feat(twai): sleep retention

components/driver/twai/include/driver/twai.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -114,6 +114,11 @@ typedef struct {
     uint32_t alerts_enabled;        /**< Bit field of alerts to enable (see documentation) */
     uint32_t clkout_divider;        /**< CLKOUT divider. Can be 1 or any even number from 2 to 14 (optional, set to 0 if unused) */
     int intr_flags;                 /**< Interrupt flags to set the priority of the driver's ISR. Note that to use the ESP_INTR_FLAG_IRAM, the CONFIG_TWAI_ISR_IN_IRAM option should be enabled first. */
+    struct {
+        uint32_t sleep_allow_pd;    /**< Set to allow power down. When this flag set, the driver will backup/restore the TWAI registers before/after entering/exist sleep mode.
+                                         By this approach, the system can power off TWAI's power domain.
+                                         This can save power, but at the expense of more RAM being consumed. */
+    } general_flags;                /**< General flags */
 } twai_general_config_t;
 
 /**

components/driver/twai/twai.c

@@ -28,6 +28,9 @@
 #include "soc/gpio_sig_map.h"
 #include "hal/twai_hal.h"
 #include "esp_rom_gpio.h"
+#if SOC_TWAI_SUPPORT_SLEEP_RETENTION
+#include "esp_private/sleep_retention.h"
+#endif
 
 /* ---------------------------- Definitions --------------------------------- */
 //Internal Macros
@@ -64,6 +67,8 @@
 #define TWAI_PERI_ATOMIC()
 #endif
 
+#define TWAI_USE_RETENTION_LINK  (SOC_TWAI_SUPPORT_SLEEP_RETENTION && CONFIG_PM_POWER_DOWN_PERIPHERAL_IN_LIGHT_SLEEP)
+
 /* ------------------ Typedefs, structures, and variables ------------------- */
 
 //Control structure for TWAI driver
@@ -96,6 +101,11 @@ typedef struct twai_obj_t {
 static twai_handle_t g_twai_objs[SOC_TWAI_CONTROLLER_NUM];
 static portMUX_TYPE g_spinlock = portMUX_INITIALIZER_UNLOCKED;
 
+/* -------------------- Sleep Retention ------------------------ */
+#if TWAI_USE_RETENTION_LINK
+static esp_err_t s_twai_create_sleep_retention_link_cb(void *obj);
+#endif
+
 /* -------------------- Interrupt and Alert Handlers ------------------------ */
 
 static void twai_alert_handler(twai_obj_t *p_twai_obj, uint32_t alert_code, int *alert_req)
@@ -334,6 +344,19 @@ static void twai_free_driver_obj(twai_obj_t *p_obj)
     if (p_obj->alert_semphr != NULL) {
         vSemaphoreDeleteWithCaps(p_obj->alert_semphr);
     }
+
+#if TWAI_USE_RETENTION_LINK
+    const periph_retention_module_t retention_id = twai_reg_retention_info[p_obj->controller_id].module_id;
+    if (sleep_retention_get_created_modules() & BIT(retention_id)) {
+        assert(sleep_retention_get_inited_modules() & BIT(retention_id));
+        sleep_retention_module_free(retention_id);
+    }
+    if (sleep_retention_get_inited_modules() & BIT(retention_id)) {
+        sleep_retention_module_deinit(retention_id);
+    }
+
+#endif
+
     heap_caps_free(p_obj);
 }
 
@@ -365,6 +388,9 @@ static esp_err_t twai_alloc_driver_obj(const twai_general_config_t *g_config, tw
     if (ret != ESP_OK) {
         goto err;
     }
+
+    p_obj->controller_id = controller_id;
+
 #if CONFIG_PM_ENABLE
 #if SOC_TWAI_CLK_SUPPORT_APB
     // DFS can change APB frequency. So add lock to prevent sleep and APB freq from changing
@@ -384,6 +410,28 @@ static esp_err_t twai_alloc_driver_obj(const twai_general_config_t *g_config, tw
 #endif //SOC_TWAI_CLK_SUPPORT_APB
 #endif //CONFIG_PM_ENABLE
 
+#if TWAI_USE_RETENTION_LINK
+    sleep_retention_module_t module = twai_reg_retention_info[controller_id].module_id;
+    sleep_retention_module_init_param_t init_param = {
+        .cbs = {
+            .create = {
+                .handle = s_twai_create_sleep_retention_link_cb,
+                .arg = p_obj,
+            },
+        },
+        .depends = BIT(SLEEP_RETENTION_MODULE_CLOCK_SYSTEM)
+    };
+    if (sleep_retention_module_init(module, &init_param) != ESP_OK) {
+        ESP_LOGW(TWAI_TAG, "init sleep retention failed for TWAI%d, power domain may be turned off during sleep", controller_id);
+    }
+
+    if (g_config->general_flags.sleep_allow_pd) {
+        if (sleep_retention_module_allocate(module) != ESP_OK) {
+            ESP_LOGW(TWAI_TAG, "create retention module failed, power domain can't turn off");
+        }
+    }
+#endif
+
     *p_twai_obj_ret = p_obj;
     return ESP_OK;
 
@@ -408,6 +456,9 @@ esp_err_t twai_driver_install_v2(const twai_general_config_t *g_config, const tw
 #endif
     int controller_id = g_config->controller_id;
     TWAI_CHECK(g_twai_objs[controller_id] == NULL, ESP_ERR_INVALID_STATE);
+#if !SOC_TWAI_SUPPORT_SLEEP_RETENTION
+    TWAI_CHECK(!g_config->general_flags.sleep_allow_pd, ESP_ERR_INVALID_ARG);
+#endif
 
     //Get clock source resolution
     uint32_t clock_source_hz = 0;
@@ -437,7 +488,6 @@ esp_err_t twai_driver_install_v2(const twai_general_config_t *g_config, const tw
 
     //Initialize flags and variables. All other members are already set to zero by twai_alloc_driver_obj()
     portMUX_INITIALIZE(&p_twai_obj->spinlock);
-    p_twai_obj->controller_id = controller_id;
     p_twai_obj->state = TWAI_STATE_STOPPED;
     p_twai_obj->mode = g_config->mode;
     p_twai_obj->alerts_enabled = g_config->alerts_enabled;
@@ -874,3 +924,14 @@ esp_err_t twai_clear_receive_queue(void)
     // the handle-less driver API only support one TWAI controller, i.e. the g_twai_objs[0]
     return twai_clear_receive_queue_v2(g_twai_objs[0]);
 }
+
+#if TWAI_USE_RETENTION_LINK
+static esp_err_t s_twai_create_sleep_retention_link_cb(void *obj)
+{
+    twai_obj_t *host = (twai_obj_t *)obj;
+    return sleep_retention_entries_create(twai_reg_retention_info[host->controller_id].entry_array,
+                                          twai_reg_retention_info[host->controller_id].array_size,
+                                          REGDMA_LINK_PRI_TWAI,
+                                          twai_reg_retention_info[host->controller_id].module_id);
+}
+#endif

components/soc/esp32c6/include/soc/Kconfig.soc_caps.in

@@ -1175,6 +1175,10 @@ config SOC_TWAI_SUPPORTS_RX_STATUS
     bool
     default y
 
+config SOC_TWAI_SUPPORT_SLEEP_RETENTION
+    bool
+    default y
+
 config SOC_EFUSE_DIS_DOWNLOAD_ICACHE
     bool
     default y

components/soc/esp32c6/include/soc/retention_periph_defs.h

@@ -39,6 +39,8 @@ typedef enum periph_retention_module {
     SLEEP_RETENTION_MODULE_I2S0         = 16,
     SLEEP_RETENTION_MODULE_ETM0         = 17,
     SLEEP_RETENTION_MODULE_TEMP_SENSOR  = 18,
+    SLEEP_RETENTION_MODULE_TWAI0        = 19,
+    SLEEP_RETENTION_MODULE_TWAI1        = 20,
 
     /* Modem module, which includes WiFi, BLE and 802.15.4 */
     SLEEP_RETENTION_MODULE_WIFI_MAC     = 26,
@@ -74,6 +76,8 @@ typedef enum periph_retention_module_bitmap {
     SLEEP_RETENTION_MODULE_BM_I2S0         = BIT(SLEEP_RETENTION_MODULE_I2S0),
     SLEEP_RETENTION_MODULE_BM_ETM0         = BIT(SLEEP_RETENTION_MODULE_ETM0),
     SLEEP_RETENTION_MODULE_BM_TEMP_SENSOR  = BIT(SLEEP_RETENTION_MODULE_TEMP_SENSOR),
+    SLEEP_RETENTION_MODULE_BM_TWAI0        = BIT(SLEEP_RETENTION_MODULE_TWAI0),
+    SLEEP_RETENTION_MODULE_BM_TWAI1        = BIT(SLEEP_RETENTION_MODULE_TWAI1),
     /* modem module, which includes WiFi, BLE and 802.15.4 */
     SLEEP_RETENTION_MODULE_BM_WIFI_MAC     = BIT(SLEEP_RETENTION_MODULE_WIFI_MAC),
     SLEEP_RETENTION_MODULE_BM_WIFI_BB      = BIT(SLEEP_RETENTION_MODULE_WIFI_BB),
@@ -99,6 +103,8 @@ typedef enum periph_retention_module_bitmap {
                                   | SLEEP_RETENTION_MODULE_BM_I2S0        \
                                   | SLEEP_RETENTION_MODULE_BM_ETM0        \
                                   | SLEEP_RETENTION_MODULE_BM_TEMP_SENSOR \
+                                  | SLEEP_RETENTION_MODULE_BM_TWAI0       \
+                                  | SLEEP_RETENTION_MODULE_BM_TWAI1       \
                                   )
 
 #ifdef __cplusplus

components/soc/esp32c6/include/soc/soc_caps.h

@@ -461,6 +461,7 @@
 #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----------------------------*/
 #define SOC_EFUSE_DIS_DOWNLOAD_ICACHE 1

components/soc/esp32c6/twai_periph.c

@@ -1,10 +1,11 @@
 /*
- * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "soc/twai_periph.h"
+#include "soc/twai_reg.h"
 #include "soc/gpio_sig_map.h"
 
 const twai_controller_signal_conn_t twai_controller_periph_signals = {
@@ -29,3 +30,49 @@ const twai_controller_signal_conn_t twai_controller_periph_signals = {
         }
     }
 };
+
+/**
+ * TWAI Registers to be saved during sleep retention
+ * - TWAI_MODE_REG
+ * - TWAI_INTERRUPT_ENABLE_REG
+ * - TWAI_BUS_TIMING_0_REG / TWAI_BUS_TIMING_1_REG
+ * - TWAI_ERR_WARNING_LIMIT_REG
+ * - TWAI_RX_ERR_CNT_REG
+ * - TWAI_TX_ERR_CNT_REG
+ * - TWAI_DATA_x_REG
+ * - TWAI_CLOCK_DIVIDER_REG
+ * - TWAI_SW_STANDBY_CFG_REG
+ * - TWAI_HW_CFG_REG
+ * - TWAI_HW_STANDBY_CNT_REG
+ * - TWAI_IDLE_INTR_CNT_REG
+ * - TWAI_ECO_CFG_REG
+ * - TWAI_TIMESTAMP_PRESCALER_REG
+ * - TWAI_TIMESTAMP_CFG_REG
+*/
+#define TWAI_RETENTION_REGS_CNT 28
+#define TWAI_RETENTION_REGS_BASE(i) REG_TWAI_BASE(i)
+static const uint32_t twai_regs_map[4] = {0x9fffe0d1, 0xdf, 0x0, 0x0};
+#define TWAI_SLEEP_RETENTION_ENTRIES(id) { \
+    [0] = { .config = REGDMA_LINK_ADDR_MAP_INIT(REGDMA_TWAI_LINK(0x00), \
+                                               TWAI_RETENTION_REGS_BASE(id), TWAI_RETENTION_REGS_BASE(id), \
+                                               TWAI_RETENTION_REGS_CNT, 0, 0, \
+                                               twai_regs_map[0], twai_regs_map[1], \
+                                               twai_regs_map[2], twai_regs_map[3]), \
+                                               .owner = ENTRY(0) | ENTRY(2) }, \
+}
+
+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] = {
+    [0] = {
+        .module_id = SLEEP_RETENTION_MODULE_TWAI0,
+        .entry_array = twai0_regs_retention,
+        .array_size = ARRAY_SIZE(twai0_regs_retention)
+    },
+    [1] = {
+        .module_id = SLEEP_RETENTION_MODULE_TWAI1,
+        .entry_array = twai1_regs_retention,
+        .array_size = ARRAY_SIZE(twai1_regs_retention)
+    },
+};

components/soc/esp32h2/include/soc/Kconfig.soc_caps.in

@@ -1175,6 +1175,10 @@ config SOC_TWAI_SUPPORTS_RX_STATUS
     bool
     default y
 
+config SOC_TWAI_SUPPORT_SLEEP_RETENTION
+    bool
+    default y
+
 config SOC_EFUSE_DIS_PAD_JTAG
     bool
     default y

components/soc/esp32h2/include/soc/retention_periph_defs.h

@@ -40,6 +40,7 @@ typedef enum periph_retention_module {
     SLEEP_RETENTION_MODULE_I2S0         = 17,
     SLEEP_RETENTION_MODULE_ETM0         = 18,
     SLEEP_RETENTION_MODULE_TEMP_SENSOR  = 19,
+    SLEEP_RETENTION_MODULE_TWAI0        = 20,
 
     /* Modem module, which includes BLE and 802.15.4 */
     SLEEP_RETENTION_MODULE_BLE_MAC      = 28,
@@ -74,6 +75,7 @@ typedef enum periph_retention_module_bitmap {
     SLEEP_RETENTION_MODULE_BM_I2S0         = BIT(SLEEP_RETENTION_MODULE_I2S0),
     SLEEP_RETENTION_MODULE_BM_ETM0         = BIT(SLEEP_RETENTION_MODULE_ETM0),
     SLEEP_RETENTION_MODULE_BM_TEMP_SENSOR  = BIT(SLEEP_RETENTION_MODULE_TEMP_SENSOR),
+    SLEEP_RETENTION_MODULE_BM_TWAI0        = BIT(SLEEP_RETENTION_MODULE_TWAI0),
     /* modem module, which includes BLE and 802.15.4 */
     SLEEP_RETENTION_MODULE_BM_BLE_MAC      = BIT(SLEEP_RETENTION_MODULE_BLE_MAC),
     SLEEP_RETENTION_MODULE_BM_BT_BB        = BIT(SLEEP_RETENTION_MODULE_BT_BB),
@@ -98,6 +100,7 @@ typedef enum periph_retention_module_bitmap {
                                   | SLEEP_RETENTION_MODULE_BM_I2S0        \
                                   | SLEEP_RETENTION_MODULE_BM_ETM0        \
                                   | SLEEP_RETENTION_MODULE_BM_TEMP_SENSOR \
+                                  | SLEEP_RETENTION_MODULE_BM_TWAI0       \
                                   )
 
 #ifdef __cplusplus

components/soc/esp32h2/include/soc/soc_caps.h

@@ -458,6 +458,7 @@
 #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----------------------------*/
 #define SOC_EFUSE_DIS_PAD_JTAG 1

components/soc/esp32h2/twai_periph.c

@@ -1,10 +1,11 @@
 /*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "soc/twai_periph.h"
+#include "soc/twai_reg.h"
 #include "soc/gpio_sig_map.h"
 
 const twai_controller_signal_conn_t twai_controller_periph_signals = {
@@ -20,3 +21,42 @@ const twai_controller_signal_conn_t twai_controller_periph_signals = {
         }
     }
 };
+
+/**
+ * TWAI Registers to be saved during sleep retention
+ * - TWAI_MODE_REG
+ * - TWAI_INTERRUPT_ENABLE_REG
+ * - TWAI_BUS_TIMING_0_REG / TWAI_BUS_TIMING_1_REG
+ * - TWAI_ERR_WARNING_LIMIT_REG
+ * - TWAI_RX_ERR_CNT_REG
+ * - TWAI_TX_ERR_CNT_REG
+ * - TWAI_DATA_x_REG
+ * - TWAI_CLOCK_DIVIDER_REG
+ * - TWAI_SW_STANDBY_CFG_REG
+ * - TWAI_HW_CFG_REG
+ * - TWAI_HW_STANDBY_CNT_REG
+ * - TWAI_IDLE_INTR_CNT_REG
+ * - TWAI_ECO_CFG_REG
+ * - TWAI_TIMESTAMP_PRESCALER_REG
+ * - TWAI_TIMESTAMP_CFG_REG
+*/
+#define TWAI_RETENTION_REGS_CNT 28
+#define TWAI_RETENTION_REGS_BASE(i) DR_REG_TWAI_BASE
+static const uint32_t twai_regs_map[4] = {0x9fffe0d1, 0xdf, 0x0, 0x0};
+#define TWAI_SLEEP_RETENTION_ENTRIES(id) { \
+    [0] = { .config = REGDMA_LINK_ADDR_MAP_INIT(REGDMA_TWAI_LINK(0x00), \
+                                               TWAI_RETENTION_REGS_BASE(id), TWAI_RETENTION_REGS_BASE(id), \
+                                               TWAI_RETENTION_REGS_CNT, 0, 0, \
+                                               twai_regs_map[0], twai_regs_map[1], \
+                                               twai_regs_map[2], twai_regs_map[3]), \
+                                               .owner = ENTRY(0) | ENTRY(2) }, \
+}
+
+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] = {
+    [0] = {
+        .module_id = SLEEP_RETENTION_MODULE_TWAI0,
+        .entry_array = twai0_regs_retention,
+        .array_size = ARRAY_SIZE(twai0_regs_retention)
+    },
+};

components/soc/esp32p4/include/soc/Kconfig.soc_caps.in

@@ -1643,6 +1643,10 @@ config SOC_TWAI_SUPPORTS_RX_STATUS
     bool
     default y
 
+config SOC_TWAI_SUPPORT_SLEEP_RETENTION
+    bool
+    default y
+
 config SOC_EFUSE_DIS_PAD_JTAG
     bool
     default y

components/soc/esp32p4/include/soc/retention_periph_defs.h

@@ -47,6 +47,9 @@ typedef enum periph_retention_module {
     SLEEP_RETENTION_MODULE_I2C0         = 22,
     SLEEP_RETENTION_MODULE_I2C1         = 23,
     SLEEP_RETENTION_MODULE_ETM0         = 24,
+    SLEEP_RETENTION_MODULE_TWAI0        = 25,
+    SLEEP_RETENTION_MODULE_TWAI1        = 26,
+    SLEEP_RETENTION_MODULE_TWAI2        = 27,
 
     SLEEP_RETENTION_MODULE_MAX          = 31
 } periph_retention_module_t;
@@ -83,6 +86,9 @@ typedef enum periph_retention_module_bitmap {
     SLEEP_RETENTION_MODULE_BM_ETM0         = BIT(SLEEP_RETENTION_MODULE_ETM0),
     SLEEP_RETENTION_MODULE_BM_I2C0         = BIT(SLEEP_RETENTION_MODULE_I2C0),
     SLEEP_RETENTION_MODULE_BM_I2C1         = BIT(SLEEP_RETENTION_MODULE_I2C1),
+    SLEEP_RETENTION_MODULE_BM_TWAI0        = BIT(SLEEP_RETENTION_MODULE_TWAI0),
+    SLEEP_RETENTION_MODULE_BM_TWAI1        = BIT(SLEEP_RETENTION_MODULE_TWAI1),
+    SLEEP_RETENTION_MODULE_BM_TWAI2        = BIT(SLEEP_RETENTION_MODULE_TWAI2),
 
     SLEEP_RETENTION_MODULE_BM_ALL = (uint32_t)-1
 } periph_retention_module_bitmap_t;
@@ -110,6 +116,9 @@ typedef enum periph_retention_module_bitmap {
                                   | SLEEP_RETENTION_MODULE_BM_ETM0       \
                                   | SLEEP_RETENTION_MODULE_BM_I2C0        \
                                   | SLEEP_RETENTION_MODULE_BM_I2C1        \
+                                  | SLEEP_RETENTION_MODULE_BM_TWAI0        \
+                                  | SLEEP_RETENTION_MODULE_BM_TWAI1        \
+                                  | SLEEP_RETENTION_MODULE_BM_TWAI2        \
                                   )
 
 #ifdef __cplusplus

components/soc/esp32p4/include/soc/soc_caps.h

@@ -617,6 +617,7 @@
 #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----------------------------*/
 #define SOC_EFUSE_DIS_PAD_JTAG 1

components/soc/esp32p4/twai_periph.c

@@ -1,10 +1,11 @@
 /*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "soc/twai_periph.h"
+#include "soc/twai_reg.h"
 #include "soc/gpio_sig_map.h"
 
 const twai_controller_signal_conn_t twai_controller_periph_signals = {
@@ -38,3 +39,55 @@ const twai_controller_signal_conn_t twai_controller_periph_signals = {
         }
     }
 };
+
+/**
+ * TWAI Registers to be saved during sleep retention
+ * - TWAI_MODE_REG
+ * - TWAI_INTERRUPT_ENABLE_REG
+ * - TWAI_BUS_TIMING_0_REG / TWAI_BUS_TIMING_1_REG
+ * - TWAI_ERR_WARNING_LIMIT_REG
+ * - TWAI_RX_ERR_CNT_REG
+ * - TWAI_TX_ERR_CNT_REG
+ * - TWAI_DATA_x_REG
+ * - TWAI_CLOCK_DIVIDER_REG
+ * - TWAI_SW_STANDBY_CFG_REG
+ * - TWAI_HW_CFG_REG
+ * - TWAI_HW_STANDBY_CNT_REG
+ * - TWAI_IDLE_INTR_CNT_REG
+ * - TWAI_ECO_CFG_REG
+ * - TWAI_TIMESTAMP_PRESCALER_REG
+ * - TWAI_TIMESTAMP_CFG_REG
+*/
+#define TWAI_RETENTION_REGS_CNT 28
+#define TWAI_RETENTION_REGS_BASE(i) REG_TWAI_BASE(i)
+static const uint32_t twai_regs_map[4] = {0x9fffe0d1, 0xdf, 0x0, 0x0};
+#define TWAI_SLEEP_RETENTION_ENTRIES(id) { \
+    [0] = { .config = REGDMA_LINK_ADDR_MAP_INIT(REGDMA_TWAI_LINK(0x00), \
+                                               TWAI_RETENTION_REGS_BASE(id), TWAI_RETENTION_REGS_BASE(id), \
+                                               TWAI_RETENTION_REGS_CNT, 0, 0, \
+                                               twai_regs_map[0], twai_regs_map[1], \
+                                               twai_regs_map[2], twai_regs_map[3]), \
+                                               .owner = ENTRY(0) }, \
+}
+
+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);
+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] = {
+    [0] = {
+        .module_id = SLEEP_RETENTION_MODULE_TWAI0,
+        .entry_array = twai0_regs_retention,
+        .array_size = ARRAY_SIZE(twai0_regs_retention)
+    },
+    [1] = {
+        .module_id = SLEEP_RETENTION_MODULE_TWAI1,
+        .entry_array = twai1_regs_retention,
+        .array_size = ARRAY_SIZE(twai1_regs_retention)
+    },
+    [2] = {
+        .module_id = SLEEP_RETENTION_MODULE_TWAI2,
+        .entry_array = twai2_regs_retention,
+        .array_size = ARRAY_SIZE(twai2_regs_retention)
+    },
+};

components/soc/include/soc/regdma.h

@@ -56,6 +56,7 @@ extern "C" {
 #define REGDMA_I2S_LINK(_pri)               ((0x1E << 8) | _pri)
 #define REGDMA_ETM_LINK(_pri)               ((0x1F << 8) | _pri)
 #define REGDMA_TSENS_LINK(_pri)             ((0x20 << 8) | _pri)
+#define REGDMA_TWAI_LINK(_pri)              ((0x21 << 8) | _pri)
 #define REGDMA_MODEM_FE_LINK(_pri)          ((0xFF << 8) | _pri)
 
 #define REGDMA_LINK_PRI_SYS_CLK                 REGDMA_LINK_PRI_0
@@ -76,6 +77,7 @@ extern "C" {
 #define REGDMA_LINK_PRI_I2S                     REGDMA_LINK_PRI_GENERAL_PERIPH
 #define REGDMA_LINK_PRI_UART                    REGDMA_LINK_PRI_GENERAL_PERIPH
 #define REGDMA_LINK_PRI_TEMPERATURE_SENSOR      REGDMA_LINK_PRI_GENERAL_PERIPH
+#define REGDMA_LINK_PRI_TWAI                    REGDMA_LINK_PRI_GENERAL_PERIPH
 
 typedef enum {
     REGDMA_LINK_PRI_0 = 0,

components/soc/include/soc/twai_periph.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2019-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2019-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -9,6 +9,10 @@
 #include <stdint.h>
 #include "soc/soc_caps.h"
 #include "soc/periph_defs.h"
+#if SOC_PAU_SUPPORTED
+#include "soc/regdma.h"
+#include "soc/retention_periph_defs.h"
+#endif
 
 #ifdef __cplusplus
 extern "C" {
@@ -30,6 +34,16 @@ typedef struct {
 
 extern const twai_controller_signal_conn_t twai_controller_periph_signals;
 
+#if SOC_PAU_SUPPORTED
+typedef struct {
+    const periph_retention_module_t module_id;
+    const regdma_entries_config_t *entry_array;
+    uint32_t array_size;
+} 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_TWAI_SUPPORTED
 
 #ifdef __cplusplus