espressif/esp-idf
1
0
Fork 1
mirror of https://github.com/espressif/esp-idf.git synced 2025-08-04 21:24:32 +02:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'fix/twai_fix_clock_sel_and_c5_errata' into 'master'

Browse Source 
fix(driver_twai): fixed clock sel and c5 listen only mode errata

Closes IDF-13144 and IDF-13059

See merge request espressif/esp-idf!40057
This commit is contained in:
morris
2025-06-30 19:42:52 +08:00
parent 9f5c9c7ef6 af6f1dcaaa
commit 76cec451ce
17 changed files with 210 additions and 192 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
components/driver/twai/twai.c
View File

@@ -308,24 +308,24 @@ static void twai_configure_gpio(twai_obj_t *p_obj)
//Set RX pin
gpio_func_sel(p_obj->rx_io, PIN_FUNC_GPIO);
gpio_input_enable(p_obj->rx_io);
esp_rom_gpio_connect_in_signal(p_obj->rx_io, twai_controller_periph_signals.controllers[controller_id].rx_sig, false);
esp_rom_gpio_connect_in_signal(p_obj->rx_io, twai_periph_signals[controller_id].rx_sig, false);
//Set TX pin
gpio_func_sel(p_obj->tx_io, PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(p_obj->tx_io, twai_controller_periph_signals.controllers[controller_id].tx_sig, false, false);
esp_rom_gpio_connect_out_signal(p_obj->tx_io, twai_periph_signals[controller_id].tx_sig, false, false);
//Configure output clock pin (Optional)
if (GPIO_IS_VALID_OUTPUT_GPIO(p_obj->clkout_io)) {
gpio_mask |= BIT64(p_obj->clkout_io);
gpio_func_sel(p_obj->clkout_io, PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(p_obj->clkout_io, twai_controller_periph_signals.controllers[controller_id].clk_out_sig, false, false);
esp_rom_gpio_connect_out_signal(p_obj->clkout_io, twai_periph_signals[controller_id].clk_out_sig, false, false);
}
//Configure bus status pin (Optional)
if (GPIO_IS_VALID_OUTPUT_GPIO(p_obj->bus_off_io)) {
gpio_mask |= BIT64(p_obj->bus_off_io);
gpio_func_sel(p_obj->bus_off_io, PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(p_obj->bus_off_io, twai_controller_periph_signals.controllers[controller_id].bus_off_sig, false, false);
esp_rom_gpio_connect_out_signal(p_obj->bus_off_io, twai_periph_signals[controller_id].bus_off_sig, false, false);
}
uint64_t busy_mask = esp_gpio_reserve(gpio_mask);
@@ -343,7 +343,7 @@ static void twai_release_gpio(twai_obj_t *p_obj)
assert(GPIO_IS_VALID_OUTPUT_GPIO(p_obj->tx_io)); //coverity check
uint64_t gpio_mask = BIT64(p_obj->tx_io);
esp_rom_gpio_connect_in_signal(GPIO_MATRIX_CONST_ONE_INPUT, twai_controller_periph_signals.controllers[p_obj->controller_id].rx_sig, false);
esp_rom_gpio_connect_in_signal(GPIO_MATRIX_CONST_ONE_INPUT, twai_periph_signals[p_obj->controller_id].rx_sig, false);
gpio_output_disable(p_obj->tx_io);
if (GPIO_IS_VALID_OUTPUT_GPIO(p_obj->clkout_io)) {
gpio_mask |= BIT64(p_obj->clkout_io);
@@ -413,7 +413,7 @@ static esp_err_t twai_alloc_driver_obj(const twai_general_config_t *g_config, tw
goto err;
}
//Allocate interrupt
ret = esp_intr_alloc(twai_controller_periph_signals.controllers[controller_id].irq_id,
ret = esp_intr_alloc(twai_periph_signals[controller_id].irq_id,
g_config->intr_flags | ESP_INTR_FLAG_INTRDISABLED,
twai_intr_handler_main,
p_obj,

1
components/esp_driver_twai/esp_twai.c
View File

@@ -145,6 +145,7 @@ esp_err_t twai_node_transmit(twai_node_handle_t node, const twai_frame_t *frame,
esp_err_t twai_node_receive_from_isr(twai_node_handle_t node, twai_frame_t *rx_frame)
{
ESP_RETURN_ON_FALSE_ISR(node && rx_frame, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null");
ESP_RETURN_ON_FALSE_ISR((rx_frame->buffer_len == 0) || esp_ptr_in_dram(rx_frame->buffer) || esp_ptr_external_ram(rx_frame->buffer), ESP_ERR_INVALID_ARG, TAG, "invalid 'rx_frame->buffer' pointer or buffer_len");
ESP_RETURN_ON_FALSE_ISR(node->receive_isr, ESP_ERR_NOT_SUPPORTED, TAG, "receive func null");
return node->receive_isr(node, rx_frame);

61
components/esp_driver_twai/esp_twai_onchip.c
View File

@@ -6,6 +6,7 @@
#include "esp_twai.h"
#include "esp_twai_onchip.h"
#include "soc/gpio_sig_map.h"
#include "esp_private/twai_interface.h"
#include "esp_private/twai_utils.h"
#include "twai_private.h"
@@ -127,27 +128,25 @@ static esp_err_t _node_config_io(twai_onchip_ctx_t *node, const twai_onchip_node
uint64_t reserve_mask = BIT64(node_config->io_cfg.tx);
// Set RX pin
gpio_input_enable(node_config->io_cfg.rx);
gpio_set_pull_mode(node_config->io_cfg.rx, GPIO_PULLUP_ONLY); // pullup to avoid noise if no connection to transceiver
gpio_func_sel(node_config->io_cfg.rx, PIN_FUNC_GPIO);
esp_rom_gpio_connect_in_signal(node_config->io_cfg.rx, twai_controller_periph_signals.controllers[node->ctrlr_id].rx_sig, false);
gpio_matrix_input(node_config->io_cfg.rx, twai_periph_signals[node->ctrlr_id].rx_sig, false);
// Set TX pin
gpio_func_sel(node_config->io_cfg.tx, PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(node_config->io_cfg.tx, twai_controller_periph_signals.controllers[node->ctrlr_id].tx_sig, false, false);
// If enable_listen_only, disconnect twai signal, and output high to avoid any influence to bus
gpio_set_level(node_config->io_cfg.tx, 1);
int tx_sig = (node_config->flags.enable_listen_only) ? SIG_GPIO_OUT_IDX : twai_periph_signals[node->ctrlr_id].tx_sig;
gpio_matrix_output(node_config->io_cfg.tx, tx_sig, false, false);
//Configure output clock pin (Optional)
if (GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.quanta_clk_out)) {
reserve_mask |= BIT64(node_config->io_cfg.quanta_clk_out);
gpio_func_sel(node_config->io_cfg.quanta_clk_out, PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(node_config->io_cfg.quanta_clk_out, twai_controller_periph_signals.controllers[node->ctrlr_id].clk_out_sig, false, false);
gpio_matrix_output(node_config->io_cfg.quanta_clk_out, twai_periph_signals[node->ctrlr_id].clk_out_sig, false, false);
}
//Configure bus status pin (Optional)
if (GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.bus_off_indicator)) {
reserve_mask |= BIT64(node_config->io_cfg.bus_off_indicator);
gpio_func_sel(node_config->io_cfg.bus_off_indicator, PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(node_config->io_cfg.bus_off_indicator, twai_controller_periph_signals.controllers[node->ctrlr_id].bus_off_sig, false, false);
gpio_matrix_output(node_config->io_cfg.bus_off_indicator, twai_periph_signals[node->ctrlr_id].bus_off_sig, false, false);
}
node->gpio_reserved = reserve_mask;
@@ -163,7 +162,7 @@ static esp_err_t _node_config_io(twai_onchip_ctx_t *node, const twai_onchip_node
static void _node_release_io(twai_onchip_ctx_t *node)
{
esp_rom_gpio_connect_in_signal(GPIO_MATRIX_CONST_ONE_INPUT, twai_controller_periph_signals.controllers[node->ctrlr_id].rx_sig, false);
esp_rom_gpio_connect_in_signal(GPIO_MATRIX_CONST_ONE_INPUT, twai_periph_signals[node->ctrlr_id].rx_sig, false);
esp_gpio_revoke(node->gpio_reserved);
for (; node->gpio_reserved > 0;) {
uint8_t pos = __builtin_ctzll(node->gpio_reserved);
@@ -321,6 +320,8 @@ static esp_err_t _node_delete(twai_node_handle_t node)
_node_release_io(twai_ctx);
twai_hal_deinit(twai_ctx->hal);
_twai_rcc_clock_ctrl(twai_ctx->ctrlr_id, false);
// curr_clk_src must not NULL as we already set to Default in twai_new_node_onchip
ESP_RETURN_ON_ERROR(esp_clk_tree_enable_src(twai_ctx->curr_clk_src, false), TAG, "disable clock source failed");
_node_destroy(twai_ctx);
return ESP_OK;
}
@@ -353,6 +354,30 @@ static esp_err_t _node_check_timing_valid(twai_onchip_ctx_t *twai_ctx, const twa
return ESP_OK;
}
static esp_err_t _node_set_clock_source(twai_node_handle_t node, twai_clock_source_t clock_src)
{
twai_onchip_ctx_t *twai_ctx = __containerof(node, twai_onchip_ctx_t, api_base);
if (clock_src != twai_ctx->curr_clk_src) {
// Order of operations is important here.
// First enable and switch to the new clock source, then disable the old one.
// To ensure the clock to controller is continuous.
ESP_RETURN_ON_ERROR(esp_clk_tree_enable_src(clock_src, true), TAG, "enable clock source failed");
_twai_rcc_clock_sel(twai_ctx->ctrlr_id, clock_src);
if (twai_ctx->curr_clk_src) {
// Disable previous clock source
esp_err_t err = esp_clk_tree_enable_src(twai_ctx->curr_clk_src, false);
if (err != ESP_OK) {
ESP_LOGE(TAG, "disable previous clock source failed, err: %d", err);
esp_clk_tree_enable_src(clock_src, false);
return err;
}
}
twai_ctx->curr_clk_src = clock_src;
ESP_LOGD(TAG, "set clock source to %d", clock_src);
}
return ESP_OK;
}
static esp_err_t _node_set_bit_timing(twai_node_handle_t node, const twai_timing_advanced_config_t *timing, const twai_timing_advanced_config_t *timing_fd)
{
twai_onchip_ctx_t *twai_ctx = __containerof(node, twai_onchip_ctx_t, api_base);
@@ -384,13 +409,7 @@ static esp_err_t _node_set_bit_timing(twai_node_handle_t node, const twai_timing
}
#endif
if (new_clock_src != twai_ctx->curr_clk_src) {
// TODO: IDF-13144
ESP_ERROR_CHECK(esp_clk_tree_enable_src((soc_module_clk_t)(new_clock_src), true));
twai_ctx->curr_clk_src = new_clock_src;
_twai_rcc_clock_sel(twai_ctx->ctrlr_id, new_clock_src);
}
return ESP_OK;
return _node_set_clock_source(node, new_clock_src);
}
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)
@@ -615,9 +634,11 @@ esp_err_t twai_new_node_onchip(const twai_onchip_node_config_t *node_config, twa
ESP_GOTO_ON_FALSE(node->tx_mount_queue, ESP_ERR_NO_MEM, err, TAG, "no_mem");
uint32_t intr_flags = TWAI_INTR_ALLOC_FLAGS;
intr_flags |= (node_config->intr_priority > 0) ? BIT(node_config->intr_priority) : ESP_INTR_FLAG_LOWMED;
ESP_GOTO_ON_ERROR(esp_intr_alloc(twai_controller_periph_signals.controllers[ctrlr_id].irq_id, intr_flags, _node_isr_main, (void *)node, &node->intr_hdl),
ESP_GOTO_ON_ERROR(esp_intr_alloc(twai_periph_signals[ctrlr_id].irq_id, intr_flags, _node_isr_main, (void *)node, &node->intr_hdl),
err, TAG, "Alloc interrupt failed");
// Set default clock source first
ESP_RETURN_ON_ERROR(_node_set_clock_source(&node->api_base, TWAI_CLK_SRC_DEFAULT), TAG, "enable default clock source failed");
// Enable bus clock and reset controller
_twai_rcc_clock_ctrl(ctrlr_id, true);
// Initialize HAL and configure register defaults.
@@ -638,10 +659,10 @@ esp_err_t twai_new_node_onchip(const twai_onchip_node_config_t *node_config, twa
#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
ESP_GOTO_ON_ERROR(esp_pm_lock_create(ESP_PM_APB_FREQ_MAX, 0, twai_controller_periph_signals.controllers[ctrlr_id].module_name, &node->pm_lock), err, TAG, "init power manager failed");
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_controller_periph_signals.controllers[ctrlr_id].module_name, &node->pm_lock), err, TAG, "init power manager failed");
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 //CONFIG_PM_ENABLE

11
components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.c
View File

@@ -12,6 +12,7 @@
#include "esp_attr.h"
#include "esp_log.h"
#include "esp_heap_caps.h"
#include "esp_clk_tree.h"
#include "freertos/FreeRTOS.h"
#include "esp_twai.h"
#include "esp_twai_onchip.h"
@@ -26,7 +27,7 @@
static IRAM_ATTR bool test_driver_install_rx_cb(twai_node_handle_t handle, const twai_rx_done_event_data_t *edata, void *user_ctx)
{
twai_frame_t rx_frame;
twai_frame_t rx_frame = {0};
if (ESP_OK == twai_node_receive_from_isr(handle, &rx_frame)) {
ESP_EARLY_LOGI("Recv ", "id 0x%lx rtr %d", rx_frame.header.id, rx_frame.header.rtr);
}
@@ -89,7 +90,7 @@ TEST_CASE("twai install uninstall (loopback)", "[twai]")
TEST_ESP_OK(twai_node_enable(node_hdl[SOC_TWAI_CONTROLLER_NUM]));
tx_frame.header.id = 0x100;
TEST_ESP_OK(twai_node_transmit(node_hdl[SOC_TWAI_CONTROLLER_NUM], &tx_frame, 0));
twai_frame_t rx_frame;
twai_frame_t rx_frame = {0};
printf("Test receive from task\n");
TEST_ESP_ERR(ESP_ERR_INVALID_STATE, twai_node_receive_from_isr(node_hdl[SOC_TWAI_CONTROLLER_NUM], &rx_frame));
@@ -115,6 +116,7 @@ static void test_twai_baudrate_correctness(twai_clock_source_t clk_src, uint32_t
};
TEST_ESP_OK(twai_new_node_onchip(&node_config, &twai_node));
TEST_ESP_OK(twai_node_enable(twai_node));
printf("TWAI driver installed @ %ld Hz\n", test_bitrate);
// We use the UART baudrate detection submodule to measure the TWAI baudrate
uart_bitrate_detect_config_t detect_config = {
@@ -148,8 +150,13 @@ static void test_twai_baudrate_correctness(twai_clock_source_t clk_src, uint32_t
TEST_CASE("twai baudrate measurement", "[twai]")
{
twai_clock_source_t twai_available_clk_srcs[] = SOC_TWAI_CLKS;
uint32_t source_freq = 0;
for (size_t i = 0; i < sizeof(twai_available_clk_srcs) / sizeof(twai_available_clk_srcs[0]); i++) {
TEST_ESP_OK(esp_clk_tree_src_get_freq_hz(twai_available_clk_srcs[i], ESP_CLK_TREE_SRC_FREQ_PRECISION_APPROX, &source_freq));
printf("Test clock source %d frequency: %ld Hz\n", twai_available_clk_srcs[i], source_freq);
test_twai_baudrate_correctness(twai_available_clk_srcs[i], 200000);
test_twai_baudrate_correctness(twai_available_clk_srcs[i], 1000000);
}
}

2
components/hal/esp32c5/include/hal/twaifd_ll.h
View File

@@ -165,7 +165,7 @@ static inline void twaifd_ll_set_mode(twaifd_dev_t *hw, bool listen_only, bool s
twaifd_mode_settings_reg_t opmode = {.val = hw->mode_settings.val};
opmode.stm = self_test;
opmode.bmm = listen_only;
(void)listen_only; // listen only is not available in this chip, see "CTU FD 2v5 errata 0v2 issue 5"
opmode.ilbp = loopback;
hw->mode_settings.val = opmode.val;

18
components/hal/twai_hal_ctufd.c
View File

@@ -4,6 +4,7 @@
* SPDX-License-Identifier: Apache-2.0
*/
#include <sys/param.h>
#include "hal/twai_hal.h"
#include "hal/twaifd_ll.h"
@@ -118,17 +119,24 @@ void twai_hal_format_frame(const twai_hal_trans_desc_t *trans_desc, twai_hal_fra
{
const twai_frame_header_t *header = trans_desc->frame.header;
int final_dlc = (header->dlc) ? header->dlc : twaifd_len2dlc(trans_desc->frame.buffer_len);
int data_len = (header->dlc) ? twaifd_dlc2len(header->dlc) : trans_desc->frame.buffer_len;
twaifd_ll_format_frame_header(header, final_dlc, frame);
twaifd_ll_format_frame_data(trans_desc->frame.buffer, data_len, frame);
if (!header->rtr) {
int data_len = (header->dlc) ? twaifd_dlc2len(header->dlc) : trans_desc->frame.buffer_len;
data_len = (header->fdf) ? MIN(data_len, TWAIFD_FRAME_MAX_LEN) : MIN(data_len, TWAI_FRAME_MAX_LEN);
twaifd_ll_format_frame_data(trans_desc->frame.buffer, data_len, frame);
}
}
void twai_hal_parse_frame(const twai_hal_frame_t *frame, twai_frame_header_t *header, uint8_t *buffer, uint8_t buffer_len)
{
twaifd_ll_parse_frame_header(frame, header);
int frame_data_len = twaifd_dlc2len(header->dlc);
uint8_t final_len = (frame_data_len < buffer_len) ? frame_data_len : buffer_len;
twaifd_ll_parse_frame_data(frame, buffer, final_len);
if (!header->rtr) {
int frame_data_len = twaifd_dlc2len(header->dlc);
// limit data_len for twai classic non-iso mode.
frame_data_len = (header->fdf) ? MIN(frame_data_len, TWAIFD_FRAME_MAX_LEN) : MIN(frame_data_len, TWAI_FRAME_MAX_LEN);
uint8_t final_len = MIN(frame_data_len, buffer_len);
twaifd_ll_parse_frame_data(frame, buffer, final_len);
}
}
void twai_hal_set_tx_buffer_and_transmit(twai_hal_context_t *hal_ctx, twai_hal_frame_t *tx_frame, uint8_t buffer_idx)

24
components/soc/esp32/twai_periph.c
View File

@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -8,16 +8,14 @@
#include "soc/twai_periph.h"
#include "soc/gpio_sig_map.h"
const twai_controller_signal_conn_t twai_controller_periph_signals = {
.controllers = {
[0] = {
.module = PERIPH_TWAI_MODULE,
.irq_id = ETS_TWAI_INTR_SOURCE,
.tx_sig = TWAI_TX_IDX,
.rx_sig = TWAI_RX_IDX,
.bus_off_sig = TWAI_BUS_OFF_ON_IDX,
.clk_out_sig = TWAI_CLKOUT_IDX,
.stand_by_sig = -1,
},
}
const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
[0] = {
.module_name = "TWAI0",
.irq_id = ETS_TWAI_INTR_SOURCE,
.tx_sig = TWAI_TX_IDX,
.rx_sig = TWAI_RX_IDX,
.bus_off_sig = TWAI_BUS_OFF_ON_IDX,
.clk_out_sig = TWAI_CLKOUT_IDX,
.stand_by_sig = -1,
},
};

24
components/soc/esp32c3/twai_periph.c
View File

@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -7,16 +7,14 @@
#include "soc/twai_periph.h"
#include "soc/gpio_sig_map.h"
const twai_controller_signal_conn_t twai_controller_periph_signals = {
.controllers = {
[0] = {
.module = PERIPH_TWAI_MODULE,
.irq_id = ETS_TWAI_INTR_SOURCE,
.tx_sig = TWAI_TX_IDX,
.rx_sig = TWAI_RX_IDX,
.bus_off_sig = TWAI_BUS_OFF_ON_IDX,
.clk_out_sig = TWAI_CLKOUT_IDX,
.stand_by_sig = -1,
},
}
const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
[0] = {
.module_name = "TWAI0",
.irq_id = ETS_TWAI_INTR_SOURCE,
.tx_sig = TWAI_TX_IDX,
.rx_sig = TWAI_RX_IDX,
.bus_off_sig = TWAI_BUS_OFF_ON_IDX,
.clk_out_sig = TWAI_CLKOUT_IDX,
.stand_by_sig = -1,
},
};

46
components/soc/esp32c5/twai_periph.c
View File

@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -7,27 +7,25 @@
#include "soc/twai_periph.h"
#include "soc/gpio_sig_map.h"
const twai_controller_signal_conn_t twai_controller_periph_signals = {
.controllers = {
[0] = {
.module_name = "TWAI0",
.irq_id = ETS_TWAI0_INTR_SOURCE,
.timer_irq_id = ETS_TWAI0_TIMER_INTR_SOURCE,
.tx_sig = TWAI0_TX_IDX,
.rx_sig = TWAI0_RX_IDX,
.bus_off_sig = TWAI0_BUS_OFF_ON_IDX,
.clk_out_sig = TWAI0_CLKOUT_IDX,
.stand_by_sig = TWAI0_STANDBY_IDX,
},
[1] = {
.module_name = "TWAI1",
.irq_id = ETS_TWAI1_INTR_SOURCE,
.timer_irq_id = ETS_TWAI1_TIMER_INTR_SOURCE,
.tx_sig = TWAI1_TX_IDX,
.rx_sig = TWAI1_RX_IDX,
.bus_off_sig = TWAI1_BUS_OFF_ON_IDX,
.clk_out_sig = TWAI1_CLKOUT_IDX,
.stand_by_sig = TWAI1_STANDBY_IDX,
},
}
const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
[0] = {
.module_name = "TWAI0",
.irq_id = ETS_TWAI0_INTR_SOURCE,
.timer_irq_id = ETS_TWAI0_TIMER_INTR_SOURCE,
.tx_sig = TWAI0_TX_IDX,
.rx_sig = TWAI0_RX_IDX,
.bus_off_sig = TWAI0_BUS_OFF_ON_IDX,
.clk_out_sig = TWAI0_CLKOUT_IDX,
.stand_by_sig = TWAI0_STANDBY_IDX,
},
[1] = {
.module_name = "TWAI1",
.irq_id = ETS_TWAI1_INTR_SOURCE,
.timer_irq_id = ETS_TWAI1_TIMER_INTR_SOURCE,
.tx_sig = TWAI1_TX_IDX,
.rx_sig = TWAI1_RX_IDX,
.bus_off_sig = TWAI1_BUS_OFF_ON_IDX,
.clk_out_sig = TWAI1_CLKOUT_IDX,
.stand_by_sig = TWAI1_STANDBY_IDX,
},
};

40
components/soc/esp32c6/twai_periph.c
View File

@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -8,26 +8,24 @@
#include "soc/twai_reg.h"
#include "soc/gpio_sig_map.h"
const twai_controller_signal_conn_t twai_controller_periph_signals = {
.controllers = {
[0] = {
.module = PERIPH_TWAI0_MODULE,
.irq_id = ETS_TWAI0_INTR_SOURCE,
.tx_sig = TWAI0_TX_IDX,
.rx_sig = TWAI0_RX_IDX,
.bus_off_sig = TWAI0_BUS_OFF_ON_IDX,
.clk_out_sig = TWAI0_CLKOUT_IDX,
.stand_by_sig = TWAI0_STANDBY_IDX,
},
[1] = {
.module = PERIPH_TWAI1_MODULE,
.irq_id = ETS_TWAI1_INTR_SOURCE,
.tx_sig = TWAI1_TX_IDX,
.rx_sig = TWAI1_RX_IDX,
.bus_off_sig = TWAI1_BUS_OFF_ON_IDX,
.clk_out_sig = TWAI1_CLKOUT_IDX,
.stand_by_sig = TWAI1_STANDBY_IDX,
}
const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
[0] = {
.module_name = "TWAI0",
.irq_id = ETS_TWAI0_INTR_SOURCE,
.tx_sig = TWAI0_TX_IDX,
.rx_sig = TWAI0_RX_IDX,
.bus_off_sig = TWAI0_BUS_OFF_ON_IDX,
.clk_out_sig = TWAI0_CLKOUT_IDX,
.stand_by_sig = TWAI0_STANDBY_IDX,
},
[1] = {
.module_name = "TWAI1",
.irq_id = ETS_TWAI1_INTR_SOURCE,
.tx_sig = TWAI1_TX_IDX,
.rx_sig = TWAI1_RX_IDX,
.bus_off_sig = TWAI1_BUS_OFF_ON_IDX,
.clk_out_sig = TWAI1_CLKOUT_IDX,
.stand_by_sig = TWAI1_STANDBY_IDX,
}
};

22
components/soc/esp32h2/twai_periph.c
View File

@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -8,17 +8,15 @@
#include "soc/twai_reg.h"
#include "soc/gpio_sig_map.h"
const twai_controller_signal_conn_t twai_controller_periph_signals = {
.controllers = {
[0] = {
.module = PERIPH_TWAI0_MODULE,
.irq_id = ETS_TWAI0_INTR_SOURCE,
.tx_sig = TWAI_TX_IDX,
.rx_sig = TWAI_RX_IDX,
.bus_off_sig = TWAI_BUS_OFF_ON_IDX,
.clk_out_sig = TWAI_CLKOUT_IDX,
.stand_by_sig = TWAI_STANDBY_IDX,
}
const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
[0] = {
.module_name = "TWAI0",
.irq_id = ETS_TWAI0_INTR_SOURCE,
.tx_sig = TWAI_TX_IDX,
.rx_sig = TWAI_RX_IDX,
.bus_off_sig = TWAI_BUS_OFF_ON_IDX,
.clk_out_sig = TWAI_CLKOUT_IDX,
.stand_by_sig = TWAI_STANDBY_IDX,
}
};

58
components/soc/esp32p4/twai_periph.c
View File

@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -8,35 +8,33 @@
#include "soc/twai_reg.h"
#include "soc/gpio_sig_map.h"
const twai_controller_signal_conn_t twai_controller_periph_signals = {
.controllers = {
[0] = {
.module = PERIPH_TWAI0_MODULE,
.irq_id = ETS_TWAI0_INTR_SOURCE,
.tx_sig = TWAI0_TX_PAD_OUT_IDX,
.rx_sig = TWAI0_RX_PAD_IN_IDX,
.bus_off_sig = TWAI0_BUS_OFF_ON_PAD_OUT_IDX,
.clk_out_sig = TWAI0_CLKOUT_PAD_OUT_IDX,
.stand_by_sig = TWAI0_STANDBY_PAD_OUT_IDX,
},
[1] = {
.module = PERIPH_TWAI1_MODULE,
.irq_id = ETS_TWAI1_INTR_SOURCE,
.tx_sig = TWAI1_TX_PAD_OUT_IDX,
.rx_sig = TWAI1_RX_PAD_IN_IDX,
.bus_off_sig = TWAI1_BUS_OFF_ON_PAD_OUT_IDX,
.clk_out_sig = TWAI1_CLKOUT_PAD_OUT_IDX,
.stand_by_sig = TWAI1_STANDBY_PAD_OUT_IDX,
},
[2] = {
.module = PERIPH_TWAI2_MODULE,
.irq_id = ETS_TWAI2_INTR_SOURCE,
.tx_sig = TWAI2_TX_PAD_OUT_IDX,
.rx_sig = TWAI2_RX_PAD_IN_IDX,
.bus_off_sig = TWAI2_BUS_OFF_ON_PAD_OUT_IDX,
.clk_out_sig = TWAI2_CLKOUT_PAD_OUT_IDX,
.stand_by_sig = TWAI2_STANDBY_PAD_OUT_IDX,
}
const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
[0] = {
.module_name = "TWAI0",
.irq_id = ETS_TWAI0_INTR_SOURCE,
.tx_sig = TWAI0_TX_PAD_OUT_IDX,
.rx_sig = TWAI0_RX_PAD_IN_IDX,
.bus_off_sig = TWAI0_BUS_OFF_ON_PAD_OUT_IDX,
.clk_out_sig = TWAI0_CLKOUT_PAD_OUT_IDX,
.stand_by_sig = TWAI0_STANDBY_PAD_OUT_IDX,
},
[1] = {
.module_name = "TWAI1",
.irq_id = ETS_TWAI1_INTR_SOURCE,
.tx_sig = TWAI1_TX_PAD_OUT_IDX,
.rx_sig = TWAI1_RX_PAD_IN_IDX,
.bus_off_sig = TWAI1_BUS_OFF_ON_PAD_OUT_IDX,
.clk_out_sig = TWAI1_CLKOUT_PAD_OUT_IDX,
.stand_by_sig = TWAI1_STANDBY_PAD_OUT_IDX,
},
[2] = {
.module_name = "TWAI2",
.irq_id = ETS_TWAI2_INTR_SOURCE,
.tx_sig = TWAI2_TX_PAD_OUT_IDX,
.rx_sig = TWAI2_RX_PAD_IN_IDX,
.bus_off_sig = TWAI2_BUS_OFF_ON_PAD_OUT_IDX,
.clk_out_sig = TWAI2_CLKOUT_PAD_OUT_IDX,
.stand_by_sig = TWAI2_STANDBY_PAD_OUT_IDX,
}
};

24
components/soc/esp32s2/twai_periph.c
View File

@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -7,16 +7,14 @@
#include "soc/twai_periph.h"
#include "soc/gpio_sig_map.h"
const twai_controller_signal_conn_t twai_controller_periph_signals = {
.controllers = {
[0] = {
.module = PERIPH_TWAI_MODULE,
.irq_id = ETS_TWAI_INTR_SOURCE,
.tx_sig = TWAI_TX_IDX,
.rx_sig = TWAI_RX_IDX,
.bus_off_sig = TWAI_BUS_OFF_ON_IDX,
.clk_out_sig = TWAI_CLKOUT_IDX,
.stand_by_sig = -1,
},
}
const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
[0] = {
.module_name = "TWAI0",
.irq_id = ETS_TWAI_INTR_SOURCE,
.tx_sig = TWAI_TX_IDX,
.rx_sig = TWAI_RX_IDX,
.bus_off_sig = TWAI_BUS_OFF_ON_IDX,
.clk_out_sig = TWAI_CLKOUT_IDX,
.stand_by_sig = -1,
},
};

24
components/soc/esp32s3/twai_periph.c
View File

@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -7,16 +7,14 @@
#include "soc/twai_periph.h"
#include "soc/gpio_sig_map.h"
const twai_controller_signal_conn_t twai_controller_periph_signals = {
.controllers = {
[0] = {
.module = PERIPH_TWAI_MODULE,
.irq_id = ETS_TWAI_INTR_SOURCE,
.tx_sig = TWAI_TX_IDX,
.rx_sig = TWAI_RX_IDX,
.bus_off_sig = TWAI_BUS_OFF_ON_IDX,
.clk_out_sig = TWAI_CLKOUT_IDX,
.stand_by_sig = -1,
},
}
const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
[0] = {
.module_name = "TWAI0",
.irq_id = ETS_TWAI_INTR_SOURCE,
.tx_sig = TWAI_TX_IDX,
.rx_sig = TWAI_RX_IDX,
.bus_off_sig = TWAI_BUS_OFF_ON_IDX,
.clk_out_sig = TWAI_CLKOUT_IDX,
.stand_by_sig = -1,
},
};

25
components/soc/include/soc/twai_periph.h
View File

@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2019-2024 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2019-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -21,22 +21,19 @@ extern "C" {
#if SOC_TWAI_SUPPORTED
typedef struct {
struct {
const periph_module_t module; // peripheral module
const char *module_name; // peripheral name
const int irq_id; // interrupt source ID
const char *module_name; // peripheral name
const int irq_id; // interrupt source ID
#if SOC_TWAI_SUPPORT_TIMESTAMP
const int timer_irq_id;
const int timer_irq_id;
#endif
const int tx_sig; // TX signal ID in GPIO matrix
const int rx_sig; // RX signal ID in GPIO matrix
const int clk_out_sig; // CLK_OUT signal ID in GPIO matrix
const int bus_off_sig; // BUS_OFF status signal ID in GPIO matrix
const int stand_by_sig; // STAND_BY signal ID in GPIO matrix
} controllers[SOC_TWAI_CONTROLLER_NUM];
} twai_controller_signal_conn_t;
const int tx_sig; // TX signal ID in GPIO matrix
const int rx_sig; // RX signal ID in GPIO matrix
const int clk_out_sig; // CLK_OUT signal ID in GPIO matrix
const int bus_off_sig; // BUS_OFF status signal ID in GPIO matrix
const int stand_by_sig; // STAND_BY signal ID in GPIO matrix
} twai_signal_conn_t;
extern const twai_controller_signal_conn_t twai_controller_periph_signals;
extern const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM];
#if SOC_PAU_SUPPORTED
typedef struct {

8
examples/peripherals/twai/twai_alert_and_recovery/main/twai_alert_and_recovery_example_main.c
View File

@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2010-2024 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2010-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: CC0-1.0
*/
@@ -60,15 +60,15 @@ static SemaphoreHandle_t ctrl_task_sem;
static bool trigger_tx_error = false;
/* --------------------------- Tasks and Functions -------------------------- */
extern const twai_controller_signal_conn_t twai_controller_periph_signals;
extern const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM];
static void invert_tx_bits(bool enable)
{
if (enable) {
//Inverts output of TX to trigger errors
esp_rom_gpio_connect_out_signal(TX_GPIO_NUM, twai_controller_periph_signals.controllers[0].tx_sig, true, false);
esp_rom_gpio_connect_out_signal(TX_GPIO_NUM, twai_periph_signals[0].tx_sig, true, false);
} else {
//Returns TX to default settings
esp_rom_gpio_connect_out_signal(TX_GPIO_NUM, twai_controller_periph_signals.controllers[0].tx_sig, false, false);
esp_rom_gpio_connect_out_signal(TX_GPIO_NUM, twai_periph_signals[0].tx_sig, false, false);
}
}

2
tools/ldgen/test/data/libsoc.a.txt
View File

@@ -523,7 +523,7 @@ Idx Name Size VMA LMA File off Algn
CONTENTS, ALLOC, LOAD, DATA
2 .bss 00000000 00000000 00000000 00000034 2**0
ALLOC
3 .rodata.twai_controller_periph_signals 0000001c 00000000 00000000 00000034 2**2
3 .rodata.twai_periph_signals 0000001c 00000000 00000000 00000034 2**2
CONTENTS, ALLOC, LOAD, READONLY, DATA
4 .debug_info 00000396 00000000 00000000 00000050 2**0
CONTENTS, RELOC, READONLY, DEBUGGING, OCTETS