f3a8a911c0
This commit adds a workaround for the TWAI listen only mode errata which is present on the ESP32, ESP32-S2, ESP32-S3, and ESP32-C3. twai_get_status_info() has also been updated to account for the fact that TEC/REC are frozen in listen only mode. Errata Description: When the TWAI controller is put into listen only mode, it should not influence the TWAI bus in any way (i.e., should never send a dominant bit). However, on the targets listed above, the TWAI controller will send dominant bits in an error frame (i.e., active error frame), even if the controller is set to listen only mode. Workaround: We can force the TWAI controller into the error passive state on startup (by setting the REC to >= 128). Since the TEC/REC are frozen in listen only mode, the TWAI controller will remain error passive and only send recessive bits (i.e., passive error frames), thus will not influence the TWAI bus. Closes https://github.com/espressif/esp-idf/issues/9157
soc
The soc component provides abstraction, hardware description and implementation for targets suppported by ESP-IDF. This is reflected in
the component's subdirectories:
soc/include- abstractionsoc/soc- descriptionsoc/src- implementation
soc/include
soc/include contains header files which provide a hardware-agnostic interface to the SoC. The interface consists of
function declarations and abstracted types that other, higher level components can make use of in order to have code portable to
all targets ESP-IDF supports.
The hal subdirectory contains an abstraction layer for interacting with/driving the hardware found in the SoC such as the peripherals
and 'core' hardware such as the CPU, MPU, caches, etc. It contains xxx_hal.h files for the function declarations and xxx_types.h for the abstracted types.
The abstraction design is actually two levels -- oftentimes xxx_hal.h includes a lower-level header from a
xxx_ll.h, which resides in the implementation, soc/src subdirectory. More on this abstraction design in the hal subdirectory's README.
The soc subdirectory contains other useful interface for SoC-level operations or concepts, such as the memory layout, spinlocks, etc.
soc/soc
The soc/soc subdirectory contains description of the underlying hardware:
- `xxx_reg.h` - defines registers related to the hardware
- `xxx_struct.h` - hardware description in C `struct`
- `xxx_channel.h` - definitions for hardware with multiple channels
- `xxx_caps.h` - features/capabilities of the hardware
- `xxx_pins.h` - pin definitions
- `xxx_periph.h/*.c` - includes all headers related to a peripheral; declaration and definition of IO mapping for that hardware
Since the hardware description is target-specific, there are subdirectories for each target containing copies of the files above. Furthermore, the files in this directory should be standalone, i.e. should not include files from outside directories.
soc/src
Provides the implementation of the hardware-agnostic interface in the abstraction. Target-specific subdirectories exist for wildly different implementations between targets; while code that are common/very similar might be placed in the top-level of soc/src, using some amount of conditional preprocessors. It is up to the developers' discretion on which strategy to use. Code usually reside in source files with same names to header files whose interfaces they implement, ex. xxx_hal.c for xxx_hal.h.
As mentioned previously, the lower-level abstraction header xxx_ll.h resides in this directory, since they contain hardware-specific details.
However, what these can do is provide some abstraction among implementations, so that more code can be moved to the common, non-target-specific subdirectories.
This can also contain target-specific extensions to the HAL headers. These target-specific HAL headers have the same name and include the abstraction layer HAL header via include_next. These extensions might add more function declarations or override some things using macro magic.