Merge branch 'feat/twai_esp32h4_v5.5' into 'release/v5.5'

fix(twai): busoff and clkout may not available in SOC (v5.5)

See merge request espressif/esp-idf!41718

components/driver/test_apps/legacy_twai/pytest_twai.py

@@ -22,7 +22,7 @@ from pytest_embedded_idf.utils import idf_parametrize
 @idf_parametrize(
     'target', ['esp32', 'esp32c3', 'esp32c6', 'esp32h2', 'esp32s2', 'esp32s3', 'esp32p4'], indirect=['target']
 )
-def test_twai_self(dut: Dut) -> None:
+def test_legacy_twai_self(dut: Dut) -> None:
     dut.run_all_single_board_cases(group='twai-loop-back')
 
 
@@ -31,11 +31,11 @@ def fixture_create_socket_can() -> Bus:
     # Set up the socket CAN with the bitrate
     start_command = 'sudo ip link set can0 up type can bitrate 250000 restart-ms 100'
     stop_command = 'sudo ip link set can0 down'
-    subprocess.run(start_command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
+    subprocess.run(start_command, shell=True, capture_output=True, text=True)
     bus = Bus(interface='socketcan', channel='can0', bitrate=250000)
     yield bus  # test invoked here
     bus.shutdown()
-    subprocess.run(stop_command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
+    subprocess.run(stop_command, shell=True, capture_output=True, text=True)
 
 
 @pytest.mark.twai_std
@@ -49,7 +49,7 @@ def fixture_create_socket_can() -> Bus:
 @idf_parametrize(
     'target', ['esp32', 'esp32c3', 'esp32c6', 'esp32h2', 'esp32s2', 'esp32s3', 'esp32p4'], indirect=['target']
 )
-def test_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
+def test_legacy_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
     dut.serial.hard_reset()
     dut.expect_exact('Press ENTER to see the list of tests')
 
@@ -79,7 +79,7 @@ def test_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
 @idf_parametrize(
     'target', ['esp32', 'esp32c3', 'esp32c6', 'esp32h2', 'esp32s2', 'esp32s3', 'esp32p4'], indirect=['target']
 )
-def test_twai_remote_request(dut: Dut, socket_can: Bus) -> None:
+def test_legacy_twai_remote_request(dut: Dut, socket_can: Bus) -> None:
     dut.serial.hard_reset()
     dut.expect_exact('Press ENTER to see the list of tests')
 

components/esp_driver_twai/esp_twai_onchip.c

@@ -123,6 +123,8 @@ 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), 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 = BIT64(node_config->io_cfg.tx);
+    ESP_RETURN_ON_FALSE(!(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.quanta_clk_out) && (twai_controller_periph_signals.controllers[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_controller_periph_signals.controllers[node->ctrlr_id].bus_off_sig < 0)), ESP_ERR_NOT_SUPPORTED, TAG, "bus_off_indicator is not supported");
 
     // Set RX pin
     gpio_input_enable(node_config->io_cfg.rx);

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

@@ -29,7 +29,7 @@ static IRAM_ATTR bool test_driver_install_rx_cb(twai_node_handle_t handle, const
 {
     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);
+        esp_rom_printf("Recv id 0x%lx rtr %d", rx_frame.header.id, rx_frame.header.rtr);
     }
     if (rx_frame.header.id != 0x100) {
         TEST_FAIL();    //callback is unregistered, should not run here
@@ -111,6 +111,8 @@ static void test_twai_baudrate_correctness(twai_clock_source_t clk_src, uint32_t
         .clk_src = clk_src,
         .io_cfg.tx = TEST_TX_GPIO,
         .io_cfg.rx = TEST_TX_GPIO,
+        .io_cfg.quanta_clk_out = GPIO_NUM_NC,
+        .io_cfg.bus_off_indicator = GPIO_NUM_NC,
         .bit_timing.bitrate = test_bitrate,
         .tx_queue_depth = 1,
         .flags.enable_loopback = true,

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

@@ -67,6 +67,8 @@ TEST_CASE("twai range 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,
@@ -142,6 +144,8 @@ TEST_CASE("twai fd transmit time (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 = 4000000,
         .data_timing.ssp_permill = 700, // ssp 70.0%

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

@@ -31,6 +31,8 @@ TEST_CASE("twai_listen_only", "[twai_net]")
     twai_onchip_node_config_t node_config = {
         .io_cfg.tx = TEST_TX_GPIO,
         .io_cfg.rx = TEST_RX_GPIO,
+        .io_cfg.quanta_clk_out = GPIO_NUM_NC,
+        .io_cfg.bus_off_indicator = GPIO_NUM_NC,
         .bit_timing.bitrate = 250000,
         .tx_queue_depth = 3,
         .flags.enable_listen_only = true,
@@ -72,6 +74,8 @@ TEST_CASE("twai_remote_request", "[twai_net]")
     twai_onchip_node_config_t node_config = {
         .io_cfg.tx = TEST_TX_GPIO,
         .io_cfg.rx = TEST_RX_GPIO,
+        .io_cfg.quanta_clk_out = GPIO_NUM_NC,
+        .io_cfg.bus_off_indicator = GPIO_NUM_NC,
         .bit_timing.bitrate = 250000,
         .fail_retry_cnt = -1,   // retry forever if send remote frame failed
         .tx_queue_depth = 3,

components/esp_driver_twai/test_apps/test_twai/pytest_driver_twai.py

@@ -26,13 +26,13 @@ def fixture_create_socket_can() -> Bus:
     start_command = 'sudo ip link set can0 up type can bitrate 250000'
     stop_command = 'sudo ip link set can0 down'
     try:
-        subprocess.run(start_command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
+        subprocess.run(start_command, shell=True, capture_output=True, text=True)
     except Exception as e:
         print(f'Open bus Error: {e}')
     bus = Bus(interface='socketcan', channel='can0', bitrate=250000)
     yield bus  # test invoked here
     bus.shutdown()
-    subprocess.run(stop_command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
+    subprocess.run(stop_command, shell=True, capture_output=True, text=True)
 
 
 @pytest.mark.twai_std

components/hal/esp32c5/include/hal/twaifd_ll.h

@@ -98,7 +98,16 @@ static inline void twaifd_ll_reset_register(uint8_t twai_id)
  */
 static inline void twaifd_ll_set_clock_source(uint8_t twai_id, twai_clock_source_t clk_src)
 {
-    PCR.twai[twai_id].twai_func_clk_conf.twai_func_clk_sel = (clk_src == TWAI_CLK_SRC_XTAL) ? 0 : 1;
+    switch (clk_src) {
+    case TWAI_CLK_SRC_PLL_F80M:
+        PCR.twai[twai_id].twai_func_clk_conf.twai_func_clk_sel = 1;
+        break;
+    case TWAI_CLK_SRC_XTAL:
+        PCR.twai[twai_id].twai_func_clk_conf.twai_func_clk_sel = 0;
+        break;
+    default:
+        HAL_ASSERT(false);
+    }
 }
 
 /**

components/hal/esp32p4/include/hal/twai_ll.h

@@ -149,12 +149,18 @@ ESP_STATIC_ASSERT(sizeof(twai_ll_frame_buffer_t) == 13, "TX/RX buffer type shoul
  */
 static inline void twai_ll_enable_bus_clock(int group_id, bool enable)
 {
-    switch (group_id)
+    switch (group_id) {
-    {
+    case 0:
-    case 0: HP_SYS_CLKRST.soc_clk_ctrl2.reg_twai0_apb_clk_en = enable; break;
+        HP_SYS_CLKRST.soc_clk_ctrl2.reg_twai0_apb_clk_en = enable;
-    case 1: HP_SYS_CLKRST.soc_clk_ctrl2.reg_twai1_apb_clk_en = enable; break;
+        break;
-    case 2: HP_SYS_CLKRST.soc_clk_ctrl2.reg_twai2_apb_clk_en = enable; break;
+    case 1:
-    default: HAL_ASSERT(false);
+        HP_SYS_CLKRST.soc_clk_ctrl2.reg_twai1_apb_clk_en = enable;
+        break;
+    case 2:
+        HP_SYS_CLKRST.soc_clk_ctrl2.reg_twai2_apb_clk_en = enable;
+        break;
+    default:
+        HAL_ASSERT(false);
     }
 }
 
@@ -169,17 +175,19 @@ static inline void twai_ll_enable_bus_clock(int group_id, bool enable)
  */
 static inline void twai_ll_reset_register(int group_id)
 {
-    switch (group_id)
+    switch (group_id) {
-    {
+    case 0:
-    case 0: HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai0 = 1;
+        HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai0 = 1;
-            HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai0 = 0;
+        HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai0 = 0;
-            break;
+        break;
-    case 1: HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai1 = 1;
+    case 1:
-            HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai1 = 0;
+        HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai1 = 1;
-            break;
+        HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai1 = 0;
-    case 2: HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai2 = 1;
+        break;
-            HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai2 = 0;
+    case 2:
-            break;
+        HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai2 = 1;
+        HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai2 = 0;
+        break;
     default: HAL_ASSERT(false);
     }
 }
@@ -220,21 +228,23 @@ static inline void twai_ll_enable_clock(int group_id, bool en)
 __attribute__((always_inline))
 static inline void twai_ll_set_clock_source(int group_id, twai_clock_source_t clk_src)
 {
+    // We do not plan to support the TWAI_CLK_SRC_RC_FAST clock source,
+    // as the accuracy of this clock does not meet the requirements for the baud rate
+    HAL_ASSERT(clk_src == TWAI_CLK_SRC_XTAL);
     uint32_t clk_id = 0;
 
-    switch (clk_src) {
-    case TWAI_CLK_SRC_XTAL: clk_id = 0; break;
-#if SOC_CLK_TREE_SUPPORTED
-    case TWAI_CLK_SRC_RC_FAST: clk_id = 1; break;
-#endif
-    default: HAL_ASSERT(false);
-    }
-
     switch (group_id) {
-    case 0: HP_SYS_CLKRST.peri_clk_ctrl115.reg_twai0_clk_src_sel = clk_id; break;
+    case 0:
-    case 1: HP_SYS_CLKRST.peri_clk_ctrl115.reg_twai1_clk_src_sel = clk_id; break;
+        HP_SYS_CLKRST.peri_clk_ctrl115.reg_twai0_clk_src_sel = clk_id;
-    case 2: HP_SYS_CLKRST.peri_clk_ctrl115.reg_twai2_clk_src_sel = clk_id; break;
+        break;
-    default: HAL_ASSERT(false);
+    case 1:
+        HP_SYS_CLKRST.peri_clk_ctrl115.reg_twai1_clk_src_sel = clk_id;
+        break;
+    case 2:
+        HP_SYS_CLKRST.peri_clk_ctrl115.reg_twai2_clk_src_sel = clk_id;
+        break;
+    default:
+        HAL_ASSERT(false);
     }
 }
 
@@ -542,9 +552,9 @@ __attribute__((always_inline))
 static inline void twai_ll_parse_err_code_cap(twai_dev_t *hw, twai_ll_err_type_t *type, twai_ll_err_dir_t *dir, twai_ll_err_seg_t *seg)
 {
     uint32_t ecc = hw->err_code_cap.val;
-    *type = (twai_ll_err_type_t) ((ecc >> 6) & 0x3);
+    *type = (twai_ll_err_type_t)((ecc >> 6) & 0x3);
-    *dir = (twai_ll_err_dir_t) ((ecc >> 5) & 0x1);
+    *dir = (twai_ll_err_dir_t)((ecc >> 5) & 0x1);
-    *seg = (twai_ll_err_seg_t) (ecc & 0x1F);
+    *seg = (twai_ll_err_seg_t)(ecc & 0x1F);
 }
 
 /* ----------------------------- EWL Register ------------------------------- */

components/soc/esp32c5/twai_periph.c

@@ -15,9 +15,9 @@ const twai_controller_signal_conn_t twai_controller_periph_signals = {
             .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,
+            .bus_off_sig = -1,
-            .clk_out_sig = TWAI0_CLKOUT_IDX,
+            .clk_out_sig = -1,
-            .stand_by_sig = TWAI0_STANDBY_IDX,
+            .stand_by_sig = -1,
         },
         [1] = {
             .module_name = "TWAI1",
@@ -25,9 +25,9 @@ const twai_controller_signal_conn_t twai_controller_periph_signals = {
             .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,
+            .bus_off_sig = -1,
-            .clk_out_sig = TWAI1_CLKOUT_IDX,
+            .clk_out_sig = -1,
-            .stand_by_sig = TWAI1_STANDBY_IDX,
+            .stand_by_sig = -1,
         },
     }
 };

components/soc/esp32p4/include/soc/clk_tree_defs.h

@@ -603,7 +603,6 @@ typedef enum {
  */
 typedef enum {
     TWAI_CLK_SRC_XTAL = SOC_MOD_CLK_XTAL,           /*!< Select XTAL as the source clock */
-    TWAI_CLK_SRC_RC_FAST = SOC_MOD_CLK_RC_FAST,     /*!< Select RC_FAST as the source clock */
     TWAI_CLK_SRC_DEFAULT = SOC_MOD_CLK_XTAL,        /*!< Select XTAL as the default clock choice */
 } soc_periph_twai_clk_src_t;