mirror of
https://github.com/espressif/esp-idf.git
synced 2025-10-04 02:50:58 +02:00
f1da574ae5
- Introduced TWAI utility commands for sending, dumping, and managing TWAI frames. - Added configuration options for TWAI GPIO pins and support for TWAI-FD. - Created necessary CMake and Kconfig files for building the TWAI utilities. This enhancement provides a comprehensive interface for TWAI operations.
145 lines
4.3 KiB
C
145 lines
4.3 KiB
C
/*
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* SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Unlicense OR CC0-1.0
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*/
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "stdbool.h"
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#include <stdatomic.h>
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#include <stdio.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/semphr.h"
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#include "freertos/task.h"
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#include "freertos/queue.h"
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#include "esp_twai.h"
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#include "esp_twai_onchip.h"
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/** @brief Frame buffer size based on TWAI-FD configuration */
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#if CONFIG_EXAMPLE_ENABLE_TWAI_FD
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#define TWAI_FRAME_BUFFER_SIZE TWAIFD_FRAME_MAX_LEN
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#else
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#define TWAI_FRAME_BUFFER_SIZE TWAI_FRAME_MAX_LEN
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#endif
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/**
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* @brief Time stamp mode for candump-style output
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*/
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typedef enum {
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TIMESTAMP_MODE_ABSOLUTE = 'a', /**< Absolute time (default) */
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TIMESTAMP_MODE_DELTA = 'd', /**< Delta time between frames */
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TIMESTAMP_MODE_ZERO = 'z', /**< Relative time from start */
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TIMESTAMP_MODE_NONE = 'n' /**< No timestamp */
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} timestamp_mode_t;
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/**
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* @brief Core TWAI driver context
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*/
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typedef struct {
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twai_onchip_node_config_t driver_config; /**< Cached driver configuration */
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twai_event_callbacks_t driver_cbs; /**< Driver event callbacks */
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atomic_bool is_initialized; /**< Initialization flag */
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} twai_core_ctx_t;
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/**
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* @brief Context structure for the TWAI send command
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*/
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typedef struct {
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SemaphoreHandle_t tx_done_sem; /**< Semaphore for TX completion signaling */
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atomic_bool is_tx_pending; /**< Flag to indicate if TX is in progress */
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twai_frame_t tx_frame; /**< TX frame structure */
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uint8_t tx_frame_buffer[TWAI_FRAME_BUFFER_SIZE]; /**< TX frame buffer */
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} twai_send_ctx_t;
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/**
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* @brief TWAI dump module context
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*/
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typedef struct {
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atomic_bool is_running; /**< Dump running flag */
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twai_mask_filter_config_t mask_filter_configs[SOC_TWAI_MASK_FILTER_NUM]; /**< Mask filter configurations */
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#if SOC_TWAI_RANGE_FILTER_NUM
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twai_range_filter_config_t range_filter_configs[SOC_TWAI_RANGE_FILTER_NUM]; /**< Range filter configurations */
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#endif
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QueueHandle_t rx_queue; /**< RX frame queue */
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TaskHandle_t dump_task_handle; /**< Handle for dump task */
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timestamp_mode_t timestamp_mode; /**< Time stamp mode */
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int64_t start_time_us; /**< Start time in microseconds */
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int64_t last_frame_time_us; /**< Last frame timestamp for delta */
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} twai_dump_ctx_t;
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/**
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* @brief Core state machine for the TWAI console
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*
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* This structure manages core driver resources, synchronization primitives,
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* and resources for different functional modules (send, dump, player).
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* It embeds twai_utils_status_t to handle bus status and statistics.
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*/
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typedef struct {
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/** @brief Core Driver Resources */
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twai_core_ctx_t core_ctx; /**< Core driver context */
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twai_node_handle_t node_handle; /**< TWAI node handle */
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/** @brief Module Contexts */
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twai_send_ctx_t send_ctx; /**< Send context for this controller */
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twai_dump_ctx_t dump_ctx; /**< Dump module context */
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} twai_controller_ctx_t;
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/** @brief Global controller context array */
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extern twai_controller_ctx_t g_twai_controller_ctx[SOC_TWAI_CONTROLLER_NUM];
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/**
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* @brief Get controller by ID
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*
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* @param[in] controller_id Controller ID
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*
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* @return Pointer to controller context, or NULL if invalid
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*/
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twai_controller_ctx_t* get_controller_by_id(int controller_id);
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/**
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* @brief Register TWAI core commands with console
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*/
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void register_twai_core_commands(void);
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/**
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* @brief Register TWAI send commands with console
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*/
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void register_twai_send_commands(void);
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/**
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* @brief Register TWAI dump commands with console
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*/
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void register_twai_dump_commands(void);
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/**
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* @brief Unregister TWAI core commands and cleanup resources
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*/
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void unregister_twai_core_commands(void);
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/**
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* @brief Unregister TWAI send commands and cleanup resources
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*/
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void unregister_twai_send_commands(void);
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/**
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* @brief Unregister TWAI dump commands and cleanup resources
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*/
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void unregister_twai_dump_commands(void);
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/**
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* @brief Stop dump and wait for task to exit naturally
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*
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* @param[in] controller_id Controller ID to stop dump for
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*
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* @return @c ESP_OK on success, error code on failure
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*/
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esp_err_t twai_dump_stop_internal(int controller_id);
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#ifdef __cplusplus
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}
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#endif
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