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feat(driver_twai): add new driver based on c5 twaifd

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wanckl
2024-09-14 14:24:56 +08:00
parent 37c3ed6320
commit 043c46b4f4
23 changed files with 1561 additions and 135 deletions
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142
components/hal/esp32c5/include/hal/twaifd_ll.h
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@@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -26,6 +26,14 @@ extern "C" {
#define TWAIFD_LL_GET_HW(num) (((num) == 0) ? (&TWAI0) : (&TWAI1))
#define TWAI_LL_TSEG1_MIN 0
#define TWAI_LL_TSEG2_MIN 1
#define TWAI_LL_TSEG1_MAX TWAIFD_PH1
#define TWAI_LL_TSEG2_MAX TWAIFD_PH2
#define TWAI_LL_SJW_MAX TWAIFD_SJW
#define TWAIFD_IDENTIFIER_BASE_S 18 // Start bit of std_id in IDENTIFIER_W of TX buffer or RX buffer
#define TWAIFD_LL_ERR_BIT_ERR 0x0 // Bit Error
#define TWAIFD_LL_ERR_CRC_ERR 0x1 // CRC Error
#define TWAIFD_LL_ERR_FRM_ERR 0x2 // Form Error
@@ -44,7 +52,8 @@ extern "C" {
#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
#define TWAIFD_LL_INTR_TX_DONE TWAIFD_TXI_INT_ST // Transmit Interrupt
#define TWAIFD_LL_INTR_TX_DONE TWAIFD_TXBHCI_INT_ST// Transmit finish (ok or error)
#define TWAIFD_LL_INTR_TX_SUCCESS TWAIFD_TXI_INT_ST // Transmit success without error
#define TWAIFD_LL_INTR_RX_NOT_EMPTY TWAIFD_RBNEI_INT_ST // RX buffer not empty interrupt
#define TWAIFD_LL_INTR_RX_FULL TWAIFD_RXFI_INT_ST // RX buffer full interrupt
#define TWAIFD_LL_INTR_ERR_WARN TWAIFD_EWLI_INT_ST // Error Interrupt
@@ -72,7 +81,7 @@ static inline void twaifd_ll_enable_bus_clock(uint8_t twai_id, bool enable)
static inline void twaifd_ll_reset_register(uint8_t twai_id)
{
PCR.twai[twai_id].twai_conf.twai_rst_en = 1;
while (!PCR.twai[twai_id].twai_conf.twai_ready);
PCR.twai[twai_id].twai_conf.twai_rst_en = 0;
}
/**
@@ -95,6 +104,9 @@ static inline void twaifd_ll_set_clock_source(uint8_t twai_id, twai_clock_source
static inline void twaifd_ll_enable_clock(uint8_t twai_id, bool enable)
{
PCR.twai[twai_id].twai_func_clk_conf.twai_func_clk_en = enable;
if (enable) {
while (!PCR.twai[twai_id].twai_conf.twai_ready);
}
}
/**
@@ -138,14 +150,15 @@ static inline void twaifd_ll_enable_hw(twaifd_dev_t *hw, bool enable)
* @param hw Start address of the TWAI registers
* @param modes Operating mode
*/
static inline void twaifd_ll_set_mode(twaifd_dev_t *hw, const twai_mode_t modes)
static inline void twaifd_ll_set_mode(twaifd_dev_t *hw, bool listen_only, bool no_ack, bool loopback)
{
//mode should be changed under disabled
HAL_ASSERT(hw->mode_settings.ena == 0);
twaifd_mode_settings_reg_t opmode = {.val = hw->mode_settings.val};
opmode.stm = (modes == TWAI_MODE_NO_ACK);
opmode.bmm = (modes == TWAI_MODE_LISTEN_ONLY);
opmode.stm = no_ack;
opmode.bmm = listen_only;
opmode.ilbp = loopback;
hw->mode_settings.val = opmode.val;
}
@@ -172,17 +185,6 @@ static inline void twaifd_ll_enable_fd_mode(twaifd_dev_t *hw, bool ena)
hw->mode_settings.fde = ena;
}
/**
* @brief Enable or disable TX loopback
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param ena Set to true to enable loopback, false to disable.
*/
static inline void twaifd_ll_enable_loopback(twaifd_dev_t *hw, bool ena)
{
hw->mode_settings.ilbp = ena;
}
/**
* @brief Enable or disable the RX fifo automatic increase when read to register
*
@@ -213,21 +215,11 @@ static inline void twaifd_ll_enable_filter_mode(twaifd_dev_t* hw, bool enable)
* @param hw Pointer to hardware structure.
* @param en True to drop, false to Receive to next filter
*/
static inline void twaifd_ll_filter_drop_remote_frame(twaifd_dev_t* hw, bool en)
static inline void twaifd_ll_filter_block_rtr(twaifd_dev_t* hw, bool en)
{
hw->mode_settings.fdrf = en;
}
/**
* @brief Get remote frame filtering behaviour.
*
* @param hw Pointer to hardware structure.
*/
static inline bool twaifd_ll_filter_is_drop_remote_frame(twaifd_dev_t* hw)
{
return hw->mode_settings.fdrf;
}
/**
* @brief Enable or disable the time-triggered transmission mode for the TWAI-FD peripheral.
*
@@ -272,6 +264,7 @@ static inline void twaifd_ll_enable_intr(twaifd_dev_t *hw, uint32_t intr_mask)
* @param hw Pointer to the TWAI-FD device hardware.
* @return The current interrupt status as a 32-bit value, used with `TWAIFD_LL_INTR_`.
*/
__attribute__((always_inline))
static inline uint32_t twaifd_ll_get_intr_status(twaifd_dev_t *hw)
{
return hw->int_stat.val;
@@ -283,6 +276,7 @@ static inline uint32_t twaifd_ll_get_intr_status(twaifd_dev_t *hw)
* @param hw Pointer to the TWAI-FD device hardware.
* @param intr_mask The interrupt mask specifying which interrupts to clear.
*/
__attribute__((always_inline))
static inline void twaifd_ll_clr_intr_status(twaifd_dev_t *hw, uint32_t intr_mask)
{
// this register is write to clear
@@ -296,7 +290,7 @@ static inline void twaifd_ll_clr_intr_status(twaifd_dev_t *hw, uint32_t intr_mas
* @param hw Start address of the TWAI registers
* @param timing_param timing params
*/
static inline void twaifd_ll_set_nominal_bit_rate(twaifd_dev_t *hw, const twai_timing_config_t *timing_param)
static inline void twaifd_ll_set_nominal_bitrate(twaifd_dev_t *hw, const twai_timing_advanced_config_t *timing_param)
{
twaifd_btr_reg_t reg_w = {.val = 0};
reg_w.brp = timing_param->brp;
@@ -314,7 +308,7 @@ static inline void twaifd_ll_set_nominal_bit_rate(twaifd_dev_t *hw, const twai_t
* @param hw Start address of the TWAI registers
* @param timing_param_fd FD timing params
*/
static inline void twaifd_ll_set_fd_bit_rate(twaifd_dev_t *hw, const twai_timing_config_t *timing_param_fd)
static inline void twaifd_ll_set_fd_bitrate(twaifd_dev_t *hw, const twai_timing_advanced_config_t *timing_param_fd)
{
twaifd_btr_fd_reg_t reg_w = {.val = 0};
reg_w.brp_fd = timing_param_fd->brp;
@@ -331,7 +325,7 @@ static inline void twaifd_ll_set_fd_bit_rate(twaifd_dev_t *hw, const twai_timing
*
* @param hw Start address of the TWAI registers
* @param ssp_src_code Secondary point mode config, see TWAIFD_LL_SSP_SRC_xxx.
* @param offset_val Secondary point offset based on Sync_Seg, in clock source freq.
* @param offset_val Secondary point offset based on Sync_Seg, in time quanta.
*/
static inline void twaifd_ll_config_secondary_sample_point(twaifd_dev_t *hw, uint8_t ssp_src_code, uint8_t offset_val)
{
@@ -463,15 +457,18 @@ static inline uint32_t twaifd_ll_get_tec(twaifd_dev_t *hw)
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the filter to configure
* @param is_range Setting for range filter or mask filter
* @param en True to receive, False to drop
*/
static inline void twaifd_ll_filter_enable_basic_std(twaifd_dev_t* hw, uint8_t filter_id, bool en)
static inline void twaifd_ll_filter_enable_basic_std(twaifd_dev_t* hw, uint8_t filter_id, bool is_range, bool en)
{
HAL_ASSERT(filter_id < (SOC_TWAI_MASK_FILTER_NUM + SOC_TWAI_RANGE_FILTER_NUM));
HAL_ASSERT(filter_id < (is_range ? SOC_TWAI_RANGE_FILTER_NUM : SOC_TWAI_MASK_FILTER_NUM));
// The hw_filter_id of range_filter is indexed after mask_filter
uint8_t hw_filter_id = is_range ? filter_id + SOC_TWAI_MASK_FILTER_NUM : filter_id;
if (en) {
hw->filter_control_filter_status.val |= TWAIFD_FANB << (filter_id * TWAIFD_FBNB_S);
hw->filter_control_filter_status.val |= TWAIFD_FANB << (hw_filter_id * TWAIFD_FBNB_S);
} else {
hw->filter_control_filter_status.val &= ~(TWAIFD_FANB << (filter_id * TWAIFD_FBNB_S));
hw->filter_control_filter_status.val &= ~(TWAIFD_FANB << (hw_filter_id * TWAIFD_FBNB_S));
}
}
@@ -480,15 +477,18 @@ static inline void twaifd_ll_filter_enable_basic_std(twaifd_dev_t* hw, uint8_t f
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the filter to configure
* @param is_range Setting for range filter or mask filter
* @param en True to receive, False to drop
*/
static inline void twaifd_ll_filter_enable_basic_ext(twaifd_dev_t* hw, uint8_t filter_id, bool en)
static inline void twaifd_ll_filter_enable_basic_ext(twaifd_dev_t* hw, uint8_t filter_id, bool is_range, bool en)
{
HAL_ASSERT(filter_id < (SOC_TWAI_MASK_FILTER_NUM + SOC_TWAI_RANGE_FILTER_NUM));
HAL_ASSERT(filter_id < (is_range ? SOC_TWAI_RANGE_FILTER_NUM : SOC_TWAI_MASK_FILTER_NUM));
// The hw_filter_id of range_filter is indexed after mask_filter
uint8_t hw_filter_id = is_range ? filter_id + SOC_TWAI_MASK_FILTER_NUM : filter_id;
if (en) {
hw->filter_control_filter_status.val |= TWAIFD_FANE << (filter_id * TWAIFD_FBNB_S);
hw->filter_control_filter_status.val |= TWAIFD_FANE << (hw_filter_id * TWAIFD_FBNB_S);
} else {
hw->filter_control_filter_status.val &= ~(TWAIFD_FANE << (filter_id * TWAIFD_FBNB_S));
hw->filter_control_filter_status.val &= ~(TWAIFD_FANE << (hw_filter_id * TWAIFD_FBNB_S));
}
}
@@ -497,15 +497,18 @@ static inline void twaifd_ll_filter_enable_basic_ext(twaifd_dev_t* hw, uint8_t f
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the filter to configure
* @param is_range Setting for range filter or mask filter
* @param en True to receive, False to drop
*/
static inline void twaifd_ll_filter_enable_fd_std(twaifd_dev_t* hw, uint8_t filter_id, bool en)
static inline void twaifd_ll_filter_enable_fd_std(twaifd_dev_t* hw, uint8_t filter_id, bool is_range, bool en)
{
HAL_ASSERT(filter_id < (SOC_TWAI_MASK_FILTER_NUM + SOC_TWAI_RANGE_FILTER_NUM));
HAL_ASSERT(filter_id < (is_range ? SOC_TWAI_RANGE_FILTER_NUM : SOC_TWAI_MASK_FILTER_NUM));
// The hw_filter_id of range_filter is indexed after mask_filter
uint8_t hw_filter_id = is_range ? filter_id + SOC_TWAI_MASK_FILTER_NUM : filter_id;
if (en) {
hw->filter_control_filter_status.val |= TWAIFD_FAFB << (filter_id * TWAIFD_FBNB_S);
hw->filter_control_filter_status.val |= TWAIFD_FAFB << (hw_filter_id * TWAIFD_FBNB_S);
} else {
hw->filter_control_filter_status.val &= ~(TWAIFD_FAFB << (filter_id * TWAIFD_FBNB_S));
hw->filter_control_filter_status.val &= ~(TWAIFD_FAFB << (hw_filter_id * TWAIFD_FBNB_S));
}
}
@@ -514,15 +517,18 @@ static inline void twaifd_ll_filter_enable_fd_std(twaifd_dev_t* hw, uint8_t filt
*
* @param hw Pointer to the TWAI FD hardware instance
* @param filter_id The unique ID of the filter to configure
* @param is_range Setting for range filter or mask filter
* @param en True to receive, False to drop
*/
static inline void twaifd_ll_filter_enable_fd_ext(twaifd_dev_t* hw, uint8_t filter_id, bool en)
static inline void twaifd_ll_filter_enable_fd_ext(twaifd_dev_t* hw, uint8_t filter_id, bool is_range, bool en)
{
HAL_ASSERT(filter_id < (SOC_TWAI_MASK_FILTER_NUM + SOC_TWAI_RANGE_FILTER_NUM));
HAL_ASSERT(filter_id < (is_range ? SOC_TWAI_RANGE_FILTER_NUM : SOC_TWAI_MASK_FILTER_NUM));
// The hw_filter_id of range_filter is indexed after mask_filter
uint8_t hw_filter_id = is_range ? filter_id + SOC_TWAI_MASK_FILTER_NUM : filter_id;
if (en) {
hw->filter_control_filter_status.val |= TWAIFD_FAFE << (filter_id * TWAIFD_FBNB_S);
hw->filter_control_filter_status.val |= TWAIFD_FAFE << (hw_filter_id * TWAIFD_FBNB_S);
} else {
hw->filter_control_filter_status.val &= ~(TWAIFD_FAFE << (filter_id * TWAIFD_FBNB_S));
hw->filter_control_filter_status.val &= ~(TWAIFD_FAFE << (hw_filter_id * TWAIFD_FBNB_S));
}
}
@@ -530,48 +536,30 @@ static inline void twaifd_ll_filter_enable_fd_ext(twaifd_dev_t* hw, uint8_t filt
* @brief Set Bit Acceptance Filter
* @param hw Start address of the TWAI registers
* @param filter_id Filter number id
* @param is_ext Filter for ext_id or std_id
* @param code Acceptance Code
* @param mask Acceptance Mask
*/
static inline void twaifd_ll_filter_set_id_mask(twaifd_dev_t* hw, uint8_t filter_id, uint32_t code, uint32_t mask)
static inline void twaifd_ll_filter_set_id_mask(twaifd_dev_t* hw, uint8_t filter_id, bool is_ext, uint32_t code, uint32_t mask)
{
hw->mask_filters[filter_id].filter_mask.bit_mask_val = mask;
hw->mask_filters[filter_id].filter_val.bit_val = code;
hw->mask_filters[filter_id].filter_mask.bit_mask_val = is_ext ? mask : (mask << TWAIFD_IDENTIFIER_BASE_S);
hw->mask_filters[filter_id].filter_val.bit_val = is_ext ? code : (code << TWAIFD_IDENTIFIER_BASE_S);
}
/**
* @brief Set Range Acceptance Filter
* @param hw Start address of the TWAI registers
* @param filter_id Filter number id
* @param is_ext Filter for ext_id or std_id
* @param high The id range high limit
* @param low The id range low limit
*/
static inline void twaifd_ll_filter_set_range(twaifd_dev_t* hw, uint8_t filter_id, uint32_t high, uint32_t low)
static inline void twaifd_ll_filter_set_range(twaifd_dev_t* hw, uint8_t filter_id, bool is_ext, uint32_t high, uint32_t low)
{
hw->range_filters[filter_id].ran_low.bit_ran_low_val = low;
hw->range_filters[filter_id].ran_high.bit_ran_high_val = high;
hw->range_filters[filter_id].ran_low.bit_ran_low_val = is_ext ? low : (low << TWAIFD_IDENTIFIER_BASE_S);
hw->range_filters[filter_id].ran_high.bit_ran_high_val = is_ext ? high : (high << TWAIFD_IDENTIFIER_BASE_S);
}
/**
* @brief Enable or disable bit or range frame filtering for a specific filter.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @param filter_id The ID of the filter to configure (0-2 for bit filter, 3 for range filter).
* @param enable True to enable the filter, false to disable.
*/
static inline void twaifd_ll_filter_enable(twaifd_dev_t* hw, uint8_t filter_id, bool enable)
{
HAL_ASSERT(filter_id < (SOC_TWAI_MASK_FILTER_NUM + SOC_TWAI_RANGE_FILTER_NUM));
twaifd_filter_control_filter_status_reg_t reg_val = {.val = hw->filter_control_filter_status.val};
// enable or disable filter selection
if (enable) {
reg_val.val |= BIT(filter_id + TWAIFD_SFA_S);
} else {
reg_val.val &= ~BIT(filter_id + TWAIFD_SFA_S);
}
hw->filter_control_filter_status.val = reg_val.val;
}
/* ------------------------- TX Buffer Registers ------------------------- */
/**
@@ -610,6 +598,7 @@ static inline uint32_t twaifd_ll_get_tx_buffer_status(twaifd_dev_t *hw, uint8_t
* @param buffer_idx
* @param cmd The command want to set, see `TWAIFD_LL_TX_CMD_`
*/
__attribute__((always_inline))
static inline void twaifd_ll_set_tx_cmd(twaifd_dev_t *hw, uint8_t buffer_idx, uint32_t cmd)
{
hw->tx_command_txtb_info.val = (cmd | BIT(buffer_idx + TWAIFD_TXB1_S));
@@ -640,6 +629,7 @@ static inline void twaifd_ll_set_tx_buffer_priority(twaifd_dev_t *hw, uint8_t bu
*
* @note Call twaifd_ll_format_frame_header() and twaifd_ll_format_frame_data() to format a frame
*/
__attribute__((always_inline))
static inline void twaifd_ll_mount_tx_buffer(twaifd_dev_t *hw, twaifd_frame_buffer_t *tx_frame, uint8_t buffer_idx)
{
//Copy formatted frame into TX buffer
@@ -667,6 +657,7 @@ static inline uint32_t twaifd_ll_get_rx_buffer_size(twaifd_dev_t *hw)
* @param hw Pointer to the TWAI-FD device hardware.
* @return Number of frames in the RX buffer.
*/
__attribute__((always_inline))
static inline uint32_t twaifd_ll_get_rx_frame_count(twaifd_dev_t *hw)
{
return hw->rx_status_rx_settings.rxfrc;
@@ -691,6 +682,7 @@ static inline uint32_t twaifd_ll_is_rx_buffer_empty(twaifd_dev_t *hw)
*
* @note Call twaifd_ll_parse_frame_header() and twaifd_ll_parse_frame_data() to parse the formatted frame
*/
__attribute__((always_inline))
static inline void twaifd_ll_get_rx_frame(twaifd_dev_t *hw, twaifd_frame_buffer_t *rx_frame)
{
// If rx_automatic_mode enabled, hw->rx_data.rx_data should 32bit access
@@ -713,6 +705,7 @@ static inline void twaifd_ll_get_rx_frame(twaifd_dev_t *hw, twaifd_frame_buffer_
* @param[in] final_dlc data length code of frame.
* @param[out] tx_frame Pointer to store formatted frame
*/
__attribute__((always_inline))
static inline void twaifd_ll_format_frame_header(const twai_frame_header_t *header, uint8_t final_dlc, twaifd_frame_buffer_t *tx_frame)
{
HAL_ASSERT(final_dlc <= TWAIFD_FRAME_MAX_DLC);
@@ -745,6 +738,7 @@ static inline void twaifd_ll_format_frame_header(const twai_frame_header_t *head
* @param[in] len data length of data buffer.
* @param[out] tx_frame Pointer to store formatted frame
*/
__attribute__((always_inline))
static inline void twaifd_ll_format_frame_data(const uint8_t *buffer, uint32_t len, twaifd_frame_buffer_t *tx_frame)
{
HAL_ASSERT(len <= TWAIFD_FRAME_MAX_LEN);
@@ -757,6 +751,7 @@ static inline void twaifd_ll_format_frame_data(const uint8_t *buffer, uint32_t l
* @param[in] rx_frame Pointer to formatted frame
* @param[out] p_frame_header Including DLC, ID, Format, etc.
*/
__attribute__((always_inline))
static inline void twaifd_ll_parse_frame_header(const twaifd_frame_buffer_t *rx_frame, twai_frame_header_t *p_frame_header)
{
//Copy frame information
@@ -786,6 +781,7 @@ static inline void twaifd_ll_parse_frame_header(const twaifd_frame_buffer_t *rx_
* @param[out] buffer Pointer to an 8 byte array to save data
* @param[in] buffer_len_limit The buffer length limit, If less then frame data length, over length data will dropped
*/
__attribute__((always_inline))
static inline void twaifd_ll_parse_frame_data(const twaifd_frame_buffer_t *rx_frame, uint8_t *buffer, int len_limit)
{
memcpy(buffer, rx_frame->data, len_limit);