kopia lustrzana https://github.com/espressif/esp-idf
761 wiersze
28 KiB
C
761 wiersze
28 KiB
C
/*
|
|
* SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
|
|
*
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*/
|
|
|
|
#include "sdkconfig.h"
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/task.h"
|
|
#include "freertos/queue.h"
|
|
#include "freertos/semphr.h"
|
|
#include "freertos/idf_additions.h"
|
|
#include "esp_types.h"
|
|
#include "esp_log.h"
|
|
#include "esp_intr_alloc.h"
|
|
#include "esp_pm.h"
|
|
#include "esp_attr.h"
|
|
#include "esp_heap_caps.h"
|
|
#include "esp_clk_tree.h"
|
|
#include "clk_ctrl_os.h"
|
|
#include "driver/gpio.h"
|
|
#include "esp_private/periph_ctrl.h"
|
|
#include "esp_private/esp_clk.h"
|
|
#include "driver/twai.h"
|
|
#include "soc/soc_caps.h"
|
|
#include "soc/soc.h"
|
|
#include "soc/twai_periph.h"
|
|
#include "soc/gpio_sig_map.h"
|
|
#include "hal/twai_hal.h"
|
|
#include "esp_rom_gpio.h"
|
|
|
|
/* ---------------------------- Definitions --------------------------------- */
|
|
//Internal Macros
|
|
#define TWAI_CHECK(cond, ret_val) ({ \
|
|
if (!(cond)) { \
|
|
return (ret_val); \
|
|
} \
|
|
})
|
|
#define TWAI_CHECK_FROM_CRIT(cond, ret_val) ({ \
|
|
if (!(cond)) { \
|
|
TWAI_EXIT_CRITICAL(); \
|
|
return ret_val; \
|
|
} \
|
|
})
|
|
#define TWAI_SET_FLAG(var, mask) ((var) |= (mask))
|
|
#define TWAI_RESET_FLAG(var, mask) ((var) &= ~(mask))
|
|
#ifdef CONFIG_TWAI_ISR_IN_IRAM
|
|
#define TWAI_MALLOC_CAPS (MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT)
|
|
#else
|
|
#define TWAI_TAG "TWAI"
|
|
#define TWAI_MALLOC_CAPS MALLOC_CAP_DEFAULT
|
|
#endif //CONFIG_TWAI_ISR_IN_IRAM
|
|
|
|
#define DRIVER_DEFAULT_INTERRUPTS 0xE7 //Exclude data overrun (bit[3]) and brp_div (bit[4])
|
|
|
|
#define ALERT_LOG_LEVEL_WARNING TWAI_ALERT_ARB_LOST //Alerts above and including this level use ESP_LOGW
|
|
#define ALERT_LOG_LEVEL_ERROR TWAI_ALERT_TX_FAILED //Alerts above and including this level use ESP_LOGE
|
|
|
|
#if !SOC_RCC_IS_INDEPENDENT
|
|
#define TWAI_RCC_ATOMIC() PERIPH_RCC_ATOMIC()
|
|
#else
|
|
#define TWAI_RCC_ATOMIC()
|
|
#endif
|
|
|
|
/* ------------------ Typedefs, structures, and variables ------------------- */
|
|
|
|
//Control structure for TWAI driver
|
|
typedef struct {
|
|
int controller_id;
|
|
//Control and status members
|
|
twai_state_t state;
|
|
twai_mode_t mode;
|
|
uint32_t rx_missed_count;
|
|
uint32_t rx_overrun_count;
|
|
uint32_t tx_failed_count;
|
|
uint32_t arb_lost_count;
|
|
uint32_t bus_error_count;
|
|
intr_handle_t isr_handle;
|
|
//TX and RX
|
|
QueueHandle_t tx_queue;
|
|
QueueHandle_t rx_queue;
|
|
int tx_msg_count;
|
|
int rx_msg_count;
|
|
//Alerts
|
|
SemaphoreHandle_t alert_semphr;
|
|
uint32_t alerts_enabled;
|
|
uint32_t alerts_triggered;
|
|
//Power Management Lock
|
|
esp_pm_lock_handle_t pm_lock;
|
|
} twai_obj_t;
|
|
|
|
static twai_obj_t *p_twai_obj = NULL;
|
|
static portMUX_TYPE twai_spinlock = portMUX_INITIALIZER_UNLOCKED;
|
|
#define TWAI_ENTER_CRITICAL_ISR() portENTER_CRITICAL_ISR(&twai_spinlock)
|
|
#define TWAI_EXIT_CRITICAL_ISR() portEXIT_CRITICAL_ISR(&twai_spinlock)
|
|
#define TWAI_ENTER_CRITICAL() portENTER_CRITICAL(&twai_spinlock)
|
|
#define TWAI_EXIT_CRITICAL() portEXIT_CRITICAL(&twai_spinlock)
|
|
|
|
static twai_hal_context_t twai_context;
|
|
|
|
/* -------------------- Interrupt and Alert Handlers ------------------------ */
|
|
|
|
static void twai_alert_handler(uint32_t alert_code, int *alert_req)
|
|
{
|
|
if (p_twai_obj->alerts_enabled & alert_code) {
|
|
//Signify alert has occurred
|
|
TWAI_SET_FLAG(p_twai_obj->alerts_triggered, alert_code);
|
|
*alert_req = 1;
|
|
#ifndef CONFIG_TWAI_ISR_IN_IRAM //Only log if ISR is not in IRAM
|
|
if (p_twai_obj->alerts_enabled & TWAI_ALERT_AND_LOG) {
|
|
if (alert_code >= ALERT_LOG_LEVEL_ERROR) {
|
|
ESP_EARLY_LOGE(TWAI_TAG, "Alert %d", alert_code);
|
|
} else if (alert_code >= ALERT_LOG_LEVEL_WARNING) {
|
|
ESP_EARLY_LOGW(TWAI_TAG, "Alert %d", alert_code);
|
|
} else {
|
|
ESP_EARLY_LOGI(TWAI_TAG, "Alert %d", alert_code);
|
|
}
|
|
}
|
|
#endif //CONFIG_TWAI_ISR_IN_IRAM
|
|
}
|
|
}
|
|
|
|
static inline void twai_handle_rx_buffer_frames(BaseType_t *task_woken, int *alert_req)
|
|
{
|
|
#ifdef SOC_TWAI_SUPPORTS_RX_STATUS
|
|
uint32_t msg_count = twai_hal_get_rx_msg_count(&twai_context);
|
|
|
|
for (uint32_t i = 0; i < msg_count; i++) {
|
|
twai_hal_frame_t frame;
|
|
if (twai_hal_read_rx_buffer_and_clear(&twai_context, &frame)) {
|
|
//Valid frame copied from RX buffer
|
|
if (xQueueSendFromISR(p_twai_obj->rx_queue, &frame, task_woken) == pdTRUE) {
|
|
p_twai_obj->rx_msg_count++;
|
|
twai_alert_handler(TWAI_ALERT_RX_DATA, alert_req);
|
|
} else { //Failed to send to queue
|
|
p_twai_obj->rx_missed_count++;
|
|
twai_alert_handler(TWAI_ALERT_RX_QUEUE_FULL, alert_req);
|
|
}
|
|
} else { //Failed to read from RX buffer because message is overrun
|
|
p_twai_obj->rx_overrun_count++;
|
|
twai_alert_handler(TWAI_ALERT_RX_FIFO_OVERRUN, alert_req);
|
|
}
|
|
}
|
|
#else //SOC_TWAI_SUPPORTS_RX_STATUS
|
|
uint32_t msg_count = twai_hal_get_rx_msg_count(&twai_context);
|
|
bool overrun = false;
|
|
//Clear all valid RX frames
|
|
for (int i = 0; i < msg_count; i++) {
|
|
twai_hal_frame_t frame;
|
|
if (twai_hal_read_rx_buffer_and_clear(&twai_context, &frame)) {
|
|
//Valid frame copied from RX buffer
|
|
if (xQueueSendFromISR(p_twai_obj->rx_queue, &frame, task_woken) == pdTRUE) {
|
|
p_twai_obj->rx_msg_count++;
|
|
twai_alert_handler(TWAI_ALERT_RX_DATA, alert_req);
|
|
} else {
|
|
p_twai_obj->rx_missed_count++;
|
|
twai_alert_handler(TWAI_ALERT_RX_QUEUE_FULL, alert_req);
|
|
}
|
|
} else {
|
|
overrun = true;
|
|
break;
|
|
}
|
|
}
|
|
//All remaining frames are treated as overrun. Clear them all
|
|
if (overrun) {
|
|
p_twai_obj->rx_overrun_count += twai_hal_clear_rx_fifo_overrun(&twai_context);
|
|
twai_alert_handler(TWAI_ALERT_RX_FIFO_OVERRUN, alert_req);
|
|
}
|
|
#endif //SOC_TWAI_SUPPORTS_RX_STATUS
|
|
}
|
|
|
|
static inline void twai_handle_tx_buffer_frame(BaseType_t *task_woken, int *alert_req)
|
|
{
|
|
//Handle previously transmitted frame
|
|
if (twai_hal_check_last_tx_successful(&twai_context)) {
|
|
twai_alert_handler(TWAI_ALERT_TX_SUCCESS, alert_req);
|
|
} else {
|
|
p_twai_obj->tx_failed_count++;
|
|
twai_alert_handler(TWAI_ALERT_TX_FAILED, alert_req);
|
|
}
|
|
|
|
//Update TX message count
|
|
p_twai_obj->tx_msg_count--;
|
|
assert(p_twai_obj->tx_msg_count >= 0); //Sanity check
|
|
|
|
//Check if there are more frames to transmit
|
|
if (p_twai_obj->tx_msg_count > 0 && p_twai_obj->tx_queue != NULL) {
|
|
twai_hal_frame_t frame;
|
|
int res = xQueueReceiveFromISR(p_twai_obj->tx_queue, &frame, task_woken);
|
|
if (res == pdTRUE) {
|
|
twai_hal_set_tx_buffer_and_transmit(&twai_context, &frame);
|
|
} else {
|
|
assert(false && "failed to get a frame from TX queue");
|
|
}
|
|
} else {
|
|
//No more frames to transmit
|
|
twai_alert_handler(TWAI_ALERT_TX_IDLE, alert_req);
|
|
}
|
|
}
|
|
|
|
static void twai_intr_handler_main(void *arg)
|
|
{
|
|
BaseType_t task_woken = pdFALSE;
|
|
int alert_req = 0;
|
|
uint32_t events;
|
|
TWAI_ENTER_CRITICAL_ISR();
|
|
if (p_twai_obj == NULL) { //In case intr occurs whilst driver is being uninstalled
|
|
TWAI_EXIT_CRITICAL_ISR();
|
|
return;
|
|
}
|
|
events = twai_hal_get_events(&twai_context); //Get the events that triggered the interrupt
|
|
|
|
#if defined(CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID) || defined(CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT)
|
|
if (events & TWAI_HAL_EVENT_NEED_PERIPH_RESET) {
|
|
twai_hal_prepare_for_reset(&twai_context);
|
|
TWAI_RCC_ATOMIC() {
|
|
twai_ll_reset_register(p_twai_obj->controller_id);
|
|
}
|
|
twai_hal_recover_from_reset(&twai_context);
|
|
p_twai_obj->rx_missed_count += twai_hal_get_reset_lost_rx_cnt(&twai_context);
|
|
twai_alert_handler(TWAI_ALERT_PERIPH_RESET, &alert_req);
|
|
}
|
|
#endif
|
|
if (events & TWAI_HAL_EVENT_RX_BUFF_FRAME) {
|
|
//Note: This event will never occur if there is a periph reset event
|
|
twai_handle_rx_buffer_frames(&task_woken, &alert_req);
|
|
}
|
|
if (events & TWAI_HAL_EVENT_TX_BUFF_FREE) {
|
|
twai_handle_tx_buffer_frame(&task_woken, &alert_req);
|
|
}
|
|
|
|
//Handle events that only require alerting (i.e. no handler)
|
|
if (events & TWAI_HAL_EVENT_BUS_OFF) {
|
|
p_twai_obj->state = TWAI_STATE_BUS_OFF;
|
|
twai_alert_handler(TWAI_ALERT_BUS_OFF, &alert_req);
|
|
}
|
|
if (events & TWAI_HAL_EVENT_BUS_RECOV_CPLT) {
|
|
p_twai_obj->state = TWAI_STATE_STOPPED;
|
|
twai_alert_handler(TWAI_ALERT_BUS_RECOVERED, &alert_req);
|
|
}
|
|
if (events & TWAI_HAL_EVENT_BUS_ERR) {
|
|
p_twai_obj->bus_error_count++;
|
|
twai_alert_handler(TWAI_ALERT_BUS_ERROR, &alert_req);
|
|
}
|
|
if (events & TWAI_HAL_EVENT_ARB_LOST) {
|
|
p_twai_obj->arb_lost_count++;
|
|
twai_alert_handler(TWAI_ALERT_ARB_LOST, &alert_req);
|
|
}
|
|
if (events & TWAI_HAL_EVENT_BUS_RECOV_PROGRESS) {
|
|
//Bus-recovery in progress. TEC has dropped below error warning limit
|
|
twai_alert_handler(TWAI_ALERT_RECOVERY_IN_PROGRESS, &alert_req);
|
|
}
|
|
if (events & TWAI_HAL_EVENT_ERROR_PASSIVE) {
|
|
//Entered error passive
|
|
twai_alert_handler(TWAI_ALERT_ERR_PASS, &alert_req);
|
|
}
|
|
if (events & TWAI_HAL_EVENT_ERROR_ACTIVE) {
|
|
//Returned to error active
|
|
twai_alert_handler(TWAI_ALERT_ERR_ACTIVE, &alert_req);
|
|
}
|
|
if (events & TWAI_HAL_EVENT_ABOVE_EWL) {
|
|
//TEC or REC surpassed error warning limit
|
|
twai_alert_handler(TWAI_ALERT_ABOVE_ERR_WARN, &alert_req);
|
|
}
|
|
if (events & TWAI_HAL_EVENT_BELOW_EWL) {
|
|
//TEC and REC are both below error warning
|
|
twai_alert_handler(TWAI_ALERT_BELOW_ERR_WARN, &alert_req);
|
|
}
|
|
|
|
TWAI_EXIT_CRITICAL_ISR();
|
|
|
|
if (p_twai_obj->alert_semphr != NULL && alert_req) {
|
|
//Give semaphore if alerts were triggered
|
|
xSemaphoreGiveFromISR(p_twai_obj->alert_semphr, &task_woken);
|
|
}
|
|
if (task_woken == pdTRUE) {
|
|
portYIELD_FROM_ISR();
|
|
}
|
|
}
|
|
|
|
/* -------------------------- Helper functions ----------------------------- */
|
|
|
|
static void twai_configure_gpio(gpio_num_t tx, gpio_num_t rx, gpio_num_t clkout, gpio_num_t bus_status)
|
|
{
|
|
// assert the GPIO number is not a negative number (shift operation on a negative number is undefined)
|
|
assert(tx >= 0 && rx >= 0);
|
|
int controller_id = p_twai_obj->controller_id;
|
|
// 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_conf.mode = GPIO_MODE_INPUT | (io_loop_back ? GPIO_MODE_OUTPUT : 0);
|
|
gpio_conf.pin_bit_mask = 1ULL << rx;
|
|
gpio_config(&gpio_conf);
|
|
esp_rom_gpio_connect_in_signal(rx, twai_controller_periph_signals.controllers[controller_id].rx_sig, false);
|
|
|
|
//Set TX pin
|
|
gpio_conf.mode = GPIO_MODE_OUTPUT | (io_loop_back ? GPIO_MODE_INPUT : 0);
|
|
gpio_conf.pin_bit_mask = 1ULL << tx;
|
|
gpio_config(&gpio_conf);
|
|
esp_rom_gpio_connect_out_signal(tx, twai_controller_periph_signals.controllers[controller_id].tx_sig, false, false);
|
|
|
|
//Configure output clock pin (Optional)
|
|
if (clkout >= 0 && clkout < GPIO_NUM_MAX) {
|
|
gpio_set_pull_mode(clkout, GPIO_FLOATING);
|
|
esp_rom_gpio_connect_out_signal(clkout, twai_controller_periph_signals.controllers[controller_id].clk_out_sig, false, false);
|
|
esp_rom_gpio_pad_select_gpio(clkout);
|
|
}
|
|
|
|
//Configure bus status pin (Optional)
|
|
if (bus_status >= 0 && bus_status < GPIO_NUM_MAX) {
|
|
gpio_set_pull_mode(bus_status, GPIO_FLOATING);
|
|
esp_rom_gpio_connect_out_signal(bus_status, twai_controller_periph_signals.controllers[controller_id].bus_off_sig, false, false);
|
|
esp_rom_gpio_pad_select_gpio(bus_status);
|
|
}
|
|
}
|
|
|
|
static void twai_free_driver_obj(twai_obj_t *p_obj)
|
|
{
|
|
//Free driver object and any dependent SW resources it uses (queues, semaphores, interrupts, PM locks etc)
|
|
#if CONFIG_PM_ENABLE
|
|
if (p_obj->pm_lock != NULL) {
|
|
ESP_ERROR_CHECK(esp_pm_lock_delete(p_obj->pm_lock));
|
|
}
|
|
#endif //CONFIG_PM_ENABLE
|
|
if (p_obj->isr_handle) {
|
|
ESP_ERROR_CHECK(esp_intr_free(p_obj->isr_handle));
|
|
}
|
|
//Delete queues and semaphores
|
|
if (p_obj->tx_queue != NULL) {
|
|
vQueueDeleteWithCaps(p_obj->tx_queue);
|
|
}
|
|
if (p_obj->rx_queue != NULL) {
|
|
vQueueDeleteWithCaps(p_obj->rx_queue);
|
|
}
|
|
if (p_obj->alert_semphr != NULL) {
|
|
vSemaphoreDeleteWithCaps(p_obj->alert_semphr);
|
|
}
|
|
heap_caps_free(p_obj);
|
|
}
|
|
|
|
static esp_err_t twai_alloc_driver_obj(const twai_general_config_t *g_config, twai_clock_source_t clk_src, int controller_id, twai_obj_t **p_twai_obj_ret)
|
|
{
|
|
//Allocate driver object and any dependent SW resources it uses (queues, semaphores, interrupts, PM locks etc)
|
|
esp_err_t ret;
|
|
|
|
//Create a TWAI driver object
|
|
twai_obj_t *p_obj = heap_caps_calloc(1, sizeof(twai_obj_t), TWAI_MALLOC_CAPS);
|
|
if (p_obj == NULL) {
|
|
return ESP_ERR_NO_MEM;
|
|
}
|
|
if (g_config->tx_queue_len > 0) {
|
|
p_obj->tx_queue = xQueueCreateWithCaps(g_config->tx_queue_len, sizeof(twai_hal_frame_t), TWAI_MALLOC_CAPS);
|
|
}
|
|
p_obj->rx_queue = xQueueCreateWithCaps(g_config->rx_queue_len, sizeof(twai_hal_frame_t), TWAI_MALLOC_CAPS);
|
|
p_obj->alert_semphr = xSemaphoreCreateBinaryWithCaps(TWAI_MALLOC_CAPS);
|
|
if ((g_config->tx_queue_len > 0 && p_obj->tx_queue == NULL) || p_obj->rx_queue == NULL || p_obj->alert_semphr == NULL) {
|
|
ret = ESP_ERR_NO_MEM;
|
|
goto err;
|
|
}
|
|
//Allocate interrupt
|
|
ret = esp_intr_alloc(twai_controller_periph_signals.controllers[controller_id].irq_id,
|
|
g_config->intr_flags | ESP_INTR_FLAG_INTRDISABLED,
|
|
twai_intr_handler_main,
|
|
NULL,
|
|
&p_obj->isr_handle);
|
|
if (ret != ESP_OK) {
|
|
goto err;
|
|
}
|
|
#if CONFIG_PM_ENABLE
|
|
#if SOC_TWAI_CLK_SUPPORT_APB
|
|
// DFS can change APB frequency. So add lock to prevent sleep and APB freq from changing
|
|
if (clk_src == TWAI_CLK_SRC_APB) {
|
|
// TODO: pm_lock name should also reflect the controller ID
|
|
ret = esp_pm_lock_create(ESP_PM_APB_FREQ_MAX, 0, "twai", &(p_obj->pm_lock));
|
|
if (ret != ESP_OK) {
|
|
goto err;
|
|
}
|
|
}
|
|
#else // XTAL
|
|
// XTAL freq can be closed in light sleep, so we need to create a lock to prevent light sleep
|
|
ret = esp_pm_lock_create(ESP_PM_NO_LIGHT_SLEEP, 0, "twai", &(p_obj->pm_lock));
|
|
if (ret != ESP_OK) {
|
|
goto err;
|
|
}
|
|
#endif //SOC_TWAI_CLK_SUPPORT_APB
|
|
#endif //CONFIG_PM_ENABLE
|
|
|
|
*p_twai_obj_ret = p_obj;
|
|
return ESP_OK;
|
|
|
|
err:
|
|
twai_free_driver_obj(p_obj);
|
|
return ret;
|
|
}
|
|
|
|
/* ---------------------------- Public Functions ---------------------------- */
|
|
|
|
esp_err_t twai_driver_install(const twai_general_config_t *g_config, const twai_timing_config_t *t_config, const twai_filter_config_t *f_config)
|
|
{
|
|
//Check arguments
|
|
TWAI_CHECK(g_config != NULL, ESP_ERR_INVALID_ARG);
|
|
TWAI_CHECK(t_config != NULL, ESP_ERR_INVALID_ARG);
|
|
TWAI_CHECK(f_config != NULL, ESP_ERR_INVALID_ARG);
|
|
TWAI_CHECK(g_config->rx_queue_len > 0, ESP_ERR_INVALID_ARG);
|
|
TWAI_CHECK(GPIO_IS_VALID_OUTPUT_GPIO(g_config->tx_io), ESP_ERR_INVALID_ARG);
|
|
TWAI_CHECK(GPIO_IS_VALID_GPIO(g_config->rx_io), ESP_ERR_INVALID_ARG);
|
|
#ifndef CONFIG_TWAI_ISR_IN_IRAM
|
|
TWAI_CHECK(!(g_config->intr_flags & ESP_INTR_FLAG_IRAM), ESP_ERR_INVALID_ARG);
|
|
#endif
|
|
TWAI_ENTER_CRITICAL();
|
|
TWAI_CHECK_FROM_CRIT(p_twai_obj == NULL, ESP_ERR_INVALID_STATE);
|
|
TWAI_EXIT_CRITICAL();
|
|
|
|
//Get clock source resolution
|
|
uint32_t clock_source_hz = 0;
|
|
twai_clock_source_t clk_src = t_config->clk_src;
|
|
//Fall back to default clock source
|
|
if (clk_src == 0) {
|
|
clk_src = TWAI_CLK_SRC_DEFAULT;
|
|
}
|
|
esp_clk_tree_src_get_freq_hz(clk_src, ESP_CLK_TREE_SRC_FREQ_PRECISION_CACHED, &clock_source_hz);
|
|
|
|
//Check brp validation
|
|
uint32_t brp = t_config->brp;
|
|
if (t_config->quanta_resolution_hz) {
|
|
TWAI_CHECK(clock_source_hz % t_config->quanta_resolution_hz == 0, ESP_ERR_INVALID_ARG);
|
|
brp = clock_source_hz / t_config->quanta_resolution_hz;
|
|
}
|
|
TWAI_CHECK(twai_ll_check_brp_validation(brp), ESP_ERR_INVALID_ARG);
|
|
|
|
esp_err_t ret;
|
|
twai_obj_t *p_twai_obj_dummy;
|
|
// TODO: Currently only controller 0 is supported by the driver. IDF-4775
|
|
const int controller_id = 0;
|
|
|
|
//Create a TWAI object (including queues, semaphores, interrupts, and PM locks)
|
|
ret = twai_alloc_driver_obj(g_config, clk_src, controller_id, &p_twai_obj_dummy);
|
|
if (ret != ESP_OK) {
|
|
return ret;
|
|
}
|
|
|
|
//Initialize flags and variables. All other members are already set to zero by twai_alloc_driver_obj()
|
|
p_twai_obj_dummy->controller_id = controller_id;
|
|
p_twai_obj_dummy->state = TWAI_STATE_STOPPED;
|
|
p_twai_obj_dummy->mode = g_config->mode;
|
|
p_twai_obj_dummy->alerts_enabled = g_config->alerts_enabled;
|
|
|
|
//Assign the TWAI object
|
|
TWAI_ENTER_CRITICAL();
|
|
if (p_twai_obj == NULL) {
|
|
p_twai_obj = p_twai_obj_dummy;
|
|
} else {
|
|
//Check if driver is already installed
|
|
TWAI_EXIT_CRITICAL();
|
|
ret = ESP_ERR_INVALID_STATE;
|
|
goto err;
|
|
}
|
|
//Enable TWAI peripheral register clock
|
|
TWAI_RCC_ATOMIC() {
|
|
twai_ll_enable_bus_clock(p_twai_obj->controller_id, true);
|
|
twai_ll_reset_register(p_twai_obj->controller_id);
|
|
}
|
|
|
|
//Initialize TWAI HAL layer
|
|
twai_hal_config_t hal_config = {
|
|
.clock_source_hz = clock_source_hz,
|
|
.controller_id = controller_id,
|
|
};
|
|
bool res = twai_hal_init(&twai_context, &hal_config);
|
|
assert(res);
|
|
twai_hal_configure(&twai_context, t_config, f_config, DRIVER_DEFAULT_INTERRUPTS, g_config->clkout_divider);
|
|
TWAI_EXIT_CRITICAL();
|
|
|
|
//Assign GPIO and Interrupts
|
|
twai_configure_gpio(g_config->tx_io, g_config->rx_io, g_config->clkout_io, g_config->bus_off_io);
|
|
#if CONFIG_PM_ENABLE
|
|
//Acquire PM lock
|
|
if (p_twai_obj->pm_lock) {
|
|
ESP_ERROR_CHECK(esp_pm_lock_acquire(p_twai_obj->pm_lock)); //Acquire pm_lock during the whole driver lifetime
|
|
}
|
|
#endif //CONFIG_PM_ENABLE
|
|
//Enable interrupt
|
|
ESP_ERROR_CHECK(esp_intr_enable(p_twai_obj->isr_handle));
|
|
|
|
return ESP_OK; //TWAI module is still in reset mode, users need to call twai_start() afterwards
|
|
|
|
err:
|
|
twai_free_driver_obj(p_twai_obj_dummy);
|
|
return ret;
|
|
}
|
|
|
|
esp_err_t twai_driver_uninstall(void)
|
|
{
|
|
twai_obj_t *p_twai_obj_dummy;
|
|
|
|
TWAI_ENTER_CRITICAL();
|
|
//Check state
|
|
TWAI_CHECK_FROM_CRIT(p_twai_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
TWAI_CHECK_FROM_CRIT(p_twai_obj->state == TWAI_STATE_STOPPED || p_twai_obj->state == TWAI_STATE_BUS_OFF, ESP_ERR_INVALID_STATE);
|
|
//Clear registers by reading
|
|
twai_hal_deinit(&twai_context);
|
|
TWAI_RCC_ATOMIC() {
|
|
twai_ll_enable_bus_clock(p_twai_obj->controller_id, false);
|
|
}
|
|
p_twai_obj_dummy = p_twai_obj; //Use dummy to shorten critical section
|
|
p_twai_obj = NULL;
|
|
TWAI_EXIT_CRITICAL();
|
|
|
|
#if CONFIG_PM_ENABLE
|
|
if (p_twai_obj_dummy->pm_lock) {
|
|
//Release and delete power management lock
|
|
ESP_ERROR_CHECK(esp_pm_lock_release(p_twai_obj_dummy->pm_lock));
|
|
}
|
|
#endif //CONFIG_PM_ENABLE
|
|
//Disable interrupt
|
|
ESP_ERROR_CHECK(esp_intr_disable(p_twai_obj_dummy->isr_handle));
|
|
//Free can driver object
|
|
twai_free_driver_obj(p_twai_obj_dummy);
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t twai_start(void)
|
|
{
|
|
//Check state
|
|
TWAI_ENTER_CRITICAL();
|
|
TWAI_CHECK_FROM_CRIT(p_twai_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
TWAI_CHECK_FROM_CRIT(p_twai_obj->state == TWAI_STATE_STOPPED, ESP_ERR_INVALID_STATE);
|
|
|
|
//Reset RX queue, RX message count, amd TX queue
|
|
xQueueReset(p_twai_obj->rx_queue);
|
|
if (p_twai_obj->tx_queue != NULL) {
|
|
xQueueReset(p_twai_obj->tx_queue);
|
|
}
|
|
p_twai_obj->rx_msg_count = 0;
|
|
p_twai_obj->tx_msg_count = 0;
|
|
twai_hal_start(&twai_context, p_twai_obj->mode);
|
|
|
|
p_twai_obj->state = TWAI_STATE_RUNNING;
|
|
TWAI_EXIT_CRITICAL();
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t twai_stop(void)
|
|
{
|
|
//Check state
|
|
TWAI_ENTER_CRITICAL();
|
|
TWAI_CHECK_FROM_CRIT(p_twai_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
TWAI_CHECK_FROM_CRIT(p_twai_obj->state == TWAI_STATE_RUNNING, ESP_ERR_INVALID_STATE);
|
|
|
|
twai_hal_stop(&twai_context);
|
|
|
|
//Reset TX Queue and message count
|
|
if (p_twai_obj->tx_queue != NULL) {
|
|
xQueueReset(p_twai_obj->tx_queue);
|
|
}
|
|
p_twai_obj->tx_msg_count = 0;
|
|
p_twai_obj->state = TWAI_STATE_STOPPED;
|
|
|
|
TWAI_EXIT_CRITICAL();
|
|
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t twai_transmit(const twai_message_t *message, TickType_t ticks_to_wait)
|
|
{
|
|
//Check arguments
|
|
TWAI_CHECK(p_twai_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
TWAI_CHECK(message != NULL, ESP_ERR_INVALID_ARG);
|
|
TWAI_CHECK((message->data_length_code <= TWAI_FRAME_MAX_DLC) || message->dlc_non_comp, ESP_ERR_INVALID_ARG);
|
|
|
|
TWAI_ENTER_CRITICAL();
|
|
//Check State
|
|
TWAI_CHECK_FROM_CRIT(!(p_twai_obj->mode == TWAI_MODE_LISTEN_ONLY), ESP_ERR_NOT_SUPPORTED);
|
|
TWAI_CHECK_FROM_CRIT(p_twai_obj->state == TWAI_STATE_RUNNING, ESP_ERR_INVALID_STATE);
|
|
//Format frame
|
|
esp_err_t ret = ESP_FAIL;
|
|
twai_hal_frame_t tx_frame;
|
|
twai_hal_format_frame(message, &tx_frame);
|
|
|
|
//Check if frame can be sent immediately
|
|
if (p_twai_obj->tx_msg_count == 0) {
|
|
//No other frames waiting to transmit. Bypass queue and transmit immediately
|
|
twai_hal_set_tx_buffer_and_transmit(&twai_context, &tx_frame);
|
|
p_twai_obj->tx_msg_count++;
|
|
ret = ESP_OK;
|
|
}
|
|
TWAI_EXIT_CRITICAL();
|
|
|
|
if (ret != ESP_OK) {
|
|
if (p_twai_obj->tx_queue == NULL) {
|
|
//TX Queue is disabled and TX buffer is occupied, message was not sent
|
|
ret = ESP_FAIL;
|
|
} else if (xQueueSend(p_twai_obj->tx_queue, &tx_frame, ticks_to_wait) == pdTRUE) {
|
|
//Copied to TX Queue
|
|
TWAI_ENTER_CRITICAL();
|
|
if ((!twai_hal_check_state_flags(&twai_context, TWAI_HAL_STATE_FLAG_TX_BUFF_OCCUPIED)) && uxQueueMessagesWaiting(p_twai_obj->tx_queue) > 0) {
|
|
//If the TX buffer is free but the TX queue is not empty. Check if we need to manually start a transmission
|
|
if (twai_hal_check_state_flags(&twai_context, TWAI_HAL_STATE_FLAG_BUS_OFF) || !twai_hal_check_state_flags(&twai_context, TWAI_HAL_STATE_FLAG_RUNNING)) {
|
|
//TX buffer became free due to bus-off or is no longer running. No need to start a transmission
|
|
ret = ESP_ERR_INVALID_STATE;
|
|
} else {
|
|
//Manually start a transmission
|
|
int res = xQueueReceive(p_twai_obj->tx_queue, &tx_frame, 0);
|
|
assert(res == pdTRUE);
|
|
(void)res;
|
|
twai_hal_set_tx_buffer_and_transmit(&twai_context, &tx_frame);
|
|
p_twai_obj->tx_msg_count++;
|
|
ret = ESP_OK;
|
|
}
|
|
} else {
|
|
//Frame was copied to queue, waiting to be transmitted
|
|
p_twai_obj->tx_msg_count++;
|
|
ret = ESP_OK;
|
|
}
|
|
TWAI_EXIT_CRITICAL();
|
|
} else {
|
|
//Timed out waiting for free space on TX queue
|
|
ret = ESP_ERR_TIMEOUT;
|
|
}
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
esp_err_t twai_receive(twai_message_t *message, TickType_t ticks_to_wait)
|
|
{
|
|
//Check arguments and state
|
|
TWAI_CHECK(p_twai_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
TWAI_CHECK(message != NULL, ESP_ERR_INVALID_ARG);
|
|
|
|
//Get frame from RX Queue or RX Buffer
|
|
twai_hal_frame_t rx_frame;
|
|
if (xQueueReceive(p_twai_obj->rx_queue, &rx_frame, ticks_to_wait) != pdTRUE) {
|
|
return ESP_ERR_TIMEOUT;
|
|
}
|
|
|
|
TWAI_ENTER_CRITICAL();
|
|
p_twai_obj->rx_msg_count--;
|
|
TWAI_EXIT_CRITICAL();
|
|
|
|
//Decode frame
|
|
twai_hal_parse_frame(&rx_frame, message);
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t twai_read_alerts(uint32_t *alerts, TickType_t ticks_to_wait)
|
|
{
|
|
//Check arguments and state
|
|
TWAI_CHECK(p_twai_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
TWAI_CHECK(alerts != NULL, ESP_ERR_INVALID_ARG);
|
|
|
|
//Wait for an alert to occur
|
|
if (xSemaphoreTake(p_twai_obj->alert_semphr, ticks_to_wait) == pdTRUE) {
|
|
TWAI_ENTER_CRITICAL();
|
|
*alerts = p_twai_obj->alerts_triggered;
|
|
p_twai_obj->alerts_triggered = 0; //Clear triggered alerts
|
|
TWAI_EXIT_CRITICAL();
|
|
return ESP_OK;
|
|
} else {
|
|
*alerts = 0;
|
|
return ESP_ERR_TIMEOUT;
|
|
}
|
|
}
|
|
|
|
esp_err_t twai_reconfigure_alerts(uint32_t alerts_enabled, uint32_t *current_alerts)
|
|
{
|
|
TWAI_CHECK(p_twai_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
|
|
TWAI_ENTER_CRITICAL();
|
|
//Clear any unhandled alerts
|
|
if (current_alerts != NULL) {
|
|
*current_alerts = p_twai_obj->alerts_triggered;
|
|
}
|
|
p_twai_obj->alerts_triggered = 0;
|
|
p_twai_obj->alerts_enabled = alerts_enabled; //Update enabled alerts
|
|
TWAI_EXIT_CRITICAL();
|
|
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t twai_initiate_recovery(void)
|
|
{
|
|
TWAI_ENTER_CRITICAL();
|
|
//Check state
|
|
TWAI_CHECK_FROM_CRIT(p_twai_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
TWAI_CHECK_FROM_CRIT(p_twai_obj->state == TWAI_STATE_BUS_OFF, ESP_ERR_INVALID_STATE);
|
|
|
|
//Reset TX Queue/Counters
|
|
if (p_twai_obj->tx_queue != NULL) {
|
|
xQueueReset(p_twai_obj->tx_queue);
|
|
}
|
|
p_twai_obj->tx_msg_count = 0;
|
|
|
|
//Trigger start of recovery process
|
|
twai_hal_start_bus_recovery(&twai_context);
|
|
p_twai_obj->state = TWAI_STATE_RECOVERING;
|
|
TWAI_EXIT_CRITICAL();
|
|
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t twai_get_status_info(twai_status_info_t *status_info)
|
|
{
|
|
//Check parameters and state
|
|
TWAI_CHECK(p_twai_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
TWAI_CHECK(status_info != NULL, ESP_ERR_INVALID_ARG);
|
|
|
|
TWAI_ENTER_CRITICAL();
|
|
if (p_twai_obj->mode == TWAI_MODE_LISTEN_ONLY) {
|
|
//Error counters are frozen under listen only mode thus are meaningless. Simply return 0 in this case.
|
|
status_info->tx_error_counter = 0;
|
|
status_info->rx_error_counter = 0;
|
|
} else {
|
|
status_info->tx_error_counter = twai_hal_get_tec(&twai_context);
|
|
status_info->rx_error_counter = twai_hal_get_rec(&twai_context);
|
|
}
|
|
status_info->msgs_to_tx = p_twai_obj->tx_msg_count;
|
|
status_info->msgs_to_rx = p_twai_obj->rx_msg_count;
|
|
status_info->tx_failed_count = p_twai_obj->tx_failed_count;
|
|
status_info->rx_missed_count = p_twai_obj->rx_missed_count;
|
|
status_info->rx_overrun_count = p_twai_obj->rx_overrun_count;
|
|
status_info->arb_lost_count = p_twai_obj->arb_lost_count;
|
|
status_info->bus_error_count = p_twai_obj->bus_error_count;
|
|
status_info->state = p_twai_obj->state;
|
|
TWAI_EXIT_CRITICAL();
|
|
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t twai_clear_transmit_queue(void)
|
|
{
|
|
//Check State
|
|
TWAI_CHECK(p_twai_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
TWAI_CHECK(p_twai_obj->tx_queue != NULL, ESP_ERR_NOT_SUPPORTED);
|
|
|
|
TWAI_ENTER_CRITICAL();
|
|
//If a message is currently undergoing transmission, the tx interrupt handler will decrement tx_msg_count
|
|
p_twai_obj->tx_msg_count = twai_hal_check_state_flags(&twai_context, TWAI_HAL_STATE_FLAG_TX_BUFF_OCCUPIED) ? 1 : 0;
|
|
xQueueReset(p_twai_obj->tx_queue);
|
|
TWAI_EXIT_CRITICAL();
|
|
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t twai_clear_receive_queue(void)
|
|
{
|
|
//Check State
|
|
TWAI_CHECK(p_twai_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
|
|
TWAI_ENTER_CRITICAL();
|
|
p_twai_obj->rx_msg_count = 0;
|
|
xQueueReset(p_twai_obj->rx_queue);
|
|
TWAI_EXIT_CRITICAL();
|
|
|
|
return ESP_OK;
|
|
}
|