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fix(driver_twai): fixed fd data bitrate error on slow bitrate

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wanckl
2026-05-08 17:15:43 +08:00
parent 551f658fc9
commit e7f1308834
8 changed files with 73 additions and 49 deletions
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components/esp_hal_twai/esp32c5/include/hal/twaifd_ll.h
+6 -11
View File
@@ -21,9 +21,15 @@
#define TWAI_LL_TSEG1_MIN 0
#define TWAI_LL_TSEG2_MIN 1
#define TWAI_LL_BRP_MAX TWAIFD_BRP
#define TWAI_LL_PROP_MAX TWAIFD_PROP
#define TWAI_LL_TSEG1_MAX TWAIFD_PH1
#define TWAI_LL_TSEG2_MAX TWAIFD_PH2
#define TWAI_LL_SJW_MAX TWAIFD_SJW
#define TWAI_LL_BRP_MAX_FD TWAIFD_BRP_FD
#define TWAI_LL_PROP_MAX_FD TWAIFD_PROP_FD
#define TWAI_LL_TSEG1_MAX_FD TWAIFD_PH1_FD
#define TWAI_LL_TSEG2_MAX_FD TWAIFD_PH2_FD
#define TWAI_LL_SJW_MAX_FD TWAIFD_SJW_FD
#define TWAI_LL_TIMER_DIV_MAX TWAIFD_TIMER_STEP
#define TWAIFD_IDENTIFIER_BASE_S 18 // Start bit of std_id in IDENTIFIER_W of TX buffer or RX buffer
@@ -310,17 +316,6 @@ static inline void twaifd_ll_clr_intr_status(twaifd_dev_t *hw, uint32_t intr_mas
}
/* ------------------------ Bus Timing Registers --------------------------- */
/**
* @brief Check if the brp value valid
*
* @param brp Bit rate prescaler value
* @return true or False
*/
static inline bool twaifd_ll_check_brp_validation(uint32_t brp)
{
return (brp >= TWAI_LL_BRP_MIN) && (brp <= TWAI_LL_BRP_MAX);
}
/**
* @brief Set bus timing nominal bit rate
*
components/esp_hal_twai/esp32h4/include/hal/twaifd_ll.h
+6 -11
View File
@@ -21,9 +21,15 @@
#define TWAI_LL_TSEG1_MIN 0
#define TWAI_LL_TSEG2_MIN 1
#define TWAI_LL_BRP_MAX TWAIFD_BRP
#define TWAI_LL_PROP_MAX TWAIFD_PROP
#define TWAI_LL_TSEG1_MAX TWAIFD_PH1
#define TWAI_LL_TSEG2_MAX TWAIFD_PH2
#define TWAI_LL_SJW_MAX TWAIFD_SJW
#define TWAI_LL_BRP_MAX_FD TWAIFD_BRP_FD
#define TWAI_LL_PROP_MAX_FD TWAIFD_PROP_FD
#define TWAI_LL_TSEG1_MAX_FD TWAIFD_PH1_FD
#define TWAI_LL_TSEG2_MAX_FD TWAIFD_PH2_FD
#define TWAI_LL_SJW_MAX_FD TWAIFD_SJW_FD
#define TWAI_LL_TIMER_DIV_MAX TWAIFD_TIMER_STEP
#define TWAIFD_IDENTIFIER_BASE_S 18 // Start bit of std_id in IDENTIFIER_W of TX buffer or RX buffer
@@ -309,17 +315,6 @@ static inline void twaifd_ll_clr_intr_status(twaifd_dev_t *hw, uint32_t intr_mas
}
/* ------------------------ Bus Timing Registers --------------------------- */
/**
* @brief Check if the brp value valid
*
* @param brp Bit rate prescaler value
* @return true or False
*/
static inline bool twaifd_ll_check_brp_validation(uint32_t brp)
{
return (brp >= TWAI_LL_BRP_MIN) && (brp <= TWAI_LL_BRP_MAX);
}
/**
* @brief Set bus timing nominal bit rate
*
components/esp_hal_twai/include/hal/twai_hal.h
+4 -3
View File
@@ -121,13 +121,14 @@ void twai_hal_deinit(twai_hal_context_t *hal_ctx);
void twai_hal_configure(twai_hal_context_t *hal_ctx, const twai_timing_config_t *t_config, const twai_filter_config_t *f_config, uint32_t clkout_divider);
/**
* @brief Check if the brp value valid for hardware register
* @brief Check if the timing value valid for hardware register
*
* @param hal_ctx Context of the HAL layer
* @param brp Bit rate prescaler value
* @param t_config Pointer to timing configuration structure
* @param is_fd True if the timing is for FD data, false for classic TWAI
* @return true or False
*/
bool twai_hal_check_brp_validation(twai_hal_context_t *hal_ctx, uint32_t brp);
bool twai_hal_check_timing_valid(twai_hal_context_t *hal_ctx, const twai_timing_advanced_config_t *t_config, bool is_fd);
/**
* @brief Configure the TWAI timing
components/esp_hal_twai/twai_hal_v1.c
+10 -2
View File
@@ -91,9 +91,17 @@ void twai_hal_configure(twai_hal_context_t *hal_ctx, const twai_timing_config_t
twai_ll_set_clkout(hal_ctx->dev, clkout_divider);
}
bool twai_hal_check_brp_validation(twai_hal_context_t *hal_ctx, uint32_t brp)
bool twai_hal_check_timing_valid(twai_hal_context_t *hal_ctx, const twai_timing_advanced_config_t *t_config, bool is_fd)
{
return twai_ll_check_brp_validation(brp);
(void) is_fd;
bool valid = true;
if (t_config) {
valid &= twai_ll_check_brp_validation(t_config->brp);
valid &= (t_config->sjw >= 1) && (t_config->sjw <= TWAI_LL_SJW_MAX);
valid &= (t_config->tseg_1 >= TWAI_LL_TSEG1_MIN) && (t_config->tseg_1 <= TWAI_LL_TSEG1_MAX);
valid &= (t_config->tseg_2 >= TWAI_LL_TSEG2_MIN) && (t_config->tseg_2 <= TWAI_LL_TSEG2_MAX);
}
return valid;
}
void twai_hal_configure_timing(twai_hal_context_t *hal_ctx, const twai_timing_advanced_config_t *t_config)
components/esp_hal_twai/twai_hal_v2.c
+18 -2
View File
@@ -46,9 +46,25 @@ void twai_hal_deinit(twai_hal_context_t *hal_ctx)
memset(hal_ctx, 0, sizeof(twai_hal_context_t));
}
bool twai_hal_check_brp_validation(twai_hal_context_t *hal_ctx, uint32_t brp)
bool twai_hal_check_timing_valid(twai_hal_context_t *hal_ctx, const twai_timing_advanced_config_t *t_config, bool is_fd)
{
return twaifd_ll_check_brp_validation(brp);
bool valid = true;
if (t_config) {
if (is_fd) {
valid &= (t_config->brp >= TWAI_LL_BRP_MIN) && (t_config->brp <= TWAI_LL_BRP_MAX_FD);
valid &= (t_config->prop_seg <= TWAI_LL_PROP_MAX_FD);
valid &= (t_config->tseg_1 <= TWAI_LL_TSEG1_MAX_FD);
valid &= (t_config->tseg_2 >= TWAI_LL_TSEG2_MIN) && (t_config->tseg_2 <= TWAI_LL_TSEG2_MAX_FD);
valid &= (t_config->sjw >= 1) && (t_config->sjw <= TWAI_LL_SJW_MAX_FD);
} else {
valid &= (t_config->brp >= TWAI_LL_BRP_MIN) && (t_config->brp <= TWAI_LL_BRP_MAX);
valid &= (t_config->prop_seg <= TWAI_LL_PROP_MAX);
valid &= (t_config->tseg_1 <= TWAI_LL_TSEG1_MAX);
valid &= (t_config->tseg_2 >= TWAI_LL_TSEG2_MIN) && (t_config->tseg_2 <= TWAI_LL_TSEG2_MAX);
valid &= (t_config->sjw >= 1) && (t_config->sjw <= TWAI_LL_SJW_MAX);
}
}
return valid;
}
void twai_hal_configure_timing(twai_hal_context_t *hal_ctx, const twai_timing_advanced_config_t *t_config)