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feat(isotp): add echo example for isotp.
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‎esp_isotp/examples/echo/CMakeLists.txt‎

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# For more information about build system see
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# https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html
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# The following five lines of boilerplate have to be in your project's
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# CMakeLists in this exact order for cmake to work correctly
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cmake_minimum_required(VERSION 3.16)
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include($ENV{IDF_PATH}/tools/cmake/project.cmake)
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project(esp_isotp_echo_example)

‎esp_isotp/examples/echo/README.md‎

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# ISO-TP Echo Example
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Simple ISO-TP echo service: receives data and sends it back. Supports single-frame and multi-frame transfers.
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## How to Use Example
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### Hardware Required
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* An ESP32 development board
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* A transceiver (e.g., TJA1050)
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* An USB cable for power supply and programming
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### Configuration
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Use `idf.py menuconfig` to configure the example:
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- **ISO-TP Echo Configuration → TWAI Basic Configuration**:
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- TX GPIO Number (default: GPIO 5)
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- RX GPIO Number (default: GPIO 4)
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- TWAI Bitrate (default: 500000)
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- **ISO-TP Echo Configuration → ISO-TP Configuration**:
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- TX/RX Message IDs (default: 0x7E0/0x7E8)
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- Buffer sizes
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Connect the ESP32 to a CAN transceiver and the CAN bus.
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### Build and Flash
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Run `idf.py -p PORT flash monitor` to build, flash and monitor the project.
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(To exit the serial monitor, type ``Ctrl-]``.)
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See the [Getting Started Guide](https://docs.espressif.com/projects/esp-idf/en/latest/get-started/index.html) for full steps to configure and use ESP-IDF to build projects.
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### Example Output
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Once the application is running, you will see the following output:
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```
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I (xxx) isotp_echo: ISO-TP Echo Demo started
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I (xxx) isotp_echo: ISO-TP echo example's TX ID: 0x7E0, RX ID: 0x7E8
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```
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To test the echo functionality, you can use a tool like `can-utils` on a Linux machine connected to the same CAN bus:
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```bash
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# Send a message and wait for the echo (using default IDs from Kconfig)
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candump -tA -e -c -a vcan0 &
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(isotprecv -s 0x7E0 -d 0x7E8 vcan0 | hexdump -C) & (echo 11 22 33 44 55 66 DE AD BE EF | isotpsend -s 0x7E0 -d 0x7E8 vcan0)
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```
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## Troubleshooting
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For any technical queries, please open an [issue](https://github.com/espressif/idf-extra-components/issues) on GitHub. We will get back to you soon.

‎esp_isotp/examples/echo/conftest.py‎

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# SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
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# SPDX-License-Identifier: Unlicense OR CC0-1.0
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import pytest
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import subprocess
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import logging
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@pytest.fixture(autouse=True, scope='session')
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def setup_vcan_interface():
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"""Ensure vcan0 interface is available for QEMU CAN testing."""
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created_interface = False
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try:
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# Check if vcan0 exists
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result = subprocess.run(['ip', 'link', 'show', 'vcan0'],
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capture_output=True, text=True, check=False)
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if result.returncode != 0:
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logging.info("Creating vcan0 interface...")
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# Try creating vcan0 interface
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subprocess.run(['sudo', 'ip', 'link', 'add', 'dev', 'vcan0', 'type', 'vcan'],
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capture_output=True, text=True, check=False)
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created_interface = True
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# Ensure it's up
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subprocess.run(['sudo', 'ip', 'link', 'set', 'up', 'vcan0'],
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capture_output=True, text=True, check=False)
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logging.info("vcan0 interface ready")
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except Exception as e:
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logging.warning(f"Could not setup vcan0: {e}. QEMU will handle CAN interface setup.")
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yield # Test execution happens here
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# Cleanup: Remove vcan0 interface if we created it
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if created_interface:
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try:
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subprocess.run(['sudo', 'ip', 'link', 'delete', 'vcan0'],
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capture_output=True, text=True, check=False)
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logging.info("vcan0 interface cleaned up")
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except Exception as e:
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logging.warning(f"Could not cleanup vcan0: {e}")

‎esp_isotp/examples/echo/main/CMakeLists.txt‎

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idf_component_register(SRCS "isotp_echo_main.c"
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INCLUDE_DIRS ".")

‎esp_isotp/examples/echo/main/Kconfig.projbuild‎

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menu "ISO-TP Echo Configuration"
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menu "TWAI Basic Configuration"
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config EXAMPLE_TX_GPIO_NUM
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int "TX GPIO Number"
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default 5
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range 0 48
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help
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GPIO pin number for TWAI transmission.
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config EXAMPLE_RX_GPIO_NUM
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int "RX GPIO Number"
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default 4
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range 0 48
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help
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GPIO pin number for TWAI reception.
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config EXAMPLE_BITRATE
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int "TWAI Bitrate"
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default 500000
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range 25000 1000000
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help
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TWAI bitrate in bits per second.
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Common values: 125000, 250000, 500000, 1000000
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config EXAMPLE_TWAI_TX_QUEUE_DEPTH
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int "TWAI TX Queue Length"
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default 16
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range 1 64
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help
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Length of the TWAI transmit queue.
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endmenu
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menu "ISO-TP Configuration"
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config EXAMPLE_ISOTP_TX_ID
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hex "TX Message ID"
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default 0x7E8
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help
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TWAI ID for transmitting ISO-TP messages.
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config EXAMPLE_ISOTP_RX_ID
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hex "RX Message ID"
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default 0x7E0
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help
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TWAI ID for receiving ISO-TP messages.
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config EXAMPLE_ISOTP_TX_BUFFER_SIZE
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int "ISO-TP TX Buffer Size"
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default 4096
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range 256 8192
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help
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Size of the ISO-TP transmission buffer.
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config EXAMPLE_ISOTP_RX_BUFFER_SIZE
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int "ISO-TP RX Buffer Size"
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default 4096
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range 256 8192
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help
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Size of the ISO-TP reception buffer.
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config EXAMPLE_ISOTP_TX_FRAME_POOL_SIZE
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int "ISO-TP TX Frame Pool Size"
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default 8
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range 1 32
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help
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Number of TX frames in the ISO-TP transmission pool.
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endmenu
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menu "Task Configuration"
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config EXAMPLE_ECHO_TASK_STACK_SIZE
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int "Task Stack Size"
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default 4096
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range 2048 32768
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help
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Stack size for the echo task.
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config EXAMPLE_ECHO_TASK_PRIORITY
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int "Task Priority"
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default 10
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range 1 25
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help
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FreeRTOS priority for the echo task.
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config EXAMPLE_ECHO_POLL_DELAY_MS
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int "Poll Interval (ms)"
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default 1
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range 1 100
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help
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Delay between consecutive ISO-TP protocol polls.
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endmenu
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endmenu

‎esp_isotp/examples/echo/main/idf_component.yml‎

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## IDF Component Manager Manifest File
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dependencies:
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esp_isotp:
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override_path: '../../../'

‎esp_isotp/examples/echo/main/isotp_echo_main.c‎

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/*
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* SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Unlicense OR CC0-1.0
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*/
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#include <stdio.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_log.h"
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#include "esp_check.h"
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#include "esp_twai.h"
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#include "esp_twai_onchip.h"
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#include "esp_isotp.h"
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static const char *TAG = "isotp_echo";
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// Global variables for cleanup
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static esp_isotp_handle_t g_isotp_handle = NULL;
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static twai_node_handle_t g_twai_node = NULL;
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static esp_err_t isotp_echo_init(void);
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static esp_err_t isotp_echo_deinit(void);
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static void on_tx_done(esp_isotp_handle_t handle, uint32_t tx_size, void *user_arg)
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{
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ESP_EARLY_LOGI(TAG, "TX complete: %lu bytes", (unsigned long)tx_size);
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}
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static void on_rx_done(esp_isotp_handle_t handle, const uint8_t *data, uint32_t size, void *user_arg)
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{
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ESP_EARLY_LOGI(TAG, "RX complete: %lu bytes, echoing back...", (unsigned long)size);
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// Check handle validity using ESP-IDF standard macro for ISR context
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ESP_RETURN_VOID_ON_FALSE_ISR(handle, TAG, "Echo send failed: invalid handle");
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// Echo back the received data immediately (ISR-safe API)
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esp_err_t err = esp_isotp_send(handle, data, size);
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if (unlikely(err != ESP_OK && err != ESP_ERR_NOT_FINISHED)) {
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ESP_EARLY_LOGE(TAG, "Echo send failed: %s", esp_err_to_name(err));
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}
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}
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void app_main(void)
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{
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ESP_LOGI(TAG, "ISO-TP Echo Demo started");
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// Initialize the ISO-TP echo example
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ESP_ERROR_CHECK(isotp_echo_init());
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// Main task will just sleep, the echo_task handles the ISO-TP communication
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while (1) {
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vTaskDelay(pdMS_TO_TICKS(10000));
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}
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// Deinitialize the ISO-TP echo example
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isotp_echo_deinit();
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}
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static void echo_task(void *arg)
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{
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esp_isotp_handle_t isotp_handle = (esp_isotp_handle_t)arg;
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ESP_LOGI(TAG, "ISO-TP Echo task started");
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while (1) {
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// Poll ISO-TP protocol state machine (timeouts, consecutive frames, etc.)
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ESP_ERROR_CHECK(esp_isotp_poll(isotp_handle));
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// Small delay to ensure accurate STmin timing and prevent 100% CPU usage
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vTaskDelay(pdMS_TO_TICKS(CONFIG_EXAMPLE_ECHO_POLL_DELAY_MS));
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}
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ESP_LOGI(TAG, "ISO-TP Echo task finished");
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vTaskDelete(NULL);
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}
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static esp_err_t isotp_echo_init(void)
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{
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twai_onchip_node_config_t twai_cfg = {
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.io_cfg = {
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.tx = CONFIG_EXAMPLE_TX_GPIO_NUM,
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.rx = CONFIG_EXAMPLE_RX_GPIO_NUM,
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},
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.bit_timing.bitrate = CONFIG_EXAMPLE_BITRATE,
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.tx_queue_depth = CONFIG_EXAMPLE_TWAI_TX_QUEUE_DEPTH,
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.intr_priority = 0,
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};
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ESP_ERROR_CHECK(twai_new_node_onchip(&twai_cfg, &g_twai_node));
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esp_isotp_config_t isotp_cfg = {
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.tx_id = CONFIG_EXAMPLE_ISOTP_TX_ID,
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.rx_id = CONFIG_EXAMPLE_ISOTP_RX_ID,
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.tx_buffer_size = CONFIG_EXAMPLE_ISOTP_TX_BUFFER_SIZE,
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.rx_buffer_size = CONFIG_EXAMPLE_ISOTP_RX_BUFFER_SIZE,
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.tx_frame_pool_size = CONFIG_EXAMPLE_ISOTP_TX_FRAME_POOL_SIZE,
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.rx_callback = on_rx_done,
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.tx_callback = on_tx_done,
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.callback_arg = NULL,
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};
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ESP_ERROR_CHECK(esp_isotp_new_transport(g_twai_node, &isotp_cfg, &g_isotp_handle));
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// Create echo task
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BaseType_t task_ret = xTaskCreate(echo_task, "isotp_echo", CONFIG_EXAMPLE_ECHO_TASK_STACK_SIZE,
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g_isotp_handle, CONFIG_EXAMPLE_ECHO_TASK_PRIORITY, NULL);
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ESP_RETURN_ON_FALSE(task_ret == pdPASS, ESP_FAIL, TAG, "Failed to create echo task");
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ESP_LOGI(TAG, "ISO-TP echo example's TX ID: 0x%X, RX ID: 0x%X",
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CONFIG_EXAMPLE_ISOTP_TX_ID, CONFIG_EXAMPLE_ISOTP_RX_ID);
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return ESP_OK;
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}
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static esp_err_t isotp_echo_deinit(void)
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{
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ESP_RETURN_ON_FALSE(g_isotp_handle != NULL, ESP_OK, TAG, "ISO-TP echo example is not initialized");
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esp_isotp_delete(g_isotp_handle);
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g_isotp_handle = NULL;
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if (g_twai_node) {
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twai_node_delete(g_twai_node);
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g_twai_node = NULL;
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}
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ESP_LOGI(TAG, "ISO-TP echo example deinitialized");
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return ESP_OK;
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}

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