mirror of
https://github.com/espressif/esp-idf.git
synced 2024-09-20 20:56:01 -04:00
4c57f50fe4
This commit adds the feature where the TWAI ISR will continue to run even if the cache is disabled. Whilst cache is disabled, any received messages will go into the RX queue, and any pending TX messages in the TX queue will be transmitted. This feature should be enabled using the CONFIG_TWAI_ISR_IN_IRAM option.
84 lines
3.6 KiB
C
84 lines
3.6 KiB
C
// Copyright 2015-2019 Espressif Systems (Shanghai) PTE LTD
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
#include <stddef.h>
|
|
#include "hal/twai_hal.h"
|
|
|
|
//Default values written to various registers on initialization
|
|
#define TWAI_HAL_INIT_TEC 0
|
|
#define TWAI_HAL_INIT_REC 0
|
|
#define TWAI_HAL_INIT_EWL 96
|
|
|
|
/* ---------------------------- Init and Config ----------------------------- */
|
|
|
|
bool twai_hal_init(twai_hal_context_t *hal_ctx)
|
|
{
|
|
//Initialize HAL context
|
|
hal_ctx->dev = &TWAI;
|
|
hal_ctx->state_flags = 0;
|
|
//Initialize TWAI controller, and set default values to registers
|
|
twai_ll_enter_reset_mode(hal_ctx->dev);
|
|
if (!twai_ll_is_in_reset_mode(hal_ctx->dev)) { //Must enter reset mode to write to config registers
|
|
return false;
|
|
}
|
|
#ifdef TWAI_SUPPORT_MULTI_ADDRESS_LAYOUT
|
|
twai_ll_enable_extended_reg_layout(hal_ctx->dev); //Changes the address layout of the registers
|
|
#endif
|
|
twai_ll_set_mode(hal_ctx->dev, TWAI_MODE_LISTEN_ONLY); //Freeze REC by changing to LOM mode
|
|
//Both TEC and REC should start at 0
|
|
twai_ll_set_tec(hal_ctx->dev, TWAI_HAL_INIT_TEC);
|
|
twai_ll_set_rec(hal_ctx->dev, TWAI_HAL_INIT_REC);
|
|
twai_ll_set_err_warn_lim(hal_ctx->dev, TWAI_HAL_INIT_EWL); //Set default value of for EWL
|
|
return true;
|
|
}
|
|
|
|
void twai_hal_deinit(twai_hal_context_t *hal_ctx)
|
|
{
|
|
//Clear any pending registers
|
|
(void) twai_ll_get_and_clear_intrs(hal_ctx->dev);
|
|
twai_ll_set_enabled_intrs(hal_ctx->dev, 0);
|
|
twai_ll_clear_arb_lost_cap(hal_ctx->dev);
|
|
twai_ll_clear_err_code_cap(hal_ctx->dev);
|
|
hal_ctx->dev = NULL;
|
|
}
|
|
|
|
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)
|
|
{
|
|
//Configure bus timing, acceptance filter, CLKOUT, and interrupts
|
|
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);
|
|
twai_ll_set_acc_filter(hal_ctx->dev, f_config->acceptance_code, f_config->acceptance_mask, f_config->single_filter);
|
|
twai_ll_set_clkout(hal_ctx->dev, clkout_divider);
|
|
twai_ll_set_enabled_intrs(hal_ctx->dev, intr_mask);
|
|
(void) twai_ll_get_and_clear_intrs(hal_ctx->dev); //Clear any latched interrupts
|
|
}
|
|
|
|
/* -------------------------------- Actions --------------------------------- */
|
|
|
|
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
|
|
(void) twai_ll_get_and_clear_intrs(hal_ctx->dev); //Clear any latched interrupts
|
|
TWAI_HAL_SET_FLAG(hal_ctx->state_flags, TWAI_HAL_STATE_FLAG_RUNNING);
|
|
twai_ll_exit_reset_mode(hal_ctx->dev);
|
|
}
|
|
|
|
void twai_hal_stop(twai_hal_context_t *hal_ctx)
|
|
{
|
|
twai_ll_enter_reset_mode(hal_ctx->dev);
|
|
(void) twai_ll_get_and_clear_intrs(hal_ctx->dev);
|
|
twai_ll_set_mode(hal_ctx->dev, TWAI_MODE_LISTEN_ONLY); //Freeze REC by changing to LOM mode
|
|
//Any TX is immediately halted on entering reset mode
|
|
TWAI_HAL_RESET_FLAG(hal_ctx->state_flags, TWAI_HAL_STATE_FLAG_TX_BUFF_OCCUPIED);
|
|
TWAI_HAL_RESET_FLAG(hal_ctx->state_flags, TWAI_HAL_STATE_FLAG_RUNNING);
|
|
} |