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feat(twai): graduate the hal drivers into esp_hal_twai component

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This commit is contained in:
morris
2025-11-20 19:20:01 +08:00
committed by suda-morris
parent 1a17be64a9
commit ab4200e6f6
107 changed files with 1069 additions and 828 deletions
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components/driver/CMakeLists.txt
+2 -2
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@@ -32,7 +32,7 @@ endif()
# TWAI related source files
# TWAIFD is not supported by the legacy driver
if(CONFIG_SOC_TWAI_SUPPORTED AND NOT CONFIG_SOC_TWAI_SUPPORT_FD)
if(CONFIG_SOC_TWAI_SUPPORTED AND NOT CONFIG_SOC_TWAI_FD_SUPPORTED)
list(APPEND srcs "twai/twai.c")
list(APPEND ldfragments "twai/linker.lf")
endif()
@@ -45,7 +45,7 @@ else()
idf_component_register(SRCS "${srcs}"
INCLUDE_DIRS ${includes}
PRIV_REQUIRES esp_timer esp_mm esp_driver_gpio esp_ringbuf esp_pm
REQUIRES freertos soc hal esp_hw_support esp_hal_i2c
REQUIRES esp_hal_i2c esp_hal_twai
LDFRAGMENTS ${ldfragments}
)
endif()
components/driver/test_apps/.build-test-rules.yml
+1 -1
View File
@@ -10,7 +10,7 @@ components/driver/test_apps/legacy_i2c_driver:
components/driver/test_apps/legacy_twai:
disable:
- if: SOC_TWAI_SUPPORTED != 1 or SOC_TWAI_SUPPORT_FD == 1
- if: SOC_TWAI_SUPPORTED != 1 or SOC_TWAI_FD_SUPPORTED == 1
reason: legacy driver doesn't support FD
- if: IDF_TARGET == "esp32p4"
temporary: true
components/driver/twai/linker.lf
+1 -1
View File
@@ -8,7 +8,7 @@ entries:
twai: twai_intr_handler_main (noflash)
[mapping:twai_hal_legacy]
archive: libhal.a
archive: libesp_hal_twai.a
entries:
if TWAI_ISR_IN_IRAM = y || TWAI_ISR_IN_IRAM_LEGACY = y:
twai_hal_v1: twai_hal_decode_interrupt (noflash)
components/driver/twai/twai.c
+6 -6
View File
@@ -27,7 +27,7 @@
#include "soc/soc_caps.h"
#include "soc/soc.h"
#include "soc/io_mux_reg.h"
#include "soc/twai_periph.h"
#include "hal/twai_periph.h"
#include "hal/twai_hal.h"
#include "hal/twai_ll.h"
#include "esp_rom_gpio.h"
@@ -139,7 +139,7 @@ static void twai_alert_handler(twai_obj_t *p_twai_obj, uint32_t alert_code, int
static inline void twai_handle_rx_buffer_frames(twai_obj_t *p_twai_obj, BaseType_t *task_woken, int *alert_req)
{
#ifdef SOC_TWAI_SUPPORTS_RX_STATUS
#if TWAI_LL_SUPPORT(RX_STATUS)
uint32_t msg_count = twai_hal_get_rx_msg_count(p_twai_obj->hal);
for (uint32_t i = 0; i < msg_count; i++) {
@@ -158,7 +158,7 @@ static inline void twai_handle_rx_buffer_frames(twai_obj_t *p_twai_obj, BaseType
twai_alert_handler(p_twai_obj, TWAI_ALERT_RX_FIFO_OVERRUN, alert_req);
}
}
#else //SOC_TWAI_SUPPORTS_RX_STATUS
#else
uint32_t msg_count = twai_hal_get_rx_msg_count(p_twai_obj->hal);
bool overrun = false;
//Clear all valid RX frames
@@ -183,7 +183,7 @@ static inline void twai_handle_rx_buffer_frames(twai_obj_t *p_twai_obj, BaseType
p_twai_obj->rx_overrun_count += twai_hal_clear_rx_fifo_overrun(p_twai_obj->hal);
twai_alert_handler(p_twai_obj, TWAI_ALERT_RX_FIFO_OVERRUN, alert_req);
}
#endif //SOC_TWAI_SUPPORTS_RX_STATUS
#endif // TWAI_LL_SUPPORT(RX_STATUS)
}
static inline void twai_handle_tx_buffer_frame(twai_obj_t *p_twai_obj, bool tx_success, BaseType_t *task_woken, int *alert_req)
@@ -429,7 +429,7 @@ static esp_err_t twai_alloc_driver_obj(const twai_general_config_t *g_config, tw
p_obj->hal = (twai_hal_context_t *)(p_obj + 1); //hal context is place at end of driver context
#if CONFIG_PM_ENABLE
#if SOC_TWAI_CLK_SUPPORT_APB
#if TWAI_LL_SUPPORT(APB_CLK)
// DFS can change APB frequency. So add lock to prevent sleep and APB freq from changing
if (clk_src == TWAI_CLK_SRC_APB) {
// TODO: pm_lock name should also reflect the controller ID
@@ -444,7 +444,7 @@ static esp_err_t twai_alloc_driver_obj(const twai_general_config_t *g_config, tw
if (ret != ESP_OK) {
goto err;
}
#endif //SOC_TWAI_CLK_SUPPORT_APB
#endif // TWAI_LL_SUPPORT(APB_CLK)
#endif //CONFIG_PM_ENABLE
#if TWAI_USE_RETENTION_LINK
components/esp_driver_twai/CMakeLists.txt
+1
View File
@@ -15,6 +15,7 @@ endif()
idf_component_register(
SRCS ${srcs}
INCLUDE_DIRS ${public_include}
REQUIRES esp_hal_twai
PRIV_REQUIRES ${priv_req}
LDFRAGMENTS "linker.lf"
)
components/esp_driver_twai/esp_twai_onchip.c
+15 -31
View File
@@ -9,6 +9,11 @@
#include "esp_private/twai_interface.h"
#include "esp_private/twai_utils.h"
#include "twai_private.h"
#include "hal/twai_periph.h"
#include "hal/twai_hal.h"
#if SOC_HAS(TWAI_FD)
#include "hal/twaifd_ll.h"
#endif
#if !SOC_RCC_IS_INDEPENDENT
#define TWAI_RCC_ATOMIC() PERIPH_RCC_ATOMIC()
@@ -22,26 +27,6 @@
#define TWAI_PERI_ATOMIC()
#endif
#if SOC_TWAI_SUPPORT_FD
#include "hal/twaifd_ll.h"
static void _twai_rcc_clock_ctrl(uint8_t ctrlr_id, bool enable)
{
TWAI_RCC_ATOMIC() {
twaifd_ll_enable_bus_clock(ctrlr_id, enable);
twaifd_ll_reset_register(ctrlr_id);
}
TWAI_PERI_ATOMIC() {
twaifd_ll_enable_clock(ctrlr_id, enable);
}
}
static void _twai_rcc_clock_sel(uint8_t ctrlr_id, twai_clock_source_t clock)
{
TWAI_PERI_ATOMIC() {
twaifd_ll_set_clock_source(ctrlr_id, clock);
}
}
#else
#include "hal/twai_ll.h"
static void _twai_rcc_clock_ctrl(uint8_t ctrlr_id, bool enable)
{
TWAI_RCC_ATOMIC() {
@@ -58,7 +43,6 @@ static void _twai_rcc_clock_sel(uint8_t ctrlr_id, twai_clock_source_t clock)
twai_ll_set_clock_source(ctrlr_id, clock);
}
}
#endif //SOC_TWAI_SUPPORT_FD
#define TWAI_IDLE_EVENT_BIT BIT0 //event used for tx_wait_all_done
@@ -254,7 +238,7 @@ static void _node_isr_main(void *arg)
if (events & TWAI_HAL_EVENT_RX_BUFF_FRAME) {
while (twai_hal_get_rx_msg_count(twai_ctx->hal)) {
if (twai_hal_read_rx_fifo(twai_ctx->hal, &twai_ctx->rcv_buff)) {
#if !SOC_TWAI_SUPPORT_FD
#if !SOC_HAS(TWAI_FD)
// the legacy hardware filter don't support split frame format std/ext in filter, check in software
if (!twai_hal_soft_filter_check_msg(twai_ctx->hal, &twai_ctx->rcv_buff)) {
continue; // soft filter to check if id type match the filter config
@@ -267,7 +251,7 @@ static void _node_isr_main(void *arg)
atomic_store(&twai_ctx->rx_isr, false);
}
} else { // failed to read from RX fifo because message is overrun
#if !SOC_TWAI_SUPPORTS_RX_STATUS
#if !TWAI_LL_SUPPORT(RX_STATUS)
twai_hal_clear_rx_fifo_overrun(twai_ctx->hal);
break;
#endif
@@ -415,7 +399,7 @@ static esp_err_t _node_set_bit_timing(twai_node_handle_t node, const twai_timing
if (timing) {
twai_hal_configure_timing(twai_ctx->hal, timing);
}
#if SOC_TWAI_SUPPORT_FD
#if SOC_HAS(TWAI_FD)
if (timing_fd) {
twai_ctx->valid_fd_timing = true;
twai_hal_configure_timing_fd(twai_ctx->hal, timing_fd);
@@ -428,7 +412,7 @@ static esp_err_t _node_set_bit_timing(twai_node_handle_t node, const twai_timing
static esp_err_t _node_calc_set_bit_timing(twai_node_handle_t node, twai_clock_source_t clk_src, const twai_timing_basic_config_t *timing, const twai_timing_basic_config_t *timing_fd)
{
ESP_RETURN_ON_FALSE(timing->bitrate, ESP_ERR_INVALID_ARG, TAG, "classic timing config is required");
#if !SOC_TWAI_SUPPORT_FD
#if !SOC_HAS(TWAI_FD)
ESP_RETURN_ON_FALSE((!timing_fd->bitrate) || (timing_fd->bitrate == timing->bitrate), ESP_ERR_INVALID_ARG, TAG, "FD stage bitrate is not supported");
#endif
twai_clock_source_t root_clock_src = clk_src ? clk_src : TWAI_CLK_SRC_DEFAULT;
@@ -452,7 +436,7 @@ static esp_err_t _node_calc_set_bit_timing(twai_node_handle_t node, twai_clock_s
if (timing->bitrate != real_baud) {
ESP_LOGW(TAG, "bitrate precision loss, adjust from %ld to %ld", timing->bitrate, real_baud);
}
#if SOC_TWAI_SUPPORT_FD
#if SOC_HAS(TWAI_FD)
twai_timing_advanced_config_t timing_adv_fd = { .clk_src = root_clock_src, };
if (timing_fd->bitrate) {
real_baud = twai_node_timing_calc_param(source_freq, timing_fd, &hw_const, &timing_adv_fd);
@@ -528,13 +512,13 @@ static esp_err_t _node_config_mask_filter(twai_node_handle_t node, uint8_t filte
uint32_t id = mask_cfg->num_of_ids ? mask_cfg->id_list[0] : mask_cfg->id;
bool full_close = (mask_cfg->mask == UINT32_MAX) && (id == UINT32_MAX);
ESP_RETURN_ON_FALSE(full_close || mask_cfg->dual_filter || mask_cfg->is_ext || !((mask_cfg->mask | id) & ~TWAI_STD_ID_MASK), ESP_ERR_INVALID_ARG, TAG, "std_id only (is_ext=0) but valid id/mask larger than 11 bits");
#if SOC_TWAI_SUPPORT_FD
#if SOC_HAS(TWAI_FD)
// FD targets don't support Dual filter
ESP_RETURN_ON_FALSE(!mask_cfg->dual_filter, ESP_ERR_NOT_SUPPORTED, TAG, "The target don't support Dual Filter");
#endif
ESP_RETURN_ON_FALSE(atomic_load(&twai_ctx->state) == TWAI_ERROR_BUS_OFF, ESP_ERR_INVALID_STATE, TAG, "filter config must do when node stopped");
twai_hal_configure_filter(twai_ctx->hal, filter_id, mask_cfg);
twai_hal_configure_mask_filter(twai_ctx->hal, filter_id, mask_cfg);
return ESP_OK;
}
@@ -588,7 +572,7 @@ static esp_err_t _node_queue_tx(twai_node_handle_t node, const twai_frame_t *fra
if (frame->header.dlc && frame->buffer_len) {
ESP_RETURN_ON_FALSE_ISR(frame->header.dlc == twaifd_len2dlc(frame->buffer_len), ESP_ERR_INVALID_ARG, TAG, "unmatched dlc(%i) and buffer_len(%i)", frame->header.dlc, twaifd_len2dlc(frame->buffer_len));
}
#if !SOC_TWAI_SUPPORT_FD
#if !SOC_HAS(TWAI_FD)
ESP_RETURN_ON_FALSE_ISR(!frame->header.fdf || frame->buffer_len <= TWAI_FRAME_MAX_LEN, ESP_ERR_INVALID_ARG, TAG, "fdf flag or buffer_len not supported");
#endif
ESP_RETURN_ON_FALSE_ISR((frame->header.dlc <= TWAIFD_FRAME_MAX_DLC) && \
@@ -715,13 +699,13 @@ esp_err_t twai_new_node_onchip(const twai_onchip_node_config_t *node_config, twa
// Configure GPIO
ESP_GOTO_ON_ERROR(_node_config_io(node, node_config), err, TAG, "gpio config failed");
#if CONFIG_PM_ENABLE
#if SOC_TWAI_CLK_SUPPORT_APB
#if TWAI_LL_SUPPORT(APB_CLK)
// DFS can change APB frequency. So add lock to prevent sleep and APB freq from changing
ESP_GOTO_ON_ERROR(esp_pm_lock_create(ESP_PM_APB_FREQ_MAX, 0, twai_periph_signals[ctrlr_id].module_name, &node->pm_lock), err, TAG, "init power manager failed");
#else // XTAL
// XTAL freq can be closed in light sleep, so we need to create a lock to prevent light sleep
ESP_GOTO_ON_ERROR(esp_pm_lock_create(ESP_PM_NO_LIGHT_SLEEP, 0, twai_periph_signals[ctrlr_id].module_name, &node->pm_lock), err, TAG, "init power manager failed");
#endif //SOC_TWAI_CLK_SUPPORT_APB
#endif //TWAI_LL_SUPPORT(APB_CLK)
#endif //CONFIG_PM_ENABLE
node->api_base.enable = _node_enable;
components/esp_driver_twai/include/esp_twai_onchip.h
+2 -2
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@@ -31,8 +31,8 @@ typedef struct {
int intr_priority; /**< Interrupt priority, [0:3] */
struct {
uint32_t enable_self_test: 1; /**< Transmission does not require acknowledgment. Use this mode for self testing */
uint32_t enable_loopback: 1; /**< The TWAI controller receive back frames what it send out */
uint32_t enable_listen_only: 1; /**< The TWAI controller will not influence the bus (No transmissions or acknowledgments) but can receive messages */
uint32_t enable_loopback: 1; /**< The TWAI controller receives back frames that it sends out, but does not acknowledge them */
uint32_t enable_listen_only: 1; /**< No transmissions or acknowledgements. The controller only monitors the bus without participating */
uint32_t no_receive_rtr: 1; /**< Don't receive remote frames */
} flags; /**< Misc configuration flags */
} twai_onchip_node_config_t;
components/esp_driver_twai/linker.lf
+2 -2
View File
@@ -12,10 +12,10 @@ entries:
esp_twai: twai_node_transmit (noflash)
[mapping:twai_hal]
archive: libhal.a
archive: libesp_hal_twai.a
entries:
if TWAI_ISR_IN_IRAM = y:
if SOC_TWAI_SUPPORT_FD = y:
if SOC_TWAI_FD_SUPPORTED = y:
twai_hal_v2: twai_hal_format_frame (noflash)
twai_hal_v2: twai_hal_parse_frame (noflash)
twai_hal_v2: twai_hal_set_tx_buffer_and_transmit (noflash)
components/esp_driver_twai/test_apps/test_twai/CMakeLists.txt
+9 -1
View File
@@ -15,10 +15,18 @@ check_register_rw_half_word(SOC_MODULES "twai*" "pcr" "hp_sys_clkrst"
HAL_MODULES "twai*")
if(CONFIG_COMPILER_DUMP_RTL_FILES)
# Collect RTL directories in a variable for readability. Join them
# with commas so they are passed as a single --rtl-dirs argument to the script.
set(TWAI_RTL_DIRS
${CMAKE_BINARY_DIR}/esp-idf/esp_driver_twai
${CMAKE_BINARY_DIR}/esp-idf/hal
${CMAKE_BINARY_DIR}/esp-idf/esp_hal_twai
)
string(JOIN "," TWAI_RTL_DIRS_JOINED ${TWAI_RTL_DIRS})
add_custom_target(
check_test_app_sections ALL
COMMAND ${PYTHON} $ENV{IDF_PATH}/tools/ci/check_callgraph.py
--rtl-dirs ${CMAKE_BINARY_DIR}/esp-idf/esp_driver_twai/,${CMAKE_BINARY_DIR}/esp-idf/hal/
--rtl-dirs ${TWAI_RTL_DIRS_JOINED}
--elf-file ${CMAKE_BINARY_DIR}/test_twai.elf
find-refs
--from-sections=.iram0.text
components/esp_driver_twai/test_apps/test_twai/main/CMakeLists.txt
+1 -1
View File
@@ -4,7 +4,7 @@ if(CONFIG_SOC_TWAI_SUPPORTED)
list(APPEND srcs "test_twai_common.cpp" "test_twai_network.cpp")
endif()
if(CONFIG_SOC_TWAI_SUPPORT_FD)
if(CONFIG_SOC_TWAI_FD_SUPPORTED)
list(APPEND srcs "test_twai_fd.cpp")
endif()
components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp
+3 -3
View File
@@ -17,7 +17,7 @@
#include "freertos/FreeRTOS.h"
#include "esp_twai.h"
#include "esp_twai_onchip.h"
#include "soc/twai_periph.h"
#include "hal/twai_periph.h"
#include "esp_private/gpio.h"
#include "driver/uart.h" // for baudrate detection
@@ -344,7 +344,7 @@ TEST_CASE("twai mask filter (loopback)", "[twai]")
}
//------------------ Dual Filter Test -------------------//
#if !SOC_TWAI_SUPPORT_FD
#if !SOC_HAS(TWAI_FD)
static IRAM_ATTR bool test_dual_filter_rx_done_cb(twai_node_handle_t handle, const twai_rx_done_event_data_t *edata, void *user_ctx)
{
uint8_t *test_ctrl = (uint8_t *)user_ctx;
@@ -551,7 +551,7 @@ TEST_CASE("twai bus off recovery (loopback)", "[twai]")
}
// recover node
#if SOC_TWAI_SUPPORT_FD
#if SOC_HAS(TWAI_FD)
TEST_ASSERT_GREATER_THAN(200, node_status.tx_error_count);
#else
TEST_ASSERT_EQUAL(128, node_status.tx_error_count); // TEC become 128 when bus off on legacy chips
components/esp_driver_twai/twai_private.h
-2
View File
@@ -25,8 +25,6 @@
#include "esp_check.h"
#include "esp_err.h"
#include "soc/soc_caps.h"
#include "soc/twai_periph.h"
#include "hal/twai_hal.h"
#include "esp_intr_alloc.h"
#include "esp_heap_caps.h"
#include "esp_clk_tree.h"
components/esp_hal_gpio/esp32/rtc_io_periph.c
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2018-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/rtc_io_periph.h"
components/esp_hal_gpio/esp32/sdm_periph.c
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2020-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/sdm_periph.h"
components/esp_hal_gpio/esp32c2/dedic_gpio_periph.c
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2020-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/gpio_sig_map.h"
components/esp_hal_gpio/esp32c3/dedic_gpio_periph.c
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2020-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/gpio_sig_map.h"
components/esp_hal_gpio/esp32c3/sdm_periph.c
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2020-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/sdm_periph.h"
components/esp_hal_gpio/esp32c5/dedic_gpio_periph.c
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/gpio_sig_map.h"
components/esp_hal_gpio/esp32c5/rtc_io_periph.c
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/rtc_io_periph.h"
components/esp_hal_gpio/esp32c5/sdm_periph.c
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/sdm_periph.h"
components/esp_hal_gpio/esp32c6/dedic_gpio_periph.c
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/gpio_sig_map.h"
components/esp_hal_gpio/esp32c6/rtc_io_periph.c
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/rtc_io_periph.h"
components/esp_hal_gpio/esp32c6/sdm_periph.c
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/sdm_periph.h"
components/esp_hal_gpio/esp32c61/dedic_gpio_periph.c
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/gpio_sig_map.h"
components/esp_hal_gpio/esp32c61/rtc_io_periph.c
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/rtc_io_periph.h"
components/esp_hal_gpio/esp32h2/dedic_gpio_periph.c
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2020-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/gpio_sig_map.h"
components/esp_hal_gpio/esp32h2/rtc_io_periph.c
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/rtc_io_periph.h"
#include "soc/rtc_io_channel.h"
components/esp_hal_gpio/esp32h2/sdm_periph.c
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/sdm_periph.h"
components/esp_hal_gpio/esp32h21/dedic_gpio_periph.c
+1 -1
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@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/gpio_sig_map.h"
components/esp_hal_gpio/esp32h21/rtc_io_periph.c
+1 -1
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@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/rtc_io_periph.h"
components/esp_hal_gpio/esp32h21/sdm_periph.c
+1 -1
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@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/sdm_periph.h"
components/esp_hal_gpio/esp32h4/dedic_gpio_periph.c
+1 -1
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@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/gpio_sig_map.h"
components/esp_hal_gpio/esp32h4/sdm_periph.c
+1 -1
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@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/sdm_periph.h"
components/esp_hal_gpio/esp32p4/dedic_gpio_periph.c
+1 -1
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@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/gpio_sig_map.h"
components/esp_hal_gpio/esp32p4/rtc_io_periph.c
+1 -1
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@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/rtc_io_periph.h"
components/esp_hal_gpio/esp32p4/sdm_periph.c
+1 -1
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@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/sdm_periph.h"
components/esp_hal_gpio/esp32s2/dedic_gpio_periph.c
+1 -1
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@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2020-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/dedic_gpio_periph.h"
components/esp_hal_gpio/esp32s2/rtc_io_periph.c
+1 -1
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@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2018-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/rtc_io_periph.h"
components/esp_hal_gpio/esp32s2/sdm_periph.c
+1 -1
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@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2020-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/sdm_periph.h"
components/esp_hal_gpio/esp32s3/dedic_gpio_periph.c
+1 -1
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@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2020-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/dedic_gpio_periph.h"
components/esp_hal_gpio/esp32s3/rtc_io_periph.c
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2018-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/rtc_io_periph.h"
components/esp_hal_gpio/esp32s3/sdm_periph.c
+1 -1
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@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2020-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "hal/sdm_periph.h"
components/esp_hal_gpio/include/hal/dedic_gpio_periph.h
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2020-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#pragma once
components/esp_hal_gpio/include/hal/rtc_io_periph.h
+1 -1
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@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2019-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#pragma once
components/esp_hal_gpio/include/hal/sdm_periph.h
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* SPDX-FileCopyrightText: 2019-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#pragma once
components/esp_hal_twai/CMakeLists.txt
+25
View File
@@ -0,0 +1,25 @@
idf_build_get_property(target IDF_TARGET)
if(${target} STREQUAL "linux")
return() # This component is not supported by the POSIX/Linux simulator
endif()
set(srcs)
set(public_include "include")
if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/${target}/include")
list(APPEND public_include "${target}/include")
endif()
if(CONFIG_SOC_TWAI_SUPPORTED)
list(APPEND srcs "${target}/twai_periph.c")
if(CONFIG_SOC_TWAI_FD_SUPPORTED)
list(APPEND srcs "twai_hal_v2.c")
else()
list(APPEND srcs "twai_hal_v1.c")
endif()
endif()
idf_component_register(SRCS ${srcs}
INCLUDE_DIRS ${public_include}
REQUIRES soc hal)
components/esp_hal_twai/README.md
+49
View File
@@ -0,0 +1,49 @@
# ESP Hardware Abstraction Layer for TWAI Peripheral
> [!NOTE]
> This component is currently in beta. Its API, behavior, and compatibility may change at any time and without notice; backward compatibility is not guaranteed. Use caution when integrating into production systems.
## Overview
The `esp_hal_twai` component provides a **Hardware Abstraction Layer** for the TWAI (Two-Wire Automotive Interface) peripheral across all ESP-IDF supported targets. TWAI is Espressif's implementation of the CAN (Controller Area Network) protocol, widely used in automotive and industrial applications for reliable communication between microcontrollers and devices.
## Architecture
The TWAI HAL is structured in two main sub-layers:
1. **HAL Layer (Upper)**: Defines the operational steps and data structures required to control the TWAI peripheral (e.g., initialization, message transmission/reception, error handling, bus recovery).
2. **Low-Level Layer (Bottom)**: Serves as a translation layer between the HAL and the register files defined in the `soc` component, handling target-specific register configurations.
## Supported TWAI Controllers
This HAL supports two versions of TWAI controllers depending on the ESP chip:
- **TWAI Version 1**: Standard CAN 2.0 controller supporting standard and extended frame formats
- Implementation: `twai_hal_v1.c`
- **TWAI Version 2**: Enhanced controller with TWAI-FD (CAN-FD) support, enabling flexible data-rate for higher bandwidth communication
- Implementation: `twai_hal_v2.c`
## Features
- Message transmission and reception with configurable filtering
- Standard (11-bit) and extended (29-bit) identifier support
- Configurable bit timing and baud rates
- Error detection and error state management
- Bus-off recovery mechanisms
- Interrupt-driven operations
- Self-test mode support
- Acceptance filters for selective message reception
- CAN-FD support with flexible data-rate (on supported chips)
## Usage
The HAL functions primarily serve ESP-IDF peripheral drivers such as the `esp_driver_twai` component.
Advanced developers can use these interfaces directly when implementing custom drivers, with the understanding that API stability is not guaranteed.
## Dependencies
- `soc`: Provides chip-specific register definitions
- `hal`: Core hardware abstraction utilities and macros
components/hal/esp32/include/hal/twai_ll.h → components/esp_hal_twai/esp32/include/hal/twai_ll.h
+10 -13
View File
@@ -4,14 +4,6 @@
* SPDX-License-Identifier: Apache-2.0
*/
/*******************************************************************************
* NOTICE
* The ll is not public api, don't use in application code.
* See readme.md in hal/include/hal/readme.md
******************************************************************************/
// The Lowlevel layer for TWAI
#pragma once
#include <stdint.h>
@@ -23,10 +15,15 @@
#include "hal/twai_types.h"
#include "hal/efuse_hal.h"
#include "soc/chip_revision.h"
#include "soc/twai_periph.h"
#include "soc/twai_struct.h"
#include "soc/dport_reg.h"
#define TWAI_LL_GET(_attr) TWAI_LL_ ## _attr
#define TWAI_LL_SUPPORT(_feat) TWAI_LL_SUPPORT_ ## _feat
#define TWAI_LL_SUPPORT_APB_CLK 1
#define TWAI_LL_SUPPORT_MULTI_ADDRESS_LAYOUT 1
#define TWAI_LL_GET_HW(controller_id) ((controller_id == 0) ? (&TWAI) : NULL)
// When the bus-off condition is reached, the REC should be reset to 0 and frozen (via LOM) by the
@@ -584,9 +581,9 @@ __attribute__((always_inline))
static inline void twai_ll_parse_err_code_cap(twai_dev_t *hw, twai_ll_err_type_t *type, twai_ll_err_dir_t *dir, twai_ll_err_seg_t *seg)
{
uint32_t ecc = hw->error_code_capture_reg.val;
*type = (twai_ll_err_type_t) ((ecc >> 6) & 0x3);
*dir = (twai_ll_err_dir_t) ((ecc >> 5) & 0x1);
*seg = (twai_ll_err_seg_t) (ecc & 0x1F);
*type = (twai_ll_err_type_t)((ecc >> 6) & 0x3);
*dir = (twai_ll_err_dir_t)((ecc >> 5) & 0x1);
*seg = (twai_ll_err_seg_t)(ecc & 0x1F);
}
/* ----------------------------- EWL Register ------------------------------- */
@@ -754,7 +751,7 @@ static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t
*/
__attribute__((always_inline))
static inline void twai_ll_format_frame_buffer(uint32_t id, uint8_t dlc, const uint8_t *data,
uint32_t flags, twai_ll_frame_buffer_t *tx_frame)
uint32_t flags, twai_ll_frame_buffer_t *tx_frame)
{
bool is_extd = flags & TWAI_MSG_FLAG_EXTD;
bool is_rtr = flags & TWAI_MSG_FLAG_RTR;
components/soc/esp32/twai_periph.c → components/esp_hal_twai/esp32/twai_periph.c
+3 -3
View File
@@ -1,14 +1,14 @@
/*
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/soc.h"
#include "soc/twai_periph.h"
#include "hal/twai_periph.h"
#include "soc/gpio_sig_map.h"
const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
const twai_signal_conn_t twai_periph_signals[1] = {
[0] = {
.module_name = "TWAI0",
.irq_id = ETS_TWAI_INTR_SOURCE,
components/hal/esp32c3/include/hal/twai_ll.h → components/esp_hal_twai/esp32c3/include/hal/twai_ll.h
+10 -13
View File
@@ -4,14 +4,6 @@
* SPDX-License-Identifier: Apache-2.0
*/
/*******************************************************************************
* NOTICE
* The ll is not public api, don't use in application code.
* See readme.md in hal/include/hal/readme.md
******************************************************************************/
// The Lowlevel layer for TWAI
#pragma once
#include <stdint.h>
@@ -21,10 +13,15 @@
#include "hal/misc.h"
#include "hal/assert.h"
#include "hal/twai_types.h"
#include "soc/twai_periph.h"
#include "soc/twai_struct.h"
#include "soc/system_struct.h"
#define TWAI_LL_GET(_attr) TWAI_LL_ ## _attr
#define TWAI_LL_SUPPORT(_feat) TWAI_LL_SUPPORT_ ## _feat
#define TWAI_LL_SUPPORT_RX_STATUS 1
#define TWAI_LL_SUPPORT_APB_CLK 1
#define TWAI_LL_GET_HW(controller_id) ((controller_id == 0) ? (&TWAI) : NULL)
// When in the listen only mode, the TWAI controller must not influence the TWAI bus (i.e., must not send
@@ -510,9 +507,9 @@ __attribute__((always_inline))
static inline void twai_ll_parse_err_code_cap(twai_dev_t *hw, twai_ll_err_type_t *type, twai_ll_err_dir_t *dir, twai_ll_err_seg_t *seg)
{
uint32_t ecc = hw->error_code_capture_reg.val;
*type = (twai_ll_err_type_t) ((ecc >> 6) & 0x3);
*dir = (twai_ll_err_dir_t) ((ecc >> 5) & 0x1);
*seg = (twai_ll_err_seg_t) (ecc & 0x1F);
*type = (twai_ll_err_type_t)((ecc >> 6) & 0x3);
*dir = (twai_ll_err_dir_t)((ecc >> 5) & 0x1);
*seg = (twai_ll_err_seg_t)(ecc & 0x1F);
}
/* ----------------------------- EWL Register ------------------------------- */
@@ -680,7 +677,7 @@ static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t
*/
__attribute__((always_inline))
static inline void twai_ll_format_frame_buffer(uint32_t id, uint8_t dlc, const uint8_t *data,
uint32_t flags, twai_ll_frame_buffer_t *tx_frame)
uint32_t flags, twai_ll_frame_buffer_t *tx_frame)
{
bool is_extd = flags & TWAI_MSG_FLAG_EXTD;
bool is_rtr = flags & TWAI_MSG_FLAG_RTR;
components/soc/esp32c3/twai_periph.c → components/esp_hal_twai/esp32c3/twai_periph.c
+4 -3
View File
@@ -1,13 +1,14 @@
/*
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/twai_periph.h"
#include "hal/twai_periph.h"
#include "soc/gpio_sig_map.h"
#include "soc/interrupts.h"
const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
const twai_signal_conn_t twai_periph_signals[1] = {
[0] = {
.module_name = "TWAI0",
.irq_id = ETS_TWAI_INTR_SOURCE,
components/esp_hal_twai/esp32c5/include/hal/twai_ll.h
+82
View File
@@ -0,0 +1,82 @@
/*
* SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#pragma once
#include <string.h>
#include "hal/twai_types.h"
#include "soc/pcr_reg.h"
#include "soc/pcr_struct.h"
#define TWAI_LL_GET(_attr) TWAI_LL_ ## _attr
#define TWAI_LL_SUPPORT(_feat) TWAI_LL_SUPPORT_ ## _feat
#define TWAI_LL_SUPPORT_TIMESTAMP 1
#define TWAI_LL_SUPPORT_RX_STATUS 1
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief Enable the bus clock and module clock for twai module
*
* @param twai_id Hardware ID
* @param enable true to enable, false to disable
*/
static inline void twai_ll_enable_bus_clock(uint8_t twai_id, bool enable)
{
PCR.twai[twai_id].twai_conf.twai_clk_en = enable;
}
/**
* @brief Reset the twai module
*
* @param twai_id Hardware ID
*/
static inline void twai_ll_reset_register(uint8_t twai_id)
{
PCR.twai[twai_id].twai_conf.twai_rst_en = 1;
PCR.twai[twai_id].twai_conf.twai_rst_en = 0;
}
/**
* @brief Set clock source for TWAI module
*
* @param twai_id Hardware ID
* @param clk_src Clock source
*/
static inline void twai_ll_set_clock_source(uint8_t twai_id, twai_clock_source_t clk_src)
{
switch (clk_src) {
case TWAI_CLK_SRC_PLL_F80M:
PCR.twai[twai_id].twai_func_clk_conf.twai_func_clk_sel = 1;
break;
case TWAI_CLK_SRC_XTAL:
PCR.twai[twai_id].twai_func_clk_conf.twai_func_clk_sel = 0;
break;
default:
HAL_ASSERT(false);
}
}
/**
* @brief Enable TWAI module clock source
*
* @param twai_id Hardware ID
* @param enable true to enable, false to disable
*/
static inline void twai_ll_enable_clock(uint8_t twai_id, bool enable)
{
PCR.twai[twai_id].twai_func_clk_conf.twai_func_clk_en = enable;
if (enable) {
while (!PCR.twai[twai_id].twai_conf.twai_ready);
}
}
#ifdef __cplusplus
}
#endif
components/hal/esp32c5/include/hal/twaifd_ll.h → components/esp_hal_twai/esp32c5/include/hal/twaifd_ll.h
+270 -141
View File
@@ -4,17 +4,8 @@
* SPDX-License-Identifier: Apache-2.0
*/
/*******************************************************************************
* NOTICE
* The Lowlevel layer for TWAI is not public api, don't use in application code.
******************************************************************************/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include <string.h>
#include "soc/pcr_reg.h"
#include "soc/pcr_struct.h"
@@ -53,76 +44,35 @@ extern "C" {
#define TWAIFD_LL_HW_CMD_RST_ERR_CNT TWAIFD_ERCRST // Error Counters Reset
#define TWAIFD_LL_HW_CMD_RST_RX_CNT TWAIFD_RXFCRST // Clear RX bus traffic counter
#define TWAIFD_LL_HW_CMD_RST_TX_CNT TWAIFD_TXFCRST // Clear TX bus traffic counter
#define TWAIFD_LL_HW_CMD_CLR_OVERRUN TWAIFD_CDO // Clear RX buffer overrun flag
#define TWAIFD_LL_HW_CMD_RX_FLUSH TWAIFD_RRB // Flush RX buffer (read and write pointers are set to 0 and the frame counter is set to 0)
#define TWAIFD_LL_INTR_TX_DONE TWAIFD_TXBHCI_INT_ST// Transmit finish (ok or error)
#define TWAIFD_LL_INTR_TX_SUCCESS TWAIFD_TXI_INT_ST // Transmit success without error
#define TWAIFD_LL_INTR_TX_FRAME TWAIFD_TXI_INT_ST // A frame is transmitted
#define TWAIFD_LL_INTR_RX_FRAME TWAIFD_RXI_INT_ST // A frame is received
#define TWAIFD_LL_INTR_RX_NOT_EMPTY TWAIFD_RBNEI_INT_ST // RX buffer not empty interrupt
#define TWAIFD_LL_INTR_RX_FULL TWAIFD_RXFI_INT_ST // RX buffer full interrupt
#define TWAIFD_LL_INTR_ERR_WARN TWAIFD_EWLI_INT_ST // Error Interrupt
#define TWAIFD_LL_INTR_OVERLOAD TWAIFD_OFI_INT_ST // Overload Frame Interrupt
#define TWAIFD_LL_INTR_ERR_WARN TWAIFD_EWLI_INT_ST // Error warning limit Interrupt
#define TWAIFD_LL_INTR_BUS_ERR TWAIFD_BEI_INT_ST // Bus error interrupt
#define TWAIFD_LL_INTR_FSM_CHANGE TWAIFD_FCSI_INT_ST // Fault confinement state changed interrupt
#define TWAIFD_LL_INTR_ARBI_LOST TWAIFD_ALI_INT_ST // Arbitration Lost Interrupt
#define TWAIFD_LL_INTR_ARBIT_LOST TWAIFD_ALI_INT_ST // Arbitration Lost Interrupt
#define TWAIFD_LL_INTR_DATA_OVERRUN TWAIFD_DOI_INT_ST // Data Overrun Interrupt
#define TWAIFD_LL_INTR_TIMER_OVERFLOW TWAIFD_TIMER_OVERFLOW_INT_ST // Timer overflow interrupt
#define TWAI_LL_DRIVER_INTERRUPTS (TWAIFD_LL_INTR_TX_DONE | TWAIFD_LL_INTR_RX_NOT_EMPTY | TWAIFD_LL_INTR_RX_FULL | \
TWAIFD_LL_INTR_ERR_WARN | TWAIFD_LL_INTR_BUS_ERR | TWAIFD_LL_INTR_FSM_CHANGE | \
TWAIFD_LL_INTR_ARBI_LOST | TWAIFD_LL_INTR_DATA_OVERRUN)
TWAIFD_LL_INTR_ARBIT_LOST | TWAIFD_LL_INTR_DATA_OVERRUN)
/**
* @brief Enable the bus clock and module clock for twai module
*
* @param twai_id Hardware ID
* @param enable true to enable, false to disable
*/
static inline void twaifd_ll_enable_bus_clock(uint8_t twai_id, bool enable)
{
PCR.twai[twai_id].twai_conf.twai_clk_en = enable;
}
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief Reset the twai module
*
* @param twai_id Hardware ID
*/
static inline void twaifd_ll_reset_register(uint8_t twai_id)
{
PCR.twai[twai_id].twai_conf.twai_rst_en = 1;
PCR.twai[twai_id].twai_conf.twai_rst_en = 0;
}
/**
* @brief Set clock source for TWAI module
*
* @param twai_id Hardware ID
* @param clk_src Clock source
*/
static inline void twaifd_ll_set_clock_source(uint8_t twai_id, twai_clock_source_t clk_src)
{
switch (clk_src) {
case TWAI_CLK_SRC_PLL_F80M:
PCR.twai[twai_id].twai_func_clk_conf.twai_func_clk_sel = 1;
break;
case TWAI_CLK_SRC_XTAL:
PCR.twai[twai_id].twai_func_clk_conf.twai_func_clk_sel = 0;
break;
default:
HAL_ASSERT(false);
}
}
/**
* @brief Enable TWAI module clock source
*
* @param twai_id Hardware ID
* @param enable true to enable, false to disable
*/
static inline void twaifd_ll_enable_clock(uint8_t twai_id, bool enable)
{
PCR.twai[twai_id].twai_func_clk_conf.twai_func_clk_en = enable;
if (enable) {
while (!PCR.twai[twai_id].twai_conf.twai_ready);
}
}
typedef enum {
TWAIFD_LL_TS_POINT_EOF = 0, // in 6th bit of end of frame (moment when the received frame is considered valid)
TWAIFD_LL_TS_POINT_SOF = 1, // start of frame bit
} twaifd_ll_timestamp_point_t;
/**
* @brief Waits for pending changes to take effect in the hardware.
@@ -134,7 +84,6 @@ static inline void twaifd_ll_waiting_state_change(twaifd_dev_t *hw)
while (!hw->int_stat.fcsi_int_st); // Wait until the change is applied
}
/* ---------------------------- Mode Register ------------------------------- */
// WARNING!! Following 'mode_settings' should in same spin_lock` !!!
@@ -151,6 +100,9 @@ static inline void twaifd_ll_reset(twaifd_dev_t *hw)
/**
* @brief Enable or disable hardware.
*
* @note After enable, the node will join the bus after receiving 11 consecutive recessive bits
* @note If disable, the node becomes "bus-off", all TX buffers goes to "empty" state without resetting the memories, RX buffer is flushed.
*
* @param hw Pointer to hardware structure.
* @param enable Boolean flag to enable (true) or disable (false).
*/
@@ -187,6 +139,8 @@ static inline void twaifd_ll_set_mode(twaifd_dev_t *hw, bool listen_only, bool s
/**
* @brief Set the TX retransmission limit.
*
* @note First attempt to transmit TWAI frames does not count as retransmission.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param limit Retransmission limit (0-15, or negative for infinite).
*/
@@ -199,20 +153,31 @@ static inline void twaifd_ll_set_tx_retrans_limit(twaifd_dev_t *hw, int8_t limit
/**
* set bit rate flexible between nominal field and data field
* when set this bit, all frame will be regarded as CANFD frame, even though nominal bit rate and data bit rate are the same
* when set this bit, all frame will be regarded as TWAI FD frame, even though nominal bit rate and data bit rate are the same
*/
static inline void twaifd_ll_enable_fd_mode(twaifd_dev_t *hw, bool ena)
{
hw->mode_settings.fde = ena;
}
/**
* @brief Whether to enable protocol exception handling
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param ena Set to true to enable PEX, false to disable.
*/
static inline void twaifd_ll_enable_pex(twaifd_dev_t *hw, bool ena)
{
hw->mode_settings.pex = ena;
}
/**
* @brief Enable or disable the RX fifo automatic increase when read to register
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param ena Set to true to enable RX automatic mode, false to disable.
*/
static inline void twaifd_ll_enable_rxfifo_auto_incrase(twaifd_dev_t *hw, bool ena)
static inline void twaifd_ll_enable_rxfifo_auto_increase(twaifd_dev_t *hw, bool ena)
{
hw->mode_settings.rxbam = ena;
}
@@ -231,12 +196,36 @@ static inline void twaifd_ll_enable_filter_mode(twaifd_dev_t* hw, bool enable)
}
/**
* @brief Set remote frame filtering behaviour.
* @brief Enable or disable the test mode for the TWAI-FD peripheral.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param enable Set to true to enable test mode, false to disable.
*/
static inline void twaifd_ll_enable_test_mode(twaifd_dev_t* hw, bool enable)
{
hw->mode_settings.tstm = enable;
}
/**
* @brief Enable or disable the parity error detection for the RX and TX buffers.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param enable Set to true to enable parity error detection, false to disable.
*/
static inline void twaifd_ll_enable_parity_error_detection(twaifd_dev_t* hw, bool enable)
{
// Must be called when hardware is disabled.
HAL_ASSERT(hw->mode_settings.ena == 0);
hw->mode_settings.pchke = enable;
}
/**
* @brief Whether to drop the RTR frames in filter.
*
* @param hw Pointer to hardware structure.
* @param en True to drop, false to Receive to next filter
* @param en True to drop, false to pass it to the next filter
*/
static inline void twaifd_ll_filter_block_rtr(twaifd_dev_t* hw, bool en)
static inline void twaifd_ll_filter_drop_rtr(twaifd_dev_t* hw, bool en)
{
hw->mode_settings.fdrf = en;
}
@@ -244,6 +233,8 @@ static inline void twaifd_ll_filter_block_rtr(twaifd_dev_t* hw, bool en)
/**
* @brief Enable or disable the time-triggered transmission mode for the TWAI-FD peripheral.
*
* @note Time triggered transmission is always considered only from the highest priority TX buffer in “ready” state.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param enable Set to true to enable time-triggered transmission mode, false to disable.
*/
@@ -252,6 +243,19 @@ static inline void twaifd_ll_enable_time_trig_trans_mode(twaifd_dev_t* hw, bool
hw->mode_settings.tttm = enable;
}
/**
* @brief Whether to treat bus-off as TX failure
*
* @note Disable it, it allows going bus-off and re-integrating without the need of software interaction with TX buffers.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param enable Set to true to enable, false to disable.
*/
static inline void twaifd_ll_enable_bus_off_tx_fail_mode(twaifd_dev_t* hw, bool enable)
{
hw->mode_settings.tbfbo = enable;
}
/* --------------------------- Command Register ----------------------------- */
/**
* @brief Set command to TWAIFD hardware
@@ -365,6 +369,17 @@ static inline void twaifd_ll_config_secondary_sample_point(twaifd_dev_t *hw, uin
HAL_FORCE_MODIFY_U32_REG_FIELD(hw->trv_delay_ssp_cfg, ssp_offset, offset_val);
}
/**
* @brief Get measured transmitter delay
*
* @param hw Start address of the TWAI registers
* @return Transmitter Delay Value in clock source cycles, include the input delay of TWAI FD (2 cycles)
*/
static inline uint32_t twaifd_ll_get_transmitter_delay(twaifd_dev_t *hw)
{
return hw->trv_delay_ssp_cfg.trv_delay_value;
}
/* ----------------------------- ERR Capt Register ------------------------------- */
/**
@@ -426,10 +441,10 @@ static inline twai_error_state_t twaifd_ll_get_fault_state(twaifd_dev_t *hw)
}
/**
* @brief Get the error count in normal mode for the TWAI-FD peripheral.
* @brief Get the error count in nominal bit rate stage.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return Error count in normal mode.
* @return Error count in nominal bit rate stage.
*/
static inline uint32_t twaifd_ll_get_err_count_norm(twaifd_dev_t *hw)
{
@@ -437,10 +452,10 @@ static inline uint32_t twaifd_ll_get_err_count_norm(twaifd_dev_t *hw)
}
/**
* @brief Get the error count in FD mode for the TWAI-FD peripheral.
* @brief Get the error count in FD data bit rate stage.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return Error count in FD mode.
* @return Error count in FD data bit rate stage.
*/
static inline uint32_t twaifd_ll_get_err_count_fd(twaifd_dev_t *hw)
{
@@ -475,122 +490,174 @@ static inline uint32_t twaifd_ll_get_tec(twaifd_dev_t *hw)
/* ---------------------- Acceptance Filter Registers ----------------------- */
/**
* @brief Enable or disable filter to receive basic frame with std id
* @brief Enable or disable mask filter to receive classic frame with std id
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the filter to configure
* @param is_range Setting for range filter or mask filter
* @param en True to receive, False to drop
* @param filter_id The unique ID of the mask filter to configure
* @param accept True to accept the frame, False to drop the frame
*/
static inline void twaifd_ll_filter_enable_basic_std(twaifd_dev_t* hw, uint8_t filter_id, bool is_range, bool en)
static inline void twaifd_ll_mask_filter_accept_classic_std(twaifd_dev_t* hw, uint8_t filter_id, bool accept)
{
HAL_ASSERT(filter_id < (is_range ? SOC_TWAI_RANGE_FILTER_NUM : SOC_TWAI_MASK_FILTER_NUM));
// The hw_filter_id of range_filter is indexed after mask_filter
uint8_t hw_filter_id = is_range ? filter_id + SOC_TWAI_MASK_FILTER_NUM : filter_id;
if (en) {
hw->filter_control_filter_status.val |= TWAIFD_FANB << (hw_filter_id * TWAIFD_FBNB_S);
if (accept) {
hw->filter_control_filter_status.val |= 0x01 << (filter_id * 4);
} else {
hw->filter_control_filter_status.val &= ~(TWAIFD_FANB << (hw_filter_id * TWAIFD_FBNB_S));
hw->filter_control_filter_status.val &= ~(0x01 << (filter_id * 4));
}
}
/**
* @brief Enable or disable filter to receive basic frame with ext id
* @brief Enable or disable mask filter to receive classic frame with ext id
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the filter to configure
* @param is_range Setting for range filter or mask filter
* @param en True to receive, False to drop
* @param filter_id The unique ID of the mask filter to configure
* @param accept True to accept the frame, False to drop the frame
*/
static inline void twaifd_ll_filter_enable_basic_ext(twaifd_dev_t* hw, uint8_t filter_id, bool is_range, bool en)
static inline void twaifd_ll_mask_filter_accept_classic_ext(twaifd_dev_t* hw, uint8_t filter_id, bool accept)
{
HAL_ASSERT(filter_id < (is_range ? SOC_TWAI_RANGE_FILTER_NUM : SOC_TWAI_MASK_FILTER_NUM));
// The hw_filter_id of range_filter is indexed after mask_filter
uint8_t hw_filter_id = is_range ? filter_id + SOC_TWAI_MASK_FILTER_NUM : filter_id;
if (en) {
hw->filter_control_filter_status.val |= TWAIFD_FANE << (hw_filter_id * TWAIFD_FBNB_S);
if (accept) {
hw->filter_control_filter_status.val |= 0x02 << (filter_id * 4);
} else {
hw->filter_control_filter_status.val &= ~(TWAIFD_FANE << (hw_filter_id * TWAIFD_FBNB_S));
hw->filter_control_filter_status.val &= ~(0x02 << (filter_id * 4));
}
}
/**
* @brief Enable or disable filter to receive fd frame with std id
* @brief Enable or disable mask filter to receive fd frame with std id
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the filter to configure
* @param is_range Setting for range filter or mask filter
* @param en True to receive, False to drop
* @param filter_id The unique ID of the mask filter to configure
* @param accept True to accept the frame, False to drop the frame
*/
static inline void twaifd_ll_filter_enable_fd_std(twaifd_dev_t* hw, uint8_t filter_id, bool is_range, bool en)
static inline void twaifd_ll_mask_filter_accept_fd_std(twaifd_dev_t* hw, uint8_t filter_id, bool accept)
{
HAL_ASSERT(filter_id < (is_range ? SOC_TWAI_RANGE_FILTER_NUM : SOC_TWAI_MASK_FILTER_NUM));
// The hw_filter_id of range_filter is indexed after mask_filter
uint8_t hw_filter_id = is_range ? filter_id + SOC_TWAI_MASK_FILTER_NUM : filter_id;
if (en) {
hw->filter_control_filter_status.val |= TWAIFD_FAFB << (hw_filter_id * TWAIFD_FBNB_S);
if (accept) {
hw->filter_control_filter_status.val |= 0x04 << (filter_id * 4);
} else {
hw->filter_control_filter_status.val &= ~(TWAIFD_FAFB << (hw_filter_id * TWAIFD_FBNB_S));
hw->filter_control_filter_status.val &= ~(0x04 << (filter_id * 4));
}
}
/**
* @brief Enable or disable filter to receive fd frame with ext id
* @brief Enable or disable mask filter to receive fd frame with ext id
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the filter to configure
* @param is_range Setting for range filter or mask filter
* @param en True to receive, False to drop
* @param filter_id The unique ID of the mask filter to configure
* @param accept True to accept the frame, False to drop the frame
*/
static inline void twaifd_ll_filter_enable_fd_ext(twaifd_dev_t* hw, uint8_t filter_id, bool is_range, bool en)
static inline void twaifd_ll_mask_filter_accept_fd_ext(twaifd_dev_t* hw, uint8_t filter_id, bool accept)
{
HAL_ASSERT(filter_id < (is_range ? SOC_TWAI_RANGE_FILTER_NUM : SOC_TWAI_MASK_FILTER_NUM));
// The hw_filter_id of range_filter is indexed after mask_filter
uint8_t hw_filter_id = is_range ? filter_id + SOC_TWAI_MASK_FILTER_NUM : filter_id;
if (en) {
hw->filter_control_filter_status.val |= TWAIFD_FAFE << (hw_filter_id * TWAIFD_FBNB_S);
if (accept) {
hw->filter_control_filter_status.val |= 0x08 << (filter_id * 4);
} else {
hw->filter_control_filter_status.val &= ~(TWAIFD_FAFE << (hw_filter_id * TWAIFD_FBNB_S));
hw->filter_control_filter_status.val &= ~(0x08 << (filter_id * 4));
}
}
/**
* @brief Set Bit Acceptance Filter
* @brief Enable or disable range filter to receive classic frame with std id
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the range filter to configure
* @param accept True to accept the frame, False to drop the frame
*/
static inline void twaifd_ll_range_filter_accept_classic_std(twaifd_dev_t* hw, uint8_t filter_id, bool accept)
{
uint8_t hw_filter_id = filter_id + 3;
if (accept) {
hw->filter_control_filter_status.val |= 0x01 << (hw_filter_id * 4);
} else {
hw->filter_control_filter_status.val &= ~(0x01 << (hw_filter_id * 4));
}
}
/**
* @brief Enable or disable range filter to receive classic frame with ext id
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the range filter to configure
* @param accept True to accept the frame, False to drop the frame
*/
static inline void twaifd_ll_range_filter_accept_classic_ext(twaifd_dev_t* hw, uint8_t filter_id, bool accept)
{
uint8_t hw_filter_id = filter_id + 3;
if (accept) {
hw->filter_control_filter_status.val |= 0x02 << (hw_filter_id * 4);
} else {
hw->filter_control_filter_status.val &= ~(0x02 << (hw_filter_id * 4));
}
}
/**
* @brief Enable or disable range filter to receive fd frame with std id
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the range filter to configure
* @param accept True to accept the frame, False to drop the frame
*/
static inline void twaifd_ll_range_filter_accept_fd_std(twaifd_dev_t* hw, uint8_t filter_id, bool accept)
{
uint8_t hw_filter_id = filter_id + 3;
if (accept) {
hw->filter_control_filter_status.val |= 0x04 << (hw_filter_id * 4);
} else {
hw->filter_control_filter_status.val &= ~(0x04 << (hw_filter_id * 4));
}
}
/**
* @brief Enable or disable range filter to receive fd frame with ext id
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the range filter to configure
* @param accept True to accept the frame, False to drop the frame
*/
static inline void twaifd_ll_range_filter_accept_fd_ext(twaifd_dev_t* hw, uint8_t filter_id, bool accept)
{
uint8_t hw_filter_id = filter_id + 3;
if (accept) {
hw->filter_control_filter_status.val |= 0x08 << (hw_filter_id * 4);
} else {
hw->filter_control_filter_status.val &= ~(0x08 << (hw_filter_id * 4));
}
}
/**
* @brief Set the ID and mask for mask filter
* @param hw Start address of the TWAI registers
* @param filter_id Filter number id
* @param is_ext Filter for ext_id or std_id
* @param code Acceptance Code
* @param mask Acceptance Mask
*/
static inline void twaifd_ll_filter_set_id_mask(twaifd_dev_t* hw, uint8_t filter_id, bool is_ext, uint32_t code, uint32_t mask)
static inline void twaifd_ll_mask_filter_set_id_mask(twaifd_dev_t* hw, uint8_t filter_id, bool is_ext, uint32_t code, uint32_t mask)
{
hw->mask_filters[filter_id].filter_mask.bit_mask_val = is_ext ? mask : (mask << TWAIFD_IDENTIFIER_BASE_S);
hw->mask_filters[filter_id].filter_val.bit_val = is_ext ? code : (code << TWAIFD_IDENTIFIER_BASE_S);
}
/**
* @brief Set Range Acceptance Filter
* @brief Set the ID range for range filter
* @param hw Start address of the TWAI registers
* @param filter_id Filter number id
* @param is_ext Filter for ext_id or std_id
* @param high The id range high limit
* @param low The id range low limit
*/
static inline void twaifd_ll_filter_set_range(twaifd_dev_t* hw, uint8_t filter_id, bool is_ext, uint32_t high, uint32_t low)
static inline void twaifd_ll_range_filter_set_id_thres(twaifd_dev_t* hw, uint8_t filter_id, bool is_ext, uint32_t high, uint32_t low)
{
hw->range_filters[filter_id].ran_low.bit_ran_low_val = is_ext ? low : (low << TWAIFD_IDENTIFIER_BASE_S);
hw->range_filters[filter_id].ran_high.bit_ran_high_val = is_ext ? high : (high << TWAIFD_IDENTIFIER_BASE_S);
hw->range_filters[filter_id].ran_high.bit_ran_high_val = is_ext ? high : (high << TWAIFD_IDENTIFIER_BASE_S) | 0x3FFFF;
}
/* ------------------------- TX Buffer Registers ------------------------- */
/**
* @brief Get the number of TX buffers available.
* @brief Get the number of TX buffers that are preset in the hardware.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return The number of TX buffers available.
*/
static inline uint32_t twaifd_ll_get_tx_buffer_quantity(twaifd_dev_t *hw)
static inline uint32_t twaifd_ll_get_tx_buffer_total(twaifd_dev_t *hw)
{
return hw->tx_command_txtb_info.txt_buffer_count;
}
@@ -604,24 +671,24 @@ static inline uint32_t twaifd_ll_get_tx_buffer_quantity(twaifd_dev_t *hw)
*/
static inline uint32_t twaifd_ll_get_tx_buffer_status(twaifd_dev_t *hw, uint8_t buffer_idx)
{
HAL_ASSERT(buffer_idx < twaifd_ll_get_tx_buffer_quantity(hw)); // Ensure buffer index is valid
HAL_ASSERT(buffer_idx < twaifd_ll_get_tx_buffer_total(hw)); // Ensure buffer index is valid
uint32_t reg_val = hw->tx_status.val;
return reg_val & (TWAIFD_TX2S_V << (TWAIFD_TX2S_S * buffer_idx)); // Get status for buffer
}
/**
* @brief Set TX Buffer command
* @brief Set TX Buffer command
*
* Setting the TX command will cause the TWAI controller to attempt to transmit
* the frame stored in the TX buffer. The TX buffer will be occupied (i.e.,
* locked) until TX completes.
*
* @param hw Start address of the TWAI registers
* @param buffer_idx
* @param buffer_idx The tx buffer index to set the command
* @param cmd The command want to set, see `TWAIFD_LL_TX_CMD_`
*/
__attribute__((always_inline))
static inline void twaifd_ll_set_tx_cmd(twaifd_dev_t *hw, uint8_t buffer_idx, uint32_t cmd)
static inline void twaifd_ll_set_tx_buffer_cmd(twaifd_dev_t *hw, uint8_t buffer_idx, uint32_t cmd)
{
hw->tx_command_txtb_info.val = (cmd | BIT(buffer_idx + TWAIFD_TXB1_S));
}
@@ -629,13 +696,15 @@ static inline void twaifd_ll_set_tx_cmd(twaifd_dev_t *hw, uint8_t buffer_idx, ui
/**
* @brief Set the priority for a specific TX buffer.
*
* @note If two TX buffers have equal priority, TX buffer with the lower index has precedence.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param buffer_idx Index of the TX buffer (0-7).
* @param priority The priority level to set for the buffer.
* @param priority The priority level to set for the buffer. Higher values indicate higher priority.
*/
static inline void twaifd_ll_set_tx_buffer_priority(twaifd_dev_t *hw, uint8_t buffer_idx, uint32_t priority)
{
HAL_ASSERT(buffer_idx < twaifd_ll_get_tx_buffer_quantity(hw)); // Ensure buffer index is valid
HAL_ASSERT(buffer_idx < twaifd_ll_get_tx_buffer_total(hw)); // Ensure buffer index is valid
uint32_t reg_val = hw->tx_priority.val;
reg_val &= ~(TWAIFD_TXT1P_V << (TWAIFD_TXT2P_S * buffer_idx)); // Clear old priority
reg_val |= priority << (TWAIFD_TXT2P_S * buffer_idx); // Set new priority
@@ -665,14 +734,27 @@ static inline void twaifd_ll_mount_tx_buffer(twaifd_dev_t *hw, twaifd_frame_buff
/**
* @brief Get the size of the RX buffer.
*
* @note It contains a single RX buffer where received frames are stored.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return Size of the RX buffer.
* @return Size of the RX buffer, in multiple of 32-bit words.
*/
static inline uint32_t twaifd_ll_get_rx_buffer_size(twaifd_dev_t *hw)
{
return hw->rx_mem_info.rx_buff_size;
}
/**
* @brief Get the free space in the RX buffer.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return Free space in the RX buffer, in multiple of 32-bit words.
*/
static inline uint32_t twaifd_ll_get_rx_free_space(twaifd_dev_t *hw)
{
return hw->rx_mem_info.rx_free;
}
/**
* @brief Get the number of frames in the RX buffer.
*
@@ -689,15 +771,26 @@ static inline uint32_t twaifd_ll_get_rx_frame_count(twaifd_dev_t *hw)
* @brief Check if the RX FIFO is empty.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return 1 if RX FIFO is empty, 0 otherwise.
* @return true if RX FIFO is empty, false otherwise.
*/
static inline uint32_t twaifd_ll_is_rx_buffer_empty(twaifd_dev_t *hw)
static inline bool twaifd_ll_is_rx_buffer_empty(twaifd_dev_t *hw)
{
return hw->rx_status_rx_settings.rxe;
}
/**
* @brief Copy a received frame from the RX buffer for parsing
* @brief Check if the RX FIFO is full.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return true if RX FIFO is full, false otherwise.
*/
static inline bool twaifd_ll_is_rx_buffer_full(twaifd_dev_t *hw)
{
return hw->rx_status_rx_settings.rxf;
}
/**
* @brief Copy a received frame from the RX buffer for parsing
*
* @param hw Start address of the TWAI registers
* @param rx_frame Pointer to store formatted frame
@@ -835,18 +928,29 @@ static inline uint32_t twaifd_ll_get_tx_traffic_counter(twaifd_dev_t *hw)
/* ------------------------- Timestamp Register ------------------------- */
/**
* @brief Enable or disable the timer clock.
* @brief Set the sample point for the timestamp.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param sample_point Sample point for the timestamp.
*/
static inline void twaifd_ll_ts_set_sample_point(twaifd_dev_t *hw, twaifd_ll_timestamp_point_t sample_point)
{
hw->rx_status_rx_settings.rtsop = sample_point;
}
/**
* @brief Whether to force enable the register config clock of the timer
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param enable True to enable, false to disable.
*/
static inline void twaifd_ll_timer_enable_clock(twaifd_dev_t *hw, bool enable)
static inline void twaifd_ll_timer_force_enable_cfg_clock(twaifd_dev_t *hw, bool enable)
{
hw->timer_clk_en.clk_en = enable;
}
/**
* @brief Enable or disable timer power.
* @brief Enable or disable the timer.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param enable True to enable, false to disable.
@@ -856,9 +960,34 @@ static inline void twaifd_ll_timer_enable(twaifd_dev_t *hw, bool enable)
hw->timer_cfg.timer_ce = enable;
}
/**
* @brief Get the bit width of the timer.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return Bit width of the timer.
*/
static inline uint8_t twaifd_ll_timer_get_bitwidth(twaifd_dev_t *hw)
{
return hw->err_capt_retr_ctr_alc_ts_info.ts_bits + 1;
}
/**
* @brief Get the current timer count.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return Current timer count as a 64-bit value.
*/
static inline uint64_t twaifd_ll_timer_get_count(twaifd_dev_t *hw)
{
uint64_t count = ((uint64_t)hw->timestamp_high.val << 32) | hw->timestamp_low.val;
return count;
}
/**
* @brief Set the timer step value.
*
* @note This is to determine the resolution of the timer. We can also treat it as a prescaler.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param step Step value to set (actual step = step - 1).
*/
components/soc/esp32c5/twai_periph.c → components/esp_hal_twai/esp32c5/twai_periph.c
+3 -2
View File
@@ -1,11 +1,12 @@
/*
* SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/twai_periph.h"
#include "hal/twai_periph.h"
#include "soc/gpio_sig_map.h"
#include "soc/interrupts.h"
const twai_signal_conn_t twai_periph_signals[2] = {
[0] = {
components/hal/esp32c6/include/hal/twai_ll.h → components/esp_hal_twai/esp32c6/include/hal/twai_ll.h
+9 -13
View File
@@ -4,14 +4,6 @@
* SPDX-License-Identifier: Apache-2.0
*/
/*******************************************************************************
* NOTICE
* The ll is not public api, don't use in application code.
* See readme.md in hal/include/hal/readme.md
******************************************************************************/
// The Lowlevel layer for TWAI
#pragma once
#include <stdint.h>
@@ -21,11 +13,15 @@
#include "hal/misc.h"
#include "hal/assert.h"
#include "hal/twai_types.h"
#include "soc/twai_periph.h"
#include "soc/twai_reg.h"
#include "soc/twai_struct.h"
#include "soc/pcr_struct.h"
#define TWAI_LL_GET(_attr) TWAI_LL_ ## _attr
#define TWAI_LL_SUPPORT(_feat) TWAI_LL_SUPPORT_ ## _feat
#define TWAI_LL_SUPPORT_RX_STATUS 1
#define TWAI_LL_GET_HW(controller_id) ((controller_id == 0) ? (&TWAI0) : (&TWAI1))
#ifdef __cplusplus
@@ -521,9 +517,9 @@ __attribute__((always_inline))
static inline void twai_ll_parse_err_code_cap(twai_dev_t *hw, twai_ll_err_type_t *type, twai_ll_err_dir_t *dir, twai_ll_err_seg_t *seg)
{
uint32_t ecc = hw->err_code_cap.val;
*type = (twai_ll_err_type_t) ((ecc >> 6) & 0x3);
*dir = (twai_ll_err_dir_t) ((ecc >> 5) & 0x1);
*seg = (twai_ll_err_seg_t) (ecc & 0x1F);
*type = (twai_ll_err_type_t)((ecc >> 6) & 0x3);
*dir = (twai_ll_err_dir_t)((ecc >> 5) & 0x1);
*seg = (twai_ll_err_seg_t)(ecc & 0x1F);
}
/* ----------------------------- EWL Register ------------------------------- */
@@ -691,7 +687,7 @@ static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t
*/
__attribute__((always_inline))
static inline void twai_ll_format_frame_buffer(uint32_t id, uint8_t dlc, const uint8_t *data,
uint32_t flags, twai_ll_frame_buffer_t *tx_frame)
uint32_t flags, twai_ll_frame_buffer_t *tx_frame)
{
bool is_extd = flags & TWAI_MSG_FLAG_EXTD;
bool is_rtr = flags & TWAI_MSG_FLAG_RTR;
components/soc/esp32c6/twai_periph.c → components/esp_hal_twai/esp32c6/twai_periph.c
+5 -4
View File
@@ -1,14 +1,15 @@
/*
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/twai_periph.h"
#include "hal/twai_periph.h"
#include "soc/twai_reg.h"
#include "soc/gpio_sig_map.h"
#include "soc/interrupts.h"
const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
const twai_signal_conn_t twai_periph_signals[2] = {
[0] = {
.module_name = "TWAI0",
.irq_id = ETS_TWAI0_INTR_SOURCE,
@@ -62,7 +63,7 @@ static const uint32_t twai_regs_map[4] = {0x9fffe0d1, 0xdf, 0x0, 0x0};
static const regdma_entries_config_t twai0_regs_retention[] = TWAI_SLEEP_RETENTION_ENTRIES(0);
static const regdma_entries_config_t twai1_regs_retention[] = TWAI_SLEEP_RETENTION_ENTRIES(1);
const twai_reg_retention_info_t twai_reg_retention_info[SOC_TWAI_CONTROLLER_NUM] = {
const twai_reg_retention_info_t twai_reg_retention_info[2] = {
[0] = {
.module_id = SLEEP_RETENTION_MODULE_TWAI0,
.entry_array = twai0_regs_retention,
components/hal/esp32h2/include/hal/twai_ll.h → components/esp_hal_twai/esp32h2/include/hal/twai_ll.h
+9 -13
View File
@@ -4,14 +4,6 @@
* SPDX-License-Identifier: Apache-2.0
*/
/*******************************************************************************
* NOTICE
* The ll is not public api, don't use in application code.
* See readme.md in hal/include/hal/readme.md
******************************************************************************/
// The Lowlevel layer for TWAI
#pragma once
#include <stdint.h>
@@ -21,11 +13,15 @@
#include "hal/misc.h"
#include "hal/assert.h"
#include "hal/twai_types.h"
#include "soc/twai_periph.h"
#include "soc/twai_reg.h"
#include "soc/twai_struct.h"
#include "soc/pcr_struct.h"
#define TWAI_LL_GET(_attr) TWAI_LL_ ## _attr
#define TWAI_LL_SUPPORT(_feat) TWAI_LL_SUPPORT_ ## _feat
#define TWAI_LL_SUPPORT_RX_STATUS 1
#define TWAI_LL_GET_HW(controller_id) ((controller_id == 0) ? (&TWAI0) : NULL)
#ifdef __cplusplus
@@ -499,9 +495,9 @@ __attribute__((always_inline))
static inline void twai_ll_parse_err_code_cap(twai_dev_t *hw, twai_ll_err_type_t *type, twai_ll_err_dir_t *dir, twai_ll_err_seg_t *seg)
{
uint32_t ecc = hw->err_code_cap.val;
*type = (twai_ll_err_type_t) ((ecc >> 6) & 0x3);
*dir = (twai_ll_err_dir_t) ((ecc >> 5) & 0x1);
*seg = (twai_ll_err_seg_t) (ecc & 0x1F);
*type = (twai_ll_err_type_t)((ecc >> 6) & 0x3);
*dir = (twai_ll_err_dir_t)((ecc >> 5) & 0x1);
*seg = (twai_ll_err_seg_t)(ecc & 0x1F);
}
/* ----------------------------- EWL Register ------------------------------- */
@@ -669,7 +665,7 @@ static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t
*/
__attribute__((always_inline))
static inline void twai_ll_format_frame_buffer(uint32_t id, uint8_t dlc, const uint8_t *data,
uint32_t flags, twai_ll_frame_buffer_t *tx_frame)
uint32_t flags, twai_ll_frame_buffer_t *tx_frame)
{
bool is_extd = flags & TWAI_MSG_FLAG_EXTD;
bool is_rtr = flags & TWAI_MSG_FLAG_RTR;
components/soc/esp32h2/twai_periph.c → components/esp_hal_twai/esp32h2/twai_periph.c
+5 -4
View File
@@ -1,14 +1,15 @@
/*
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/twai_periph.h"
#include "hal/twai_periph.h"
#include "soc/twai_reg.h"
#include "soc/gpio_sig_map.h"
#include "soc/interrupts.h"
const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
const twai_signal_conn_t twai_periph_signals[1] = {
[0] = {
.module_name = "TWAI0",
.irq_id = ETS_TWAI0_INTR_SOURCE,
@@ -51,7 +52,7 @@ static const uint32_t twai_regs_map[4] = {0x9fffe0d1, 0xdf, 0x0, 0x0};
}
static const regdma_entries_config_t twai0_regs_retention[] = TWAI_SLEEP_RETENTION_ENTRIES(0);
const twai_reg_retention_info_t twai_reg_retention_info[SOC_TWAI_CONTROLLER_NUM] = {
const twai_reg_retention_info_t twai_reg_retention_info[1] = {
[0] = {
.module_id = SLEEP_RETENTION_MODULE_TWAI0,
.entry_array = twai0_regs_retention,
components/hal/esp32h21/include/hal/twai_ll.h → components/esp_hal_twai/esp32h21/include/hal/twai_ll.h
+9 -13
View File
@@ -4,14 +4,6 @@
* SPDX-License-Identifier: Apache-2.0
*/
/*******************************************************************************
* NOTICE
* The ll is not public api, don't use in application code.
* See readme.md in hal/include/hal/readme.md
******************************************************************************/
// The Lowlevel layer for TWAI
#pragma once
#include <stdint.h>
@@ -21,11 +13,15 @@
#include "hal/misc.h"
#include "hal/assert.h"
#include "hal/twai_types.h"
#include "soc/twai_periph.h"
#include "soc/twai_reg.h"
#include "soc/twai_struct.h"
#include "soc/pcr_struct.h"
#define TWAI_LL_GET(_attr) TWAI_LL_ ## _attr
#define TWAI_LL_SUPPORT(_feat) TWAI_LL_SUPPORT_ ## _feat
#define TWAI_LL_SUPPORT_RX_STATUS 1
#define TWAI_LL_GET_HW(controller_id) ((controller_id == 0) ? (&TWAI) : NULL)
#ifdef __cplusplus
@@ -499,9 +495,9 @@ __attribute__((always_inline))
static inline void twai_ll_parse_err_code_cap(twai_dev_t *hw, twai_ll_err_type_t *type, twai_ll_err_dir_t *dir, twai_ll_err_seg_t *seg)
{
uint32_t ecc = hw->err_code_cap.val;
*type = (twai_ll_err_type_t) ((ecc >> 6) & 0x3);
*dir = (twai_ll_err_dir_t) ((ecc >> 5) & 0x1);
*seg = (twai_ll_err_seg_t) (ecc & 0x1F);
*type = (twai_ll_err_type_t)((ecc >> 6) & 0x3);
*dir = (twai_ll_err_dir_t)((ecc >> 5) & 0x1);
*seg = (twai_ll_err_seg_t)(ecc & 0x1F);
}
/* ----------------------------- EWL Register ------------------------------- */
@@ -669,7 +665,7 @@ static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t
*/
__attribute__((always_inline))
static inline void twai_ll_format_frame_buffer(uint32_t id, uint8_t dlc, const uint8_t *data,
uint32_t flags, twai_ll_frame_buffer_t *tx_frame)
uint32_t flags, twai_ll_frame_buffer_t *tx_frame)
{
bool is_extd = flags & TWAI_MSG_FLAG_EXTD;
bool is_rtr = flags & TWAI_MSG_FLAG_RTR;
components/soc/esp32h21/twai_periph.c → components/esp_hal_twai/esp32h21/twai_periph.c
+5 -4
View File
@@ -1,14 +1,15 @@
/*
* SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/twai_periph.h"
#include "hal/twai_periph.h"
#include "soc/twai_reg.h"
#include "soc/gpio_sig_map.h"
#include "soc/interrupts.h"
const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
const twai_signal_conn_t twai_periph_signals[1] = {
[0] = {
.module_name = "TWAI0",
.irq_id = ETS_TWAI0_INTR_SOURCE,
@@ -51,7 +52,7 @@ static const uint32_t twai_regs_map[4] = {0x9fffe0d1, 0xdf, 0x0, 0x0};
}
static const regdma_entries_config_t twai0_regs_retention[] = TWAI_SLEEP_RETENTION_ENTRIES(0);
const twai_reg_retention_info_t twai_reg_retention_info[SOC_TWAI_CONTROLLER_NUM] = {
const twai_reg_retention_info_t twai_reg_retention_info[1] = {
[0] = {
.module_id = SLEEP_RETENTION_MODULE_TWAI0,
.entry_array = twai0_regs_retention,
components/esp_hal_twai/esp32h4/include/hal/twai_ll.h
+87
View File
@@ -0,0 +1,87 @@
/*
* SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#pragma once
#include <string.h>
#include "hal/twai_types.h"
#include "soc/pcr_reg.h"
#include "soc/pcr_struct.h"
#define TWAI_LL_GET(_attr) TWAI_LL_ ## _attr
#define TWAI_LL_SUPPORT(_feat) TWAI_LL_SUPPORT_ ## _feat
#define TWAI_LL_SUPPORT_TIMESTAMP 1
#define TWAI_LL_SUPPORT_RX_STATUS 1
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief Enable the bus clock and module clock for twai module
*
* @param twai_id Hardware ID
* @param enable true to enable, false to disable
*/
static inline void twai_ll_enable_bus_clock(uint8_t twai_id, bool enable)
{
PCR.twai0_conf.twai0_clk_en = enable;
}
/**
* @brief Reset the twai module
*
* @param twai_id Hardware ID
*/
static inline void twai_ll_reset_register(uint8_t twai_id)
{
PCR.twai0_conf.twai0_rst_en = 1;
PCR.twai0_conf.twai0_rst_en = 0;
}
/**
* @brief Set clock source for TWAI module
*
* @param twai_id Hardware ID
* @param clk_src Clock source
*/
static inline void twai_ll_set_clock_source(uint8_t twai_id, twai_clock_source_t clk_src)
{
switch (clk_src) {
case TWAI_CLK_SRC_XTAL:
PCR.twai0_func_clk_conf.twai0_func_clk_sel = 0;
break;
case TWAI_CLK_SRC_PLL_F96M:
PCR.twai0_func_clk_conf.twai0_func_clk_sel = 2;
break;
// We do not plan to support the TWAI_CLK_SRC_RC_FAST clock source,
// as the accuracy of this clock does not meet the requirements for the baud rate
// case TWAI_CLK_SRC_RC_FAST:
// PCR.twai0_func_clk_conf.twai0_func_clk_sel = 1;
// break;
default:
HAL_ASSERT(false);
}
}
/**
* @brief Enable TWAI module clock source
*
* @param twai_id Hardware ID
* @param enable true to enable, false to disable
*/
static inline void twai_ll_enable_clock(uint8_t twai_id, bool enable)
{
PCR.twai0_func_clk_conf.twai0_func_clk_en = enable;
if (enable) {
while (!PCR.twai0_conf.twai0_ready);
}
}
#ifdef __cplusplus
}
#endif
components/hal/esp32h4/include/hal/twaifd_ll.h → components/esp_hal_twai/esp32h4/include/hal/twaifd_ll.h
+270 -146
View File
@@ -4,17 +4,8 @@
* SPDX-License-Identifier: Apache-2.0
*/
/*******************************************************************************
* NOTICE
* The Lowlevel layer for TWAI is not public api, don't use in application code.
******************************************************************************/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include <string.h>
#include "soc/pcr_reg.h"
#include "soc/pcr_struct.h"
@@ -53,81 +44,35 @@ extern "C" {
#define TWAIFD_LL_HW_CMD_RST_ERR_CNT TWAIFD_ERCRST // Error Counters Reset
#define TWAIFD_LL_HW_CMD_RST_RX_CNT TWAIFD_RXFCRST // Clear RX bus traffic counter
#define TWAIFD_LL_HW_CMD_RST_TX_CNT TWAIFD_TXFCRST // Clear TX bus traffic counter
#define TWAIFD_LL_HW_CMD_CLR_OVERRUN TWAIFD_CDO // Clear RX buffer overrun flag
#define TWAIFD_LL_HW_CMD_RX_FLUSH TWAIFD_RRB // Flush RX buffer (read and write pointers are set to 0 and the frame counter is set to 0)
#define TWAIFD_LL_INTR_TX_DONE TWAIFD_TXBHCI_INT_ST// Transmit finish (ok or error)
#define TWAIFD_LL_INTR_TX_SUCCESS TWAIFD_TXI_INT_ST // Transmit success without error
#define TWAIFD_LL_INTR_TX_FRAME TWAIFD_TXI_INT_ST // A frame is transmitted
#define TWAIFD_LL_INTR_RX_FRAME TWAIFD_RXI_INT_ST // A frame is received
#define TWAIFD_LL_INTR_RX_NOT_EMPTY TWAIFD_RBNEI_INT_ST // RX buffer not empty interrupt
#define TWAIFD_LL_INTR_RX_FULL TWAIFD_RXFI_INT_ST // RX buffer full interrupt
#define TWAIFD_LL_INTR_ERR_WARN TWAIFD_EWLI_INT_ST // Error Interrupt
#define TWAIFD_LL_INTR_OVERLOAD TWAIFD_OFI_INT_ST // Overload Frame Interrupt
#define TWAIFD_LL_INTR_ERR_WARN TWAIFD_EWLI_INT_ST // Error warning limit Interrupt
#define TWAIFD_LL_INTR_BUS_ERR TWAIFD_BEI_INT_ST // Bus error interrupt
#define TWAIFD_LL_INTR_FSM_CHANGE TWAIFD_FCSI_INT_ST // Fault confinement state changed interrupt
#define TWAIFD_LL_INTR_ARBI_LOST TWAIFD_ALI_INT_ST // Arbitration Lost Interrupt
#define TWAIFD_LL_INTR_ARBIT_LOST TWAIFD_ALI_INT_ST // Arbitration Lost Interrupt
#define TWAIFD_LL_INTR_DATA_OVERRUN TWAIFD_DOI_INT_ST // Data Overrun Interrupt
#define TWAIFD_LL_INTR_TIMER_OVERFLOW TWAIFD_TIMER_OVERFLOW_INT_ST // Timer overflow interrupt
#define TWAI_LL_DRIVER_INTERRUPTS (TWAIFD_LL_INTR_TX_DONE | TWAIFD_LL_INTR_RX_NOT_EMPTY | TWAIFD_LL_INTR_RX_FULL | \
TWAIFD_LL_INTR_ERR_WARN | TWAIFD_LL_INTR_BUS_ERR | TWAIFD_LL_INTR_FSM_CHANGE | \
TWAIFD_LL_INTR_ARBI_LOST | TWAIFD_LL_INTR_DATA_OVERRUN)
TWAIFD_LL_INTR_ARBIT_LOST | TWAIFD_LL_INTR_DATA_OVERRUN)
/**
* @brief Enable the bus clock and module clock for twai module
*
* @param twai_id Hardware ID
* @param enable true to enable, false to disable
*/
static inline void twaifd_ll_enable_bus_clock(uint8_t twai_id, bool enable)
{
PCR.twai0_conf.twai0_clk_en = enable;
}
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief Reset the twai module
*
* @param twai_id Hardware ID
*/
static inline void twaifd_ll_reset_register(uint8_t twai_id)
{
PCR.twai0_conf.twai0_rst_en = 1;
PCR.twai0_conf.twai0_rst_en = 0;
}
/**
* @brief Set clock source for TWAI module
*
* @param twai_id Hardware ID
* @param clk_src Clock source
*/
static inline void twaifd_ll_set_clock_source(uint8_t twai_id, twai_clock_source_t clk_src)
{
switch (clk_src) {
case TWAI_CLK_SRC_XTAL:
PCR.twai0_func_clk_conf.twai0_func_clk_sel = 0;
break;
case TWAI_CLK_SRC_PLL_F96M:
PCR.twai0_func_clk_conf.twai0_func_clk_sel = 2;
break;
// We do not plan to support the TWAI_CLK_SRC_RC_FAST clock source,
// as the accuracy of this clock does not meet the requirements for the baud rate
// case TWAI_CLK_SRC_RC_FAST:
// PCR.twai0_func_clk_conf.twai0_func_clk_sel = 1;
// break;
default:
HAL_ASSERT(false);
}
}
/**
* @brief Enable TWAI module clock source
*
* @param twai_id Hardware ID
* @param enable true to enable, false to disable
*/
static inline void twaifd_ll_enable_clock(uint8_t twai_id, bool enable)
{
PCR.twai0_func_clk_conf.twai0_func_clk_en = enable;
if (enable) {
while (!PCR.twai0_conf.twai0_ready);
}
}
typedef enum {
TWAIFD_LL_TS_POINT_EOF = 0, // in 6th bit of end of frame (moment when the received frame is considered valid)
TWAIFD_LL_TS_POINT_SOF = 1, // start of frame bit
} twaifd_ll_timestamp_point_t;
/**
* @brief Waits for pending changes to take effect in the hardware.
@@ -139,7 +84,6 @@ static inline void twaifd_ll_waiting_state_change(twaifd_dev_t *hw)
while (!hw->int_stat.fcsi_int_st); // Wait until the change is applied
}
/* ---------------------------- Mode Register ------------------------------- */
// WARNING!! Following 'mode_settings' should in same spin_lock` !!!
@@ -156,6 +100,9 @@ static inline void twaifd_ll_reset(twaifd_dev_t *hw)
/**
* @brief Enable or disable hardware.
*
* @note After enable, the node will join the bus after receiving 11 consecutive recessive bits
* @note If disable, the node becomes "bus-off", all TX buffers goes to "empty" state without resetting the memories, RX buffer is flushed.
*
* @param hw Pointer to hardware structure.
* @param enable Boolean flag to enable (true) or disable (false).
*/
@@ -191,6 +138,8 @@ static inline void twaifd_ll_set_mode(twaifd_dev_t *hw, bool listen_only, bool s
/**
* @brief Set the TX retransmission limit.
*
* @note First attempt to transmit TWAI frames does not count as retransmission.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param limit Retransmission limit (0-15, or negative for infinite).
*/
@@ -203,20 +152,31 @@ static inline void twaifd_ll_set_tx_retrans_limit(twaifd_dev_t *hw, int8_t limit
/**
* set bit rate flexible between nominal field and data field
* when set this bit, all frame will be regarded as CANFD frame, even though nominal bit rate and data bit rate are the same
* when set this bit, all frame will be regarded as TWAI FD frame, even though nominal bit rate and data bit rate are the same
*/
static inline void twaifd_ll_enable_fd_mode(twaifd_dev_t *hw, bool ena)
{
hw->mode_settings.fde = ena;
}
/**
* @brief Whether to enable protocol exception handling
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param ena Set to true to enable PEX, false to disable.
*/
static inline void twaifd_ll_enable_pex(twaifd_dev_t *hw, bool ena)
{
hw->mode_settings.pex = ena;
}
/**
* @brief Enable or disable the RX fifo automatic increase when read to register
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param ena Set to true to enable RX automatic mode, false to disable.
*/
static inline void twaifd_ll_enable_rxfifo_auto_incrase(twaifd_dev_t *hw, bool ena)
static inline void twaifd_ll_enable_rxfifo_auto_increase(twaifd_dev_t *hw, bool ena)
{
hw->mode_settings.rxbam = ena;
}
@@ -235,12 +195,36 @@ static inline void twaifd_ll_enable_filter_mode(twaifd_dev_t* hw, bool enable)
}
/**
* @brief Set remote frame filtering behaviour.
* @brief Enable or disable the test mode for the TWAI-FD peripheral.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param enable Set to true to enable test mode, false to disable.
*/
static inline void twaifd_ll_enable_test_mode(twaifd_dev_t* hw, bool enable)
{
hw->mode_settings.tstm = enable;
}
/**
* @brief Enable or disable the parity error detection for the RX and TX buffers.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param enable Set to true to enable parity error detection, false to disable.
*/
static inline void twaifd_ll_enable_parity_error_detection(twaifd_dev_t* hw, bool enable)
{
// Must be called when hardware is disabled.
HAL_ASSERT(hw->mode_settings.ena == 0);
hw->mode_settings.pchke = enable;
}
/**
* @brief Whether to drop the RTR frames in filter.
*
* @param hw Pointer to hardware structure.
* @param en True to drop, false to Receive to next filter
* @param en True to drop, false to pass it to the next filter
*/
static inline void twaifd_ll_filter_block_rtr(twaifd_dev_t* hw, bool en)
static inline void twaifd_ll_filter_drop_rtr(twaifd_dev_t* hw, bool en)
{
hw->mode_settings.fdrf = en;
}
@@ -248,6 +232,8 @@ static inline void twaifd_ll_filter_block_rtr(twaifd_dev_t* hw, bool en)
/**
* @brief Enable or disable the time-triggered transmission mode for the TWAI-FD peripheral.
*
* @note Time triggered transmission is always considered only from the highest priority TX buffer in “ready” state.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param enable Set to true to enable time-triggered transmission mode, false to disable.
*/
@@ -256,6 +242,19 @@ static inline void twaifd_ll_enable_time_trig_trans_mode(twaifd_dev_t* hw, bool
hw->mode_settings.tttm = enable;
}
/**
* @brief Whether to treat bus-off as TX failure
*
* @note Disable it, it allows going bus-off and re-integrating without the need of software interaction with TX buffers.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param enable Set to true to enable, false to disable.
*/
static inline void twaifd_ll_enable_bus_off_tx_fail_mode(twaifd_dev_t* hw, bool enable)
{
hw->mode_settings.tbfbo = enable;
}
/* --------------------------- Command Register ----------------------------- */
/**
* @brief Set command to TWAIFD hardware
@@ -369,6 +368,17 @@ static inline void twaifd_ll_config_secondary_sample_point(twaifd_dev_t *hw, uin
HAL_FORCE_MODIFY_U32_REG_FIELD(hw->trv_delay_ssp_cfg, ssp_offset, offset_val);
}
/**
* @brief Get measured transmitter delay
*
* @param hw Start address of the TWAI registers
* @return Transmitter Delay Value in clock source cycles, include the input delay of TWAI FD (2 cycles)
*/
static inline uint32_t twaifd_ll_get_transmitter_delay(twaifd_dev_t *hw)
{
return hw->trv_delay_ssp_cfg.trv_delay_value;
}
/* ----------------------------- ERR Capt Register ------------------------------- */
/**
@@ -430,10 +440,10 @@ static inline twai_error_state_t twaifd_ll_get_fault_state(twaifd_dev_t *hw)
}
/**
* @brief Get the error count in normal mode for the TWAI-FD peripheral.
* @brief Get the error count in nominal bit rate stage.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return Error count in normal mode.
* @return Error count in nominal bit rate stage.
*/
static inline uint32_t twaifd_ll_get_err_count_norm(twaifd_dev_t *hw)
{
@@ -441,10 +451,10 @@ static inline uint32_t twaifd_ll_get_err_count_norm(twaifd_dev_t *hw)
}
/**
* @brief Get the error count in FD mode for the TWAI-FD peripheral.
* @brief Get the error count in FD data bit rate stage.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return Error count in FD mode.
* @return Error count in FD data bit rate stage.
*/
static inline uint32_t twaifd_ll_get_err_count_fd(twaifd_dev_t *hw)
{
@@ -479,122 +489,174 @@ static inline uint32_t twaifd_ll_get_tec(twaifd_dev_t *hw)
/* ---------------------- Acceptance Filter Registers ----------------------- */
/**
* @brief Enable or disable filter to receive basic frame with std id
* @brief Enable or disable mask filter to receive classic frame with std id
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the filter to configure
* @param is_range Setting for range filter or mask filter
* @param en True to receive, False to drop
* @param filter_id The unique ID of the mask filter to configure
* @param accept True to accept the frame, False to drop the frame
*/
static inline void twaifd_ll_filter_enable_basic_std(twaifd_dev_t* hw, uint8_t filter_id, bool is_range, bool en)
static inline void twaifd_ll_mask_filter_accept_classic_std(twaifd_dev_t* hw, uint8_t filter_id, bool accept)
{
HAL_ASSERT(filter_id < (is_range ? SOC_TWAI_RANGE_FILTER_NUM : SOC_TWAI_MASK_FILTER_NUM));
// The hw_filter_id of range_filter is indexed after mask_filter
uint8_t hw_filter_id = is_range ? filter_id + SOC_TWAI_MASK_FILTER_NUM : filter_id;
if (en) {
hw->filter_control_filter_status.val |= TWAIFD_FANB << (hw_filter_id * TWAIFD_FBNB_S);
if (accept) {
hw->filter_control_filter_status.val |= 0x01 << (filter_id * 4);
} else {
hw->filter_control_filter_status.val &= ~(TWAIFD_FANB << (hw_filter_id * TWAIFD_FBNB_S));
hw->filter_control_filter_status.val &= ~(0x01 << (filter_id * 4));
}
}
/**
* @brief Enable or disable filter to receive basic frame with ext id
* @brief Enable or disable mask filter to receive classic frame with ext id
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the filter to configure
* @param is_range Setting for range filter or mask filter
* @param en True to receive, False to drop
* @param filter_id The unique ID of the mask filter to configure
* @param accept True to accept the frame, False to drop the frame
*/
static inline void twaifd_ll_filter_enable_basic_ext(twaifd_dev_t* hw, uint8_t filter_id, bool is_range, bool en)
static inline void twaifd_ll_mask_filter_accept_classic_ext(twaifd_dev_t* hw, uint8_t filter_id, bool accept)
{
HAL_ASSERT(filter_id < (is_range ? SOC_TWAI_RANGE_FILTER_NUM : SOC_TWAI_MASK_FILTER_NUM));
// The hw_filter_id of range_filter is indexed after mask_filter
uint8_t hw_filter_id = is_range ? filter_id + SOC_TWAI_MASK_FILTER_NUM : filter_id;
if (en) {
hw->filter_control_filter_status.val |= TWAIFD_FANE << (hw_filter_id * TWAIFD_FBNB_S);
if (accept) {
hw->filter_control_filter_status.val |= 0x02 << (filter_id * 4);
} else {
hw->filter_control_filter_status.val &= ~(TWAIFD_FANE << (hw_filter_id * TWAIFD_FBNB_S));
hw->filter_control_filter_status.val &= ~(0x02 << (filter_id * 4));
}
}
/**
* @brief Enable or disable filter to receive fd frame with std id
* @brief Enable or disable mask filter to receive fd frame with std id
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the filter to configure
* @param is_range Setting for range filter or mask filter
* @param en True to receive, False to drop
* @param filter_id The unique ID of the mask filter to configure
* @param accept True to accept the frame, False to drop the frame
*/
static inline void twaifd_ll_filter_enable_fd_std(twaifd_dev_t* hw, uint8_t filter_id, bool is_range, bool en)
static inline void twaifd_ll_mask_filter_accept_fd_std(twaifd_dev_t* hw, uint8_t filter_id, bool accept)
{
HAL_ASSERT(filter_id < (is_range ? SOC_TWAI_RANGE_FILTER_NUM : SOC_TWAI_MASK_FILTER_NUM));
// The hw_filter_id of range_filter is indexed after mask_filter
uint8_t hw_filter_id = is_range ? filter_id + SOC_TWAI_MASK_FILTER_NUM : filter_id;
if (en) {
hw->filter_control_filter_status.val |= TWAIFD_FAFB << (hw_filter_id * TWAIFD_FBNB_S);
if (accept) {
hw->filter_control_filter_status.val |= 0x04 << (filter_id * 4);
} else {
hw->filter_control_filter_status.val &= ~(TWAIFD_FAFB << (hw_filter_id * TWAIFD_FBNB_S));
hw->filter_control_filter_status.val &= ~(0x04 << (filter_id * 4));
}
}
/**
* @brief Enable or disable filter to receive fd frame with ext id
* @brief Enable or disable mask filter to receive fd frame with ext id
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the filter to configure
* @param is_range Setting for range filter or mask filter
* @param en True to receive, False to drop
* @param filter_id The unique ID of the mask filter to configure
* @param accept True to accept the frame, False to drop the frame
*/
static inline void twaifd_ll_filter_enable_fd_ext(twaifd_dev_t* hw, uint8_t filter_id, bool is_range, bool en)
static inline void twaifd_ll_mask_filter_accept_fd_ext(twaifd_dev_t* hw, uint8_t filter_id, bool accept)
{
HAL_ASSERT(filter_id < (is_range ? SOC_TWAI_RANGE_FILTER_NUM : SOC_TWAI_MASK_FILTER_NUM));
// The hw_filter_id of range_filter is indexed after mask_filter
uint8_t hw_filter_id = is_range ? filter_id + SOC_TWAI_MASK_FILTER_NUM : filter_id;
if (en) {
hw->filter_control_filter_status.val |= TWAIFD_FAFE << (hw_filter_id * TWAIFD_FBNB_S);
if (accept) {
hw->filter_control_filter_status.val |= 0x08 << (filter_id * 4);
} else {
hw->filter_control_filter_status.val &= ~(TWAIFD_FAFE << (hw_filter_id * TWAIFD_FBNB_S));
hw->filter_control_filter_status.val &= ~(0x08 << (filter_id * 4));
}
}
/**
* @brief Set Bit Acceptance Filter
* @brief Enable or disable range filter to receive classic frame with std id
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the range filter to configure
* @param accept True to accept the frame, False to drop the frame
*/
static inline void twaifd_ll_range_filter_accept_classic_std(twaifd_dev_t* hw, uint8_t filter_id, bool accept)
{
uint8_t hw_filter_id = filter_id + 3;
if (accept) {
hw->filter_control_filter_status.val |= 0x01 << (hw_filter_id * 4);
} else {
hw->filter_control_filter_status.val &= ~(0x01 << (hw_filter_id * 4));
}
}
/**
* @brief Enable or disable range filter to receive classic frame with ext id
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the range filter to configure
* @param accept True to accept the frame, False to drop the frame
*/
static inline void twaifd_ll_range_filter_accept_classic_ext(twaifd_dev_t* hw, uint8_t filter_id, bool accept)
{
uint8_t hw_filter_id = filter_id + 3;
if (accept) {
hw->filter_control_filter_status.val |= 0x02 << (hw_filter_id * 4);
} else {
hw->filter_control_filter_status.val &= ~(0x02 << (hw_filter_id * 4));
}
}
/**
* @brief Enable or disable range filter to receive fd frame with std id
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the range filter to configure
* @param accept True to accept the frame, False to drop the frame
*/
static inline void twaifd_ll_range_filter_accept_fd_std(twaifd_dev_t* hw, uint8_t filter_id, bool accept)
{
uint8_t hw_filter_id = filter_id + 3;
if (accept) {
hw->filter_control_filter_status.val |= 0x04 << (hw_filter_id * 4);
} else {
hw->filter_control_filter_status.val &= ~(0x04 << (hw_filter_id * 4));
}
}
/**
* @brief Enable or disable range filter to receive fd frame with ext id
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the range filter to configure
* @param accept True to accept the frame, False to drop the frame
*/
static inline void twaifd_ll_range_filter_accept_fd_ext(twaifd_dev_t* hw, uint8_t filter_id, bool accept)
{
uint8_t hw_filter_id = filter_id + 3;
if (accept) {
hw->filter_control_filter_status.val |= 0x08 << (hw_filter_id * 4);
} else {
hw->filter_control_filter_status.val &= ~(0x08 << (hw_filter_id * 4));
}
}
/**
* @brief Set the ID and mask for mask filter
* @param hw Start address of the TWAI registers
* @param filter_id Filter number id
* @param is_ext Filter for ext_id or std_id
* @param code Acceptance Code
* @param mask Acceptance Mask
*/
static inline void twaifd_ll_filter_set_id_mask(twaifd_dev_t* hw, uint8_t filter_id, bool is_ext, uint32_t code, uint32_t mask)
static inline void twaifd_ll_mask_filter_set_id_mask(twaifd_dev_t* hw, uint8_t filter_id, bool is_ext, uint32_t code, uint32_t mask)
{
hw->mask_filters[filter_id].filter_mask.bit_mask_val = is_ext ? mask : (mask << TWAIFD_IDENTIFIER_BASE_S);
hw->mask_filters[filter_id].filter_val.bit_val = is_ext ? code : (code << TWAIFD_IDENTIFIER_BASE_S);
}
/**
* @brief Set Range Acceptance Filter
* @brief Set the ID range for range filter
* @param hw Start address of the TWAI registers
* @param filter_id Filter number id
* @param is_ext Filter for ext_id or std_id
* @param high The id range high limit
* @param low The id range low limit
*/
static inline void twaifd_ll_filter_set_range(twaifd_dev_t* hw, uint8_t filter_id, bool is_ext, uint32_t high, uint32_t low)
static inline void twaifd_ll_range_filter_set_id_thres(twaifd_dev_t* hw, uint8_t filter_id, bool is_ext, uint32_t high, uint32_t low)
{
hw->range_filters[filter_id].ran_low.bit_ran_low_val = is_ext ? low : (low << TWAIFD_IDENTIFIER_BASE_S);
hw->range_filters[filter_id].ran_high.bit_ran_high_val = is_ext ? high : (high << TWAIFD_IDENTIFIER_BASE_S);
hw->range_filters[filter_id].ran_high.bit_ran_high_val = is_ext ? high : (high << TWAIFD_IDENTIFIER_BASE_S) | 0x3FFFF;
}
/* ------------------------- TX Buffer Registers ------------------------- */
/**
* @brief Get the number of TX buffers available.
* @brief Get the number of TX buffers that are preset in the hardware.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return The number of TX buffers available.
*/
static inline uint32_t twaifd_ll_get_tx_buffer_quantity(twaifd_dev_t *hw)
static inline uint32_t twaifd_ll_get_tx_buffer_total(twaifd_dev_t *hw)
{
return hw->tx_command_txtb_info.txt_buffer_count;
}
@@ -608,24 +670,24 @@ static inline uint32_t twaifd_ll_get_tx_buffer_quantity(twaifd_dev_t *hw)
*/
static inline uint32_t twaifd_ll_get_tx_buffer_status(twaifd_dev_t *hw, uint8_t buffer_idx)
{
HAL_ASSERT(buffer_idx < twaifd_ll_get_tx_buffer_quantity(hw)); // Ensure buffer index is valid
HAL_ASSERT(buffer_idx < twaifd_ll_get_tx_buffer_total(hw)); // Ensure buffer index is valid
uint32_t reg_val = hw->tx_status.val;
return reg_val & (TWAIFD_TX2S_V << (TWAIFD_TX2S_S * buffer_idx)); // Get status for buffer
}
/**
* @brief Set TX Buffer command
* @brief Set TX Buffer command
*
* Setting the TX command will cause the TWAI controller to attempt to transmit
* the frame stored in the TX buffer. The TX buffer will be occupied (i.e.,
* locked) until TX completes.
*
* @param hw Start address of the TWAI registers
* @param buffer_idx
* @param buffer_idx The tx buffer index to set the command
* @param cmd The command want to set, see `TWAIFD_LL_TX_CMD_`
*/
__attribute__((always_inline))
static inline void twaifd_ll_set_tx_cmd(twaifd_dev_t *hw, uint8_t buffer_idx, uint32_t cmd)
static inline void twaifd_ll_set_tx_buffer_cmd(twaifd_dev_t *hw, uint8_t buffer_idx, uint32_t cmd)
{
hw->tx_command_txtb_info.val = (cmd | BIT(buffer_idx + TWAIFD_TXB1_S));
}
@@ -633,13 +695,15 @@ static inline void twaifd_ll_set_tx_cmd(twaifd_dev_t *hw, uint8_t buffer_idx, ui
/**
* @brief Set the priority for a specific TX buffer.
*
* @note If two TX buffers have equal priority, TX buffer with the lower index has precedence.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param buffer_idx Index of the TX buffer (0-7).
* @param priority The priority level to set for the buffer.
* @param priority The priority level to set for the buffer. Higher values indicate higher priority.
*/
static inline void twaifd_ll_set_tx_buffer_priority(twaifd_dev_t *hw, uint8_t buffer_idx, uint32_t priority)
{
HAL_ASSERT(buffer_idx < twaifd_ll_get_tx_buffer_quantity(hw)); // Ensure buffer index is valid
HAL_ASSERT(buffer_idx < twaifd_ll_get_tx_buffer_total(hw)); // Ensure buffer index is valid
uint32_t reg_val = hw->tx_priority.val;
reg_val &= ~(TWAIFD_TXT1P_V << (TWAIFD_TXT2P_S * buffer_idx)); // Clear old priority
reg_val |= priority << (TWAIFD_TXT2P_S * buffer_idx); // Set new priority
@@ -669,14 +733,27 @@ static inline void twaifd_ll_mount_tx_buffer(twaifd_dev_t *hw, twaifd_frame_buff
/**
* @brief Get the size of the RX buffer.
*
* @note It contains a single RX buffer where received frames are stored.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return Size of the RX buffer.
* @return Size of the RX buffer, in multiple of 32-bit words.
*/
static inline uint32_t twaifd_ll_get_rx_buffer_size(twaifd_dev_t *hw)
{
return hw->rx_mem_info.rx_buff_size;
}
/**
* @brief Get the free space in the RX buffer.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return Free space in the RX buffer, in multiple of 32-bit words.
*/
static inline uint32_t twaifd_ll_get_rx_free_space(twaifd_dev_t *hw)
{
return hw->rx_mem_info.rx_free;
}
/**
* @brief Get the number of frames in the RX buffer.
*
@@ -693,15 +770,26 @@ static inline uint32_t twaifd_ll_get_rx_frame_count(twaifd_dev_t *hw)
* @brief Check if the RX FIFO is empty.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return 1 if RX FIFO is empty, 0 otherwise.
* @return true if RX FIFO is empty, false otherwise.
*/
static inline uint32_t twaifd_ll_is_rx_buffer_empty(twaifd_dev_t *hw)
static inline bool twaifd_ll_is_rx_buffer_empty(twaifd_dev_t *hw)
{
return hw->rx_status_rx_settings.rxe;
}
/**
* @brief Copy a received frame from the RX buffer for parsing
* @brief Check if the RX FIFO is full.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return true if RX FIFO is full, false otherwise.
*/
static inline bool twaifd_ll_is_rx_buffer_full(twaifd_dev_t *hw)
{
return hw->rx_status_rx_settings.rxf;
}
/**
* @brief Copy a received frame from the RX buffer for parsing
*
* @param hw Start address of the TWAI registers
* @param rx_frame Pointer to store formatted frame
@@ -839,18 +927,29 @@ static inline uint32_t twaifd_ll_get_tx_traffic_counter(twaifd_dev_t *hw)
/* ------------------------- Timestamp Register ------------------------- */
/**
* @brief Enable or disable the timer clock.
* @brief Set the sample point for the timestamp.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param sample_point Sample point for the timestamp.
*/
static inline void twaifd_ll_ts_set_sample_point(twaifd_dev_t *hw, twaifd_ll_timestamp_point_t sample_point)
{
hw->rx_status_rx_settings.rtsop = sample_point;
}
/**
* @brief Whether to force enable the register config clock of the timer
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param enable True to enable, false to disable.
*/
static inline void twaifd_ll_timer_enable_clock(twaifd_dev_t *hw, bool enable)
static inline void twaifd_ll_timer_force_enable_cfg_clock(twaifd_dev_t *hw, bool enable)
{
hw->timer_clk_en.clk_en = enable;
}
/**
* @brief Enable or disable timer power.
* @brief Enable or disable the timer.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param enable True to enable, false to disable.
@@ -860,9 +959,34 @@ static inline void twaifd_ll_timer_enable(twaifd_dev_t *hw, bool enable)
hw->timer_cfg.timer_ce = enable;
}
/**
* @brief Get the bit width of the timer.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return Bit width of the timer.
*/
static inline uint8_t twaifd_ll_timer_get_bitwidth(twaifd_dev_t *hw)
{
return hw->err_capt_retr_ctr_alc_ts_info.ts_bits + 1;
}
/**
* @brief Get the current timer count.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return Current timer count as a 64-bit value.
*/
static inline uint64_t twaifd_ll_timer_get_count(twaifd_dev_t *hw)
{
uint64_t count = ((uint64_t)hw->timestamp_high.val << 32) | hw->timestamp_low.val;
return count;
}
/**
* @brief Set the timer step value.
*
* @note This is to determine the resolution of the timer. We can also treat it as a prescaler.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param step Step value to set (actual step = step - 1).
*/
components/soc/esp32h4/twai_periph.c → components/esp_hal_twai/esp32h4/twai_periph.c
+3 -2
View File
@@ -1,11 +1,12 @@
/*
* SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/twai_periph.h"
#include "hal/twai_periph.h"
#include "soc/gpio_sig_map.h"
#include "soc/interrupts.h"
const twai_signal_conn_t twai_periph_signals[1] = {
[0] = {
components/hal/esp32p4/include/hal/twai_ll.h → components/esp_hal_twai/esp32p4/include/hal/twai_ll.h
+5 -9
View File
@@ -4,14 +4,6 @@
* SPDX-License-Identifier: Apache-2.0
*/
/*******************************************************************************
* NOTICE
* The ll is not public api, don't use in application code.
* See readme.md in hal/include/hal/readme.md
******************************************************************************/
// The Lowlevel layer for TWAI
#pragma once
#include <stdint.h>
@@ -21,11 +13,15 @@
#include "hal/misc.h"
#include "hal/assert.h"
#include "hal/twai_types.h"
#include "soc/twai_periph.h"
#include "soc/twai_reg.h"
#include "soc/twai_struct.h"
#include "soc/hp_sys_clkrst_struct.h"
#define TWAI_LL_GET(_attr) TWAI_LL_ ## _attr
#define TWAI_LL_SUPPORT(_feat) TWAI_LL_SUPPORT_ ## _feat
#define TWAI_LL_SUPPORT_RX_STATUS 1
#define TWAI_LL_GET_HW(controller_id) ((controller_id == 0) ? (&TWAI0) : (controller_id == 1) ? (&TWAI1) : (&TWAI2))
#ifdef __cplusplus
components/soc/esp32p4/twai_periph.c → components/esp_hal_twai/esp32p4/twai_periph.c
+5 -4
View File
@@ -1,14 +1,15 @@
/*
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/twai_periph.h"
#include "hal/twai_periph.h"
#include "soc/twai_reg.h"
#include "soc/gpio_sig_map.h"
#include "soc/interrupts.h"
const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
const twai_signal_conn_t twai_periph_signals[3] = {
[0] = {
.module_name = "TWAI0",
.irq_id = ETS_TWAI0_INTR_SOURCE,
@@ -72,7 +73,7 @@ static const regdma_entries_config_t twai0_regs_retention[] = TWAI_SLEEP_RETENTI
static const regdma_entries_config_t twai1_regs_retention[] = TWAI_SLEEP_RETENTION_ENTRIES(1);
static const regdma_entries_config_t twai2_regs_retention[] = TWAI_SLEEP_RETENTION_ENTRIES(2);
const twai_reg_retention_info_t twai_reg_retention_info[SOC_TWAI_CONTROLLER_NUM] = {
const twai_reg_retention_info_t twai_reg_retention_info[3] = {
[0] = {
.module_id = SLEEP_RETENTION_MODULE_TWAI0,
.entry_array = twai0_regs_retention,
components/hal/esp32s2/include/hal/twai_ll.h → components/esp_hal_twai/esp32s2/include/hal/twai_ll.h
+10 -13
View File
@@ -4,14 +4,6 @@
* SPDX-License-Identifier: Apache-2.0
*/
/*******************************************************************************
* NOTICE
* The ll is not public api, don't use in application code.
* See readme.md in hal/include/hal/readme.md
******************************************************************************/
// The Lowlevel layer for TWAI
#pragma once
#include <stdint.h>
@@ -21,10 +13,15 @@
#include "hal/misc.h"
#include "hal/assert.h"
#include "hal/twai_types.h"
#include "soc/twai_periph.h"
#include "soc/twai_struct.h"
#include "soc/system_reg.h"
#define TWAI_LL_GET(_attr) TWAI_LL_ ## _attr
#define TWAI_LL_SUPPORT(_feat) TWAI_LL_SUPPORT_ ## _feat
#define TWAI_LL_SUPPORT_RX_STATUS 1
#define TWAI_LL_SUPPORT_APB_CLK 1
#define TWAI_LL_GET_HW(controller_id) ((controller_id == 0) ? (&TWAI) : NULL)
// When in the listen only mode, the TWAI controller must not influence the TWAI bus (i.e., must not send
@@ -513,9 +510,9 @@ __attribute__((always_inline))
static inline void twai_ll_parse_err_code_cap(twai_dev_t *hw, twai_ll_err_type_t *type, twai_ll_err_dir_t *dir, twai_ll_err_seg_t *seg)
{
uint32_t ecc = hw->error_code_capture_reg.val;
*type = (twai_ll_err_type_t) ((ecc >> 6) & 0x3);
*dir = (twai_ll_err_dir_t) ((ecc >> 5) & 0x1);
*seg = (twai_ll_err_seg_t) (ecc & 0x1F);
*type = (twai_ll_err_type_t)((ecc >> 6) & 0x3);
*dir = (twai_ll_err_dir_t)((ecc >> 5) & 0x1);
*seg = (twai_ll_err_seg_t)(ecc & 0x1F);
}
/* ----------------------------- EWL Register ------------------------------- */
@@ -683,7 +680,7 @@ static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t
*/
__attribute__((always_inline))
static inline void twai_ll_format_frame_buffer(uint32_t id, uint8_t dlc, const uint8_t *data,
uint32_t flags, twai_ll_frame_buffer_t *tx_frame)
uint32_t flags, twai_ll_frame_buffer_t *tx_frame)
{
bool is_extd = flags & TWAI_MSG_FLAG_EXTD;
bool is_rtr = flags & TWAI_MSG_FLAG_RTR;
components/soc/esp32s2/twai_periph.c → components/esp_hal_twai/esp32s2/twai_periph.c
+4 -3
View File
@@ -1,13 +1,14 @@
/*
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/twai_periph.h"
#include "hal/twai_periph.h"
#include "soc/gpio_sig_map.h"
#include "soc/interrupts.h"
const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
const twai_signal_conn_t twai_periph_signals[1] = {
[0] = {
.module_name = "TWAI0",
.irq_id = ETS_TWAI_INTR_SOURCE,
components/hal/esp32s3/include/hal/twai_ll.h → components/esp_hal_twai/esp32s3/include/hal/twai_ll.h
+10 -13
View File
@@ -4,14 +4,6 @@
* SPDX-License-Identifier: Apache-2.0
*/
/*******************************************************************************
* NOTICE
* The ll is not public api, don't use in application code.
* See readme.md in hal/include/hal/readme.md
******************************************************************************/
// The Lowlevel layer for TWAI
#pragma once
#include <stdint.h>
@@ -21,10 +13,15 @@
#include "hal/misc.h"
#include "hal/assert.h"
#include "hal/twai_types.h"
#include "soc/twai_periph.h"
#include "soc/twai_struct.h"
#include "soc/system_struct.h"
#define TWAI_LL_GET(_attr) TWAI_LL_ ## _attr
#define TWAI_LL_SUPPORT(_feat) TWAI_LL_SUPPORT_ ## _feat
#define TWAI_LL_SUPPORT_RX_STATUS 1
#define TWAI_LL_SUPPORT_APB_CLK 1
#define TWAI_LL_GET_HW(controller_id) ((controller_id == 0) ? (&TWAI) : NULL)
// When in the listen only mode, the TWAI controller must not influence the TWAI bus (i.e., must not send
@@ -510,9 +507,9 @@ __attribute__((always_inline))
static inline void twai_ll_parse_err_code_cap(twai_dev_t *hw, twai_ll_err_type_t *type, twai_ll_err_dir_t *dir, twai_ll_err_seg_t *seg)
{
uint32_t ecc = hw->error_code_capture_reg.val;
*type = (twai_ll_err_type_t) ((ecc >> 6) & 0x3);
*dir = (twai_ll_err_dir_t) ((ecc >> 5) & 0x1);
*seg = (twai_ll_err_seg_t) (ecc & 0x1F);
*type = (twai_ll_err_type_t)((ecc >> 6) & 0x3);
*dir = (twai_ll_err_dir_t)((ecc >> 5) & 0x1);
*seg = (twai_ll_err_seg_t)(ecc & 0x1F);
}
/* ----------------------------- EWL Register ------------------------------- */
@@ -680,7 +677,7 @@ static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t
*/
__attribute__((always_inline))
static inline void twai_ll_format_frame_buffer(uint32_t id, uint8_t dlc, const uint8_t *data,
uint32_t flags, twai_ll_frame_buffer_t *tx_frame)
uint32_t flags, twai_ll_frame_buffer_t *tx_frame)
{
bool is_extd = flags & TWAI_MSG_FLAG_EXTD;
bool is_rtr = flags & TWAI_MSG_FLAG_RTR;
components/soc/esp32s3/twai_periph.c → components/esp_hal_twai/esp32s3/twai_periph.c
+4 -3
View File
@@ -1,13 +1,14 @@
/*
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#include "soc/twai_periph.h"
#include "hal/twai_periph.h"
#include "soc/gpio_sig_map.h"
#include "soc/interrupts.h"
const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
const twai_signal_conn_t twai_periph_signals[1] = {
[0] = {
.module_name = "TWAI0",
.irq_id = ETS_TWAI_INTR_SOURCE,
components/hal/include/hal/twai_hal.h → components/esp_hal_twai/include/hal/twai_hal.h
+11 -20
View File
@@ -4,11 +4,6 @@
* SPDX-License-Identifier: Apache-2.0
*/
/*******************************************************************************
* NOTICE
* The hal is not public api, don't use in application code.
******************************************************************************/
#pragma once
#include <stddef.h>
@@ -16,23 +11,22 @@
#include "soc/soc_caps.h"
#include "hal/twai_types.h"
#if SOC_TWAI_SUPPORTED
#if SOC_TWAI_SUPPORT_FD
typedef struct twaifd_dev_t *twai_soc_handle_t;
typedef union twaifd_frame_buffer_t twai_hal_frame_t;
#else
typedef struct twai_dev_t *twai_soc_handle_t;
typedef union twai_ll_frame_buffer_t twai_hal_frame_t;
#endif
typedef struct twai_hal_errata_ctx_t twai_hal_errata_ctx_t;
#ifdef __cplusplus
extern "C" {
#endif
/* ------------------------- Defines and Typedefs --------------------------- */
typedef struct twai_hal_errata_ctx_t twai_hal_errata_ctx_t;
#if SOC_HAS(TWAI_FD)
typedef struct twaifd_dev_t *twai_soc_handle_t;
typedef union twaifd_frame_buffer_t twai_hal_frame_t;
#else
typedef struct twai_dev_t *twai_soc_handle_t;
typedef union twai_ll_frame_buffer_t twai_hal_frame_t;
#endif // SOC_HAS(TWAI_FD)
#define TWAI_HAL_SET_BITS(var, flag) ((var) |= (flag))
#define TWAI_HAL_CLEAR_BITS(var, flag) ((var) &= ~(flag))
@@ -156,7 +150,7 @@ void twai_hal_configure_timing_fd(twai_hal_context_t *hal_ctx, const twai_timing
* @param filter_id Which filter to be configured
* @param f_config Pointer to filter configuration structure
*/
void twai_hal_configure_filter(twai_hal_context_t *hal_ctx, uint8_t filter_id, const twai_mask_filter_config_t *f_config);
void twai_hal_configure_mask_filter(twai_hal_context_t *hal_ctx, uint8_t filter_id, const twai_mask_filter_config_t *f_config);
/**
* @brief Configure the TWAI range filter
@@ -350,7 +344,6 @@ void twai_hal_set_tx_buffer_and_transmit(twai_hal_context_t *hal_ctx, twai_hal_f
*/
bool twai_hal_read_rx_fifo(twai_hal_context_t *hal_ctx, twai_hal_frame_t *rx_frame);
#ifndef SOC_TWAI_SUPPORTS_RX_STATUS
/**
* @brief Clear the RX FIFO of overrun frames
*
@@ -361,7 +354,6 @@ bool twai_hal_read_rx_fifo(twai_hal_context_t *hal_ctx, twai_hal_frame_t *rx_fra
* @return Number of overrun messages cleared from RX FIFO
*/
uint32_t twai_hal_clear_rx_fifo_overrun(twai_hal_context_t *hal_ctx);
#endif //SOC_TWAI_SUPPORTS_RX_STATUS
/* --------------------------- Errata Workarounds --------------------------- */
@@ -428,4 +420,3 @@ uint32_t twai_hal_get_reset_lost_rx_cnt(twai_hal_context_t *hal_ctx);
#ifdef __cplusplus
}
#endif
#endif // SOC_TWAI_SUPPORTED
components/soc/include/soc/twai_periph.h → components/esp_hal_twai/include/hal/twai_periph.h
+11 -9
View File
@@ -1,30 +1,32 @@
/*
* SPDX-FileCopyrightText: 2019-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
* SPDX-License-Identifier: Apache-2.0
*/
#pragma once
#include <stdint.h>
#include "soc/soc_caps.h"
#include "soc/periph_defs.h"
#if SOC_PAU_SUPPORTED
#include "soc/regdma.h"
#if SOC_HAS(PAU)
#include "soc/retention_periph_defs.h"
#endif
#if SOC_HAS(TWAI)
#include "hal/twai_ll.h"
#endif
#ifdef __cplusplus
extern "C" {
#endif
#if SOC_TWAI_SUPPORTED
#if SOC_HAS(TWAI)
typedef struct {
const char *module_name; // peripheral name
const int irq_id; // interrupt source ID
#if SOC_TWAI_SUPPORT_TIMESTAMP
const int timer_irq_id;
#if TWAI_LL_SUPPORT(TIMESTAMP)
const int timer_irq_id; // time base interrupt source ID
#endif
const int tx_sig; // TX signal ID in GPIO matrix
const int rx_sig; // RX signal ID in GPIO matrix
@@ -35,7 +37,7 @@ typedef struct {
extern const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM];
#if SOC_PAU_SUPPORTED
#if SOC_HAS(PAU)
typedef struct {
const periph_retention_module_t module_id;
const regdma_entries_config_t *entry_array;
@@ -43,9 +45,9 @@ typedef struct {
} twai_reg_retention_info_t;
extern const twai_reg_retention_info_t twai_reg_retention_info[SOC_TWAI_CONTROLLER_NUM];
#endif // SOC_PAU_SUPPORTED
#endif // SOC_HAS(PAU)
#endif // SOC_TWAI_SUPPORTED
#endif // SOC_HAS(TWAI)
#ifdef __cplusplus
}
components/hal/include/hal/twai_types.h → components/esp_hal_twai/include/hal/twai_types.h
+7 -5
View File
@@ -88,7 +88,7 @@ typedef twai_timing_config_t twai_timing_advanced_config_t;
* @brief Configuration for TWAI mask filter
*/
typedef struct {
union{
union {
uint32_t id; /**< Single base ID for filtering */
struct {
uint32_t *id_list; /**< Base ID list array for filtering, which share the same `mask` */
@@ -108,8 +108,8 @@ typedef struct {
* @brief Range-based filter configuration structure
*/
typedef struct {
uint32_t range_low; /**< Lower bound of the filtering range */
uint32_t range_high; /**< Upper bound of the filtering range */
uint32_t range_low; /**< Lower bound of the ID filtering range, included */
uint32_t range_high; /**< Upper bound of the ID filtering range, included */
struct {
uint32_t is_ext: 1; /**< True for extended ID filtering, false for standard ID */
uint32_t no_classic: 1; /**< If true, Classic TWAI frames are excluded (only TWAI FD allowed) */
@@ -142,7 +142,8 @@ typedef struct {
* @return The byte length of DLC stand for
*/
__attribute__((always_inline))
static inline uint16_t twaifd_dlc2len(uint16_t dlc) {
static inline uint16_t twaifd_dlc2len(uint16_t dlc)
{
HAL_ASSERT(dlc <= TWAIFD_FRAME_MAX_DLC);
return (dlc <= 8) ? dlc :
(dlc <= 12) ? (dlc - 8) * 4 + 8 :
@@ -156,7 +157,8 @@ static inline uint16_t twaifd_dlc2len(uint16_t dlc) {
* @return The FD adopted frame DLC code
*/
__attribute__((always_inline))
static inline uint16_t twaifd_len2dlc(uint16_t byte_len) {
static inline uint16_t twaifd_len2dlc(uint16_t byte_len)
{
HAL_ASSERT(byte_len <= TWAIFD_FRAME_MAX_LEN);
return (byte_len <= 8) ? byte_len :
(byte_len <= 24) ? (byte_len - 8 + 3) / 4 + 8 :
components/hal/include/hal/twai_types_deprecated.h → components/esp_hal_twai/include/hal/twai_types_deprecated.h
+10 -13
View File
@@ -39,9 +39,6 @@ extern "C" {
#define TWAI_MSG_FLAG_SELF 0x08 /**< Transmit as a Self Reception Request. Unused for received. */
#define TWAI_MSG_FLAG_DLC_NON_COMP 0x10 /**< Message's Data length code is larger than 8. This will break compliance with TWAI */
#define TWAI_BRP_MAX SOC_TWAI_BRP_MAX /**< Maximum configurable BRP value */
#define TWAI_BRP_MIN SOC_TWAI_BRP_MIN /**< Minimum configurable BRP value */
/**
* @brief Initializer macros for timing configuration structure
*
@@ -50,32 +47,32 @@ extern "C" {
*
* @note The available bit rates are dependent on the chip target and ECO version.
*/
#if SOC_TWAI_BRP_MAX > 256
#define TWAI_TIMING_CONFIG_1KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 20000, .brp = 0, .prop_seg = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_5KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 100000, .brp = 0, .prop_seg = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_10KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 200000, .brp = 0, .prop_seg = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
#endif // SOC_TWAI_BRP_MAX > 256
#if (SOC_TWAI_BRP_MAX > 128) || (SOC_IS(ESP32) && (HAL_CONFIG(CHIP_SUPPORT_MIN_REV) >= 200))
#define TWAI_TIMING_CONFIG_12_5KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 312500, .brp = 0, .prop_seg = 0, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_16KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 400000, .brp = 0, .prop_seg = 0, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_20KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 400000, .brp = 0, .prop_seg = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
#if SOC_IS(ESP32) || SOC_IS(ESP32S2) || SOC_IS(ESP32C3) || SOC_IS(ESP32S3)
// default clock source is APB=80MHz
#define TWAI_TIMING_CONFIG_25KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 625000, .brp = 0, .prop_seg = 0, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
#else
#define TWAI_TIMING_CONFIG_25KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 500000, .brp = 0, .prop_seg = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
#endif
#if SOC_TWAI_CLK_SUPPORT_XTAL
#define TWAI_TIMING_CONFIG_25KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 500000, .brp = 0, .prop_seg = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
#else // APB80M
#define TWAI_TIMING_CONFIG_25KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 625000, .brp = 0, .prop_seg = 0, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
#endif
#define TWAI_TIMING_CONFIG_50KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 1000000, .brp = 0, .prop_seg = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_100KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 2000000, .brp = 0, .prop_seg = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_125KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 2000000, .brp = 0, .prop_seg = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_250KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 4000000, .brp = 0, .prop_seg = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 2, .ssp_offset = 0, .triple_sampling = false}
#if SOC_TWAI_CLK_SUPPORT_XTAL && HAL_CONFIG(XTAL_HINT_FREQ_MHZ) == 40 // TWAI_CLK_SRC_XTAL = 40M
#if SOC_IS(ESP32C6) || SOC_IS(ESP32P4)
// default clock source is XTAL=40MHz
#define TWAI_TIMING_CONFIG_500KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 10000000, .brp = 0, .prop_seg = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_800KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 20000000, .brp = 0, .prop_seg = 0, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_1MBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 20000000, .brp = 0, .prop_seg = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
#else // 32M, 48M, APB80M
#else
#define TWAI_TIMING_CONFIG_500KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 8000000, .brp = 0, .prop_seg = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 2, .ssp_offset = 0, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_800KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 8000000, .brp = 0, .prop_seg = 0, .tseg_1 = 6, .tseg_2 = 3, .sjw = 1, .ssp_offset = 0, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_1MBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 8000000, .brp = 0, .prop_seg = 0, .tseg_1 = 5, .tseg_2 = 2, .sjw = 1, .ssp_offset = 0, .triple_sampling = false}
components/hal/twai_hal_v1.c → components/esp_hal_twai/twai_hal_v1.c
+8 -7
View File
@@ -25,7 +25,8 @@ typedef struct twai_hal_errata_ctx_t {
} twai_hal_errata_ctx_t;
#endif
size_t twai_hal_get_mem_requirment(void) {
size_t twai_hal_get_mem_requirment(void)
{
#if TWAI_LL_HAS_RX_FRAME_ISSUE || TWAI_LL_HAS_RX_FIFO_ISSUE
return sizeof(twai_hal_context_t) + sizeof(twai_hal_errata_ctx_t);
#else
@@ -52,7 +53,7 @@ bool twai_hal_init(twai_hal_context_t *hal_ctx, const twai_hal_config_t *config)
#if TWAI_LL_HAS_RX_FRAME_ISSUE || TWAI_LL_HAS_RX_FIFO_ISSUE
hal_ctx->errata_ctx = (twai_hal_errata_ctx_t *)(hal_ctx + 1); //errata context is place at end of hal_ctx
#endif
#if SOC_TWAI_SUPPORT_MULTI_ADDRESS_LAYOUT
#if TWAI_LL_SUPPORT(MULTI_ADDRESS_LAYOUT)
twai_ll_enable_extended_reg_layout(hal_ctx->dev); //Changes the address layout of the registers
#endif
twai_ll_set_mode(hal_ctx->dev, true, false, false); //Freeze REC by changing to LOM mode
@@ -108,7 +109,7 @@ void twai_hal_configure_timing(twai_hal_context_t *hal_ctx, const twai_timing_ad
twai_ll_set_clkout(hal_ctx->dev, brp);
}
void twai_hal_configure_filter(twai_hal_context_t *hal_ctx, uint8_t filter_id, const twai_mask_filter_config_t *f_config)
void twai_hal_configure_mask_filter(twai_hal_context_t *hal_ctx, uint8_t filter_id, const twai_mask_filter_config_t *f_config)
{
uint32_t id = f_config->num_of_ids ? f_config->id_list[0] : f_config->id;
bool full_open = (f_config->mask == 0) && (id == 0);
@@ -292,8 +293,8 @@ uint32_t twai_hal_get_events(twai_hal_context_t *hal_ctx)
#if TWAI_LL_HAS_RX_FRAME_ISSUE
//Check for errata condition (RX message has bus error at particular segments)
if (dir == TWAI_LL_ERR_DIR_RX &&
((seg == TWAI_LL_ERR_SEG_DATA || seg == TWAI_LL_ERR_SEG_CRC_SEQ) ||
(seg == TWAI_LL_ERR_SEG_ACK_DELIM && type == TWAI_LL_ERR_OTHER))) {
((seg == TWAI_LL_ERR_SEG_DATA || seg == TWAI_LL_ERR_SEG_CRC_SEQ) ||
(seg == TWAI_LL_ERR_SEG_ACK_DELIM && type == TWAI_LL_ERR_OTHER))) {
TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_NEED_PERIPH_RESET);
HAL_LOGD("TWAI_HAL", "RX frame invalid detected");
}
@@ -401,7 +402,7 @@ void twai_hal_set_tx_buffer_and_transmit(twai_hal_context_t *hal_ctx, twai_hal_f
} else {
twai_ll_set_cmd_self_rx_request(hal_ctx->dev);
}
} else if (tx_frame->single_shot){
} else if (tx_frame->single_shot) {
twai_ll_set_cmd_tx_single_shot(hal_ctx->dev);
} else {
twai_ll_set_cmd_tx(hal_ctx->dev);
@@ -425,7 +426,7 @@ uint32_t twai_hal_get_rx_msg_count(twai_hal_context_t *hal_ctx)
bool twai_hal_read_rx_fifo(twai_hal_context_t *hal_ctx, twai_hal_frame_t *rx_frame)
{
#ifdef SOC_TWAI_SUPPORTS_RX_STATUS
#if TWAI_LL_SUPPORT(RX_STATUS)
if (twai_ll_get_status(hal_ctx->dev) & TWAI_LL_STATUS_MS) {
//Release the buffer for this particular overrun frame
twai_ll_set_cmd_release_rx_buffer(hal_ctx->dev);
components/hal/twai_hal_v2.c → components/esp_hal_twai/twai_hal_v2.c
+20 -17
View File
@@ -8,7 +8,8 @@
#include "hal/twai_hal.h"
#include "hal/twaifd_ll.h"
size_t twai_hal_get_mem_requirment(void) {
size_t twai_hal_get_mem_requirment(void)
{
return sizeof(twai_hal_context_t);
}
@@ -24,10 +25,12 @@ bool twai_hal_init(twai_hal_context_t *hal_ctx, const twai_hal_config_t *config)
twaifd_ll_enable_hw(hal_ctx->dev, false); //mode should be changed under disabled
twaifd_ll_set_mode(hal_ctx->dev, config->enable_listen_only, config->enable_self_test, config->enable_loopback);
twaifd_ll_set_tx_retrans_limit(hal_ctx->dev, config->retry_cnt);
twaifd_ll_filter_block_rtr(hal_ctx->dev, config->no_receive_rtr);
twaifd_ll_filter_drop_rtr(hal_ctx->dev, config->no_receive_rtr);
twaifd_ll_enable_filter_mode(hal_ctx->dev, true); // each filter still has independent enable control
twaifd_ll_enable_fd_mode(hal_ctx->dev, true); // fd frame still controlled by `header.fdf`
twaifd_ll_enable_rxfifo_auto_incrase(hal_ctx->dev, true);
twaifd_ll_enable_bus_off_tx_fail_mode(hal_ctx->dev, true); // all buffers go to "TX failed" state upon bus-off
twaifd_ll_enable_rxfifo_auto_increase(hal_ctx->dev, true);
twaifd_ll_ts_set_sample_point(hal_ctx->dev, TWAIFD_LL_TS_POINT_EOF);
twaifd_ll_enable_intr(hal_ctx->dev, config->intr_mask);
return true;
}
@@ -63,7 +66,7 @@ void twai_hal_configure_timing_fd(twai_hal_context_t *hal_ctx, const twai_timing
}
}
void twai_hal_configure_filter(twai_hal_context_t *hal_ctx, uint8_t filter_id, const twai_mask_filter_config_t *f_config)
void twai_hal_configure_mask_filter(twai_hal_context_t *hal_ctx, uint8_t filter_id, const twai_mask_filter_config_t *f_config)
{
uint32_t id = f_config->num_of_ids ? f_config->id_list[0] : f_config->id;
bool full_open = (f_config->mask == 0) && (id == 0);
@@ -72,11 +75,11 @@ void twai_hal_configure_filter(twai_hal_context_t *hal_ctx, uint8_t filter_id, c
bool fd_ext = full_open || (!full_close && f_config->is_ext && !f_config->no_fd);
bool cc_std = full_open || (!full_close && !f_config->is_ext && !f_config->no_classic);
bool fd_std = full_open || (!full_close && !f_config->is_ext && !f_config->no_fd);
twaifd_ll_filter_enable_basic_ext(hal_ctx->dev, filter_id, false, cc_ext);
twaifd_ll_filter_enable_fd_ext(hal_ctx->dev, filter_id, false, fd_ext);
twaifd_ll_filter_enable_basic_std(hal_ctx->dev, filter_id, false, cc_std);
twaifd_ll_filter_enable_fd_std(hal_ctx->dev, filter_id, false, fd_std);
twaifd_ll_filter_set_id_mask(hal_ctx->dev, filter_id, f_config->is_ext, id, f_config->mask);
twaifd_ll_mask_filter_accept_classic_std(hal_ctx->dev, filter_id, cc_std);
twaifd_ll_mask_filter_accept_classic_ext(hal_ctx->dev, filter_id, cc_ext);
twaifd_ll_mask_filter_accept_fd_std(hal_ctx->dev, filter_id, fd_std);
twaifd_ll_mask_filter_accept_fd_ext(hal_ctx->dev, filter_id, fd_ext);
twaifd_ll_mask_filter_set_id_mask(hal_ctx->dev, filter_id, f_config->is_ext, id, f_config->mask);
}
void twai_hal_configure_range_filter(twai_hal_context_t *hal_ctx, uint8_t filter_id, const twai_range_filter_config_t *f_config)
@@ -85,11 +88,11 @@ void twai_hal_configure_range_filter(twai_hal_context_t *hal_ctx, uint8_t filter
bool fd_ext = f_config->is_ext && !f_config->no_fd;
bool cc_std = !f_config->is_ext && !f_config->no_classic;
bool fd_std = !f_config->is_ext && !f_config->no_fd;
twaifd_ll_filter_enable_basic_ext(hal_ctx->dev, filter_id, true, cc_ext);
twaifd_ll_filter_enable_fd_ext(hal_ctx->dev, filter_id, true, fd_ext);
twaifd_ll_filter_enable_basic_std(hal_ctx->dev, filter_id, true, cc_std);
twaifd_ll_filter_enable_fd_std(hal_ctx->dev, filter_id, true, fd_std);
twaifd_ll_filter_set_range(hal_ctx->dev, 0, f_config->is_ext, f_config->range_high, f_config->range_low);
twaifd_ll_range_filter_accept_classic_std(hal_ctx->dev, filter_id, cc_std);
twaifd_ll_range_filter_accept_classic_ext(hal_ctx->dev, filter_id, cc_ext);
twaifd_ll_range_filter_accept_fd_std(hal_ctx->dev, filter_id, fd_std);
twaifd_ll_range_filter_accept_fd_ext(hal_ctx->dev, filter_id, fd_ext);
twaifd_ll_range_filter_set_id_thres(hal_ctx->dev, 0, f_config->is_ext, f_config->range_high, f_config->range_low);
}
void twai_hal_start(twai_hal_context_t *hal_ctx)
@@ -152,7 +155,7 @@ void twai_hal_parse_frame(const twai_hal_frame_t *frame, twai_frame_header_t *he
void twai_hal_set_tx_buffer_and_transmit(twai_hal_context_t *hal_ctx, twai_hal_frame_t *tx_frame, uint8_t buffer_idx)
{
twaifd_ll_mount_tx_buffer(hal_ctx->dev, tx_frame, buffer_idx);
twaifd_ll_set_tx_cmd(hal_ctx->dev, buffer_idx, TWAIFD_LL_TX_CMD_READY);
twaifd_ll_set_tx_buffer_cmd(hal_ctx->dev, buffer_idx, TWAIFD_LL_TX_CMD_READY);
}
uint32_t twai_hal_get_rx_msg_count(twai_hal_context_t *hal_ctx)
@@ -176,7 +179,7 @@ uint32_t twai_hal_get_events(twai_hal_context_t *hal_ctx)
if (int_stat & (TWAIFD_LL_INTR_TX_DONE)) {
hal_events |= TWAI_HAL_EVENT_TX_BUFF_FREE;
if (int_stat & TWAIFD_LL_INTR_TX_SUCCESS) {
if (int_stat & TWAIFD_LL_INTR_TX_FRAME) {
hal_events |= TWAI_HAL_EVENT_TX_SUCCESS;
}
}
@@ -187,7 +190,7 @@ uint32_t twai_hal_get_events(twai_hal_context_t *hal_ctx)
hal_ctx->errors = twaifd_ll_get_err_reason(hal_ctx->dev);
hal_events |= TWAI_HAL_EVENT_BUS_ERR;
}
if (int_stat & TWAIFD_LL_INTR_ARBI_LOST) {
if (int_stat & TWAIFD_LL_INTR_ARBIT_LOST) {
hal_events |= TWAI_HAL_EVENT_ARB_LOST;
}
if (int_stat & (TWAIFD_LL_INTR_FSM_CHANGE | TWAIFD_LL_INTR_ERR_WARN)) {
components/esp_system/CMakeLists.txt
+1
View File
@@ -93,6 +93,7 @@ else()
esp_hal_rmt
esp_hal_parlio
esp_hal_cam
esp_hal_twai
LDFRAGMENTS "linker.lf" "app.lf")
add_subdirectory(port)
components/esp_system/port/soc/esp32c5/clk.c
+5 -5
View File
@@ -55,7 +55,7 @@
#include "hal/spi_ll.h"
#include "hal/temperature_sensor_ll.h"
#include "hal/timer_ll.h"
#include "hal/twaifd_ll.h"
#include "hal/twai_ll.h"
#include "hal/uart_ll.h"
#include "hal/uhci_ll.h"
#include "hal/usb_serial_jtag_ll.h"
@@ -290,10 +290,10 @@ __attribute__((weak)) void esp_perip_clk_init(void)
timer_ll_enable_clock(1, 0, false);
_timg_ll_enable_bus_clock(0, false);
_timg_ll_enable_bus_clock(1, false);
twaifd_ll_enable_clock(0, false);
twaifd_ll_enable_bus_clock(0, false);
twaifd_ll_enable_clock(1, false);
twaifd_ll_enable_bus_clock(1, false);
twai_ll_enable_clock(0, false);
twai_ll_enable_bus_clock(0, false);
twai_ll_enable_clock(1, false);
twai_ll_enable_bus_clock(1, false);
i2s_ll_enable_bus_clock(0, false);
i2s_ll_tx_disable_clock(&I2S0);
i2s_ll_rx_disable_clock(&I2S0);
components/hal/CMakeLists.txt
-8
View File
@@ -105,14 +105,6 @@ elseif(NOT BOOTLOADER_BUILD)
list(APPEND srcs "uhci_hal.c")
endif()
if(CONFIG_SOC_TWAI_SUPPORTED)
if(CONFIG_SOC_TWAI_SUPPORT_FD)
list(APPEND srcs "twai_hal_v2.c")
else()
list(APPEND srcs "twai_hal_v1.c")
endif()
endif()
if(CONFIG_SOC_SDMMC_HOST_SUPPORTED)
list(APPEND srcs "sdmmc_hal.c")
endif()
components/soc/CMakeLists.txt
-4
View File
@@ -109,10 +109,6 @@ if(CONFIG_SOC_TOUCH_SENSOR_SUPPORTED)
list(APPEND srcs "${target_folder}/touch_sensor_periph.c")
endif()
if(CONFIG_SOC_TWAI_SUPPORTED)
list(APPEND srcs "${target_folder}/twai_periph.c")
endif()
if(CONFIG_SOC_IEEE802154_SUPPORTED)
list(APPEND srcs "${target_folder}/ieee802154_periph.c")
endif()
components/soc/esp32/include/soc/Kconfig.soc_caps.in
-12
View File
@@ -583,18 +583,6 @@ config SOC_TWAI_MASK_FILTER_NUM
int
default 1
config SOC_TWAI_BRP_MIN
int
default 2
config SOC_TWAI_CLK_SUPPORT_APB
bool
default y
config SOC_TWAI_SUPPORT_MULTI_ADDRESS_LAYOUT
bool
default y
config SOC_UART_NUM
int
default 3
components/soc/esp32/include/soc/soc_caps.h
-8
View File
@@ -289,14 +289,6 @@
/*-------------------------- TWAI CAPS ---------------------------------------*/
#define SOC_TWAI_CONTROLLER_NUM 1U
#define SOC_TWAI_MASK_FILTER_NUM 1U
#define SOC_TWAI_BRP_MIN 2
#if SOC_CAPS_ECO_VER >= 200
# define SOC_TWAI_BRP_MAX 256
#else
# define SOC_TWAI_BRP_MAX 128
#endif
#define SOC_TWAI_CLK_SUPPORT_APB 1
#define SOC_TWAI_SUPPORT_MULTI_ADDRESS_LAYOUT 1
/*-------------------------- UART CAPS ---------------------------------------*/
// ESP32 have 3 UART.
components/soc/esp32c3/include/soc/Kconfig.soc_caps.in
-16
View File
@@ -787,22 +787,6 @@ config SOC_TWAI_MASK_FILTER_NUM
int
default 1
config SOC_TWAI_CLK_SUPPORT_APB
bool
default y
config SOC_TWAI_BRP_MIN
int
default 2
config SOC_TWAI_BRP_MAX
int
default 16384
config SOC_TWAI_SUPPORTS_RX_STATUS
bool
default y
config SOC_EFUSE_DIS_DOWNLOAD_ICACHE
bool
default y
components/soc/esp32c3/include/soc/soc_caps.h
-4
View File
@@ -349,10 +349,6 @@
/*-------------------------- TWAI CAPS ---------------------------------------*/
#define SOC_TWAI_CONTROLLER_NUM 1U
#define SOC_TWAI_MASK_FILTER_NUM 1U
#define SOC_TWAI_CLK_SUPPORT_APB 1
#define SOC_TWAI_BRP_MIN 2
#define SOC_TWAI_BRP_MAX 16384
#define SOC_TWAI_SUPPORTS_RX_STATUS 1
/*-------------------------- eFuse CAPS----------------------------*/
#define SOC_EFUSE_DIS_DOWNLOAD_ICACHE 1
components/soc/esp32c5/include/soc/Kconfig.soc_caps.in
+4 -24
View File
@@ -47,6 +47,10 @@ config SOC_TWAI_SUPPORTED
bool
default y
config SOC_TWAI_FD_SUPPORTED
bool
default y
config SOC_ETM_SUPPORTED
bool
default y
@@ -1167,30 +1171,6 @@ config SOC_TWAI_RANGE_FILTER_NUM
int
default 1
config SOC_TWAI_BRP_MIN
int
default 1
config SOC_TWAI_BRP_MAX
int
default 255
config SOC_TWAI_CLK_SUPPORT_XTAL
bool
default y
config SOC_TWAI_SUPPORTS_RX_STATUS
bool
default y
config SOC_TWAI_SUPPORT_FD
bool
default y
config SOC_TWAI_SUPPORT_TIMESTAMP
bool
default y
config SOC_EFUSE_DIS_PAD_JTAG
bool
default y
components/soc/esp32c5/include/soc/soc_caps.h
+1 -6
View File
@@ -34,6 +34,7 @@
#define SOC_PCNT_SUPPORTED 1
#define SOC_MCPWM_SUPPORTED 1
#define SOC_TWAI_SUPPORTED 1
#define SOC_TWAI_FD_SUPPORTED 1
#define SOC_ETM_SUPPORTED 1
#define SOC_PARLIO_SUPPORTED 1
#define SOC_PARLIO_LCD_SUPPORTED 1
@@ -477,12 +478,6 @@
#define SOC_TWAI_CONTROLLER_NUM 2
#define SOC_TWAI_MASK_FILTER_NUM 3
#define SOC_TWAI_RANGE_FILTER_NUM 1U
#define SOC_TWAI_BRP_MIN 1U
#define SOC_TWAI_BRP_MAX 255
#define SOC_TWAI_CLK_SUPPORT_XTAL 1
#define SOC_TWAI_SUPPORTS_RX_STATUS 1
#define SOC_TWAI_SUPPORT_FD 1
#define SOC_TWAI_SUPPORT_TIMESTAMP 1
/*-------------------------- eFuse CAPS----------------------------*/
#define SOC_EFUSE_DIS_PAD_JTAG 1
components/soc/esp32c5/register/soc/twaifd_struct.h
+2 -2
View File
@@ -1754,7 +1754,7 @@ typedef union twaifd_frame_buffer_t {
struct {
uint32_t dlc: 4; // Data length code (0-15)
uint32_t reserved4: 1; // Reserved bit
uint32_t rtr: 1; // Remote transmission request
uint32_t rtr: 1; // Remote transmission request. Note there are no remote frames in CAN FD protocol
uint32_t ide: 1; // Identifier extension bit
uint32_t fdf: 1; // Flexible data-rate format bit
uint32_t reserved8: 1; // Reserved bit
@@ -1824,7 +1824,7 @@ typedef struct twaifd_dev_t {
volatile twaifd_timestamp_low_reg_t timestamp_low;
volatile twaifd_timestamp_high_reg_t timestamp_high;
uint32_t reserved_09c[25];
volatile twaifd_frame_mem_t txt_mem_cell[8];
volatile twaifd_frame_mem_t txt_mem_cell[8]; // only 4 are actively used
uint32_t reserved_900[437];
volatile twaifd_timer_clk_en_reg_t timer_clk_en;
volatile twaifd_timer_int_raw_reg_t timer_int_raw;
components/soc/esp32c6/include/soc/Kconfig.soc_caps.in
-16
View File
@@ -1015,22 +1015,6 @@ config SOC_TWAI_MASK_FILTER_NUM
int
default 1
config SOC_TWAI_CLK_SUPPORT_XTAL
bool
default y
config SOC_TWAI_BRP_MIN
int
default 2
config SOC_TWAI_BRP_MAX
int
default 32768
config SOC_TWAI_SUPPORTS_RX_STATUS
bool
default y
config SOC_TWAI_SUPPORT_SLEEP_RETENTION
bool
default y
components/soc/esp32c6/include/soc/soc_caps.h
-4
View File
@@ -425,10 +425,6 @@
/*-------------------------- TWAI CAPS ---------------------------------------*/
#define SOC_TWAI_CONTROLLER_NUM 2
#define SOC_TWAI_MASK_FILTER_NUM 1U
#define SOC_TWAI_CLK_SUPPORT_XTAL 1
#define SOC_TWAI_BRP_MIN 2
#define SOC_TWAI_BRP_MAX 32768
#define SOC_TWAI_SUPPORTS_RX_STATUS 1
#define SOC_TWAI_SUPPORT_SLEEP_RETENTION 1
/*-------------------------- eFuse CAPS----------------------------*/
components/soc/esp32h2/include/soc/Kconfig.soc_caps.in
-16
View File
@@ -1019,22 +1019,6 @@ config SOC_TWAI_MASK_FILTER_NUM
int
default 1
config SOC_TWAI_CLK_SUPPORT_XTAL
bool
default y
config SOC_TWAI_BRP_MIN
int
default 2
config SOC_TWAI_BRP_MAX
int
default 32768
config SOC_TWAI_SUPPORTS_RX_STATUS
bool
default y
config SOC_TWAI_SUPPORT_SLEEP_RETENTION
bool
default y
components/soc/esp32h2/include/soc/soc_caps.h
-4
View File
@@ -438,10 +438,6 @@
/*-------------------------- TWAI CAPS ---------------------------------------*/
#define SOC_TWAI_CONTROLLER_NUM 1U
#define SOC_TWAI_MASK_FILTER_NUM 1U
#define SOC_TWAI_CLK_SUPPORT_XTAL 1
#define SOC_TWAI_BRP_MIN 2
#define SOC_TWAI_BRP_MAX 32768
#define SOC_TWAI_SUPPORTS_RX_STATUS 1
#define SOC_TWAI_SUPPORT_SLEEP_RETENTION 1
/*-------------------------- eFuse CAPS----------------------------*/
components/soc/esp32h21/include/soc/Kconfig.soc_caps.in
-16
View File
@@ -823,22 +823,6 @@ config SOC_TWAI_MASK_FILTER_NUM
int
default 1
config SOC_TWAI_CLK_SUPPORT_XTAL
bool
default y
config SOC_TWAI_BRP_MIN
int
default 2
config SOC_TWAI_BRP_MAX
int
default 32768
config SOC_TWAI_SUPPORTS_RX_STATUS
bool
default y
config SOC_TWAI_SUPPORT_SLEEP_RETENTION
bool
default y
components/soc/esp32h21/include/soc/soc_caps.h
-4
View File
@@ -412,10 +412,6 @@
/*-------------------------- TWAI CAPS ---------------------------------------*/
#define SOC_TWAI_CONTROLLER_NUM 1U
#define SOC_TWAI_MASK_FILTER_NUM 1U
#define SOC_TWAI_CLK_SUPPORT_XTAL 1
#define SOC_TWAI_BRP_MIN 2
#define SOC_TWAI_BRP_MAX 32768
#define SOC_TWAI_SUPPORTS_RX_STATUS 1
#define SOC_TWAI_SUPPORT_SLEEP_RETENTION 1
/*-------------------------- eFuse CAPS----------------------------*/
components/soc/esp32h4/include/soc/Kconfig.soc_caps.in
+4 -24
View File
@@ -35,6 +35,10 @@ config SOC_TWAI_SUPPORTED
bool
default y
config SOC_TWAI_FD_SUPPORTED
bool
default y
config SOC_ETM_SUPPORTED
bool
default y
@@ -763,30 +767,6 @@ config SOC_TWAI_RANGE_FILTER_NUM
int
default 1
config SOC_TWAI_BRP_MIN
int
default 1
config SOC_TWAI_BRP_MAX
int
default 255
config SOC_TWAI_CLK_SUPPORT_XTAL
bool
default y
config SOC_TWAI_SUPPORTS_RX_STATUS
bool
default y
config SOC_TWAI_SUPPORT_FD
bool
default y
config SOC_TWAI_SUPPORT_TIMESTAMP
bool
default y
config SOC_EFUSE_DIS_DOWNLOAD_ICACHE
bool
default n
components/soc/esp32h4/include/soc/soc_caps.h
+1 -6
View File
@@ -41,6 +41,7 @@
#define SOC_PCNT_SUPPORTED 1
#define SOC_MCPWM_SUPPORTED 1
#define SOC_TWAI_SUPPORTED 1
#define SOC_TWAI_FD_SUPPORTED 1
#define SOC_ETM_SUPPORTED 1
// #define SOC_PARLIO_SUPPORTED 1 // TODO: [ESP32H4] IDF-12345 IDF-12347
// #define SOC_BT_SUPPORTED 1
@@ -417,12 +418,6 @@
#define SOC_TWAI_CONTROLLER_NUM 1U
#define SOC_TWAI_MASK_FILTER_NUM 3
#define SOC_TWAI_RANGE_FILTER_NUM 1U
#define SOC_TWAI_BRP_MIN 1U
#define SOC_TWAI_BRP_MAX 255
#define SOC_TWAI_CLK_SUPPORT_XTAL 1
#define SOC_TWAI_SUPPORTS_RX_STATUS 1
#define SOC_TWAI_SUPPORT_FD 1
#define SOC_TWAI_SUPPORT_TIMESTAMP 1
/*-------------------------- eFuse CAPS----------------------------*/
#define SOC_EFUSE_DIS_DOWNLOAD_ICACHE 0
components/soc/esp32h4/register/soc/twaifd_struct.h
+1 -1
View File
@@ -1761,7 +1761,7 @@ typedef union twaifd_frame_buffer_t {
struct {
uint32_t dlc: 4; // Data length code (0-15)
uint32_t reserved4: 1; // Reserved bit
uint32_t rtr: 1; // Remote transmission request
uint32_t rtr: 1; // Remote transmission request. Note there are no remote frames in CAN FD protocol
uint32_t ide: 1; // Identifier extension bit
uint32_t fdf: 1; // Flexible data-rate format bit
uint32_t reserved8: 1; // Reserved bit
components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
-16
View File
@@ -1587,22 +1587,6 @@ config SOC_TWAI_MASK_FILTER_NUM
int
default 1
config SOC_TWAI_CLK_SUPPORT_XTAL
bool
default y
config SOC_TWAI_BRP_MIN
int
default 2
config SOC_TWAI_BRP_MAX
int
default 32768
config SOC_TWAI_SUPPORTS_RX_STATUS
bool
default y
config SOC_TWAI_SUPPORT_SLEEP_RETENTION
bool
default y
components/soc/esp32p4/include/soc/soc_caps.h
-4
View File
@@ -609,10 +609,6 @@
/*-------------------------- TWAI CAPS ---------------------------------------*/
#define SOC_TWAI_CONTROLLER_NUM 3
#define SOC_TWAI_MASK_FILTER_NUM 1U
#define SOC_TWAI_CLK_SUPPORT_XTAL 1
#define SOC_TWAI_BRP_MIN 2
#define SOC_TWAI_BRP_MAX 32768
#define SOC_TWAI_SUPPORTS_RX_STATUS 1
#define SOC_TWAI_SUPPORT_SLEEP_RETENTION 1
/*-------------------------- eFuse CAPS----------------------------*/
components/soc/esp32s2/include/soc/Kconfig.soc_caps.in
-16
View File
@@ -707,22 +707,6 @@ config SOC_TWAI_MASK_FILTER_NUM
int
default 1
config SOC_TWAI_CLK_SUPPORT_APB
bool
default y
config SOC_TWAI_BRP_MIN
int
default 2
config SOC_TWAI_BRP_MAX
int
default 32768
config SOC_TWAI_SUPPORTS_RX_STATUS
bool
default y
config SOC_UART_NUM
int
default 2
components/soc/esp32s2/include/soc/soc_caps.h
-4
View File
@@ -314,10 +314,6 @@
/*-------------------------- TWAI CAPS ---------------------------------------*/
#define SOC_TWAI_CONTROLLER_NUM 1U
#define SOC_TWAI_MASK_FILTER_NUM 1U
#define SOC_TWAI_CLK_SUPPORT_APB 1
#define SOC_TWAI_BRP_MIN 2
#define SOC_TWAI_BRP_MAX 32768
#define SOC_TWAI_SUPPORTS_RX_STATUS 1
/*-------------------------- UART CAPS ---------------------------------------*/
// ESP32-S2 has 2 UART.
components/soc/esp32s3/include/soc/Kconfig.soc_caps.in
-16
View File
@@ -847,22 +847,6 @@ config SOC_TWAI_MASK_FILTER_NUM
int
default 1
config SOC_TWAI_CLK_SUPPORT_APB
bool
default y
config SOC_TWAI_BRP_MIN
int
default 2
config SOC_TWAI_BRP_MAX
int
default 16384
config SOC_TWAI_SUPPORTS_RX_STATUS
bool
default y
config SOC_UART_NUM
int
default 3

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