Merge branch 'fix/legacy_twai_rx_non_iso_dlc_oob_v6.1' into 'release/v6.1'

fix(driver_twai): fixed legacy twai OOB issue when rx dlc larger than 8 (v6.1)

See merge request espressif/esp-idf!50749

docs/en/api-reference/peripherals/twai.rst

@@ -90,6 +90,7 @@ Below are additional configuration fields of the :cpp:type:`twai_onchip_node_con
     - :cpp:member:`twai_onchip_node_config_t::flags::enable_loopback`: Enables loopback mode. The node will receive its own transmitted messages (subject to filter configuration), while also transmitting them to the bus.
     - :cpp:member:`twai_onchip_node_config_t::flags::enable_listen_only`: Configures the node in listen-only mode. In this mode, the node only receives and does not transmit any dominant bits, including ACK and error frames.
     - :cpp:member:`twai_onchip_node_config_t::flags::no_receive_rtr`: When using filters, determines whether remote frames matching the ID pattern should be filtered out.
+    - :cpp:member:`twai_onchip_node_config_t::flags::enable_scheduled_tx`: Enables scheduled transmission. This option requires a non-zero :cpp:member:`twai_onchip_node_config_t::timestamp_resolution_hz`.
 
 The :cpp:func:`twai_node_enable` function starts the TWAI controller. Once enabled, the controller is connected to the bus and can transmit messages. It also generates events upon receiving messages from other nodes on the bus or when bus errors are detected.
 
@@ -176,6 +177,34 @@ The TWAI driver supports creating a 64-bit timestamp for each successfully recei
 
 The node time inherits from the system time, i.e. the time starts from the power-on of the chip, and is not affected by the stop/restart/BUS_OFF state during the node's lifetime.
 
+.. only:: SOC_TWAI_FD_SUPPORTED
+
+    Scheduled Transmission
+    ----------------------
+
+    The {IDF_TARGET_NAME} TWAI supports schedule a transmitted frame by trigger time. Enable :cpp:member:`twai_onchip_node_config_t::flags::enable_scheduled_tx` and set :cpp:member:`twai_onchip_node_config_t::timestamp_resolution_hz` when creating the node, then fill :cpp:member:`twai_frame_t::header::trigger_time` before calling :cpp:func:`twai_node_transmit`. The trigger time uses the same timebase as received frame timestamps.
+
+    .. code:: c
+
+        twai_onchip_node_config_t node_config = {
+            .io_cfg.tx = 4,
+            .io_cfg.rx = 5,
+            .bit_timing.bitrate = 500000,
+            .timestamp_resolution_hz = 1000,  // 1 tick = 1 ms
+            .tx_queue_depth = 4,
+            .flags.enable_scheduled_tx = true,
+        };
+
+        twai_frame_t tx_msg = {
+            .header.id = 0x10,
+            .header.trigger_time = 2000,  // transmit when node timestamp reaches 2000 ticks
+        };
+        ESP_ERROR_CHECK(twai_node_transmit(node_hdl, &tx_msg, 0));
+
+    .. note::
+
+        If the frame's trigger time has already been reached when the frame is ready to transmit, the driver starts transmitting it immediately. When multiple scheduled frames are queued, the driver processes them in software submission order. Frames are not reordered by :cpp:member:`twai_frame_t::header::trigger_time`, so a later-submitted frame with an earlier trigger time cannot overtake frames submitted before it.
+
 Stopping and Deleting the Node
 ------------------------------