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fix(twai): busoff and clkout may not available in SOC

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return ESP_ERR_NOT_SUPPORTED if these signals are required from user but
not available in SOC
This commit is contained in:
morris
2025-09-08 17:39:38 +08:00
parent 6b7d55aeba
commit e1694c6ade
10 changed files with 78 additions and 48 deletions
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components/esp_driver_twai/esp_twai_onchip.c
+2
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@@ -123,6 +123,8 @@ static esp_err_t _node_config_io(twai_onchip_ctx_t *node, const twai_onchip_node
ESP_RETURN_ON_FALSE(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.tx), ESP_ERR_INVALID_ARG, TAG, "Invalid tx gpio num");
ESP_RETURN_ON_FALSE(GPIO_IS_VALID_GPIO(node_config->io_cfg.rx), ESP_ERR_INVALID_ARG, TAG, "Invalid rx gpio num");
uint64_t reserve_mask = BIT64(node_config->io_cfg.tx);
ESP_RETURN_ON_FALSE(!(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.quanta_clk_out) && (twai_controller_periph_signals.controllers[node->ctrlr_id].clk_out_sig < 0)), ESP_ERR_NOT_SUPPORTED, TAG, "quanta_clk_out is not supported");
ESP_RETURN_ON_FALSE(!(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.bus_off_indicator) && (twai_controller_periph_signals.controllers[node->ctrlr_id].bus_off_sig < 0)), ESP_ERR_NOT_SUPPORTED, TAG, "bus_off_indicator is not supported");
// Set RX pin
gpio_input_enable(node_config->io_cfg.rx);
components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.c
+3 -1
View File
@@ -29,7 +29,7 @@ static IRAM_ATTR bool test_driver_install_rx_cb(twai_node_handle_t handle, const
{
twai_frame_t rx_frame = {0};
if (ESP_OK == twai_node_receive_from_isr(handle, &rx_frame)) {
ESP_EARLY_LOGI("Recv ", "id 0x%lx rtr %d", rx_frame.header.id, rx_frame.header.rtr);
esp_rom_printf("Recv id 0x%lx rtr %d", rx_frame.header.id, rx_frame.header.rtr);
}
if (rx_frame.header.id != 0x100) {
TEST_FAIL(); //callback is unregistered, should not run here
@@ -111,6 +111,8 @@ static void test_twai_baudrate_correctness(twai_clock_source_t clk_src, uint32_t
.clk_src = clk_src,
.io_cfg.tx = TEST_TX_GPIO,
.io_cfg.rx = TEST_TX_GPIO,
.io_cfg.quanta_clk_out = GPIO_NUM_NC,
.io_cfg.bus_off_indicator = GPIO_NUM_NC,
.bit_timing.bitrate = test_bitrate,
.tx_queue_depth = 1,
.flags.enable_loopback = true,
components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.c
+4
View File
@@ -67,6 +67,8 @@ TEST_CASE("twai range filter (loopback)", "[twai]")
twai_onchip_node_config_t node_config = {
.io_cfg.tx = TEST_TX_GPIO,
.io_cfg.rx = TEST_TX_GPIO, // Using same pin for test without transceiver
.io_cfg.quanta_clk_out = GPIO_NUM_NC,
.io_cfg.bus_off_indicator = GPIO_NUM_NC,
.bit_timing.bitrate = 1000000,
.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH,
.flags.enable_loopback = true,
@@ -142,6 +144,8 @@ TEST_CASE("twai fd transmit time (loopback)", "[twai]")
twai_onchip_node_config_t node_config = {
.io_cfg.tx = TEST_TX_GPIO,
.io_cfg.rx = TEST_TX_GPIO, // Using same pin for test without transceiver
.io_cfg.quanta_clk_out = GPIO_NUM_NC,
.io_cfg.bus_off_indicator = GPIO_NUM_NC,
.bit_timing.bitrate = 1000000,
.data_timing.bitrate = 4000000,
.data_timing.ssp_permill = 700, // ssp 70.0%
components/esp_driver_twai/test_apps/test_twai/main/test_twai_network.c
+4
View File
@@ -31,6 +31,8 @@ TEST_CASE("twai_listen_only", "[twai_net]")
twai_onchip_node_config_t node_config = {
.io_cfg.tx = TEST_TX_GPIO,
.io_cfg.rx = TEST_RX_GPIO,
.io_cfg.quanta_clk_out = GPIO_NUM_NC,
.io_cfg.bus_off_indicator = GPIO_NUM_NC,
.bit_timing.bitrate = 250000,
.tx_queue_depth = 3,
.flags.enable_listen_only = true,
@@ -72,6 +74,8 @@ TEST_CASE("twai_remote_request", "[twai_net]")
twai_onchip_node_config_t node_config = {
.io_cfg.tx = TEST_TX_GPIO,
.io_cfg.rx = TEST_RX_GPIO,
.io_cfg.quanta_clk_out = GPIO_NUM_NC,
.io_cfg.bus_off_indicator = GPIO_NUM_NC,
.bit_timing.bitrate = 250000,
.fail_retry_cnt = -1, // retry forever if send remote frame failed
.tx_queue_depth = 3,
components/esp_driver_twai/test_apps/test_twai/pytest_driver_twai.py
+2 -2
View File
@@ -26,13 +26,13 @@ def fixture_create_socket_can() -> Bus:
start_command = 'sudo ip link set can0 up type can bitrate 250000'
stop_command = 'sudo ip link set can0 down'
try:
subprocess.run(start_command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
subprocess.run(start_command, shell=True, capture_output=True, text=True)
except Exception as e:
print(f'Open bus Error: {e}')
bus = Bus(interface='socketcan', channel='can0', bitrate=250000)
yield bus # test invoked here
bus.shutdown()
subprocess.run(stop_command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
subprocess.run(stop_command, shell=True, capture_output=True, text=True)
@pytest.mark.twai_std