menu "TWAI Configuration"
    depends on SOC_TWAI_SUPPORTED

    config TWAI_ISR_IN_IRAM
        bool "Place TWAI ISR function into IRAM"
        default n
        help
            Place the TWAI ISR in to IRAM. This will allow the ISR to avoid
            cache misses, and also be able to run whilst the cache is disabled
            (such as when writing to SPI Flash).
            Note that if this option is enabled:
            - Users should also set the ESP_INTR_FLAG_IRAM in the driver
            configuration structure when installing the driver (see docs for
            specifics).
            - Alert logging (i.e., setting of the TWAI_ALERT_AND_LOG flag)
            will have no effect.

    config TWAI_ERRATA_FIX_BUS_OFF_REC
        bool "Add SW workaround for REC change during bus-off"
        depends on IDF_TARGET_ESP32
        default y
        help
            When the bus-off condition is reached, the REC should be reset to 0 and frozen (via LOM) by the
            driver's ISR. However on the ESP32, there is an edge case where the REC will increase before the
            driver's ISR can respond in time (e.g., due to the rapid occurrence of bus errors), thus causing the
            REC to be non-zero after bus-off. A non-zero REC can prevent bus-off recovery as the bus-off recovery
            condition is that both TEC and REC become 0. Enabling this option will add a workaround in the driver
            to forcibly reset REC to zero on reaching bus-off.

    config TWAI_ERRATA_FIX_TX_INTR_LOST
        bool "Add SW workaround for TX interrupt lost errata"
        depends on IDF_TARGET_ESP32
        default y
        help
            On the ESP32, when a transmit interrupt occurs, and interrupt register is read on the same APB clock
            cycle, the transmit interrupt could be lost. Enabling this option will add a workaround that checks the
            transmit buffer status bit to recover any lost transmit interrupt.

    config TWAI_ERRATA_FIX_RX_FRAME_INVALID
        bool "Add SW workaround for invalid RX frame errata"
        depends on IDF_TARGET_ESP32
        default y
        help
            On the ESP32, when receiving a data or remote frame, if a bus error occurs in the data or CRC field,
            the data of the next received frame could be invalid. Enabling this option will add a workaround that
            will reset the peripheral on detection of this errata condition. Note that if a frame is transmitted on
            the bus whilst the reset is ongoing, the message will not be receive by the peripheral sent on the bus
            during the reset, the message will be lost.

    config TWAI_ERRATA_FIX_RX_FIFO_CORRUPT
        bool "Add SW workaround for RX FIFO corruption errata"
        depends on IDF_TARGET_ESP32
        default y
        help
            On the ESP32, when the RX FIFO overruns and the RX message counter maxes out at 64 messages, the entire
            RX FIFO is no longer recoverable. Enabling this option will add a workaround that resets the peripheral
            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 y
        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