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fix(canopen): can_bridge_example never initialized its TWAI node before START #803

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Merged
finger563 merged 1 commit into from
Sep 21, 2026
Merged

fix(canopen): can_bridge_example never initialized its TWAI node before START #803

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7 changes: 5 additions & 2 deletions components/canopen/can_bridge_example/main/can_bridge_example.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -170,8 +170,11 @@ extern "C" void app_main(void) {
cfg.on_receive = on_can_rx;
cfg.on_error = on_can_err;
auto node = std::make_unique<espp::Twai>(cfg);
if (!node->start(ec))
return false; // node destructs, uninstalling the driver
// initialize() creates the node + receive task; start() enables it on the
// bus (start() on a node that was never initialized fails with
// operation_not_permitted, which the host saw as "start failed: Not owner").
if (!node->initialize(ec) || !node->start(ec))
return false; // node destructs, deleting the driver
twai = std::move(node);
return true;
};
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