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suda-morrissuda-morris
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Merge branch 'feat/twai_esp32h4_v5.5' into 'release/v5.5'
fix(twai): busoff and clkout may not available in SOC (v5.5) See merge request espressif/esp-idf!41718
2 parents 6b7d55a + e1694c6 commit ee5f84e

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10 files changed

+78
-48
lines changed

10 files changed

+78
-48
lines changed

‎components/driver/test_apps/legacy_twai/pytest_twai.py‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,7 @@
2222
@idf_parametrize(
2323
'target', ['esp32', 'esp32c3', 'esp32c6', 'esp32h2', 'esp32s2', 'esp32s3', 'esp32p4'], indirect=['target']
2424
)
25-
def test_twai_self(dut: Dut) -> None:
25+
def test_legacy_twai_self(dut: Dut) -> None:
2626
dut.run_all_single_board_cases(group='twai-loop-back')
2727

2828

@@ -31,11 +31,11 @@ def fixture_create_socket_can() -> Bus:
3131
# Set up the socket CAN with the bitrate
3232
start_command = 'sudo ip link set can0 up type can bitrate 250000 restart-ms 100'
3333
stop_command = 'sudo ip link set can0 down'
34-
subprocess.run(start_command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
34+
subprocess.run(start_command, shell=True, capture_output=True, text=True)
3535
bus = Bus(interface='socketcan', channel='can0', bitrate=250000)
3636
yield bus # test invoked here
3737
bus.shutdown()
38-
subprocess.run(stop_command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
38+
subprocess.run(stop_command, shell=True, capture_output=True, text=True)
3939

4040

4141
@pytest.mark.twai_std
@@ -49,7 +49,7 @@ def fixture_create_socket_can() -> Bus:
4949
@idf_parametrize(
5050
'target', ['esp32', 'esp32c3', 'esp32c6', 'esp32h2', 'esp32s2', 'esp32s3', 'esp32p4'], indirect=['target']
5151
)
52-
def test_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
52+
def test_legacy_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
5353
dut.serial.hard_reset()
5454
dut.expect_exact('Press ENTER to see the list of tests')
5555

@@ -79,7 +79,7 @@ def test_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
7979
@idf_parametrize(
8080
'target', ['esp32', 'esp32c3', 'esp32c6', 'esp32h2', 'esp32s2', 'esp32s3', 'esp32p4'], indirect=['target']
8181
)
82-
def test_twai_remote_request(dut: Dut, socket_can: Bus) -> None:
82+
def test_legacy_twai_remote_request(dut: Dut, socket_can: Bus) -> None:
8383
dut.serial.hard_reset()
8484
dut.expect_exact('Press ENTER to see the list of tests')
8585

‎components/esp_driver_twai/esp_twai_onchip.c‎

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -123,6 +123,8 @@ static esp_err_t _node_config_io(twai_onchip_ctx_t *node, const twai_onchip_node
123123
ESP_RETURN_ON_FALSE(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.tx), ESP_ERR_INVALID_ARG, TAG, "Invalid tx gpio num");
124124
ESP_RETURN_ON_FALSE(GPIO_IS_VALID_GPIO(node_config->io_cfg.rx), ESP_ERR_INVALID_ARG, TAG, "Invalid rx gpio num");
125125
uint64_t reserve_mask = BIT64(node_config->io_cfg.tx);
126+
ESP_RETURN_ON_FALSE(!(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.quanta_clk_out) && (twai_controller_periph_signals.controllers[node->ctrlr_id].clk_out_sig < 0)), ESP_ERR_NOT_SUPPORTED, TAG, "quanta_clk_out is not supported");
127+
ESP_RETURN_ON_FALSE(!(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.bus_off_indicator) && (twai_controller_periph_signals.controllers[node->ctrlr_id].bus_off_sig < 0)), ESP_ERR_NOT_SUPPORTED, TAG, "bus_off_indicator is not supported");
126128

127129
// Set RX pin
128130
gpio_input_enable(node_config->io_cfg.rx);

‎components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.c‎

Lines changed: 3 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -29,7 +29,7 @@ static IRAM_ATTR bool test_driver_install_rx_cb(twai_node_handle_t handle, const
2929
{
3030
twai_frame_t rx_frame = {0};
3131
if (ESP_OK == twai_node_receive_from_isr(handle, &rx_frame)) {
32-
ESP_EARLY_LOGI("Recv ", "id 0x%lx rtr %d", rx_frame.header.id, rx_frame.header.rtr);
32+
esp_rom_printf("Recv id 0x%lx rtr %d", rx_frame.header.id, rx_frame.header.rtr);
3333
}
3434
if (rx_frame.header.id != 0x100) {
3535
TEST_FAIL(); //callback is unregistered, should not run here
@@ -111,6 +111,8 @@ static void test_twai_baudrate_correctness(twai_clock_source_t clk_src, uint32_t
111111
.clk_src = clk_src,
112112
.io_cfg.tx = TEST_TX_GPIO,
113113
.io_cfg.rx = TEST_TX_GPIO,
114+
.io_cfg.quanta_clk_out = GPIO_NUM_NC,
115+
.io_cfg.bus_off_indicator = GPIO_NUM_NC,
114116
.bit_timing.bitrate = test_bitrate,
115117
.tx_queue_depth = 1,
116118
.flags.enable_loopback = true,

‎components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.c‎

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -67,6 +67,8 @@ TEST_CASE("twai range filter (loopback)", "[twai]")
6767
twai_onchip_node_config_t node_config = {
6868
.io_cfg.tx = TEST_TX_GPIO,
6969
.io_cfg.rx = TEST_TX_GPIO, // Using same pin for test without transceiver
70+
.io_cfg.quanta_clk_out = GPIO_NUM_NC,
71+
.io_cfg.bus_off_indicator = GPIO_NUM_NC,
7072
.bit_timing.bitrate = 1000000,
7173
.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH,
7274
.flags.enable_loopback = true,
@@ -142,6 +144,8 @@ TEST_CASE("twai fd transmit time (loopback)", "[twai]")
142144
twai_onchip_node_config_t node_config = {
143145
.io_cfg.tx = TEST_TX_GPIO,
144146
.io_cfg.rx = TEST_TX_GPIO, // Using same pin for test without transceiver
147+
.io_cfg.quanta_clk_out = GPIO_NUM_NC,
148+
.io_cfg.bus_off_indicator = GPIO_NUM_NC,
145149
.bit_timing.bitrate = 1000000,
146150
.data_timing.bitrate = 4000000,
147151
.data_timing.ssp_permill = 700, // ssp 70.0%

‎components/esp_driver_twai/test_apps/test_twai/main/test_twai_network.c‎

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -31,6 +31,8 @@ TEST_CASE("twai_listen_only", "[twai_net]")
3131
twai_onchip_node_config_t node_config = {
3232
.io_cfg.tx = TEST_TX_GPIO,
3333
.io_cfg.rx = TEST_RX_GPIO,
34+
.io_cfg.quanta_clk_out = GPIO_NUM_NC,
35+
.io_cfg.bus_off_indicator = GPIO_NUM_NC,
3436
.bit_timing.bitrate = 250000,
3537
.tx_queue_depth = 3,
3638
.flags.enable_listen_only = true,
@@ -72,6 +74,8 @@ TEST_CASE("twai_remote_request", "[twai_net]")
7274
twai_onchip_node_config_t node_config = {
7375
.io_cfg.tx = TEST_TX_GPIO,
7476
.io_cfg.rx = TEST_RX_GPIO,
77+
.io_cfg.quanta_clk_out = GPIO_NUM_NC,
78+
.io_cfg.bus_off_indicator = GPIO_NUM_NC,
7579
.bit_timing.bitrate = 250000,
7680
.fail_retry_cnt = -1, // retry forever if send remote frame failed
7781
.tx_queue_depth = 3,

‎components/esp_driver_twai/test_apps/test_twai/pytest_driver_twai.py‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -26,13 +26,13 @@ def fixture_create_socket_can() -> Bus:
2626
start_command = 'sudo ip link set can0 up type can bitrate 250000'
2727
stop_command = 'sudo ip link set can0 down'
2828
try:
29-
subprocess.run(start_command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
29+
subprocess.run(start_command, shell=True, capture_output=True, text=True)
3030
except Exception as e:
3131
print(f'Open bus Error: {e}')
3232
bus = Bus(interface='socketcan', channel='can0', bitrate=250000)
3333
yield bus # test invoked here
3434
bus.shutdown()
35-
subprocess.run(stop_command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
35+
subprocess.run(stop_command, shell=True, capture_output=True, text=True)
3636

3737

3838
@pytest.mark.twai_std

‎components/hal/esp32c5/include/hal/twaifd_ll.h‎

Lines changed: 10 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -98,7 +98,16 @@ static inline void twaifd_ll_reset_register(uint8_t twai_id)
9898
*/
9999
static inline void twaifd_ll_set_clock_source(uint8_t twai_id, twai_clock_source_t clk_src)
100100
{
101-
PCR.twai[twai_id].twai_func_clk_conf.twai_func_clk_sel = (clk_src == TWAI_CLK_SRC_XTAL) ? 0 : 1;
101+
switch (clk_src) {
102+
case TWAI_CLK_SRC_PLL_F80M:
103+
PCR.twai[twai_id].twai_func_clk_conf.twai_func_clk_sel = 1;
104+
break;
105+
case TWAI_CLK_SRC_XTAL:
106+
PCR.twai[twai_id].twai_func_clk_conf.twai_func_clk_sel = 0;
107+
break;
108+
default:
109+
HAL_ASSERT(false);
110+
}
102111
}
103112

104113
/**

‎components/hal/esp32p4/include/hal/twai_ll.h‎

Lines changed: 42 additions & 32 deletions
Original file line numberDiff line numberDiff line change
@@ -149,12 +149,18 @@ ESP_STATIC_ASSERT(sizeof(twai_ll_frame_buffer_t) == 13, "TX/RX buffer type shoul
149149
*/
150150
static inline void twai_ll_enable_bus_clock(int group_id, bool enable)
151151
{
152-
switch (group_id)
153-
{
154-
case 0: HP_SYS_CLKRST.soc_clk_ctrl2.reg_twai0_apb_clk_en = enable; break;
155-
case 1: HP_SYS_CLKRST.soc_clk_ctrl2.reg_twai1_apb_clk_en = enable; break;
156-
case 2: HP_SYS_CLKRST.soc_clk_ctrl2.reg_twai2_apb_clk_en = enable; break;
157-
default: HAL_ASSERT(false);
152+
switch (group_id) {
153+
case 0:
154+
HP_SYS_CLKRST.soc_clk_ctrl2.reg_twai0_apb_clk_en = enable;
155+
break;
156+
case 1:
157+
HP_SYS_CLKRST.soc_clk_ctrl2.reg_twai1_apb_clk_en = enable;
158+
break;
159+
case 2:
160+
HP_SYS_CLKRST.soc_clk_ctrl2.reg_twai2_apb_clk_en = enable;
161+
break;
162+
default:
163+
HAL_ASSERT(false);
158164
}
159165
}
160166

@@ -169,17 +175,19 @@ static inline void twai_ll_enable_bus_clock(int group_id, bool enable)
169175
*/
170176
static inline void twai_ll_reset_register(int group_id)
171177
{
172-
switch (group_id)
173-
{
174-
case 0: HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai0 = 1;
175-
HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai0 = 0;
176-
break;
177-
case 1: HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai1 = 1;
178-
HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai1 = 0;
179-
break;
180-
case 2: HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai2 = 1;
181-
HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai2 = 0;
182-
break;
178+
switch (group_id) {
179+
case 0:
180+
HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai0 = 1;
181+
HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai0 = 0;
182+
break;
183+
case 1:
184+
HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai1 = 1;
185+
HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai1 = 0;
186+
break;
187+
case 2:
188+
HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai2 = 1;
189+
HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_twai2 = 0;
190+
break;
183191
default: HAL_ASSERT(false);
184192
}
185193
}
@@ -220,21 +228,23 @@ static inline void twai_ll_enable_clock(int group_id, bool en)
220228
__attribute__((always_inline))
221229
static inline void twai_ll_set_clock_source(int group_id, twai_clock_source_t clk_src)
222230
{
231+
// We do not plan to support the TWAI_CLK_SRC_RC_FAST clock source,
232+
// as the accuracy of this clock does not meet the requirements for the baud rate
233+
HAL_ASSERT(clk_src == TWAI_CLK_SRC_XTAL);
223234
uint32_t clk_id = 0;
224235

225-
switch (clk_src) {
226-
case TWAI_CLK_SRC_XTAL: clk_id = 0; break;
227-
#if SOC_CLK_TREE_SUPPORTED
228-
case TWAI_CLK_SRC_RC_FAST: clk_id = 1; break;
229-
#endif
230-
default: HAL_ASSERT(false);
231-
}
232-
233236
switch (group_id) {
234-
case 0: HP_SYS_CLKRST.peri_clk_ctrl115.reg_twai0_clk_src_sel = clk_id; break;
235-
case 1: HP_SYS_CLKRST.peri_clk_ctrl115.reg_twai1_clk_src_sel = clk_id; break;
236-
case 2: HP_SYS_CLKRST.peri_clk_ctrl115.reg_twai2_clk_src_sel = clk_id; break;
237-
default: HAL_ASSERT(false);
237+
case 0:
238+
HP_SYS_CLKRST.peri_clk_ctrl115.reg_twai0_clk_src_sel = clk_id;
239+
break;
240+
case 1:
241+
HP_SYS_CLKRST.peri_clk_ctrl115.reg_twai1_clk_src_sel = clk_id;
242+
break;
243+
case 2:
244+
HP_SYS_CLKRST.peri_clk_ctrl115.reg_twai2_clk_src_sel = clk_id;
245+
break;
246+
default:
247+
HAL_ASSERT(false);
238248
}
239249
}
240250

@@ -542,9 +552,9 @@ __attribute__((always_inline))
542552
static inline void twai_ll_parse_err_code_cap(twai_dev_t *hw, twai_ll_err_type_t *type, twai_ll_err_dir_t *dir, twai_ll_err_seg_t *seg)
543553
{
544554
uint32_t ecc = hw->err_code_cap.val;
545-
*type = (twai_ll_err_type_t) ((ecc >> 6) & 0x3);
546-
*dir = (twai_ll_err_dir_t) ((ecc >> 5) & 0x1);
547-
*seg = (twai_ll_err_seg_t) (ecc & 0x1F);
555+
*type = (twai_ll_err_type_t)((ecc >> 6) & 0x3);
556+
*dir = (twai_ll_err_dir_t)((ecc >> 5) & 0x1);
557+
*seg = (twai_ll_err_seg_t)(ecc & 0x1F);
548558
}
549559

550560
/* ----------------------------- EWL Register ------------------------------- */

‎components/soc/esp32c5/twai_periph.c‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -15,19 +15,19 @@ const twai_controller_signal_conn_t twai_controller_periph_signals = {
1515
.timer_irq_id = ETS_TWAI0_TIMER_INTR_SOURCE,
1616
.tx_sig = TWAI0_TX_IDX,
1717
.rx_sig = TWAI0_RX_IDX,
18-
.bus_off_sig = TWAI0_BUS_OFF_ON_IDX,
19-
.clk_out_sig = TWAI0_CLKOUT_IDX,
20-
.stand_by_sig = TWAI0_STANDBY_IDX,
18+
.bus_off_sig = -1,
19+
.clk_out_sig = -1,
20+
.stand_by_sig = -1,
2121
},
2222
[1] = {
2323
.module_name = "TWAI1",
2424
.irq_id = ETS_TWAI1_INTR_SOURCE,
2525
.timer_irq_id = ETS_TWAI1_TIMER_INTR_SOURCE,
2626
.tx_sig = TWAI1_TX_IDX,
2727
.rx_sig = TWAI1_RX_IDX,
28-
.bus_off_sig = TWAI1_BUS_OFF_ON_IDX,
29-
.clk_out_sig = TWAI1_CLKOUT_IDX,
30-
.stand_by_sig = TWAI1_STANDBY_IDX,
28+
.bus_off_sig = -1,
29+
.clk_out_sig = -1,
30+
.stand_by_sig = -1,
3131
},
3232
}
3333
};

‎components/soc/esp32p4/include/soc/clk_tree_defs.h‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -603,7 +603,6 @@ typedef enum {
603603
*/
604604
typedef enum {
605605
TWAI_CLK_SRC_XTAL = SOC_MOD_CLK_XTAL, /*!< Select XTAL as the source clock */
606-
TWAI_CLK_SRC_RC_FAST = SOC_MOD_CLK_RC_FAST, /*!< Select RC_FAST as the source clock */
607606
TWAI_CLK_SRC_DEFAULT = SOC_MOD_CLK_XTAL, /*!< Select XTAL as the default clock choice */
608607
} soc_periph_twai_clk_src_t;
609608

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