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https://github.com/espressif/esp-idf.git
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07291fdd27
This commit adds handling for FIFO overruns and adds workarounds for HW errats on the ESP32. Closes https://github.com/espressif/esp-idf/issues/2519 Closes https://github.com/espressif/esp-idf/issues/4276
205 lines
9.5 KiB
C
205 lines
9.5 KiB
C
// Copyright 2015-2019 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <stddef.h>
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#include <string.h>
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#include "sdkconfig.h"
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#include "hal/twai_hal.h"
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#ifdef CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT
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//Errata condition occurs at 64 messages. Threshold set to 62 to prevent the chance of failing to detect errata condition.
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#define TWAI_RX_FIFO_CORRUPT_THRESH 62
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#endif
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/* ----------------------------- Event Handling ----------------------------- */
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/**
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* Helper functions that can decode what events have been triggered based on
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* the values of the interrupt, status, TEC and REC registers. The HAL context's
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* state flags are also updated based on the events that have triggered.
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*/
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static inline uint32_t twai_hal_decode_interrupt(twai_hal_context_t *hal_ctx)
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{
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uint32_t events = 0;
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uint32_t interrupts = twai_ll_get_and_clear_intrs(hal_ctx->dev);
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uint32_t status = twai_ll_get_status(hal_ctx->dev);
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uint32_t tec = twai_ll_get_tec(hal_ctx->dev);
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uint32_t rec = twai_ll_get_rec(hal_ctx->dev);
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uint32_t state_flags = hal_ctx->state_flags;
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//Error Warning Interrupt set whenever Error or Bus Status bit changes
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if (interrupts & TWAI_LL_INTR_EI) {
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if (status & TWAI_LL_STATUS_BS) { //Currently in BUS OFF state
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if (status & TWAI_LL_STATUS_ES) { //EWL is exceeded, thus must have entered BUS OFF
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TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_BUS_OFF);
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TWAI_HAL_SET_BITS(state_flags, TWAI_HAL_STATE_FLAG_BUS_OFF);
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//Any TX would have been halted by entering bus off. Reset its flag
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TWAI_HAL_CLEAR_BITS(state_flags, TWAI_HAL_STATE_FLAG_RUNNING | TWAI_HAL_STATE_FLAG_TX_BUFF_OCCUPIED);
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} else {
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//Below EWL. Therefore TEC is counting down in bus recovery
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TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_BUS_RECOV_PROGRESS);
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}
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} else { //Not in BUS OFF
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if (status & TWAI_LL_STATUS_ES) { //Just Exceeded EWL
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TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_ABOVE_EWL);
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TWAI_HAL_SET_BITS(state_flags, TWAI_HAL_STATE_FLAG_ERR_WARN);
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} else if (hal_ctx->state_flags & TWAI_HAL_STATE_FLAG_RECOVERING) {
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//Previously undergoing bus recovery. Thus means bus recovery complete
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TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_BUS_RECOV_CPLT);
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TWAI_HAL_CLEAR_BITS(state_flags, TWAI_HAL_STATE_FLAG_RECOVERING | TWAI_HAL_STATE_FLAG_BUS_OFF);
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} else { //Just went below EWL
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TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_BELOW_EWL);
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TWAI_HAL_CLEAR_BITS(state_flags, TWAI_HAL_STATE_FLAG_ERR_WARN);
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}
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}
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}
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//Receive Interrupt set whenever RX FIFO is not empty
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if (interrupts & TWAI_LL_INTR_RI) {
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TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_RX_BUFF_FRAME);
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}
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//Transmit interrupt set whenever TX buffer becomes free
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#ifdef CONFIG_TWAI_ERRATA_FIX_TX_INTR_LOST
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if ((interrupts & TWAI_LL_INTR_TI || hal_ctx->state_flags & TWAI_HAL_STATE_FLAG_TX_BUFF_OCCUPIED) && status & TWAI_LL_STATUS_TBS) {
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#else
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if (interrupts & TWAI_LL_INTR_TI) {
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#endif
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TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_TX_BUFF_FREE);
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TWAI_HAL_CLEAR_BITS(state_flags, TWAI_HAL_STATE_FLAG_TX_BUFF_OCCUPIED);
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}
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//Error Passive Interrupt on transition from error active to passive or vice versa
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if (interrupts & TWAI_LL_INTR_EPI) {
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if (tec >= TWAI_ERR_PASS_THRESH || rec >= TWAI_ERR_PASS_THRESH) {
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TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_ERROR_PASSIVE);
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TWAI_HAL_SET_BITS(state_flags, TWAI_HAL_STATE_FLAG_ERR_PASSIVE);
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} else {
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TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_ERROR_ACTIVE);
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TWAI_HAL_CLEAR_BITS(state_flags, TWAI_HAL_STATE_FLAG_ERR_PASSIVE);
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}
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}
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//Bus error interrupt triggered on a bus error (e.g. bit, ACK, stuff etc)
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if (interrupts & TWAI_LL_INTR_BEI) {
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TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_BUS_ERR);
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}
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//Arbitration Lost Interrupt triggered on losing arbitration
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if (interrupts & TWAI_LL_INTR_ALI) {
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TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_ARB_LOST);
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}
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hal_ctx->state_flags = state_flags;
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return events;
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}
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uint32_t twai_hal_get_events(twai_hal_context_t *hal_ctx)
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{
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uint32_t events = twai_hal_decode_interrupt(hal_ctx);
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//Handle low latency events
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if (events & TWAI_HAL_EVENT_BUS_OFF) {
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twai_ll_set_mode(hal_ctx->dev, TWAI_MODE_LISTEN_ONLY); //Freeze TEC/REC by entering LOM
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#ifdef CONFIG_TWAI_ERRATA_FIX_BUS_OFF_REC
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//Errata workaround: Force REC to 0 by re-triggering bus-off (by setting TEC to 0 then 255)
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twai_ll_set_tec(hal_ctx->dev, 0);
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twai_ll_set_tec(hal_ctx->dev, 255);
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(void) twai_ll_get_and_clear_intrs(hal_ctx->dev); //Clear the re-triggered bus-off interrupt
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#endif
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}
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if (events & TWAI_HAL_EVENT_BUS_RECOV_CPLT) {
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twai_ll_enter_reset_mode(hal_ctx->dev); //Enter reset mode to stop the controller
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}
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if (events & TWAI_HAL_EVENT_BUS_ERR) {
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#ifdef CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID
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twai_ll_err_type_t type;
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twai_ll_err_dir_t dir;
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twai_ll_err_seg_t seg;
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twai_ll_parse_err_code_cap(hal_ctx->dev, &type, &dir, &seg); //Decode error interrupt
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//Check for errata condition (RX message has bus error at particular segments)
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if (dir == TWAI_LL_ERR_DIR_RX &&
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((seg == TWAI_LL_ERR_SEG_DATA || seg == TWAI_LL_ERR_SEG_CRC_SEQ) ||
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(seg == TWAI_LL_ERR_SEG_ACK_DELIM && type == TWAI_LL_ERR_OTHER))) {
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TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_NEED_PERIPH_RESET);
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}
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#endif
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twai_ll_clear_err_code_cap(hal_ctx->dev);
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}
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if (events & TWAI_HAL_EVENT_ARB_LOST) {
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twai_ll_clear_arb_lost_cap(hal_ctx->dev);
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}
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#ifdef CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT
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//Check for errata condition (rx_msg_count >= corruption_threshold)
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if (events & TWAI_HAL_EVENT_RX_BUFF_FRAME && twai_ll_get_rx_msg_count(hal_ctx->dev) >= TWAI_RX_FIFO_CORRUPT_THRESH) {
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TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_NEED_PERIPH_RESET);
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}
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#endif
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#if defined(CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID) || defined(CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT)
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if (events & TWAI_HAL_EVENT_NEED_PERIPH_RESET) {
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//A peripheral reset will invalidate an RX event;
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TWAI_HAL_CLEAR_BITS(events, (TWAI_HAL_EVENT_RX_BUFF_FRAME));
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}
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#endif
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return events;
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}
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#if defined(CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID) || defined(CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT)
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void twai_hal_prepare_for_reset(twai_hal_context_t *hal_ctx)
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{
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uint32_t status = twai_ll_get_status(hal_ctx->dev);
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if (!(status & TWAI_LL_STATUS_TBS)) { //Transmit buffer is NOT free, indicating an Ongoing TX will be cancelled by the HW reset
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TWAI_HAL_SET_BITS(hal_ctx->state_flags, TWAI_HAL_STATE_FLAG_TX_NEED_RETRY);
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//Note: Even if the TX completes right after this, we still consider it will be retried.
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//Worst case the same message will get sent twice.
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}
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//Some register must saved before entering reset mode
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hal_ctx->rx_msg_cnt_save = (uint8_t) twai_ll_get_rx_msg_count(hal_ctx->dev);
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twai_ll_enter_reset_mode(hal_ctx->dev); //Enter reset mode to stop the controller
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twai_ll_save_reg(hal_ctx->dev, &hal_ctx->reg_save); //Save remaining registers after entering reset mode
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}
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void twai_hal_recover_from_reset(twai_hal_context_t *hal_ctx)
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{
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twai_ll_enter_reset_mode(hal_ctx->dev);
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twai_ll_enable_extended_reg_layout(hal_ctx->dev);
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twai_ll_restore_reg(hal_ctx->dev, &hal_ctx->reg_save);
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twai_ll_exit_reset_mode(hal_ctx->dev);
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(void) twai_ll_get_and_clear_intrs(hal_ctx->dev);
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if (hal_ctx->state_flags & TWAI_HAL_STATE_FLAG_TX_NEED_RETRY) {
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//HW reset has cancelled a TX. Re-transmit here
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twai_hal_set_tx_buffer_and_transmit(hal_ctx, &hal_ctx->tx_frame_save);
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TWAI_HAL_CLEAR_BITS(hal_ctx->state_flags, TWAI_HAL_STATE_FLAG_TX_NEED_RETRY);
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}
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}
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#endif //defined(CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID) || defined(CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT)
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void twai_hal_set_tx_buffer_and_transmit(twai_hal_context_t *hal_ctx, twai_hal_frame_t *tx_frame)
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{
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//Copy frame into tx buffer
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twai_ll_set_tx_buffer(hal_ctx->dev, tx_frame);
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//Hit the send command
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if (tx_frame->self_reception) {
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if (tx_frame->single_shot) {
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twai_ll_set_cmd_self_rx_single_shot(hal_ctx->dev);
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} else {
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twai_ll_set_cmd_self_rx_request(hal_ctx->dev);
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}
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} else if (tx_frame->single_shot){
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twai_ll_set_cmd_tx_single_shot(hal_ctx->dev);
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} else {
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twai_ll_set_cmd_tx(hal_ctx->dev);
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}
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TWAI_HAL_SET_BITS(hal_ctx->state_flags, TWAI_HAL_STATE_FLAG_TX_BUFF_OCCUPIED);
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#if defined(CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID) || defined(CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT)
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//Save transmitted frame in case we need to retry
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memcpy(&hal_ctx->tx_frame_save, tx_frame, sizeof(twai_hal_frame_t));
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#endif //defined(CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID) || defined(CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT)
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}
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