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Merge branch 'fix/twai_crash_on_s3_gpio_19and20_v4.4' into 'release/v4.4' 

fix(twai): example crash using usb-serial-jtag pins (v4.4)

See merge request espressif/esp-idf!26665
pull/13426/head
Jiang Jiang Jian 2023-12-04 11:39:18 +08:00
rodzic 23e7fa801b a4388a3321
commit e08f93de6d
1 zmienionych plików z 30 dodań i 12 usunięć
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42
components/driver/twai.c
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@ -276,19 +276,30 @@ TWAI_ISR_ATTR static void twai_intr_handler_main(void *arg)
}
/* -------------------------- Helper functions ----------------------------- */
static void twai_configure_gpio(gpio_num_t tx, gpio_num_t rx, gpio_num_t clkout, gpio_num_t bus_status)
static esp_err_t twai_configure_gpio(gpio_num_t tx, gpio_num_t rx, gpio_num_t clkout, gpio_num_t bus_status)
{
//Set TX pin
gpio_set_pull_mode(tx, GPIO_FLOATING);
esp_rom_gpio_connect_out_signal(tx, TWAI_TX_IDX, false, false);
esp_rom_gpio_pad_select_gpio(tx);
esp_err_t ret = ESP_FAIL;
assert(tx >= 0 && rx >= 0);
// if TX and RX set to the same GPIO, which means we want to create a loop-back in the GPIO matrix
bool io_loop_back = (tx == rx);
gpio_config_t gpio_conf = {
.intr_type = GPIO_INTR_DISABLE,
.pull_down_en = false,
.pull_up_en = false,
};
//Set RX pin
gpio_set_pull_mode(rx, GPIO_FLOATING);
gpio_conf.mode = GPIO_MODE_INPUT | (io_loop_back ? GPIO_MODE_OUTPUT : 0);
gpio_conf.pin_bit_mask = 1ULL << rx;
ret = gpio_config(&gpio_conf);
TWAI_CHECK(ESP_OK == ret, ret);
esp_rom_gpio_connect_in_signal(rx, TWAI_RX_IDX, false);
esp_rom_gpio_pad_select_gpio(rx);
gpio_set_direction(rx, GPIO_MODE_INPUT);
//Set TX pin
gpio_conf.mode = GPIO_MODE_OUTPUT | (io_loop_back ? GPIO_MODE_INPUT : 0);
gpio_conf.pin_bit_mask = 1ULL << tx;
ret = gpio_config(&gpio_conf);
TWAI_CHECK(ESP_OK == ret, ret);
esp_rom_gpio_connect_out_signal(tx, TWAI_TX_IDX, false, false);
//Configure output clock pin (Optional)
if (clkout >= 0 && clkout < GPIO_NUM_MAX) {
@ -303,6 +314,7 @@ static void twai_configure_gpio(gpio_num_t tx, gpio_num_t rx, gpio_num_t clkout,
esp_rom_gpio_connect_out_signal(bus_status, TWAI_BUS_OFF_ON_IDX, false, false);
esp_rom_gpio_pad_select_gpio(bus_status);
}
return ESP_OK;
}
static void twai_free_driver_obj(twai_obj_t *p_obj)
@ -424,6 +436,13 @@ esp_err_t twai_driver_install(const twai_general_config_t *g_config, const twai_
p_twai_obj_dummy->mode = g_config->mode;
p_twai_obj_dummy->alerts_enabled = g_config->alerts_enabled;
//Allocate GPIO
ret = twai_configure_gpio(g_config->tx_io, g_config->rx_io, g_config->clkout_io, g_config->bus_off_io);
if (ESP_OK != ret) {
ESP_LOGE(TWAI_TAG, "init gpio for twai failed");
goto err;
}
//Initialize TWAI peripheral registers, and allocate interrupt
TWAI_ENTER_CRITICAL();
if (p_twai_obj == NULL) {
@ -442,8 +461,7 @@ esp_err_t twai_driver_install(const twai_general_config_t *g_config, const twai_
twai_hal_configure(&twai_context, t_config, f_config, DRIVER_DEFAULT_INTERRUPTS, g_config->clkout_divider);
TWAI_EXIT_CRITICAL();
//Allocate GPIO and Interrupts
twai_configure_gpio(g_config->tx_io, g_config->rx_io, g_config->clkout_io, g_config->bus_off_io);
//Allocate Interrupts
ESP_ERROR_CHECK(esp_intr_alloc(ETS_TWAI_INTR_SOURCE, g_config->intr_flags, twai_intr_handler_main, NULL, &p_twai_obj->isr_handle));
#ifdef CONFIG_PM_ENABLE