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TWAI: FIFO overrun handling and errata workarounds

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This commit adds handling for FIFO overruns and
adds workarounds for HW errats on the ESP32.

Closes https://github.com/espressif/esp-idf/issues/2519
Closes https://github.com/espressif/esp-idf/issues/4276
This commit is contained in:
Darian Leung
2021-03-25 10:24:37 +08:00
parent ae72870d43
commit 07291fdd27
18 changed files with 532 additions and 103 deletions
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2
components/hal/esp32/include/hal/can_hal.h
View File

@@ -109,7 +109,7 @@ static inline bool can_hal_check_state_flags(can_hal_context_t *hal_ctx, uint32_
/* ----------------------------- Event Handling ----------------------------- */
static inline uint32_t can_hal_decode_interrupt_events(can_hal_context_t *hal_ctx) {
return twai_hal_decode_interrupt_events(hal_ctx);
return twai_hal_decode_interrupt(hal_ctx);
}
/* ------------------------------- TX and RX -------------------------------- */

136
components/hal/esp32/include/hal/twai_ll.h
View File

@@ -85,6 +85,70 @@ typedef union {
_Static_assert(sizeof(twai_ll_frame_buffer_t) == 13, "TX/RX buffer type should be 13 bytes");
#if defined(CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID) || defined(CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT)
/**
* Some errata workarounds will require a hardware reset of the peripheral. Thus
* certain registers must be saved before the reset, and then restored after the
* reset. This structure is used to hold some of those registers.
*/
typedef struct {
uint8_t mode_reg;
uint8_t interrupt_enable_reg;
uint8_t bus_timing_0_reg;
uint8_t bus_timing_1_reg;
uint8_t error_warning_limit_reg;
uint8_t acr_reg[4];
uint8_t amr_reg[4];
uint8_t rx_error_counter_reg;
uint8_t tx_error_counter_reg;
uint8_t clock_divider_reg;
} __attribute__((packed)) twai_ll_reg_save_t;
#endif //defined(CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID) || defined(CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT)
#ifdef CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID
typedef enum {
TWAI_LL_ERR_BIT = 0,
TWAI_LL_ERR_FORM,
TWAI_LL_ERR_STUFF,
TWAI_LL_ERR_OTHER,
TWAI_LL_ERR_MAX,
} twai_ll_err_type_t;
typedef enum {
TWAI_LL_ERR_DIR_TX = 0,
TWAI_LL_ERR_DIR_RX,
TWAI_LL_ERR_DIR_MAX,
} twai_ll_err_dir_t;
typedef enum {
TWAI_LL_ERR_SEG_SOF = 0,
TWAI_LL_ERR_SEG_ID_28_21 = 2,
TWAI_LL_ERR_SEG_SRTR = 4,
TWAI_LL_ERR_SEG_IDE = 5,
TWAI_LL_ERR_SEG_ID_20_18 = 6,
TWAI_LL_ERR_SEG_ID_17_13 = 7,
TWAI_LL_ERR_SEG_CRC_SEQ = 8,
TWAI_LL_ERR_SEG_R0 = 9,
TWAI_LL_ERR_SEG_DATA = 10,
TWAI_LL_ERR_SEG_DLC = 11,
TWAI_LL_ERR_SEG_RTR = 12,
TWAI_LL_ERR_SEG_R1 = 13,
TWAI_LL_ERR_SEG_ID_4_0 = 14,
TWAI_LL_ERR_SEG_ID_12_5 = 15,
TWAI_LL_ERR_SEG_ACT_FLAG = 17,
TWAI_LL_ERR_SEG_INTER = 18,
TWAI_LL_ERR_SEG_SUPERPOS = 19,
TWAI_LL_ERR_SEG_PASS_FLAG = 22,
TWAI_LL_ERR_SEG_ERR_DELIM = 23,
TWAI_LL_ERR_SEG_CRC_DELIM = 24,
TWAI_LL_ERR_SEG_ACK_SLOT = 25,
TWAI_LL_ERR_SEG_EOF = 26,
TWAI_LL_ERR_SEG_ACK_DELIM = 27,
TWAI_LL_ERR_SEG_OVRLD_FLAG = 28,
TWAI_LL_ERR_SEG_MAX = 29,
} twai_ll_err_seg_t;
#endif
/* ---------------------------- Mode Register ------------------------------- */
/**
@@ -401,6 +465,19 @@ static inline void twai_ll_clear_err_code_cap(twai_dev_t *hw)
(void)hw->error_code_capture_reg.val;
}
#ifdef CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID
static inline void twai_ll_parse_err_code_cap(twai_dev_t *hw,
twai_ll_err_type_t *type,
twai_ll_err_dir_t *dir,
twai_ll_err_seg_t *seg)
{
uint32_t ecc = hw->error_code_capture_reg.val;
*type = (twai_ll_err_type_t) ((ecc >> 6) & 0x3);
*dir = (twai_ll_err_dir_t) ((ecc >> 5) & 0x1);
*seg = (twai_ll_err_seg_t) (ecc & 0x1F);
}
#endif
/* ----------------------------- EWL Register ------------------------------- */
/**
@@ -693,6 +770,65 @@ static inline void twai_ll_enable_extended_reg_layout(twai_dev_t *hw)
hw->clock_divider_reg.cm = 1;
}
/* ------------------------- Register Save/Restore -------------------------- */
#if defined(CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID) || defined(CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT)
/**
* @brief Saves the current values of the TWAI controller's registers
*
* This function saves the current values of the some of the TWAI controller's
* registers in preparation for a hardware reset of the controller.
*
* @param hw Start address of the TWAI registers
* @param reg_save Pointer to structure to store register values
* @note Must be called in reset mode so that config registers become accessible.
* @note Some registers are cleared on entering reset mode so must be saved
* separate from this function.
*/
static inline void twai_ll_save_reg(twai_dev_t *hw, twai_ll_reg_save_t *reg_save)
{
reg_save->mode_reg = (uint8_t) hw->mode_reg.val;
reg_save->interrupt_enable_reg = (uint8_t) hw->interrupt_enable_reg.val;
reg_save->bus_timing_0_reg = (uint8_t) hw->bus_timing_0_reg.val;
reg_save->bus_timing_1_reg = (uint8_t) hw->bus_timing_1_reg.val;
reg_save->error_warning_limit_reg = (uint8_t) hw->error_warning_limit_reg.val;
for (int i = 0; i < 4; i++) {
reg_save->acr_reg[i] = hw->acceptance_filter.acr[i].byte;
reg_save->amr_reg[i] = hw->acceptance_filter.amr[i].byte;
}
reg_save->rx_error_counter_reg = (uint8_t) hw->rx_error_counter_reg.val;
reg_save->tx_error_counter_reg = (uint8_t) hw->tx_error_counter_reg.val;
reg_save->clock_divider_reg = (uint8_t) hw->clock_divider_reg.val;
}
/**
* @brief Restores the previous values of the TWAI controller's registers
*
* This function restores the previous values of some of the TWAI controller's
* registers following a hardware reset of the controller.
*
* @param hw Start address of the TWAI registers
* @param reg_save Pointer to structure to storing register values to restore
* @note Must be called in reset mode so that config registers become accessible
* @note Some registers are read only thus cannot be restored
*/
static inline void twai_ll_restore_reg(twai_dev_t *hw, twai_ll_reg_save_t *reg_save)
{
hw->mode_reg.val = reg_save->mode_reg;
hw->interrupt_enable_reg.val = reg_save->interrupt_enable_reg;
hw->bus_timing_0_reg.val = reg_save->bus_timing_0_reg;
hw->bus_timing_1_reg.val = reg_save->bus_timing_1_reg;
hw->error_warning_limit_reg.val = reg_save->error_warning_limit_reg;
for (int i = 0; i < 4; i++) {
hw->acceptance_filter.acr[i].byte = reg_save->acr_reg[i];
hw->acceptance_filter.amr[i].byte = reg_save->amr_reg[i];
}
hw->rx_error_counter_reg.val = reg_save->rx_error_counter_reg;
hw->tx_error_counter_reg.val = reg_save->tx_error_counter_reg;
hw->clock_divider_reg.val = reg_save->clock_divider_reg;
}
#endif //defined(CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID) || defined(CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT)
#ifdef __cplusplus
}
#endif