ThomasBarth/ESP32-CAN-Driver ? reverse-engineered prompt

Build me a basic CAN driver for the ESP32 that works as an ESP IDF component and can be turned on from menuconfig.

I want it to let me set the CAN speed from the build settings, choose between common baud rates like 100, 125, 250, 500, 800, and 1000 kbps, or enter a custom speed if needed. I also want to be able to pick the RX and TX GPIO pins, set the node ID for the device, and enable or disable sending test frames from config.

Please include a simple demo or example code so I can see how to use it right away, and make sure it works cleanly in component mode. If anything is unclear in the current ESP IDF setup, look up the latest docs online and adjust it so it builds smoothly.