refactor(twai): add reset and clock control to twai LL layer

components/driver/Kconfig

@@ -130,7 +130,6 @@ menu "Driver Configurations"
         config TWAI_ISR_IN_IRAM
             bool "Place TWAI ISR function into IRAM"
             default n
-            select PERIPH_CTRL_FUNC_IN_IRAM if TWAI_ERRATA_FIX_RX_FRAME_INVALID || TWAI_ERRATA_FIX_RX_FIFO_CORRUPT
             help
                 Place the TWAI ISR in to IRAM. This will allow the ISR to avoid
                 cache misses, and also be able to run whilst the cache is disabled

components/driver/twai/twai.c

@@ -56,12 +56,17 @@
 #define ALERT_LOG_LEVEL_WARNING     TWAI_ALERT_ARB_LOST  //Alerts above and including this level use ESP_LOGW
 #define ALERT_LOG_LEVEL_ERROR       TWAI_ALERT_TX_FAILED //Alerts above and including this level use ESP_LOGE
 
+#if !SOC_RCC_IS_INDEPENDENT
+#define TWAI_RCC_ATOMIC() PERIPH_RCC_ATOMIC()
+#else
+#define TWAI_RCC_ATOMIC()
+#endif
+
 /* ------------------ Typedefs, structures, and variables ------------------- */
 
 //Control structure for TWAI driver
 typedef struct {
     int controller_id;
-    periph_module_t module;  // peripheral module
     //Control and status members
     twai_state_t state;
     twai_mode_t mode;
@@ -208,7 +213,9 @@ static void twai_intr_handler_main(void *arg)
 #if defined(CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID) || defined(CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT)
     if (events & TWAI_HAL_EVENT_NEED_PERIPH_RESET) {
         twai_hal_prepare_for_reset(&twai_context);
-        periph_module_reset(p_twai_obj->module);
+        TWAI_RCC_ATOMIC() {
+            twai_ll_reset_register(p_twai_obj->controller_id);
+        }
         twai_hal_recover_from_reset(&twai_context);
         p_twai_obj->rx_missed_count += twai_hal_get_reset_lost_rx_cnt(&twai_context);
         twai_alert_handler(TWAI_ALERT_PERIPH_RESET, &alert_req);
@@ -442,7 +449,6 @@ esp_err_t twai_driver_install(const twai_general_config_t *g_config, const twai_
     p_twai_obj_dummy->state = TWAI_STATE_STOPPED;
     p_twai_obj_dummy->mode = g_config->mode;
     p_twai_obj_dummy->alerts_enabled = g_config->alerts_enabled;
-    p_twai_obj_dummy->module = twai_controller_periph_signals.controllers[controller_id].module;
 
     //Assign the TWAI object
     TWAI_ENTER_CRITICAL();
@@ -455,8 +461,10 @@ esp_err_t twai_driver_install(const twai_general_config_t *g_config, const twai_
         goto err;
     }
     //Enable TWAI peripheral register clock
-    periph_module_reset(p_twai_obj_dummy->module);
+    TWAI_RCC_ATOMIC() {
-    periph_module_enable(p_twai_obj_dummy->module);
+        twai_ll_enable_bus_clock(p_twai_obj->controller_id, true);
+        twai_ll_reset_register(p_twai_obj->controller_id);
+    }
 
     //Initialize TWAI HAL layer
     twai_hal_config_t hal_config = {
@@ -496,7 +504,9 @@ esp_err_t twai_driver_uninstall(void)
     TWAI_CHECK_FROM_CRIT(p_twai_obj->state == TWAI_STATE_STOPPED || p_twai_obj->state == TWAI_STATE_BUS_OFF, ESP_ERR_INVALID_STATE);
     //Clear registers by reading
     twai_hal_deinit(&twai_context);
-    periph_module_disable(p_twai_obj->module);   //Disable TWAI peripheral
+    TWAI_RCC_ATOMIC() {
+        twai_ll_enable_bus_clock(p_twai_obj->controller_id, false);
+    }
     p_twai_obj_dummy = p_twai_obj;        //Use dummy to shorten critical section
     p_twai_obj = NULL;
     TWAI_EXIT_CRITICAL();

components/esp_hw_support/periph_ctrl.c

@@ -19,12 +19,12 @@ static portMUX_TYPE periph_spinlock = portMUX_INITIALIZER_UNLOCKED;
 
 static uint8_t ref_counts[PERIPH_MODULE_MAX] = {0};
 
-void periph_rcc_enter(void)
+IRAM_ATTR void periph_rcc_enter(void)
 {
     portENTER_CRITICAL_SAFE(&periph_spinlock);
 }
 
-void periph_rcc_exit(void)
+IRAM_ATTR void periph_rcc_exit(void)
 {
     portEXIT_CRITICAL_SAFE(&periph_spinlock);
 }

components/hal/esp32/include/hal/twai_ll.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -24,6 +24,7 @@
 #include "hal/twai_types.h"
 #include "soc/twai_periph.h"
 #include "soc/twai_struct.h"
+#include "soc/dport_reg.h"
 
 #define TWAI_LL_GET_HW(controller_id) ((controller_id == 0) ? (&TWAI) : NULL)
 
@@ -150,6 +151,44 @@ typedef enum {
 } twai_ll_err_seg_t;
 #endif
 
+/* ---------------------------- Reset and Clock Control ------------------------------ */
+
+/**
+ * @brief Enable the bus clock for twai module
+ *
+ * @param group_id Group ID
+ * @param enable true to enable, false to disable
+ */
+static inline void twai_ll_enable_bus_clock(int group_id, bool enable)
+{
+    (void)group_id;
+    uint32_t reg_val = DPORT_READ_PERI_REG(DPORT_PERIP_CLK_EN_REG);
+    reg_val &= ~DPORT_TWAI_CLK_EN;
+    reg_val |= enable << 19;
+    DPORT_WRITE_PERI_REG(DPORT_PERIP_CLK_EN_REG, reg_val);
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define twai_ll_enable_bus_clock(...) (void)__DECLARE_RCC_ATOMIC_ENV; twai_ll_enable_bus_clock(__VA_ARGS__)
+
+/**
+ * @brief Reset the twai module
+ *
+ * @param group_id Group ID
+ */
+__attribute__((always_inline))
+static inline void twai_ll_reset_register(int group_id)
+{
+    (void)group_id;
+    DPORT_WRITE_PERI_REG(DPORT_PERIP_RST_EN_REG, DPORT_TWAI_RST);
+    DPORT_WRITE_PERI_REG(DPORT_PERIP_RST_EN_REG, 0);
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define twai_ll_reset_register(...) (void)__DECLARE_RCC_ATOMIC_ENV; twai_ll_reset_register(__VA_ARGS__)
+
 /* ---------------------------- Peripheral Control Register ----------------- */
 
 /**

components/hal/esp32c3/include/hal/twai_ll.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2023 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -23,6 +23,7 @@
 #include "hal/twai_types.h"
 #include "soc/twai_periph.h"
 #include "soc/twai_struct.h"
+#include "soc/system_struct.h"
 
 #define TWAI_LL_GET_HW(controller_id) ((controller_id == 0) ? (&TWAI) : NULL)
 
@@ -84,6 +85,40 @@ typedef union {
 
 ESP_STATIC_ASSERT(sizeof(twai_ll_frame_buffer_t) == 13, "TX/RX buffer type should be 13 bytes");
 
+/* ---------------------------- Reset and Clock Control ------------------------------ */
+
+/**
+ * @brief Enable the bus clock for twai module
+ *
+ * @param group_id Group ID
+ * @param enable true to enable, false to disable
+ */
+static inline void twai_ll_enable_bus_clock(int group_id, bool enable)
+{
+    (void)group_id;
+    SYSTEM.perip_clk_en0.reg_can_clk_en = enable;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define twai_ll_enable_bus_clock(...) (void)__DECLARE_RCC_ATOMIC_ENV; twai_ll_enable_bus_clock(__VA_ARGS__)
+
+/**
+ * @brief Reset the twai module
+ *
+ * @param group_id Group ID
+ */
+static inline void twai_ll_reset_register(int group_id)
+{
+    (void)group_id;
+    SYSTEM.perip_rst_en0.reg_can_rst = 1;
+    SYSTEM.perip_rst_en0.reg_can_rst = 0;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define twai_ll_reset_register(...) (void)__DECLARE_RCC_ATOMIC_ENV; twai_ll_reset_register(__VA_ARGS__)
+
 /* ---------------------------- Peripheral Control Register ----------------- */
 
 /**
@@ -547,7 +582,7 @@ static inline void twai_ll_set_tec(twai_dev_t *hw, uint32_t tec)
  * @note Must be called in reset mode
  */
 __attribute__((always_inline))
-static inline void twai_ll_set_acc_filter(twai_dev_t* hw, uint32_t code, uint32_t mask, bool single_filter)
+static inline void twai_ll_set_acc_filter(twai_dev_t *hw, uint32_t code, uint32_t mask, bool single_filter)
 {
     uint32_t code_swapped = HAL_SWAP32(code);
     uint32_t mask_swapped = HAL_SWAP32(mask);

components/hal/esp32c6/include/hal/twai_ll.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -85,6 +85,39 @@ typedef union {
 
 ESP_STATIC_ASSERT(sizeof(twai_ll_frame_buffer_t) == 13, "TX/RX buffer type should be 13 bytes");
 
+/* ---------------------------- Reset and Clock Control ------------------------------ */
+
+/**
+ * @brief Enable the bus clock for twai module
+ *
+ * @param group_id Group ID
+ * @param enable true to enable, false to disable
+ */
+static inline void twai_ll_enable_bus_clock(int group_id, bool enable)
+{
+    if (group_id == 0) {
+        PCR.twai0_conf.twai0_clk_en = enable;
+    } else {
+        PCR.twai1_conf.twai1_clk_en = enable;
+    }
+}
+
+/**
+ * @brief Reset the twai module
+ *
+ * @param group_id Group ID
+ */
+static inline void twai_ll_reset_register(int group_id)
+{
+    if (group_id == 0) {
+        PCR.twai0_conf.twai0_rst_en = 1;
+        PCR.twai0_conf.twai0_rst_en = 0;
+    } else {
+        PCR.twai1_conf.twai1_rst_en = 1;
+        PCR.twai1_conf.twai1_rst_en = 0;
+    }
+}
+
 /* ---------------------------- Peripheral Control Register ----------------- */
 
 /**

components/hal/esp32h2/include/hal/twai_ll.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2023 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -14,7 +14,6 @@
 
 #pragma once
 
-
 #include <stdint.h>
 #include <stdbool.h>
 #include <stdlib.h>
@@ -86,6 +85,32 @@ typedef union {
 
 ESP_STATIC_ASSERT(sizeof(twai_ll_frame_buffer_t) == 13, "TX/RX buffer type should be 13 bytes");
 
+/* ---------------------------- Reset and Clock Control ------------------------------ */
+
+/**
+ * @brief Enable the bus clock for twai module
+ *
+ * @param group_id Group ID
+ * @param enable true to enable, false to disable
+ */
+static inline void twai_ll_enable_bus_clock(int group_id, bool enable)
+{
+    (void)group_id;
+    PCR.twai0_conf.twai0_clk_en = enable;
+}
+
+/**
+ * @brief Reset the twai module
+ *
+ * @param group_id Group ID
+ */
+static inline void twai_ll_reset_register(int group_id)
+{
+    (void)group_id;
+    PCR.twai0_conf.twai0_rst_en = 1;
+    PCR.twai0_conf.twai0_rst_en = 0;
+}
+
 /* ---------------------------- Peripheral Control Register ----------------- */
 
 /**

components/hal/esp32s2/include/hal/twai_ll.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -23,6 +23,7 @@
 #include "hal/twai_types.h"
 #include "soc/twai_periph.h"
 #include "soc/twai_struct.h"
+#include "soc/system_reg.h"
 
 #define TWAI_LL_GET_HW(controller_id) ((controller_id == 0) ? (&TWAI) : NULL)
 
@@ -84,6 +85,43 @@ typedef union {
 
 ESP_STATIC_ASSERT(sizeof(twai_ll_frame_buffer_t) == 13, "TX/RX buffer type should be 13 bytes");
 
+/* ---------------------------- Reset and Clock Control ------------------------------ */
+
+/**
+ * @brief Enable the bus clock for twai module
+ *
+ * @param group_id Group ID
+ * @param enable true to enable, false to disable
+ */
+static inline void twai_ll_enable_bus_clock(int group_id, bool enable)
+{
+    (void)group_id;
+    uint32_t reg_val = READ_PERI_REG(DPORT_PERIP_CLK_EN0_REG);
+    reg_val &= ~DPORT_TWAI_CLK_EN_M;
+    reg_val |= enable << DPORT_TWAI_CLK_EN_S;
+    WRITE_PERI_REG(DPORT_PERIP_CLK_EN0_REG, reg_val);
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define twai_ll_enable_bus_clock(...) (void)__DECLARE_RCC_ATOMIC_ENV; twai_ll_enable_bus_clock(__VA_ARGS__)
+
+/**
+ * @brief Reset the twai module
+ *
+ * @param group_id Group ID
+ */
+static inline void twai_ll_reset_register(int group_id)
+{
+    (void)group_id;
+    WRITE_PERI_REG(DPORT_PERIP_RST_EN0_REG, DPORT_TWAI_RST_M);
+    WRITE_PERI_REG(DPORT_PERIP_RST_EN0_REG, 0);
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define twai_ll_reset_register(...) (void)__DECLARE_RCC_ATOMIC_ENV; twai_ll_reset_register(__VA_ARGS__)
+
 /* ---------------------------- Peripheral Control Register ----------------- */
 
 /**
@@ -547,7 +585,7 @@ static inline void twai_ll_set_tec(twai_dev_t *hw, uint32_t tec)
  * @note Must be called in reset mode
  */
 __attribute__((always_inline))
-static inline void twai_ll_set_acc_filter(twai_dev_t* hw, uint32_t code, uint32_t mask, bool single_filter)
+static inline void twai_ll_set_acc_filter(twai_dev_t *hw, uint32_t code, uint32_t mask, bool single_filter)
 {
     uint32_t code_swapped = HAL_SWAP32(code);
     uint32_t mask_swapped = HAL_SWAP32(mask);

components/hal/esp32s3/include/hal/twai_ll.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -23,6 +23,7 @@
 #include "hal/twai_types.h"
 #include "soc/twai_periph.h"
 #include "soc/twai_struct.h"
+#include "soc/system_struct.h"
 
 #define TWAI_LL_GET_HW(controller_id) ((controller_id == 0) ? (&TWAI) : NULL)
 
@@ -84,6 +85,40 @@ typedef union {
 
 ESP_STATIC_ASSERT(sizeof(twai_ll_frame_buffer_t) == 13, "TX/RX buffer type should be 13 bytes");
 
+/* ---------------------------- Reset and Clock Control ------------------------------ */
+
+/**
+ * @brief Enable the bus clock for twai module
+ *
+ * @param group_id Group ID
+ * @param enable true to enable, false to disable
+ */
+static inline void twai_ll_enable_bus_clock(int group_id, bool enable)
+{
+    (void)group_id;
+    SYSTEM.perip_clk_en0.can_clk_en = enable;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define twai_ll_enable_bus_clock(...) (void)__DECLARE_RCC_ATOMIC_ENV; twai_ll_enable_bus_clock(__VA_ARGS__)
+
+/**
+ * @brief Reset the twai module
+ *
+ * @param group_id Group ID
+ */
+static inline void twai_ll_reset_register(int group_id)
+{
+    (void)group_id;
+    SYSTEM.perip_rst_en0.can_rst = 1;
+    SYSTEM.perip_rst_en0.can_rst = 0;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
+#define twai_ll_reset_register(...) (void)__DECLARE_RCC_ATOMIC_ENV; twai_ll_reset_register(__VA_ARGS__)
+
 /* ---------------------------- Peripheral Control Register ----------------- */
 
 /**

components/soc/esp32c6/include/soc/Kconfig.soc_caps.in

@@ -1259,6 +1259,10 @@ config SOC_CLK_RC32K_SUPPORTED
     bool
     default y
 
+config SOC_RCC_IS_INDEPENDENT
+    bool
+    default y
+
 config SOC_TEMPERATURE_SENSOR_SUPPORT_FAST_RC
     bool
     default y

components/soc/esp32c6/include/soc/soc_caps.h

@@ -519,6 +519,8 @@
 #define SOC_CLK_OSC_SLOW_SUPPORTED                (1)     /*!< Support to connect an external oscillator, not a crystal */
 #define SOC_CLK_RC32K_SUPPORTED                   (1)     /*!< Support an internal 32kHz RC oscillator */
 
+#define SOC_RCC_IS_INDEPENDENT                    1       /*!< Reset and Clock Control is independent, thanks to the PCR registers */
+
 /*-------------------------- Temperature Sensor CAPS -------------------------------------*/
 #define SOC_TEMPERATURE_SENSOR_SUPPORT_FAST_RC                (1)
 #define SOC_TEMPERATURE_SENSOR_SUPPORT_XTAL                   (1)

components/soc/esp32h2/include/soc/Kconfig.soc_caps.in

@@ -992,8 +992,8 @@ config SOC_TIMER_SUPPORT_ETM
     default y
 
 config SOC_TWAI_CONTROLLER_NUM
-    bool
+    int
-    default y
+    default 1
 
 config SOC_TWAI_CLK_SUPPORT_XTAL
     bool
@@ -1207,6 +1207,10 @@ config SOC_MODEM_CLOCK_IS_INDEPENDENT
     bool
     default y
 
+config SOC_RCC_IS_INDEPENDENT
+    bool
+    default y
+
 config SOC_TEMPERATURE_SENSOR_SUPPORT_FAST_RC
     bool
     default y

components/soc/esp32h2/include/soc/soc_caps.h

@@ -413,7 +413,7 @@
 #define SOC_TIMER_SUPPORT_ETM             (1)
 
 /*-------------------------- TWAI CAPS ---------------------------------------*/
-#define SOC_TWAI_CONTROLLER_NUM         1
+#define SOC_TWAI_CONTROLLER_NUM         1UL
 #define SOC_TWAI_CLK_SUPPORT_XTAL       1
 #define SOC_TWAI_BRP_MIN                2
 #define SOC_TWAI_BRP_MAX                32768
@@ -496,6 +496,8 @@
 #define SOC_CLK_LP_FAST_SUPPORT_LP_PLL            (1)      /*!< Support LP_PLL clock as the LP_FAST clock source */
 #define SOC_MODEM_CLOCK_IS_INDEPENDENT            (1)
 
+#define SOC_RCC_IS_INDEPENDENT                    1       /*!< Reset and Clock Control is independent, thanks to the PCR registers */
+
 /*-------------------------- Temperature Sensor CAPS -------------------------------------*/
 #define SOC_TEMPERATURE_SENSOR_SUPPORT_FAST_RC                (1)
 #define SOC_TEMPERATURE_SENSOR_SUPPORT_XTAL                   (1)