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Slight TWAI corrections (#2288)

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* Fix ESP32 baud rate prescaler bit

* Explicitly disable CLKOUT

* Fix brp

* Loop example

* Clean up

* Impl traits for BaudRate

* Fix H2 125k

* Avoid self-receiving transmitted frames

* Fix self-reception flag

* De-CAN

* CI, more defmt impls

* Explain raw bit manipulation

* Fix spelling
This commit is contained in:
Dániel Buga 2024-10-08 15:32:22 +02:00 committed by GitHub
parent 08030d5541
commit 3a9abca148
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GPG Key ID: B5690EEEBB952194
5 changed files with 107 additions and 61 deletions
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2
esp-hal/src/soc/esp32c3/efuse/fields.rs
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@ -221,7 +221,7 @@ pub const DIS_USB_SERIAL_JTAG: EfuseField = EfuseField::new(EfuseBlock::Block0,
/// `[]` Set this bit to disable the function that forces chip into download
/// mode
pub const DIS_FORCE_DOWNLOAD: EfuseField = EfuseField::new(EfuseBlock::Block0, 44, 1);
/// `[DIS_CAN]` Set this bit to disable CAN function
/// `[DIS_CAN]` Set this bit to disable TWAI function
pub const DIS_TWAI: EfuseField = EfuseField::new(EfuseBlock::Block0, 46, 1);
/// `[]` Set this bit to enable selection between usb_to_jtag and pad_to_jtag
/// through strapping gpio10 when both reg_dis_usb_jtag and reg_dis_pad_jtag are

2
esp-hal/src/soc/esp32s3/efuse/fields.rs
View File

@ -269,7 +269,7 @@ pub const DIS_DOWNLOAD_DCACHE: EfuseField = EfuseField::new(EfuseBlock::Block0,
pub const DIS_FORCE_DOWNLOAD: EfuseField = EfuseField::new(EfuseBlock::Block0, 44, 1);
/// `[DIS_USB]` Set this bit to disable USB function
pub const DIS_USB_OTG: EfuseField = EfuseField::new(EfuseBlock::Block0, 45, 1);
/// `[DIS_CAN]` Set this bit to disable CAN function
/// `[DIS_CAN]` Set this bit to disable TWAI function
pub const DIS_TWAI: EfuseField = EfuseField::new(EfuseBlock::Block0, 46, 1);
/// `[]` Disable app cpu
pub const DIS_APP_CPU: EfuseField = EfuseField::new(EfuseBlock::Block0, 47, 1);

47
esp-hal/src/twai/mod.rs
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@ -244,6 +244,7 @@ impl embedded_can::Error for ErrorKind {
/// Specifies in which mode the TWAI controller will operate.
#[derive(Debug, Copy, Clone, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum TwaiMode {
/// Normal operating mode
Normal,
@ -256,6 +257,7 @@ pub enum TwaiMode {
/// Standard 11-bit TWAI Identifier (`0..=0x7FF`).
#[derive(Debug, Copy, Clone, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct StandardId(u16);
impl StandardId {
@ -321,6 +323,7 @@ impl From<embedded_can::StandardId> for StandardId {
/// Extended 29-bit TWAI Identifier (`0..=1FFF_FFFF`).
#[derive(Debug, Copy, Clone, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct ExtendedId(u32);
impl ExtendedId {
@ -392,6 +395,7 @@ impl From<embedded_can::ExtendedId> for ExtendedId {
/// A TWAI Identifier (standard or extended).
#[derive(Debug, Copy, Clone, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum Id {
/// Standard 11-bit Identifier (`0..=0x7FF`).
Standard(StandardId),
@ -451,6 +455,7 @@ impl From<embedded_can::Id> for Id {
/// Structure backing the embedded_hal_02::can::Frame/embedded_can::Frame trait.
#[derive(Clone, Copy, Debug)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct EspTwaiFrame {
id: Id,
dlc: usize,
@ -535,7 +540,7 @@ impl EspTwaiFrame {
data,
dlc,
is_remote: false,
self_reception: true,
self_reception: false,
}
}
}
@ -611,6 +616,8 @@ impl embedded_can::Frame for EspTwaiFrame {
}
/// The underlying timings for the TWAI peripheral.
#[derive(Debug, Copy, Clone, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct TimingConfig {
/// The baudrate prescaler is used to determine the period of each time
/// quantum by dividing the TWAI controller's source clock.
@ -635,6 +642,8 @@ pub struct TimingConfig {
/// A selection of pre-determined baudrates for the TWAI driver.
/// Currently these timings are sourced from the ESP IDF C driver which assumes
/// an APB clock of 80MHz.
#[derive(Debug, Copy, Clone, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum BaudRate {
/// A baud rate of 125 Kbps.
B125K,
@ -691,10 +700,10 @@ impl BaudRate {
#[cfg(esp32h2)]
let timing = match self {
Self::B125K => TimingConfig {
baud_rate_prescaler: 8,
baud_rate_prescaler: 16,
sync_jump_width: 3,
tseg_1: 23,
tseg_2: 8,
tseg_1: 11,
tseg_2: 4,
triple_sample: false,
},
Self::B250K => TimingConfig {
@ -772,17 +781,20 @@ where
.modify(|r, w| unsafe { w.bits(r.bits() | 0x80) });
}
if no_transceiver {
let rx_pull = if no_transceiver {
tx_pin.set_to_open_drain_output(crate::private::Internal);
tx_pin.pull_direction(Pull::Up, crate::private::Internal);
Pull::Up
} else {
tx_pin.set_to_push_pull_output(crate::private::Internal);
}
Pull::None
};
tx_pin.connect_peripheral_to_output(T::OUTPUT_SIGNAL, crate::private::Internal);
// Setting up RX pin later allows us to use a single pin in tests.
// `set_to_push_pull_output` disables input, here we re-enable it if rx_pin
// uses the same GPIO.
rx_pin.init_input(Pull::None, crate::private::Internal);
rx_pin.init_input(rx_pull, crate::private::Internal);
rx_pin.connect_input_to_peripheral(T::INPUT_SIGNAL, crate::private::Internal);
// Freeze REC by changing to LOM mode
@ -843,17 +855,21 @@ where
#[cfg(esp32)]
{
// From <https://github.com/espressif/esp-idf/blob/6e5a178b3120dced7fa5c29c655cc22ea182df3d/components/soc/esp32/register/soc/twai_struct.h#L79>
// and <https://github.com/espressif/esp-idf/blob/6e5a178b3120dced7fa5c29c655cc22ea182df3d/components/hal/esp32/include/hal/twai_ll.h#L528-L534>:
if timing.baud_rate_prescaler > 128 {
// Enable /2 baudrate divider
// Enable /2 baudrate divider by setting `brp_div`.
// `brp_div` is not an interrupt, it will prescale BRP by 2. Only available on
// ESP32 Revision 2 or later. Reserved otherwise.
T::register_block()
.int_ena()
.modify(|r, w| unsafe { w.bits(r.bits() | 0x08) });
.modify(|r, w| unsafe { w.bits(r.bits() | 0x10) });
prescaler = timing.baud_rate_prescaler / 2;
} else {
// Disable /2 baudrate divider
// Disable /2 baudrate divider by clearing brp_div.
T::register_block()
.int_ena()
.modify(|r, w| unsafe { w.bits(r.bits() & !0xF7) });
.modify(|r, w| unsafe { w.bits(r.bits() & !0x10) });
}
}
@ -875,6 +891,11 @@ where
w.time_seg2().bits(tseg_2);
w.time_samp().bit(triple_sample)
});
// disable CLKOUT
T::register_block()
.clock_divider()
.modify(|_, w| w.clock_off().set_bit());
}
/// Set up the acceptance filter on the device.
@ -1491,6 +1512,7 @@ pub trait Instance: crate::private::Sealed {
let is_standard_format = data_0 & 0b1 << 7 == 0;
let is_data_frame = data_0 & 0b1 << 6 == 0;
let self_reception = data_0 & 0b1 << 4 != 0;
let dlc = data_0 & 0b1111;
if dlc > 8 {
@ -1528,11 +1550,12 @@ pub trait Instance: crate::private::Sealed {
(id, register_block.data_5().as_ptr())
};
let frame = if is_data_frame {
let mut frame = if is_data_frame {
unsafe { EspTwaiFrame::new_from_data_registers(id, data_ptr, dlc) }
} else {
EspTwaiFrame::new_remote(id, dlc).unwrap()
};
frame.self_reception = self_reception;
// Release the packet we read from the FIFO, allowing the peripheral to prepare
// the next packet.

54
examples/src/bin/embassy_twai.rs
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@ -1,5 +1,5 @@
//! This example demonstrates use of the twai peripheral running the embassy
//! executor and asynchronously receiving and transmitting twai frames.
//! This example demonstrates use of the TWAI peripheral running the embassy
//! executor and asynchronously receiving and transmitting TWAI frames.
//!
//! The `receiver` task waits to receive a frame and puts it into a channel
//! which will be picked up by the `transmitter` task.
@ -8,13 +8,23 @@
//! it.
//!
//! This example should work with another ESP board running the `twai` example
//! with `IS_SENDER` set to `true`.
//! with `IS_FIRST_SENDER` set to `true`.
//!
//! The following wiring is assumed:
//! - TX => GPIO0
//! - RX => GPIO2
//! - TX/RX => GPIO2, connected internally and with internal pull-up resistor.
//!
//! ESP1/GND --- ESP2/GND
//! ESP1/GPIO2 --- ESP2/GPIO2
//!
//! Notes for external transceiver use:
//!
//! The default setup assumes that two microcontrollers are connected directly without an external
//! transceiver. If you want to use an external transceiver, you need to:
//! * uncomment the `rx_pin` line
//! * use `new()` function to create the TWAI configuration.
//! * change the `tx_pin` and `rx_pin` to the appropriate pins for your boards.
//% CHIPS: esp32c3 esp32c6 esp32s2 esp32s3
//% CHIPS: esp32 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
//% FEATURES: embassy embassy-generic-timers
#![no_std]
@ -29,7 +39,7 @@ use esp_hal::{
interrupt,
peripherals::{self, TWAI0},
timer::timg::TimerGroup,
twai::{self, EspTwaiFrame, TwaiMode, TwaiRx, TwaiTx},
twai::{self, EspTwaiFrame, StandardId, TwaiMode, TwaiRx, TwaiTx},
};
use esp_println::println;
use static_cell::StaticCell;
@ -49,7 +59,9 @@ async fn receiver(
println!("Received a frame:");
print_frame(&frame);
// repeat the frame back
// Send a response
let frame =
EspTwaiFrame::new(StandardId::new(1).unwrap(), &[4, 5, 6, 7, 8]).unwrap();
channel.send(frame).await;
}
Err(e) => {
@ -82,6 +94,7 @@ async fn transmitter(
#[esp_hal_embassy::main]
async fn main(spawner: Spawner) {
esp_println::logger::init_logger_from_env();
let peripherals = esp_hal::init(esp_hal::Config::default());
let timg0 = TimerGroup::new(peripherals.TIMG0);
@ -89,21 +102,24 @@ async fn main(spawner: Spawner) {
let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
let can_tx_pin = io.pins.gpio0;
let can_rx_pin = io.pins.gpio2;
let tx_pin = io.pins.gpio2;
// let rx_pin = io.pins.gpio0; // Uncomment if you want to use an external transceiver.
// The speed of the CAN bus.
const CAN_BAUDRATE: twai::BaudRate = twai::BaudRate::B1000K;
// Without an external transceiver, we only need a single line between the two MCUs.
let rx_pin = tx_pin.peripheral_input(); // Comment this line if you want to use an external transceiver.
// The speed of the bus.
const TWAI_BAUDRATE: twai::BaudRate = twai::BaudRate::B125K;
// !!! Use `new_async` when using a transceiver. `new_async_no_transceiver` sets TX to open-drain
// Begin configuring the TWAI peripheral. The peripheral is in a reset like
// state that prevents transmission but allows configuration.
let mut can_config = twai::TwaiConfiguration::new_async_no_transceiver(
let mut twai_config = twai::TwaiConfiguration::new_async_no_transceiver(
peripherals.TWAI0,
can_rx_pin,
can_tx_pin,
CAN_BAUDRATE,
rx_pin,
tx_pin,
TWAI_BAUDRATE,
TwaiMode::Normal,
);
@ -115,15 +131,15 @@ async fn main(spawner: Spawner) {
// standard ids of an even value.
const FILTER: twai::filter::SingleStandardFilter =
twai::filter::SingleStandardFilter::new(b"xxxxxxxxxx0", b"x", [b"xxxxxxxx", b"xxxxxxxx"]);
can_config.set_filter(FILTER);
twai_config.set_filter(FILTER);
// Start the peripheral. This locks the configuration settings of the peripheral
// and puts it into operation mode, allowing packets to be sent and
// received.
let can = can_config.start();
let twai = twai_config.start();
// Get separate transmit and receive halves of the peripheral.
let (rx, tx) = can.split();
let (rx, tx) = twai.split();
interrupt::enable(
peripherals::Interrupt::TWAI0,

59
examples/src/bin/twai.rs
View File

@ -1,23 +1,25 @@
//! This example sends a TWAI message to another ESP and receives it back.
//!
//! This example works without TWAI transceivers by:
//! * setting the tx pins to open drain
//! * connecting all rx and tx pins together
//! * adding a pull-up to the signal pins
//!
//! The following wiring is assumed:
//! - TX => GPIO0
//! - RX => GPIO2
//!
//! ESP1/GND --- ESP2/GND
//! ESP1/GPIO0 --- ESP1/GPIO2 --- ESP2/GPIO0 --- ESP2/GPIO2 --- 4.8kOhm --- ESP1/5V
//!
//! `IS_FIRST_SENDER` below must be set to false on one of the ESP's
//!
//! In case you want to use `self-testing`, get rid of everything related to the aforementioned `IS_FIRST_SENDER`
//! and follow the advice in the comments related to this mode.
//!
//! The following wiring is assumed:
//! - TX/RX => GPIO2, connected internally and with internal pull-up resistor.
//!
//! ESP1/GND --- ESP2/GND
//! ESP1/GPIO2 --- ESP2/GPIO2
//!
//! Notes for external transceiver use:
//!
//! The default setup assumes that two microcontrollers are connected directly without an external
//! transceiver. If you want to use an external transceiver, you need to:
//! * uncomment the `rx_pin` line
//! * use `new()` function to create the TWAI configuration.
//! * change the `tx_pin` and `rx_pin` to the appropriate pins for your boards.
//% CHIPS: esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
//% CHIPS: esp32 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
#![no_std]
#![no_main]
@ -26,6 +28,7 @@ const IS_FIRST_SENDER: bool = true;
use esp_backtrace as _;
use esp_hal::{
delay::Delay,
gpio::Io,
prelude::*,
twai::{self, filter::SingleStandardFilter, EspTwaiFrame, StandardId, TwaiMode},
@ -39,11 +42,14 @@ fn main() -> ! {
let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
let tx_pin = io.pins.gpio0;
let rx_pin = io.pins.gpio2;
let tx_pin = io.pins.gpio2;
// let rx_pin = io.pins.gpio0; // Uncomment if you want to use an external transceiver.
// The speed of the CAN bus.
const TWAI_BAUDRATE: twai::BaudRate = twai::BaudRate::B1000K;
// Without an external transceiver, we only need a single line between the two MCUs.
let rx_pin = tx_pin.peripheral_input(); // Comment this line if you want to use an external transceiver.
// The speed of the bus.
const TWAI_BAUDRATE: twai::BaudRate = twai::BaudRate::B125K;
// !!! Use `new` when using a transceiver. `new_no_transceiver` sets TX to open-drain
// Self-testing also works using the regular `new` function.
@ -66,32 +72,33 @@ fn main() -> ! {
// these partial acceptance filters to exactly match.
// A filter that matches StandardId::ZERO.
twai_config.set_filter(
const { SingleStandardFilter::new(b"00000000000", b"x", [b"xxxxxxxx", b"xxxxxxxx"]) },
const { SingleStandardFilter::new(b"xxxxxxxxxx1", b"x", [b"xxxxxxxx", b"xxxxxxxx"]) },
);
// Start the peripheral. This locks the configuration settings of the peripheral
// and puts it into operation mode, allowing packets to be sent and
// received.
let mut can = twai_config.start();
let mut twai = twai_config.start();
if IS_FIRST_SENDER {
// Send a frame to the other ESP
// Use `new_self_reception` if you want to use self-testing.
let frame = EspTwaiFrame::new(StandardId::ZERO, &[1, 2, 3]).unwrap();
block!(can.transmit(&frame)).unwrap();
block!(twai.transmit(&frame)).unwrap();
println!("Sent a frame");
}
let delay = Delay::new();
loop {
// Wait for a frame to be received.
let frame = block!(can.receive()).unwrap();
let frame = block!(twai.receive()).unwrap();
println!("Received a frame: {frame:?}");
delay.delay_millis(250);
if !IS_FIRST_SENDER {
// Transmit the frame back to the other ESP
block!(can.transmit(&frame)).unwrap();
let frame = EspTwaiFrame::new(StandardId::ZERO, &[1, 2, 3]).unwrap();
// Transmit a new frame back to the other ESP
block!(twai.transmit(&frame)).unwrap();
println!("Sent a frame");
}
loop {}
}