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fix(driver_twai): fixed twaifd slow bitrate trans faile on correct bitrate

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This commit is contained in:
wanckl
2026-06-26 18:35:09 +08:00
parent 37b431a882
commit f4cf285425
10 changed files with 22 additions and 11 deletions
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components/esp_driver_twai/esp_twai.c
+12 -11
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@@ -1,5 +1,5 @@
/* /*
* SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD * SPDX-FileCopyrightText: 2024-2026 Espressif Systems (Shanghai) CO LTD
* *
* SPDX-License-Identifier: Apache-2.0 * SPDX-License-Identifier: Apache-2.0
*/ */
@@ -33,7 +33,7 @@ uint32_t twai_node_timing_calc_param(const uint32_t source_freq, const twai_timi
if (total_div != tseg * pre_div) { if (total_div != tseg * pre_div) {
continue; // no integer tseg continue; // no integer tseg
} }
if ((tseg <= (hw_limit->tseg1_max + hw_limit->tseg2_max + 1)) && (tseg >= (hw_limit->tseg1_min + hw_limit->tseg2_min))) { if ((tseg <= (hw_limit->tseg1_max + hw_limit->tseg2_max + hw_limit->prop_max + 1)) && (tseg >= (hw_limit->tseg1_min + hw_limit->tseg2_min + 1))) {
break; break;
} }
} }
@@ -44,20 +44,21 @@ uint32_t twai_node_timing_calc_param(const uint32_t source_freq, const twai_timi
uint16_t default_point = (in_param->bitrate >= 800000) ? 750 : ((in_param->bitrate >= 500000) ? 800 : 875); uint16_t default_point = (in_param->bitrate >= 800000) ? 750 : ((in_param->bitrate >= 500000) ? 800 : 875);
uint16_t sample_point = in_param->sp_permill ? in_param->sp_permill : default_point; // default sample point based on bitrate if not configured uint16_t sample_point = in_param->sp_permill ? in_param->sp_permill : default_point; // default sample point based on bitrate if not configured
uint16_t tseg_1 = (tseg * sample_point) / 1000 - 1; uint16_t tseg_1 = (tseg * sample_point) / 1000 - 1;
tseg_1 = MAX(hw_limit->tseg1_min, MIN(tseg_1, hw_limit->tseg1_max)); tseg_1 = MAX(hw_limit->tseg1_min, MIN(tseg_1, hw_limit->tseg1_max + hw_limit->prop_max));
uint16_t tseg_2 = tseg - tseg_1 - 1; uint16_t phase_seg2 = tseg - tseg_1 - 1;
tseg_2 = MAX(hw_limit->tseg2_min, MIN(tseg_2, hw_limit->tseg2_max)); phase_seg2 = MAX(hw_limit->tseg2_min, MIN(phase_seg2, hw_limit->tseg2_max));
uint16_t prop = MAX(1, tseg_1 / 4); // prop_seg is usually shorter than tseg_1 and at least 1 uint16_t phase_seg1 = (tseg_1 * 3) / 4; // phase_seg1 is usually larger than prop_seg
tseg_1 -= prop; phase_seg1 = MAX(hw_limit->tseg1_min, MIN(phase_seg1, hw_limit->tseg1_max));
uint16_t prop = tseg_1 - phase_seg1;
out_param->brp = pre_div; out_param->brp = pre_div;
out_param->prop_seg = prop; out_param->prop_seg = prop;
out_param->tseg_1 = tseg_1; out_param->tseg_1 = phase_seg1;
out_param->tseg_2 = tseg_2; out_param->tseg_2 = phase_seg2;
out_param->sjw = MAX(1, MIN(tseg_2 >> 1, hw_limit->sjw_max)); out_param->sjw = MAX(1, MIN(phase_seg2 >> 1, hw_limit->sjw_max));
out_param->ssp_offset = (tseg * in_param->ssp_permill) / 1000; // ssp is optional, default 0 if not configured out_param->ssp_offset = (tseg * in_param->ssp_permill) / 1000; // ssp is optional, default 0 if not configured
return source_freq / (pre_div * (prop + tseg_1 + tseg_2 + 1)); return source_freq / (pre_div * (prop + phase_seg1 + phase_seg2 + 1));
} }
esp_err_t twai_node_enable(twai_node_handle_t node) esp_err_t twai_node_enable(twai_node_handle_t node)
components/esp_driver_twai/esp_twai_onchip.c
+2
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@@ -399,6 +399,7 @@ static esp_err_t _node_calc_set_bit_timing(twai_node_handle_t node, const twai_t
twai_timing_constraint_t hw_const = { twai_timing_constraint_t hw_const = {
.brp_min = TWAI_LL_BRP_MIN, .brp_min = TWAI_LL_BRP_MIN,
.brp_max = TWAI_LL_BRP_MAX, .brp_max = TWAI_LL_BRP_MAX,
.prop_max = TWAI_LL_PROP_MAX,
.tseg1_min = TWAI_LL_TSEG1_MIN, .tseg1_min = TWAI_LL_TSEG1_MIN,
.tseg1_max = TWAI_LL_TSEG1_MAX, .tseg1_max = TWAI_LL_TSEG1_MAX,
.tseg2_min = TWAI_LL_TSEG2_MIN, .tseg2_min = TWAI_LL_TSEG2_MIN,
@@ -417,6 +418,7 @@ static esp_err_t _node_calc_set_bit_timing(twai_node_handle_t node, const twai_t
twai_timing_advanced_config_t timing_adv_fd = {}; twai_timing_advanced_config_t timing_adv_fd = {};
if (timing_fd->bitrate) { if (timing_fd->bitrate) {
hw_const.brp_max = TWAI_LL_BRP_MAX_FD; hw_const.brp_max = TWAI_LL_BRP_MAX_FD;
hw_const.prop_max = TWAI_LL_PROP_MAX_FD;
hw_const.tseg1_max = TWAI_LL_TSEG1_MAX_FD; hw_const.tseg1_max = TWAI_LL_TSEG1_MAX_FD;
hw_const.tseg2_max = TWAI_LL_TSEG2_MAX_FD; hw_const.tseg2_max = TWAI_LL_TSEG2_MAX_FD;
hw_const.sjw_max = TWAI_LL_SJW_MAX_FD; hw_const.sjw_max = TWAI_LL_SJW_MAX_FD;
components/esp_driver_twai/include/esp_private/twai_utils.h
+1
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@@ -19,6 +19,7 @@ extern "C" {
typedef struct { typedef struct {
uint32_t brp_min; /* Bit-rate prescaler */ uint32_t brp_min; /* Bit-rate prescaler */
uint32_t brp_max; uint32_t brp_max;
uint8_t prop_max; /* Propagation segment */
uint8_t tseg1_min; /* Time segment 1 = prop_seg + phase_seg1 */ uint8_t tseg1_min; /* Time segment 1 = prop_seg + phase_seg1 */
uint8_t tseg1_max; uint8_t tseg1_max;
uint8_t tseg2_min; /* Time segment 2 = phase_seg2 */ uint8_t tseg2_min; /* Time segment 2 = phase_seg2 */
components/hal/esp32/include/hal/twai_ll.h
+1
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@@ -40,6 +40,7 @@ static uint32_t twai_ll_get_brp_max(void);
#define TWAI_LL_BRP_MAX twai_ll_get_brp_max() // max brp of esp32 is depends on chip version #define TWAI_LL_BRP_MAX twai_ll_get_brp_max() // max brp of esp32 is depends on chip version
#define TWAI_LL_TSEG1_MIN 1 #define TWAI_LL_TSEG1_MIN 1
#define TWAI_LL_TSEG2_MIN 1 #define TWAI_LL_TSEG2_MIN 1
#define TWAI_LL_PROP_MAX 0 //hardware don't support prop_seg
#define TWAI_LL_TSEG1_MAX 16 //the max register value #define TWAI_LL_TSEG1_MAX 16 //the max register value
#define TWAI_LL_TSEG2_MAX 8 #define TWAI_LL_TSEG2_MAX 8
#define TWAI_LL_SJW_MAX 4 #define TWAI_LL_SJW_MAX 4
components/hal/esp32c3/include/hal/twai_ll.h
+1
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@@ -36,6 +36,7 @@ extern "C" {
#define TWAI_LL_BRP_MAX 16384 #define TWAI_LL_BRP_MAX 16384
#define TWAI_LL_TSEG1_MIN 1 #define TWAI_LL_TSEG1_MIN 1
#define TWAI_LL_TSEG2_MIN 1 #define TWAI_LL_TSEG2_MIN 1
#define TWAI_LL_PROP_MAX 0 //hardware don't support prop_seg
#define TWAI_LL_TSEG1_MAX 16 //the max register value #define TWAI_LL_TSEG1_MAX 16 //the max register value
#define TWAI_LL_TSEG2_MAX 8 #define TWAI_LL_TSEG2_MAX 8
#define TWAI_LL_SJW_MAX 4 #define TWAI_LL_SJW_MAX 4
components/hal/esp32c6/include/hal/twai_ll.h
+1
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@@ -37,6 +37,7 @@ extern "C" {
#define TWAI_LL_BRP_MAX 32768 #define TWAI_LL_BRP_MAX 32768
#define TWAI_LL_TSEG1_MIN 1 #define TWAI_LL_TSEG1_MIN 1
#define TWAI_LL_TSEG2_MIN 1 #define TWAI_LL_TSEG2_MIN 1
#define TWAI_LL_PROP_MAX 0 //hardware don't support prop_seg
#define TWAI_LL_TSEG1_MAX (TWAI_TIME_SEGMENT1 + 1) #define TWAI_LL_TSEG1_MAX (TWAI_TIME_SEGMENT1 + 1)
#define TWAI_LL_TSEG2_MAX (TWAI_TIME_SEGMENT2 + 1) #define TWAI_LL_TSEG2_MAX (TWAI_TIME_SEGMENT2 + 1)
#define TWAI_LL_SJW_MAX (TWAI_SYNC_JUMP_WIDTH + 1) #define TWAI_LL_SJW_MAX (TWAI_SYNC_JUMP_WIDTH + 1)
components/hal/esp32h2/include/hal/twai_ll.h
+1
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@@ -37,6 +37,7 @@ extern "C" {
#define TWAI_LL_BRP_MAX 32768 #define TWAI_LL_BRP_MAX 32768
#define TWAI_LL_TSEG1_MIN 1 #define TWAI_LL_TSEG1_MIN 1
#define TWAI_LL_TSEG2_MIN 1 #define TWAI_LL_TSEG2_MIN 1
#define TWAI_LL_PROP_MAX 0 //hardware don't support prop_seg
#define TWAI_LL_TSEG1_MAX (TWAI_TIME_SEGMENT1 + 1) #define TWAI_LL_TSEG1_MAX (TWAI_TIME_SEGMENT1 + 1)
#define TWAI_LL_TSEG2_MAX (TWAI_TIME_SEGMENT2 + 1) #define TWAI_LL_TSEG2_MAX (TWAI_TIME_SEGMENT2 + 1)
#define TWAI_LL_SJW_MAX (TWAI_SYNC_JUMP_WIDTH + 1) #define TWAI_LL_SJW_MAX (TWAI_SYNC_JUMP_WIDTH + 1)
components/hal/esp32p4/include/hal/twai_ll.h
+1
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@@ -37,6 +37,7 @@ extern "C" {
#define TWAI_LL_BRP_MAX 32768 #define TWAI_LL_BRP_MAX 32768
#define TWAI_LL_TSEG1_MIN 1 #define TWAI_LL_TSEG1_MIN 1
#define TWAI_LL_TSEG2_MIN 1 #define TWAI_LL_TSEG2_MIN 1
#define TWAI_LL_PROP_MAX 0 //hardware don't support prop_seg
#define TWAI_LL_TSEG1_MAX (TWAI_TIME_SEGMENT1 + 1) #define TWAI_LL_TSEG1_MAX (TWAI_TIME_SEGMENT1 + 1)
#define TWAI_LL_TSEG2_MAX (TWAI_TIME_SEGMENT2 + 1) #define TWAI_LL_TSEG2_MAX (TWAI_TIME_SEGMENT2 + 1)
#define TWAI_LL_SJW_MAX (TWAI_SYNC_JUMP_WIDTH + 1) #define TWAI_LL_SJW_MAX (TWAI_SYNC_JUMP_WIDTH + 1)
components/hal/esp32s2/include/hal/twai_ll.h
+1
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@@ -36,6 +36,7 @@ extern "C" {
#define TWAI_LL_BRP_MAX 32768 #define TWAI_LL_BRP_MAX 32768
#define TWAI_LL_TSEG1_MIN 1 #define TWAI_LL_TSEG1_MIN 1
#define TWAI_LL_TSEG2_MIN 1 #define TWAI_LL_TSEG2_MIN 1
#define TWAI_LL_PROP_MAX 0 //hardware don't support prop_seg
#define TWAI_LL_TSEG1_MAX 16 //the max register value #define TWAI_LL_TSEG1_MAX 16 //the max register value
#define TWAI_LL_TSEG2_MAX 8 #define TWAI_LL_TSEG2_MAX 8
#define TWAI_LL_SJW_MAX 4 #define TWAI_LL_SJW_MAX 4
components/hal/esp32s3/include/hal/twai_ll.h
+1
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@@ -36,6 +36,7 @@ extern "C" {
#define TWAI_LL_BRP_MAX 16384 #define TWAI_LL_BRP_MAX 16384
#define TWAI_LL_TSEG1_MIN 1 #define TWAI_LL_TSEG1_MIN 1
#define TWAI_LL_TSEG2_MIN 1 #define TWAI_LL_TSEG2_MIN 1
#define TWAI_LL_PROP_MAX 0 //hardware don't support prop_seg
#define TWAI_LL_TSEG1_MAX 16 //the max register value #define TWAI_LL_TSEG1_MAX 16 //the max register value
#define TWAI_LL_TSEG2_MAX 8 #define TWAI_LL_TSEG2_MAX 8
#define TWAI_LL_SJW_MAX 4 #define TWAI_LL_SJW_MAX 4