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Merge branch 'features/twai_ll_parse_frame' into 'master'

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refactor(twai): Separate frame header and data parsing logic for Classic TWAI

See merge request espressif/esp-idf!41203
This commit is contained in:
Yuan Yu
2025-08-22 18:58:14 +08:00
parent 56160675e7 6fe547114d
commit 4e5401ec8c
9 changed files with 236 additions and 172 deletions
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50
components/hal/esp32/include/hal/twai_ll.h
View File

@@ -702,7 +702,7 @@ static inline void twai_ll_set_tx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t
* @param hw Start address of the TWAI registers * @param hw Start address of the TWAI registers
* @param rx_frame Pointer to store formatted frame * @param rx_frame Pointer to store formatted frame
* *
* @note Call twai_ll_parse_frame_buffer() to parse the formatted frame * @note Call twai_hal_parse_frame() to parse the formatted frame
*/ */
__attribute__((always_inline)) __attribute__((always_inline))
static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t *rx_frame) static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t *rx_frame)
@@ -776,47 +776,55 @@ static inline bool twai_ll_frame_is_ext_format(twai_ll_frame_buffer_t *rx_frame)
} }
/** /**
* @brief Parse formatted TWAI frame (RX Buffer Layout) into its constituent contents * @brief Parse formatted TWAI frame header (RX Buffer Layout) into twai_frame_header_t
* *
* @param[in] rx_frame Pointer to formatted frame * @param[in] rx_frame Pointer to formatted frame
* @param[out] id 11 or 29bit ID * @param[out] header Pointer to frame header structure
* @param[out] dlc Data length code
* @param[out] data Data. Left over bytes set to 0.
* @param[out] format Type of TWAI frame
*/ */
__attribute__((always_inline)) __attribute__((always_inline))
static inline void twai_ll_parse_frame_buffer(twai_ll_frame_buffer_t *rx_frame, uint32_t *id, uint8_t *dlc, static inline void twai_ll_parse_frame_header(const twai_ll_frame_buffer_t *rx_frame, twai_frame_header_t *header)
uint8_t *data, uint32_t buf_sz, uint32_t *flags)
{ {
//Copy frame information // Copy frame information
*dlc = rx_frame->dlc; header->dlc = rx_frame->dlc;
uint32_t flags_temp = 0; header->ide = rx_frame->frame_format;
flags_temp |= (rx_frame->frame_format) ? TWAI_MSG_FLAG_EXTD : 0; header->rtr = rx_frame->rtr;
flags_temp |= (rx_frame->rtr) ? TWAI_MSG_FLAG_RTR : 0; header->fdf = 0;
flags_temp |= (rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_MSG_FLAG_DLC_NON_COMP : 0; header->brs = 0;
*flags = flags_temp; header->esi = 0;
header->timestamp = 0;
//Copy ID. The ID registers are big endian and left aligned, therefore a bswap will be required // Copy ID. The ID registers are big endian and left aligned, therefore a bswap will be required
if (rx_frame->frame_format) { if (rx_frame->frame_format) {
uint32_t id_temp = 0; uint32_t id_temp = 0;
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
id_temp |= rx_frame->extended.id[i] << (8 * i); id_temp |= rx_frame->extended.id[i] << (8 * i);
} }
id_temp = HAL_SWAP32(id_temp) >> 3; //((byte[i] << 8*(3-i)) >> 3) id_temp = HAL_SWAP32(id_temp) >> 3; //((byte[i] << 8*(3-i)) >> 3)
*id = id_temp & TWAI_EXTD_ID_MASK; header->id = id_temp & TWAI_EXTD_ID_MASK;
} else { } else {
uint32_t id_temp = 0; uint32_t id_temp = 0;
for (int i = 0; i < 2; i++) { for (int i = 0; i < 2; i++) {
id_temp |= rx_frame->standard.id[i] << (8 * i); id_temp |= rx_frame->standard.id[i] << (8 * i);
} }
id_temp = HAL_SWAP16(id_temp) >> 5; //((byte[i] << 8*(1-i)) >> 5) id_temp = HAL_SWAP16(id_temp) >> 5; //((byte[i] << 8*(1-i)) >> 5)
*id = id_temp & TWAI_STD_ID_MASK; header->id = id_temp & TWAI_STD_ID_MASK;
} }
}
uint8_t *data_buffer = (rx_frame->frame_format) ? rx_frame->extended.data : rx_frame->standard.data; /**
//Only copy data if the frame is a data frame (i.e. not a remote frame) * @brief Parse formatted TWAI frame data (RX Buffer Layout) into data buffer
*
* @param[in] rx_frame Pointer to formatted frame
* @param[out] data Pointer to data buffer
* @param[in] data_len_limit The data length limit, if less than frame data length, over length data will be dropped
*/
__attribute__((always_inline))
static inline void twai_ll_parse_frame_data(const twai_ll_frame_buffer_t *rx_frame, uint8_t *data, uint8_t data_len_limit)
{
const uint8_t *data_buffer = (rx_frame->frame_format) ? rx_frame->extended.data : rx_frame->standard.data;
// Only copy data if the frame is a data frame (i.e. not a remote frame)
int data_length = (rx_frame->rtr) ? 0 : ((rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_FRAME_MAX_DLC : rx_frame->dlc); int data_length = (rx_frame->rtr) ? 0 : ((rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_FRAME_MAX_DLC : rx_frame->dlc);
data_length = (data_length < buf_sz) ? data_length : buf_sz; data_length = (data_length < data_len_limit) ? data_length : data_len_limit;
for (int i = 0; i < data_length; i++) { for (int i = 0; i < data_length; i++) {
data[i] = data_buffer[i]; data[i] = data_buffer[i];
} }

50
components/hal/esp32c3/include/hal/twai_ll.h
View File

@@ -647,7 +647,7 @@ static inline void twai_ll_set_tx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t
* @param hw Start address of the TWAI registers * @param hw Start address of the TWAI registers
* @param rx_frame Pointer to store formatted frame * @param rx_frame Pointer to store formatted frame
* *
* @note Call twai_ll_parse_frame_buffer() to parse the formatted frame * @note Call twai_hal_parse_frame() to parse the formatted frame
*/ */
__attribute__((always_inline)) __attribute__((always_inline))
static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t *rx_frame) static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t *rx_frame)
@@ -721,47 +721,55 @@ static inline bool twai_ll_frame_is_ext_format(twai_ll_frame_buffer_t *rx_frame)
} }
/** /**
* @brief Parse formatted TWAI frame (RX Buffer Layout) into its constituent contents * @brief Parse formatted TWAI frame header (RX Buffer Layout) into twai_frame_header_t
* *
* @param[in] rx_frame Pointer to formatted frame * @param[in] rx_frame Pointer to formatted frame
* @param[out] id 11 or 29bit ID * @param[out] header Pointer to frame header structure
* @param[out] dlc Data length code
* @param[out] data Data. Left over bytes set to 0.
* @param[out] format Type of TWAI frame
*/ */
__attribute__((always_inline)) __attribute__((always_inline))
static inline void twai_ll_parse_frame_buffer(twai_ll_frame_buffer_t *rx_frame, uint32_t *id, uint8_t *dlc, static inline void twai_ll_parse_frame_header(const twai_ll_frame_buffer_t *rx_frame, twai_frame_header_t *header)
uint8_t *data, uint32_t buf_sz, uint32_t *flags)
{ {
//Copy frame information // Copy frame information
*dlc = rx_frame->dlc; header->dlc = rx_frame->dlc;
uint32_t flags_temp = 0; header->ide = rx_frame->frame_format;
flags_temp |= (rx_frame->frame_format) ? TWAI_MSG_FLAG_EXTD : 0; header->rtr = rx_frame->rtr;
flags_temp |= (rx_frame->rtr) ? TWAI_MSG_FLAG_RTR : 0; header->fdf = 0;
flags_temp |= (rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_MSG_FLAG_DLC_NON_COMP : 0; header->brs = 0;
*flags = flags_temp; header->esi = 0;
header->timestamp = 0;
//Copy ID. The ID registers are big endian and left aligned, therefore a bswap will be required // Copy ID. The ID registers are big endian and left aligned, therefore a bswap will be required
if (rx_frame->frame_format) { if (rx_frame->frame_format) {
uint32_t id_temp = 0; uint32_t id_temp = 0;
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
id_temp |= rx_frame->extended.id[i] << (8 * i); id_temp |= rx_frame->extended.id[i] << (8 * i);
} }
id_temp = HAL_SWAP32(id_temp) >> 3; //((byte[i] << 8*(3-i)) >> 3) id_temp = HAL_SWAP32(id_temp) >> 3; //((byte[i] << 8*(3-i)) >> 3)
*id = id_temp & TWAI_EXTD_ID_MASK; header->id = id_temp & TWAI_EXTD_ID_MASK;
} else { } else {
uint32_t id_temp = 0; uint32_t id_temp = 0;
for (int i = 0; i < 2; i++) { for (int i = 0; i < 2; i++) {
id_temp |= rx_frame->standard.id[i] << (8 * i); id_temp |= rx_frame->standard.id[i] << (8 * i);
} }
id_temp = HAL_SWAP16(id_temp) >> 5; //((byte[i] << 8*(1-i)) >> 5) id_temp = HAL_SWAP16(id_temp) >> 5; //((byte[i] << 8*(1-i)) >> 5)
*id = id_temp & TWAI_STD_ID_MASK; header->id = id_temp & TWAI_STD_ID_MASK;
} }
}
uint8_t *data_buffer = (rx_frame->frame_format) ? rx_frame->extended.data : rx_frame->standard.data; /**
//Only copy data if the frame is a data frame (i.e. not a remote frame) * @brief Parse formatted TWAI frame data (RX Buffer Layout) into data buffer
*
* @param[in] rx_frame Pointer to formatted frame
* @param[out] data Pointer to data buffer
* @param[in] data_len_limit The data length limit, if less than frame data length, over length data will be dropped
*/
__attribute__((always_inline))
static inline void twai_ll_parse_frame_data(const twai_ll_frame_buffer_t *rx_frame, uint8_t *data, uint8_t data_len_limit)
{
const uint8_t *data_buffer = (rx_frame->frame_format) ? rx_frame->extended.data : rx_frame->standard.data;
// Only copy data if the frame is a data frame (i.e. not a remote frame)
int data_length = (rx_frame->rtr) ? 0 : ((rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_FRAME_MAX_DLC : rx_frame->dlc); int data_length = (rx_frame->rtr) ? 0 : ((rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_FRAME_MAX_DLC : rx_frame->dlc);
data_length = (data_length < buf_sz) ? data_length : buf_sz; data_length = (data_length < data_len_limit) ? data_length : data_len_limit;
for (int i = 0; i < data_length; i++) { for (int i = 0; i < data_length; i++) {
data[i] = data_buffer[i]; data[i] = data_buffer[i];
} }

50
components/hal/esp32c6/include/hal/twai_ll.h
View File

@@ -663,7 +663,7 @@ static inline void twai_ll_set_tx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t
* @param hw Start address of the TWAI registers * @param hw Start address of the TWAI registers
* @param rx_frame Pointer to store formatted frame * @param rx_frame Pointer to store formatted frame
* *
* @note Call twai_ll_parse_frame_buffer() to parse the formatted frame * @note Call twai_hal_parse_frame() to parse the formatted frame
*/ */
__attribute__((always_inline)) __attribute__((always_inline))
static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t *rx_frame) static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t *rx_frame)
@@ -737,47 +737,55 @@ static inline bool twai_ll_frame_is_ext_format(twai_ll_frame_buffer_t *rx_frame)
} }
/** /**
* @brief Parse formatted TWAI frame (RX Buffer Layout) into its constituent contents * @brief Parse formatted TWAI frame header (RX Buffer Layout) into twai_frame_header_t
* *
* @param[in] rx_frame Pointer to formatted frame * @param[in] rx_frame Pointer to formatted frame
* @param[out] id 11 or 29bit ID * @param[out] header Pointer to frame header structure
* @param[out] dlc Data length code
* @param[out] data Data. Left over bytes set to 0.
* @param[out] format Type of TWAI frame
*/ */
__attribute__((always_inline)) __attribute__((always_inline))
static inline void twai_ll_parse_frame_buffer(twai_ll_frame_buffer_t *rx_frame, uint32_t *id, uint8_t *dlc, static inline void twai_ll_parse_frame_header(const twai_ll_frame_buffer_t *rx_frame, twai_frame_header_t *header)
uint8_t *data, uint32_t buf_sz, uint32_t *flags)
{ {
//Copy frame information // Copy frame information
*dlc = rx_frame->dlc; header->dlc = rx_frame->dlc;
uint32_t flags_temp = 0; header->ide = rx_frame->frame_format;
flags_temp |= (rx_frame->frame_format) ? TWAI_MSG_FLAG_EXTD : 0; header->rtr = rx_frame->rtr;
flags_temp |= (rx_frame->rtr) ? TWAI_MSG_FLAG_RTR : 0; header->fdf = 0;
flags_temp |= (rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_MSG_FLAG_DLC_NON_COMP : 0; header->brs = 0;
*flags = flags_temp; header->esi = 0;
header->timestamp = 0;
//Copy ID. The ID registers are big endian and left aligned, therefore a bswap will be required // Copy ID. The ID registers are big endian and left aligned, therefore a bswap will be required
if (rx_frame->frame_format) { if (rx_frame->frame_format) {
uint32_t id_temp = 0; uint32_t id_temp = 0;
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
id_temp |= rx_frame->extended.id[i] << (8 * i); id_temp |= rx_frame->extended.id[i] << (8 * i);
} }
id_temp = HAL_SWAP32(id_temp) >> 3; //((byte[i] << 8*(3-i)) >> 3) id_temp = HAL_SWAP32(id_temp) >> 3; //((byte[i] << 8*(3-i)) >> 3)
*id = id_temp & TWAI_EXTD_ID_MASK; header->id = id_temp & TWAI_EXTD_ID_MASK;
} else { } else {
uint32_t id_temp = 0; uint32_t id_temp = 0;
for (int i = 0; i < 2; i++) { for (int i = 0; i < 2; i++) {
id_temp |= rx_frame->standard.id[i] << (8 * i); id_temp |= rx_frame->standard.id[i] << (8 * i);
} }
id_temp = HAL_SWAP16(id_temp) >> 5; //((byte[i] << 8*(1-i)) >> 5) id_temp = HAL_SWAP16(id_temp) >> 5; //((byte[i] << 8*(1-i)) >> 5)
*id = id_temp & TWAI_STD_ID_MASK; header->id = id_temp & TWAI_STD_ID_MASK;
} }
}
uint8_t *data_buffer = (rx_frame->frame_format) ? rx_frame->extended.data : rx_frame->standard.data; /**
//Only copy data if the frame is a data frame (i.e. not a remote frame) * @brief Parse formatted TWAI frame data (RX Buffer Layout) into data buffer
*
* @param[in] rx_frame Pointer to formatted frame
* @param[out] data Pointer to data buffer
* @param[in] data_len_limit The data length limit, if less than frame data length, over length data will be dropped
*/
__attribute__((always_inline))
static inline void twai_ll_parse_frame_data(const twai_ll_frame_buffer_t *rx_frame, uint8_t *data, uint8_t data_len_limit)
{
const uint8_t *data_buffer = (rx_frame->frame_format) ? rx_frame->extended.data : rx_frame->standard.data;
// Only copy data if the frame is a data frame (i.e. not a remote frame)
int data_length = (rx_frame->rtr) ? 0 : ((rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_FRAME_MAX_DLC : rx_frame->dlc); int data_length = (rx_frame->rtr) ? 0 : ((rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_FRAME_MAX_DLC : rx_frame->dlc);
data_length = (data_length < buf_sz) ? data_length : buf_sz; data_length = (data_length < data_len_limit) ? data_length : data_len_limit;
for (int i = 0; i < data_length; i++) { for (int i = 0; i < data_length; i++) {
data[i] = data_buffer[i]; data[i] = data_buffer[i];
} }

50
components/hal/esp32h2/include/hal/twai_ll.h
View File

@@ -641,7 +641,7 @@ static inline void twai_ll_set_tx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t
* @param hw Start address of the TWAI registers * @param hw Start address of the TWAI registers
* @param rx_frame Pointer to store formatted frame * @param rx_frame Pointer to store formatted frame
* *
* @note Call twai_ll_parse_frame_buffer() to parse the formatted frame * @note Call twai_hal_parse_frame() to parse the formatted frame
*/ */
__attribute__((always_inline)) __attribute__((always_inline))
static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t *rx_frame) static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t *rx_frame)
@@ -715,47 +715,55 @@ static inline bool twai_ll_frame_is_ext_format(twai_ll_frame_buffer_t *rx_frame)
} }
/** /**
* @brief Parse formatted TWAI frame (RX Buffer Layout) into its constituent contents * @brief Parse formatted TWAI frame header (RX Buffer Layout) into twai_frame_header_t
* *
* @param[in] rx_frame Pointer to formatted frame * @param[in] rx_frame Pointer to formatted frame
* @param[out] id 11 or 29bit ID * @param[out] header Pointer to frame header structure
* @param[out] dlc Data length code
* @param[out] data Data. Left over bytes set to 0.
* @param[out] format Type of TWAI frame
*/ */
__attribute__((always_inline)) __attribute__((always_inline))
static inline void twai_ll_parse_frame_buffer(twai_ll_frame_buffer_t *rx_frame, uint32_t *id, uint8_t *dlc, static inline void twai_ll_parse_frame_header(const twai_ll_frame_buffer_t *rx_frame, twai_frame_header_t *header)
uint8_t *data, uint32_t buf_sz, uint32_t *flags)
{ {
//Copy frame information // Copy frame information
*dlc = rx_frame->dlc; header->dlc = rx_frame->dlc;
uint32_t flags_temp = 0; header->ide = rx_frame->frame_format;
flags_temp |= (rx_frame->frame_format) ? TWAI_MSG_FLAG_EXTD : 0; header->rtr = rx_frame->rtr;
flags_temp |= (rx_frame->rtr) ? TWAI_MSG_FLAG_RTR : 0; header->fdf = 0;
flags_temp |= (rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_MSG_FLAG_DLC_NON_COMP : 0; header->brs = 0;
*flags = flags_temp; header->esi = 0;
header->timestamp = 0;
//Copy ID. The ID registers are big endian and left aligned, therefore a bswap will be required // Copy ID. The ID registers are big endian and left aligned, therefore a bswap will be required
if (rx_frame->frame_format) { if (rx_frame->frame_format) {
uint32_t id_temp = 0; uint32_t id_temp = 0;
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
id_temp |= rx_frame->extended.id[i] << (8 * i); id_temp |= rx_frame->extended.id[i] << (8 * i);
} }
id_temp = HAL_SWAP32(id_temp) >> 3; //((byte[i] << 8*(3-i)) >> 3) id_temp = HAL_SWAP32(id_temp) >> 3; //((byte[i] << 8*(3-i)) >> 3)
*id = id_temp & TWAI_EXTD_ID_MASK; header->id = id_temp & TWAI_EXTD_ID_MASK;
} else { } else {
uint32_t id_temp = 0; uint32_t id_temp = 0;
for (int i = 0; i < 2; i++) { for (int i = 0; i < 2; i++) {
id_temp |= rx_frame->standard.id[i] << (8 * i); id_temp |= rx_frame->standard.id[i] << (8 * i);
} }
id_temp = HAL_SWAP16(id_temp) >> 5; //((byte[i] << 8*(1-i)) >> 5) id_temp = HAL_SWAP16(id_temp) >> 5; //((byte[i] << 8*(1-i)) >> 5)
*id = id_temp & TWAI_STD_ID_MASK; header->id = id_temp & TWAI_STD_ID_MASK;
} }
}
uint8_t *data_buffer = (rx_frame->frame_format) ? rx_frame->extended.data : rx_frame->standard.data; /**
//Only copy data if the frame is a data frame (i.e. not a remote frame) * @brief Parse formatted TWAI frame data (RX Buffer Layout) into data buffer
*
* @param[in] rx_frame Pointer to formatted frame
* @param[out] data Pointer to data buffer
* @param[in] data_len_limit The data length limit, if less than frame data length, over length data will be dropped
*/
__attribute__((always_inline))
static inline void twai_ll_parse_frame_data(const twai_ll_frame_buffer_t *rx_frame, uint8_t *data, uint8_t data_len_limit)
{
const uint8_t *data_buffer = (rx_frame->frame_format) ? rx_frame->extended.data : rx_frame->standard.data;
// Only copy data if the frame is a data frame (i.e. not a remote frame)
int data_length = (rx_frame->rtr) ? 0 : ((rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_FRAME_MAX_DLC : rx_frame->dlc); int data_length = (rx_frame->rtr) ? 0 : ((rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_FRAME_MAX_DLC : rx_frame->dlc);
data_length = (data_length < buf_sz) ? data_length : buf_sz; data_length = (data_length < data_len_limit) ? data_length : data_len_limit;
for (int i = 0; i < data_length; i++) { for (int i = 0; i < data_length; i++) {
data[i] = data_buffer[i]; data[i] = data_buffer[i];
} }

50
components/hal/esp32h21/include/hal/twai_ll.h
View File

@@ -641,7 +641,7 @@ static inline void twai_ll_set_tx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t
* @param hw Start address of the TWAI registers * @param hw Start address of the TWAI registers
* @param rx_frame Pointer to store formatted frame * @param rx_frame Pointer to store formatted frame
* *
* @note Call twai_ll_parse_frame_buffer() to parse the formatted frame * @note Call twai_hal_parse_frame() to parse the formatted frame
*/ */
__attribute__((always_inline)) __attribute__((always_inline))
static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t *rx_frame) static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t *rx_frame)
@@ -715,47 +715,55 @@ static inline bool twai_ll_frame_is_ext_format(twai_ll_frame_buffer_t *rx_frame)
} }
/** /**
* @brief Parse formatted TWAI frame (RX Buffer Layout) into its constituent contents * @brief Parse formatted TWAI frame header (RX Buffer Layout) into twai_frame_header_t
* *
* @param[in] rx_frame Pointer to formatted frame * @param[in] rx_frame Pointer to formatted frame
* @param[out] id 11 or 29bit ID * @param[out] header Pointer to frame header structure
* @param[out] dlc Data length code
* @param[out] data Data. Left over bytes set to 0.
* @param[out] format Type of TWAI frame
*/ */
__attribute__((always_inline)) __attribute__((always_inline))
static inline void twai_ll_parse_frame_buffer(twai_ll_frame_buffer_t *rx_frame, uint32_t *id, uint8_t *dlc, static inline void twai_ll_parse_frame_header(const twai_ll_frame_buffer_t *rx_frame, twai_frame_header_t *header)
uint8_t *data, uint32_t buf_sz, uint32_t *flags)
{ {
//Copy frame information // Copy frame information
*dlc = rx_frame->dlc; header->dlc = rx_frame->dlc;
uint32_t flags_temp = 0; header->ide = rx_frame->frame_format;
flags_temp |= (rx_frame->frame_format) ? TWAI_MSG_FLAG_EXTD : 0; header->rtr = rx_frame->rtr;
flags_temp |= (rx_frame->rtr) ? TWAI_MSG_FLAG_RTR : 0; header->fdf = 0;
flags_temp |= (rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_MSG_FLAG_DLC_NON_COMP : 0; header->brs = 0;
*flags = flags_temp; header->esi = 0;
header->timestamp = 0;
//Copy ID. The ID registers are big endian and left aligned, therefore a bswap will be required // Copy ID. The ID registers are big endian and left aligned, therefore a bswap will be required
if (rx_frame->frame_format) { if (rx_frame->frame_format) {
uint32_t id_temp = 0; uint32_t id_temp = 0;
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
id_temp |= rx_frame->extended.id[i] << (8 * i); id_temp |= rx_frame->extended.id[i] << (8 * i);
} }
id_temp = HAL_SWAP32(id_temp) >> 3; //((byte[i] << 8*(3-i)) >> 3) id_temp = HAL_SWAP32(id_temp) >> 3; //((byte[i] << 8*(3-i)) >> 3)
*id = id_temp & TWAI_EXTD_ID_MASK; header->id = id_temp & TWAI_EXTD_ID_MASK;
} else { } else {
uint32_t id_temp = 0; uint32_t id_temp = 0;
for (int i = 0; i < 2; i++) { for (int i = 0; i < 2; i++) {
id_temp |= rx_frame->standard.id[i] << (8 * i); id_temp |= rx_frame->standard.id[i] << (8 * i);
} }
id_temp = HAL_SWAP16(id_temp) >> 5; //((byte[i] << 8*(1-i)) >> 5) id_temp = HAL_SWAP16(id_temp) >> 5; //((byte[i] << 8*(1-i)) >> 5)
*id = id_temp & TWAI_STD_ID_MASK; header->id = id_temp & TWAI_STD_ID_MASK;
} }
}
uint8_t *data_buffer = (rx_frame->frame_format) ? rx_frame->extended.data : rx_frame->standard.data; /**
//Only copy data if the frame is a data frame (i.e. not a remote frame) * @brief Parse formatted TWAI frame data (RX Buffer Layout) into data buffer
*
* @param[in] rx_frame Pointer to formatted frame
* @param[out] data Pointer to data buffer
* @param[in] data_len_limit The data length limit, if less than frame data length, over length data will be dropped
*/
__attribute__((always_inline))
static inline void twai_ll_parse_frame_data(const twai_ll_frame_buffer_t *rx_frame, uint8_t *data, uint8_t data_len_limit)
{
const uint8_t *data_buffer = (rx_frame->frame_format) ? rx_frame->extended.data : rx_frame->standard.data;
// Only copy data if the frame is a data frame (i.e. not a remote frame)
int data_length = (rx_frame->rtr) ? 0 : ((rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_FRAME_MAX_DLC : rx_frame->dlc); int data_length = (rx_frame->rtr) ? 0 : ((rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_FRAME_MAX_DLC : rx_frame->dlc);
data_length = (data_length < buf_sz) ? data_length : buf_sz; data_length = (data_length < data_len_limit) ? data_length : data_len_limit;
for (int i = 0; i < data_length; i++) { for (int i = 0; i < data_length; i++) {
data[i] = data_buffer[i]; data[i] = data_buffer[i];
} }

50
components/hal/esp32p4/include/hal/twai_ll.h
View File

@@ -696,7 +696,7 @@ static inline void twai_ll_set_tx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t
* @param hw Start address of the TWAI registers * @param hw Start address of the TWAI registers
* @param rx_frame Pointer to store formatted frame * @param rx_frame Pointer to store formatted frame
* *
* @note Call twai_ll_parse_frame_buffer() to parse the formatted frame * @note Call twai_hal_parse_frame() to parse the formatted frame
*/ */
__attribute__((always_inline)) __attribute__((always_inline))
static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t *rx_frame) static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t *rx_frame)
@@ -769,47 +769,55 @@ static inline bool twai_ll_frame_is_ext_format(twai_ll_frame_buffer_t *rx_frame)
} }
/** /**
* @brief Parse formatted TWAI frame (RX Buffer Layout) into its constituent contents * @brief Parse formatted TWAI frame header (RX Buffer Layout) into twai_frame_header_t
* *
* @param[in] rx_frame Pointer to formatted frame * @param[in] rx_frame Pointer to formatted frame
* @param[out] id 11 or 29bit ID * @param[out] header Pointer to frame header structure
* @param[out] dlc Data length code
* @param[out] data Data. Left over bytes set to 0.
* @param[out] format Type of TWAI frame
*/ */
__attribute__((always_inline)) __attribute__((always_inline))
static inline void twai_ll_parse_frame_buffer(twai_ll_frame_buffer_t *rx_frame, uint32_t *id, uint8_t *dlc, static inline void twai_ll_parse_frame_header(const twai_ll_frame_buffer_t *rx_frame, twai_frame_header_t *header)
uint8_t *data, uint32_t buf_sz, uint32_t *flags)
{ {
//Copy frame information // Copy frame information
*dlc = rx_frame->dlc; header->dlc = rx_frame->dlc;
uint32_t flags_temp = 0; header->ide = rx_frame->frame_format;
flags_temp |= (rx_frame->frame_format) ? TWAI_MSG_FLAG_EXTD : 0; header->rtr = rx_frame->rtr;
flags_temp |= (rx_frame->rtr) ? TWAI_MSG_FLAG_RTR : 0; header->fdf = 0;
flags_temp |= (rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_MSG_FLAG_DLC_NON_COMP : 0; header->brs = 0;
*flags = flags_temp; header->esi = 0;
header->timestamp = 0;
//Copy ID. The ID registers are big endian and left aligned, therefore a bswap will be required // Copy ID. The ID registers are big endian and left aligned, therefore a bswap will be required
if (rx_frame->frame_format) { if (rx_frame->frame_format) {
uint32_t id_temp = 0; uint32_t id_temp = 0;
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
id_temp |= rx_frame->extended.id[i] << (8 * i); id_temp |= rx_frame->extended.id[i] << (8 * i);
} }
id_temp = HAL_SWAP32(id_temp) >> 3; //((byte[i] << 8*(3-i)) >> 3) id_temp = HAL_SWAP32(id_temp) >> 3; //((byte[i] << 8*(3-i)) >> 3)
*id = id_temp & TWAI_EXTD_ID_MASK; header->id = id_temp & TWAI_EXTD_ID_MASK;
} else { } else {
uint32_t id_temp = 0; uint32_t id_temp = 0;
for (int i = 0; i < 2; i++) { for (int i = 0; i < 2; i++) {
id_temp |= rx_frame->standard.id[i] << (8 * i); id_temp |= rx_frame->standard.id[i] << (8 * i);
} }
id_temp = HAL_SWAP16(id_temp) >> 5; //((byte[i] << 8*(1-i)) >> 5) id_temp = HAL_SWAP16(id_temp) >> 5; //((byte[i] << 8*(1-i)) >> 5)
*id = id_temp & TWAI_STD_ID_MASK; header->id = id_temp & TWAI_STD_ID_MASK;
} }
}
uint8_t *data_buffer = (rx_frame->frame_format) ? rx_frame->extended.data : rx_frame->standard.data; /**
//Only copy data if the frame is a data frame (i.e. not a remote frame) * @brief Parse formatted TWAI frame data (RX Buffer Layout) into data buffer
*
* @param[in] rx_frame Pointer to formatted frame
* @param[out] data Pointer to data buffer
* @param[in] data_len_limit The data length limit, if less than frame data length, over length data will be dropped
*/
__attribute__((always_inline))
static inline void twai_ll_parse_frame_data(const twai_ll_frame_buffer_t *rx_frame, uint8_t *data, uint8_t data_len_limit)
{
const uint8_t *data_buffer = (rx_frame->frame_format) ? rx_frame->extended.data : rx_frame->standard.data;
// Only copy data if the frame is a data frame (i.e. not a remote frame)
int data_length = (rx_frame->rtr) ? 0 : ((rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_FRAME_MAX_DLC : rx_frame->dlc); int data_length = (rx_frame->rtr) ? 0 : ((rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_FRAME_MAX_DLC : rx_frame->dlc);
data_length = (data_length < buf_sz) ? data_length : buf_sz; data_length = (data_length < data_len_limit) ? data_length : data_len_limit;
for (int i = 0; i < data_length; i++) { for (int i = 0; i < data_length; i++) {
data[i] = data_buffer[i]; data[i] = data_buffer[i];
} }

50
components/hal/esp32s2/include/hal/twai_ll.h
View File

@@ -650,7 +650,7 @@ static inline void twai_ll_set_tx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t
* @param hw Start address of the TWAI registers * @param hw Start address of the TWAI registers
* @param rx_frame Pointer to store formatted frame * @param rx_frame Pointer to store formatted frame
* *
* @note Call twai_ll_parse_frame_buffer() to parse the formatted frame * @note Call twai_hal_parse_frame() to parse the formatted frame
*/ */
__attribute__((always_inline)) __attribute__((always_inline))
static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t *rx_frame) static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t *rx_frame)
@@ -724,47 +724,55 @@ static inline bool twai_ll_frame_is_ext_format(twai_ll_frame_buffer_t *rx_frame)
} }
/** /**
* @brief Parse formatted TWAI frame (RX Buffer Layout) into its constituent contents * @brief Parse formatted TWAI frame header (RX Buffer Layout) into twai_frame_header_t
* *
* @param[in] rx_frame Pointer to formatted frame * @param[in] rx_frame Pointer to formatted frame
* @param[out] id 11 or 29bit ID * @param[out] header Pointer to frame header structure
* @param[out] dlc Data length code
* @param[out] data Data. Left over bytes set to 0.
* @param[out] format Type of TWAI frame
*/ */
__attribute__((always_inline)) __attribute__((always_inline))
static inline void twai_ll_parse_frame_buffer(twai_ll_frame_buffer_t *rx_frame, uint32_t *id, uint8_t *dlc, static inline void twai_ll_parse_frame_header(const twai_ll_frame_buffer_t *rx_frame, twai_frame_header_t *header)
uint8_t *data, uint32_t buf_sz, uint32_t *flags)
{ {
//Copy frame information // Copy frame information
*dlc = rx_frame->dlc; header->dlc = rx_frame->dlc;
uint32_t flags_temp = 0; header->ide = rx_frame->frame_format;
flags_temp |= (rx_frame->frame_format) ? TWAI_MSG_FLAG_EXTD : 0; header->rtr = rx_frame->rtr;
flags_temp |= (rx_frame->rtr) ? TWAI_MSG_FLAG_RTR : 0; header->fdf = 0;
flags_temp |= (rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_MSG_FLAG_DLC_NON_COMP : 0; header->brs = 0;
*flags = flags_temp; header->esi = 0;
header->timestamp = 0;
//Copy ID. The ID registers are big endian and left aligned, therefore a bswap will be required // Copy ID. The ID registers are big endian and left aligned, therefore a bswap will be required
if (rx_frame->frame_format) { if (rx_frame->frame_format) {
uint32_t id_temp = 0; uint32_t id_temp = 0;
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
id_temp |= rx_frame->extended.id[i] << (8 * i); id_temp |= rx_frame->extended.id[i] << (8 * i);
} }
id_temp = HAL_SWAP32(id_temp) >> 3; //((byte[i] << 8*(3-i)) >> 3) id_temp = HAL_SWAP32(id_temp) >> 3; //((byte[i] << 8*(3-i)) >> 3)
*id = id_temp & TWAI_EXTD_ID_MASK; header->id = id_temp & TWAI_EXTD_ID_MASK;
} else { } else {
uint32_t id_temp = 0; uint32_t id_temp = 0;
for (int i = 0; i < 2; i++) { for (int i = 0; i < 2; i++) {
id_temp |= rx_frame->standard.id[i] << (8 * i); id_temp |= rx_frame->standard.id[i] << (8 * i);
} }
id_temp = HAL_SWAP16(id_temp) >> 5; //((byte[i] << 8*(1-i)) >> 5) id_temp = HAL_SWAP16(id_temp) >> 5; //((byte[i] << 8*(1-i)) >> 5)
*id = id_temp & TWAI_STD_ID_MASK; header->id = id_temp & TWAI_STD_ID_MASK;
} }
}
uint8_t *data_buffer = (rx_frame->frame_format) ? rx_frame->extended.data : rx_frame->standard.data; /**
//Only copy data if the frame is a data frame (i.e. not a remote frame) * @brief Parse formatted TWAI frame data (RX Buffer Layout) into data buffer
*
* @param[in] rx_frame Pointer to formatted frame
* @param[out] data Pointer to data buffer
* @param[in] data_len_limit The data length limit, if less than frame data length, over length data will be dropped
*/
__attribute__((always_inline))
static inline void twai_ll_parse_frame_data(const twai_ll_frame_buffer_t *rx_frame, uint8_t *data, uint8_t data_len_limit)
{
const uint8_t *data_buffer = (rx_frame->frame_format) ? rx_frame->extended.data : rx_frame->standard.data;
// Only copy data if the frame is a data frame (i.e. not a remote frame)
int data_length = (rx_frame->rtr) ? 0 : ((rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_FRAME_MAX_DLC : rx_frame->dlc); int data_length = (rx_frame->rtr) ? 0 : ((rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_FRAME_MAX_DLC : rx_frame->dlc);
data_length = (data_length < buf_sz) ? data_length : buf_sz; data_length = (data_length < data_len_limit) ? data_length : data_len_limit;
for (int i = 0; i < data_length; i++) { for (int i = 0; i < data_length; i++) {
data[i] = data_buffer[i]; data[i] = data_buffer[i];
} }

50
components/hal/esp32s3/include/hal/twai_ll.h
View File

@@ -647,7 +647,7 @@ static inline void twai_ll_set_tx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t
* @param hw Start address of the TWAI registers * @param hw Start address of the TWAI registers
* @param rx_frame Pointer to store formatted frame * @param rx_frame Pointer to store formatted frame
* *
* @note Call twai_ll_parse_frame_buffer() to parse the formatted frame * @note Call twai_hal_parse_frame() to parse the formatted frame
*/ */
__attribute__((always_inline)) __attribute__((always_inline))
static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t *rx_frame) static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t *rx_frame)
@@ -721,47 +721,55 @@ static inline bool twai_ll_frame_is_ext_format(twai_ll_frame_buffer_t *rx_frame)
} }
/** /**
* @brief Parse formatted TWAI frame (RX Buffer Layout) into its constituent contents * @brief Parse formatted TWAI frame header (RX Buffer Layout) into twai_frame_header_t
* *
* @param[in] rx_frame Pointer to formatted frame * @param[in] rx_frame Pointer to formatted frame
* @param[out] id 11 or 29bit ID * @param[out] header Pointer to frame header structure
* @param[out] dlc Data length code
* @param[out] data Data. Left over bytes set to 0.
* @param[out] format Type of TWAI frame
*/ */
__attribute__((always_inline)) __attribute__((always_inline))
static inline void twai_ll_parse_frame_buffer(twai_ll_frame_buffer_t *rx_frame, uint32_t *id, uint8_t *dlc, static inline void twai_ll_parse_frame_header(const twai_ll_frame_buffer_t *rx_frame, twai_frame_header_t *header)
uint8_t *data, uint32_t buf_sz, uint32_t *flags)
{ {
//Copy frame information // Copy frame information
*dlc = rx_frame->dlc; header->dlc = rx_frame->dlc;
uint32_t flags_temp = 0; header->ide = rx_frame->frame_format;
flags_temp |= (rx_frame->frame_format) ? TWAI_MSG_FLAG_EXTD : 0; header->rtr = rx_frame->rtr;
flags_temp |= (rx_frame->rtr) ? TWAI_MSG_FLAG_RTR : 0; header->fdf = 0;
flags_temp |= (rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_MSG_FLAG_DLC_NON_COMP : 0; header->brs = 0;
*flags = flags_temp; header->esi = 0;
header->timestamp = 0;
//Copy ID. The ID registers are big endian and left aligned, therefore a bswap will be required // Copy ID. The ID registers are big endian and left aligned, therefore a bswap will be required
if (rx_frame->frame_format) { if (rx_frame->frame_format) {
uint32_t id_temp = 0; uint32_t id_temp = 0;
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
id_temp |= rx_frame->extended.id[i] << (8 * i); id_temp |= rx_frame->extended.id[i] << (8 * i);
} }
id_temp = HAL_SWAP32(id_temp) >> 3; //((byte[i] << 8*(3-i)) >> 3) id_temp = HAL_SWAP32(id_temp) >> 3; //((byte[i] << 8*(3-i)) >> 3)
*id = id_temp & TWAI_EXTD_ID_MASK; header->id = id_temp & TWAI_EXTD_ID_MASK;
} else { } else {
uint32_t id_temp = 0; uint32_t id_temp = 0;
for (int i = 0; i < 2; i++) { for (int i = 0; i < 2; i++) {
id_temp |= rx_frame->standard.id[i] << (8 * i); id_temp |= rx_frame->standard.id[i] << (8 * i);
} }
id_temp = HAL_SWAP16(id_temp) >> 5; //((byte[i] << 8*(1-i)) >> 5) id_temp = HAL_SWAP16(id_temp) >> 5; //((byte[i] << 8*(1-i)) >> 5)
*id = id_temp & TWAI_STD_ID_MASK; header->id = id_temp & TWAI_STD_ID_MASK;
} }
}
uint8_t *data_buffer = (rx_frame->frame_format) ? rx_frame->extended.data : rx_frame->standard.data; /**
//Only copy data if the frame is a data frame (i.e. not a remote frame) * @brief Parse formatted TWAI frame data (RX Buffer Layout) into data buffer
*
* @param[in] rx_frame Pointer to formatted frame
* @param[out] data Pointer to data buffer
* @param[in] data_len_limit The data length limit, if less than frame data length, over length data will be dropped
*/
__attribute__((always_inline))
static inline void twai_ll_parse_frame_data(const twai_ll_frame_buffer_t *rx_frame, uint8_t *data, uint8_t data_len_limit)
{
const uint8_t *data_buffer = (rx_frame->frame_format) ? rx_frame->extended.data : rx_frame->standard.data;
// Only copy data if the frame is a data frame (i.e. not a remote frame)
int data_length = (rx_frame->rtr) ? 0 : ((rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_FRAME_MAX_DLC : rx_frame->dlc); int data_length = (rx_frame->rtr) ? 0 : ((rx_frame->dlc > TWAI_FRAME_MAX_DLC) ? TWAI_FRAME_MAX_DLC : rx_frame->dlc);
data_length = (data_length < buf_sz) ? data_length : buf_sz; data_length = (data_length < data_len_limit) ? data_length : data_len_limit;
for (int i = 0; i < data_length; i++) { for (int i = 0; i < data_length; i++) {
data[i] = data_buffer[i]; data[i] = data_buffer[i];
} }

8
components/hal/twai_hal_sja1000.c
View File

@@ -382,10 +382,10 @@ void twai_hal_format_frame(const twai_hal_trans_desc_t *trans_desc, twai_hal_fra
void twai_hal_parse_frame(const twai_hal_frame_t *frame, twai_frame_header_t *header, uint8_t *buffer, uint8_t buffer_len) void twai_hal_parse_frame(const twai_hal_frame_t *frame, twai_frame_header_t *header, uint8_t *buffer, uint8_t buffer_len)
{ {
twai_message_t msg_flags = {0}; twai_ll_parse_frame_header((const twai_ll_frame_buffer_t *)frame, header);
twai_ll_parse_frame_buffer((twai_hal_frame_t *)frame, &header->id, (uint8_t *)&header->dlc, buffer, buffer_len, &msg_flags.flags); if (!header->rtr) {
header->ide = msg_flags.extd; twai_ll_parse_frame_data((const twai_ll_frame_buffer_t *)frame, buffer, buffer_len);
header->rtr = msg_flags.rtr; }
} }
void twai_hal_set_tx_buffer_and_transmit(twai_hal_context_t *hal_ctx, twai_hal_frame_t *tx_frame, uint8_t buffer_idx) void twai_hal_set_tx_buffer_and_transmit(twai_hal_context_t *hal_ctx, twai_hal_frame_t *tx_frame, uint8_t buffer_idx)