Added IRAM_ATTR for faster (?) processing; made begin() not override set CAN speed

Author: sorek

library.json

@@ -2,7 +2,7 @@
     "name": "ESP32-TWAI-CAN",
     "keywords": "can, twai, esp32, esp32-s3, esp32-s2, driver, arduino",
     "description": "ESP32 driver for TWAI / CAN for Adruino using ESP-IDF drivers.",
-    "version": "1.0.0",
+    "version": "1.0.1",
     "repository":
     {
         "type": "git",

library.properties

@@ -1,9 +1,9 @@
 name=ESP32-TWAI-CAN
-version=1.0.0
+version=1.0.1
 author=sorek.uk
 maintainer=sorek <contact@sorek.uk>
 sentence=ESP32 driver for TWAI / CAN for Adruino using ESP-IDF drivers.
 paragraph=Supporting ESP32, ESP32-S2, ESP32-S3, ESP32-C3
-category=driver
+category=Communication
 url=https://github.com/handmade0octopus/ESP32-TWAI-CAN
 architectures=*

src/ESP32-TWAI-CAN.hpp

@@ -16,10 +16,14 @@
  * Simply declare your rx and tx frames using 'CanFrame' structures and you are good to go!
  * 
  */
-
+#ifdef ARDUINO
 #include <Arduino.h>
+#else
+#include "inttypes.h"
+#endif
 #include "driver/twai.h"
 
+
 // Uncomment or declare before importing header
 //#define LOG_TWAI log_e
 //#define LOG_TWAI_TX log_e
@@ -67,7 +71,7 @@ class TwaiCAN {
     void setSpeed(TwaiSpeed);
     TwaiSpeed getSpeed() { return speed; };
 
-    // Converts from numeric CAN speed to enum values setSpeed(convertSpeed(500));
+    // Converts from numeric CAN speed to enum values: setSpeed(convertSpeed(500));
     TwaiSpeed convertSpeed(uint16_t canSpeed = 0);
 
     // Size of queues for TWAI-CAN driver - remember about memory constrains!
@@ -83,16 +87,16 @@ class TwaiCAN {
 
     // Everything is defaulted so you can just call .begin() or .begin(TwaiSpeed)
     // Calling begin() to change speed works, it will disable current driver first
-    bool begin(TwaiSpeed twaiSpeed = TWAI_SPEED_500KBPS, 
+    bool begin(TwaiSpeed twaiSpeed = TWAI_SPEED_SIZE, 
                     int8_t txPin = -1, int8_t rxPin = -1,
                     uint16_t txQueue = 0xFFFF, uint16_t rxQueue = 0xFFFF,
                     twai_filter_config_t*  fConfig = nullptr,
                     twai_general_config_t* gConfig = nullptr,
                     twai_timing_config_t*  tConfig = nullptr);
 
     // Pass frame either by reference or pointer; timeout in ms, you can pass 0 for non blocking
-    inline bool readFrame(CanFrame& frame, uint32_t timeout = 1000) { return readFrame(&frame, timeout); }
-    inline bool readFrame(CanFrame* frame, uint32_t timeout = 1000) {
+    inline bool IRAM_ATTR readFrame(CanFrame& frame, uint32_t timeout = 1000) { return readFrame(&frame, timeout); }
+    inline bool IRAM_ATTR readFrame(CanFrame* frame, uint32_t timeout = 1000) {
         bool ret = false;
         if((frame) && twai_receive(frame, pdMS_TO_TICKS(timeout)) == ESP_OK) {
             LOG_TWAI_RX("Frame received %03X", frame->identifier);
@@ -102,8 +106,8 @@ class TwaiCAN {
     }
 
     // Pass frame either by reference or pointer; timeout in ms, you can pass 0 for non blocking
-    inline bool writeFrame(CanFrame& frame, uint32_t timeout = 1) { return writeFrame(&frame, timeout); }
-    inline bool writeFrame(CanFrame* frame, uint32_t timeout = 1) {
+    inline bool IRAM_ATTR writeFrame(CanFrame& frame, uint32_t timeout = 1) { return writeFrame(&frame, timeout); }
+    inline bool IRAM_ATTR writeFrame(CanFrame* frame, uint32_t timeout = 1) {
         bool ret = false;
         if((frame) && twai_transmit(frame, pdMS_TO_TICKS(timeout)) == ESP_OK) {
             LOG_TWAI_TX("Frame sent     %03X", frame->identifier);