From 329446d0d8a9a13f17158295771bedbb75f8c26c Mon Sep 17 00:00:00 2001
From: Mike Dunston <m_dunston@comcast.net>
Date: Sun, 26 Jan 2025 07:22:40 -0800
Subject: [PATCH 01/10] Syncing ESP-IDF v5.3 changes - Adding pthread
 dependency for esp-idf due to not being included by default in all cases -
 more renames of ESP32 -> ESP_PLATFORM, some still remain but are outside the
 areas of idf v5.3 fixes - ADC cleanups based on API changes / deprecations. -
 Fix bootloader CAN RX timeout value not being used. - TWAI: When working in
 single-core mode IPC calls will fail, so skip them. - TWAI: ISR discards
 bus-error status when in error-passive as it counts twice! - TWAI: drop TX
 frames when in error-passive stateu as they will not be sent by the
 underlying hardware. - TWAI: added additional validations to detect TX stuck
 condition in watchdog. - Uninitialized: C++23 fix due to std::aligned_storage
 deprecation

---
 arduino/idf/CMakeLists.txt                    |   2 +
 src/freertos_drivers/arduino/ArduinoGpio.hxx  |   6 +-
 src/freertos_drivers/common/CpuLoad.cxx       |  36 +++--
 .../esp32/Esp32AdcOneShot.hxx                 | 129 +++++++++++++++---
 .../esp32/Esp32AdcUnitManager.cxx             |  85 ++++++++++++
 .../esp32/Esp32BootloaderHal.hxx              |   6 +-
 .../esp32/Esp32CoreDumpUtil.hxx               |  43 ++++--
 src/freertos_drivers/esp32/Esp32Gpio.hxx      |  17 ++-
 .../esp32/Esp32HardwareTwai.cxx               |  80 +++++++----
 .../esp32/Esp32HardwareTwai.hxx               |  26 ++--
 src/freertos_drivers/esp32/Esp32Ledc.hxx      |  14 +-
 .../esp32/Esp32WiFiManager.cxx                |   2 +-
 src/utils/Uninitialized.hxx                   |   8 ++
 13 files changed, 361 insertions(+), 93 deletions(-)
 create mode 100644 src/freertos_drivers/esp32/Esp32AdcUnitManager.cxx

diff --git a/arduino/idf/CMakeLists.txt b/arduino/idf/CMakeLists.txt
index 078cfe8cd..5bf3f4313 100644
--- a/arduino/idf/CMakeLists.txt
+++ b/arduino/idf/CMakeLists.txt
@@ -23,6 +23,7 @@ set(IDF_DEPS
     espcoredump
     hal
     heap
+    pthread
     vfs
     mdns)
 
@@ -37,6 +38,7 @@ idf_component_register(SRC_DIRS "${SOURCE_DIRS}"
 target_compile_options(${COMPONENT_LIB} PUBLIC $<$<COMPILE_LANGUAGE:CXX>:-Wno-volatile>)
 target_compile_options(${COMPONENT_LIB} PRIVATE -Wno-type-limits)
 target_compile_options(${COMPONENT_LIB} PRIVATE -Wno-ignored-qualifiers)
+target_compile_options(${COMPONENT_LIB} PRIVATE -Wno-strict-aliasing)
 target_compile_options(${COMPONENT_LIB} PRIVATE -Wno-missing-field-initializers)
 target_compile_options(${COMPONENT_LIB} PRIVATE $<$<COMPILE_LANGUAGE:CXX>:-Wno-class-memaccess>)
 target_compile_options(${COMPONENT_LIB} PRIVATE -Wno-implicit-fallthrough)
diff --git a/src/freertos_drivers/arduino/ArduinoGpio.hxx b/src/freertos_drivers/arduino/ArduinoGpio.hxx
index 6a552c9f4..7885a38c5 100644
--- a/src/freertos_drivers/arduino/ArduinoGpio.hxx
+++ b/src/freertos_drivers/arduino/ArduinoGpio.hxx
@@ -37,7 +37,7 @@
 
 #include "os/Gpio.hxx"
 #include "GpioWrapper.hxx"
-#if defined(ESP32)
+#ifdef ESP_PLATFORM
 #include <esp32-hal.h>
 #include <driver/gpio.h>
 #else
@@ -119,7 +119,7 @@ public:
     /// @return true if pin is configured as an output pin.
     static bool is_output()
     {
-#if defined(ESP32)
+#ifdef ESP_PLATFORM
         if(digitalPinIsValid(PIN_NUM) && digitalPinCanOutput(PIN_NUM))
         {
             // pins 32 and below use the first GPIO controller
@@ -132,7 +132,7 @@ public:
                 return GPIO.enable1_w1ts.val & ((uint32_t)1 << (PIN_NUM & 31));
             }
         }
-#endif
+#endif // ESP_PLATFORM
         return false;
     }
 
diff --git a/src/freertos_drivers/common/CpuLoad.cxx b/src/freertos_drivers/common/CpuLoad.cxx
index 7f57db1b8..654437af1 100644
--- a/src/freertos_drivers/common/CpuLoad.cxx
+++ b/src/freertos_drivers/common/CpuLoad.cxx
@@ -39,9 +39,10 @@
 #include "os/os.h"
 #include "freertos_includes.h"
 
-#ifdef ESP32
+#ifdef ESP_PLATFORM
 #include "sdkconfig.h"
-#endif // ESP32
+#include <esp_idf_version.h>
+#endif // ESP_PLATFORM
 
 extern "C"
 {
@@ -117,13 +118,26 @@ uint8_t CpuLoad::get_load() {
     return (avg_ * 100) >> SHIFT_ONE;
 }
 
+#ifdef ESP_PLATFORM
+// In ESP-IDF v5.3.0 there were method renames as part of standardizing the
+// APIs with the upstream FreeRTOS version, as such these methods were
+// renamed and require usage of wrappers.
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5,3,0)
+#define FREERTOS_GET_CURRENT_TASK_HANDLE_FOR_CORE(core) xTaskGetCurrentTaskHandleForCore(core)
+#define FREERTOS_GET_IDLE_TASK_HANDLE_FOR_CORE(core) xTaskGetIdleTaskHandleForCore(core)
+#else
+#define FREERTOS_GET_CURRENT_TASK_HANDLE_FOR_CORE(core) xTaskGetCurrentTaskHandleForCPU(core)
+#define FREERTOS_GET_IDLE_TASK_HANDLE_FOR_CORE(core) xTaskGetIdleTaskHandleForCPU(core)
+#endif
+#endif // ESP_PLATFORM
+
 void cpuload_tick(unsigned irq)
 {
     if (!Singleton<CpuLoad>::exists())
         return;
 // On the ESP32 it is necessary to use a slightly different approach for
 // recording CPU usage metrics since there may be additional CPU cores.
-#ifdef ESP32
+#ifdef ESP_PLATFORM
     if (irq != 0)
     {
         Singleton<CpuLoad>::instance()->record_value(true, (uintptr_t)irq);
@@ -132,21 +146,21 @@ void cpuload_tick(unsigned irq)
     {
         // Record the first CPU core (PRO_CPU). NOTE: This assumes that OpenMRN
         // is running on this core.
-        auto hdl = xTaskGetCurrentTaskHandleForCPU(PRO_CPU_NUM);
-        bool is_idle = xTaskGetIdleTaskHandleForCPU(PRO_CPU_NUM) == hdl;
+        auto hdl = FREERTOS_GET_CURRENT_TASK_HANDLE_FOR_CORE(PRO_CPU_NUM);
+        bool is_idle = FREERTOS_GET_IDLE_TASK_HANDLE_FOR_CORE(PRO_CPU_NUM) == hdl;
         Singleton<CpuLoad>::instance()->record_value(!is_idle, (uintptr_t)hdl);
     }
 // NOTE: The ESP32-S2 and ESP32-C3 are single-core SoC and defines the
 // FREERTOS_UNICORE flag which we can use here to disable recording of the
-// APP_CPU.
+// APP_CPU. This can also be used on dual core SoCs with some restrictions.
 #ifndef CONFIG_FREERTOS_UNICORE
     // Record the second CPU core (APP_CPU). NOTE: this is where application
     // code typically runs.
-    auto hdl = xTaskGetCurrentTaskHandleForCPU(APP_CPU_NUM);
-    bool is_idle = xTaskGetIdleTaskHandleForCPU(APP_CPU_NUM) == hdl;
+    auto hdl = FREERTOS_GET_CURRENT_TASK_HANDLE_FOR_CORE(APP_CPU_NUM);
+    bool is_idle = FREERTOS_GET_IDLE_TASK_HANDLE_FOR_CORE(APP_CPU_NUM) == hdl;
     Singleton<CpuLoad>::instance()->record_value(!is_idle, (uintptr_t)hdl);
-#endif // CONFIG_FREERTOS_UNICORE
-#else // NOT ESP32
+#endif // !CONFIG_FREERTOS_UNICORE
+#else // NOT ESP_PLATFORM
     if (irq != 0)
     {
         Singleton<CpuLoad>::instance()->record_value(true, (uintptr_t)irq);
@@ -155,7 +169,7 @@ void cpuload_tick(unsigned irq)
     auto hdl = xTaskGetCurrentTaskHandle();
     bool is_idle = xTaskGetIdleTaskHandle() == hdl;
     Singleton<CpuLoad>::instance()->record_value(!is_idle, (uintptr_t)hdl);
-#endif // ESP32
+#endif // ESP_PLATFORM
 }
 } // extern "C"
 
diff --git a/src/freertos_drivers/esp32/Esp32AdcOneShot.hxx b/src/freertos_drivers/esp32/Esp32AdcOneShot.hxx
index 8af0ee0a3..27e7feade 100644
--- a/src/freertos_drivers/esp32/Esp32AdcOneShot.hxx
+++ b/src/freertos_drivers/esp32/Esp32AdcOneShot.hxx
@@ -46,9 +46,42 @@
 #endif // __has_include driver/adc_types_legacy.h
 #endif // has_include
 
+#include <adc_cali_schemes.h>
 #include <esp_adc/adc_oneshot.h>
+#include <esp_adc/adc_cali.h>
+#ifndef CONFIG_ADC_SUPPRESS_DEPRECATE_WARN
+#define CONFIG_ADC_SUPPRESS_DEPRECATE_WARN 1
+#endif
+#include <esp_adc_cal.h>
+#include <esp_idf_version.h>
+#include <soc/soc_caps.h>
 #include <soc/adc_channel.h>
 
+/// This class manages a single ADC Unit.
+class Esp32ADCUnitManager
+{
+public:
+    /// Constructor.
+    ///
+    /// @param unit @ref adc_unit_t that this instance owns the handle for.
+    Esp32ADCUnitManager(const adc_unit_t unit);
+
+    /// Initializes the underlying hardware unit if not already initialized.
+    void hw_init();
+
+    /// @returns the handle to use for this ADC unit.
+    adc_oneshot_unit_handle_t handle();
+private:
+    /// ADC unit identifier that this instance manages.
+    const adc_unit_t unit_;
+
+    /// @ref adc_oneshot_unit_handle_t that this instance manages.
+    adc_oneshot_unit_handle_t handle_;
+};
+
+/// Declaration of ADC unit managers.
+extern Esp32ADCUnitManager Esp32AdcUnit[SOC_ADC_PERIPH_NUM];
+
 /// Defines an ADC input pin.
 ///
 /// Do not use this class directly. Use @ref ADC_PIN instead.
@@ -59,56 +92,114 @@ public:
     using Defs::BITS;
     using Defs::CHANNEL;
     using Defs::PIN;
-    using Defs::HANDLE;
+    using Defs::CALIB_HANDLE;
+    using Defs::VREF_CALIB;
 
+    /// Initializes the underlying ADC hardware for use, including calibration
+    /// for millivolt reading.
     static void hw_init()
     {
-        // due to using #if/#elif/#endif it is not possible to include this in
-        // the ADC_PIN wrapper code.
-        const adc_oneshot_unit_init_cfg_t unit_config =
-        {
 #if CONFIG_IDF_TARGET_ESP32
-            .unit_id = PIN >= 30 ? ADC_UNIT_1 : ADC_UNIT_2,
+        const adc_unit_t unit = PIN >= 30 ? ADC_UNIT_1 : ADC_UNIT_2;
 #elif CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
-            .unit_id = PIN <= 10 ? ADC_UNIT_1 : ADC_UNIT_2,
+        const adc_unit_t unit = PIN <= 10 ? ADC_UNIT_1 : ADC_UNIT_2;
 #elif CONFIG_IDF_TARGET_ESP32C3
-            .unit_id = PIN <= 4 ? ADC_UNIT_1 : ADC_UNIT_2,
+        const adc_unit_t unit = PIN <= 4 ? ADC_UNIT_1 : ADC_UNIT_2;
+#else
+        #warning Unable to determine ADC unit number, defaulting to ADC_UNIT_1
+        const adc_unit_t unit = ADC_UNIT_1;
 #endif
-            .ulp_mode = ADC_ULP_MODE_DISABLE,
-        };
         const adc_oneshot_chan_cfg_t channel_config =
         {
             .atten = ATTEN,
             .bitwidth = BITS,
         };
 
+        // Initialize the ADC unit.
+        Esp32AdcUnit[unit].hw_init();
+
         LOG(VERBOSE,
             "[Esp32ADCInput] Configuring ADC%d:%d input pin %d, "
             "attenuation %d, bits %d",
-            unit_config.unit_id, CHANNEL, PIN, ATTEN, BITS);
-        ESP_ERROR_CHECK(adc_oneshot_new_unit(&unit_config, &HANDLE));
+            unit, CHANNEL, PIN, ATTEN, BITS);
+
+        // Initialize the ADC channel using the handle from the unit manager.
+        ESP_ERROR_CHECK(adc_oneshot_config_channel(
+            Esp32AdcUnit[unit].handle(), CHANNEL, &channel_config));
+
+#if ADC_CALI_SCHEME_CURVE_FITTING_SUPPORTED
+        adc_cali_curve_fitting_config_t config =
+        {
+            .unit_id = unit,
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5,1,2)
+            .chan = CHANNEL,
+#endif
+            .atten = ATTEN,
+            .bitwidth = BITS
+        };
+        ESP_ERROR_CHECK(
+            adc_cali_create_scheme_curve_fitting(&config, &CALIB_HANDLE));
+#elif ADC_CALI_SCHEME_LINE_FITTING_SUPPORTED
+        adc_cali_line_fitting_config_t config =
+        {
+            .unit_id = unit,
+            .atten = ATTEN,
+            .bitwidth = BITS
+        };
         ESP_ERROR_CHECK(
-            adc_oneshot_config_channel(HANDLE, CHANNEL, &channel_config));
+            adc_cali_create_scheme_line_fitting(&config, &CALIB_HANDLE));
+#else
+        esp_adc_cal_characterize(unit, ATTEN, BITS, DEFAULT_VREF, &VREF_CALIB);
+        LOG(VERBOSE, "[Esp32ADCInput] Using vRef of %d mV", VREF_CALIB.vref);
+#endif
     }
 
-    /// NO-OP
+    /// NO-OP, unsupported
     static void hw_set_to_safe()
     {
         // NO-OP
     }
 
-    /// NO-OP
+    /// NO-OP, unsupported
     static void set(bool value)
     {
         // NO-OP
     }
 
+    /// @return raw sample from the ADC hardware.
     static int sample()
     {
+#if CONFIG_IDF_TARGET_ESP32
+        const adc_unit_t unit = PIN >= 30 ? ADC_UNIT_1 : ADC_UNIT_2;
+#elif CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
+        const adc_unit_t unit = PIN <= 10 ? ADC_UNIT_1 : ADC_UNIT_2;
+#elif CONFIG_IDF_TARGET_ESP32C3
+        const adc_unit_t unit = PIN <= 4 ? ADC_UNIT_1 : ADC_UNIT_2;
+#else
+        const adc_unit_t unit = ADC_UNIT_1;
+#endif
         int value = 0;
-        ESP_ERROR_CHECK(adc_oneshot_read(HANDLE, CHANNEL, &value));
+        ESP_ERROR_CHECK(
+            adc_oneshot_read(Esp32AdcUnit[unit].handle(), CHANNEL, &value));
         return value;
     }
+
+    /// @return Approximate millivolt value from the ADC hardware.
+    static int sample_mv()
+    {
+#if ADC_CALI_SCHEME_CURVE_FITTING_SUPPORTED || \
+    ADC_CALI_SCHEME_LINE_FITTING_SUPPORTED
+        int calib_mv = 0;
+        ESP_ERROR_CHECK(
+            adc_cali_raw_to_voltage(CALIB_HANDLE, sample(), &calib_mv));
+        return calib_mv;
+#else
+        return esp_adc_cal_raw_to_voltage(sample(), &VREF_CALIB);
+#endif
+    }
+private:
+    /// Default ADC voltage reference value.
+    static constexpr uint32_t DEFAULT_VREF = 1100;
 };
 
 /// Helper macro for an ADC GPIO input on the ESP32.
@@ -200,7 +291,8 @@ public:
         static const gpio_num_t PIN = (gpio_num_t)ADC_CHANNEL##_GPIO_NUM;      \
         static const adc_atten_t ATTEN = (adc_atten_t)ATTENUATION;             \
         static const adc_bitwidth_t BITS = (adc_bitwidth_t)BIT_RANGE;          \
-        static adc_oneshot_unit_handle_t HANDLE;                               \
+        static adc_cali_handle_t CALIB_HANDLE;                                 \
+        static esp_adc_cal_characteristics_t VREF_CALIB;                       \
     public:                                                                    \
         static const gpio_num_t pin()                                          \
         {                                                                      \
@@ -211,7 +303,8 @@ public:
             return CHANNEL;                                                    \
         }                                                                      \
     };                                                                         \
-    adc_oneshot_unit_handle_t NAME##Defs::HANDLE;                              \
+    adc_cali_handle_t NAME##Defs::CALIB_HANDLE;                                \
+    esp_adc_cal_characteristics_t NAME##Defs::VREF_CALIB;                      \
     typedef Esp32ADCInput<NAME##Defs> NAME##_Pin
 
 #endif // _DRIVERS_ESP32ADCONESHOT_HXX_
diff --git a/src/freertos_drivers/esp32/Esp32AdcUnitManager.cxx b/src/freertos_drivers/esp32/Esp32AdcUnitManager.cxx
new file mode 100644
index 000000000..689d349c7
--- /dev/null
+++ b/src/freertos_drivers/esp32/Esp32AdcUnitManager.cxx
@@ -0,0 +1,85 @@
+/** \copyright
+ * Copyright (c) 2023, Mike Dunston
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are  permitted provided that the following conditions are met:
+ *
+ *  - Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ *
+ *  - Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \file Esp32AdcUnitManager.cxx
+ *
+ * Implementation of ADC conversion unit manager.
+ *
+ * @author Mike Dunston
+ * @date 21 July 2023
+ */
+
+#if defined(ESP_PLATFORM)
+
+#include "freertos_drivers/esp32/Esp32AdcOneShot.hxx"
+
+Esp32ADCUnitManager Esp32AdcUnit[SOC_ADC_PERIPH_NUM] =
+{
+    ADC_UNIT_1,
+#if SOC_ADC_PERIPH_NUM >= 2
+    ADC_UNIT_2
+#endif // SOC_ADC_PERIPH_NUM == 2
+};
+
+// Constructor.
+Esp32ADCUnitManager::Esp32ADCUnitManager(const adc_unit_t unit)
+    : unit_(unit), handle_(nullptr)
+{
+}
+
+// Initializes the underlying hardware unit if not already initialized.
+void Esp32ADCUnitManager::hw_init()
+{
+    // due to using #if/#elif/#endif it is not possible to include this in
+    // the ADC_PIN wrapper code.
+    const adc_oneshot_unit_init_cfg_t unit_config =
+    {
+        .unit_id = unit_,
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5,1,0)
+        // use default value from driver, no constant available thus using
+        // 0 with type cast.
+        .clk_src = (adc_oneshot_clk_src_t)0,
+#endif // IDF v5.1+
+        .ulp_mode = ADC_ULP_MODE_DISABLE,
+    };
+
+    // Check if we have been initialized previously.
+    if (handle())
+    {
+        return;
+    }
+
+    LOG(VERBOSE, "[Esp32ADCUnit] Initializing ADC Unit: %d", unit_);
+    ESP_ERROR_CHECK(adc_oneshot_new_unit(&unit_config, &handle_));
+}
+
+// Returns the handle to use for this ADC unit.
+adc_oneshot_unit_handle_t Esp32ADCUnitManager::handle()
+{
+    return handle_;
+}
+
+#endif // defined(ESP_PLATFORM)
\ No newline at end of file
diff --git a/src/freertos_drivers/esp32/Esp32BootloaderHal.hxx b/src/freertos_drivers/esp32/Esp32BootloaderHal.hxx
index 8fb8b3b8b..3bb06229b 100644
--- a/src/freertos_drivers/esp32/Esp32BootloaderHal.hxx
+++ b/src/freertos_drivers/esp32/Esp32BootloaderHal.hxx
@@ -51,13 +51,13 @@
 
 // Enable streaming support for the bootloader
 #define BOOTLOADER_STREAM
+
 #ifndef WRITE_BUFFER_SIZE
 // Set the buffer size to half of the sector size to minimize the flash writes.
 #define WRITE_BUFFER_SIZE (CONFIG_WL_SECTOR_SIZE / 2)
 #endif // WRITE_BUFFER_SIZE
 
 #include <driver/twai.h>
-
 #include <esp_app_format.h>
 #include <esp_chip_info.h>
 #include <esp_ota_ops.h>
@@ -194,7 +194,7 @@ bool read_can_frame(struct can_frame *frame)
 {
     twai_message_t rx_msg;
     memset(&rx_msg, 0, sizeof(twai_message_t));
-    if (twai_receive(&rx_msg, MAX_TWAI_WAIT) == ESP_OK)
+    if (twai_receive(&rx_msg, MAX_TWAI_WAIT_RX) == ESP_OK)
     {
         LOG(BOOTLOADER_TWAI_LOG_LEVEL, "[Bootloader] CAN_RX");
         frame->can_id = rx_msg.identifier;
@@ -578,4 +578,4 @@ void esp32_bootloader_run(uint64_t id, gpio_num_t rx, gpio_num_t tx,
     }
 }
 
-#endif // _FREERTOS_DRIVERS_ESP32_ESP32BOOTLOADERHAL_HXX_
+#endif // _FREERTOS_DRIVERS_ESP32_ESP32BOOTLOADERHAL_HXX_
\ No newline at end of file
diff --git a/src/freertos_drivers/esp32/Esp32CoreDumpUtil.hxx b/src/freertos_drivers/esp32/Esp32CoreDumpUtil.hxx
index 8eaf609a9..6b834c651 100644
--- a/src/freertos_drivers/esp32/Esp32CoreDumpUtil.hxx
+++ b/src/freertos_drivers/esp32/Esp32CoreDumpUtil.hxx
@@ -47,14 +47,27 @@
 namespace openmrn_arduino
 {
 
+// Currently the core dump functionality here supports only the xtensa
+// architecture and requires multiple core dump flags in sdkconfig which are
+// not enabled by default.
+#if CONFIG_ESP_COREDUMP_ENABLE_TO_FLASH && \
+  CONFIG_ESP_COREDUMP_DATA_FORMAT_ELF && \
+  CONFIG_IDF_TARGET_ARCH_XTENSA
+#define CORE_DUMP_USABLE_XTENSA 1
+#endif
+
 /// Utility class containing methods related to esp32 core dumps.
 ///
-/// Usage of this class requires the enablement of
-/// CONFIG_ESP32_ENABLE_COREDUMP_TO_FLASH in sdkconfig *AND* the creation of
-/// a 64kb "coredump" partition in flash.
+/// This class requires the following sdkconfig flags to be enabled and the
+/// addition of a 64kb "coredump" partition in flash.
+///
+/// Required sdkconfig flags:
+/// * CONFIG_ESP32_ENABLE_COREDUMP_TO_FLASH
+/// * CONFIG_ESP_COREDUMP_DATA_FORMAT_ELF
+/// If not all three flags are enabled all methods will be treated as no-op.
 ///
-/// When the CONFIG_ESP32_ENABLE_COREDUMP_TO_FLASH flag is not enabled all
-/// methods in this class are treated as no-op.
+/// At this time the RISC-V MCUs are not suported and may become supported in
+/// the future.
 ///
 /// NOTE: ESP-IDF v4.4 or later is required for the display() method.
 class Esp32CoreDumpUtil
@@ -64,10 +77,14 @@ public:
   /// @return true if a core dump is available, false otherwise.
   static bool is_present()
   {
+#ifdef CORE_DUMP_USABLE_XTENSA
     esp_log_level_set("esp_core_dump_flash", ESP_LOG_NONE);
     esp_err_t res = esp_core_dump_image_check();
     esp_log_level_set("esp_core_dump_flash", ESP_LOG_WARN);
     return res == ESP_OK;
+#else // !CORE_DUMP_USABLE_XTENSA
+    return false;
+#endif
   }
 
   /// Utility method that displays a core dump (if present).
@@ -76,6 +93,7 @@ public:
   /// filesystem.
   static void display(const char *output_path = nullptr)
   {
+#ifdef CORE_DUMP_USABLE_XTENSA
     if (is_present())
     {
       esp_core_dump_summary_t details;
@@ -83,21 +101,22 @@ public:
       {
         // Convert the core dump to a text file
         string core_dump_summary =
-            StringPrintf("Task:%s (%d) crashed at PC %08x\n",
+            StringPrintf("Task:%s (%" PRIu32 ") crashed at PC %08" PRIx32 "\n",
                          details.exc_task, details.exc_tcb, details.exc_pc);
         core_dump_summary += StringPrintf("Registers:\n");
         for (size_t idx = 0; idx < 16; idx += 4)
         {
           core_dump_summary +=
               StringPrintf(
-                  "A%02zu: 0x%08x A%02zu: 0x%08x A%02zu: 0x%08x A%02zu: 0x%08x\n",
+                  "A%02zu: 0x%08" PRIx32 " A%02zu: 0x%08" PRIx32
+                  " A%02zu: 0x%08" PRIx32 " A%02zu: 0x%08" PRIx32 "\n",
                   idx, details.ex_info.exc_a[idx],
                   idx + 1, details.ex_info.exc_a[idx + 1],
                   idx + 2, details.ex_info.exc_a[idx + 2],
                   idx + 3, details.ex_info.exc_a[idx + 3]);
         }
         core_dump_summary +=
-            StringPrintf("EXCCAUSE: %08x EXCVADDR: %08x\n",
+            StringPrintf("EXCCAUSE: %08" PRIx32 " EXCVADDR: %08" PRIx32 "\n",
                          details.ex_info.exc_cause, details.ex_info.exc_vaddr);
         if (details.ex_info.epcx_reg_bits)
         {
@@ -107,7 +126,8 @@ public:
             if (details.ex_info.epcx_reg_bits & BIT(idx))
             {
               core_dump_summary +=
-                  StringPrintf("%zu:%08x ", idx, details.ex_info.epcx[idx]);
+                  StringPrintf("%zu:%08" PRIx32 " ", idx,
+                    details.ex_info.epcx[idx]);
             }
           }
           core_dump_summary += "\n";
@@ -116,7 +136,7 @@ public:
         for (size_t idx = 0; idx < details.exc_bt_info.depth; idx++)
         {
           core_dump_summary +=
-              StringPrintf(" 0x%08x", details.exc_bt_info.bt[idx]);
+              StringPrintf(" 0x%08" PRIx32, details.exc_bt_info.bt[idx]);
           if (details.exc_bt_info.corrupted)
           {
             core_dump_summary += "(corrupted)";
@@ -130,15 +150,18 @@ public:
         }
       }
     }
+#endif // CORE_DUMP_USABLE_XTENSA
   }
 
   /// Utility method to cleanup a core dump.
   static void cleanup()
   {
+#ifdef CORE_DUMP_USABLE_XTENSA
     if (is_present())
     {
       ESP_ERROR_CHECK_WITHOUT_ABORT(esp_core_dump_image_erase());
     }
+#endif // CORE_DUMP_USABLE_XTENSA
   }
 };
 
diff --git a/src/freertos_drivers/esp32/Esp32Gpio.hxx b/src/freertos_drivers/esp32/Esp32Gpio.hxx
index afa2d4ac0..f051604ee 100644
--- a/src/freertos_drivers/esp32/Esp32Gpio.hxx
+++ b/src/freertos_drivers/esp32/Esp32Gpio.hxx
@@ -35,7 +35,14 @@
 #ifndef _DRIVERS_ESP32GPIO_HXX_
 #define _DRIVERS_ESP32GPIO_HXX_
 
+// TODO: clean this up as part of https://github.com/bakerstu/openmrn/issues/778
+// as this file should be coming in from common and not arduino ideally.
+#if defined(__has_include) && \
+    __has_include("freertos_drivers/common/GpioWrapper.hxx")
 #include "freertos_drivers/common/GpioWrapper.hxx"
+#else
+#include "freertos_drivers/arduino/GpioWrapper.hxx"
+#endif
 #include "freertos_drivers/esp32/Esp32AdcOneShot.hxx"
 #include "os/Gpio.hxx"
 #include "utils/logging.h"
@@ -43,7 +50,7 @@
 
 #include <driver/gpio.h>
 #include <esp_rom_gpio.h>
-
+#include <soc/adc_channel.h>
 #include <soc/gpio_struct.h>
 
 #if defined(CONFIG_IDF_TARGET_ESP32C3)
@@ -51,7 +58,8 @@
 ///
 /// This is necessary since ESP-IDF does not expose gpio_get_direction(pin).
 #define IS_GPIO_OUTPUT(pin) (GPIO_IS_VALID_OUTPUT_GPIO(pin) &&                 \
-                             GPIO.enable.data & BIT(pin & 25))
+                             GPIO.enable.data & \
+                             BIT(pin & SOC_GPIO_VALID_OUTPUT_GPIO_MASK)
 #else // NOT ESP32-C3
 /// Helper macro to test if a pin has been configured for output.
 ///
@@ -346,8 +354,6 @@ public:
         gpio_config_t cfg;
         memset(&cfg, 0, sizeof(gpio_config_t));
         cfg.pin_bit_mask = BIT64(PIN_NUM);
-        // using GPIO_MODE_INPUT_OUTPUT instead of GPIO_MODE_OUTPUT so that
-        // we can read the IO state
         cfg.mode = GPIO_MODE_INPUT;
         if (PUEN)
         {
@@ -559,9 +565,8 @@ template <class Defs> struct GpioInputPUPD : public GpioInputPin<Defs, true, tru
     struct NAME##Defs                                                          \
     {                                                                          \
         static const gpio_num_t PIN_NUM = (gpio_num_t)NUM;                     \
-                                                                               \
     public:                                                                    \
-        static gpio_num_t pin()                                                \
+        static const gpio_num_t pin()                                          \
         {                                                                      \
             return PIN_NUM;                                                    \
         }                                                                      \
diff --git a/src/freertos_drivers/esp32/Esp32HardwareTwai.cxx b/src/freertos_drivers/esp32/Esp32HardwareTwai.cxx
index 0eab84754..8633f5840 100644
--- a/src/freertos_drivers/esp32/Esp32HardwareTwai.cxx
+++ b/src/freertos_drivers/esp32/Esp32HardwareTwai.cxx
@@ -35,7 +35,8 @@
  * @date 1 May 2021
  */
 
-// Ensure we only compile this code for the ESP32 family of MCUs.
+// Ensure we only compile this code for the ESP32 family of MCUs and that the
+// ESP-IDF version is supported for this code.
 #if defined(ESP_PLATFORM)
 
 #include "sdkconfig.h"
@@ -55,7 +56,9 @@
 #include <esp_clk_tree.h>
 #endif
 #include <esp_private/periph_ctrl.h>
+#ifndef CONFIG_FREERTOS_UNICORE
 #include <esp_ipc.h>
+#endif
 #include <esp_log.h>
 #include <esp_rom_gpio.h>
 #include <esp_intr_alloc.h>
@@ -70,7 +73,14 @@
 #include "can_frame.h"
 #include "can_ioctl.h"
 #include "executor/Notifiable.hxx"
+// TODO: clean this up as part of https://github.com/bakerstu/openmrn/issues/778
+// as this file should be coming in from common and not arduino ideally.
+#if defined(__has_include) && \
+    __has_include("freertos_drivers/common/DeviceBuffer.hxx")
 #include "freertos_drivers/common/DeviceBuffer.hxx"
+#else
+#include "freertos_drivers/arduino/DeviceBuffer.hxx"
+#endif
 #include "freertos_drivers/esp32/Esp32HardwareTwai.hxx"
 #include "utils/Atomic.hxx"
 #include "utils/logging.h"
@@ -232,7 +242,7 @@ static inline void twai_purge_rx_queue()
     Notifiable* n = nullptr;
     {
         AtomicHolder h(&twai.buf_lock);
-        LOG(VERBOSE, "ESP-TWAI: purging RX-Q: %zu", twai.rx_buf->pending());
+        LOG(VERBOSE, "ESP-TWAI: purging RX-Q:%zu", twai.rx_buf->pending());
         twai.stats.rx_missed += twai.rx_buf->pending();
         twai.rx_buf->flush();
         std::swap(n, twai.readable_notify);
@@ -258,8 +268,8 @@ static inline void twai_purge_tx_queue()
     Notifiable* n = nullptr;
     {
         AtomicHolder h(&twai.buf_lock);
-        LOG(VERBOSE, "ESP-TWAI: purging TX-Q: %zu", twai.tx_buf->pending());
-        twai.stats.tx_failed += twai.tx_buf->pending();
+        LOG(VERBOSE, "ESP-TWAI: purging TX-Q:%zu", twai.tx_buf->pending());
+        twai.stats.tx_lost += twai.tx_buf->pending();
         twai.tx_buf->flush();
         std::swap(n, twai.writable_notify);
     }
@@ -309,6 +319,20 @@ static ssize_t twai_vfs_write(int fd, const void *buf, size_t size)
             bus_error = true;
             break;
         }
+        else if (is_twai_err_passive())
+        {
+            // When the TWAI driver is in an error passive state it is not
+            // possible to transmit additional frames, purge the TX queue and
+            // track remaining frames as failed.
+            //
+            // NOTE: we are tracking pending remaining frames as written to
+            // ensure the stack does not unnecessarily become blocked.
+
+            sent += size;
+            twai.stats.tx_lost += size;
+            bus_error = true;
+            break;
+        }
 
         size_t frames_written = 0;
         {
@@ -419,7 +443,7 @@ static int twai_vfs_open(const char *path, int flags, int mode)
     path++;
     twai.non_blocking = (flags & O_NONBLOCK);
 
-    LOG(INFO, "ESP-TWAI: Starting TWAI driver on:%s mode:%x (%s) fd:%d",
+    LOG(VERBOSE, "ESP-TWAI: Starting TWAI driver on:%s mode:%x (%s) fd:%d",
         path, mode, twai.non_blocking ? "non-blocking" : "blocking", 
         TWAI_VFS_FD);
     twai_purge_rx_queue();
@@ -617,7 +641,7 @@ static inline uint32_t twai_rx_frames()
             {
                 // DLC is longer than supported, discard the frame.
                 twai.stats.rx_discard++;
-                ESP_EARLY_LOGE(TWAI_LOG_TAG, "rx-discard:%" PRIu32,
+                ESP_EARLY_LOGE(TWAI_LOG_TAG, "rx-discard:%zu",
                                twai.stats.rx_discard);
             }
             else if (twai.rx_buf->data_write_pointer(&can_frame))
@@ -649,7 +673,7 @@ static inline uint32_t twai_rx_frames()
             else
             {
                 twai.stats.rx_missed++;
-                ESP_EARLY_LOGV(TWAI_LOG_TAG, "rx-missed:%" PRIu32,
+                ESP_EARLY_LOGV(TWAI_LOG_TAG, "rx-missed:%zu",
                                twai.stats.rx_missed);
             }
         }
@@ -713,7 +737,7 @@ static void twai_isr(void *arg)
 {
     BaseType_t wakeup = pdFALSE;
     uint32_t events = twai_hal_get_events(&twai.context);
-    ESP_EARLY_LOGV(TWAI_LOG_TAG, "events: %04" PRIx32, events);
+    ESP_EARLY_LOGV(TWAI_LOG_TAG, "events:%04x", events);
 
 #if defined(CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID) || \
     defined(CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT)
@@ -746,7 +770,7 @@ static void twai_isr(void *arg)
             esp_vfs_select_triggered_isr(twai.select_sem, &wakeup);
         }
 #endif // CONFIG_VFS_SUPPORT_SELECT
-        // std::swap is not ISR safe so it is not used here.
+        // std::swap is not guaranteed to be in IRAM, so it is not used here.
         if (twai.readable_notify)
         {
             twai.readable_notify->notify_from_isr();
@@ -765,7 +789,7 @@ static void twai_isr(void *arg)
             esp_vfs_select_triggered_isr(twai.select_sem, &wakeup);
         }
 #endif // CONFIG_VFS_SUPPORT_SELECT
-        // std::swap is not ISR safe so it is not used here.
+        // std::swap is not guaranteed to be in IRAM, so it is not used here.
         if (twai.writable_notify)
         {
             twai.writable_notify->notify_from_isr();
@@ -782,19 +806,19 @@ static void twai_isr(void *arg)
     }
 
     // Bus error detected
-    if (events & TWAI_HAL_EVENT_BUS_ERR)
+    // NOTE: this will be raised even after entering error-passive state and
+    // should be excluded from the bus_error increment accordingly.
+    if (events & TWAI_HAL_EVENT_BUS_ERR && !is_twai_err_passive())
     {
         twai.stats.bus_error++;
-        ESP_EARLY_LOGV(TWAI_LOG_TAG, "bus-error:%" PRIu32,
-                       twai.stats.bus_error);
+        ESP_EARLY_LOGV(TWAI_LOG_TAG, "bus-error:%zu", twai.stats.bus_error);
     }
 
     // Arbitration error detected
     if (events & TWAI_HAL_EVENT_ARB_LOST)
     {
         twai.stats.arb_loss++;
-        ESP_EARLY_LOGV(TWAI_LOG_TAG, "arb-lost:%" PRIu32,
-                       twai.stats.arb_loss);
+        ESP_EARLY_LOGV(TWAI_LOG_TAG, "arb-loss:%zu", twai.stats.arb_loss);
     }
 
     if (wakeup == pdTRUE)
@@ -822,9 +846,10 @@ static void twai_isr(void *arg)
 /// a general failure in communicating with the CAN transceiver IC.
 void* twai_watchdog(void* param)
 {
-    LOG(INFO, "ESP-TWAI: Starting TWAI watchdog and reporting task");
+    LOG(VERBOSE, "ESP-TWAI: Starting TWAI watchdog and reporting task");
     size_t last_rx_pending = 0;
     size_t last_tx_pending = 0;
+    size_t last_tx_success = 0;
     uint32_t last_twai_state = 0;
 
     while (twai.active)
@@ -862,30 +887,31 @@ void* twai_watchdog(void* param)
         }
         last_rx_pending = twai.rx_buf->pending();
 
-        // If the TX queue has not changed since our last check, purge the RX
+        // If the TX queue has not changed since our last check and the TX
+        // success count has not changed since our last check, purge the TX
         // queue and track it as failed frames.
-        if (last_tx_pending && last_tx_pending == twai.tx_buf->pending())
+        if (last_tx_pending && last_tx_pending == twai.tx_buf->pending() &&
+            last_tx_success && last_tx_success == twai.stats.tx_success)
         {
             LOG_ERROR("ESP-TWAI: TX-Q appears stuck, purging TX-Q!");
             twai_purge_tx_queue();
         }
         last_tx_pending = twai.tx_buf->pending();
+        last_tx_success = twai.stats.tx_success;
 
         if (twai.report_stats)
         {
             LOG(INFO,
                 "ESP-TWAI: "
-                "RX:%" PRIu32 " (pending:%zu,overrun:%" PRIu32
-                ",discard:%" PRIu32 ",missed:%" PRIu32 ",lost:%" PRIu32 ") "
-                "TX:%" PRIu32 " (pending:%zu,suc:%" PRIu32
-                ",fail:%" PRIu32 ") "
-                "Bus (arb-err:%" PRIu32 ",err:%" PRIu32 ",state:%s)",
+                "RX:%zu (pending:%zu,overrun:%zu,discard:%zu,miss:%zu,lost:%zu) "
+                "TX:%zu (pending:%zu,suc:%zu,fail:%zu,lost:%zu) "
+                "Bus (arb-loss:%zu,err:%zu,state:%s)",
                 twai.stats.rx_processed, twai.rx_buf->pending(),
                 twai.stats.rx_overrun, twai.stats.rx_discard,
                 twai.stats.rx_missed, twai.stats.rx_lost,
                 twai.stats.tx_processed, twai.tx_buf->pending(),
                 twai.stats.tx_success, twai.stats.tx_failed,
-                twai.stats.arb_loss, twai.stats.bus_error,
+                twai.stats.tx_lost, twai.stats.arb_loss, twai.stats.bus_error,
                 is_twai_running() ? "Running" :
                 is_twai_recovering() ? "Recovering" :
                 is_twai_err_warn() ? "Err-Warn" :
@@ -962,7 +988,7 @@ static void esp32_twai_isr_init(void *param)
 
 void Esp32HardwareTwai::hw_init()
 {
-    LOG(INFO,
+    LOG(VERBOSE,
         "ESP-TWAI: Configuring TWAI (TX:%d, RX:%d, EXT-CLK:%d, BUS-CTRL:%d)",
         txPin_, rxPin_, extClockPin_, busStatusPin_);
     gpio_set_pull_mode((gpio_num_t)txPin_, GPIO_FLOATING);
@@ -1046,12 +1072,12 @@ void Esp32HardwareTwai::hw_init()
     twai_hal_configure(&twai.context, &timingCfg, &filterCfg,
         TWAI_DEFAULT_INTERRUPTS, 0);
 
-#if SOC_CPU_CORES_NUM > 1
+#ifndef CONFIG_FREERTOS_UNICORE
     ESP_ERROR_CHECK(
         esp_ipc_call_blocking(preferredIsrCore_, esp32_twai_isr_init, nullptr));
 #else
     esp32_twai_isr_init(nullptr);
-#endif // SOC_CPU_CORES_NUM > 1
+#endif // CONFIG_FREERTOS_UNICORE
     twai.active = true;
 
     os_thread_create(&twai.wd_thread, "TWAI-WD", WATCHDOG_TASK_PRIORITY,
diff --git a/src/freertos_drivers/esp32/Esp32HardwareTwai.hxx b/src/freertos_drivers/esp32/Esp32HardwareTwai.hxx
index 957cb8aa2..40f60b152 100644
--- a/src/freertos_drivers/esp32/Esp32HardwareTwai.hxx
+++ b/src/freertos_drivers/esp32/Esp32HardwareTwai.hxx
@@ -55,37 +55,41 @@ typedef struct
 {
     /// Number of frames have been removed from @ref rx_buf and sent to the
     /// OpenMRN stack.
-    uint32_t rx_processed;
+    size_t rx_processed;
 
     /// Number of frames frames that could not be sent to @ref rx_buf.
-    uint32_t rx_missed;
+    size_t rx_missed;
 
     /// Number of frames that were discarded that had too large of a DLC count.
-    uint32_t rx_discard;
+    size_t rx_discard;
 
     /// Number of frames that were lost due to driver reset.
-    uint32_t rx_lost;
+    size_t rx_lost;
 
     /// Number of frames that were lost due to RX FIFO overrun.
-    uint32_t rx_overrun;
+    size_t rx_overrun;
 
     /// Number of frames that have been sent to the @ref twai_tx_queue by the
     /// OpenMRN stack successfully.
-    uint32_t tx_processed;
+    size_t tx_processed;
 
     /// Number of frames that have been transmitted successfully by the
     /// low-level TWAI driver.
-    uint32_t tx_success;
+    size_t tx_success;
 
     /// Number of frames that have been could not be transmitted successfully
     /// by the low-level TWAI driver.
-    uint32_t tx_failed;
+    size_t tx_failed;
+
+    /// Number of frames that were lost due to the low-level TWAI driver being
+    /// in an error-passive state or the tx queue was purged.
+    size_t tx_lost;
 
     /// Number of arbitration losses that have been observed on the TWAI bus.
-    uint32_t arb_loss;
+    size_t arb_loss;
 
     /// Number of general bus errors that have been observed on the TWAI bus.
-    uint32_t bus_error;
+    size_t bus_error;
 } esp32_twai_stats_t;
 
 /// ESP32 Hardware TWAI (CAN) driver interface.
@@ -216,4 +220,4 @@ private:
 using openmrn_arduino::esp32_twai_stats_t;
 using openmrn_arduino::Esp32HardwareTwai;
 
-#endif // _FREERTOS_DRIVERS_ESP32_ESP32HARDWARETWAI_HXX_
+#endif // _FREERTOS_DRIVERS_ESP32_ESP32HARDWARETWAI_HXX_
\ No newline at end of file
diff --git a/src/freertos_drivers/esp32/Esp32Ledc.hxx b/src/freertos_drivers/esp32/Esp32Ledc.hxx
index b57f1b6f9..7e163f952 100644
--- a/src/freertos_drivers/esp32/Esp32Ledc.hxx
+++ b/src/freertos_drivers/esp32/Esp32Ledc.hxx
@@ -35,12 +35,20 @@
 #ifndef _DRIVERS_ESP32LEDC_HXX_
 #define _DRIVERS_ESP32LEDC_HXX_
 
+// TODO: clean this up as part of https://github.com/bakerstu/openmrn/issues/778
+// as this file should be coming in from common and not arduino ideally.
+#if defined(__has_include) && \
+    __has_include("freertos_drivers/common/PWM.hxx")
 #include "freertos_drivers/common/PWM.hxx"
+#else
+#include "freertos_drivers/arduino/PWM.hxx"
+#endif
 #include "utils/logging.h"
 #include "utils/macros.h"
 #include "utils/Uninitialized.hxx"
 
 #include <driver/ledc.h>
+#include <pthread.h>
 
 namespace openmrn_arduino
 {
@@ -131,7 +139,7 @@ public:
     /// will generate a runtime failure.
     void hw_init()
     {
-        LOG(INFO,
+        LOG(VERBOSE,
             "[Esp32Ledc:%d] Configuring timer (resolution:%d, frequency:%"
             PRIu32 ")",
             timerConfig_.timer_num,
@@ -145,7 +153,7 @@ public:
 
             ledc_channel_t led_channel =
                 static_cast<ledc_channel_t>(firstChannel_ + count);
-            LOG(INFO, "[Esp32Ledc:%d] Configuring LEDC channel %d on GPIO %d",
+            LOG(VERBOSE, "[Esp32Ledc:%d] Configuring LEDC channel %d on GPIO %d",
                 timerConfig_.timer_num, led_channel, pin);
             ledc_channel_config_t config;
             memset(&config, 0, sizeof(ledc_channel_config_t));
@@ -325,4 +333,4 @@ private:
 
 using openmrn_arduino::Esp32Ledc;
 
-#endif // _DRIVERS_ESP32LEDC_HXX_
+#endif // _DRIVERS_ESP32LEDC_HXX_
\ No newline at end of file
diff --git a/src/freertos_drivers/esp32/Esp32WiFiManager.cxx b/src/freertos_drivers/esp32/Esp32WiFiManager.cxx
index 5471345f8..839baa3ba 100644
--- a/src/freertos_drivers/esp32/Esp32WiFiManager.cxx
+++ b/src/freertos_drivers/esp32/Esp32WiFiManager.cxx
@@ -1759,4 +1759,4 @@ const char *gai_strerror(int __ecode)
     }
 }
 
-#endif // ESP32
+#endif // ESP_PLATFORM
diff --git a/src/utils/Uninitialized.hxx b/src/utils/Uninitialized.hxx
index 478ea9a50..20eb49e20 100644
--- a/src/utils/Uninitialized.hxx
+++ b/src/utils/Uninitialized.hxx
@@ -34,6 +34,7 @@
 #ifndef _UTILS_UNINITIALIZED_HXX_
 #define _UTILS_UNINITIALIZED_HXX_
 
+#include <array>
 #include <type_traits>
 
 /// Template class that allows allocating storage for an object but not calling
@@ -120,7 +121,14 @@ public:
     }
 
 private:
+#if __cplusplus >= 202002L
+    // std::aligned_storage is deprecated in C++23
+    // NOTE: not using 202302L above due to ESP-IDF v5.2 packaging GCC 13.2.0
+    // which did not use this value for C++23.
+    alignas(T) std::array<std::byte, sizeof(T)> data;
+#else
     typename std::aligned_storage<sizeof(T), alignof(T)>::type data;
+#endif
 
     /// @return the embedded object (mutable pointer)
     constexpr T *tptrm() const

From 9b17be37942eb5b04cf375f414097d4024efe57b Mon Sep 17 00:00:00 2001
From: Mike Dunston <m_dunston@comcast.net>
Date: Sun, 26 Jan 2025 07:25:49 -0800
Subject: [PATCH 02/10] Bump arduino-esp32 to v3.1.1 (IDF v5.3 based)

---
 .github/workflows/ArduinoBuild.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/ArduinoBuild.yml b/.github/workflows/ArduinoBuild.yml
index 301e2b1a5..666b75842 100644
--- a/.github/workflows/ArduinoBuild.yml
+++ b/.github/workflows/ArduinoBuild.yml
@@ -64,7 +64,7 @@ jobs:
         sketch-names: ESP32CanLoadTest.ino,ESP32IOBoard.ino,ESP32SerialBridge.ino,ESP32WifiCanBridge.ino
         debug-compile: true
         required-libraries: OpenMRNLite
-        arduino-platform: esp32:esp32@2.0.17
+        arduino-platform: esp32:esp32@3.1.1
       if: ${{ matrix.target == 'esp32' }}
 
     - name: Compile ESP32-C3 examples
@@ -75,7 +75,7 @@ jobs:
         sketch-names: ESP32C3CanLoadTest.ino,ESP32C3IOBoard.ino
         debug-compile: true
         required-libraries: OpenMRNLite
-        arduino-platform: esp32:esp32@2.0.17
+        arduino-platform: esp32:esp32@3.1.1
       if: ${{ matrix.target == 'esp32c3' }}
     
     - name: Compile ESP32-S2 examples
@@ -86,5 +86,5 @@ jobs:
         sketch-names: ESP32S2CanLoadTest.ino,ESP32S2IOBoard.ino
         debug-compile: true
         required-libraries: OpenMRNLite
-        arduino-platform: esp32:esp32@2.0.17
+        arduino-platform: esp32:esp32@3.1.1
       if: ${{ matrix.target == 'esp32s2' }}

From 28c28d86ec2301c518daa87138f97f5bd19aecd5 Mon Sep 17 00:00:00 2001
From: Mike Dunston <m_dunston@comcast.net>
Date: Sun, 26 Jan 2025 07:39:29 -0800
Subject: [PATCH 03/10] Fixing CanLoadTest sketches for arduino-esp32 3.x

---
 .../ESP32C3CanLoadTest/ESP32C3CanLoadTest.ino | 12 +++----
 .../ESP32CanLoadTest/ESP32CanLoadTest.ino     | 34 +++++++++++++------
 .../ESP32S2CanLoadTest/ESP32S2CanLoadTest.ino | 12 ++++---
 3 files changed, 36 insertions(+), 22 deletions(-)

diff --git a/arduino/examples/ESP32C3CanLoadTest/ESP32C3CanLoadTest.ino b/arduino/examples/ESP32C3CanLoadTest/ESP32C3CanLoadTest.ino
index b6f4cc297..951dcff09 100644
--- a/arduino/examples/ESP32C3CanLoadTest/ESP32C3CanLoadTest.ino
+++ b/arduino/examples/ESP32C3CanLoadTest/ESP32C3CanLoadTest.ino
@@ -35,6 +35,7 @@
 #include <Arduino.h>
 #include <SPIFFS.h>
 #include <esp_spi_flash.h>
+#include <esp_private/cache_utils.h>
 
 #include <OpenMRNLite.h>
 #include <openlcb/TcpDefs.hxx>
@@ -219,15 +220,14 @@ void setup()
 
     // Register hardware timer zero to use a 1Mhz resolution and to count up
     // from zero when the timer triggers.
-    auto timer = timerBegin(0, 80, true);
+    auto timer = timerBegin(80);
     // Attach our callback function to be called when the timer is ready to
-    // fire. Note that the edge parameter is not used/supported on the
-    // ESP32-C3.
-    timerAttachInterrupt(timer, record_cpu_usage, true);
+    // fire.
+    timerAttachInterrupt(timer, &record_cpu_usage);
     // Configure the trigger point to be roughly 163 times per second.
-    timerAlarmWrite(timer, 1000000/163, true);
+    timerWrite(timer, 1000000/163);
     // Enable the timer.
-    timerAlarmEnable(timer);
+    timerStart(timer);
 
     // Initialize the SPIFFS filesystem as our persistence layer
     if (!SPIFFS.begin())
diff --git a/arduino/examples/ESP32CanLoadTest/ESP32CanLoadTest.ino b/arduino/examples/ESP32CanLoadTest/ESP32CanLoadTest.ino
index 4017be7ed..31529d13d 100644
--- a/arduino/examples/ESP32CanLoadTest/ESP32CanLoadTest.ino
+++ b/arduino/examples/ESP32CanLoadTest/ESP32CanLoadTest.ino
@@ -35,6 +35,7 @@
 #include <Arduino.h>
 #include <SPIFFS.h>
 #include <esp_spi_flash.h>
+#include <esp_private/cache_utils.h>
 
 #include <OpenMRNLite.h>
 #include <openlcb/TcpDefs.hxx>
@@ -197,17 +198,23 @@ namespace openlcb
 }
 
 CpuLoad cpu_load;
-hw_timer_t * timer = nullptr;
 CpuLoadLog* cpu_log = nullptr;
 
-void IRAM_ATTR onTimer()
+// Callback function for the hardware timer configured to fire roughly 163
+// times per second.
+void ARDUINO_ISR_ATTR record_cpu_usage()
 {
-    if (spi_flash_cache_enabled())
+#if CONFIG_ARDUINO_ISR_IRAM
+    // if the ISR is called with flash disabled we can not safely recored the
+    // cpu usage.
+    if (!spi_flash_cache_enabled())
     {
-        // Retrieves the vtable pointer from the currently running executable.
-        unsigned *pp = (unsigned *)openmrn.stack()->executor()->current();
-        cpuload_tick(pp ? pp[0] | 1 : 0);
+        return;
     }
+#endif
+    // Retrieves the vtable pointer from the currently running executable.
+    unsigned *pp = (unsigned *)openmrn.stack()->executor()->current();
+    cpuload_tick(pp ? pp[0] | 1 : 0);
 }
 
 void setup()
@@ -217,11 +224,16 @@ void setup()
 #endif    
     Serial.begin(115200L);
 
-    timer = timerBegin(3, 80, true); // timer_id = 3; divider=80; countUp = true;
-    timerAttachInterrupt(timer, &onTimer, true); // edge = true
-    // 1MHz clock, 163 ticks per second desired.
-    timerAlarmWrite(timer, 1000000/163, true);
-    timerAlarmEnable(timer);
+    // Register hardware timer zero to use a 1Mhz resolution and to count up
+    // from zero when the timer triggers.
+    auto timer = timerBegin(80);
+    // Attach our callback function to be called when the timer is ready to
+    // fire.
+    timerAttachInterrupt(timer, &record_cpu_usage);
+    // Configure the trigger point to be roughly 163 times per second.
+    timerWrite(timer, 1000000/163);
+    // Enable the timer.
+    timerStart(timer);
 
     // Initialize the SPIFFS filesystem as our persistence layer
     if (!SPIFFS.begin())
diff --git a/arduino/examples/ESP32S2CanLoadTest/ESP32S2CanLoadTest.ino b/arduino/examples/ESP32S2CanLoadTest/ESP32S2CanLoadTest.ino
index 076519176..56e53a8a5 100644
--- a/arduino/examples/ESP32S2CanLoadTest/ESP32S2CanLoadTest.ino
+++ b/arduino/examples/ESP32S2CanLoadTest/ESP32S2CanLoadTest.ino
@@ -35,6 +35,7 @@
 #include <Arduino.h>
 #include <SPIFFS.h>
 #include <esp_spi_flash.h>
+#include <esp_private/cache_utils.h>
 #include <USB.h>
 
 #include <OpenMRNLite.h>
@@ -267,13 +268,14 @@ void setup()
 
     // Register hardware timer zero to use a 1Mhz resolution and to count up
     // from zero when the timer triggers.
-    auto timer = timerBegin(0, 80, true);
-    // Attach our callback function to be called on the timer edge signal.
-    timerAttachInterrupt(timer, record_cpu_usage, true);
+    auto timer = timerBegin(80);
+    // Attach our callback function to be called when the timer is ready to
+    // fire.
+    timerAttachInterrupt(timer, &record_cpu_usage);
     // Configure the trigger point to be roughly 163 times per second.
-    timerAlarmWrite(timer, 1000000/163, true);
+    timerWrite(timer, 1000000/163);
     // Enable the timer.
-    timerAlarmEnable(timer);
+    timerStart(timer);
 
     // Initialize the SPIFFS filesystem as our persistence layer
     if (!SPIFFS.begin())

From 13cef2476566b91347f9c41c2bad1d3a878af4ca Mon Sep 17 00:00:00 2001
From: Mike Dunston <m_dunston@comcast.net>
Date: Sun, 26 Jan 2025 07:48:41 -0800
Subject: [PATCH 04/10] Add pthread include for ledc

---
 src/freertos_drivers/esp32/Esp32Ledc.cxx | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/freertos_drivers/esp32/Esp32Ledc.cxx b/src/freertos_drivers/esp32/Esp32Ledc.cxx
index 7dfa35b83..558147a43 100644
--- a/src/freertos_drivers/esp32/Esp32Ledc.cxx
+++ b/src/freertos_drivers/esp32/Esp32Ledc.cxx
@@ -36,6 +36,7 @@
 #if defined(ESP_PLATFORM)
 
 #include "Esp32Ledc.hxx"
+#include <pthread.h>
 
 namespace openmrn_arduino
 {

From e218933714b4b9246fe0d15c3fd3b4ad669d8be2 Mon Sep 17 00:00:00 2001
From: Mike Dunston <m_dunston@comcast.net>
Date: Sun, 26 Jan 2025 08:18:39 -0800
Subject: [PATCH 05/10] Update arduino build - Switch to using custom version
 of library locally generated and moved into place on the runner to avoid
 cached copies.

---
 .github/workflows/ArduinoBuild.yml | 12 ++++--------
 1 file changed, 4 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/ArduinoBuild.yml b/.github/workflows/ArduinoBuild.yml
index 666b75842..9dcad37ef 100644
--- a/.github/workflows/ArduinoBuild.yml
+++ b/.github/workflows/ArduinoBuild.yml
@@ -25,8 +25,8 @@ jobs:
 
     - name: Generate OpenMRNLite library
       run: |
-        mkdir --parents $HOME/Arduino/libraries/OpenMRNLite
-        $GITHUB_WORKSPACE/arduino/libify.sh $HOME/Arduino/libraries/OpenMRNLite $GITHUB_WORKSPACE -f
+        mkdir --parents $GITHUB_WORKSPACE/CustomOpenMRNLite
+        $GITHUB_WORKSPACE/arduino/libify.sh $GITHUB_WORKSPACE/CustomOpenMRNLite $GITHUB_WORKSPACE -f
         rm -f $GITHUB_WORKSPACE/arduino/examples/Stm*/build_opt.h
 
     - name: Compile STM32 examples
@@ -37,7 +37,6 @@ jobs:
         sketch-names: Stm32*.ino
         build-properties: '{ "All": "-DHAL_CAN_MODULE_ENABLED" }'
         debug-compile: true
-        required-libraries: OpenMRNLite
 
   build-esp32:
     name: Build Arduino ${{ matrix.target }} examples
@@ -52,8 +51,8 @@ jobs:
 
     - name: Generate OpenMRNLite library
       run: |
-        mkdir --parents $HOME/Arduino/libraries/OpenMRNLite
-        $GITHUB_WORKSPACE/arduino/libify.sh $HOME/Arduino/libraries/OpenMRNLite $GITHUB_WORKSPACE -f
+        mkdir --parents $GITHUB_WORKSPACE/CustomOpenMRNLite
+        $GITHUB_WORKSPACE/arduino/libify.sh $GITHUB_WORKSPACE/CustomOpenMRNLite $GITHUB_WORKSPACE -f
         rm -f $GITHUB_WORKSPACE/arduino/examples/Stm*/build_opt.h
 
     - name: Compile ESP32 examples
@@ -63,7 +62,6 @@ jobs:
         arduino-board-fqbn: esp32:esp32:node32s
         sketch-names: ESP32CanLoadTest.ino,ESP32IOBoard.ino,ESP32SerialBridge.ino,ESP32WifiCanBridge.ino
         debug-compile: true
-        required-libraries: OpenMRNLite
         arduino-platform: esp32:esp32@3.1.1
       if: ${{ matrix.target == 'esp32' }}
 
@@ -74,7 +72,6 @@ jobs:
         arduino-board-fqbn: esp32:esp32:esp32c3
         sketch-names: ESP32C3CanLoadTest.ino,ESP32C3IOBoard.ino
         debug-compile: true
-        required-libraries: OpenMRNLite
         arduino-platform: esp32:esp32@3.1.1
       if: ${{ matrix.target == 'esp32c3' }}
     
@@ -85,6 +82,5 @@ jobs:
         arduino-board-fqbn: esp32:esp32:esp32s2
         sketch-names: ESP32S2CanLoadTest.ino,ESP32S2IOBoard.ino
         debug-compile: true
-        required-libraries: OpenMRNLite
         arduino-platform: esp32:esp32@3.1.1
       if: ${{ matrix.target == 'esp32s2' }}

From fb21cf324b0dbd79e10aa1a69d73ddb9d0f38b7f Mon Sep 17 00:00:00 2001
From: Mike Dunston <m_dunston@comcast.net>
Date: Sun, 26 Jan 2025 08:23:29 -0800
Subject: [PATCH 06/10] adjust libify.sh to copy src/ble/*

---
 arduino/libify.sh    | 2 ++
 arduino/library.json | 1 +
 2 files changed, 3 insertions(+)

diff --git a/arduino/libify.sh b/arduino/libify.sh
index 3b327b30f..a31081366 100755
--- a/arduino/libify.sh
+++ b/arduino/libify.sh
@@ -232,6 +232,8 @@ copy_file src/sys include/sys/tree.hxx
 
 copy_file src/utils src/utils/*.{cxx,hxx,c,h}
 
+copy_file src/ble src/ble/*.{cxx,hxx}
+
 rm -f ${TARGET_LIB_DIR}/src/utils/ReflashBootloader.cxx \
     ${TARGET_LIB_DIR}/src/utils/AesCcmTestVectors.hxx \
     ${TARGET_LIB_DIR}/src/utils/AesCcmTestVectorsEx.hxx \
diff --git a/arduino/library.json b/arduino/library.json
index c6d1c12a6..c5a72321e 100644
--- a/arduino/library.json
+++ b/arduino/library.json
@@ -30,6 +30,7 @@
             "-<.git/>",
             "-<examples/>",
             "+<*>",
+            "+<ble/*>",
             "+<dcc/*>",
             "+<executor/*>",
             "+<freertos/*>",

From 7f6b5e4967120adaa4eb5ae4f87b98aa6022d1b2 Mon Sep 17 00:00:00 2001
From: Mike Dunston <m_dunston@comcast.net>
Date: Sun, 26 Jan 2025 08:29:11 -0800
Subject: [PATCH 07/10] Disable DirectHub.cxx compilation without BSD sockets
 and fix missing ) in Esp32Gpio.hxx

---
 src/freertos_drivers/esp32/Esp32Gpio.hxx | 2 +-
 src/utils/DirectHub.cxx                  | 6 ++++++
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/freertos_drivers/esp32/Esp32Gpio.hxx b/src/freertos_drivers/esp32/Esp32Gpio.hxx
index f051604ee..b597d8eb4 100644
--- a/src/freertos_drivers/esp32/Esp32Gpio.hxx
+++ b/src/freertos_drivers/esp32/Esp32Gpio.hxx
@@ -59,7 +59,7 @@
 /// This is necessary since ESP-IDF does not expose gpio_get_direction(pin).
 #define IS_GPIO_OUTPUT(pin) (GPIO_IS_VALID_OUTPUT_GPIO(pin) &&                 \
                              GPIO.enable.data & \
-                             BIT(pin & SOC_GPIO_VALID_OUTPUT_GPIO_MASK)
+                             BIT(pin & SOC_GPIO_VALID_OUTPUT_GPIO_MASK))
 #else // NOT ESP32-C3
 /// Helper macro to test if a pin has been configured for output.
 ///
diff --git a/src/utils/DirectHub.cxx b/src/utils/DirectHub.cxx
index af1329b9f..1951ea70f 100644
--- a/src/utils/DirectHub.cxx
+++ b/src/utils/DirectHub.cxx
@@ -36,6 +36,10 @@
 
 // #define LOGLEVEL VERBOSE
 
+#include "openmrn_features.h"
+
+#if OPENMRN_FEATURE_BSD_SOCKETS
+
 #include "utils/DirectHub.hxx"
 
 #include <algorithm>
@@ -946,3 +950,5 @@ void create_direct_gc_tcp_hub(DirectHubInterface<uint8_t[]> *hub, int port)
 {
     new DirectGcTcpHub(hub, port);
 }
+
+#endif // OPENMRN_FEATURE_BSD_SOCKETS
\ No newline at end of file

From a30ca921c80d7fc70e785ce986f6cffe45b7cb5b Mon Sep 17 00:00:00 2001
From: Mike Dunston <m_dunston@comcast.net>
Date: Sun, 26 Jan 2025 08:53:00 -0800
Subject: [PATCH 08/10] Remove ESP32SerialBridge as it is no longer supported.
 including temporary fix for arduino build issue

---
 .github/workflows/ArduinoBuild.yml            |   2 +-
 arduino/OpenMRNLite.cpp                       |  26 +++
 arduino/examples/ESP32SerialBridge/.gitignore |   1 -
 .../ESP32SerialBridge/ESP32SerialBridge.ino   | 175 ------------------
 arduino/examples/ESP32SerialBridge/config.h   |  60 ------
 .../ESP32WifiCanBridge/ESP32WifiCanBridge.ino |  18 +-
 6 files changed, 39 insertions(+), 243 deletions(-)
 delete mode 100644 arduino/examples/ESP32SerialBridge/.gitignore
 delete mode 100644 arduino/examples/ESP32SerialBridge/ESP32SerialBridge.ino
 delete mode 100644 arduino/examples/ESP32SerialBridge/config.h

diff --git a/.github/workflows/ArduinoBuild.yml b/.github/workflows/ArduinoBuild.yml
index 9dcad37ef..5018ffb01 100644
--- a/.github/workflows/ArduinoBuild.yml
+++ b/.github/workflows/ArduinoBuild.yml
@@ -60,7 +60,7 @@ jobs:
       with:
         platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
         arduino-board-fqbn: esp32:esp32:node32s
-        sketch-names: ESP32CanLoadTest.ino,ESP32IOBoard.ino,ESP32SerialBridge.ino,ESP32WifiCanBridge.ino
+        sketch-names: ESP32CanLoadTest.ino,ESP32IOBoard.ino,ESP32WifiCanBridge.ino
         debug-compile: true
         arduino-platform: esp32:esp32@3.1.1
       if: ${{ matrix.target == 'esp32' }}
diff --git a/arduino/OpenMRNLite.cpp b/arduino/OpenMRNLite.cpp
index d1968a199..834266123 100644
--- a/arduino/OpenMRNLite.cpp
+++ b/arduino/OpenMRNLite.cpp
@@ -65,3 +65,29 @@ ssize_t os_get_free_heap()
 #endif // ESP_PLATFORM
 
 } // namespace openmrn_arduino
+
+#ifdef ESP_PLATFORM
+
+/*
+temporary hack due to:
+
+/home/runner/.cache/arduino/cores/esp32_esp32_esp32c3_e60f223ab547c7c01b5bb8c151783c5f/core.a @/home/runner/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.3-cfea4f7c-v1/esp32c3/flags/ld_libs -Wl,--end-group -Wl,-EL -o /home/runner/.cache/arduino/sketches/1429F777C89502EA84E469B35328AFC7/ESP32C3IOBoard.ino.elf
+/home/runner/.arduino15/packages/esp32/tools/esp-rv32/2405/bin/../lib/gcc/riscv32-esp-elf/13.2.0/../../../../riscv32-esp-elf/bin/ld: /home/runner/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.3-cfea4f7c-v1/esp32c3/lib/liblwip.a(ip6.c.obj): in function `ip6_input':
+/home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/lwip/lwip/src/core/ipv6/ip6.c:1127:(.text.ip6_input+0xa2): undefined reference to `lwip_hook_ip6_input'
+collect2: error: ld returned 1 exit status
+
+tracked as https://github.com/espressif/arduino-esp32/issues/10084
+below snippet was copied from the issue and must be placed in global namespace
+*/
+extern "C" int lwip_hook_ip6_input(struct pbuf *p, struct netif *inp) __attribute__((weak));
+extern "C" int lwip_hook_ip6_input(struct pbuf *p, struct netif *inp)
+{
+  if (ip6_addr_isany_val(inp->ip6_addr[0].u_addr.ip6))
+  {
+    // We don't have an LL address -> eat this packet here, so it won't get accepted on input netif
+    pbuf_free(p);
+    return 1;
+  }
+  return 0;
+}
+#endif
diff --git a/arduino/examples/ESP32SerialBridge/.gitignore b/arduino/examples/ESP32SerialBridge/.gitignore
deleted file mode 100644
index 70cfab999..000000000
--- a/arduino/examples/ESP32SerialBridge/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-wifi_params.cpp
diff --git a/arduino/examples/ESP32SerialBridge/ESP32SerialBridge.ino b/arduino/examples/ESP32SerialBridge/ESP32SerialBridge.ino
deleted file mode 100644
index 870457596..000000000
--- a/arduino/examples/ESP32SerialBridge/ESP32SerialBridge.ino
+++ /dev/null
@@ -1,175 +0,0 @@
-/** \copyright
- * Copyright (c) 2019, Mike Dunston
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are  permitted provided that the following conditions are met:
- * 
- *  - Redistributions of source code must retain the above copyright notice,
- *    this list of conditions and the following disclaimer.
- *
- *  - Redistributions in binary form must reproduce the above copyright notice,
- *    this list of conditions and the following disclaimer in the documentation
- *    and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- * \file ESP32SerialBridge.ino
- * 
- * Example application for the ESP32 showing how to configure a Serial bridge
- * GridConnect client adapter to the OpenMRN stack.
- *
- * @author Mike Dunston
- * @date 13 January 2019
- */
-
-#include <Arduino.h>
-#include <OpenMRNLite.h>
-#include <SPIFFS.h>
-
-#include "config.h"
-
-// uncomment the line below to have all packets printed to the Serial
-// output. This is not recommended for production deployment.
-//#define PRINT_PACKETS
-
-/// This is the speed used for UART0 AND UART1 on the ESP32.
-/// UART0 is primarily for debug/log messages.
-/// UART1 is used as the bridge device.
-constexpr uint32_t  SERIAL_BAUD     = 115200L;
-
-/// This is the pin to use for UART1 RX, this can not be the same as the CAN_RX_PIN below.
-/// Note: Any pin can be used for this other than 6-11 which are connected to
-/// the onboard flash.
-constexpr uint8_t   SERIAL_RX_PIN   = 16;
-
-/// This is the pin to use for UART1 TX, this can not be the same as the CAN_TX_PIN below.
-/// Note: Any pin can be used for this other than 6-11 which are connected to
-/// the onboard flash and 34-39 which are input only.
-constexpr uint8_t   SERIAL_TX_PIN   = 17;
-
-/// This is the ESP32 pin connected to the SN65HVD23x/MCP2551 R (RX) pin.
-/// Recommended pins: 4, 16, 21.
-/// Note: Any pin can be used for this other than 6-11 which are connected to
-/// the onboard flash.
-constexpr gpio_num_t CAN_RX_PIN = GPIO_NUM_4;
-
-/// This is the ESP32 pin connected to the SN65HVD23x/MCP2551 D (TX) pin.
-/// Recommended pins: 5, 17, 22.
-/// Note: Any pin can be used for this other than 6-11 which are connected to
-/// the onboard flash and 34-39 which are input only.
-constexpr gpio_num_t CAN_TX_PIN = GPIO_NUM_5;
-
-/// This is the node id to assign to this device, this must be unique
-/// on the CAN bus.
-static constexpr uint64_t NODE_ID = UINT64_C(0x050101011829);
-
-/// This is the primary entrypoint for the OpenMRN/LCC stack.
-OpenMRN openmrn(NODE_ID);
-
-// note the dummy string below is required due to a bug in the GCC compiler
-// for the ESP32
-string dummystring("abcdef");
-
-// ConfigDef comes from config.hxx and is specific to the particular device and
-// target. It defines the layout of the configuration memory space and is also
-// used to generate the cdi.xml file. Here we instantiate the configuration
-// layout. The argument of offset zero is ignored and will be removed later.
-static constexpr openlcb::ConfigDef cfg(0);
-
-class FactoryResetHelper : public DefaultConfigUpdateListener {
-public:
-    UpdateAction apply_configuration(int fd, bool initial_load,
-                                     BarrierNotifiable *done) OVERRIDE {
-        AutoNotify n(done);
-        return UPDATED;
-    }
-
-    void factory_reset(int fd) override
-    {
-        cfg.userinfo().name().write(fd, openlcb::SNIP_STATIC_DATA.model_name);
-        cfg.userinfo().description().write(
-            fd, "OpenLCB + Arduino-ESP32 on an ESP32.");
-    }
-} factory_reset_helper;
-
-namespace openlcb {
-    // Name of CDI.xml to generate dynamically.
-    const char CDI_FILENAME[] = "/spiffs/cdi.xml";
-
-    // This will stop openlcb from exporting the CDI memory space upon start.
-    const char CDI_DATA[] = "";
-
-    // Path to where OpenMRN should persist general configuration data.
-    const char *const CONFIG_FILENAME = "/spiffs/openlcb_config";
-
-    // The size of the memory space to export over the above device.
-    const size_t CONFIG_FILE_SIZE = cfg.seg().size() + cfg.seg().offset();
-
-    // Default to store the dynamic SNIP data is stored in the same persistant
-    // data file as general configuration data.
-    const char *const SNIP_DYNAMIC_FILENAME = CONFIG_FILENAME;
-}
-
-void setup() {
-    Serial.begin(SERIAL_BAUD);
-    Serial1.begin(SERIAL_BAUD, SERIAL_8N1, SERIAL_RX_PIN, SERIAL_TX_PIN);
-
-    // Initialize the SPIFFS filesystem as our persistence layer
-    if(!SPIFFS.begin())
-    {
-        printf("SPIFFS failed to mount, attempting to format and remount\n");
-        if(!SPIFFS.begin(true))
-        {
-            printf("SPIFFS mount failed even with format, giving up!\n");
-            while(1)
-            {
-                // Unable to start SPIFFS successfully, give up and wait
-                // for WDT to kick in
-            }
-        }
-    }
-
-    printf("\nSerial(rx:%d, tx:%d, speed:%d) is ready to exchange grid connect packets.\n",
-        SERIAL_TX_PIN, SERIAL_TX_PIN, SERIAL_BAUD);
-
-    // Create the CDI.xml dynamically
-    openmrn.create_config_descriptor_xml(cfg, openlcb::CDI_FILENAME);
-
-    // Create the default internal configuration file
-    openmrn.stack()->create_config_file_if_needed(cfg.seg().internal_config(),
-        openlcb::CANONICAL_VERSION, openlcb::CONFIG_FILE_SIZE);
-
-    // Start the OpenMRN stack
-    openmrn.begin();
-
-#if defined(PRINT_PACKETS)
-    // Dump all packets as they are sent/received.
-    // Note: This should not be enabled in deployed nodes as it will
-    // have performance impact.
-    openmrn.stack()->print_all_packets();
-#endif // PRINT_PACKETS
-
-    // Add Serial1 as a bridge
-    openmrn.add_gridconnect_port(&Serial1);
-
-    // Add the hardware CAN device as a bridge
-    openmrn.add_can_port(
-        new Esp32HardwareCan("esp32can", CAN_RX_PIN, CAN_TX_PIN));
-}
-
-void loop() {
-    // Call the OpenMRN executor, this needs to be done as often
-    // as possible from the loop() method.
-    openmrn.loop();
-}
diff --git a/arduino/examples/ESP32SerialBridge/config.h b/arduino/examples/ESP32SerialBridge/config.h
deleted file mode 100644
index 6df063fa3..000000000
--- a/arduino/examples/ESP32SerialBridge/config.h
+++ /dev/null
@@ -1,60 +0,0 @@
-#ifndef _ARDUINO_EXAMPLE_ESP32SERIALBRIDGE_CONFIG_H_
-#define _ARDUINO_EXAMPLE_ESP32SERIALBRIDGE_CONFIG_H_
-
-#include "openlcb/ConfiguredConsumer.hxx"
-#include "openlcb/ConfiguredProducer.hxx"
-#include "openlcb/ConfigRepresentation.hxx"
-#include "openlcb/MemoryConfig.hxx"
-
-namespace openlcb
-{
-
-/// Defines the identification information for the node. The arguments are:
-///
-/// - 4 (version info, always 4 by the standard
-/// - Manufacturer name
-/// - Model name
-/// - Hardware version
-/// - Software version
-///
-/// This data will be used for all purposes of the identification:
-///
-/// - the generated cdi.xml will include this data
-/// - the Simple Node Ident Info Protocol will return this data
-/// - the ACDI memory space will contain this data.
-extern const SimpleNodeStaticValues SNIP_STATIC_DATA = {
-    4,
-    "OpenMRN",
-    "Arduino Serial Bridge",
-    ARDUINO_VARIANT,
-    "1.00"};
-
-/// Modify this value every time the EEPROM needs to be cleared on the node
-/// after an update.
-static constexpr uint16_t CANONICAL_VERSION = 0x1009;
-
-/// Defines the main segment in the configuration CDI. This is laid out at
-/// origin 128 to give space for the ACDI user data at the beginning.
-CDI_GROUP(IoBoardSegment, Segment(MemoryConfigDefs::SPACE_CONFIG), Offset(128));
-/// Each entry declares the name of the current entry, then the type and then
-/// optional arguments list.
-CDI_GROUP_ENTRY(internal_config, InternalConfigData);
-CDI_GROUP_END();
-
-/// The main structure of the CDI. ConfigDef is the symbol we use in main.cxx
-/// to refer to the configuration defined here.
-CDI_GROUP(ConfigDef, MainCdi());
-/// Adds the <identification> tag with the values from SNIP_STATIC_DATA above.
-CDI_GROUP_ENTRY(ident, Identification);
-/// Adds an <acdi> tag.
-CDI_GROUP_ENTRY(acdi, Acdi);
-/// Adds a segment for changing the values in the ACDI user-defined
-/// space. UserInfoSegment is defined in the system header.
-CDI_GROUP_ENTRY(userinfo, UserInfoSegment, Name("User Info"));
-/// Adds the main configuration segment.
-CDI_GROUP_ENTRY(seg, IoBoardSegment, Name("Settings"));
-CDI_GROUP_END();
-
-} // namespace openlcb
-
-#endif // _ARDUINO_EXAMPLE_ESP32SERIALBRIDGE_CONFIG_H_
diff --git a/arduino/examples/ESP32WifiCanBridge/ESP32WifiCanBridge.ino b/arduino/examples/ESP32WifiCanBridge/ESP32WifiCanBridge.ino
index b09e94bbc..ab5138c50 100644
--- a/arduino/examples/ESP32WifiCanBridge/ESP32WifiCanBridge.ino
+++ b/arduino/examples/ESP32WifiCanBridge/ESP32WifiCanBridge.ino
@@ -106,10 +106,15 @@ static constexpr openlcb::ConfigDef cfg(0);
 
 Esp32WiFiManager wifi_mgr(ssid, password, openmrn.stack(), cfg.seg().wifi());
 
-class FactoryResetHelper : public DefaultConfigUpdateListener {
+// @ref Esp32HardwareTwai instance to use for this node.
+static Esp32HardwareTwai twai(CAN_RX_PIN, CAN_TX_PIN);
+
+class FactoryResetHelper : public DefaultConfigUpdateListener
+{
 public:
     UpdateAction apply_configuration(int fd, bool initial_load,
-                                     BarrierNotifiable *done) OVERRIDE {
+                                     BarrierNotifiable *done) OVERRIDE
+    {
         AutoNotify n(done);
         return UPDATED;
     }
@@ -167,6 +172,11 @@ void setup()
     openmrn.stack()->create_config_file_if_needed(cfg.seg().internal_config(),
         openlcb::CANONICAL_VERSION, openlcb::CONFIG_FILE_SIZE);
 
+    // Initialize the TWAI peripheral
+    twai.hw_init();
+    // Add TWAI port to the stack
+    openmrn.add_can_port_select("/dev/twai/twai0");
+
     // Start the OpenMRN stack
     openmrn.begin();
     openmrn.start_executor_thread();
@@ -177,10 +187,6 @@ void setup()
     // have performance impact.
     openmrn.stack()->print_all_packets();
 #endif // PRINT_PACKETS
-
-    // Add the hardware CAN device as a bridge
-    openmrn.add_can_port(
-        new Esp32HardwareCan("esp32can", CAN_RX_PIN, CAN_TX_PIN));
 }
 
 void loop()

From f6dafb5f109aff02f73e2d5b343ad34193a31370 Mon Sep 17 00:00:00 2001
From: Mike Dunston <m_dunston@comcast.net>
Date: Sun, 26 Jan 2025 08:57:33 -0800
Subject: [PATCH 09/10] add missing includes

---
 arduino/OpenMRNLite.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/arduino/OpenMRNLite.cpp b/arduino/OpenMRNLite.cpp
index 834266123..1ae29d70e 100644
--- a/arduino/OpenMRNLite.cpp
+++ b/arduino/OpenMRNLite.cpp
@@ -68,6 +68,10 @@ ssize_t os_get_free_heap()
 
 #ifdef ESP_PLATFORM
 
+#include "lwip/ip_addr.h"
+#include "lwip/err.h"
+#include "lwip/netif.h"
+
 /*
 temporary hack due to:
 

From 33d7fb4a5fd765e516f288916b95946a1e761f37 Mon Sep 17 00:00:00 2001
From: Mike Dunston <m_dunston@comcast.net>
Date: Sun, 26 Jan 2025 09:07:16 -0800
Subject: [PATCH 10/10] drop remaining references to USE_CAN

---
 arduino/examples/ESP32C3CanLoadTest/config.h  |  2 +-
 .../ESP32CanLoadTest/ESP32CanLoadTest.ino     | 24 +++----------
 .../examples/ESP32IOBoard/ESP32IOBoard.ino    | 35 ++++++-------------
 arduino/examples/ESP32IOBoard/config.h        | 10 ++----
 arduino/examples/ESP32S2CanLoadTest/config.h  |  2 +-
 .../ESP32S2IOBoard/ESP32S2IOBoard.ino         | 11 +++---
 6 files changed, 24 insertions(+), 60 deletions(-)

diff --git a/arduino/examples/ESP32C3CanLoadTest/config.h b/arduino/examples/ESP32C3CanLoadTest/config.h
index 40913fdc6..967066535 100644
--- a/arduino/examples/ESP32C3CanLoadTest/config.h
+++ b/arduino/examples/ESP32C3CanLoadTest/config.h
@@ -10,7 +10,7 @@
 
 // catch invalid configuration at compile time
 #if !defined(USE_TWAI) && !defined(USE_WIFI)
-#error "Invalid configuration detected, USE_CAN or USE_WIFI must be defined."
+#error "Invalid configuration detected, USE_TWAI or USE_WIFI must be defined."
 #endif
 
 namespace openlcb
diff --git a/arduino/examples/ESP32CanLoadTest/ESP32CanLoadTest.ino b/arduino/examples/ESP32CanLoadTest/ESP32CanLoadTest.ino
index 31529d13d..aa208e9eb 100644
--- a/arduino/examples/ESP32CanLoadTest/ESP32CanLoadTest.ino
+++ b/arduino/examples/ESP32CanLoadTest/ESP32CanLoadTest.ino
@@ -46,20 +46,13 @@
 
 
 // Pick an operating mode below, if you select USE_WIFI it will expose this
-// node on WIFI. If USE_CAN / USE_TWAI / USE_TWAI_ASYNC are enabled the node
+// node on WIFI. If USE_TWAI / USE_TWAI_ASYNC are enabled the node
 // will be available on CAN.
 //
 // Enabling both options will allow the ESP32 to be accessible from
-// both WiFi and CAN interfaces.
-//
-// NOTE: USE_TWAI and USE_TWAI_ASYNC are similar to USE_CAN but utilize the
-// new TWAI driver which offers both select() (default) or fnctl() (async)
-// access.
-// NOTE: USE_CAN is deprecated and no longer supported upstream by ESP-IDF as
-// of v4.2 or arduino-esp32 as of v2.0.0.
+// both WiFi and TWAI interfaces.
 
 #define USE_WIFI
-//#define USE_CAN
 //#define USE_TWAI
 //#define USE_TWAI_ASYNC
 
@@ -74,11 +67,6 @@
 #define USE_TWAI
 #endif // USE_TWAI_ASYNC && !USE_TWAI
 
-// Verify that both CAN and TWAI are not enabled.
-#if defined(USE_CAN) && defined(USE_TWAI)
-#error Enabling both USE_CAN and USE_TWAI is not supported.
-#endif // USE_CAN && USE_TWAI
-
 #if defined(USE_TWAI) && ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(4,3,0)
 #error Esp32HardwareTwai is not supported on this version of arduino-esp32.
 #endif // USE_TWAI && IDF < v4.3
@@ -273,17 +261,13 @@ void setup()
     openmrn.stack()->print_all_packets();
 #endif // PRINT_PACKETS
 
-#if defined(USE_CAN)
-    // Add the hardware CAN device as a bridge
-    openmrn.add_can_port(
-        new Esp32HardwareCan("esp32can", CAN_RX_PIN, CAN_TX_PIN));
-#elif defined(USE_TWAI_ASYNC)
+#if defined(USE_TWAI_ASYNC)
     // add TWAI driver with non-blocking usage
     openmrn.add_can_port_async("/dev/twai/twai0");
 #elif defined(USE_TWAI)
     // add TWAI driver with select() usage
     openmrn.add_can_port_select("/dev/twai/twai0");
-#endif // USE_TWAI_SELECT / USE_TWAI
+#endif // USE_TWAI_ASYNC / USE_TWAI
 }
 
 void loop()
diff --git a/arduino/examples/ESP32IOBoard/ESP32IOBoard.ino b/arduino/examples/ESP32IOBoard/ESP32IOBoard.ino
index c1d65a3e3..bd8bb0ea8 100644
--- a/arduino/examples/ESP32IOBoard/ESP32IOBoard.ino
+++ b/arduino/examples/ESP32IOBoard/ESP32IOBoard.ino
@@ -42,21 +42,14 @@
 #include "utils/GpioInitializer.hxx"
 
 // Pick an operating mode below, if you select USE_WIFI it will expose this
-// node on WIFI. If USE_CAN / USE_TWAI / USE_TWAI_ASYNC are enabled the node
+// node on WIFI. If USE_TWAI / USE_TWAI_ASYNC are enabled the node
 // will be available on CAN.
 //
 // Enabling both options will allow the ESP32 to be accessible from
 // both WiFi and CAN interfaces.
-//
-// NOTE: USE_TWAI and USE_TWAI_ASYNC are similar to USE_CAN but utilize the
-// new TWAI driver which offers both select() (default) or fnctl() (async)
-// access.
-// NOTE: USE_CAN is deprecated and no longer supported upstream by ESP-IDF as
-// of v4.2 or arduino-esp32 as of v2.0.0.
 
 #define USE_WIFI
-#define USE_CAN
-//#define USE_TWAI
+#define USE_TWAI
 //#define USE_TWAI_ASYNC
 
 // uncomment the line below to have all packets printed to the Serial
@@ -85,10 +78,6 @@
 #define USE_TWAI
 #endif // USE_TWAI_ASYNC && !USE_TWAI
 
-#if defined(USE_CAN) && defined(USE_TWAI)
-#error USE_CAN and USE_TWAI are mutually exclusive!
-#endif
-
 #if defined(FIRMWARE_UPDATE_BOOTLOADER) && !defined(USE_TWAI)
 #error FIRMWARE_UPDATE_BOOTLOADER requires USE_TWAI or USE_TWAI_SELECT.
 #endif
@@ -129,7 +118,7 @@ const char *hostname = "esp32mrn";
 
 #endif // USE_WIFI
 
-#if defined(USE_CAN) || defined(USE_TWAI)
+#if defined(USE_TWAI)
 /// This is the ESP32 pin connected to the SN65HVD23x/MCP2551 R (RX) pin.
 /// Recommended pins: 4, 16, 21.
 /// Note: Any pin can be used for this other than 6-11 which are connected to
@@ -146,7 +135,7 @@ constexpr gpio_num_t CAN_RX_PIN = GPIO_NUM_4;
 /// the GPIO pin definitions for the outputs.
 constexpr gpio_num_t CAN_TX_PIN = GPIO_NUM_5;
 
-#endif // USE_CAN || USE_TWAI
+#endif // USE_TWAI
 
 #if defined(FIRMWARE_UPDATE_BOOTLOADER)
 // Include the Bootloader HAL implementation for the ESP32. This should only
@@ -171,9 +160,9 @@ static constexpr openlcb::ConfigDef cfg(0);
 Esp32WiFiManager wifi_mgr(ssid, password, openmrn.stack(), cfg.seg().wifi());
 #endif // USE_WIFI
 
-#if defined(USE_TWAI) && !defined(USE_CAN)
+#if defined(USE_TWAI)
 Esp32HardwareTwai twai(CAN_RX_PIN, CAN_TX_PIN);
-#endif // USE_TWAI && !USE_CAN
+#endif // USE_TWAI
 
 // Declare output pins
 // NOTE: pins 6-11 are connected to the onboard flash and can not be used for
@@ -381,9 +370,9 @@ void setup()
     }
 #endif // FIRMWARE_UPDATE_BOOTLOADER
 
-#if defined(USE_TWAI) && !defined(USE_CAN)
+#if defined(USE_TWAI)
     twai.hw_init();
-#endif // USE_TWAI && !USE_CAN
+#endif // USE_TWAI
 
     check_for_factory_reset();
 
@@ -410,15 +399,11 @@ void setup()
     openmrn.stack()->print_all_packets();
 #endif // PRINT_PACKETS
 
-#if defined(USE_CAN)
-    // Add the hardware CAN device as a bridge
-    openmrn.add_can_port(
-        new Esp32HardwareCan("esp32can", CAN_RX_PIN, CAN_TX_PIN));
-#elif defined(USE_TWAI_ASYNC)
+#if defined(USE_TWAI_ASYNC)
     openmrn.add_can_port_async("/dev/twai/twai0");
 #elif defined(USE_TWAI)
     openmrn.add_can_port_select("/dev/twai/twai0");
-#endif // USE_CAN
+#endif // USE_TWAI_ASYNC
 
     openmrn.start_executor_thread();
 }
diff --git a/arduino/examples/ESP32IOBoard/config.h b/arduino/examples/ESP32IOBoard/config.h
index b8e292a27..57fa4f923 100644
--- a/arduino/examples/ESP32IOBoard/config.h
+++ b/arduino/examples/ESP32IOBoard/config.h
@@ -9,8 +9,8 @@
 #include "freertos_drivers/esp32/Esp32WiFiConfiguration.hxx"
 
 // catch invalid configuration at compile time
-#if !defined(USE_CAN) && !defined(USE_WIFI)
-#error "Invalid configuration detected, USE_CAN or USE_WIFI must be defined."
+#if !defined(USE_TWAI) && !defined(USE_WIFI)
+#error "Invalid configuration detected, USE_TWAI or USE_WIFI must be defined."
 #endif
 
 namespace openlcb
@@ -32,14 +32,10 @@ namespace openlcb
 extern const SimpleNodeStaticValues SNIP_STATIC_DATA = {
     4,
     "OpenMRN",
-#if defined(USE_WIFI) && !defined(USE_CAN) && !defined(USE_TWAI)
+#if defined(USE_WIFI) && !defined(USE_TWAI)
     "Arduino IO Board (WiFi)",
-#elif defined(USE_CAN) && !defined(USE_WIFI)
-    "Arduino IO Board (CAN)",
 #elif defined(USE_TWAI) && !defined(USE_WIFI)
     "Arduino IO Board (TWAI)",
-#elif defined(USE_CAN) && defined(USE_WIFI)
-    "Arduino IO Board (WiFi/CAN)",
 #elif defined(USE_TWAI) && defined(USE_WIFI)
     "Arduino IO Board (WiFi/TWAI)",
 #else
diff --git a/arduino/examples/ESP32S2CanLoadTest/config.h b/arduino/examples/ESP32S2CanLoadTest/config.h
index d79df9023..8042bde47 100644
--- a/arduino/examples/ESP32S2CanLoadTest/config.h
+++ b/arduino/examples/ESP32S2CanLoadTest/config.h
@@ -10,7 +10,7 @@
 
 // catch invalid configuration at compile time
 #if !defined(USE_TWAI) && !defined(USE_WIFI)
-#error "Invalid configuration detected, USE_CAN or USE_WIFI must be defined."
+#error "Invalid configuration detected, USE_TWAI or USE_WIFI must be defined."
 #endif
 
 namespace openlcb
diff --git a/arduino/examples/ESP32S2IOBoard/ESP32S2IOBoard.ino b/arduino/examples/ESP32S2IOBoard/ESP32S2IOBoard.ino
index 9ff7c3681..8f670cf0b 100644
--- a/arduino/examples/ESP32S2IOBoard/ESP32S2IOBoard.ino
+++ b/arduino/examples/ESP32S2IOBoard/ESP32S2IOBoard.ino
@@ -44,15 +44,14 @@
 #include "utils/GpioInitializer.hxx"
 
 // Pick an operating mode below, if you select USE_WIFI it will expose this
-// node on WIFI. If USE_CAN / USE_TWAI / USE_TWAI_ASYNC are enabled the node
-// will be available on CAN.
+// node on WIFI. If USE_TWAI / USE_TWAI_ASYNC are enabled the node will be
+// available on CAN.
 //
 // Enabling both options will allow the ESP32 to be accessible from
 // both WiFi and CAN interfaces.
 //
-// NOTE: USE_TWAI and USE_TWAI_ASYNC are similar to USE_CAN but utilize the
-// new TWAI driver which offers both select() (default) or fnctl() (async)
-// access.
+// NOTE: USE_TWAI and USE_TWAI_ASYNC utilize the new TWAI driver which offers
+// both select() (default) or fnctl() (async) access.
 
 #define USE_WIFI
 //#define USE_TWAI
@@ -157,7 +156,7 @@ constexpr gpio_num_t CAN_RX_PIN = GPIO_NUM_40;
 /// the GPIO pin definitions for the outputs.
 constexpr gpio_num_t CAN_TX_PIN = GPIO_NUM_41;
 
-#endif // USE_CAN or USE_TWAI
+#endif // USE_TWAI
 
 #if defined(FACTORY_RESET_GPIO_PIN)
 static constexpr uint8_t FACTORY_RESET_COUNTDOWN_SECS = 10;