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Merge branch 'fix/twai_fix_clock_sel_and_c5_errata' into 'master'

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fix(driver_twai): fixed clock sel and c5 listen only mode errata

Closes IDF-13144 and IDF-13059

See merge request espressif/esp-idf!40057
This commit is contained in:
morris
2025-06-30 19:42:52 +08:00
parent 9f5c9c7ef6 af6f1dcaaa
commit 76cec451ce
17 changed files with 210 additions and 192 deletions
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2
components/hal/esp32c5/include/hal/twaifd_ll.h
View File

@@ -165,7 +165,7 @@ static inline void twaifd_ll_set_mode(twaifd_dev_t *hw, bool listen_only, bool s
twaifd_mode_settings_reg_t opmode = {.val = hw->mode_settings.val};
opmode.stm = self_test;
opmode.bmm = listen_only;
(void)listen_only; // listen only is not available in this chip, see "CTU FD 2v5 errata 0v2 issue 5"
opmode.ilbp = loopback;
hw->mode_settings.val = opmode.val;

18
components/hal/twai_hal_ctufd.c
View File

@@ -4,6 +4,7 @@
* SPDX-License-Identifier: Apache-2.0
*/
#include <sys/param.h>
#include "hal/twai_hal.h"
#include "hal/twaifd_ll.h"
@@ -118,17 +119,24 @@ void twai_hal_format_frame(const twai_hal_trans_desc_t *trans_desc, twai_hal_fra
{
const twai_frame_header_t *header = trans_desc->frame.header;
int final_dlc = (header->dlc) ? header->dlc : twaifd_len2dlc(trans_desc->frame.buffer_len);
int data_len = (header->dlc) ? twaifd_dlc2len(header->dlc) : trans_desc->frame.buffer_len;
twaifd_ll_format_frame_header(header, final_dlc, frame);
twaifd_ll_format_frame_data(trans_desc->frame.buffer, data_len, frame);
if (!header->rtr) {
int data_len = (header->dlc) ? twaifd_dlc2len(header->dlc) : trans_desc->frame.buffer_len;
data_len = (header->fdf) ? MIN(data_len, TWAIFD_FRAME_MAX_LEN) : MIN(data_len, TWAI_FRAME_MAX_LEN);
twaifd_ll_format_frame_data(trans_desc->frame.buffer, data_len, frame);
}
}
void twai_hal_parse_frame(const twai_hal_frame_t *frame, twai_frame_header_t *header, uint8_t *buffer, uint8_t buffer_len)
{
twaifd_ll_parse_frame_header(frame, header);
int frame_data_len = twaifd_dlc2len(header->dlc);
uint8_t final_len = (frame_data_len < buffer_len) ? frame_data_len : buffer_len;
twaifd_ll_parse_frame_data(frame, buffer, final_len);
if (!header->rtr) {
int frame_data_len = twaifd_dlc2len(header->dlc);
// limit data_len for twai classic non-iso mode.
frame_data_len = (header->fdf) ? MIN(frame_data_len, TWAIFD_FRAME_MAX_LEN) : MIN(frame_data_len, TWAI_FRAME_MAX_LEN);
uint8_t final_len = MIN(frame_data_len, buffer_len);
twaifd_ll_parse_frame_data(frame, buffer, final_len);
}
}
void twai_hal_set_tx_buffer_and_transmit(twai_hal_context_t *hal_ctx, twai_hal_frame_t *tx_frame, uint8_t buffer_idx)