kopia lustrzana https://github.com/espressif/esp-idf
101 wiersze
4.2 KiB
C
101 wiersze
4.2 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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#include <stddef.h>
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#include "sdkconfig.h"
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#include "hal/twai_hal.h"
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#include "soc/soc_caps.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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/* ---------------------------- Init and Config ----------------------------- */
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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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hal_ctx->state_flags = 0;
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//Initialize TWAI controller, and set default values to registers
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twai_ll_enter_reset_mode(hal_ctx->dev);
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if (!twai_ll_is_in_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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#if SOC_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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/* -------------------------------- Actions --------------------------------- */
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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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}
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void twai_hal_stop(twai_hal_context_t *hal_ctx)
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{
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twai_ll_enter_reset_mode(hal_ctx->dev);
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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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//Any TX is immediately halted on entering reset mode
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TWAI_HAL_CLEAR_BITS(hal_ctx->state_flags, TWAI_HAL_STATE_FLAG_TX_BUFF_OCCUPIED | TWAI_HAL_STATE_FLAG_RUNNING);
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}
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