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fix(driver_twai): fixed bus-off when twai_init due to wrong gpio config

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Closes https://github.com/espressif/esp-idf/issues/14548
This commit is contained in:
wanckl
2024-09-30 16:57:34 +08:00
committed by Wan Lei
parent 3b9242212c
commit 06c97f9d1f
1 changed files with 12 additions and 19 deletions
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31
components/driver/twai/twai.c
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@ -18,19 +18,21 @@
#include "esp_heap_caps.h"
#include "esp_clk_tree.h"
#include "clk_ctrl_os.h"
#include "driver/gpio.h"
#include "esp_private/periph_ctrl.h"
#include "esp_private/esp_clk.h"
#include "esp_private/gpio.h"
#include "driver/twai.h"
#include "soc/soc_caps.h"
#include "soc/soc.h"
#include "soc/io_mux_reg.h"
#include "soc/twai_periph.h"
#include "soc/gpio_sig_map.h"
#include "hal/twai_hal.h"
#include "hal/gpio_hal.h"
#include "esp_rom_gpio.h"
/* ---------------------------- Definitions --------------------------------- */
//Internal Macros
#define TWAI_TAG "TWAI"
#define TWAI_CHECK(cond, ret_val) ({ \
if (!(cond)) { \
return (ret_val); \
@ -43,7 +45,6 @@
#ifdef CONFIG_TWAI_ISR_IN_IRAM
#define TWAI_MALLOC_CAPS (MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT)
#else
#define TWAI_TAG "TWAI"
#define TWAI_MALLOC_CAPS MALLOC_CAP_DEFAULT
#endif //CONFIG_TWAI_ISR_IN_IRAM
@ -279,37 +280,29 @@ static void twai_configure_gpio(int controller_id, gpio_num_t tx, gpio_num_t rx,
{
// assert the GPIO number is not a negative number (shift operation on a negative number is undefined)
assert(tx >= 0 && rx >= 0);
// if TX and RX set to the same GPIO, which means we want to create a loop-back in the GPIO matrix
bool io_loop_back = (tx == rx);
gpio_config_t gpio_conf = {
.intr_type = GPIO_INTR_DISABLE,
.pull_down_en = false,
.pull_up_en = false,
gpio_hal_context_t gpio_hal = {
.dev = GPIO_HAL_GET_HW(GPIO_PORT_0)
};
//Set RX pin
gpio_conf.mode = GPIO_MODE_INPUT | (io_loop_back ? GPIO_MODE_OUTPUT : 0);
gpio_conf.pin_bit_mask = 1ULL << rx;
gpio_config(&gpio_conf);
gpio_hal_func_sel(&gpio_hal, rx, PIN_FUNC_GPIO);
gpio_hal_input_enable(&gpio_hal, rx);
esp_rom_gpio_connect_in_signal(rx, twai_controller_periph_signals.controllers[controller_id].rx_sig, false);
//Set TX pin
gpio_conf.mode = GPIO_MODE_OUTPUT | (io_loop_back ? GPIO_MODE_INPUT : 0);
gpio_conf.pin_bit_mask = 1ULL << tx;
gpio_config(&gpio_conf);
gpio_hal_func_sel(&gpio_hal, tx, PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(tx, twai_controller_periph_signals.controllers[controller_id].tx_sig, false, false);
//Configure output clock pin (Optional)
if (clkout >= 0 && clkout < GPIO_NUM_MAX) {
gpio_set_pull_mode(clkout, GPIO_FLOATING);
gpio_hal_func_sel(&gpio_hal, clkout, PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(clkout, twai_controller_periph_signals.controllers[controller_id].clk_out_sig, false, false);
esp_rom_gpio_pad_select_gpio(clkout);
}
//Configure bus status pin (Optional)
if (bus_status >= 0 && bus_status < GPIO_NUM_MAX) {
gpio_set_pull_mode(bus_status, GPIO_FLOATING);
gpio_hal_func_sel(&gpio_hal, bus_status, PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(bus_status, twai_controller_periph_signals.controllers[controller_id].bus_off_sig, false, false);
esp_rom_gpio_pad_select_gpio(bus_status);
}
}