feat(twai): graduate the hal drivers into esp_hal_twai component

components/esp_driver_twai/test_apps/test_twai/CMakeLists.txt

@@ -15,10 +15,18 @@ check_register_rw_half_word(SOC_MODULES "twai*" "pcr" "hp_sys_clkrst"
                             HAL_MODULES "twai*")
 
 if(CONFIG_COMPILER_DUMP_RTL_FILES)
+    # Collect RTL directories in a variable for readability. Join them
+    # with commas so they are passed as a single --rtl-dirs argument to the script.
+    set(TWAI_RTL_DIRS
+        ${CMAKE_BINARY_DIR}/esp-idf/esp_driver_twai
+        ${CMAKE_BINARY_DIR}/esp-idf/hal
+        ${CMAKE_BINARY_DIR}/esp-idf/esp_hal_twai
+    )
+    string(JOIN "," TWAI_RTL_DIRS_JOINED ${TWAI_RTL_DIRS})
     add_custom_target(
         check_test_app_sections ALL
         COMMAND ${PYTHON} $ENV{IDF_PATH}/tools/ci/check_callgraph.py
-        --rtl-dirs ${CMAKE_BINARY_DIR}/esp-idf/esp_driver_twai/,${CMAKE_BINARY_DIR}/esp-idf/hal/
+        --rtl-dirs ${TWAI_RTL_DIRS_JOINED}
         --elf-file ${CMAKE_BINARY_DIR}/test_twai.elf
         find-refs
         --from-sections=.iram0.text

components/esp_driver_twai/test_apps/test_twai/main/CMakeLists.txt

@@ -4,7 +4,7 @@ if(CONFIG_SOC_TWAI_SUPPORTED)
     list(APPEND srcs "test_twai_common.cpp" "test_twai_network.cpp")
 endif()
 
-if(CONFIG_SOC_TWAI_SUPPORT_FD)
+if(CONFIG_SOC_TWAI_FD_SUPPORTED)
     list(APPEND srcs "test_twai_fd.cpp")
 endif()
 

components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp

@@ -17,7 +17,7 @@
 #include "freertos/FreeRTOS.h"
 #include "esp_twai.h"
 #include "esp_twai_onchip.h"
-#include "soc/twai_periph.h"
+#include "hal/twai_periph.h"
 #include "esp_private/gpio.h"
 #include "driver/uart.h" // for baudrate detection
 
@@ -340,7 +340,7 @@ TEST_CASE("twai mask filter (loopback)", "[twai]")
 }
 
 //------------------ Dual Filter Test -------------------//
-#if !SOC_TWAI_SUPPORT_FD
+#if !SOC_HAS(TWAI_FD)
 static IRAM_ATTR bool test_dual_filter_rx_done_cb(twai_node_handle_t handle, const twai_rx_done_event_data_t *edata, void *user_ctx)
 {
     uint8_t *test_ctrl = (uint8_t *)user_ctx;
@@ -547,7 +547,7 @@ TEST_CASE("twai bus off recovery (loopback)", "[twai]")
     }
 
     // recover node
-#if SOC_TWAI_SUPPORT_FD
+#if SOC_HAS(TWAI_FD)
     TEST_ASSERT_GREATER_THAN(200, node_status.tx_error_count);
 #else
     TEST_ASSERT_EQUAL(128, node_status.tx_error_count); // TEC become 128 when bus off on legacy chips