ESP-IDF
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Outline
#include <stddef.h>
#include <string.h>
#include "sdkconfig.h"
#include "esp_compiler.h"
#include "hal/twai_hal.h"
#define TWAI_RX_FIFO_CORRUPT_THRESH
twai_hal_decode_interrupt(twai_hal_context_t *)
twai_hal_get_events(twai_hal_context_t *)
twai_hal_prepare_for_reset(twai_hal_context_t *)
twai_hal_recover_from_reset(twai_hal_context_t *)
twai_hal_set_tx_buffer_and_transmit(twai_hal_context_t *, twai_hal_frame_t *)
Files
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SourceVuESP-IDF Framework and ExamplesESP-IDFcomponents/hal/twai_hal_iram.c
 
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/* * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 *//* ... */ #include <stddef.h> #include <string.h> #include "sdkconfig.h" #include "esp_compiler.h" #include "hal/twai_hal.h"5 includes #ifdef CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT //Errata condition occurs at 64 messages. Threshold set to 62 to prevent the chance of failing to detect errata condition. #define TWAI_RX_FIFO_CORRUPT_THRESH 62/* ... */ #endif /* ----------------------------- Event Handling ----------------------------- */ /** * Helper functions that can decode what events have been triggered based on * the values of the interrupt, status, TEC and REC registers. The HAL context's * state flags are also updated based on the events that have triggered. *//* ... */ static inline uint32_t twai_hal_decode_interrupt(twai_hal_context_t *hal_ctx) { uint32_t events = 0; uint32_t interrupts = twai_ll_get_and_clear_intrs(hal_ctx->dev); uint32_t status = twai_ll_get_status(hal_ctx->dev); uint32_t tec = twai_ll_get_tec(hal_ctx->dev); uint32_t rec = twai_ll_get_rec(hal_ctx->dev); uint32_t state_flags = hal_ctx->state_flags; //Error Warning Interrupt set whenever Error or Bus Status bit changes if (interrupts & TWAI_LL_INTR_EI) { if (status & TWAI_LL_STATUS_BS) { //Currently in BUS OFF state if (status & TWAI_LL_STATUS_ES) { //EWL is exceeded, thus must have entered BUS OFF TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_BUS_OFF); TWAI_HAL_SET_BITS(state_flags, TWAI_HAL_STATE_FLAG_BUS_OFF); //Any TX would have been halted by entering bus off. Reset its flag TWAI_HAL_CLEAR_BITS(state_flags, TWAI_HAL_STATE_FLAG_RUNNING | TWAI_HAL_STATE_FLAG_TX_BUFF_OCCUPIED); }{...} else { //Below EWL. Therefore TEC is counting down in bus recovery TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_BUS_RECOV_PROGRESS); }{...} }{...} else { //Not in BUS OFF if (status & TWAI_LL_STATUS_ES) { //Just Exceeded EWL TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_ABOVE_EWL); TWAI_HAL_SET_BITS(state_flags, TWAI_HAL_STATE_FLAG_ERR_WARN); }{...} else if (hal_ctx->state_flags & TWAI_HAL_STATE_FLAG_RECOVERING) { //Previously undergoing bus recovery. Thus means bus recovery complete TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_BUS_RECOV_CPLT); TWAI_HAL_CLEAR_BITS(state_flags, TWAI_HAL_STATE_FLAG_RECOVERING | TWAI_HAL_STATE_FLAG_BUS_OFF); }{...} else { //Just went below EWL TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_BELOW_EWL); TWAI_HAL_CLEAR_BITS(state_flags, TWAI_HAL_STATE_FLAG_ERR_WARN); }{...} }{...} }{...} //Receive Interrupt set whenever RX FIFO is not empty if (interrupts & TWAI_LL_INTR_RI) { TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_RX_BUFF_FRAME); }{...} //Transmit interrupt set whenever TX buffer becomes free #ifdef CONFIG_TWAI_ERRATA_FIX_TX_INTR_LOST if ((interrupts & TWAI_LL_INTR_TI || hal_ctx->state_flags & TWAI_HAL_STATE_FLAG_TX_BUFF_OCCUPIED) && status & TWAI_LL_STATUS_TBS) { #else if (interrupts & TWAI_LL_INTR_TI) { #endif TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_TX_BUFF_FREE); TWAI_HAL_CLEAR_BITS(state_flags, TWAI_HAL_STATE_FLAG_TX_BUFF_OCCUPIED); }{...} //Error Passive Interrupt on transition from error active to passive or vice versa if (interrupts & TWAI_LL_INTR_EPI) { if (tec >= TWAI_ERR_PASS_THRESH || rec >= TWAI_ERR_PASS_THRESH) { TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_ERROR_PASSIVE); TWAI_HAL_SET_BITS(state_flags, TWAI_HAL_STATE_FLAG_ERR_PASSIVE); }{...} else { TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_ERROR_ACTIVE); TWAI_HAL_CLEAR_BITS(state_flags, TWAI_HAL_STATE_FLAG_ERR_PASSIVE); }{...} }{...} //Bus error interrupt triggered on a bus error (e.g. bit, ACK, stuff etc) if (interrupts & TWAI_LL_INTR_BEI) { TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_BUS_ERR); }{...} //Arbitration Lost Interrupt triggered on losing arbitration if (interrupts & TWAI_LL_INTR_ALI) { TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_ARB_LOST); }{...} hal_ctx->state_flags = state_flags; return events; }{ ... } uint32_t twai_hal_get_events(twai_hal_context_t *hal_ctx) { uint32_t events = twai_hal_decode_interrupt(hal_ctx); //Handle low latency events if (events & TWAI_HAL_EVENT_BUS_OFF) { twai_ll_set_mode(hal_ctx->dev, TWAI_MODE_LISTEN_ONLY); //Freeze TEC/REC by entering LOM #ifdef CONFIG_TWAI_ERRATA_FIX_BUS_OFF_REC //Errata workaround: Force REC to 0 by re-triggering bus-off (by setting TEC to 0 then 255) twai_ll_set_tec(hal_ctx->dev, 0); twai_ll_set_tec(hal_ctx->dev, 255); (void) twai_ll_get_and_clear_intrs(hal_ctx->dev); //Clear the re-triggered bus-off interrupt/* ... */ #endif }{...} if (events & TWAI_HAL_EVENT_BUS_RECOV_CPLT) { twai_ll_enter_reset_mode(hal_ctx->dev); //Enter reset mode to stop the controller }{...} if (events & TWAI_HAL_EVENT_BUS_ERR) { #ifdef CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID twai_ll_err_type_t type; twai_ll_err_dir_t dir; twai_ll_err_seg_t seg; twai_ll_parse_err_code_cap(hal_ctx->dev, &type, &dir, &seg); //Decode error interrupt //Check for errata condition (RX message has bus error at particular segments) if (dir == TWAI_LL_ERR_DIR_RX && ((seg == TWAI_LL_ERR_SEG_DATA || seg == TWAI_LL_ERR_SEG_CRC_SEQ) || (seg == TWAI_LL_ERR_SEG_ACK_DELIM && type == TWAI_LL_ERR_OTHER))) { TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_NEED_PERIPH_RESET); }{...} /* ... */#endif twai_ll_clear_err_code_cap(hal_ctx->dev); }{...} if (events & TWAI_HAL_EVENT_ARB_LOST) { twai_ll_clear_arb_lost_cap(hal_ctx->dev); }{...} #ifdef CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT //Check for errata condition (rx_msg_count >= corruption_threshold) if (events & TWAI_HAL_EVENT_RX_BUFF_FRAME && twai_ll_get_rx_msg_count(hal_ctx->dev) >= TWAI_RX_FIFO_CORRUPT_THRESH) { TWAI_HAL_SET_BITS(events, TWAI_HAL_EVENT_NEED_PERIPH_RESET); }{...} #endif/* ... */ #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) { //A peripheral reset will invalidate an RX event; TWAI_HAL_CLEAR_BITS(events, (TWAI_HAL_EVENT_RX_BUFF_FRAME)); }{...} #endif/* ... */ return events; }{ ... } #if defined(CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID) || defined(CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT) void twai_hal_prepare_for_reset(twai_hal_context_t *hal_ctx) { uint32_t status = twai_ll_get_status(hal_ctx->dev); if (!(status & TWAI_LL_STATUS_TBS)) { //Transmit buffer is NOT free, indicating an Ongoing TX will be cancelled by the HW reset TWAI_HAL_SET_BITS(hal_ctx->state_flags, TWAI_HAL_STATE_FLAG_TX_NEED_RETRY); //Note: Even if the TX completes right after this, we still consider it will be retried. //Worst case the same message will get sent twice. }{...} //Some register must saved before entering reset mode hal_ctx->rx_msg_cnt_save = (uint8_t) twai_ll_get_rx_msg_count(hal_ctx->dev); twai_ll_enter_reset_mode(hal_ctx->dev); //Enter reset mode to stop the controller twai_ll_save_reg(hal_ctx->dev, &hal_ctx->reg_save); //Save remaining registers after entering reset mode }{ ... } void twai_hal_recover_from_reset(twai_hal_context_t *hal_ctx) { twai_ll_enter_reset_mode(hal_ctx->dev); twai_ll_enable_extended_reg_layout(hal_ctx->dev); twai_ll_restore_reg(hal_ctx->dev, &hal_ctx->reg_save); twai_ll_exit_reset_mode(hal_ctx->dev); (void) twai_ll_get_and_clear_intrs(hal_ctx->dev); if (hal_ctx->state_flags & TWAI_HAL_STATE_FLAG_TX_NEED_RETRY) { //HW reset has cancelled a TX. Re-transmit here twai_hal_set_tx_buffer_and_transmit(hal_ctx, &hal_ctx->tx_frame_save); TWAI_HAL_CLEAR_BITS(hal_ctx->state_flags, TWAI_HAL_STATE_FLAG_TX_NEED_RETRY); }{...} }{ ... } #endif/* ... */ //defined(CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID) || defined(CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT) void twai_hal_set_tx_buffer_and_transmit(twai_hal_context_t *hal_ctx, twai_hal_frame_t *tx_frame) { //Copy frame into tx buffer twai_ll_set_tx_buffer(hal_ctx->dev, tx_frame); //Hit the send command if (tx_frame->self_reception) { if (tx_frame->single_shot) { twai_ll_set_cmd_self_rx_single_shot(hal_ctx->dev); }{...} else { twai_ll_set_cmd_self_rx_request(hal_ctx->dev); }{...} }{...} else if (tx_frame->single_shot){ twai_ll_set_cmd_tx_single_shot(hal_ctx->dev); }{...} else { twai_ll_set_cmd_tx(hal_ctx->dev); }{...} TWAI_HAL_SET_BITS(hal_ctx->state_flags, TWAI_HAL_STATE_FLAG_TX_BUFF_OCCUPIED); #if defined(CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID) || defined(CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT) if (&hal_ctx->tx_frame_save == tx_frame) { return; }{...} //Save transmitted frame in case we need to retry ESP_COMPILER_DIAGNOSTIC_PUSH_IGNORE("-Wanalyzer-overlapping-buffers") // TODO IDF-11085 memcpy(&hal_ctx->tx_frame_save, tx_frame, sizeof(twai_hal_frame_t)); ESP_COMPILER_DIAGNOSTIC_POP("-Wanalyzer-overlapping-buffers")/* ... */ #endif //defined(CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID) || defined(CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT) }{ ... }
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