ESP32-C6 TWAI 0 and TWAI 1

[Technoded]

Hello,

I am working with an ESP32-C6 based board, specifically the Seeed Studio XIAO ESP32-C6.

According to the ESP-IDF documentation, the ESP32-C6 includes two TWAI controllers.

I would like to confirm the following technical points:

1. Can TWAI0 and TWAI1 be used simultaneously on ESP32-C6?
2. Can TWAI0_TX / TWAI0_RX and TWAI1_TX / TWAI1_RX be routed to arbitrary exposed GPIOs through the GPIO Matrix?
3. Is the TWAI v2 API with "twai_new_node_onchip()" the correct API to use for two simultaneous TWAI instances?
4. Are there any known restrictions that would prevent using both TWAI controllers on GPIOs exposed by the Seeed Studio XIAO ESP32-C6, assuming external CAN transceivers are used?

I am not asking about an onboard CAN transceiver. I understand that the XIAO ESP32-C6 does not provide CANH/CANL directly.

My question is only about using the internal ESP32-C6 TWAI peripherals through exposed GPIOs with external CAN transceivers.

Thank you.

[nopnop2002]

1. Can TWAI0 and TWAI1 be used simultaneously on ESP32-C6?

Yes.

2. Can TWAI0_TX / TWAI0_RX and TWAI1_TX / TWAI1_RX be routed to arbitrary exposed GPIOs through the GPIO Matrix?

Yes.

3. Is the TWAI v2 API with "twai_new_node_onchip()" the correct API to use for two simultaneous TWAI instances?

Yes.