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fix(driver_twai): fixed TWAI arbitration lost event handling

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Merges https://github.com/espressif/esp-idf/pull/18100
This commit is contained in:
Franz Höpfinger
2026-02-28 20:07:31 +08:00
committed by wanckl
parent 926523d24d
commit d2794cc86a
4 changed files with 59 additions and 8 deletions
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components/esp_hal_twai/include/hal/twai_hal.h
+3 -1
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@@ -280,7 +280,9 @@ twai_error_state_t twai_hal_get_err_state(twai_hal_context_t *hal_ctx);
__attribute__((always_inline))
static inline twai_error_flags_t twai_hal_get_err_flags(twai_hal_context_t *hal_ctx)
{
return hal_ctx->errors;
twai_error_flags_t error_flags = hal_ctx->errors;
hal_ctx->errors.val = 0; // clear ctx for next errors
return error_flags;
}
/* ------------------------------- TX and RX -------------------------------- */
components/esp_hal_twai/twai_hal_v1.c
+5 -7
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@@ -276,13 +276,10 @@ uint32_t twai_hal_get_events(twai_hal_context_t *hal_ctx)
twai_ll_err_dir_t dir;
twai_ll_err_seg_t seg;
twai_ll_parse_err_code_cap(hal_ctx->dev, &type, &dir, &seg); //Decode error interrupt
twai_error_flags_t errors = {
.bit_err = (type == TWAI_LL_ERR_BIT),
.form_err = (type == TWAI_LL_ERR_FORM),
.stuff_err = (type == TWAI_LL_ERR_STUFF),
.ack_err = (type == TWAI_LL_ERR_OTHER) && (seg == TWAI_LL_ERR_SEG_ACK_SLOT),
};
hal_ctx->errors = errors;
hal_ctx->errors.bit_err = (type == TWAI_LL_ERR_BIT);
hal_ctx->errors.form_err = (type == TWAI_LL_ERR_FORM);
hal_ctx->errors.stuff_err = (type == TWAI_LL_ERR_STUFF);
hal_ctx->errors.ack_err = (type == TWAI_LL_ERR_OTHER) && (seg == TWAI_LL_ERR_SEG_ACK_SLOT);
#if TWAI_LL_HAS_RX_FRAME_ISSUE
//Check for errata condition (RX message has bus error at particular segments)
if (dir == TWAI_LL_ERR_DIR_RX &&
@@ -293,6 +290,7 @@ uint32_t twai_hal_get_events(twai_hal_context_t *hal_ctx)
}
#endif
}
hal_ctx->errors.arb_lost = !!(events & TWAI_HAL_EVENT_ARB_LOST);
if (events & TWAI_HAL_EVENT_ARB_LOST) {
twai_ll_clear_arb_lost_cap(hal_ctx->dev);
}
components/esp_hal_twai/twai_hal_v2.c
+1
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@@ -218,6 +218,7 @@ uint32_t twai_hal_get_events(twai_hal_context_t *hal_ctx)
hal_ctx->errors = twaifd_ll_get_err_reason(hal_ctx->dev);
hal_events |= TWAI_HAL_EVENT_BUS_ERR;
}
hal_ctx->errors.arb_lost = !!(int_stat & TWAIFD_LL_INTR_ARBIT_LOST);
if (int_stat & TWAIFD_LL_INTR_ARBIT_LOST) {
hal_events |= TWAI_HAL_EVENT_ARB_LOST;
}