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fix(twai): busoff and clkout may not available in SOC

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return ESP_ERR_NOT_SUPPORTED if these signals are required from user but
not available in SOC
This commit is contained in:
morris
2025-08-22 14:32:08 +08:00
parent c54562ab72
commit 921e62b81f
8 changed files with 44 additions and 14 deletions
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4
components/esp_driver_twai/esp_twai_onchip.c
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@@ -127,8 +127,10 @@ 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_GPIO(node_config->io_cfg.rx), ESP_ERR_INVALID_ARG, TAG, "Invalid rx gpio num");
uint64_t reserve_mask = 0;
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.bus_off_indicator) && (twai_periph_signals[node->ctrlr_id].bus_off_sig < 0)), ESP_ERR_NOT_SUPPORTED, TAG, "bus_off_indicator is not supported");
uint64_t reserve_mask = 0;
// Set RX pin
gpio_set_pull_mode(node_config->io_cfg.rx, GPIO_PULLUP_ONLY); // pullup to avoid noise if no connection to transceiver
gpio_matrix_input(node_config->io_cfg.rx, twai_periph_signals[node->ctrlr_id].rx_sig, false);

16
components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp
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@@ -48,6 +48,8 @@ TEST_CASE("twai install uninstall (loopback)", "[twai]")
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.io_cfg.quanta_clk_out = GPIO_NUM_NC;
node_config.io_cfg.bus_off_indicator = GPIO_NUM_NC;
node_config.bit_timing.bitrate = 1000000;
node_config.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH;
node_config.flags.enable_self_test = true;
@@ -111,6 +113,8 @@ static void test_twai_baudrate_correctness(twai_clock_source_t clk_src, uint32_t
twai_onchip_node_config_t node_config = {};
node_config.io_cfg.tx = TEST_TX_GPIO;
node_config.io_cfg.rx = TEST_TX_GPIO;
node_config.io_cfg.quanta_clk_out = GPIO_NUM_NC;
node_config.io_cfg.bus_off_indicator = GPIO_NUM_NC;
node_config.clk_src = clk_src;
node_config.bit_timing.bitrate = test_bitrate;
node_config.tx_queue_depth = 1;
@@ -183,6 +187,8 @@ TEST_CASE("twai transmit stop resume (loopback)", "[twai]")
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.io_cfg.quanta_clk_out = GPIO_NUM_NC;
node_config.io_cfg.bus_off_indicator = GPIO_NUM_NC;
node_config.bit_timing.bitrate = 200000;
node_config.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH;
node_config.flags.enable_self_test = true;
@@ -280,6 +286,8 @@ TEST_CASE("twai mask filter (loopback)", "[twai]")
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.io_cfg.quanta_clk_out = GPIO_NUM_NC;
node_config.io_cfg.bus_off_indicator = GPIO_NUM_NC;
node_config.bit_timing.bitrate = 1000000;
node_config.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH;
node_config.flags.enable_self_test = true;
@@ -363,6 +371,8 @@ TEST_CASE("twai dual 16bit mask filter (loopback)", "[twai]")
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.io_cfg.quanta_clk_out = GPIO_NUM_NC;
node_config.io_cfg.bus_off_indicator = GPIO_NUM_NC;
node_config.bit_timing.bitrate = 1000000;
node_config.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH;
node_config.flags.enable_self_test = true;
@@ -436,6 +446,8 @@ TEST_CASE("twai driver cache safe (loopback)", "[twai]")
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.io_cfg.quanta_clk_out = GPIO_NUM_NC;
node_config.io_cfg.bus_off_indicator = GPIO_NUM_NC;
node_config.bit_timing.bitrate = 50000; //slow bitrate to ensure cache disabled before tx_queue finish
node_config.tx_queue_depth = TEST_FRAME_NUM;
node_config.flags.enable_loopback = true;
@@ -487,6 +499,8 @@ TEST_CASE("twai bus off recovery (loopback)", "[twai]")
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.io_cfg.quanta_clk_out = GPIO_NUM_NC;
node_config.io_cfg.bus_off_indicator = GPIO_NUM_NC;
node_config.bit_timing.bitrate = 50000; //slow bitrate to ensure soft error trigger
node_config.tx_queue_depth = 1;
node_config.flags.enable_self_test = true;
@@ -558,6 +572,8 @@ TEST_CASE("twai tx_wait_all_done thread safe", "[twai]")
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.io_cfg.quanta_clk_out = GPIO_NUM_NC;
node_config.io_cfg.bus_off_indicator = GPIO_NUM_NC;
node_config.bit_timing.bitrate = 100000; //slow bitrate to ensure transmite finish during wait_all_done
node_config.tx_queue_depth = TEST_FRAME_NUM;
node_config.flags.enable_self_test = true;

4
components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.cpp
View File

@@ -66,6 +66,8 @@ TEST_CASE("twai range filter (loopback)", "[twai]")
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.io_cfg.quanta_clk_out = GPIO_NUM_NC;
node_config.io_cfg.bus_off_indicator = GPIO_NUM_NC;
node_config.bit_timing.bitrate = 1000000;
node_config.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH;
node_config.flags.enable_self_test = true;
@@ -139,6 +141,8 @@ TEST_CASE("twai fd transmit time (loopback)", "[twai]")
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.io_cfg.quanta_clk_out = GPIO_NUM_NC;
node_config.io_cfg.bus_off_indicator = GPIO_NUM_NC;
node_config.bit_timing.bitrate = 1000000;
node_config.data_timing.bitrate = 4000000;
node_config.data_timing.ssp_permill = 700; // ssp 70.0%

4
components/esp_driver_twai/test_apps/test_twai/main/test_twai_network.cpp
View File

@@ -31,6 +31,8 @@ TEST_CASE("twai_listen_only", "[twai_net]")
twai_onchip_node_config_t node_config = {};
node_config.io_cfg.tx = TEST_TX_GPIO;
node_config.io_cfg.rx = TEST_RX_GPIO;
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 = 250000;
node_config.tx_queue_depth = 3;
node_config.flags.enable_listen_only = true;
@@ -71,6 +73,8 @@ TEST_CASE("twai_remote_request", "[twai_net]")
twai_onchip_node_config_t node_config = {};
node_config.io_cfg.tx = TEST_TX_GPIO;
node_config.io_cfg.rx = TEST_RX_GPIO;
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 = 250000;
node_config.tx_queue_depth = 3;
node_config.fail_retry_cnt = -1; // retry forever if send remote frame failed

14
components/soc/esp32c5/twai_periph.c
View File

@@ -7,16 +7,16 @@
#include "soc/twai_periph.h"
#include "soc/gpio_sig_map.h"
const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
const twai_signal_conn_t twai_periph_signals[2] = {
[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,
.bus_off_sig = -1,
.clk_out_sig = -1,
.stand_by_sig = -1,
},
[1] = {
.module_name = "TWAI1",
@@ -24,8 +24,8 @@ const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
.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,
.bus_off_sig = -1,
.clk_out_sig = -1,
.stand_by_sig = -1,
},
};

8
examples/peripherals/twai/twai_error_recovery/main/twai_recovery_main.c
View File

@@ -49,8 +49,12 @@ void app_main(void)
{
twai_node_handle_t node_hdl;
twai_onchip_node_config_t node_config = {
.io_cfg.tx = TX_GPIO_NUM,
.io_cfg.rx = RX_GPIO_NUM,
.io_cfg = {
.tx = TX_GPIO_NUM,
.rx = RX_GPIO_NUM,
.quanta_clk_out = GPIO_NUM_NC,
.bus_off_indicator = GPIO_NUM_NC,
},
.bit_timing.bitrate = TWAI_BITRATE,
.tx_queue_depth = 1,
.flags.enable_self_test = true,

4
examples/peripherals/twai/twai_network/twai_listen_only/main/twai_listen_only.c
View File

@@ -94,8 +94,8 @@ void app_main(void)
.io_cfg = {
.tx = TWAI_LISTENER_TX_GPIO,
.rx = TWAI_LISTENER_RX_GPIO,
.quanta_clk_out = -1,
.bus_off_indicator = -1,
.quanta_clk_out = GPIO_NUM_NC,
.bus_off_indicator = GPIO_NUM_NC,
},
.bit_timing.bitrate = TWAI_BITRATE,
.flags.enable_listen_only = true,

4
examples/peripherals/twai/twai_network/twai_sender/main/twai_sender.c
View File

@@ -57,8 +57,8 @@ void app_main(void)
.io_cfg = {
.tx = TWAI_SENDER_TX_GPIO,
.rx = TWAI_SENDER_RX_GPIO,
.quanta_clk_out = -1,
.bus_off_indicator = -1,
.quanta_clk_out = GPIO_NUM_NC,
.bus_off_indicator = GPIO_NUM_NC,
},
.bit_timing = {
.bitrate = TWAI_BITRATE,