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feat(driver_twai): support using all 4 hardware tx buffer

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This commit is contained in:
wanckl
2026-05-27 20:38:52 +08:00
committed by Wan Lei
parent 15a1a86a0a
commit ec31ba1c6c
17 changed files with 241 additions and 58 deletions
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4
components/driver/twai/twai.c
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@@ -243,8 +243,8 @@ static void twai_intr_handler_main(void *arg)
//Note: This event will never occur if there is a periph reset event
twai_handle_rx_buffer_frames(p_twai_obj, &task_woken, &alert_req);
}
if (events & TWAI_HAL_EVENT_TX_BUFF_FREE) {
twai_handle_tx_buffer_frame(p_twai_obj, (events & TWAI_HAL_EVENT_TX_SUCCESS), &task_woken, &alert_req);
if (events & TWAI_HAL_EVENT_TX0_DONE) {
twai_handle_tx_buffer_frame(p_twai_obj, (events & TWAI_HAL_EVENT_TX0_SUCCESS), &task_woken, &alert_req);
}
//Handle events that only require alerting (i.e. no handler)

104
components/esp_driver_twai/esp_twai_onchip.c
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@@ -68,10 +68,11 @@ typedef struct {
_Atomic twai_error_state_t state;
twai_node_record_t history;
uint8_t tx_slot_num;
atomic_bool hw_busy;
atomic_bool rx_isr;
const twai_frame_t *p_curr_tx;
const twai_frame_t *p_curr_tx[TWAI_HAL_TX_BUFFER_SLOT_NUM];
twai_hal_frame_t rcv_buff;
} twai_onchip_ctx_t;
@@ -162,9 +163,9 @@ static void _node_release_io(twai_onchip_ctx_t *node)
}
}
static void _node_start_trans(twai_onchip_ctx_t *node)
static void _node_start_trans(twai_onchip_ctx_t *node, uint8_t buffer_idx)
{
const twai_frame_t *frame = node->p_curr_tx;
const twai_frame_t *frame = node->p_curr_tx[buffer_idx];
twai_hal_context_t *hal = node->hal;
twai_hal_frame_t hal_buf = {};
@@ -180,8 +181,40 @@ static void _node_start_trans(twai_onchip_ctx_t *node)
},
};
twai_hal_format_frame(&hal_trans, &hal_buf);
//TODO: utilize all txt buffers
twai_hal_set_tx_buffer_and_transmit(hal, &hal_buf, 0);
twai_hal_set_tx_buffer_and_transmit(hal, &hal_buf, buffer_idx);
}
static uint8_t _node_start_tx_batch_from_isr(twai_onchip_ctx_t *node, BaseType_t *yield_required)
{
uint8_t tx_idx = 0;
// Note: hardware slot has default priority (like 0>1>2...),
// we should fill slot with same order to avoid data inverse
while (tx_idx < node->tx_slot_num) { // try best to fill all tx slots
const twai_frame_t *frame = NULL;
if (xQueueReceiveFromISR(node->tx_mount_queue, &frame, yield_required) != pdTRUE) {
break;
}
node->p_curr_tx[tx_idx] = frame;
_node_start_trans(node, tx_idx);
tx_idx++;
}
return tx_idx;
}
static void _node_mark_tx_idle(twai_onchip_ctx_t *node)
{
memset(node->p_curr_tx, 0, sizeof(node->p_curr_tx));
atomic_store(&node->hw_busy, false);
}
static inline bool _node_is_tx_all_done(twai_onchip_ctx_t *node)
{
for (uint8_t tx_idx = 0; tx_idx < node->tx_slot_num; tx_idx++) {
if (node->p_curr_tx[tx_idx]) {
return false;
}
}
return true;
}
static void _node_isr_main(void *arg)
@@ -229,11 +262,10 @@ static void _node_isr_main(void *arg)
}
// node recover from busoff, restart remain tx transaction
if ((e_data.old_sta == TWAI_ERROR_BUS_OFF) && (e_data.new_sta == TWAI_ERROR_ACTIVE)) {
if (xQueueReceiveFromISR(twai_ctx->tx_mount_queue, &twai_ctx->p_curr_tx, &do_yield)) {
if (_node_start_tx_batch_from_isr(twai_ctx, &do_yield)) {
atomic_store(&twai_ctx->hw_busy, true);
_node_start_trans(twai_ctx);
} else {
atomic_store(&twai_ctx->hw_busy, false);
_node_mark_tx_idle(twai_ctx);
xEventGroupSetBitsFromISR(twai_ctx->event_group, TWAI_IDLE_EVENT_BIT, &do_yield);
}
}
@@ -265,21 +297,27 @@ static void _node_isr_main(void *arg)
}
// deal TX event
if (events & TWAI_HAL_EVENT_TX_BUFF_FREE) {
if (twai_ctx->cbs.on_tx_done) {
twai_tx_done_event_data_t tx_ev = {
.is_tx_success = (events & TWAI_HAL_EVENT_TX_SUCCESS), // find 'on_error_cb' if not success
.done_tx_frame = twai_ctx->p_curr_tx,
};
do_yield |= twai_ctx->cbs.on_tx_done(&twai_ctx->api_base, &tx_ev, twai_ctx->user_data);
if (events & TWAI_HAL_EVENT_TX_DONE_MASK) {
uint32_t tx_done_events = (events & TWAI_HAL_EVENT_TX_DONE_MASK) >> __builtin_ctz(TWAI_HAL_EVENT_TX0_DONE);
while (tx_done_events) {
uint32_t slot_event = tx_done_events & -tx_done_events; // get the lowest event bit
uint8_t tx_idx = __builtin_ctz(slot_event) / 2;
assert((tx_idx < twai_ctx->tx_slot_num) && twai_ctx->p_curr_tx[tx_idx]);
if (twai_ctx->cbs.on_tx_done) {
twai_tx_done_event_data_t tx_ev = {
.is_tx_success = (events & TWAI_HAL_EVENT_TX_SUCC_SLOT(tx_idx)), // find 'on_error_cb' if not success
.done_tx_frame = twai_ctx->p_curr_tx[tx_idx],
};
do_yield |= twai_ctx->cbs.on_tx_done(&twai_ctx->api_base, &tx_ev, twai_ctx->user_data);
}
twai_ctx->p_curr_tx[tx_idx] = NULL;
tx_done_events &= ~slot_event;
}
// start a new TX
if ((atomic_load(&twai_ctx->state) != TWAI_ERROR_BUS_OFF) && xQueueReceiveFromISR(twai_ctx->tx_mount_queue, &twai_ctx->p_curr_tx, &do_yield)) {
_node_start_trans(twai_ctx);
} else {
atomic_store(&twai_ctx->hw_busy, false);
if (atomic_load(&twai_ctx->state) != TWAI_ERROR_BUS_OFF) {
// only when node is not in busoff here, means tx is finished
// start a new TX batch only when all hardware TX buffers from this batch are done
if (_node_is_tx_all_done(twai_ctx) && (atomic_load(&twai_ctx->state) != TWAI_ERROR_BUS_OFF)) {
if (!_node_start_tx_batch_from_isr(twai_ctx, &do_yield)) {
_node_mark_tx_idle(twai_ctx);
xEventGroupSetBitsFromISR(twai_ctx->event_group, TWAI_IDLE_EVENT_BIT, &do_yield);
}
}
@@ -456,7 +494,11 @@ static esp_err_t _node_enable(twai_node_handle_t node)
atomic_store(&twai_ctx->state, hw_state);
// continuing the transaction if there be
if (atomic_load(&twai_ctx->hw_busy) && hw_state != TWAI_ERROR_BUS_OFF) {
_node_start_trans(twai_ctx);
for (uint8_t tx_idx = 0; tx_idx < twai_ctx->tx_slot_num; tx_idx++) {
if (twai_ctx->p_curr_tx[tx_idx]) {
_node_start_trans(twai_ctx, tx_idx);
}
}
}
ESP_RETURN_ON_ERROR(esp_intr_enable(twai_ctx->intr_hdl), TAG, "enable interrupt failed");
return ESP_OK;
@@ -576,8 +618,8 @@ static esp_err_t _node_queue_tx(twai_node_handle_t node, const twai_frame_t *fra
xEventGroupClearBits(twai_ctx->event_group, TWAI_IDLE_EVENT_BIT); //going to send, clear the idle event
bool false_var = false;
if (atomic_compare_exchange_strong(&twai_ctx->hw_busy, &false_var, true)) {
twai_ctx->p_curr_tx = frame;
_node_start_trans(twai_ctx);
twai_ctx->p_curr_tx[0] = frame; // here only has one frame, using slot 0
_node_start_trans(twai_ctx, 0);
} else {
// Hardware busy, need to queue the frame
BaseType_t is_isr_context = xPortInIsrContext();
@@ -596,13 +638,12 @@ static esp_err_t _node_queue_tx(twai_node_handle_t node, const twai_frame_t *fra
if (atomic_compare_exchange_strong(&twai_ctx->hw_busy, &false_var, true)) {
BaseType_t dequeue_result;
if (is_isr_context) {
dequeue_result = xQueueReceiveFromISR(twai_ctx->tx_mount_queue, &twai_ctx->p_curr_tx, &yield_required);
dequeue_result = xQueueReceiveFromISR(twai_ctx->tx_mount_queue, &twai_ctx->p_curr_tx[0], &yield_required);
} else {
dequeue_result = xQueueReceive(twai_ctx->tx_mount_queue, &twai_ctx->p_curr_tx, 0);
dequeue_result = xQueueReceive(twai_ctx->tx_mount_queue, &twai_ctx->p_curr_tx[0], 0);
}
if (dequeue_result == pdTRUE) {
_node_start_trans(twai_ctx);
_node_start_trans(twai_ctx, 0);
} else {
// any reason here means frame already taken and maybe finished by fast hardware, so back `hw_busy` to false
atomic_store(&twai_ctx->hw_busy, false);
@@ -757,6 +798,11 @@ esp_err_t twai_new_node_onchip(const twai_onchip_node_config_t *node_config, twa
.enable_loopback = node_config->flags.enable_loopback,
};
ESP_GOTO_ON_FALSE(twai_hal_init(node->hal, &hal_config), ESP_ERR_INVALID_STATE, err, TAG, "hardware not in reset state");
node->tx_slot_num = twai_hal_get_tx_slot_num(node->hal);
if (node->tx_slot_num > TWAI_HAL_TX_BUFFER_SLOT_NUM) {
ESP_LOGW(TAG, "HW TX slot num (%d) is greater than supported, only using %d slots", node->tx_slot_num, TWAI_HAL_TX_BUFFER_SLOT_NUM);
node->tx_slot_num = TWAI_HAL_TX_BUFFER_SLOT_NUM;
}
// Configure bus timing
ESP_GOTO_ON_ERROR(_node_calc_set_bit_timing(&node->api_base, &node_config->bit_timing, &node_config->data_timing), err, TAG, "bitrate error");
// Configure GPIO

3
components/esp_driver_twai/linker.lf
View File

@@ -6,6 +6,9 @@ entries:
esp_twai_onchip: _node_isr_main (noflash)
esp_twai_onchip: _node_start_trans (noflash)
esp_twai_onchip: _node_parse_rx (noflash)
esp_twai_onchip: _node_start_tx_batch_from_isr (noflash)
esp_twai_onchip: _node_mark_tx_idle (noflash)
esp_twai_onchip: _node_is_tx_all_done (noflash)
if TWAI_IO_FUNC_IN_IRAM = y:
esp_twai_onchip: _node_queue_tx (noflash)

6
components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.cpp
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@@ -194,12 +194,12 @@ TEST_CASE("twai fd transmit time (loopback)", "[twai]")
}
uint64_t predict_time_ms = (uint64_t)trans_num * arb_bits * 1000 / node_config.bit_timing.bitrate;
predict_time_ms += (uint64_t)trans_num * data_bits * 1000 / node_config.data_timing.bitrate;
predict_time_ms += (trans_num * 20) / 1000; // add about 20 us interrupt overhead per frame
predict_time_ms += (trans_num * 10) / 1000; // add about 10 us interrupt overhead per frame
#if CONFIG_COMPILER_OPTIMIZATION_NONE
predict_time_ms += (trans_num * 10) / 1000; // non optimized slow code
predict_time_ms += (trans_num * 5) / 1000; // non optimized slow code
#endif
#if CONFIG_PM_DFS_INIT_AUTO
predict_time_ms += (trans_num * 35) / 1000; // slow cpu
predict_time_ms += (trans_num * 10) / 1000; // slow cpu
#endif
//waiting pkg receive finish

13
components/esp_hal_twai/esp32/include/hal/twai_ll.h
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@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2015-2026 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -701,6 +701,17 @@ static inline void twai_ll_set_acc_filter(twai_dev_t *hw, uint32_t code, uint32_
/* ------------------------- TX/RX Buffer Registers ------------------------- */
/**
* @brief Get the number of TX buffers that are preset in the hardware.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return The number of TX buffers available.
*/
static inline uint32_t twai_ll_get_tx_buffer_total(twai_dev_t *hw)
{
return 1; // only one TX buffer
}
/**
* @brief Copy a formatted TWAI frame into TX buffer for transmission
*

13
components/esp_hal_twai/esp32c3/include/hal/twai_ll.h
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@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2021-2025 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2021-2026 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -627,6 +627,17 @@ static inline void twai_ll_set_acc_filter(twai_dev_t *hw, uint32_t code, uint32_
/* ------------------------- TX/RX Buffer Registers ------------------------- */
/**
* @brief Get the number of TX buffers that are preset in the hardware.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return The number of TX buffers available.
*/
static inline uint32_t twai_ll_get_tx_buffer_total(twai_dev_t *hw)
{
return 1; // only one TX buffer
}
/**
* @brief Copy a formatted TWAI frame into TX buffer for transmission
*

10
components/esp_hal_twai/esp32c5/include/hal/twaifd_ll.h
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@@ -48,6 +48,10 @@
#define TWAIFD_LL_TX_CMD_READY TWAIFD_TXCR // Set tx buffer to "Ready" state
#define TWAIFD_LL_TX_CMD_ABORT TWAIFD_TXCA // Set tx buffer to "Aborted" state
#define TWAIFD_LL_TX_STATUS_SUCCESS 0x4 // TX buffer transmitted successfully
#define TWAIFD_LL_TX_STATUS_FAILED 0x6 // TX buffer transmission failed
#define TWAIFD_LL_TX_STATUS_ABORTED 0x7 // TX buffer transmission aborted
#define TWAIFD_LL_HW_CMD_RST_ERR_CNT TWAIFD_ERCRST // Error Counters Reset
#define TWAIFD_LL_HW_CMD_RST_RX_CNT TWAIFD_RXFCRST // Clear RX bus traffic counter
#define TWAIFD_LL_HW_CMD_RST_TX_CNT TWAIFD_TXFCRST // Clear TX bus traffic counter
@@ -665,11 +669,10 @@ static inline uint32_t twaifd_ll_get_tx_buffer_total(twaifd_dev_t *hw)
* @param buffer_idx Index of the TX buffer (0-7).
* @return The status of the selected TX buffer.
*/
__attribute__((always_inline))
static inline uint32_t twaifd_ll_get_tx_buffer_status(twaifd_dev_t *hw, uint8_t buffer_idx)
{
HAL_ASSERT(buffer_idx < twaifd_ll_get_tx_buffer_total(hw)); // Ensure buffer index is valid
uint32_t reg_val = hw->tx_status.val;
return reg_val & (TWAIFD_TX2S_V << (TWAIFD_TX2S_S * buffer_idx)); // Get status for buffer
return (hw->tx_status.val >> (TWAIFD_TX2S_S * buffer_idx)) & TWAIFD_TX2S_V;
}
/**
@@ -700,7 +703,6 @@ static inline void twaifd_ll_set_tx_buffer_cmd(twaifd_dev_t *hw, uint8_t buffer_
*/
static inline void twaifd_ll_set_tx_buffer_priority(twaifd_dev_t *hw, uint8_t buffer_idx, uint32_t priority)
{
HAL_ASSERT(buffer_idx < twaifd_ll_get_tx_buffer_total(hw)); // Ensure buffer index is valid
uint32_t reg_val = hw->tx_priority.val;
reg_val &= ~(TWAIFD_TXT1P_V << (TWAIFD_TXT2P_S * buffer_idx)); // Clear old priority
reg_val |= priority << (TWAIFD_TXT2P_S * buffer_idx); // Set new priority

13
components/esp_hal_twai/esp32c6/include/hal/twai_ll.h
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@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2022-2026 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -637,6 +637,17 @@ static inline void twai_ll_set_acc_filter(twai_dev_t *hw, uint32_t code, uint32_
/* ------------------------- TX/RX Buffer Registers ------------------------- */
/**
* @brief Get the number of TX buffers that are preset in the hardware.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return The number of TX buffers available.
*/
static inline uint32_t twai_ll_get_tx_buffer_total(twai_dev_t *hw)
{
return 1; // only one TX buffer
}
/**
* @brief Copy a formatted TWAI frame into TX buffer for transmission
*

13
components/esp_hal_twai/esp32h2/include/hal/twai_ll.h
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@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2021-2025 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2021-2026 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -615,6 +615,17 @@ static inline void twai_ll_set_acc_filter(twai_dev_t *hw, uint32_t code, uint32_
/* ------------------------- TX/RX Buffer Registers ------------------------- */
/**
* @brief Get the number of TX buffers that are preset in the hardware.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return The number of TX buffers available.
*/
static inline uint32_t twai_ll_get_tx_buffer_total(twai_dev_t *hw)
{
return 1; // only one TX buffer
}
/**
* @brief Copy a formatted TWAI frame into TX buffer for transmission
*

13
components/esp_hal_twai/esp32h21/include/hal/twai_ll.h
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@@ -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
*/
@@ -615,6 +615,17 @@ static inline void twai_ll_set_acc_filter(twai_dev_t *hw, uint32_t code, uint32_
/* ------------------------- TX/RX Buffer Registers ------------------------- */
/**
* @brief Get the number of TX buffers that are preset in the hardware.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return The number of TX buffers available.
*/
static inline uint32_t twai_ll_get_tx_buffer_total(twai_dev_t *hw)
{
return 1; // only one TX buffer
}
/**
* @brief Copy a formatted TWAI frame into TX buffer for transmission
*

10
components/esp_hal_twai/esp32h4/include/hal/twaifd_ll.h
View File

@@ -48,6 +48,10 @@
#define TWAIFD_LL_TX_CMD_READY TWAIFD_TXCR // Set tx buffer to "Ready" state
#define TWAIFD_LL_TX_CMD_ABORT TWAIFD_TXCA // Set tx buffer to "Aborted" state
#define TWAIFD_LL_TX_STATUS_SUCCESS 0x4 // TX buffer transmitted successfully
#define TWAIFD_LL_TX_STATUS_FAILED 0x6 // TX buffer transmission failed
#define TWAIFD_LL_TX_STATUS_ABORTED 0x7 // TX buffer transmission aborted
#define TWAIFD_LL_HW_CMD_RST_ERR_CNT TWAIFD_ERCRST // Error Counters Reset
#define TWAIFD_LL_HW_CMD_RST_RX_CNT TWAIFD_RXFCRST // Clear RX bus traffic counter
#define TWAIFD_LL_HW_CMD_RST_TX_CNT TWAIFD_TXFCRST // Clear TX bus traffic counter
@@ -664,11 +668,10 @@ static inline uint32_t twaifd_ll_get_tx_buffer_total(twaifd_dev_t *hw)
* @param buffer_idx Index of the TX buffer (0-7).
* @return The status of the selected TX buffer.
*/
__attribute__((always_inline))
static inline uint32_t twaifd_ll_get_tx_buffer_status(twaifd_dev_t *hw, uint8_t buffer_idx)
{
HAL_ASSERT(buffer_idx < twaifd_ll_get_tx_buffer_total(hw)); // Ensure buffer index is valid
uint32_t reg_val = hw->tx_status.val;
return reg_val & (TWAIFD_TX2S_V << (TWAIFD_TX2S_S * buffer_idx)); // Get status for buffer
return (hw->tx_status.val >> (TWAIFD_TX2S_S * buffer_idx)) & TWAIFD_TX2S_V;
}
/**
@@ -699,7 +702,6 @@ static inline void twaifd_ll_set_tx_buffer_cmd(twaifd_dev_t *hw, uint8_t buffer_
*/
static inline void twaifd_ll_set_tx_buffer_priority(twaifd_dev_t *hw, uint8_t buffer_idx, uint32_t priority)
{
HAL_ASSERT(buffer_idx < twaifd_ll_get_tx_buffer_total(hw)); // Ensure buffer index is valid
uint32_t reg_val = hw->tx_priority.val;
reg_val &= ~(TWAIFD_TXT1P_V << (TWAIFD_TXT2P_S * buffer_idx)); // Clear old priority
reg_val |= priority << (TWAIFD_TXT2P_S * buffer_idx); // Set new priority

13
components/esp_hal_twai/esp32p4/include/hal/twai_ll.h
View File

@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2023-2025 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2023-2026 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -680,6 +680,17 @@ static inline void twai_ll_set_acc_filter(twai_dev_t *hw, uint32_t code, uint32_
/* ------------------------- TX/RX Buffer Registers ------------------------- */
/**
* @brief Get the number of TX buffers that are preset in the hardware.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return The number of TX buffers available.
*/
static inline uint32_t twai_ll_get_tx_buffer_total(twai_dev_t *hw)
{
return 1; // only one TX buffer
}
/**
* @brief Copy a formatted TWAI frame into TX buffer for transmission
*

13
components/esp_hal_twai/esp32s2/include/hal/twai_ll.h
View File

@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2015-2026 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -630,6 +630,17 @@ static inline void twai_ll_set_acc_filter(twai_dev_t *hw, uint32_t code, uint32_
/* ------------------------- TX/RX Buffer Registers ------------------------- */
/**
* @brief Get the number of TX buffers that are preset in the hardware.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return The number of TX buffers available.
*/
static inline uint32_t twai_ll_get_tx_buffer_total(twai_dev_t *hw)
{
return 1; // only one TX buffer
}
/**
* @brief Copy a formatted TWAI frame into TX buffer for transmission
*

13
components/esp_hal_twai/esp32s3/include/hal/twai_ll.h
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@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2015-2026 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -627,6 +627,17 @@ static inline void twai_ll_set_acc_filter(twai_dev_t *hw, uint32_t code, uint32_
/* ------------------------- TX/RX Buffer Registers ------------------------- */
/**
* @brief Get the number of TX buffers that are preset in the hardware.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return The number of TX buffers available.
*/
static inline uint32_t twai_ll_get_tx_buffer_total(twai_dev_t *hw)
{
return 1; // only one TX buffer
}
/**
* @brief Copy a formatted TWAI frame into TX buffer for transmission
*

35
components/esp_hal_twai/include/hal/twai_hal.h
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@@ -50,9 +50,29 @@ typedef union twai_ll_frame_buffer_t twai_hal_frame_t;
#define TWAI_HAL_EVENT_BUS_ERR (1 << 7)
#define TWAI_HAL_EVENT_ARB_LOST (1 << 8)
#define TWAI_HAL_EVENT_RX_BUFF_FRAME (1 << 9)
#define TWAI_HAL_EVENT_TX_BUFF_FREE (1 << 10)
#define TWAI_HAL_EVENT_NEED_PERIPH_RESET (1 << 11)
#define TWAI_HAL_EVENT_TX_SUCCESS (1 << 12)
#define TWAI_HAL_EVENT_NEED_PERIPH_RESET (1 << 10)
#define TWAI_HAL_EVENT_TX0_DONE (1 << 11)
#define TWAI_HAL_EVENT_TX0_SUCCESS (1 << 12)
#define TWAI_HAL_EVENT_TX1_DONE (1 << 13)
#define TWAI_HAL_EVENT_TX1_SUCCESS (1 << 14)
#define TWAI_HAL_EVENT_TX2_DONE (1 << 15)
#define TWAI_HAL_EVENT_TX2_SUCCESS (1 << 16)
#define TWAI_HAL_EVENT_TX3_DONE (1 << 17)
#define TWAI_HAL_EVENT_TX3_SUCCESS (1 << 18)
#define TWAI_HAL_EVENT_TX4_DONE (1 << 19)
#define TWAI_HAL_EVENT_TX4_SUCCESS (1 << 20)
#define TWAI_HAL_EVENT_TX5_DONE (1 << 21)
#define TWAI_HAL_EVENT_TX5_SUCCESS (1 << 22)
#define TWAI_HAL_EVENT_TX6_DONE (1 << 23)
#define TWAI_HAL_EVENT_TX6_SUCCESS (1 << 24)
#define TWAI_HAL_EVENT_TX7_DONE (1 << 25)
#define TWAI_HAL_EVENT_TX7_SUCCESS (1 << 26)
#define TWAI_HAL_TX_BUFFER_SLOT_NUM 8 // support up to 8 TX slots in hal layer
#define TWAI_HAL_EVENT_TX_DONE_MASK (TWAI_HAL_EVENT_TX0_DONE | TWAI_HAL_EVENT_TX1_DONE | TWAI_HAL_EVENT_TX2_DONE | TWAI_HAL_EVENT_TX3_DONE | \
TWAI_HAL_EVENT_TX4_DONE | TWAI_HAL_EVENT_TX5_DONE | TWAI_HAL_EVENT_TX6_DONE | TWAI_HAL_EVENT_TX7_DONE)
#define TWAI_HAL_EVENT_TX_DONE_SLOT(buffer_idx) (TWAI_HAL_EVENT_TX0_DONE << ((buffer_idx) * 2))
#define TWAI_HAL_EVENT_TX_SUCC_SLOT(buffer_idx) (TWAI_HAL_EVENT_TX0_SUCCESS << ((buffer_idx) * 2))
typedef struct {
twai_soc_handle_t dev; // TWAI SOC layer handle (i.e. register base address)
@@ -61,6 +81,7 @@ typedef struct {
uint32_t timer_overflow_cnt;
twai_error_flags_t errors;
uint8_t sja1000_filter_id_type; // hardware don't check id type, check in software, 0:no_filter, 1: std_id_only, 2: ext_id_only
uint8_t tx_buffer_num;
int8_t retry_cnt;
bool enable_self_test;
bool enable_loopback;
@@ -296,6 +317,14 @@ static inline twai_error_flags_t twai_hal_get_err_flags(twai_hal_context_t *hal_
*/
uint32_t twai_hal_get_rx_msg_count(twai_hal_context_t *hal_ctx);
/**
* @brief Get the number of TX buffers supported by the hardware
*
* @param hal_ctx Context of the HAL layer
* @return TX buffer count
*/
#define twai_hal_get_tx_slot_num(hal_ctx) (hal_ctx->tx_buffer_num)
/**
* @brief TWAI hal transaction description type
*/

5
components/esp_hal_twai/twai_hal_v1.c
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@@ -50,6 +50,7 @@ bool twai_hal_init(twai_hal_context_t *hal_ctx, const twai_hal_config_t *config)
if (!twai_ll_is_in_reset_mode(hal_ctx->dev)) { //Must enter reset mode to write to config registers
return false;
}
hal_ctx->tx_buffer_num = twai_ll_get_tx_buffer_total(hal_ctx->dev);
#if TWAI_LL_HAS_RX_FRAME_ISSUE || TWAI_LL_HAS_RX_FIFO_ISSUE
hal_ctx->errata_ctx = (twai_hal_errata_ctx_t *)(hal_ctx + 1); //errata context is place at end of hal_ctx
#endif
@@ -238,10 +239,10 @@ static inline uint32_t twai_hal_decode_interrupt(twai_hal_context_t *hal_ctx)
#else
if (interrupts & TWAI_LL_INTR_TI) {
#endif
TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_TX_BUFF_FREE);
TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_TX0_DONE);
TWAI_HAL_CLEAR_BITS(state_flags, TWAI_HAL_STATE_FLAG_TX_BUFF_OCCUPIED);
if (status & TWAI_LL_STATUS_TCS) {
TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_TX_SUCCESS);
TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_TX0_SUCCESS);
}
}
//Error Passive Interrupt on transition from error active to passive or vice versa

18
components/esp_hal_twai/twai_hal_v2.c
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@@ -22,6 +22,7 @@ bool twai_hal_init(twai_hal_context_t *hal_ctx, const twai_hal_config_t *config)
hal_ctx->enable_listen_only = config->enable_listen_only;
twaifd_ll_reset(hal_ctx->dev);
hal_ctx->tx_buffer_num = twaifd_ll_get_tx_buffer_total(hal_ctx->dev);
twaifd_ll_enable_hw(hal_ctx->dev, false); //mode should be changed under disabled
twaifd_ll_set_mode(hal_ctx->dev, config->enable_listen_only, config->enable_self_test, config->enable_loopback);
twaifd_ll_set_tx_retrans_limit(hal_ctx->dev, config->retry_cnt);
@@ -222,9 +223,20 @@ uint32_t twai_hal_get_events(twai_hal_context_t *hal_ctx)
hal_ctx->timer_overflow_cnt ++;
}
if (int_stat & (TWAIFD_LL_INTR_TX_DONE)) {
hal_events |= TWAI_HAL_EVENT_TX_BUFF_FREE;
if (int_stat & TWAIFD_LL_INTR_TX_FRAME) {
hal_events |= TWAI_HAL_EVENT_TX_SUCCESS;
for (uint32_t i = 0; i < MIN(hal_ctx->tx_buffer_num, TWAI_HAL_TX_BUFFER_SLOT_NUM); i++) {
uint32_t tx_status = twaifd_ll_get_tx_buffer_status(hal_ctx->dev, i);
switch (tx_status) {
case TWAIFD_LL_TX_STATUS_SUCCESS:
hal_events |= TWAI_HAL_EVENT_TX_SUCC_SLOT(i);
__attribute__((fallthrough)); // success event must be a done event, just fallthrough
case TWAIFD_LL_TX_STATUS_FAILED:
case TWAIFD_LL_TX_STATUS_ABORTED:
hal_events |= TWAI_HAL_EVENT_TX_DONE_SLOT(i);
twaifd_ll_set_tx_buffer_cmd(hal_ctx->dev, i, TWAIFD_LL_TX_CMD_EMPTY); // clear buffer to empty state
break;
default:
break;
}
}
}
if (int_stat & TWAIFD_LL_INTR_RX_NOT_EMPTY) {