kopia lustrzana https://github.com/espressif/esp-idf
148 wiersze
6.1 KiB
C
148 wiersze
6.1 KiB
C
// Copyright 2015-2019 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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//Todo: Place the implementation of all common HAL functions here
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#include <stddef.h>
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#include "hal/twai_hal.h"
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//Default values written to various registers on initialization
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#define TWAI_HAL_INIT_TEC 0
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#define TWAI_HAL_INIT_REC 0
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#define TWAI_HAL_INIT_EWL 96
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bool twai_hal_init(twai_hal_context_t *hal_ctx)
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{
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//Initialize HAL context
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hal_ctx->dev = &TWAI;
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//Initialize TWAI controller, and set default values to registers
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if (!twai_ll_enter_reset_mode(hal_ctx->dev)) { //Must enter reset mode to write to config registers
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return false;
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}
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#ifdef TWAI_SUPPORT_MULTI_ADDRESS_LAYOUT
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twai_ll_enable_extended_reg_layout(hal_ctx->dev); //Changes the address layout of the registers
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#endif
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twai_ll_set_mode(hal_ctx->dev, TWAI_MODE_LISTEN_ONLY); //Freeze REC by changing to LOM mode
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//Both TEC and REC should start at 0
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twai_ll_set_tec(hal_ctx->dev, TWAI_HAL_INIT_TEC);
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twai_ll_set_rec(hal_ctx->dev, TWAI_HAL_INIT_REC);
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twai_ll_set_err_warn_lim(hal_ctx->dev, TWAI_HAL_INIT_EWL); //Set default value of for EWL
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return true;
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}
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void twai_hal_deinit(twai_hal_context_t *hal_ctx)
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{
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//Clear any pending registers
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(void) twai_ll_get_and_clear_intrs(hal_ctx->dev);
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twai_ll_set_enabled_intrs(hal_ctx->dev, 0);
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twai_ll_clear_arb_lost_cap(hal_ctx->dev);
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twai_ll_clear_err_code_cap(hal_ctx->dev);
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hal_ctx->dev = NULL;
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}
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void twai_hal_configure(twai_hal_context_t *hal_ctx, const twai_timing_config_t *t_config, const twai_filter_config_t *f_config, uint32_t intr_mask, uint32_t clkout_divider)
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{
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//Configure bus timing, acceptance filter, CLKOUT, and interrupts
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twai_ll_set_bus_timing(hal_ctx->dev, t_config->brp, t_config->sjw, t_config->tseg_1, t_config->tseg_2, t_config->triple_sampling);
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twai_ll_set_acc_filter(hal_ctx->dev, f_config->acceptance_code, f_config->acceptance_mask, f_config->single_filter);
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twai_ll_set_clkout(hal_ctx->dev, clkout_divider);
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twai_ll_set_enabled_intrs(hal_ctx->dev, intr_mask);
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(void) twai_ll_get_and_clear_intrs(hal_ctx->dev); //Clear any latched interrupts
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}
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bool 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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//Todo: Check if this can be removed
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(void) twai_ll_get_and_clear_intrs(hal_ctx->dev); //Clear any latched interrupts
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return twai_ll_exit_reset_mode(hal_ctx->dev); //Return false if failed to exit reset mode
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}
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bool twai_hal_stop(twai_hal_context_t *hal_ctx)
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{
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if (!twai_ll_enter_reset_mode(hal_ctx->dev)) {
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return false;
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}
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//Todo: Check if this can be removed
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(void) twai_ll_get_and_clear_intrs(hal_ctx->dev);
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twai_ll_set_mode(hal_ctx->dev, TWAI_MODE_LISTEN_ONLY); //Freeze REC by changing to LOM mode
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return true;
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}
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uint32_t twai_hal_decode_interrupt_events(twai_hal_context_t *hal_ctx, bool bus_recovering)
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{
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uint32_t events = 0;
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//Read interrupt, status
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uint32_t interrupts = twai_ll_get_and_clear_intrs(hal_ctx->dev);
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uint32_t status = twai_ll_get_status(hal_ctx->dev);
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uint32_t tec = twai_ll_get_tec(hal_ctx->dev);
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uint32_t rec = twai_ll_get_rec(hal_ctx->dev);
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//Receive Interrupt set whenever RX FIFO is not empty
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if (interrupts & TWAI_LL_INTR_RI) {
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events |= TWAI_HAL_EVENT_RX_BUFF_FRAME;
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}
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//Transmit interrupt set whenever TX buffer becomes free
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if (interrupts & TWAI_LL_INTR_TI) {
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events |= TWAI_HAL_EVENT_TX_BUFF_FREE;
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}
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//Error Warning Interrupt set whenever Error or Bus Status bit changes
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if (interrupts & TWAI_LL_INTR_EI) {
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if (status & TWAI_LL_STATUS_BS) {
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//Currently in BUS OFF state
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//EWL is exceeded, thus must have entered BUS OFF
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//Below EWL. Therefore TEC is counting down in bus recovery
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//Todo: Check if BUS Recov can be removed for esp32s2
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events |= (status & TWAI_LL_STATUS_ES) ? TWAI_HAL_EVENT_BUS_OFF : TWAI_HAL_EVENT_BUS_RECOV_PROGRESS;
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} else {
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//Not in BUS OFF
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events |= (status & TWAI_LL_STATUS_ES) ? TWAI_HAL_EVENT_ABOVE_EWL : //Just Exceeded EWL
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((bus_recovering) ? //If previously undergoing bus recovery
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TWAI_HAL_EVENT_BUS_RECOV_CPLT :
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TWAI_HAL_EVENT_BELOW_EWL);
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}
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}
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//Error Passive Interrupt on transition from error active to passive or vice versa
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if (interrupts & TWAI_LL_INTR_EPI) {
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events |= (tec >= TWAI_ERR_PASS_THRESH || rec >= TWAI_ERR_PASS_THRESH) ? TWAI_HAL_EVENT_ERROR_PASSIVE : TWAI_HAL_EVENT_ERROR_ACTIVE;
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}
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//Arbitration Lost Interrupt triggered on losing arbitration
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if (interrupts & TWAI_LL_INTR_ALI) {
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events |= TWAI_HAL_EVENT_ARB_LOST;
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}
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//Bus error interrupt triggered on a bus error (e.g. bit, ACK, stuff etc)
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if (interrupts & TWAI_LL_INTR_BEI) {
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events |= TWAI_HAL_EVENT_BUS_ERR;
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}
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return events;
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}
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void twai_hal_set_tx_buffer_and_transmit(twai_hal_context_t *hal_ctx, twai_hal_frame_t *tx_frame)
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{
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//Copy frame into tx buffer
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twai_ll_set_tx_buffer(hal_ctx->dev, tx_frame);
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//Hit the send command
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if (tx_frame->self_reception) {
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if (tx_frame->single_shot) {
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twai_ll_set_cmd_self_rx_single_shot(hal_ctx->dev);
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} else {
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twai_ll_set_cmd_self_rx_request(hal_ctx->dev);
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}
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} else if (tx_frame->single_shot){
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twai_ll_set_cmd_tx_single_shot(hal_ctx->dev);
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} else {
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twai_ll_set_cmd_tx(hal_ctx->dev);
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}
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}
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