From 3473dda774aa702baa3cc4d62f735745ce06f2f5 Mon Sep 17 00:00:00 2001
From: Fan Jiang <ProfFan@users.noreply.github.com>
Date: Wed, 7 Aug 2024 10:22:30 -0400
Subject: [PATCH] TWAI: GPIO pins are not configured as input and output
 (#1906)

Co-authored-by: Jesse Braham <jessebraham@users.noreply.github.com>
---
 esp-hal/CHANGELOG.md    |  1 +
 esp-hal/src/twai/mod.rs | 27 +++++++++++++++++++++++++++
 2 files changed, 28 insertions(+)

diff --git a/esp-hal/CHANGELOG.md b/esp-hal/CHANGELOG.md
index 1439adf44..3c97878f5 100644
--- a/esp-hal/CHANGELOG.md
+++ b/esp-hal/CHANGELOG.md
@@ -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
 
diff --git a/esp-hal/src/twai/mod.rs b/esp-hal/src/twai/mod.rs
index 187281ea5..38a1c1744 100644
--- a/esp-hal/src/twai/mod.rs
+++ b/esp-hal/src/twai/mod.rs
@@ -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,