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Use array-ified TWAI DATA registers (#3793)

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Dániel Buga 2025-07-15 11:07:26 +02:00 committed by GitHub
parent 9e5e643bb0
commit 978f9083a6
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2 changed files with 33 additions and 33 deletions
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14
esp-hal/Cargo.toml
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@ -73,13 +73,13 @@ ufmt-write = { version = "0.1.0", optional = true }
# IMPORTANT:
# Each supported device MUST have its PAC included below along with a
# corresponding feature.
esp32 = { version = "0.37.0", features = ["critical-section", "rt"], git = "https://github.com/esp-rs/esp-pacs", rev = "782de0b", optional = true }
esp32c2 = { version = "0.26.0", features = ["critical-section", "rt"], git = "https://github.com/esp-rs/esp-pacs", rev = "782de0b", optional = true }
esp32c3 = { version = "0.29.0", features = ["critical-section", "rt"], git = "https://github.com/esp-rs/esp-pacs", rev = "782de0b", optional = true }
esp32c6 = { version = "0.20.0", features = ["critical-section", "rt"], git = "https://github.com/esp-rs/esp-pacs", rev = "782de0b", optional = true }
esp32h2 = { version = "0.16.0", features = ["critical-section", "rt"], git = "https://github.com/esp-rs/esp-pacs", rev = "782de0b", optional = true }
esp32s2 = { version = "0.28.0", features = ["critical-section", "rt"], git = "https://github.com/esp-rs/esp-pacs", rev = "782de0b", optional = true }
esp32s3 = { version = "0.32.0", features = ["critical-section", "rt"], git = "https://github.com/esp-rs/esp-pacs", rev = "782de0b", optional = true }
esp32 = { version = "0.37.0", features = ["critical-section", "rt"], git = "https://github.com/esp-rs/esp-pacs", rev = "fba5fb9", optional = true }
esp32c2 = { version = "0.26.0", features = ["critical-section", "rt"], git = "https://github.com/esp-rs/esp-pacs", rev = "fba5fb9", optional = true }
esp32c3 = { version = "0.29.0", features = ["critical-section", "rt"], git = "https://github.com/esp-rs/esp-pacs", rev = "fba5fb9", optional = true }
esp32c6 = { version = "0.20.0", features = ["critical-section", "rt"], git = "https://github.com/esp-rs/esp-pacs", rev = "fba5fb9", optional = true }
esp32h2 = { version = "0.16.0", features = ["critical-section", "rt"], git = "https://github.com/esp-rs/esp-pacs", rev = "fba5fb9", optional = true }
esp32s2 = { version = "0.28.0", features = ["critical-section", "rt"], git = "https://github.com/esp-rs/esp-pacs", rev = "fba5fb9", optional = true }
esp32s3 = { version = "0.32.0", features = ["critical-section", "rt"], git = "https://github.com/esp-rs/esp-pacs", rev = "fba5fb9", optional = true }
[target.'cfg(target_arch = "riscv32")'.dependencies]
riscv = { version = "0.12.1" }

52
esp-hal/src/twai/mod.rs
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@ -864,7 +864,7 @@ where
// Copy the filter to the peripheral.
unsafe {
copy_to_data_register(self.regs().data_0().as_ptr(), registers);
copy_to_data_register(self.regs().data(0).as_ptr(), registers);
}
}
@ -1349,7 +1349,7 @@ pub trait PrivateInstance: crate::private::Sealed {
/// Read a frame from the peripheral.
fn read_frame(register_block: &RegisterBlock) -> Result<EspTwaiFrame, EspTwaiError> {
// Read the frame information and extract the frame id format and dlc.
let data_0 = register_block.data_0().read().tx_byte_0().bits();
let data_0 = register_block.data(0).read().tx_byte().bits();
let is_standard_format = data_0 & (0b1 << 7) == 0;
let is_data_frame = data_0 & (0b1 << 6) == 0;
@ -1368,19 +1368,19 @@ fn read_frame(register_block: &RegisterBlock) -> Result<EspTwaiFrame, EspTwaiErr
// Read the payload from the packet and construct a frame.
let (id, data_ptr) = if is_standard_format {
// Frame uses standard 11 bit id.
let data_1 = register_block.data_1().read().tx_byte_1().bits();
let data_2 = register_block.data_2().read().tx_byte_2().bits();
let data_1 = register_block.data(1).read().tx_byte().bits();
let data_2 = register_block.data(2).read().tx_byte().bits();
let raw_id: u16 = ((data_1 as u16) << 3) | ((data_2 as u16) >> 5);
let id = Id::from(StandardId::new(raw_id).unwrap());
(id, register_block.data_3().as_ptr())
(id, register_block.data(3).as_ptr())
} else {
// Frame uses extended 29 bit id.
let data_1 = register_block.data_1().read().tx_byte_1().bits();
let data_2 = register_block.data_2().read().tx_byte_2().bits();
let data_3 = register_block.data_3().read().tx_byte_3().bits();
let data_4 = register_block.data_4().read().tx_byte_4().bits();
let data_1 = register_block.data(1).read().tx_byte().bits();
let data_2 = register_block.data(2).read().tx_byte().bits();
let data_3 = register_block.data(3).read().tx_byte().bits();
let data_4 = register_block.data(4).read().tx_byte().bits();
let raw_id: u32 = ((data_1 as u32) << 21)
| ((data_2 as u32) << 13)
@ -1388,7 +1388,7 @@ fn read_frame(register_block: &RegisterBlock) -> Result<EspTwaiFrame, EspTwaiErr
| ((data_4 as u32) >> 3);
let id = Id::from(ExtendedId::new(raw_id).unwrap());
(id, register_block.data_5().as_ptr())
(id, register_block.data(5).as_ptr())
};
let mut frame = if is_data_frame {
@ -1423,8 +1423,8 @@ fn write_frame(register_block: &RegisterBlock, frame: &EspTwaiFrame) {
let data_0: u8 = (frame_format << 7) | (rtr_bit << 6) | (self_reception << 4) | dlc_bits;
register_block
.data_0()
.write(|w| unsafe { w.tx_byte_0().bits(data_0) });
.data(0)
.write(|w| unsafe { w.tx_byte().bits(data_0) });
// Assemble the identifier information of the packet and return where the data
// buffer starts.
@ -1433,32 +1433,32 @@ fn write_frame(register_block: &RegisterBlock, frame: &EspTwaiFrame) {
let id = id.as_raw();
register_block
.data_1()
.write(|w| unsafe { w.tx_byte_1().bits((id >> 3) as u8) });
.data(1)
.write(|w| unsafe { w.tx_byte().bits((id >> 3) as u8) });
register_block
.data_2()
.write(|w| unsafe { w.tx_byte_2().bits((id << 5) as u8) });
.data(2)
.write(|w| unsafe { w.tx_byte().bits((id << 5) as u8) });
register_block.data_3().as_ptr()
register_block.data(3).as_ptr()
}
Id::Extended(id) => {
let id = id.as_raw();
register_block
.data_1()
.write(|w| unsafe { w.tx_byte_1().bits((id >> 21) as u8) });
.data(1)
.write(|w| unsafe { w.tx_byte().bits((id >> 21) as u8) });
register_block
.data_2()
.write(|w| unsafe { w.tx_byte_2().bits((id >> 13) as u8) });
.data(2)
.write(|w| unsafe { w.tx_byte().bits((id >> 13) as u8) });
register_block
.data_3()
.write(|w| unsafe { w.tx_byte_3().bits((id >> 5) as u8) });
.data(3)
.write(|w| unsafe { w.tx_byte().bits((id >> 5) as u8) });
register_block
.data_4()
.write(|w| unsafe { w.tx_byte_4().bits((id << 3) as u8) });
.data(4)
.write(|w| unsafe { w.tx_byte().bits((id << 3) as u8) });
register_block.data_5().as_ptr()
register_block.data(5).as_ptr()
}
};