fix(twai): Enhance ISR handling for TX queue operations

components/esp_driver_twai/Kconfig

@@ -8,6 +8,13 @@ menu "ESP-Driver:TWAI Configurations"
         help
             Place the TWAI ISR in to IRAM to reduce latency and increase performance
 
+    config TWAI_IO_FUNC_IN_IRAM
+        bool "Place TWAI I/O functions in IRAM"
+        select TWAI_OBJ_CACHE_SAFE
+        default n
+        help
+            Place certain TWAI I/O functions (like twai_transmit) in IRAM to reduce latency
+
     config TWAI_ISR_CACHE_SAFE
         bool "Allow TWAI ISR execute when cache disabled" if !SPI_FLASH_AUTO_SUSPEND
         select TWAI_ISR_IN_IRAM

components/esp_driver_twai/esp_twai.c

@@ -136,8 +136,8 @@ esp_err_t twai_node_get_info(twai_node_handle_t node, twai_node_status_t *status
 
 esp_err_t twai_node_transmit(twai_node_handle_t node, const twai_frame_t *frame, int timeout_ms)
 {
-    ESP_RETURN_ON_FALSE(node && frame, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null");
+    ESP_RETURN_ON_FALSE_ISR(node && frame, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null");
-    ESP_RETURN_ON_FALSE(node->transmit, ESP_ERR_NOT_SUPPORTED, TAG, "transmit func null");
+    ESP_RETURN_ON_FALSE_ISR(node->transmit, ESP_ERR_NOT_SUPPORTED, TAG, "transmit is not supported");
 
     return node->transmit(node, frame, timeout_ms);
 }

components/esp_driver_twai/esp_twai_onchip.c

@@ -569,15 +569,15 @@ static esp_err_t _node_queue_tx(twai_node_handle_t node, const twai_frame_t *fra
 {
     twai_onchip_ctx_t *twai_ctx = __containerof(node, twai_onchip_ctx_t, api_base);
     if (frame->header.dlc && frame->buffer_len) {
-        ESP_RETURN_ON_FALSE(frame->header.dlc == twaifd_len2dlc(frame->buffer_len), ESP_ERR_INVALID_ARG, TAG, "unmatched dlc and buffer_len");
+        ESP_RETURN_ON_FALSE_ISR(frame->header.dlc == twaifd_len2dlc(frame->buffer_len), ESP_ERR_INVALID_ARG, TAG, "unmatched dlc and buffer_len");
     }
 #if !SOC_TWAI_SUPPORT_FD
-    ESP_RETURN_ON_FALSE(!frame->header.fdf || frame->buffer_len <= TWAI_FRAME_MAX_LEN, ESP_ERR_INVALID_ARG, TAG, "fdf flag or buffer_len not supported");
+    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(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->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((!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((!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(!twai_ctx->hal->enable_listen_only, ESP_ERR_NOT_SUPPORTED, TAG, "node is config as listen only");
+    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(atomic_load(&twai_ctx->state) != TWAI_ERROR_BUS_OFF, ESP_ERR_INVALID_STATE, TAG, "node is bus off");
+    ESP_RETURN_ON_FALSE_ISR(atomic_load(&twai_ctx->state) != TWAI_ERROR_BUS_OFF, ESP_ERR_INVALID_STATE, TAG, "node is bus off");
     TickType_t ticks_to_wait = (timeout == -1) ? portMAX_DELAY : pdMS_TO_TICKS(timeout);
 
     bool false_var = false;
@@ -585,15 +585,38 @@ static esp_err_t _node_queue_tx(twai_node_handle_t node, const twai_frame_t *fra
         twai_ctx->p_curr_tx = frame;
         _node_start_trans(twai_ctx);
     } else {
-        //options in following steps (in_queue->2nd_check->pop_queue) should exec ASAP
+        // Hardware busy, need to queue the frame
-        //within about 50us (minimum time for one msg), to ensure data safe
+        BaseType_t is_isr_context = xPortInIsrContext();
-        ESP_RETURN_ON_FALSE(xQueueSend(twai_ctx->tx_mount_queue, &frame, ticks_to_wait), ESP_ERR_TIMEOUT, TAG, "tx queue full");
+        BaseType_t yield_required = pdFALSE;
+
+        if (is_isr_context) {
+            // In ISR context - use ISR-safe queue operations
+            ESP_RETURN_ON_FALSE_ISR(xQueueSendFromISR(twai_ctx->tx_mount_queue, &frame, &yield_required), ESP_ERR_TIMEOUT, TAG, "tx queue full");
+        } else {
+            // In task context - use normal queue operations
+            ESP_RETURN_ON_FALSE(xQueueSend(twai_ctx->tx_mount_queue, &frame, ticks_to_wait), ESP_ERR_TIMEOUT, TAG, "tx queue full");
+        }
+
+        // Second chance check for hardware availability
         false_var = false;
         if (atomic_compare_exchange_strong(&twai_ctx->hw_busy, &false_var, true)) {
-            if (xQueueReceive(twai_ctx->tx_mount_queue, &twai_ctx->p_curr_tx, 0) != pdTRUE) {
+            BaseType_t dequeue_result;
+            if (is_isr_context) {
+                dequeue_result = xQueueReceiveFromISR(twai_ctx->tx_mount_queue, &twai_ctx->p_curr_tx, &yield_required);
+            } else {
+                dequeue_result = xQueueReceive(twai_ctx->tx_mount_queue, &twai_ctx->p_curr_tx, 0);
+            }
+
+            if (dequeue_result == pdTRUE) {
+                _node_start_trans(twai_ctx);
+            } else {
                 assert(false && "should always get frame at this moment");
             }
-            _node_start_trans(twai_ctx);
+        }
+
+        // Handle ISR yield if required
+        if (is_isr_context && yield_required) {
+            portYIELD_FROM_ISR();
         }
     }
     return ESP_OK;

components/esp_driver_twai/linker.lf

@@ -7,6 +7,10 @@ entries:
         esp_twai_onchip: _node_start_trans (noflash)
         esp_twai_onchip: _node_parse_rx (noflash)
 
+    if TWAI_IO_FUNC_IN_IRAM = y:
+        esp_twai_onchip: _node_queue_tx (noflash)
+        esp_twai: twai_node_transmit (noflash)
+
 [mapping:twai_hal]
 archive: libhal.a
 entries:

components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.c

@@ -44,6 +44,8 @@ TEST_CASE("twai install uninstall (loopback)", "[twai]")
     twai_onchip_node_config_t node_config = {
         .io_cfg.tx = TEST_TX_GPIO,
         .io_cfg.rx = TEST_TX_GPIO,  // Using same pin for test without transceiver
+        .io_cfg.quanta_clk_out = GPIO_NUM_NC,
+        .io_cfg.bus_off_indicator = GPIO_NUM_NC,
         .bit_timing.bitrate = 1000000,
         .data_timing.bitrate = 1000000,
         .tx_queue_depth = TEST_TWAI_QUEUE_DEPTH,
@@ -128,7 +130,7 @@ static void test_twai_baudrate_correctness(twai_clock_source_t clk_src, uint32_t
         .buffer = (uint8_t []){0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55},
         .buffer_len = 8,
         .header = {
-            .id = 0x55555,
+            .id = 0x15555555,
             .ide = true,
             .dlc = 8,
         }
@@ -182,6 +184,8 @@ TEST_CASE("twai transmit stop resume (loopback)", "[twai]")
     twai_onchip_node_config_t node_config = {
         .io_cfg.tx = TEST_TX_GPIO,
         .io_cfg.rx = TEST_TX_GPIO,  // Using same pin for test without transceiver
+        .io_cfg.quanta_clk_out = GPIO_NUM_NC,
+        .io_cfg.bus_off_indicator = GPIO_NUM_NC,
         .bit_timing.bitrate = 200000,
         .tx_queue_depth = TEST_TWAI_QUEUE_DEPTH,
         .flags.enable_loopback = true,
@@ -282,6 +286,8 @@ TEST_CASE("twai mask filter (loopback)", "[twai]")
     twai_onchip_node_config_t node_config = {
         .io_cfg.tx = TEST_TX_GPIO,
         .io_cfg.rx = TEST_TX_GPIO,  // Using same pin for test without transceiver
+        .io_cfg.quanta_clk_out = GPIO_NUM_NC,
+        .io_cfg.bus_off_indicator = GPIO_NUM_NC,
         .bit_timing.bitrate = 1000000,
         .tx_queue_depth = TEST_TWAI_QUEUE_DEPTH,
         .flags.enable_loopback = true,
@@ -366,6 +372,8 @@ TEST_CASE("twai dual 16bit mask filter (loopback)", "[twai]")
     twai_onchip_node_config_t node_config = {
         .io_cfg.tx = TEST_TX_GPIO,
         .io_cfg.rx = TEST_TX_GPIO,  // Using same pin for test without transceiver
+        .io_cfg.quanta_clk_out = GPIO_NUM_NC,
+        .io_cfg.bus_off_indicator = GPIO_NUM_NC,
         .bit_timing.bitrate = 1000000,
         .tx_queue_depth = TEST_TWAI_QUEUE_DEPTH,
         .flags.enable_loopback = true,
@@ -440,6 +448,8 @@ TEST_CASE("twai driver cache safe (loopback)", "[twai]")
     twai_onchip_node_config_t node_config = {
         .io_cfg.tx = TEST_TX_GPIO,
         .io_cfg.rx = TEST_TX_GPIO,  // Using same pin for test without transceiver
+        .io_cfg.quanta_clk_out = GPIO_NUM_NC,
+        .io_cfg.bus_off_indicator = GPIO_NUM_NC,
         .bit_timing.bitrate = 50000,   //slow bitrate to ensure cache disabled before tx_queue finish
         .tx_queue_depth = TEST_FRAME_NUM,
         .flags.enable_loopback = true,
@@ -485,3 +495,131 @@ TEST_CASE("twai driver cache safe (loopback)", "[twai]")
     TEST_ESP_OK(twai_node_delete(node_hdl));
 }
 #endif //CONFIG_TWAI_ISR_CACHE_SAFE
+
+// Test data for ISR send functionality
+typedef struct {
+    twai_node_handle_t node;
+    uint32_t rx_count;
+    uint32_t tx_isr_send_count;
+    uint32_t rx_isr_send_count;
+    bool test_completed;
+} 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)
+{
+    isr_send_test_ctx_t *ctx = (isr_send_test_ctx_t *)user_ctx;
+
+    // Test sending from TX ISR context
+    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.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
+        if (err == ESP_OK) {
+            ctx->tx_isr_send_count++;
+        }
+    }
+
+    return false;
+}
+
+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;
+    twai_frame_t rx_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)) {
+        ctx->rx_count++;
+
+        // 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)) {
+            static twai_frame_t response_frame;
+            response_frame = (twai_frame_t) {};
+            response_frame.header.id = 0x300 + ctx->rx_isr_send_count;
+            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
+            if (err == ESP_OK) {
+                ctx->rx_isr_send_count++;
+            }
+        }
+
+        // Mark test completed when we receive expected frames
+        if (ctx->rx_count >= 9) {  // 3 initial + 3 tx_isr + 3 rx_isr responses
+            ctx->test_completed = true;
+        }
+    }
+    return false;
+}
+
+TEST_CASE("twai send from ISR context (loopback)", "[twai]")
+{
+    isr_send_test_ctx_t test_ctx = {};
+
+    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 = 500000;
+    node_config.tx_queue_depth = 10;  // Larger queue for ISR sends
+    node_config.flags.enable_self_test = true;
+    node_config.flags.enable_loopback = true;
+
+    TEST_ESP_OK(twai_new_node_onchip(&node_config, &test_ctx.node));
+
+    twai_event_callbacks_t user_cbs = {};
+    user_cbs.on_rx_done = test_rx_isr_send_cb;
+    user_cbs.on_tx_done = test_tx_isr_send_cb;
+    TEST_ESP_OK(twai_node_register_event_callbacks(test_ctx.node, &user_cbs, &test_ctx));
+    TEST_ESP_OK(twai_node_enable(test_ctx.node));
+
+    printf("Testing ISR context sending...\n");
+
+    // Send initial frames to trigger RX ISR responses
+    for (int i = 0; i < 3; i++) {
+        twai_frame_t trigger_frame = {};
+        trigger_frame.header.id = 0x100 + i;
+        trigger_frame.header.dlc = 1;
+        trigger_frame.buffer = (uint8_t[]) {
+            (uint8_t)i
+        };
+        trigger_frame.buffer_len = 1;
+
+        TEST_ESP_OK(twai_node_transmit(test_ctx.node, &trigger_frame, 500));
+        printf("Sent trigger frame 0x%" PRIx32 "\n", trigger_frame.header.id);
+        vTaskDelay(pdMS_TO_TICKS(50));  // Allow ISR processing
+    }
+
+    // Wait for test completion
+    int timeout_count = 0;
+    while (!test_ctx.test_completed && timeout_count < 100) {
+        vTaskDelay(pdMS_TO_TICKS(10));
+        timeout_count++;
+    }
+
+    printf("Test results:\n");
+    printf("  RX count: %" PRIu32 "\n", test_ctx.rx_count);
+    printf("  TX ISR sends: %" PRIu32 "\n", test_ctx.tx_isr_send_count);
+    printf("  RX ISR sends: %" PRIu32 "\n", test_ctx.rx_isr_send_count);
+    printf("  Test completed: %s\n", test_ctx.test_completed ? "YES" : "NO");
+
+    // Verify test results
+    TEST_ASSERT_TRUE(test_ctx.test_completed);
+    TEST_ASSERT_EQUAL_UINT32(3, test_ctx.tx_isr_send_count);  // 3 sends from TX ISR
+    TEST_ASSERT_EQUAL_UINT32(3, test_ctx.rx_isr_send_count);  // 3 sends from RX ISR
+    TEST_ASSERT_GREATER_OR_EQUAL_UINT32(9, test_ctx.rx_count); // At least 9 received frames
+
+    TEST_ESP_OK(twai_node_disable(test_ctx.node));
+    TEST_ESP_OK(twai_node_delete(test_ctx.node));
+
+    printf("ISR send test passed!\n");
+}

components/esp_driver_twai/test_apps/test_twai/sdkconfig.ci.cache_safe

@@ -1,6 +1,6 @@
 CONFIG_COMPILER_DUMP_RTL_FILES=y
 CONFIG_TWAI_ISR_CACHE_SAFE=y
-CONFIG_FREERTOS_PLACE_FUNCTIONS_INTO_FLASH=y
+CONFIG_TWAI_IO_FUNC_IN_IRAM=y
 CONFIG_COMPILER_OPTIMIZATION_NONE=y
 CONFIG_COMPILER_OPTIMIZATION_CHECKS_SILENT=y
 CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_DISABLE=y