Chapter 2. API Reference
API Reference
Header File
• components/hal/include/hal/twai_types.h
Structures
struct twai_message_t
Structure to store a TWAI message.
Note The flags member is deprecated
Public Members
uint32_t extd : 1
Extended Frame Format (29bit ID)
uint32_t rtr : 1
Message is a Remote Frame
uint32_t ss : 1
Transmit as a Single Shot Transmission. Unused for received.
uint32_t self : 1
Transmit as a Self Reception Request. Unused for received.
uint32_t dlc_non_comp : 1
Message’s Data length code is larger than 8. This will break compliance with ISO 11898-1
uint32_t reserved : 27
Reserved bits
uint32_t flags
Deprecated: Alternate way to set bits using message flags
uint32_t identifier
11 or 29 bit identifier
uint8_t data_length_code
Data length code
uint8_t data[TWAI_FRAME_MAX_DLC]
Data bytes (not relevant in RTR frame)
struct twai_timing_config_t
Structure for bit timing configuration of the TWAI driver.
Note Macro initializers are available for this structure
Public Members
uint32_t brp
Baudrate prescaler (i.e., APB clock divider). Any even number from 2 to 128 for ESP32, 2 to 32768 for
ESP32S2. For ESP32 Rev 2 or later, multiples of 4 from 132 to 256 are also supported
uint8_t tseg_1
Timing segment 1 (Number of time quanta, between 1 to 16)
uint8_t tseg_2
Timing segment 2 (Number of time quanta, 1 to 8)
uint8_t sjw
Synchronization Jump Width (Max time quanta jump for synchronize from 1 to 4)
Espressif Systems 452
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