Extend ESP32 CAN bit rates /bus speed support (#5280)

Co-authored-by: Jesse Hills <3060199+jesserockz@users.noreply.github.com>
Co-authored-by: mkaiser <mkaiser@techfak.uni-bielefeld.de>

esphome/components/canbus/__init__.py

@@ -45,9 +45,13 @@ CanbusTrigger = canbus_ns.class_(
 CanSpeed = canbus_ns.enum("CAN_SPEED")
 
 CAN_SPEEDS = {
+    "1KBPS": CanSpeed.CAN_1KBPS,
     "5KBPS": CanSpeed.CAN_5KBPS,
     "10KBPS": CanSpeed.CAN_10KBPS,
+    "12K5BPS": CanSpeed.CAN_12K5BPS,
+    "16KBPS": CanSpeed.CAN_16KBPS,
     "20KBPS": CanSpeed.CAN_20KBPS,
+    "25KBPS": CanSpeed.CAN_25KBPS,
     "31K25BPS": CanSpeed.CAN_31K25BPS,
     "33KBPS": CanSpeed.CAN_33KBPS,
     "40KBPS": CanSpeed.CAN_40KBPS,
@@ -60,9 +64,9 @@ CAN_SPEEDS = {
     "200KBPS": CanSpeed.CAN_200KBPS,
     "250KBPS": CanSpeed.CAN_250KBPS,
     "500KBPS": CanSpeed.CAN_500KBPS,
+    "800KBPS": CanSpeed.CAN_800KBPS,
     "1000KBPS": CanSpeed.CAN_1000KBPS,
 }
-
 CANBUS_SCHEMA = cv.Schema(
     {
         cv.GenerateID(): cv.declare_id(CanbusComponent),

esphome/components/canbus/canbus.h

@@ -19,9 +19,13 @@ enum Error : uint8_t {
 };
 
 enum CanSpeed : uint8_t {
+  CAN_1KBPS,
   CAN_5KBPS,
   CAN_10KBPS,
+  CAN_12K5BPS,
+  CAN_16KBPS,
   CAN_20KBPS,
+  CAN_25KBPS,
   CAN_31K25BPS,
   CAN_33KBPS,
   CAN_40KBPS,
@@ -34,6 +38,7 @@ enum CanSpeed : uint8_t {
   CAN_200KBPS,
   CAN_250KBPS,
   CAN_500KBPS,
+  CAN_800KBPS,
   CAN_1000KBPS
 };
 

esphome/components/esp32_can/canbus.py

@@ -5,6 +5,15 @@ from esphome.components import canbus
 from esphome.const import CONF_ID, CONF_RX_PIN, CONF_TX_PIN
 from esphome.components.canbus import CanbusComponent, CanSpeed, CONF_BIT_RATE
 
+from esphome.components.esp32 import get_esp32_variant
+from esphome.components.esp32.const import (
+    VARIANT_ESP32,
+    VARIANT_ESP32S2,
+    VARIANT_ESP32S3,
+    VARIANT_ESP32C3,
+    VARIANT_ESP32H2,
+)
+
 CODEOWNERS = ["@Sympatron"]
 DEPENDENCIES = ["esp32"]
 
@@ -12,19 +21,57 @@ esp32_can_ns = cg.esphome_ns.namespace("esp32_can")
 esp32_can = esp32_can_ns.class_("ESP32Can", CanbusComponent)
 
 # Currently the driver only supports a subset of the bit rates defined in canbus
-CAN_SPEEDS = {
+# The supported bit rates differ between ESP32 variants.
+# See ESP-IDF Programming Guide --> API Reference --> Two-Wire Automotive Interface (TWAI)
+
+CAN_SPEEDS_ESP32 = {
+    "25KBPS": CanSpeed.CAN_25KBPS,
     "50KBPS": CanSpeed.CAN_50KBPS,
     "100KBPS": CanSpeed.CAN_100KBPS,
     "125KBPS": CanSpeed.CAN_125KBPS,
     "250KBPS": CanSpeed.CAN_250KBPS,
     "500KBPS": CanSpeed.CAN_500KBPS,
+    "800KBPS": CanSpeed.CAN_800KBPS,
     "1000KBPS": CanSpeed.CAN_1000KBPS,
 }
 
+CAN_SPEEDS_ESP32_S2 = {
+    "1KBPS": CanSpeed.CAN_1KBPS,
+    "5KBPS": CanSpeed.CAN_5KBPS,
+    "10KBPS": CanSpeed.CAN_10KBPS,
+    "12K5BPS": CanSpeed.CAN_12K5BPS,
+    "16KBPS": CanSpeed.CAN_16KBPS,
+    "20KBPS": CanSpeed.CAN_20KBPS,
+    **CAN_SPEEDS_ESP32,
+}
+
+CAN_SPEEDS_ESP32_S3 = {**CAN_SPEEDS_ESP32_S2}
+CAN_SPEEDS_ESP32_C3 = {**CAN_SPEEDS_ESP32_S2}
+CAN_SPEEDS_ESP32_H2 = {**CAN_SPEEDS_ESP32_S2}
+
+CAN_SPEEDS = {
+    VARIANT_ESP32: CAN_SPEEDS_ESP32,
+    VARIANT_ESP32S2: CAN_SPEEDS_ESP32_S2,
+    VARIANT_ESP32S3: CAN_SPEEDS_ESP32_S3,
+    VARIANT_ESP32C3: CAN_SPEEDS_ESP32_C3,
+    VARIANT_ESP32H2: CAN_SPEEDS_ESP32_H2,
+}
+
+
+def validate_bit_rate(value):
+    variant = get_esp32_variant()
+    if variant not in CAN_SPEEDS:
+        raise cv.Invalid(f"{variant} is not supported by component {esp32_can_ns}")
+    value = value.upper()
+    if value not in CAN_SPEEDS[variant]:
+        raise cv.Invalid(f"Bit rate {value} is not supported on {variant}")
+    return cv.enum(CAN_SPEEDS[variant])(value)
+
+
 CONFIG_SCHEMA = canbus.CANBUS_SCHEMA.extend(
     {
         cv.GenerateID(): cv.declare_id(esp32_can),
-        cv.Optional(CONF_BIT_RATE, default="125KBPS"): cv.enum(CAN_SPEEDS, upper=True),
+        cv.Optional(CONF_BIT_RATE, default="125KBPS"): validate_bit_rate,
         cv.Required(CONF_RX_PIN): pins.internal_gpio_input_pin_number,
         cv.Required(CONF_TX_PIN): pins.internal_gpio_output_pin_number,
     }

esphome/components/esp32_can/esp32_can.cpp

@@ -16,6 +16,30 @@ static const char *const TAG = "esp32_can";
 
 static bool get_bitrate(canbus::CanSpeed bitrate, twai_timing_config_t *t_config) {
   switch (bitrate) {
+#if defined(USE_ESP32_VARIANT_ESP32S2) || defined(USE_ESP32_VARIANT_ESP32S3) || defined(USE_ESP32_VARIANT_ESP32C3) || \
+    defined(USE_ESP32_VARIANT_ESP32C6) || defined(USE_ESP32_VARIANT_ESP32H6)
+    case canbus::CAN_1KBPS:
+      *t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_1KBITS();
+      return true;
+    case canbus::CAN_5KBPS:
+      *t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_5KBITS();
+      return true;
+    case canbus::CAN_10KBPS:
+      *t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_10KBITS();
+      return true;
+    case canbus::CAN_12K5BPS:
+      *t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_12_5KBITS();
+      return true;
+    case canbus::CAN_16KBPS:
+      *t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_16KBITS();
+      return true;
+    case canbus::CAN_20KBPS:
+      *t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_20KBITS();
+      return true;
+#endif
+    case canbus::CAN_25KBPS:
+      *t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_25KBITS();
+      return true;
     case canbus::CAN_50KBPS:
       *t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_50KBITS();
       return true;
@@ -31,6 +55,9 @@ static bool get_bitrate(canbus::CanSpeed bitrate, twai_timing_config_t *t_config
     case canbus::CAN_500KBPS:
       *t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_500KBITS();
       return true;
+    case canbus::CAN_800KBPS:
+      *t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_800KBITS();
+      return true;
     case canbus::CAN_1000KBPS:
       *t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_1MBITS();
       return true;