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TWAI: GPIO pins are not configured as input and output (#1906)

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Co-authored-by: Jesse Braham <jessebraham@users.noreply.github.com>
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Fan Jiang 2024-08-07 10:22:30 -04:00 committed by GitHub
parent e58b4d8d89
commit 3473dda774
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1
esp-hal/CHANGELOG.md
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@ -27,6 +27,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
- Fix PARL_IO async-rx (#1851)
- SPI: Clear DMA interrupts before (not after) DMA starts (#1859)
- SPI: disable and re-enable MISO and MOSI in `start_transfer_dma`, `start_read_bytes_dma` and `start_write_bytes_dma` accordingly (#1894)
- TWAI: GPIO pins are not configured as input and output (#1906)
### Removed

27
esp-hal/src/twai/mod.rs
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@ -647,14 +647,41 @@ where
// Enable the peripheral clock for the TWAI peripheral.
T::enable_peripheral();
// Set RESET bit to 1
T::register_block()
.mode()
.write(|w| w.reset_mode().set_bit());
// Set up the GPIO pins.
crate::into_ref!(tx_pin, rx_pin);
if no_transceiver {
tx_pin.set_to_open_drain_output(crate::private::Internal);
}
tx_pin.set_to_push_pull_output(crate::private::Internal);
tx_pin.connect_peripheral_to_output(T::OUTPUT_SIGNAL, crate::private::Internal);
rx_pin.set_to_input(crate::private::Internal);
rx_pin.connect_input_to_peripheral(T::INPUT_SIGNAL, crate::private::Internal);
// Set mod to listen only first
T::register_block()
.mode()
.modify(|_, w| w.listen_only_mode().set_bit());
// Set TEC to 0
T::register_block()
.tx_err_cnt()
.write(|w| unsafe { w.tx_err_cnt().bits(0) });
// Set REC to 0
T::register_block()
.rx_err_cnt()
.write(|w| unsafe { w.rx_err_cnt().bits(0) });
// Set EWL to 96
T::register_block()
.err_warning_limit()
.write(|w| unsafe { w.err_warning_limit().bits(96) });
let mut cfg = TwaiConfiguration {
peripheral: PhantomData,
phantom: PhantomData,