Merge branch 'feat/twaifd_support_tx_priority_time_trigger' into 'master'

feat(driver_twai): fd hardware support tx priority

Closes IDF-13157

See merge request espressif/esp-idf!48595

components/esp_driver_twai/include/esp_private/twai_frame_queue.h

@@ -0,0 +1,112 @@
+/*
+ * SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#pragma once
+
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+#include "esp_err.h"
+#include "esp_twai_types.h"
+
+////////////////////////////////////////////////////////////////////
+//        !! This queue is ONLY for TWAI driver internal use      //
+////////////////////////////////////////////////////////////////////
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct twai_frame_queue_s *twai_frame_queue_t;
+
+/**
+ * @brief Initialize a TWAI frame priority queue.
+ *
+ * Items are ordered by priority first. For equal priority values, items are popped in push order.
+ */
+esp_err_t twai_frame_queue_new(twai_frame_queue_t *queue, size_t capacity, uint32_t mem_caps);
+
+/**
+ * @brief Release resources used by a TWAI frame priority queue.
+ *
+ * @return
+ *      - ESP_OK: Queue was released successfully
+ *      - ESP_ERR_INVALID_ARG: Queue is invalid
+ */
+esp_err_t twai_frame_queue_del(twai_frame_queue_t queue);
+
+/**
+ * @brief Push an item with priority from task context.
+ *
+ * @return
+ *      - ESP_OK: Item was queued successfully
+ *      - ESP_ERR_INVALID_ARG: Queue is invalid
+ *      - ESP_ERR_TIMEOUT: No free slot became available before timeout
+ */
+esp_err_t twai_frame_queue_push(twai_frame_queue_t queue, const twai_frame_t *data, uint32_t priority, int timeout_ms);
+
+/**
+ * @brief Push an item with priority from ISR context.
+ *
+ * @return
+ *      - ESP_OK: Item was queued successfully
+ *      - ESP_ERR_INVALID_ARG: Queue is invalid
+ *      - ESP_ERR_TIMEOUT: Queue is full
+ */
+esp_err_t twai_frame_queue_push_from_isr(twai_frame_queue_t queue, const twai_frame_t *data, uint32_t priority, bool *task_woken);
+
+/**
+ * @brief Push an item with priority from task or ISR context.
+ *
+ * @return
+ *      - ESP_OK: Item was queued successfully
+ *      - ESP_ERR_INVALID_ARG: Queue is invalid
+ *      - ESP_ERR_TIMEOUT: Queue is full or no free slot became available before timeout
+ */
+esp_err_t twai_frame_queue_push_safe(twai_frame_queue_t queue, const twai_frame_t *data, uint32_t priority, int timeout_ms);
+
+/**
+ * @brief Pop the highest-priority item from task context.
+ *
+ * @return
+ *      - ESP_OK: Item was popped successfully
+ *      - ESP_ERR_INVALID_ARG: Queue is invalid
+ *      - ESP_ERR_NOT_FOUND: Queue is empty
+ */
+esp_err_t twai_frame_queue_pop(twai_frame_queue_t queue, const twai_frame_t **data);
+
+/**
+ * @brief Pop the highest-priority item from ISR context.
+ *
+ * @return
+ *      - ESP_OK: Item was popped successfully
+ *      - ESP_ERR_INVALID_ARG: Queue is invalid
+ *      - ESP_ERR_NOT_FOUND: Queue is empty
+ */
+esp_err_t twai_frame_queue_pop_from_isr(twai_frame_queue_t queue, const twai_frame_t **data, bool *task_woken);
+
+/**
+ * @brief Pop the highest-priority item from task or ISR context.
+ *
+ * @return
+ *      - ESP_OK: Item was popped successfully
+ *      - ESP_ERR_INVALID_ARG: Queue is invalid
+ *      - ESP_ERR_NOT_FOUND: Queue is empty
+ */
+esp_err_t twai_frame_queue_pop_safe(twai_frame_queue_t queue, const twai_frame_t **data);
+
+/**
+ * @brief Get the current number of queued items.
+ */
+size_t twai_frame_queue_get_count(twai_frame_queue_t queue);
+
+/**
+ * @brief Get the number of available queue slots.
+ */
+size_t twai_frame_queue_get_free_space(twai_frame_queue_t queue);
+
+#ifdef __cplusplus
+}
+#endif

components/esp_driver_twai/include/esp_twai_types.h

@@ -33,6 +33,7 @@ typedef struct {
     twai_frame_header_t header;     /**< message attribute/metadata, exclude data buffer*/
     uint8_t *buffer;                /**< buffer address for tx and rx message data*/
     size_t buffer_len;              /**< buffer length of provided data buffer pointer, in bytes.*/
+    uint8_t tx_queue_priority;      /**< Frame priority, range [0, 255], a frame with higher priority value will be picked first from the queue */
 } twai_frame_t;
 
 /**