Erase TWAI (#2359)

* Swap order of generics

* Don't refer to Instance in irq handler

* Deduplicate a bit

* Take &self

* Reduce nesting

* Erase TWAI instance

esp-hal/CHANGELOG.md

@@ -15,6 +15,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - `AnyPin` now implements `From<GpioPin<N>>`. (#2326)
 - Added `AnySpi` and `AnySpiDmaChannel`. (#2334)
 - Added `AnyI2s` and `AnyI2sDmaChannel`. (#2367)
+- Added `AnyTwai`. (#2359)
 - `Pins::steal()` to unsafely obtain GPIO. (#2335)
 - `I2c::with_timeout` (#2361)
 
@@ -23,6 +24,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Peripheral type erasure for SPI (#2334)
 - Peripheral type erasure for I2S (#2367)
 - Peripheral type erasure for I2C (#2361)
+- Peripheral type erasure for TWAI (#2359)
 
 ### Fixed
 

esp-hal/MIGRATING-0.21.md

@@ -31,6 +31,7 @@ peripherals:
 - SPI (both master and slave)
 - I2S
 - I2C
+- TWAI
 
 ```diff
 -Spi<'static, SPI2, FullDuplexMode>

esp-hal/src/soc/esp32/peripherals.rs

@@ -67,7 +67,7 @@ crate::peripherals! {
     TIMG0 <= TIMG0,
     TIMG1 <= TIMG1,
     TOUCH <= virtual,
-    TWAI0 <= TWAI0,
+    [Twai0] TWAI0 <= TWAI0,
     UART0 <= UART0,
     UART1 <= UART1,
     UART2 <= UART2,

esp-hal/src/soc/esp32c3/peripherals.rs

@@ -53,7 +53,7 @@ crate::peripherals! {
     SW_INTERRUPT <= virtual,
     TIMG0 <= TIMG0,
     TIMG1 <= TIMG1,
-    TWAI0 <= TWAI0,
+    [Twai0] TWAI0 <= TWAI0,
     UART0 <= UART0,
     UART1 <= UART1,
     UHCI0 <= UHCI0,

esp-hal/src/soc/esp32c6/peripherals.rs

@@ -81,8 +81,8 @@ crate::peripherals! {
     TIMG0 <= TIMG0,
     TIMG1 <= TIMG1,
     TRACE0 <= TRACE,
-    TWAI0 <= TWAI0,
+    [Twai0] TWAI0 <= TWAI0,
-    TWAI1 <= TWAI1,
+    [Twai1] TWAI1 <= TWAI1,
     UART0 <= UART0,
     UART1 <= UART1,
     UHCI0 <= UHCI0,

esp-hal/src/soc/esp32h2/peripherals.rs

@@ -73,7 +73,7 @@ crate::peripherals! {
     TIMG0 <= TIMG0,
     TIMG1 <= TIMG1,
     TRACE0 <= TRACE,
-    TWAI0 <= TWAI0,
+    [Twai0] TWAI0 <= TWAI0,
     UART0 <= UART0,
     UART1 <= UART1,
     UHCI0 <= UHCI0,

esp-hal/src/soc/esp32s2/peripherals.rs

@@ -60,7 +60,7 @@ crate::peripherals! {
     SW_INTERRUPT <= virtual,
     TIMG0 <= TIMG0,
     TIMG1 <= TIMG1,
-    TWAI0 <= TWAI0,
+    [Twai0] TWAI0 <= TWAI0,
     UART0 <= UART0,
     UART1 <= UART1,
     UHCI0 <= UHCI0,

esp-hal/src/soc/esp32s3/peripherals.rs

@@ -66,7 +66,7 @@ crate::peripherals! {
     SW_INTERRUPT <= virtual,
     TIMG0 <= TIMG0,
     TIMG1 <= TIMG1,
-    TWAI0 <= TWAI0,
+    [Twai0] TWAI0 <= TWAI0,
     UART0 <= UART0,
     UART1 <= UART1,
     UART2 <= UART2,

examples/src/bin/embassy_twai.rs

@@ -36,8 +36,6 @@ use embedded_can::{Frame, Id};
 use esp_backtrace as _;
 use esp_hal::{
     gpio::Io,
-    interrupt,
-    peripherals::{self, TWAI0},
     timer::timg::TimerGroup,
     twai::{self, EspTwaiFrame, StandardId, TwaiMode, TwaiRx, TwaiTx},
 };
@@ -47,10 +45,7 @@ use static_cell::StaticCell;
 type TwaiOutbox = Channel<NoopRawMutex, EspTwaiFrame, 16>;
 
 #[embassy_executor::task]
-async fn receiver(
+async fn receiver(mut rx: TwaiRx<'static, esp_hal::Async>, channel: &'static TwaiOutbox) -> ! {
-    mut rx: TwaiRx<'static, TWAI0, esp_hal::Async>,
-    channel: &'static TwaiOutbox,
-) -> ! {
     loop {
         let frame = rx.receive_async().await;
 
@@ -72,10 +67,7 @@ async fn receiver(
 }
 
 #[embassy_executor::task]
-async fn transmitter(
+async fn transmitter(mut tx: TwaiTx<'static, esp_hal::Async>, channel: &'static TwaiOutbox) -> ! {
-    mut tx: TwaiTx<'static, TWAI0, esp_hal::Async>,
-    channel: &'static TwaiOutbox,
-) -> ! {
     loop {
         let frame = channel.receive().await;
         let result = tx.transmit_async(&frame).await;
@@ -141,12 +133,6 @@ async fn main(spawner: Spawner) {
     // Get separate transmit and receive halves of the peripheral.
     let (rx, tx) = twai.split();
 
-    interrupt::enable(
-        peripherals::Interrupt::TWAI0,
-        interrupt::Priority::Priority1,
-    )
-    .unwrap();
-
     static CHANNEL: StaticCell<TwaiOutbox> = StaticCell::new();
     let channel = &*CHANNEL.init(Channel::new());
 

hil-test/tests/twai.rs

@@ -8,7 +8,6 @@
 use embedded_hal_02::can::Frame;
 use esp_hal::{
     gpio::Io,
-    peripherals::TWAI0,
     prelude::*,
     twai::{self, filter::SingleStandardFilter, EspTwaiFrame, StandardId, TwaiMode},
     Blocking,
@@ -17,7 +16,7 @@ use hil_test as _;
 use nb::block;
 
 struct Context {
-    twai: twai::Twai<'static, TWAI0, Blocking>,
+    twai: twai::Twai<'static, Blocking>,
 }
 
 #[cfg(test)]