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Merge branch 'feature/twai_timestamp_low_level' into 'master'

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feat(driver_twai): support rx frame timestamp feature

Closes IDF-8435 and IDFGH-2413

See merge request espressif/esp-idf!26784
This commit is contained in:
Wan Lei
2026-01-27 14:47:30 +08:00
parent 1fa8e40b58 1161254877
commit 753e4acc62
21 changed files with 327 additions and 164 deletions
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components/esp_driver_twai/test_apps/test_twai/main/test_app_main.c
+1 -1
View File
@@ -10,7 +10,7 @@
#include "esp_heap_caps.h"
// lazy install of mutex and pm_lock occupied memorys
#define LEAKS (300)
#define LEAKS (400)
void setUp(void)
{
components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp
+73 -2
View File
@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2025-2026 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -12,6 +12,7 @@
#include "test_utils.h"
#include "esp_attr.h"
#include "esp_log.h"
#include "esp_timer.h"
#include "esp_heap_caps.h"
#include "esp_clk_tree.h"
#include "freertos/FreeRTOS.h"
@@ -745,7 +746,7 @@ static IRAM_ATTR bool test_dlc_range_cb(twai_node_handle_t handle, const twai_rx
{
twai_frame_t *rx_frame = (twai_frame_t *)user_ctx;
if (ESP_OK == twai_node_receive_from_isr(handle, rx_frame)) {
esp_rom_printf(DRAM_STR("RX len %d %s\n"), rx_frame->header.dlc, rx_frame->buffer);
ESP_EARLY_LOGI("RX", "timestamp %llu frame %x [%d] %s", rx_frame->header.timestamp, rx_frame->header.id, rx_frame->header.dlc, rx_frame->buffer);
}
return false;
}
@@ -791,6 +792,7 @@ TEST_CASE("twai dlc range test", "[twai]")
TEST_ASSERT_EQUAL(len % 9, rx_frame.header.dlc);
memset(rx_buffer, 0, sizeof(rx_buffer));
}
TEST_ASSERT_EQUAL(0, rx_frame.header.timestamp); // timestamp should be 0 if not enabled
tx_frame.buffer_len = 9;
tx_frame.header.dlc = 0;
@@ -803,3 +805,72 @@ TEST_CASE("twai dlc range test", "[twai]")
TEST_ESP_OK(twai_node_disable(node_hdl));
TEST_ESP_OK(twai_node_delete(node_hdl));
}
#define MS_TO_TWAI_TICK(time_ms, resolution) ((time_ms) * (resolution / 1000))
TEST_CASE("twai rx timestamp", "[twai]")
{
twai_node_handle_t node_hdl;
twai_onchip_node_config_t node_config = {};
node_config.io_cfg.tx = TEST_TX_GPIO;
node_config.io_cfg.rx = TEST_TX_GPIO; // Using same pin for test without transceiver
node_config.io_cfg.quanta_clk_out = GPIO_NUM_NC;
node_config.io_cfg.bus_off_indicator = GPIO_NUM_NC;
node_config.bit_timing.bitrate = 800000;
node_config.tx_queue_depth = TEST_FRAME_NUM;
node_config.flags.enable_loopback = true;
node_config.flags.enable_self_test = true;
bool hw_timer = false;
#if TWAI_LL_SUPPORT(TIMESTAMP)
hw_timer = true;
#endif
for (uint32_t resolution = 1000; resolution <= 10000000; resolution *= 100) {
node_config.timestamp_resolution_hz = resolution;
printf("\nTesting resolution %ld\n", resolution);
if (((resolution < 2000) && hw_timer) || ((resolution > 1000000) && !hw_timer)) {
TEST_ESP_ERR(twai_new_node_onchip(&node_config, &node_hdl), ESP_ERR_INVALID_ARG);
continue;
}
TEST_ESP_OK(twai_new_node_onchip(&node_config, &node_hdl));
uint8_t rx_buffer[TWAI_FRAME_MAX_LEN] = {0};
twai_frame_t rx_frame = {};
rx_frame.buffer = rx_buffer;
rx_frame.buffer_len = sizeof(rx_buffer);
twai_event_callbacks_t user_cbs = {};
user_cbs.on_rx_done = test_dlc_range_cb;
TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl, &user_cbs, &rx_frame));
TEST_ESP_OK(twai_node_enable(node_hdl));
twai_frame_t tx_frame = {};
tx_frame.buffer = (uint8_t *)"hi time";
tx_frame.buffer_len = strlen((const char *)tx_frame.buffer);
uint64_t time_now, time_last = MS_TO_TWAI_TICK(esp_timer_get_time() / 1000, resolution);
for (int i = 1; i < 10; i++) {
tx_frame.header.id = i;
printf("\nwaiting %dms (%ld ticks) ...\n", i * 100, MS_TO_TWAI_TICK(i * 100, resolution));
esp_rom_delay_us(i * 100 * 1000);
TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_frame, 100));
TEST_ESP_OK(twai_node_transmit_wait_all_done(node_hdl, 100));
time_now = MS_TO_TWAI_TICK(esp_timer_get_time() / 1000, resolution);
printf("esp tick now %llu, diff %u\n", time_now, abs(time_now - rx_frame.header.timestamp));
TEST_ASSERT_INT32_WITHIN(MAX(resolution / 100, 5), time_now, rx_frame.header.timestamp);
TEST_ASSERT_INT32_WITHIN(MAX(resolution / 100, 5), rx_frame.header.timestamp - time_last, MS_TO_TWAI_TICK(i * 100, resolution));
time_last = rx_frame.header.timestamp;
}
printf("\n==============================================\n");
printf("Test timestamp still alive during node disable/enable (%ld ticks)\n", MS_TO_TWAI_TICK(1000, resolution));
TEST_ESP_OK(twai_node_disable(node_hdl));
esp_rom_delay_us(1000 * 1000);
TEST_ESP_OK(twai_node_enable(node_hdl));
TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_frame, 100));
TEST_ESP_OK(twai_node_transmit_wait_all_done(node_hdl, 100));
TEST_ASSERT_INT32_WITHIN(MAX(resolution / 100, 5), rx_frame.header.timestamp - time_last, MS_TO_TWAI_TICK(1000, resolution));
TEST_ESP_OK(twai_node_disable(node_hdl));
TEST_ESP_OK(twai_node_delete(node_hdl));
}
}