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fix(twai): twai legacy driver fixed zero dlc transmit

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Closes https://github.com/espressif/esp-idf/issues/17467
This commit is contained in:
wanckl
2025-08-21 16:13:29 +08:00
parent 5c97f96243
commit 7e7f0c5e14
4 changed files with 76 additions and 12 deletions
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22
components/driver/test_apps/legacy_twai/main/test_twai_loop_back.c
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@@ -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
*/
@@ -68,19 +68,21 @@ TEST_CASE("twai_mode_std_no_ack_25kbps", "[twai-loop-back]")
twai_message_t tx_msg = {
.identifier = 0x123,
.data_length_code = 8,
.data = {0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88},
.self = true, // Transmitted message will also received by the same node
};
printf("transmit message\r\n");
TEST_ESP_OK(twai_transmit(&tx_msg, pdMS_TO_TICKS(1000)));
for (int len = 0; len <= 8; len++) {
tx_msg.data_length_code = len;
printf("TX id %lx len %d\r\n", tx_msg.identifier, tx_msg.data_length_code);
TEST_ESP_OK(twai_transmit(&tx_msg, pdMS_TO_TICKS(1000)));
printf("receive message\r\n");
twai_message_t rx_msg;
TEST_ESP_OK(twai_receive(&rx_msg, pdMS_TO_TICKS(1000)));
TEST_ASSERT_TRUE(rx_msg.data_length_code == 8);
for (int i = 0; i < 8; i++) {
TEST_ASSERT_EQUAL(tx_msg.data[i], rx_msg.data[i]);
twai_message_t rx_msg = {};
TEST_ESP_OK(twai_receive(&rx_msg, pdMS_TO_TICKS(1000)));
printf("RX id %lx len %d\r\n", rx_msg.identifier, rx_msg.data_length_code);
TEST_ASSERT_EQUAL(rx_msg.data_length_code, tx_msg.data_length_code);
for (int i = 0; i < rx_msg.data_length_code; i++) {
TEST_ASSERT_EQUAL(tx_msg.data[i], rx_msg.data[i]);
}
}
TEST_ESP_OK(twai_stop());

2
components/driver/twai/twai.c
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@@ -738,7 +738,7 @@ esp_err_t twai_transmit_v2(twai_handle_t handle, const twai_message_t *message,
.frame = {
.header = &header,
.buffer = (uint8_t *)message->data,
.buffer_len = TWAI_FRAME_MAX_LEN,
.buffer_len = message->data_length_code,
},
.config.retry_cnt = message->ss ? 0 : -1,
.config.loopback = message->self,

3
components/esp_driver_twai/esp_twai_onchip.c
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@@ -587,7 +587,8 @@ static esp_err_t _node_queue_tx(twai_node_handle_t node, const twai_frame_t *fra
#if !SOC_TWAI_SUPPORT_FD
ESP_RETURN_ON_FALSE_ISR(!frame->header.fdf || frame->buffer_len <= TWAI_FRAME_MAX_LEN, ESP_ERR_INVALID_ARG, TAG, "fdf flag or buffer_len not supported");
#endif
ESP_RETURN_ON_FALSE_ISR(frame->buffer_len <= (frame->header.fdf ? TWAIFD_FRAME_MAX_LEN : TWAI_FRAME_MAX_LEN), ESP_ERR_INVALID_ARG, TAG, "illegal transfer length (buffer_len %ld)", frame->buffer_len);
ESP_RETURN_ON_FALSE_ISR((frame->header.dlc <= TWAIFD_FRAME_MAX_DLC) && \
(frame->buffer_len <= (frame->header.fdf ? TWAIFD_FRAME_MAX_LEN : TWAI_FRAME_MAX_LEN)), ESP_ERR_INVALID_ARG, TAG, "illegal transfer length (buffer_len %ld)", frame->buffer_len);
ESP_RETURN_ON_FALSE_ISR((!frame->header.brs) || (twai_ctx->valid_fd_timing), ESP_ERR_INVALID_ARG, TAG, "brs can't be used without config data_timing");
ESP_RETURN_ON_FALSE_ISR(!twai_ctx->hal->enable_listen_only, ESP_ERR_NOT_SUPPORTED, TAG, "node is config as listen only");
ESP_RETURN_ON_FALSE_ISR(atomic_load(&twai_ctx->state) != TWAI_ERROR_BUS_OFF, ESP_ERR_INVALID_STATE, TAG, "node is bus off");

61
components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp
View File

@@ -714,3 +714,64 @@ TEST_CASE("twai send from ISR context (loopback)", "[twai]")
printf("ISR send test passed!\n");
}
static IRAM_ATTR bool test_dlc_range_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 *)user_ctx;
if (ESP_OK == twai_node_receive_from_isr(handle, rx_frame)) {
esp_rom_printf(DRAM_STR("RX len %d %s\n"), rx_frame->header.dlc, rx_frame->buffer);
}
return false;
}
TEST_CASE("twai dlc range test", "[twai]")
{
twai_node_handle_t node_hdl;
twai_onchip_node_config_t node_config = {};
node_config.io_cfg.tx = TEST_TX_GPIO;
node_config.io_cfg.rx = TEST_TX_GPIO; // Using same pin for test without transceiver
node_config.bit_timing.bitrate = 800000;
node_config.tx_queue_depth = TEST_FRAME_NUM;
node_config.flags.enable_loopback = true;
node_config.flags.enable_self_test = true;
TEST_ESP_OK(twai_new_node_onchip(&node_config, &node_hdl));
uint8_t rx_buffer[TWAI_FRAME_MAX_LEN] = {0};
twai_frame_t rx_frame = {};
rx_frame.buffer = rx_buffer;
rx_frame.buffer_len = sizeof(rx_buffer);
twai_event_callbacks_t user_cbs = {};
user_cbs.on_rx_done = test_dlc_range_cb;
TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl, &user_cbs, &rx_frame));
TEST_ESP_OK(twai_node_enable(node_hdl));
twai_frame_t tx_frame = {};
tx_frame.header.id = TWAI_STD_ID_MASK;
tx_frame.buffer = (uint8_t *)"hi esp32";
for (int len = 0; len < 2 * 9; len++) { // [0:8] is 9 times
if (len < 9) {
tx_frame.buffer_len = len;
tx_frame.header.dlc = 0;
} else {
tx_frame.buffer_len = 0;
tx_frame.header.dlc = len % 9;
}
TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_frame, 100));
TEST_ESP_OK(twai_node_transmit_wait_all_done(node_hdl, -1));
TEST_ASSERT_EQUAL(len % 9, rx_frame.header.dlc);
memset(rx_buffer, 0, sizeof(rx_buffer));
}
tx_frame.buffer_len = 9;
tx_frame.header.dlc = 0;
TEST_ESP_ERR(twai_node_transmit(node_hdl, &tx_frame, 0), ESP_ERR_INVALID_ARG);
tx_frame.buffer_len = 0;
tx_frame.header.dlc = TWAIFD_FRAME_MAX_DLC + 1;
TEST_ESP_ERR(twai_node_transmit(node_hdl, &tx_frame, 0), ESP_ERR_INVALID_ARG);
TEST_ESP_OK(twai_node_disable(node_hdl));
TEST_ESP_OK(twai_node_delete(node_hdl));
}