espressif/esp-idf
1
0
Fork 1
mirror of https://github.com/espressif/esp-idf.git synced 2025-08-01 03:34:32 +02:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'fix/twai_io_init_glitch_v5.3' into 'release/v5.3'

Browse Source 
fix(driver_twai): fixed bus-off when twai_init due to wrong gpio config (v5.3)

See merge request espressif/esp-idf!34816
This commit is contained in:
morris
2025-01-14 11:57:30 +08:00
parent adf5319639 283a192713
commit 4ff6e2cc6b
2 changed files with 24 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files

31
components/driver/twai/twai.c
View File

@@ -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);
}
}

26
components/hal/include/hal/twai_types.h
View File

@@ -65,26 +65,24 @@ extern "C" {
#define TWAI_TIMING_CONFIG_20KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 400000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
#endif // (SOC_TWAI_BRP_MAX > 128) || (CONFIG_ESP32_REV_MIN_FULL >= 200)
#if CONFIG_XTAL_FREQ == 32 // TWAI_CLK_SRC_XTAL = 32M
#define TWAI_TIMING_CONFIG_25KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 400000, .brp = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_50KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 1000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_100KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 2000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_125KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 4000000, .brp = 0, .tseg_1 = 23, .tseg_2 = 8, .sjw = 3, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_250KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 4000000, .brp = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_500KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 8000000, .brp = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_800KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 16000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_1MBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 16000000, .brp = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
#elif CONFIG_XTAL_FREQ == 40 // TWAI_CLK_SRC_XTAL = 40M
#if SOC_TWAI_CLK_SUPPORT_XTAL
#define TWAI_TIMING_CONFIG_25KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 500000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
#else // APB80M
#define TWAI_TIMING_CONFIG_25KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 625000, .brp = 0, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false}
#endif
#define TWAI_TIMING_CONFIG_50KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 1000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_100KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 2000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_125KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 2500000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_250KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 5000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_125KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 2000000, .brp = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_250KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 4000000, .brp = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 2, .triple_sampling = false}
#if SOC_TWAI_CLK_SUPPORT_XTAL && CONFIG_XTAL_FREQ == 40 // TWAI_CLK_SRC_XTAL = 40M
#define TWAI_TIMING_CONFIG_500KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 10000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_800KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 20000000, .brp = 0, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_1MBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 20000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}
#endif //CONFIG_XTAL_FREQ
#else // 32M, 48M, APB80M
#define TWAI_TIMING_CONFIG_500KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 8000000, .brp = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 2, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_800KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 8000000, .brp = 0, .tseg_1 = 6, .tseg_2 = 3, .sjw = 1, .triple_sampling = false}
#define TWAI_TIMING_CONFIG_1MBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 8000000, .brp = 0, .tseg_1 = 5, .tseg_2 = 2, .sjw = 1, .triple_sampling = false}
#endif
/**
* @brief Initializer macro for filter configuration to accept all IDs