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Merge branch 'bugfix/twai_listen_only_errata_v4.4' into 'release/v4.4'

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twai: Add errata workaround for listen only mode (v4.4)

See merge request espressif/esp-idf!22515
This commit is contained in:
Jiang Jiang Jian 2023-02-28 19:51:17 +08:00
commit 97c23f2e79
3 changed files with 34 additions and 2 deletions
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11
components/driver/Kconfig
View File

@ -143,6 +143,17 @@ menu "Driver configurations"
on detection of this errata condition. Note that if a frame is being sent on the bus during the reset
bus during the reset, the message will be lost.
config TWAI_ERRATA_FIX_LISTEN_ONLY_DOM
bool "Add SW workaround for listen only transmits dominant bit errata"
depends on IDF_TARGET_ESP32 || IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3 || IDF_TARGET_ESP32C3
default n
help
When in the listen only mode, the TWAI controller must not influence the TWAI bus (i.e., must not send
any dominant bits). However, while in listen only mode on the ESP32/ESP32-S2/ESP32-S3/ESP32-C3, the
TWAI controller will still transmit dominant bits when it detects an error (i.e., as part of an active
error frame). Enabling this option will add a workaround that forces the TWAI controller into an error
passive state on initialization, thus preventing any dominant bits from being sent.
endmenu # TWAI Configuration
menu "UART configuration"

10
components/driver/twai.c
View File

@ -668,8 +668,14 @@ esp_err_t twai_get_status_info(twai_status_info_t *status_info)
TWAI_CHECK(status_info != NULL, ESP_ERR_INVALID_ARG);
TWAI_ENTER_CRITICAL();
status_info->tx_error_counter = twai_hal_get_tec(&twai_context);
status_info->rx_error_counter = twai_hal_get_rec(&twai_context);
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;

15
components/hal/twai_hal.c
View File

@ -70,6 +70,21 @@ void twai_hal_configure(twai_hal_context_t *hal_ctx, const twai_timing_config_t
void twai_hal_start(twai_hal_context_t *hal_ctx, twai_mode_t mode)
{
twai_ll_set_mode(hal_ctx->dev, mode); //Set operating mode
//Clear the TEC and REC
twai_ll_set_tec(hal_ctx->dev, 0);
#ifdef CONFIG_TWAI_ERRATA_FIX_LISTEN_ONLY_DOM
/*
Errata workaround: Prevent transmission of dominant error frame while in listen only mode by setting REC to 128
before exiting reset mode. This forces the controller to be error passive (thus only transmits recessive bits).
The TEC/REC remain frozen in listen only mode thus ensuring we remain error passive.
*/
if (mode == TWAI_MODE_LISTEN_ONLY) {
twai_ll_set_rec(hal_ctx->dev, 128);
} else
#endif
{
twai_ll_set_rec(hal_ctx->dev, 0);
}
(void) twai_ll_get_and_clear_intrs(hal_ctx->dev); //Clear any latched interrupts
TWAI_HAL_SET_BITS(hal_ctx->state_flags, TWAI_HAL_STATE_FLAG_RUNNING);
twai_ll_exit_reset_mode(hal_ctx->dev);