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Merge branch 'fix/twai_io_init_glitch' into 'master'

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fix(driver_twai): fixed bus-off when twai_init due to wrong gpio config

Closes IDFGH-13672, IDF-11129, and IDF-9113

See merge request espressif/esp-idf!33929
This commit is contained in:
Wan Lei
2024-11-01 10:26:43 +08:00
parent 566721629f b64e2ebfc9
commit 90e71bfa48
1 changed files with 61 additions and 32 deletions
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93
components/driver/twai/twai.c
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@@ -18,14 +18,15 @@
#include "esp_heap_caps.h"
#include "esp_clk_tree.h"
#include "clk_ctrl_os.h"
#include "driver/gpio.h"
#include "esp_private/periph_ctrl.h"
#include "esp_private/esp_clk.h"
#include "esp_private/gpio.h"
#include "esp_private/esp_gpio_reserve.h"
#include "driver/twai.h"
#include "soc/soc_caps.h"
#include "soc/soc.h"
#include "soc/io_mux_reg.h"
#include "soc/twai_periph.h"
#include "soc/gpio_sig_map.h"
#include "hal/twai_hal.h"
#include "esp_rom_gpio.h"
#if SOC_TWAI_SUPPORT_SLEEP_RETENTION
@@ -34,6 +35,7 @@
/* ---------------------------- Definitions --------------------------------- */
//Internal Macros
#define TWAI_TAG "TWAI"
#define TWAI_CHECK(cond, ret_val) ({ \
if (!(cond)) { \
return (ret_val); \
@@ -46,7 +48,6 @@
#ifdef CONFIG_TWAI_ISR_IN_IRAM
#define TWAI_MALLOC_CAPS (MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT)
#else
#define TWAI_TAG "TWAI"
#define TWAI_MALLOC_CAPS MALLOC_CAP_DEFAULT
#endif //CONFIG_TWAI_ISR_IN_IRAM
@@ -74,6 +75,10 @@
//Control structure for TWAI driver
typedef struct twai_obj_t {
int controller_id;
gpio_num_t tx_io;
gpio_num_t rx_io;
gpio_num_t clkout_io;
gpio_num_t bus_off_io;
twai_hal_context_t hal; // hal context
//Control and status members
twai_state_t state;
@@ -285,42 +290,59 @@ static void twai_intr_handler_main(void *arg)
/* -------------------------- Helper functions ----------------------------- */
static void twai_configure_gpio(int controller_id, gpio_num_t tx, gpio_num_t rx, gpio_num_t clkout, gpio_num_t bus_status)
static void twai_configure_gpio(twai_obj_t *p_obj)
{
// assert the GPIO number is not a negative number (shift operation on a negative number is undefined)
assert(tx >= 0 && rx >= 0);
// if TX and RX set to the same GPIO, which means we want to create a loop-back in the GPIO matrix
bool io_loop_back = (tx == rx);
gpio_config_t gpio_conf = {
.intr_type = GPIO_INTR_DISABLE,
.pull_down_en = false,
.pull_up_en = false,
};
uint8_t controller_id = p_obj->controller_id;
uint64_t gpio_mask = BIT64(p_obj->tx_io);
//Set RX pin
gpio_conf.mode = GPIO_MODE_INPUT | (io_loop_back ? GPIO_MODE_OUTPUT : 0);
gpio_conf.pin_bit_mask = 1ULL << rx;
gpio_config(&gpio_conf);
esp_rom_gpio_connect_in_signal(rx, twai_controller_periph_signals.controllers[controller_id].rx_sig, false);
gpio_func_sel(p_obj->rx_io, PIN_FUNC_GPIO);
gpio_input_enable(p_obj->rx_io);
esp_rom_gpio_connect_in_signal(p_obj->rx_io, twai_controller_periph_signals.controllers[controller_id].rx_sig, false);
//Set TX pin
gpio_conf.mode = GPIO_MODE_OUTPUT | (io_loop_back ? GPIO_MODE_INPUT : 0);
gpio_conf.pin_bit_mask = 1ULL << tx;
gpio_config(&gpio_conf);
esp_rom_gpio_connect_out_signal(tx, twai_controller_periph_signals.controllers[controller_id].tx_sig, false, false);
gpio_func_sel(p_obj->tx_io, PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(p_obj->tx_io, twai_controller_periph_signals.controllers[controller_id].tx_sig, false, false);
//Configure output clock pin (Optional)
if (clkout >= 0 && clkout < GPIO_NUM_MAX) {
gpio_set_pull_mode(clkout, GPIO_FLOATING);
esp_rom_gpio_connect_out_signal(clkout, twai_controller_periph_signals.controllers[controller_id].clk_out_sig, false, false);
esp_rom_gpio_pad_select_gpio(clkout);
if (GPIO_IS_VALID_OUTPUT_GPIO(p_obj->clkout_io)) {
gpio_mask |= BIT64(p_obj->clkout_io);
gpio_func_sel(p_obj->clkout_io, PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(p_obj->clkout_io, twai_controller_periph_signals.controllers[controller_id].clk_out_sig, false, false);
}
//Configure bus status pin (Optional)
if (bus_status >= 0 && bus_status < GPIO_NUM_MAX) {
gpio_set_pull_mode(bus_status, GPIO_FLOATING);
esp_rom_gpio_connect_out_signal(bus_status, twai_controller_periph_signals.controllers[controller_id].bus_off_sig, false, false);
esp_rom_gpio_pad_select_gpio(bus_status);
if (GPIO_IS_VALID_OUTPUT_GPIO(p_obj->bus_off_io)) {
gpio_mask |= BIT64(p_obj->bus_off_io);
gpio_func_sel(p_obj->bus_off_io, PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(p_obj->bus_off_io, twai_controller_periph_signals.controllers[controller_id].bus_off_sig, false, false);
}
uint64_t busy_mask = esp_gpio_reserve(gpio_mask);
uint64_t conflict_mask = busy_mask & gpio_mask;
for (; conflict_mask > 0;) {
uint8_t pos = __builtin_ctz(conflict_mask);
conflict_mask &= ~(1 << pos);
ESP_LOGW(TWAI_TAG, "GPIO %d is not usable, maybe used by others", pos);
}
}
static void twai_release_gpio(twai_obj_t *p_obj)
{
assert(p_obj);
uint64_t gpio_mask = BIT64(p_obj->tx_io);
esp_rom_gpio_connect_in_signal(GPIO_MATRIX_CONST_ONE_INPUT, twai_controller_periph_signals.controllers[p_obj->controller_id].rx_sig, false);
gpio_output_disable(p_obj->tx_io);
if (GPIO_IS_VALID_OUTPUT_GPIO(p_obj->clkout_io)) {
gpio_mask |= BIT64(p_obj->clkout_io);
gpio_output_disable(p_obj->clkout_io);
}
if (GPIO_IS_VALID_OUTPUT_GPIO(p_obj->bus_off_io)) {
gpio_mask |= BIT64(p_obj->bus_off_io);
gpio_output_disable(p_obj->bus_off_io);
}
esp_gpio_revoke(gpio_mask);
}
static void twai_free_driver_obj(twai_obj_t *p_obj)
@@ -449,6 +471,7 @@ esp_err_t twai_driver_install_v2(const twai_general_config_t *g_config, const tw
TWAI_CHECK(f_config != NULL, ESP_ERR_INVALID_ARG);
TWAI_CHECK(g_config->controller_id < SOC_TWAI_CONTROLLER_NUM, ESP_ERR_INVALID_ARG);
TWAI_CHECK(g_config->rx_queue_len > 0, ESP_ERR_INVALID_ARG);
// assert the GPIO number is not a negative number (shift operation on a negative number is undefined)
TWAI_CHECK(GPIO_IS_VALID_OUTPUT_GPIO(g_config->tx_io), ESP_ERR_INVALID_ARG);
TWAI_CHECK(GPIO_IS_VALID_GPIO(g_config->rx_io), ESP_ERR_INVALID_ARG);
#ifndef CONFIG_TWAI_ISR_IN_IRAM
@@ -491,6 +514,10 @@ esp_err_t twai_driver_install_v2(const twai_general_config_t *g_config, const tw
p_twai_obj->state = TWAI_STATE_STOPPED;
p_twai_obj->mode = g_config->mode;
p_twai_obj->alerts_enabled = g_config->alerts_enabled;
p_twai_obj->tx_io = g_config->tx_io;
p_twai_obj->rx_io = g_config->rx_io;
p_twai_obj->clkout_io = g_config->clkout_io;
p_twai_obj->bus_off_io = g_config->bus_off_io;
//Assign the TWAI object
portENTER_CRITICAL(&g_spinlock);
@@ -525,7 +552,7 @@ esp_err_t twai_driver_install_v2(const twai_general_config_t *g_config, const tw
twai_hal_configure(&p_twai_obj->hal, t_config, f_config, DRIVER_DEFAULT_INTERRUPTS, g_config->clkout_divider);
//Assign GPIO and Interrupts
twai_configure_gpio(controller_id, g_config->tx_io, g_config->rx_io, g_config->clkout_io, g_config->bus_off_io);
twai_configure_gpio(p_twai_obj);
#if CONFIG_PM_ENABLE
//Acquire PM lock
@@ -573,6 +600,9 @@ esp_err_t twai_driver_uninstall_v2(twai_handle_t handle)
g_twai_objs[controller_id] = NULL;
portEXIT_CRITICAL(&g_spinlock);
//Disable interrupt
ESP_ERROR_CHECK(esp_intr_disable(p_twai_obj->isr_handle));
//Clear registers by reading
twai_hal_deinit(&p_twai_obj->hal);
TWAI_PERI_ATOMIC() {
@@ -589,8 +619,7 @@ esp_err_t twai_driver_uninstall_v2(twai_handle_t handle)
}
#endif //CONFIG_PM_ENABLE
//Disable interrupt
ESP_ERROR_CHECK(esp_intr_disable(p_twai_obj->isr_handle));
twai_release_gpio(p_twai_obj);
//Free twai driver object
twai_free_driver_obj(p_twai_obj);
return ESP_OK;