device.Dac v100.0.0.6, checksum 0x02B3E860
System.Device.Gpio v100.1.0.6, checksum 0x097E7BC5
System.Device.I2c v100.0.0.2, checksum 0xFA806D33
System.Device.I2s v100.0.0.1, checksum 0x478490FE
System.Device.Pwm v100.1.0.4, checksum 0xABF532C3
System.IO.Ports v100.1.6.1, checksum 0xB798CE30
System.Device.Spi v100.1.2.0, checksum 0x3F6E2A7E
System.Runtime.Serialization v100.0.0.0, checksum 0x0A066871
System.Device.Wifi v100.0.6.4, checksum 0x00A058C6
Windows.Storage v100.0.2.0, checksum 0x954A4192

2>Getting things ready to deploy assemblies to .NET nanoFramework device: ESP32_BLE_REV3 @ COM13.
2>Deploy failed.
2>
2>***************************************************************************
2>
2>
2>The connected target does not have support for the following assembly(ies):
2>
2> 'nanoFramework.Device.Can'
2>
2>Please check:
2> 1) if the target is running the most updated image.
2> 2) if the target image was built to include support for all referenced assemblies.
2>
2>Our Visual Studio FAQ has a troubleshooting guide: https://docs.nanoframework.net/content/faq/working-with-vs-extension.html
2>
2>***************************************************************************
2>

How to solve the problem

Add native implementation of Device.Can.

Describe alternatives you've considered

No response

Aditional context

[Ellerbach]

This is normal. Native CAN support is not implemented on ESP32, only ChibiOS (so STM32 devices), see here: https://github.com/nanoframework/nf-interpreter/blob/main/targets/ChibiOS/_nanoCLR/nanoFramework.Device.Can/nf_device_can_native_nanoFramework_Device_Can_CanController.cpp

ESP32 and IDF seems to support CAN, see the doc here: https://docs.espressif.com/projects/esp-idf/en/release-v3.3/api-reference/peripherals/can.html

So it's a matter of implementing this same cpp file for ESP32. Please go ahead if you're interested! We will be happy to help you in this journey.

[robota10]

Yes, the EPS32 has a CAN controller, but lacks native support. Please add a native implementation of Device.Can.

[Ellerbach]

Please add a native implementation of Device.Can

.NET nanoFramework is first a community driven project. Meaning, that it's a community effort. If you really want a feature and don't know how to implement it, you can ask a professional to do it by funding this work. See here: https://docs.nanoframework.net/content/contributing/index.html and also the partners which could develop with confident what you need: https://www.nanoframework.net/partner-program/

[robota10]

Since it was the first time to participate in an open source project and the first time to donate, I was not familiar with it. After some twists and turns, I managed to donate $50 and hope to help solve this problem.

[josesimoes]

@robota10 on behalf of the project: thank you for your contribution. 👍🏻
We'll look into having this prioritized.
Be aware that CAN support in ESP32 is NOT compatible with CAN FD frames (not sure if this an issue for you).

As a side comment: if you're willing to share, I would be interested in knowing what were the pain points you've struggled with when going through the contribution workflow. Feel free to email me or DM on Discord.

[pocki]

I would also like to see CAN Support on ESP32.
But my C/C++ knowledge is too low that I can help

[robota10]

Me too. That's why I'm here for help.