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fix(driver_twai): fixed tec_rec empty from get_info

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Closes https://github.com/espressif/esp-idf/issues/17434
This commit is contained in:
wanckl
2025-08-27 17:42:15 +08:00
parent 1e1bf5aea3
commit 89578cb372
5 changed files with 48 additions and 36 deletions
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10
components/esp_driver_twai/esp_twai_onchip.c
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@@ -79,8 +79,6 @@ typedef struct {
#endif #endif
_Atomic twai_error_state_t state; _Atomic twai_error_state_t state;
uint16_t tx_error_count;
uint16_t rx_error_count;
twai_node_record_t history; twai_node_record_t history;
atomic_bool hw_busy; atomic_bool hw_busy;
@@ -127,8 +125,8 @@ static esp_err_t _node_config_io(twai_onchip_ctx_t *node, const twai_onchip_node
{ {
ESP_RETURN_ON_FALSE(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.tx) || (node_config->flags.enable_listen_only && (node_config->io_cfg.tx == -1)), ESP_ERR_INVALID_ARG, TAG, "Invalid tx gpio num"); ESP_RETURN_ON_FALSE(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.tx) || (node_config->flags.enable_listen_only && (node_config->io_cfg.tx == -1)), ESP_ERR_INVALID_ARG, TAG, "Invalid tx gpio num");
ESP_RETURN_ON_FALSE(GPIO_IS_VALID_GPIO(node_config->io_cfg.rx), ESP_ERR_INVALID_ARG, TAG, "Invalid rx gpio num"); ESP_RETURN_ON_FALSE(GPIO_IS_VALID_GPIO(node_config->io_cfg.rx), ESP_ERR_INVALID_ARG, TAG, "Invalid rx gpio num");
ESP_RETURN_ON_FALSE(!(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.quanta_clk_out) && (twai_periph_signals[node->ctrlr_id].clk_out_sig < 0)), ESP_ERR_NOT_SUPPORTED, TAG, "quanta_clk_out is not supported"); ESP_RETURN_ON_FALSE(!(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.quanta_clk_out) && (twai_periph_signals[node->ctrlr_id].clk_out_sig < 0)), ESP_ERR_NOT_SUPPORTED, TAG, "quanta_clk_out gpio is not supported");
ESP_RETURN_ON_FALSE(!(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.bus_off_indicator) && (twai_periph_signals[node->ctrlr_id].bus_off_sig < 0)), ESP_ERR_NOT_SUPPORTED, TAG, "bus_off_indicator is not supported"); ESP_RETURN_ON_FALSE(!(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.bus_off_indicator) && (twai_periph_signals[node->ctrlr_id].bus_off_sig < 0)), ESP_ERR_NOT_SUPPORTED, TAG, "bus_off_indicator gpio is not supported");
uint64_t reserve_mask = 0; uint64_t reserve_mask = 0;
// Set RX pin // Set RX pin
@@ -569,8 +567,8 @@ static esp_err_t _node_get_status(twai_node_handle_t node, twai_node_status_t *s
if (status_ret) { if (status_ret) {
status_ret->state = atomic_load(&twai_ctx->state); status_ret->state = atomic_load(&twai_ctx->state);
status_ret->tx_error_count = twai_ctx->tx_error_count; status_ret->tx_error_count = twai_hal_get_tec(twai_ctx->hal);
status_ret->rx_error_count = twai_ctx->rx_error_count; status_ret->rx_error_count = twai_hal_get_rec(twai_ctx->hal);
} }
if (record_ret) { if (record_ret) {
*record_ret = twai_ctx->history; *record_ret = twai_ctx->history;

56
components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp
View File

@@ -515,7 +515,7 @@ TEST_CASE("twai bus off recovery (loopback)", "[twai]")
// send frames and trigger error, must become bus off before 50 frames // send frames and trigger error, must become bus off before 50 frames
while ((node_status.state != TWAI_ERROR_BUS_OFF) && (tx_frame.header.id < 50)) { while ((node_status.state != TWAI_ERROR_BUS_OFF) && (tx_frame.header.id < 50)) {
printf("sending frame %ld\n", tx_frame.header.id ++); printf("sending frame %ld last tec %d rec %d\n", tx_frame.header.id ++, node_status.tx_error_count, node_status.rx_error_count);
TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_frame, 500)); TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_frame, 500));
if (tx_frame.header.id > 3) { // trigger error after 3 frames if (tx_frame.header.id > 3) { // trigger error after 3 frames
printf("trigger bit_error now!\n"); printf("trigger bit_error now!\n");
@@ -529,6 +529,11 @@ TEST_CASE("twai bus off recovery (loopback)", "[twai]")
} }
// recover node // recover node
#if SOC_TWAI_SUPPORT_FD
TEST_ASSERT_GREATER_THAN(200, node_status.tx_error_count);
#else
TEST_ASSERT_EQUAL(128, node_status.tx_error_count); // TEC become 128 when bus off on legacy chips
#endif
TEST_ASSERT_EQUAL(TWAI_ERROR_BUS_OFF, node_status.state); TEST_ASSERT_EQUAL(TWAI_ERROR_BUS_OFF, node_status.state);
printf("node offline, start recover ...\n"); printf("node offline, start recover ...\n");
TEST_ESP_OK(twai_node_recover(node_hdl)); TEST_ESP_OK(twai_node_recover(node_hdl));
@@ -539,7 +544,8 @@ TEST_CASE("twai bus off recovery (loopback)", "[twai]")
vTaskDelay(pdMS_TO_TICKS(1000)); vTaskDelay(pdMS_TO_TICKS(1000));
twai_node_get_info(node_hdl, &node_status, NULL); twai_node_get_info(node_hdl, &node_status, NULL);
} }
printf("node recovered! continue\n"); printf("node recovered! current tec %d rec %d, continue\n", node_status.tx_error_count, node_status.rx_error_count);
TEST_ASSERT_LESS_THAN(96, node_status.tx_error_count);
TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_frame, 500)); TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_frame, 500));
TEST_ESP_OK(twai_node_disable(node_hdl)); TEST_ESP_OK(twai_node_disable(node_hdl));
@@ -597,25 +603,25 @@ TEST_CASE("twai tx_wait_all_done thread safe", "[twai]")
// Test data for ISR send functionality // Test data for ISR send functionality
typedef struct { typedef struct {
twai_node_handle_t node; twai_node_handle_t node;
uint32_t rx_count; uint8_t rx_count;
uint32_t tx_isr_send_count; uint8_t tx_isr_send_count;
uint32_t rx_isr_send_count; uint8_t rx_isr_send_count;
twai_frame_t tx_isr_frame;
twai_frame_t rx_isr_frame;
bool test_completed; bool test_completed;
} isr_send_test_ctx_t; } isr_send_test_ctx_t;
static IRAM_ATTR bool test_tx_isr_send_cb(twai_node_handle_t handle, const twai_tx_done_event_data_t *edata, void *user_ctx) static IRAM_ATTR bool test_tx_isr_send_cb(twai_node_handle_t handle, const twai_tx_done_event_data_t *edata, void *user_ctx)
{ {
isr_send_test_ctx_t *ctx = (isr_send_test_ctx_t *)user_ctx; isr_send_test_ctx_t *ctx = (isr_send_test_ctx_t *)user_ctx;
twai_frame_t *isr_frame = &ctx->tx_isr_frame;
// Test sending from TX ISR context // Test sending from TX ISR context
if (ctx->tx_isr_send_count < 3) { if (ctx->tx_isr_send_count < 3) {
static twai_frame_t isr_frame = {}; isr_frame->header.id = 0x200 + ctx->tx_isr_send_count;
isr_frame.header.id = 0x200 + ctx->tx_isr_send_count; isr_frame->header.dlc = 1;
isr_frame.header.dlc = 1;
isr_frame.buffer = (uint8_t*)(&ctx->tx_isr_send_count);
isr_frame.buffer_len = 1;
esp_err_t err = twai_node_transmit(handle, &isr_frame, 0); // timeout must be 0 in ISR esp_err_t err = twai_node_transmit(handle, isr_frame, 0); // timeout must be 0 in ISR
if (err == ESP_OK) { if (err == ESP_OK) {
ctx->tx_isr_send_count++; ctx->tx_isr_send_count++;
} }
@@ -627,23 +633,17 @@ static IRAM_ATTR bool test_tx_isr_send_cb(twai_node_handle_t handle, const twai_
static IRAM_ATTR bool test_rx_isr_send_cb(twai_node_handle_t handle, const twai_rx_done_event_data_t *edata, void *user_ctx) static IRAM_ATTR bool test_rx_isr_send_cb(twai_node_handle_t handle, const twai_rx_done_event_data_t *edata, void *user_ctx)
{ {
isr_send_test_ctx_t *ctx = (isr_send_test_ctx_t *)user_ctx; isr_send_test_ctx_t *ctx = (isr_send_test_ctx_t *)user_ctx;
twai_frame_t rx_frame = {}; twai_frame_t *rx_frame = &ctx->rx_isr_frame;
uint8_t buffer[8];
rx_frame.buffer = buffer;
rx_frame.buffer_len = sizeof(buffer);
if (ESP_OK == twai_node_receive_from_isr(handle, &rx_frame)) { if (ESP_OK == twai_node_receive_from_isr(handle, rx_frame)) {
ctx->rx_count++; ctx->rx_count++;
// Test sending from RX ISR context (response pattern) // Test sending from RX ISR context (response pattern)
if ((rx_frame.header.id >= 0x100) && (rx_frame.header.id < 0x103) && (ctx->rx_isr_send_count < 3)) { if ((rx_frame->header.id >= 0x100) && (rx_frame->header.id < 0x103) && (ctx->rx_isr_send_count < 3)) {
static twai_frame_t response_frame = {}; rx_frame->header.id = 0x300 + ctx->rx_isr_send_count;
response_frame.header.id = 0x300 + ctx->rx_isr_send_count; rx_frame->header.dlc = 1;
response_frame.header.dlc = 1;
response_frame.buffer = (uint8_t*)(&ctx->rx_isr_send_count);
response_frame.buffer_len = 1;
esp_err_t err = twai_node_transmit(handle, &response_frame, 0); // timeout must be 0 in ISR esp_err_t err = twai_node_transmit(handle, rx_frame, 0); // timeout must be 0 in ISR
if (err == ESP_OK) { if (err == ESP_OK) {
ctx->rx_isr_send_count++; ctx->rx_isr_send_count++;
} }
@@ -660,6 +660,8 @@ static IRAM_ATTR bool test_rx_isr_send_cb(twai_node_handle_t handle, const twai_
TEST_CASE("twai send from ISR context (loopback)", "[twai]") TEST_CASE("twai send from ISR context (loopback)", "[twai]")
{ {
isr_send_test_ctx_t test_ctx = {}; isr_send_test_ctx_t test_ctx = {};
test_ctx.tx_isr_frame.buffer = &test_ctx.tx_isr_send_count;
test_ctx.rx_isr_frame.buffer = &test_ctx.rx_isr_send_count;
twai_onchip_node_config_t node_config = {}; twai_onchip_node_config_t node_config = {};
node_config.io_cfg.tx = TEST_TX_GPIO; node_config.io_cfg.tx = TEST_TX_GPIO;
@@ -702,9 +704,9 @@ TEST_CASE("twai send from ISR context (loopback)", "[twai]")
} }
printf("Test results:\n"); printf("Test results:\n");
printf(" RX count: %" PRIu32 "\n", test_ctx.rx_count); printf(" RX count: %d\n", test_ctx.rx_count);
printf(" TX ISR sends: %" PRIu32 "\n", test_ctx.tx_isr_send_count); printf(" TX ISR sends: %d\n", test_ctx.tx_isr_send_count);
printf(" RX ISR sends: %" PRIu32 "\n", test_ctx.rx_isr_send_count); printf(" RX ISR sends: %d\n", test_ctx.rx_isr_send_count);
printf(" Test completed: %s\n", test_ctx.test_completed ? "YES" : "NO"); printf(" Test completed: %s\n", test_ctx.test_completed ? "YES" : "NO");
// Verify test results // Verify test results
@@ -732,6 +734,8 @@ TEST_CASE("twai dlc range test", "[twai]")
twai_onchip_node_config_t node_config = {}; twai_onchip_node_config_t node_config = {};
node_config.io_cfg.tx = TEST_TX_GPIO; 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.io_cfg.rx = TEST_TX_GPIO; // Using same pin for test without transceiver
node_config.io_cfg.quanta_clk_out = GPIO_NUM_NC;
node_config.io_cfg.bus_off_indicator = GPIO_NUM_NC;
node_config.bit_timing.bitrate = 800000; node_config.bit_timing.bitrate = 800000;
node_config.tx_queue_depth = TEST_FRAME_NUM; node_config.tx_queue_depth = TEST_FRAME_NUM;
node_config.flags.enable_loopback = true; node_config.flags.enable_loopback = true;

4
components/hal/include/hal/twai_hal.h
View File

@@ -210,7 +210,7 @@ void twai_hal_start_bus_recovery(twai_hal_context_t *hal_ctx);
* @param hal_ctx Context of the HAL layer * @param hal_ctx Context of the HAL layer
* @return TX Error Counter Value * @return TX Error Counter Value
*/ */
uint32_t twai_hal_get_tec(twai_hal_context_t *hal_ctx); uint16_t twai_hal_get_tec(twai_hal_context_t *hal_ctx);
/** /**
* @brief Get the value of the RX Error Counter * @brief Get the value of the RX Error Counter
@@ -218,7 +218,7 @@ uint32_t twai_hal_get_tec(twai_hal_context_t *hal_ctx);
* @param hal_ctx Context of the HAL layer * @param hal_ctx Context of the HAL layer
* @return RX Error Counter Value * @return RX Error Counter Value
*/ */
uint32_t twai_hal_get_rec(twai_hal_context_t *hal_ctx); uint16_t twai_hal_get_rec(twai_hal_context_t *hal_ctx);
/** /**
* @brief Check if certain HAL state flags are set * @brief Check if certain HAL state flags are set

10
components/hal/twai_hal_ctufd.c
View File

@@ -113,6 +113,16 @@ void twai_hal_start_bus_recovery(twai_hal_context_t *hal_ctx)
twaifd_ll_set_operate_cmd(hal_ctx->dev, TWAIFD_LL_HW_CMD_RST_ERR_CNT); twaifd_ll_set_operate_cmd(hal_ctx->dev, TWAIFD_LL_HW_CMD_RST_ERR_CNT);
} }
uint16_t twai_hal_get_tec(twai_hal_context_t *hal_ctx)
{
return twaifd_ll_get_tec((hal_ctx)->dev);
}
uint16_t twai_hal_get_rec(twai_hal_context_t *hal_ctx)
{
return twaifd_ll_get_rec((hal_ctx)->dev);
}
// /* ------------------------------------ IRAM Content ------------------------------------ */ // /* ------------------------------------ IRAM Content ------------------------------------ */
void twai_hal_format_frame(const twai_hal_trans_desc_t *trans_desc, twai_hal_frame_t *frame) void twai_hal_format_frame(const twai_hal_trans_desc_t *trans_desc, twai_hal_frame_t *frame)

4
components/hal/twai_hal_sja1000.c
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@@ -127,12 +127,12 @@ twai_error_state_t twai_hal_get_err_state(twai_hal_context_t *hal_ctx)
return (hw_state & TWAI_LL_STATUS_BS) ? TWAI_ERROR_BUS_OFF : (hw_state & TWAI_LL_STATUS_ES) ? TWAI_ERROR_PASSIVE : TWAI_ERROR_ACTIVE; return (hw_state & TWAI_LL_STATUS_BS) ? TWAI_ERROR_BUS_OFF : (hw_state & TWAI_LL_STATUS_ES) ? TWAI_ERROR_PASSIVE : TWAI_ERROR_ACTIVE;
} }
uint32_t twai_hal_get_tec(twai_hal_context_t *hal_ctx) uint16_t twai_hal_get_tec(twai_hal_context_t *hal_ctx)
{ {
return twai_ll_get_tec((hal_ctx)->dev); return twai_ll_get_tec((hal_ctx)->dev);
} }
uint32_t twai_hal_get_rec(twai_hal_context_t *hal_ctx) uint16_t twai_hal_get_rec(twai_hal_context_t *hal_ctx)
{ {
return twai_ll_get_rec((hal_ctx)->dev); return twai_ll_get_rec((hal_ctx)->dev);
} }