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feat(driver_twai): update and simplify network example using new driver

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This commit is contained in:
wanckl
2025-09-22 20:24:16 +08:00
parent d625405ecb
commit 0f2d8416b5
25 changed files with 582 additions and 1011 deletions
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components/esp_driver_twai/esp_twai_onchip.c
+8 -6
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@@ -120,11 +120,11 @@ static void _ctrlr_release(int ctrlr_id)
static esp_err_t _node_config_io(twai_onchip_ctx_t *node, const twai_onchip_node_config_t *node_config)
{
ESP_RETURN_ON_FALSE(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.tx), ESP_ERR_INVALID_ARG, TAG, "Invalid tx gpio num");
ESP_RETURN_ON_FALSE(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.tx) || (node_config->flags.enable_listen_only && (node_config->io_cfg.tx == -1)), ESP_ERR_INVALID_ARG, TAG, "Invalid tx gpio num");
ESP_RETURN_ON_FALSE(GPIO_IS_VALID_GPIO(node_config->io_cfg.rx), ESP_ERR_INVALID_ARG, TAG, "Invalid rx gpio num");
uint64_t reserve_mask = BIT64(node_config->io_cfg.tx);
ESP_RETURN_ON_FALSE(!(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.quanta_clk_out) && (twai_controller_periph_signals.controllers[node->ctrlr_id].clk_out_sig < 0)), ESP_ERR_NOT_SUPPORTED, TAG, "quanta_clk_out is not supported");
ESP_RETURN_ON_FALSE(!(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.bus_off_indicator) && (twai_controller_periph_signals.controllers[node->ctrlr_id].bus_off_sig < 0)), ESP_ERR_NOT_SUPPORTED, TAG, "bus_off_indicator is not supported");
uint64_t reserve_mask = 0;
// Set RX pin
gpio_input_enable(node_config->io_cfg.rx);
@@ -133,8 +133,10 @@ static esp_err_t _node_config_io(twai_onchip_ctx_t *node, const twai_onchip_node
esp_rom_gpio_connect_in_signal(node_config->io_cfg.rx, twai_controller_periph_signals.controllers[node->ctrlr_id].rx_sig, false);
// Set TX pin
gpio_func_sel(node_config->io_cfg.tx, PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(node_config->io_cfg.tx, twai_controller_periph_signals.controllers[node->ctrlr_id].tx_sig, false, false);
if (node_config->io_cfg.tx != -1) { // listen only node is able to not have TX pin
gpio_func_sel(node_config->io_cfg.tx, PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(node_config->io_cfg.tx, twai_controller_periph_signals.controllers[node->ctrlr_id].tx_sig, false, false);
}
//Configure output clock pin (Optional)
if (GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.quanta_clk_out)) {
@@ -637,7 +639,7 @@ static esp_err_t _node_parse_rx(twai_node_handle_t node, twai_frame_t *rx_frame)
esp_err_t twai_new_node_onchip(const twai_onchip_node_config_t *node_config, twai_node_handle_t *node_ret)
{
esp_err_t ret = ESP_OK;
ESP_RETURN_ON_FALSE(node_config->tx_queue_depth > 0, ESP_ERR_INVALID_ARG, TAG, "tx_queue_depth at least 1");
ESP_RETURN_ON_FALSE((node_config->tx_queue_depth > 0) || node_config->flags.enable_listen_only, ESP_ERR_INVALID_ARG, TAG, "tx_queue_depth at least 1");
ESP_RETURN_ON_FALSE(!node_config->intr_priority || (BIT(node_config->intr_priority) & ESP_INTR_FLAG_LOWMED), ESP_ERR_INVALID_ARG, TAG, "Invalid intr_priority level");
// Allocate TWAI node object memory
@@ -653,7 +655,7 @@ esp_err_t twai_new_node_onchip(const twai_onchip_node_config_t *node_config, twa
// state is in bus_off before enabled
atomic_store(&node->state, TWAI_ERROR_BUS_OFF);
node->tx_mount_queue = xQueueCreateWithCaps(node_config->tx_queue_depth, sizeof(twai_frame_t *), TWAI_MALLOC_CAPS);
ESP_GOTO_ON_FALSE(node->tx_mount_queue, ESP_ERR_NO_MEM, err, TAG, "no_mem");
ESP_GOTO_ON_FALSE(node->tx_mount_queue || node_config->flags.enable_listen_only, ESP_ERR_NO_MEM, err, TAG, "no_mem");
uint32_t intr_flags = TWAI_INTR_ALLOC_FLAGS;
intr_flags |= (node_config->intr_priority > 0) ? BIT(node_config->intr_priority) : ESP_INTR_FLAG_LOWMED;
ESP_GOTO_ON_ERROR(esp_intr_alloc(twai_controller_periph_signals.controllers[ctrlr_id].irq_id, intr_flags, _node_isr_main, (void *)node, &node->intr_hdl),