twai: bringup on esp32c6

components/hal/esp32c3/include/hal/twai_ll.h

@@ -14,17 +14,21 @@
 
 #pragma once
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
 #include <stdint.h>
 #include <stdbool.h>
+#include <stdlib.h>
 #include "hal/misc.h"
+#include "hal/assert.h"
 #include "hal/twai_types.h"
 #include "soc/twai_periph.h"
 #include "soc/twai_struct.h"
 
+#define TWAI_LL_GET_HW(controller_id) ((controller_id == 0) ? (&TWAI) : NULL)
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /* ------------------------- Defines and Typedefs --------------------------- */
 
 #define TWAI_LL_STATUS_RBS      (0x1 << 0)      //Receive Buffer Status
@@ -79,6 +83,33 @@ typedef union {
 
 _Static_assert(sizeof(twai_ll_frame_buffer_t) == 13, "TX/RX buffer type should be 13 bytes");
 
+/* ---------------------------- Peripheral Control Register ----------------- */
+
+/**
+ * @brief Enable TWAI module clock
+ *
+ * @param hw Start address of the TWAI registers
+ * @param en true to enable, false to disable
+ */
+__attribute__((always_inline))
+static inline void twai_ll_enable_clock(twai_dev_t *hw, bool en)
+{
+    (void)hw;
+}
+
+/**
+ * @brief Set clock source for TWAI module
+ *
+ * @param hw Start address of the TWAI registers
+ * @param clk_src Clock source
+ */
+__attribute__((always_inline))
+static inline void twai_ll_set_clock_source(twai_dev_t *hw, twai_clock_source_t clk_src)
+{
+    (void)hw;
+    HAL_ASSERT(clk_src == TWAI_CLK_SRC_APB);
+}
+
 /* ---------------------------- Mode Register ------------------------------- */
 
 /**
@@ -92,6 +123,7 @@ _Static_assert(sizeof(twai_ll_frame_buffer_t) == 13, "TX/RX buffer type should b
  *
  * @note Reset mode is automatically entered on BUS OFF condition
  */
+__attribute__((always_inline))
 static inline void twai_ll_enter_reset_mode(twai_dev_t *hw)
 {
     hw->mode_reg.rm = 1;
@@ -108,6 +140,7 @@ static inline void twai_ll_enter_reset_mode(twai_dev_t *hw)
  *
  * @note Reset mode must be exit to initiate BUS OFF recovery
  */
+__attribute__((always_inline))
 static inline void twai_ll_exit_reset_mode(twai_dev_t *hw)
 {
     hw->mode_reg.rm = 0;
@@ -118,6 +151,7 @@ static inline void twai_ll_exit_reset_mode(twai_dev_t *hw)
  * @param hw Start address of the TWAI registers
  * @return true if in reset mode
  */
+__attribute__((always_inline))
 static inline bool twai_ll_is_in_reset_mode(twai_dev_t *hw)
 {
     return hw->mode_reg.rm;
@@ -131,6 +165,7 @@ static inline bool twai_ll_is_in_reset_mode(twai_dev_t *hw)
  *
  * @note Must be called in reset mode
  */
+__attribute__((always_inline))
 static inline void twai_ll_set_mode(twai_dev_t *hw, twai_mode_t mode)
 {
     if (mode == TWAI_MODE_NORMAL) {           //Normal Operating mode
@@ -160,6 +195,7 @@ static inline void twai_ll_set_mode(twai_dev_t *hw, twai_mode_t mode)
  *       release and clear data overrun) in order to prevent the other commands
  *       overwriting this latched TX bit with 0.
  */
+__attribute__((always_inline))
 static inline void twai_ll_set_cmd_tx(twai_dev_t *hw)
 {
     hw->command_reg.tr = 1;
@@ -177,6 +213,7 @@ static inline void twai_ll_set_cmd_tx(twai_dev_t *hw)
  *       release and clear data overrun) in order to prevent the other commands
  *       overwriting this latched TX bit with 0.
  */
+__attribute__((always_inline))
 static inline void twai_ll_set_cmd_tx_single_shot(twai_dev_t *hw)
 {
     hw->command_reg.val = 0x03; //Set command_reg.tr and command_reg.at simultaneously for single shot transmittion request
@@ -196,6 +233,7 @@ static inline void twai_ll_set_cmd_tx_single_shot(twai_dev_t *hw)
  *       release and clear data overrun) in order to prevent the other commands
  *       overwriting this latched TX bit with 0.
  */
+__attribute__((always_inline))
 static inline void twai_ll_set_cmd_abort_tx(twai_dev_t *hw)
 {
     hw->command_reg.at = 1;
@@ -208,6 +246,7 @@ static inline void twai_ll_set_cmd_abort_tx(twai_dev_t *hw)
  *
  * @param hw Start address of the TWAI registers
  */
+__attribute__((always_inline))
 static inline void twai_ll_set_cmd_release_rx_buffer(twai_dev_t *hw)
 {
     hw->command_reg.rrb = 1;
@@ -220,6 +259,7 @@ static inline void twai_ll_set_cmd_release_rx_buffer(twai_dev_t *hw)
  *
  * @param hw Start address of the TWAI registers
  */
+__attribute__((always_inline))
 static inline void twai_ll_set_cmd_clear_data_overrun(twai_dev_t *hw)
 {
     hw->command_reg.cdo = 1;
@@ -239,6 +279,7 @@ static inline void twai_ll_set_cmd_clear_data_overrun(twai_dev_t *hw)
  *       release and clear data overrun) in order to prevent the other commands
  *       overwriting this latched TX bit with 0.
  */
+__attribute__((always_inline))
 static inline void twai_ll_set_cmd_self_rx_request(twai_dev_t *hw)
 {
     hw->command_reg.srr = 1;
@@ -257,6 +298,7 @@ static inline void twai_ll_set_cmd_self_rx_request(twai_dev_t *hw)
  *       release and clear data overrun) in order to prevent the other commands
  *       overwriting this latched TX bit with 0.
  */
+__attribute__((always_inline))
 static inline void twai_ll_set_cmd_self_rx_single_shot(twai_dev_t *hw)
 {
     hw->command_reg.val = 0x12; //Set command_reg.srr and command_reg.at simultaneously for single shot self reception request
@@ -270,6 +312,7 @@ static inline void twai_ll_set_cmd_self_rx_single_shot(twai_dev_t *hw)
  * @param hw Start address of the TWAI registers
  * @return Status bits
  */
+__attribute__((always_inline))
 static inline uint32_t twai_ll_get_status(twai_dev_t *hw)
 {
     return hw->status_reg.val;
@@ -281,6 +324,7 @@ static inline uint32_t twai_ll_get_status(twai_dev_t *hw)
  * @param hw Start address of the TWAI registers
  * @return Overrun status bit
  */
+__attribute__((always_inline))
 static inline bool twai_ll_is_fifo_overrun(twai_dev_t *hw)
 {
     return hw->status_reg.dos;
@@ -292,6 +336,7 @@ static inline bool twai_ll_is_fifo_overrun(twai_dev_t *hw)
  * @param hw Start address of the TWAI registers
  * @return Whether previous TX was successful
  */
+__attribute__((always_inline))
 static inline bool twai_ll_is_last_tx_successful(twai_dev_t *hw)
 {
     return hw->status_reg.tcs;
@@ -308,6 +353,7 @@ static inline bool twai_ll_is_last_tx_successful(twai_dev_t *hw)
  * @param hw Start address of the TWAI registers
  * @return Bit mask of set interrupts
  */
+__attribute__((always_inline))
 static inline uint32_t twai_ll_get_and_clear_intrs(twai_dev_t *hw)
 {
     return hw->interrupt_reg.val;
@@ -323,6 +369,7 @@ static inline uint32_t twai_ll_get_and_clear_intrs(twai_dev_t *hw)
  *
  * @note Must be called in reset mode
  */
+__attribute__((always_inline))
 static inline void twai_ll_set_enabled_intrs(twai_dev_t *hw, uint32_t intr_mask)
 {
     hw->interrupt_enable_reg.val = intr_mask;
@@ -330,6 +377,21 @@ static inline void twai_ll_set_enabled_intrs(twai_dev_t *hw, uint32_t intr_mask)
 
 /* ------------------------ Bus Timing Registers --------------------------- */
 
+/**
+ * @brief Check if the brp value valid
+ *
+ * @param brp Bit rate prescaler value
+ * @return true or False
+ */
+__attribute__((always_inline))
+static inline bool twai_ll_check_brp_validation(uint32_t brp)
+{
+    bool valid = (brp >= SOC_TWAI_BRP_MIN) && (brp <= SOC_TWAI_BRP_MAX);
+    // should be an even number
+    valid = valid && !(brp & 0x01);
+    return valid;
+}
+
 /**
  * @brief   Set bus timing
  *
@@ -343,6 +405,7 @@ static inline void twai_ll_set_enabled_intrs(twai_dev_t *hw, uint32_t intr_mask)
  * @note Must be called in reset mode
  * @note ESP32C3 brp can be any even number between 2 to 32768
  */
+__attribute__((always_inline))
 static inline void twai_ll_set_bus_timing(twai_dev_t *hw, uint32_t brp, uint32_t sjw, uint32_t tseg1, uint32_t tseg2, bool triple_sampling)
 {
     hw->bus_timing_0_reg.brp = (brp / 2) - 1;
@@ -361,6 +424,7 @@ static inline void twai_ll_set_bus_timing(twai_dev_t *hw, uint32_t brp, uint32_t
  *
  * @param hw Start address of the TWAI registers
  */
+__attribute__((always_inline))
 static inline void twai_ll_clear_arb_lost_cap(twai_dev_t *hw)
 {
     (void)hw->arbitration_lost_captue_reg.val;
@@ -375,6 +439,7 @@ static inline void twai_ll_clear_arb_lost_cap(twai_dev_t *hw)
  *
  * @param hw Start address of the TWAI registers
  */
+__attribute__((always_inline))
 static inline void twai_ll_clear_err_code_cap(twai_dev_t *hw)
 {
     (void)hw->error_code_capture_reg.val;
@@ -390,6 +455,7 @@ static inline void twai_ll_clear_err_code_cap(twai_dev_t *hw)
  *
  * @note Must be called in reset mode
  */
+__attribute__((always_inline))
 static inline void twai_ll_set_err_warn_lim(twai_dev_t *hw, uint32_t ewl)
 {
     HAL_FORCE_MODIFY_U32_REG_FIELD(hw->error_warning_limit_reg, ewl, ewl);
@@ -401,6 +467,7 @@ static inline void twai_ll_set_err_warn_lim(twai_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 twai_ll_get_err_warn_lim(twai_dev_t *hw)
 {
     return hw->error_warning_limit_reg.val;
@@ -417,6 +484,7 @@ static inline uint32_t twai_ll_get_err_warn_lim(twai_dev_t *hw)
  * @note REC is not frozen in reset mode. Listen only mode will freeze it. A BUS
  *       OFF condition automatically sets the REC to 0.
  */
+__attribute__((always_inline))
 static inline uint32_t twai_ll_get_rec(twai_dev_t *hw)
 {
     return hw->rx_error_counter_reg.val;
@@ -430,6 +498,7 @@ static inline uint32_t twai_ll_get_rec(twai_dev_t *hw)
  *
  * @note Must be called in reset mode
  */
+__attribute__((always_inline))
 static inline void twai_ll_set_rec(twai_dev_t *hw, uint32_t rec)
 {
     HAL_FORCE_MODIFY_U32_REG_FIELD(hw->rx_error_counter_reg, rxerr, rec);
@@ -445,6 +514,7 @@ static inline void twai_ll_set_rec(twai_dev_t *hw, uint32_t rec)
  *
  * @note A BUS OFF condition will automatically set this to 128
  */
+__attribute__((always_inline))
 static inline uint32_t twai_ll_get_tec(twai_dev_t *hw)
 {
     return hw->tx_error_counter_reg.val;
@@ -458,6 +528,7 @@ static inline uint32_t twai_ll_get_tec(twai_dev_t *hw)
  *
  * @note Must be called in reset mode
  */
+__attribute__((always_inline))
 static inline void twai_ll_set_tec(twai_dev_t *hw, uint32_t tec)
 {
     HAL_FORCE_MODIFY_U32_REG_FIELD(hw->tx_error_counter_reg, txerr, tec);
@@ -474,6 +545,7 @@ static inline void twai_ll_set_tec(twai_dev_t *hw, uint32_t tec)
  *
  * @note Must be called in reset mode
  */
+__attribute__((always_inline))
 static inline void twai_ll_set_acc_filter(twai_dev_t* hw, uint32_t code, uint32_t mask, bool single_filter)
 {
     uint32_t code_swapped = HAL_SWAP32(code);
@@ -495,6 +567,7 @@ static inline void twai_ll_set_acc_filter(twai_dev_t* hw, uint32_t code, uint32_
  *
  * @note Call twai_ll_format_frame_buffer() to format a frame
  */
+__attribute__((always_inline))
 static inline void twai_ll_set_tx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t *tx_frame)
 {
     //Copy formatted frame into TX buffer
@@ -511,6 +584,7 @@ static inline void twai_ll_set_tx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t
  *
  * @note Call twai_ll_parse_frame_buffer() to parse the formatted frame
  */
+__attribute__((always_inline))
 static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t *rx_frame)
 {
     //Copy RX buffer registers into frame
@@ -534,6 +608,7 @@ static inline void twai_ll_get_rx_buffer(twai_dev_t *hw, twai_ll_frame_buffer_t
  * @param[in] self_rx Frame will also be simultaneously received
  * @param[out] tx_frame Pointer to store formatted frame
  */
+__attribute__((always_inline))
 static inline void twai_ll_format_frame_buffer(uint32_t id, uint8_t dlc, const uint8_t *data,
                                               uint32_t flags, twai_ll_frame_buffer_t *tx_frame)
 {
@@ -577,6 +652,7 @@ static inline void twai_ll_format_frame_buffer(uint32_t id, uint8_t dlc, const u
  * @param[out] data Data. Left over bytes set to 0.
  * @param[out] format Type of TWAI frame
  */
+__attribute__((always_inline))
 static inline void twai_ll_parse_frame_buffer(twai_ll_frame_buffer_t *rx_frame, uint32_t *id, uint8_t *dlc,
                                              uint8_t *data, uint32_t *flags)
 {
@@ -625,6 +701,7 @@ static inline void twai_ll_parse_frame_buffer(twai_ll_frame_buffer_t *rx_frame,
  * @param hw Start address of the TWAI registers
  * @return RX Message Counter
  */
+__attribute__((always_inline))
 static inline uint32_t twai_ll_get_rx_msg_count(twai_dev_t *hw)
 {
     return hw->rx_message_counter_reg.val;
@@ -641,6 +718,7 @@ static inline uint32_t twai_ll_get_rx_msg_count(twai_dev_t *hw)
  * @param hw Start address of the TWAI registers
  * @param divider Divider for CLKOUT (any even number from 2 to 490). Set to 0 to disable CLKOUT
  */
+__attribute__((always_inline))
 static inline void twai_ll_set_clkout(twai_dev_t *hw, uint32_t divider)
 {
     if (divider >= 2 && divider <= 490) {