feat(driver_twai): add new driver based on c5 twaifd

2026-10-02 11:10:54 +03:00 · 2025-04-01 20:17:09 +08:00
parent 37c3ed6320
commit 043c46b4f4
23 changed files with 1561 additions and 135 deletions
@@ -0,0 +1,126 @@
+/*
+ * SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#pragma once
+
+#include "esp_err.h"
+#include "esp_twai_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* -------------------------------------------------- Node Control -------------------------------------------------- */
+
+/**
+ * @brief Enable the TWAI node
+ *
+ * @param node Handle to the TWAI node
+ * @return ESP_OK on success, error code otherwise
+ */
+esp_err_t twai_node_enable(twai_node_handle_t node);
+
+/**
+ * @brief Disable the TWAI node
+ *
+ * @param node Handle to the TWAI node
+ * @return ESP_OK on success, error code otherwise
+ */
+esp_err_t twai_node_disable(twai_node_handle_t node);
+
+/**
+ * @brief Init the recover process for TWAI node which in bus-off
+ * @note  Follow `on_state_change` callback or `twai_node_get_info` to know recover finish or not
+ *
+ * @param node Handle to the TWAI node
+ * @return ESP_OK on success, error code otherwise
+ */
+esp_err_t twai_node_recover(twai_node_handle_t node);
+
+/**
+ * @brief Delete the TWAI node and release resources
+ *
+ * @param node Handle to the TWAI node
+ * @return ESP_OK on success, error code otherwise
+ */
+esp_err_t twai_node_delete(twai_node_handle_t node);
+
+/**
+ * @brief Register event callbacks for the TWAI node
+ *
+ * @param node Handle to the TWAI node
+ * @param cbs Pointer to a structure of event callback functions
+ * @param user_data User-defined data passed to callback functions
+ * @return ESP_OK on success, error code otherwise
+ */
+esp_err_t twai_node_register_event_callbacks(twai_node_handle_t node, const twai_event_callbacks_t *cbs, void *user_data);
+
+/**
+ * @brief Reconfigure the timing settings of the TWAI node
+ *
+ * @param node Handle to the TWAI node
+ * @param bit_timing Optional,pointer to new twai cc(classic) or arbitration phase of twai fd timing configuration
+ * @param data_timing Optional, pointer to new twai fd timing configuration
+ * @return ESP_OK on success, error code otherwise
+ */
+esp_err_t twai_node_reconfig_timing(twai_node_handle_t node, const twai_timing_advanced_config_t *bit_timing, const twai_timing_advanced_config_t *data_timing);
+
+/**
+ * @brief Configure the mask filter of the TWAI node
+ *
+ * @param node Handle to the TWAI node
+ * @param filter_id Index of the filter to configure
+ * @param mask_cfg Pointer to the mask filter configuration
+ * @return ESP_OK on success, error code otherwise
+ */
+esp_err_t twai_node_config_mask_filter(twai_node_handle_t node, uint8_t filter_id, const twai_mask_filter_config_t *mask_cfg);
+
+/**
+ * @brief Configure the range filter of the TWAI node
+ *
+ * @param node Handle to the TWAI node
+ * @param filter_id Index of the filter to configure
+ * @param range_cfg Pointer to the range filter configuration
+ * @return ESP_OK on success, error code otherwise
+ */
+esp_err_t twai_node_config_range_filter(twai_node_handle_t node, uint8_t filter_id, const twai_range_filter_config_t *range_cfg);
+
+/**
+ * @brief Get information about the TWAI node
+ *
+ * @param node Handle to the TWAI node
+ * @param status_ret Pointer to store the current node status
+ * @param statistics_ret Pointer to store node statistics
+ * @return ESP_OK on success, error code otherwise
+ */
+esp_err_t twai_node_get_info(twai_node_handle_t node, twai_node_status_t *status_ret, twai_node_record_t *statistics_ret);
+
+/* ----------------------------------------------- Node Communication ----------------------------------------------- */
+
+/**
+ * @brief Transmit a TWAI frame
+ *
+ * @param[in] node Handle to the TWAI node
+ * @param[in] frame Pointer to the frame to transmit
+ * @param[in] timeout_ms Maximum wait time if the transmission queue is full (milliseconds), -1 to wait forever
+ * @return ESP_OK on success, error code otherwise
+ */
+esp_err_t twai_node_transmit(twai_node_handle_t node, const twai_frame_t *frame, int timeout_ms);
+
+/**
+ * @brief Receive a TWAI frame from 'rx_done_cb' (ONLY FROM 'rx_done_cb')
+ *
+ * @param[in] node Handle to the TWAI node
+ * @param[out] header Where to store frame header
+ * @param[out] rx_buffer Where to store frame data
+ * @param[in] buf_sz Bytes length of rx_buffer
+ * @param[out] received_len Optional, the real data length of rx frame comes from 'header->dlc', null if don't care
+ * @return ESP_OK on success, error code otherwise
+ */
+esp_err_t twai_node_receive_from_isr(twai_node_handle_t node, twai_frame_header_t *header, uint8_t *rx_buffer, size_t buf_sz, size_t *received_len);
+
+#ifdef __cplusplus
+}
+#endif