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fix(driver_twai): fixed bus-off when twai_init due to wrong gpio config

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Closes https://github.com/espressif/esp-idf/issues/14548
This commit is contained in:
wanckl 2024-09-30 16:57:34 +08:00
parent 7c02cb4517
commit 562111939e
1 changed files with 12 additions and 26 deletions
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38
components/driver/twai.c
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@ -15,7 +15,6 @@
#include "esp_pm.h"
#include "esp_attr.h"
#include "esp_heap_caps.h"
#include "driver/gpio.h"
#include "esp_private/periph_ctrl.h"
#include "driver/twai.h"
#include "soc/soc_caps.h"
@ -23,6 +22,7 @@
#include "soc/twai_periph.h"
#include "soc/gpio_sig_map.h"
#include "hal/twai_hal.h"
#include "hal/gpio_hal.h"
#include "esp_rom_gpio.h"
/* ---------------------------- Definitions --------------------------------- */
@ -278,45 +278,34 @@ TWAI_ISR_ATTR static void twai_intr_handler_main(void *arg)
}
/* -------------------------- Helper functions ----------------------------- */
static esp_err_t twai_configure_gpio(gpio_num_t tx, gpio_num_t rx, gpio_num_t clkout, gpio_num_t bus_status)
static void twai_configure_gpio(gpio_num_t tx, gpio_num_t rx, gpio_num_t clkout, gpio_num_t bus_status)
{
esp_err_t ret = ESP_FAIL;
// assert the GPIO number is not a negative number (shift operation on a negative number is undefined)
assert(tx >= 0 && rx >= 0);
// if TX and RX set to the same GPIO, which means we want to create a loop-back in the GPIO matrix
bool io_loop_back = (tx == rx);
gpio_config_t gpio_conf = {
.intr_type = GPIO_INTR_DISABLE,
.pull_down_en = false,
.pull_up_en = false,
gpio_hal_context_t gpio_hal = {
.dev = GPIO_HAL_GET_HW(GPIO_PORT_0)
};
//Set RX pin
gpio_conf.mode = GPIO_MODE_INPUT | (io_loop_back ? GPIO_MODE_OUTPUT : 0);
gpio_conf.pin_bit_mask = 1ULL << rx;
ret = gpio_config(&gpio_conf);
TWAI_CHECK(ESP_OK == ret, ret);
gpio_hal_func_sel(&gpio_hal, rx, PIN_FUNC_GPIO);
gpio_hal_input_enable(&gpio_hal, rx);
esp_rom_gpio_connect_in_signal(rx, TWAI_RX_IDX, false);
//Set TX pin
gpio_conf.mode = GPIO_MODE_OUTPUT | (io_loop_back ? GPIO_MODE_INPUT : 0);
gpio_conf.pin_bit_mask = 1ULL << tx;
ret = gpio_config(&gpio_conf);
TWAI_CHECK(ESP_OK == ret, ret);
gpio_hal_func_sel(&gpio_hal, tx, PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(tx, TWAI_TX_IDX, false, false);
//Configure output clock pin (Optional)
if (clkout >= 0 && clkout < GPIO_NUM_MAX) {
gpio_set_pull_mode(clkout, GPIO_FLOATING);
gpio_hal_func_sel(&gpio_hal, clkout, PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(clkout, TWAI_CLKOUT_IDX, false, false);
esp_rom_gpio_pad_select_gpio(clkout);
}
//Configure bus status pin (Optional)
if (bus_status >= 0 && bus_status < GPIO_NUM_MAX) {
gpio_set_pull_mode(bus_status, GPIO_FLOATING);
gpio_hal_func_sel(&gpio_hal, bus_status, PIN_FUNC_GPIO);
esp_rom_gpio_connect_out_signal(bus_status, TWAI_BUS_OFF_ON_IDX, false, false);
esp_rom_gpio_pad_select_gpio(bus_status);
}
return ESP_OK;
}
static void twai_free_driver_obj(twai_obj_t *p_obj)
@ -462,10 +451,7 @@ esp_err_t twai_driver_install(const twai_general_config_t *g_config, const twai_
p_twai_obj_dummy->alerts_enabled = g_config->alerts_enabled;
//Assign GPIO
ret = twai_configure_gpio(g_config->tx_io, g_config->rx_io, g_config->clkout_io, g_config->bus_off_io);
if (ESP_OK != ret) {
goto err;
}
twai_configure_gpio(g_config->tx_io, g_config->rx_io, g_config->clkout_io, g_config->bus_off_io);
TWAI_ENTER_CRITICAL();
//Assign the TWAI object