kopia lustrzana https://github.com/espressif/esp-idf
Merge branch 'bugfix/twai_listen_only_errata_v4.4' into 'release/v4.4'
twai: Add errata workaround for listen only mode (v4.4) See merge request espressif/esp-idf!22515pull/11147/head
commit
97c23f2e79
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@ -143,6 +143,17 @@ menu "Driver configurations"
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on detection of this errata condition. Note that if a frame is being sent on the bus during the reset
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bus during the reset, the message will be lost.
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config TWAI_ERRATA_FIX_LISTEN_ONLY_DOM
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bool "Add SW workaround for listen only transmits dominant bit errata"
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depends on IDF_TARGET_ESP32 || IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3 || IDF_TARGET_ESP32C3
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default n
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help
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When in the listen only mode, the TWAI controller must not influence the TWAI bus (i.e., must not send
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any dominant bits). However, while in listen only mode on the ESP32/ESP32-S2/ESP32-S3/ESP32-C3, the
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TWAI controller will still transmit dominant bits when it detects an error (i.e., as part of an active
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error frame). Enabling this option will add a workaround that forces the TWAI controller into an error
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passive state on initialization, thus preventing any dominant bits from being sent.
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endmenu # TWAI Configuration
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menu "UART configuration"
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@ -668,8 +668,14 @@ esp_err_t twai_get_status_info(twai_status_info_t *status_info)
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TWAI_CHECK(status_info != NULL, ESP_ERR_INVALID_ARG);
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TWAI_ENTER_CRITICAL();
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status_info->tx_error_counter = twai_hal_get_tec(&twai_context);
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status_info->rx_error_counter = twai_hal_get_rec(&twai_context);
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if (p_twai_obj->mode == TWAI_MODE_LISTEN_ONLY) {
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//Error counters are frozen under listen only mode thus are meaningless. Simply return 0 in this case.
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status_info->tx_error_counter = 0;
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status_info->rx_error_counter = 0;
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} else {
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status_info->tx_error_counter = twai_hal_get_tec(&twai_context);
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status_info->rx_error_counter = twai_hal_get_rec(&twai_context);
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}
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status_info->msgs_to_tx = p_twai_obj->tx_msg_count;
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status_info->msgs_to_rx = p_twai_obj->rx_msg_count;
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status_info->tx_failed_count = p_twai_obj->tx_failed_count;
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@ -70,6 +70,21 @@ void twai_hal_configure(twai_hal_context_t *hal_ctx, const twai_timing_config_t
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void twai_hal_start(twai_hal_context_t *hal_ctx, twai_mode_t mode)
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{
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twai_ll_set_mode(hal_ctx->dev, mode); //Set operating mode
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//Clear the TEC and REC
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twai_ll_set_tec(hal_ctx->dev, 0);
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#ifdef CONFIG_TWAI_ERRATA_FIX_LISTEN_ONLY_DOM
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/*
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Errata workaround: Prevent transmission of dominant error frame while in listen only mode by setting REC to 128
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before exiting reset mode. This forces the controller to be error passive (thus only transmits recessive bits).
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The TEC/REC remain frozen in listen only mode thus ensuring we remain error passive.
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*/
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if (mode == TWAI_MODE_LISTEN_ONLY) {
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twai_ll_set_rec(hal_ctx->dev, 128);
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} else
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#endif
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{
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twai_ll_set_rec(hal_ctx->dev, 0);
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}
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(void) twai_ll_get_and_clear_intrs(hal_ctx->dev); //Clear any latched interrupts
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TWAI_HAL_SET_BITS(hal_ctx->state_flags, TWAI_HAL_STATE_FLAG_RUNNING);
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twai_ll_exit_reset_mode(hal_ctx->dev);
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