alex/esp-idf
1
0
Fork 0
mirror of https://github.com/espressif/esp-idf.git synced 2025-09-01 22:38:30 +00:00
Code Issues Packages Projects Releases Wiki Activity

feat(driver_twai): support legacy targets in new driver

Browse Source
This commit is contained in:
wanckl
2025-04-27 15:57:46 +08:00
parent f7398c5bc2
commit 8a60934c4f
53 changed files with 1931 additions and 1197 deletions
Download Patch File Download Diff File Expand all files Collapse all files

61
components/hal/esp32c5/include/hal/twaifd_ll.h
View File

@@ -26,6 +26,8 @@ extern "C" {
#define TWAIFD_LL_GET_HW(num) (((num) == 0) ? (&TWAI0) : (&TWAI1))
#define TWAI_LL_BRP_MIN 1
#define TWAI_LL_BRP_MAX 255
#define TWAI_LL_TSEG1_MIN 0
#define TWAI_LL_TSEG2_MIN 1
#define TWAI_LL_TSEG1_MAX TWAIFD_PH1
@@ -62,6 +64,10 @@ extern "C" {
#define TWAIFD_LL_INTR_ARBI_LOST TWAIFD_ALI_INT_ST // Arbitration Lost Interrupt
#define TWAIFD_LL_INTR_DATA_OVERRUN TWAIFD_DOI_INT_ST // Data Overrun Interrupt
#define TWAI_LL_DRIVER_INTERRUPTS (TWAIFD_LL_INTR_TX_DONE | TWAIFD_LL_INTR_RX_NOT_EMPTY | TWAIFD_LL_INTR_RX_FULL | \
TWAIFD_LL_INTR_ERR_WARN | TWAIFD_LL_INTR_BUS_ERR | TWAIFD_LL_INTR_FSM_CHANGE | \
TWAIFD_LL_INTR_ARBI_LOST | TWAIFD_LL_INTR_DATA_OVERRUN)
/**
* @brief Enable the bus clock and module clock for twai module
*
@@ -284,6 +290,17 @@ static inline void twaifd_ll_clr_intr_status(twaifd_dev_t *hw, uint32_t intr_mas
}
/* ------------------------ Bus Timing Registers --------------------------- */
/**
* @brief Check if the brp value valid
*
* @param brp Bit rate prescaler value
* @return true or False
*/
static inline bool twaifd_ll_check_brp_validation(uint32_t brp)
{
return (brp >= TWAI_LL_BRP_MIN) && (brp <= TWAI_LL_BRP_MAX);
}
/**
* @brief Set bus timing nominal bit rate
*
@@ -333,39 +350,25 @@ static inline void twaifd_ll_config_secondary_sample_point(twaifd_dev_t *hw, uin
HAL_FORCE_MODIFY_U32_REG_FIELD(hw->trv_delay_ssp_cfg, ssp_offset, offset_val);
}
/* ----------------------------- ALC Register ------------------------------- */
/* ----------------------------- ERR Capt Register ------------------------------- */
/**
* @brief Get the arbitration lost field from the TWAI-FD peripheral.
* @brief Get the error reason flags from the TWAI-FD peripheral.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return The arbitration lost ID field.
* @return The error reasons, see `twai_error_flags_t`
*/
static inline uint32_t twaifd_ll_get_arb_lost_field(twaifd_dev_t *hw)
__attribute__((always_inline))
static inline twai_error_flags_t twaifd_ll_get_err_reason(twaifd_dev_t *hw)
{
return hw->err_capt_retr_ctr_alc_ts_info.alc_id_field;
}
/**
* @brief Get the bit where arbitration was lost from the TWAI-FD peripheral.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return The bit position where arbitration was lost.
*/
static inline uint32_t twaifd_ll_get_arb_lost_bit(twaifd_dev_t *hw)
{
return hw->err_capt_retr_ctr_alc_ts_info.alc_bit;
}
/**
* @brief Get the error code reason from the TWAI-FD peripheral.
*
* @param hw Pointer to the TWAI-FD device hardware.
* @return The error code, see `TWAIFD_LL_ERR_`
*/
static inline uint32_t twaifd_ll_get_err_reason_code(twaifd_dev_t *hw)
{
return hw->err_capt_retr_ctr_alc_ts_info.err_type;
uint8_t error_code = hw->err_capt_retr_ctr_alc_ts_info.err_type;
twai_error_flags_t errors = {
.bit_err = error_code == TWAIFD_LL_ERR_BIT_ERR,
.form_err = error_code == TWAIFD_LL_ERR_FRM_ERR,
.stuff_err = error_code == TWAIFD_LL_ERR_STUF_ERR,
.ack_err = error_code == TWAIFD_LL_ERR_ACK_ERR
};
return errors;
}
/* ----------------------------- EWL Register ------------------------------- */
@@ -383,6 +386,7 @@ static inline void twaifd_ll_set_err_warn_limit(twaifd_dev_t *hw, uint32_t ewl)
* @param hw Start address of the TWAI registers
* @return Error Warning Limit
*/
__attribute__((always_inline))
static inline uint32_t twaifd_ll_get_err_warn_limit(twaifd_dev_t *hw)
{
return HAL_FORCE_READ_U32_REG_FIELD(hw->ewl_erp_fault_state, ew_limit);
@@ -394,6 +398,7 @@ static inline uint32_t twaifd_ll_get_err_warn_limit(twaifd_dev_t *hw)
* @param hw Pointer to the TWAI-FD device hardware.
* @return Fault state (bus-off, error passive, or active state).
*/
__attribute__((always_inline))
static inline twai_error_state_t twaifd_ll_get_fault_state(twaifd_dev_t *hw)
{
if (hw->ewl_erp_fault_state.bof) {
@@ -434,6 +439,7 @@ static inline uint32_t twaifd_ll_get_err_count_fd(twaifd_dev_t *hw)
* @param hw Start address of the TWAI registers
* @return REC value
*/
__attribute__((always_inline))
static inline uint32_t twaifd_ll_get_rec(twaifd_dev_t *hw)
{
return hw->rec_tec.rec_val;
@@ -446,6 +452,7 @@ static inline uint32_t twaifd_ll_get_rec(twaifd_dev_t *hw)
* @param hw Start address of the TWAI registers
* @return TEC value
*/
__attribute__((always_inline))
static inline uint32_t twaifd_ll_get_tec(twaifd_dev_t *hw)
{
return hw->rec_tec.tec_val;