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feat(driver_twai): support using all 4 hardware tx buffer

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wanckl
2026-06-15 20:38:55 +08:00
parent ecb4123afd
commit a8980b833a
18 changed files with 247 additions and 62 deletions
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components/esp_hal_twai/include/hal/twai_hal.h
+32 -3
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@@ -50,9 +50,29 @@ typedef union twai_ll_frame_buffer_t twai_hal_frame_t;
#define TWAI_HAL_EVENT_BUS_ERR (1 << 7)
#define TWAI_HAL_EVENT_ARB_LOST (1 << 8)
#define TWAI_HAL_EVENT_RX_BUFF_FRAME (1 << 9)
#define TWAI_HAL_EVENT_TX_BUFF_FREE (1 << 10)
#define TWAI_HAL_EVENT_NEED_PERIPH_RESET (1 << 11)
#define TWAI_HAL_EVENT_TX_SUCCESS (1 << 12)
#define TWAI_HAL_EVENT_NEED_PERIPH_RESET (1 << 10)
#define TWAI_HAL_EVENT_TX0_DONE (1 << 11)
#define TWAI_HAL_EVENT_TX0_SUCCESS (1 << 12)
#define TWAI_HAL_EVENT_TX1_DONE (1 << 13)
#define TWAI_HAL_EVENT_TX1_SUCCESS (1 << 14)
#define TWAI_HAL_EVENT_TX2_DONE (1 << 15)
#define TWAI_HAL_EVENT_TX2_SUCCESS (1 << 16)
#define TWAI_HAL_EVENT_TX3_DONE (1 << 17)
#define TWAI_HAL_EVENT_TX3_SUCCESS (1 << 18)
#define TWAI_HAL_EVENT_TX4_DONE (1 << 19)
#define TWAI_HAL_EVENT_TX4_SUCCESS (1 << 20)
#define TWAI_HAL_EVENT_TX5_DONE (1 << 21)
#define TWAI_HAL_EVENT_TX5_SUCCESS (1 << 22)
#define TWAI_HAL_EVENT_TX6_DONE (1 << 23)
#define TWAI_HAL_EVENT_TX6_SUCCESS (1 << 24)
#define TWAI_HAL_EVENT_TX7_DONE (1 << 25)
#define TWAI_HAL_EVENT_TX7_SUCCESS (1 << 26)
#define TWAI_HAL_TX_BUFFER_SLOT_NUM 8 // support up to 8 TX slots in hal layer
#define TWAI_HAL_EVENT_TX_DONE_MASK (TWAI_HAL_EVENT_TX0_DONE | TWAI_HAL_EVENT_TX1_DONE | TWAI_HAL_EVENT_TX2_DONE | TWAI_HAL_EVENT_TX3_DONE | \
TWAI_HAL_EVENT_TX4_DONE | TWAI_HAL_EVENT_TX5_DONE | TWAI_HAL_EVENT_TX6_DONE | TWAI_HAL_EVENT_TX7_DONE)
#define TWAI_HAL_EVENT_TX_DONE_SLOT(buffer_idx) (TWAI_HAL_EVENT_TX0_DONE << ((buffer_idx) * 2))
#define TWAI_HAL_EVENT_TX_SUCC_SLOT(buffer_idx) (TWAI_HAL_EVENT_TX0_SUCCESS << ((buffer_idx) * 2))
typedef struct {
twai_soc_handle_t dev; // TWAI SOC layer handle (i.e. register base address)
@@ -61,6 +81,7 @@ typedef struct {
uint32_t timer_overflow_cnt;
twai_error_flags_t errors;
uint8_t sja1000_filter_id_type; // hardware don't check id type, check in software, 0:no_filter, 1: std_id_only, 2: ext_id_only
uint8_t tx_buffer_num;
int8_t retry_cnt;
bool enable_self_test;
bool enable_loopback;
@@ -296,6 +317,14 @@ static inline twai_error_flags_t twai_hal_get_err_flags(twai_hal_context_t *hal_
*/
uint32_t twai_hal_get_rx_msg_count(twai_hal_context_t *hal_ctx);
/**
* @brief Get the number of TX buffers supported by the hardware
*
* @param hal_ctx Context of the HAL layer
* @return TX buffer count
*/
#define twai_hal_get_tx_slot_num(hal_ctx) (hal_ctx->tx_buffer_num)
/**
* @brief TWAI hal transaction description type
*/