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TWAI: Track HW state in HAL

Browse Source 
This commit refactors the TWAI HAL such that it
now tracks  harwdare state instead of the driver
layer. Some HAL and LL cleanup was also done.
This commit is contained in:
Darian Leung
2020-07-24 23:21:53 +08:00
parent 36720504f9
commit 7398390049
8 changed files with 249 additions and 362 deletions
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41
components/hal/esp32/include/hal/can_hal.h
View File

@@ -66,19 +66,19 @@ static inline void can_hal_configure(can_hal_context_t *hal_ctx, const can_timin
/* -------------------------------- Actions --------------------------------- */
static inline bool can_hal_start(can_hal_context_t *hal_ctx, can_mode_t mode)
static inline void can_hal_start(can_hal_context_t *hal_ctx, can_mode_t mode)
{
return twai_hal_start(hal_ctx, mode);
twai_hal_start(hal_ctx, mode);
}
static inline bool can_hal_stop(can_hal_context_t *hal_ctx)
static inline void can_hal_stop(can_hal_context_t *hal_ctx)
{
return twai_hal_stop(hal_ctx);
twai_hal_stop(hal_ctx);
}
static inline bool can_hal_start_bus_recovery(can_hal_context_t *hal_ctx)
static inline void can_hal_start_bus_recovery(can_hal_context_t *hal_ctx)
{
return twai_hal_start_bus_recovery(hal_ctx);
twai_hal_start_bus_recovery(hal_ctx);
}
static inline uint32_t can_hal_get_tec(can_hal_context_t *hal_ctx)
@@ -101,30 +101,15 @@ static inline bool can_hal_check_last_tx_successful(can_hal_context_t *hal_ctx)
return twai_hal_check_last_tx_successful(hal_ctx);
}
static inline bool can_hal_check_state_flags(can_hal_context_t *hal_ctx, uint32_t check_flags)
{
return twai_hal_check_state_flags(hal_ctx, check_flags);
}
/* ----------------------------- Event Handling ----------------------------- */
static inline uint32_t can_hal_decode_interrupt_events(can_hal_context_t *hal_ctx, bool bus_recovering) {
return twai_hal_decode_interrupt_events(hal_ctx, bus_recovering);
}
static inline bool can_hal_handle_bus_recov_cplt(can_hal_context_t *hal_ctx)
{
return twai_hal_handle_bus_recov_cplt(hal_ctx);
}
static inline void can_hal_handle_arb_lost(can_hal_context_t *hal_ctx)
{
twai_hal_handle_arb_lost(hal_ctx);
}
static inline void can_hal_handle_bus_error(can_hal_context_t *hal_ctx)
{
twai_hal_handle_bus_error(hal_ctx);
}
static inline void can_hal_handle_bus_off(can_hal_context_t *hal_ctx)
{
twai_hal_handle_bus_off(hal_ctx);
static inline uint32_t can_hal_decode_interrupt_events(can_hal_context_t *hal_ctx) {
return twai_hal_decode_interrupt_events(hal_ctx);
}
/* ------------------------------- TX and RX -------------------------------- */

8
components/hal/esp32/include/hal/can_ll.h
View File

@@ -54,14 +54,14 @@ typedef twai_ll_frame_buffer_t can_ll_frame_buffer_t;
/* ---------------------------- Mode Register ------------------------------- */
static inline bool can_ll_enter_reset_mode(can_dev_t *hw)
static inline void can_ll_enter_reset_mode(can_dev_t *hw)
{
return twai_ll_enter_reset_mode(hw);
twai_ll_enter_reset_mode(hw);
}
static inline bool can_ll_exit_reset_mode(can_dev_t *hw)
static inline void can_ll_exit_reset_mode(can_dev_t *hw)
{
return twai_ll_exit_reset_mode(hw);
twai_ll_exit_reset_mode(hw);
}
static inline bool can_ll_is_in_reset_mode(can_dev_t *hw)

40
components/hal/esp32/include/hal/twai_ll.h
View File

@@ -34,22 +34,22 @@ extern "C" {
/* ------------------------- Defines and Typedefs --------------------------- */
#define TWAI_LL_STATUS_RBS (0x1 << 0)
#define TWAI_LL_STATUS_DOS (0x1 << 1)
#define TWAI_LL_STATUS_TBS (0x1 << 2)
#define TWAI_LL_STATUS_TCS (0x1 << 3)
#define TWAI_LL_STATUS_RS (0x1 << 4)
#define TWAI_LL_STATUS_TS (0x1 << 5)
#define TWAI_LL_STATUS_ES (0x1 << 6)
#define TWAI_LL_STATUS_BS (0x1 << 7)
#define TWAI_LL_STATUS_RBS (0x1 << 0) //Receive Buffer Status
#define TWAI_LL_STATUS_DOS (0x1 << 1) //Data Overrun Status
#define TWAI_LL_STATUS_TBS (0x1 << 2) //Transmit Buffer Status
#define TWAI_LL_STATUS_TCS (0x1 << 3) //Transmission Complete Status
#define TWAI_LL_STATUS_RS (0x1 << 4) //Receive Status
#define TWAI_LL_STATUS_TS (0x1 << 5) //Transmit Status
#define TWAI_LL_STATUS_ES (0x1 << 6) //Error Status
#define TWAI_LL_STATUS_BS (0x1 << 7) //Bus Status
#define TWAI_LL_INTR_RI (0x1 << 0)
#define TWAI_LL_INTR_TI (0x1 << 1)
#define TWAI_LL_INTR_EI (0x1 << 2)
#define TWAI_LL_INTR_RI (0x1 << 0) //Receive Interrupt
#define TWAI_LL_INTR_TI (0x1 << 1) //Transmit Interrupt
#define TWAI_LL_INTR_EI (0x1 << 2) //Error Interrupt
//Data overrun interrupt not supported in SW due to HW peculiarities
#define TWAI_LL_INTR_EPI (0x1 << 5)
#define TWAI_LL_INTR_ALI (0x1 << 6)
#define TWAI_LL_INTR_BEI (0x1 << 7)
#define TWAI_LL_INTR_EPI (0x1 << 5) //Error Passive Interrupt
#define TWAI_LL_INTR_ALI (0x1 << 6) //Arbitration Lost Interrupt
#define TWAI_LL_INTR_BEI (0x1 << 7) //Bus Error Interrupt
/*
* The following frame structure has an NEARLY identical bit field layout to
@@ -95,14 +95,12 @@ _Static_assert(sizeof(twai_ll_frame_buffer_t) == 13, "TX/RX buffer type should b
* in order to write the majority of configuration registers.
*
* @param hw Start address of the TWAI registers
* @return true if reset mode was entered successfully
*
* @note Reset mode is automatically entered on BUS OFF condition
*/
static inline bool twai_ll_enter_reset_mode(twai_dev_t *hw)
static inline void twai_ll_enter_reset_mode(twai_dev_t *hw)
{
hw->mode_reg.rm = 1;
return hw->mode_reg.rm;
}
/**
@@ -113,14 +111,12 @@ static inline bool twai_ll_enter_reset_mode(twai_dev_t *hw)
* operating mode.
*
* @param hw Start address of the TWAI registers
* @return true if reset mode was exit successfully
*
* @note Reset mode must be exit to initiate BUS OFF recovery
*/
static inline bool twai_ll_exit_reset_mode(twai_dev_t *hw)
static inline void twai_ll_exit_reset_mode(twai_dev_t *hw)
{
hw->mode_reg.rm = 0;
return !(hw->mode_reg.rm);
}
/**
@@ -307,8 +303,6 @@ static inline bool twai_ll_is_last_tx_successful(twai_dev_t *hw)
return hw->status_reg.tcs;
}
//Todo: Add stand alone status bit check functions when necessary
/* -------------------------- Interrupt Register ---------------------------- */
/**
@@ -391,7 +385,6 @@ static inline void twai_ll_set_bus_timing(twai_dev_t *hw, uint32_t brp, uint32_t
static inline void twai_ll_clear_arb_lost_cap(twai_dev_t *hw)
{
(void)hw->arbitration_lost_captue_reg.val;
//Todo: Decode ALC register
}
/* ----------------------------- ECC Register ------------------------------- */
@@ -406,7 +399,6 @@ static inline void twai_ll_clear_arb_lost_cap(twai_dev_t *hw)
static inline void twai_ll_clear_err_code_cap(twai_dev_t *hw)
{
(void)hw->error_code_capture_reg.val;
//Todo: Decode error code capture
}
/* ----------------------------- EWL Register ------------------------------- */