Mirrors/esp-idf
1
0
Fork 0
mirror of https://github.com/espressif/esp-idf.git synced 2026-10-02 11:10:54 +03:00
Code Issues Packages Projects Releases Wiki Activity

fix(driver_twai): fixed tec_rec empty from get_info

Browse Source 
Closes https://github.com/espressif/esp-idf/issues/17434
This commit is contained in:
wanckl
2025-09-22 20:24:52 +08:00
parent b2bca25a98
commit e317af3c9e
5 changed files with 46 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files
components/esp_driver_twai/esp_twai_onchip.c
+4 -6
View File
@@ -77,8 +77,6 @@ typedef struct {
esp_pm_lock_handle_t pm_lock;
_Atomic twai_error_state_t state;
uint16_t tx_error_count;
uint16_t rx_error_count;
twai_node_record_t history;
atomic_bool hw_busy;
@@ -125,8 +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) || (node_config->flags.enable_listen_only && (node_config->io_cfg.tx == -1)), 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");
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");
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 gpio 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 gpio is not supported");
uint64_t reserve_mask = 0;
// Set RX pin
@@ -569,8 +567,8 @@ static esp_err_t _node_get_status(twai_node_handle_t node, twai_node_status_t *s
if (status_ret) {
status_ret->state = atomic_load(&twai_ctx->state);
status_ret->tx_error_count = twai_ctx->tx_error_count;
status_ret->rx_error_count = twai_ctx->rx_error_count;
status_ret->tx_error_count = twai_hal_get_tec(twai_ctx->hal);
status_ret->rx_error_count = twai_hal_get_rec(twai_ctx->hal);
}
if (record_ret) {
*record_ret = twai_ctx->history;
components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.c
+28 -26
View File
@@ -524,7 +524,7 @@ TEST_CASE("twai bus off recovery (loopback)", "[twai]")
// send frames and trigger error, must become bus off before 50 frames
while ((node_status.state != TWAI_ERROR_BUS_OFF) && (tx_frame.header.id < 50)) {
printf("sending frame %ld\n", tx_frame.header.id ++);
printf("sending frame %ld last tec %d rec %d\n", tx_frame.header.id ++, node_status.tx_error_count, node_status.rx_error_count);
TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_frame, 500));
if (tx_frame.header.id > 3) { // trigger error after 3 frames
printf("trigger bit_error now!\n");
@@ -538,6 +538,11 @@ TEST_CASE("twai bus off recovery (loopback)", "[twai]")
}
// recover node
#if SOC_TWAI_SUPPORT_FD
TEST_ASSERT_GREATER_THAN(200, node_status.tx_error_count);
#else
TEST_ASSERT_EQUAL(128, node_status.tx_error_count); // TEC become 128 when bus off on legacy chips
#endif
TEST_ASSERT_EQUAL(TWAI_ERROR_BUS_OFF, node_status.state);
printf("node offline, start recover ...\n");
TEST_ESP_OK(twai_node_recover(node_hdl));
@@ -548,7 +553,8 @@ TEST_CASE("twai bus off recovery (loopback)", "[twai]")
vTaskDelay(pdMS_TO_TICKS(1000));
twai_node_get_info(node_hdl, &node_status, NULL);
}
printf("node recovered! continue\n");
printf("node recovered! current tec %d rec %d, continue\n", node_status.tx_error_count, node_status.rx_error_count);
TEST_ASSERT_LESS_THAN(96, node_status.tx_error_count);
TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_frame, 500));
TEST_ESP_OK(twai_node_disable(node_hdl));
@@ -606,25 +612,25 @@ TEST_CASE("twai tx_wait_all_done thread safe", "[twai]")
// Test data for ISR send functionality
typedef struct {
twai_node_handle_t node;
uint32_t rx_count;
uint32_t tx_isr_send_count;
uint32_t rx_isr_send_count;
uint8_t rx_count;
uint8_t tx_isr_send_count;
uint8_t rx_isr_send_count;
twai_frame_t tx_isr_frame;
twai_frame_t rx_isr_frame;
bool test_completed;
} isr_send_test_ctx_t;
static IRAM_ATTR bool test_tx_isr_send_cb(twai_node_handle_t handle, const twai_tx_done_event_data_t *edata, void *user_ctx)
{
isr_send_test_ctx_t *ctx = (isr_send_test_ctx_t *)user_ctx;
twai_frame_t *isr_frame = &ctx->tx_isr_frame;
// Test sending from TX ISR context
if (ctx->tx_isr_send_count < 3) {
static twai_frame_t isr_frame = {};
isr_frame.header.id = 0x200 + ctx->tx_isr_send_count;
isr_frame.header.dlc = 1;
isr_frame.buffer = (uint8_t*)(&ctx->tx_isr_send_count);
isr_frame.buffer_len = 1;
isr_frame->header.id = 0x200 + ctx->tx_isr_send_count;
isr_frame->header.dlc = 1;
esp_err_t err = twai_node_transmit(handle, &isr_frame, 0); // timeout must be 0 in ISR
esp_err_t err = twai_node_transmit(handle, isr_frame, 0); // timeout must be 0 in ISR
if (err == ESP_OK) {
ctx->tx_isr_send_count++;
}
@@ -636,23 +642,17 @@ static IRAM_ATTR bool test_tx_isr_send_cb(twai_node_handle_t handle, const twai_
static IRAM_ATTR bool test_rx_isr_send_cb(twai_node_handle_t handle, const twai_rx_done_event_data_t *edata, void *user_ctx)
{
isr_send_test_ctx_t *ctx = (isr_send_test_ctx_t *)user_ctx;
twai_frame_t rx_frame = {};
uint8_t buffer[8];
rx_frame.buffer = buffer;
rx_frame.buffer_len = sizeof(buffer);
twai_frame_t *rx_frame = &ctx->rx_isr_frame;
if (ESP_OK == twai_node_receive_from_isr(handle, &rx_frame)) {
if (ESP_OK == twai_node_receive_from_isr(handle, rx_frame)) {
ctx->rx_count++;
// Test sending from RX ISR context (response pattern)
if ((rx_frame.header.id >= 0x100) && (rx_frame.header.id < 0x103) && (ctx->rx_isr_send_count < 3)) {
static twai_frame_t response_frame = {};
response_frame.header.id = 0x300 + ctx->rx_isr_send_count;
response_frame.header.dlc = 1;
response_frame.buffer = (uint8_t*)(&ctx->rx_isr_send_count);
response_frame.buffer_len = 1;
if ((rx_frame->header.id >= 0x100) && (rx_frame->header.id < 0x103) && (ctx->rx_isr_send_count < 3)) {
rx_frame->header.id = 0x300 + ctx->rx_isr_send_count;
rx_frame->header.dlc = 1;
esp_err_t err = twai_node_transmit(handle, &response_frame, 0); // timeout must be 0 in ISR
esp_err_t err = twai_node_transmit(handle, rx_frame, 0); // timeout must be 0 in ISR
if (err == ESP_OK) {
ctx->rx_isr_send_count++;
}
@@ -669,6 +669,8 @@ static IRAM_ATTR bool test_rx_isr_send_cb(twai_node_handle_t handle, const twai_
TEST_CASE("twai send from ISR context (loopback)", "[twai]")
{
isr_send_test_ctx_t test_ctx = {};
test_ctx.tx_isr_frame.buffer = &test_ctx.tx_isr_send_count;
test_ctx.rx_isr_frame.buffer = &test_ctx.rx_isr_send_count;
twai_onchip_node_config_t node_config = {};
node_config.io_cfg.tx = TEST_TX_GPIO;
@@ -711,9 +713,9 @@ TEST_CASE("twai send from ISR context (loopback)", "[twai]")
}
printf("Test results:\n");
printf(" RX count: %" PRIu32 "\n", test_ctx.rx_count);
printf(" TX ISR sends: %" PRIu32 "\n", test_ctx.tx_isr_send_count);
printf(" RX ISR sends: %" PRIu32 "\n", test_ctx.rx_isr_send_count);
printf(" RX count: %d\n", test_ctx.rx_count);
printf(" TX ISR sends: %d\n", test_ctx.tx_isr_send_count);
printf(" RX ISR sends: %d\n", test_ctx.rx_isr_send_count);
printf(" Test completed: %s\n", test_ctx.test_completed ? "YES" : "NO");
// Verify test results