Hi,

1. When I try the communication between ESP32 board, it works fine.
2. When I try KV58(from NXP, ISO 11898-1 standard and CAN 2.0 B protocol specifications) with K64F(ISO 11898-1 standard and CAN 2.0 B protocol specifications) CANBUS, it works fine as well.
3. Then, I try KV58 CANBUS with ESP32, I cannot get it work. The difference between K64F CANBUS and ESP32 CANBUS is just MCU, all others(transceiver, connection, and etc) are exactly same. I am wondering if it is related to timing settings?
   Can you tell me how to fix this problem? Any suggestion?

The code for ESP32 is below...

Thanks,
Christie

void setup() {
// put your setup code here, to run once:
Serial.begin(115200, SERIAL_8N1);
delay(1000);
Serial.println("Hello World!");

//-----For CANBUS testing-----
Serial.println("Basic Demo - ESP32-Arduino-CAN");
CAN_cfg.speed = CAN_SPEED_200KBPS; //CAN_SPEED_100KBPS; //CAN_SPEED_250KBPS; //CAN_SPEED_200KBPS; //CAN_SPEED_125KBPS;
CAN_cfg.tx_pin_id = GPIO_NUM_18; //(gpio_num_t)CAN_TX_PIN; //(gpio_num_t)(18); // GPIO_NUM_18; //GPIO_NUM_19; //GPIO_NUM_5;
CAN_cfg.rx_pin_id = GPIO_NUM_5; // (gpio_num_t)CAN_RX_PIN; //(gpio_num_t)(5); // GPIO_NUM_5; //GPIO_NUM_18; //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;
unsigned long currentMillis = millis();
// 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");
}

}

// Send CAN Message
if (currentMillis - previousMillis >= interval)
{
previousMillis = currentMillis;
CAN_frame_t tx_frame;

tx_frame.FIR.B.FF = CAN_frame_std;
tx_frame.MsgID = 0x058;
tx_frame.FIR.B.DLC = 8;
tx_frame.data.u8[0] = 0x00; 
tx_frame.data.u8[1] = 0x01;
tx_frame.data.u8[2] = 0x02;
tx_frame.data.u8[3] = 0x03;
tx_frame.data.u8[4] = 0x04;
tx_frame.data.u8[5] = 0x05;
tx_frame.data.u8[6] = 0x06;
tx_frame.data.u8[7] = 0x07;
ESP32Can.CANWriteFrame(&tx_frame);

Serial.println("Send_CAN_Packet");
}
}