feat(driver_twai): support rx frame timestamp for all chips

Closes https://github.com/espressif/esp-idf/issues/4527

examples/peripherals/twai/twai_network/twai_listen_only/main/twai_listen_only.c

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2025-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -98,6 +98,7 @@ void app_main(void)
             .bus_off_indicator = GPIO_NUM_NC,
         },
         .bit_timing.bitrate = TWAI_BITRATE,
+        .timestamp_resolution_hz = 1000000,
         .flags.enable_listen_only = true,
     };
 
@@ -130,8 +131,10 @@ void app_main(void)
     while (1) {
         if (xSemaphoreTake(twai_listener_ctx.rx_result_semaphore, portMAX_DELAY) == pdTRUE) {
             twai_frame_t *frame = &twai_listener_ctx.rx_pool[twai_listener_ctx.read_idx].frame;
-            ESP_LOGI(TAG, "RX: %x [%d] %x %x %x %x %x %x %x %x", \
-                     frame->header.id, frame->header.dlc, frame->buffer[0], frame->buffer[1], frame->buffer[2], frame->buffer[3], frame->buffer[4], frame->buffer[5], frame->buffer[6], frame->buffer[7]);
+            ESP_LOGI(TAG, "RX: timestamp %llu, %x [%d] %x %x %x %x %x %x %x %x", \
+                     frame->header.timestamp, frame->header.id, frame->header.dlc, \
+                     frame->buffer[0], frame->buffer[1], frame->buffer[2], frame->buffer[3], \
+                     frame->buffer[4], frame->buffer[5], frame->buffer[6], frame->buffer[7]);
             twai_listener_ctx.read_idx = (twai_listener_ctx.read_idx + 1) % POLL_DEPTH;
             xSemaphoreGive(twai_listener_ctx.free_pool_semaphore);
         }

examples/peripherals/twai/twai_utils/main/CMakeLists.txt

@@ -1,4 +1,4 @@
 idf_component_register(SRCS "cmd_twai_dump.c" "cmd_twai_send.c" "cmd_twai_core.c" "cmd_twai.c" "twai_utils_main.c"
                            "twai_utils_parser.c"
-                    REQUIRES esp_driver_twai esp_timer esp_driver_gpio console
+                    REQUIRES esp_driver_twai esp_driver_gpio console
                     INCLUDE_DIRS ".")

examples/peripherals/twai/twai_utils/main/cmd_twai_core.c

@@ -304,6 +304,9 @@ static int twai_init_handler(int argc, char **argv)
 #endif
     ESP_LOGI(TAG, "FD bitrate set to %" PRIu32, ctx->driver_config.data_timing.bitrate);
 
+    /* Always configure timestamp frequency to 1MHz */
+    ctx->driver_config.timestamp_resolution_hz = 1000000;
+
     /* Start TWAI controller */
     controller->node_handle = twai_start(controller);
     ret = (controller->node_handle != NULL) ? ESP_OK : ESP_FAIL;

examples/peripherals/twai/twai_utils/main/cmd_twai_dump.c

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2025-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Unlicense OR CC0-1.0
  */
@@ -17,7 +17,6 @@
 #include "esp_twai.h"
 #include "esp_twai_onchip.h"
 #include "cmd_twai_internal.h"
-#include "esp_timer.h"
 #include "esp_check.h"
 #include "twai_utils_parser.h"
 
@@ -27,7 +26,6 @@
  */
 typedef struct {
     twai_frame_t frame;        /**< TWAI frame with embedded buffer */
-    int64_t timestamp_us;      /**< Frame timestamp in microseconds */
     uint8_t buffer[TWAI_FRAME_BUFFER_SIZE];        /**< Frame data buffer (supports both TWAI and TWAI-FD) */
 } rx_queue_item_t;
 
@@ -178,11 +176,9 @@ static IRAM_ATTR bool twai_dump_rx_done_cb(twai_node_handle_t handle, const twai
     item.frame.buffer_len = sizeof(item.buffer);
 
     if (ESP_OK == twai_node_receive_from_isr(handle, &item.frame)) {
-        item.timestamp_us = esp_timer_get_time();
-
         /* Non-blocking queue send with explicit error handling */
         if (xQueueSendFromISR(controller->dump_ctx.rx_queue, &item, &higher_priority_task_woken) != pdTRUE) {
-            /* Queue full - frame dropped silently to maintain ISR performance */
+            ESP_EARLY_LOGW(TAG, "app queue full");
         }
     }
 
@@ -208,7 +204,7 @@ static void dump_task(void *parameter)
         if (xQueueReceive(dump_ctx->rx_queue, &item, pdMS_TO_TICKS(CONFIG_EXAMPLE_DUMP_TASK_TIMEOUT_MS)) == pdPASS) {
             item.frame.buffer = item.buffer;    // point to the new buffer
 
-            format_twaidump_frame(dump_ctx->timestamp_mode, &item.frame, item.timestamp_us,
+            format_twaidump_frame(dump_ctx->timestamp_mode, &item.frame, item.frame.header.timestamp,
                                   dump_ctx->start_time_us, &dump_ctx->last_frame_time_us,
                                   controller_id, output_line, sizeof(output_line));
             printf("%s", output_line);
@@ -440,11 +436,6 @@ static int twai_dump_handler(int argc, char **argv)
         }
     }
 
-    /* Initialize timestamp base time */
-    int64_t current_time = esp_timer_get_time();
-    controller->dump_ctx.start_time_us = current_time;
-    controller->dump_ctx.last_frame_time_us = current_time;
-
     /* Start dump task and create resources */
     ret = twai_dump_start_controller(controller);
     ESP_RETURN_ON_FALSE(ret == ESP_OK, ret, TAG, "Failed to start dump task");
@@ -512,7 +503,7 @@ void register_twai_dump_commands(void)
     }
 
     /* Register command */
-    twai_dump_args.controller_filter = arg_str1(NULL, NULL, "<controller>[,filter]",
+    twai_dump_args.controller_filter = arg_str1(NULL, NULL, "<controller> [filter]",
                                                 "Controller ID and optional filters");
     twai_dump_args.stop = arg_lit0(NULL, "stop",
                                    "Stop monitoring the specified controller");