1 /* 2 * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD 3 * 4 * SPDX-License-Identifier: Apache-2.0 5 */ 6 7 #pragma once 8 9 #include <stdint.h> 10 #include <stdbool.h> 11 #include "sdkconfig.h" 12 #include "soc/soc_caps.h" 13 #include "soc/clk_tree_defs.h" 14 15 #ifdef __cplusplus 16 extern "C" { 17 #endif 18 19 /** 20 * @brief TWAI Constants 21 */ 22 #define TWAI_EXTD_ID_MASK 0x1FFFFFFF /**< Bit mask for 29 bit Extended Frame Format ID */ 23 #define TWAI_STD_ID_MASK 0x7FF /**< Bit mask for 11 bit Standard Frame Format ID */ 24 #define TWAI_FRAME_MAX_DLC 8 /**< Max data bytes allowed in TWAI */ 25 #define TWAI_FRAME_EXTD_ID_LEN_BYTES 4 /**< EFF ID requires 4 bytes (29bit) */ 26 #define TWAI_FRAME_STD_ID_LEN_BYTES 2 /**< SFF ID requires 2 bytes (11bit) */ 27 #define TWAI_ERR_PASS_THRESH 128 /**< Error counter threshold for error passive */ 28 29 /** @cond */ //Doxy command to hide preprocessor definitions from docs 30 /** 31 * @brief TWAI Message flags 32 * 33 * The message flags are used to indicate the type of message transmitted/received. 34 * Some flags also specify the type of transmission. 35 */ 36 #define TWAI_MSG_FLAG_NONE 0x00 /**< No message flags (Standard Frame Format) */ 37 #define TWAI_MSG_FLAG_EXTD 0x01 /**< Extended Frame Format (29bit ID) */ 38 #define TWAI_MSG_FLAG_RTR 0x02 /**< Message is a Remote Frame */ 39 #define TWAI_MSG_FLAG_SS 0x04 /**< Transmit as a Single Shot Transmission. Unused for received. */ 40 #define TWAI_MSG_FLAG_SELF 0x08 /**< Transmit as a Self Reception Request. Unused for received. */ 41 #define TWAI_MSG_FLAG_DLC_NON_COMP 0x10 /**< Message's Data length code is larger than 8. This will break compliance with TWAI */ 42 43 #define TWAI_BRP_MAX SOC_TWAI_BRP_MAX /**< Maximum configurable BRP value */ 44 #define TWAI_BRP_MIN SOC_TWAI_BRP_MIN /**< Minimum configurable BRP value */ 45 46 47 /** 48 * @brief Initializer macros for timing configuration structure 49 * 50 * The following initializer macros offer commonly found bit rates. These macros 51 * place the sample point at 80% or 67% of a bit time. 52 * 53 * @note The available bit rates are dependent on the chip target and ECO version. 54 */ 55 #if SOC_TWAI_BRP_MAX > 256 56 #define TWAI_TIMING_CONFIG_1KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 20000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} 57 #define TWAI_TIMING_CONFIG_5KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 100000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} 58 #define TWAI_TIMING_CONFIG_10KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 200000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} 59 #endif // SOC_TWAI_BRP_MAX > 256 60 61 #if (SOC_TWAI_BRP_MAX > 128) || (CONFIG_ESP32_REV_MIN_FULL >= 200) 62 #define TWAI_TIMING_CONFIG_12_5KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 312500, .brp = 0, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false} 63 #define TWAI_TIMING_CONFIG_16KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 400000, .brp = 0, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false} 64 #define TWAI_TIMING_CONFIG_20KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 400000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} 65 #endif // (SOC_TWAI_BRP_MAX > 128) || (CONFIG_ESP32_REV_MIN_FULL >= 200) 66 67 #if CONFIG_XTAL_FREQ == 32 // TWAI_CLK_SRC_XTAL = 32M 68 #define TWAI_TIMING_CONFIG_25KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 400000, .brp = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} 69 #define TWAI_TIMING_CONFIG_50KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 1000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} 70 #define TWAI_TIMING_CONFIG_100KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 2000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} 71 #define TWAI_TIMING_CONFIG_125KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 4000000, .brp = 0, .tseg_1 = 23, .tseg_2 = 8, .sjw = 3, .triple_sampling = false} 72 #define TWAI_TIMING_CONFIG_250KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 4000000, .brp = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} 73 #define TWAI_TIMING_CONFIG_500KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 8000000, .brp = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} 74 #define TWAI_TIMING_CONFIG_800KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 16000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} 75 #define TWAI_TIMING_CONFIG_1MBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 16000000, .brp = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} 76 77 #elif CONFIG_XTAL_FREQ == 40 // TWAI_CLK_SRC_XTAL = 40M 78 #define TWAI_TIMING_CONFIG_25KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 625000, .brp = 0, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false} 79 #define TWAI_TIMING_CONFIG_50KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 1000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} 80 #define TWAI_TIMING_CONFIG_100KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 2000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} 81 #define TWAI_TIMING_CONFIG_125KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 2500000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} 82 #define TWAI_TIMING_CONFIG_250KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 5000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} 83 #define TWAI_TIMING_CONFIG_500KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 10000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} 84 #define TWAI_TIMING_CONFIG_800KBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 20000000, .brp = 0, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false} 85 #define TWAI_TIMING_CONFIG_1MBITS() {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 20000000, .brp = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} 86 #endif //CONFIG_XTAL_FREQ 87 88 /** 89 * @brief Initializer macro for filter configuration to accept all IDs 90 */ 91 #define TWAI_FILTER_CONFIG_ACCEPT_ALL() {.acceptance_code = 0, .acceptance_mask = 0xFFFFFFFF, .single_filter = true} 92 /** @endcond */ 93 94 /** 95 * @brief TWAI Controller operating modes 96 */ 97 typedef enum { 98 TWAI_MODE_NORMAL, /**< Normal operating mode where TWAI controller can send/receive/acknowledge messages */ 99 TWAI_MODE_NO_ACK, /**< Transmission does not require acknowledgment. Use this mode for self testing */ 100 TWAI_MODE_LISTEN_ONLY, /**< The TWAI controller will not influence the bus (No transmissions or acknowledgments) but can receive messages */ 101 } twai_mode_t; 102 103 /** 104 * @brief Structure to store a TWAI message 105 * 106 * @note The flags member is deprecated 107 */ 108 typedef struct { 109 union { 110 struct { 111 //The order of these bits must match deprecated message flags for compatibility reasons 112 uint32_t extd: 1; /**< Extended Frame Format (29bit ID) */ 113 uint32_t rtr: 1; /**< Message is a Remote Frame */ 114 uint32_t ss: 1; /**< Transmit as a Single Shot Transmission. Unused for received. */ 115 uint32_t self: 1; /**< Transmit as a Self Reception Request. Unused for received. */ 116 uint32_t dlc_non_comp: 1; /**< Message's Data length code is larger than 8. This will break compliance with ISO 11898-1 */ 117 uint32_t reserved: 27; /**< Reserved bits */ 118 }; 119 //Todo: Deprecate flags 120 uint32_t flags; /**< Deprecated: Alternate way to set bits using message flags */ 121 }; 122 uint32_t identifier; /**< 11 or 29 bit identifier */ 123 uint8_t data_length_code; /**< Data length code */ 124 uint8_t data[TWAI_FRAME_MAX_DLC]; /**< Data bytes (not relevant in RTR frame) */ 125 } twai_message_t; 126 127 /** 128 * @brief RMT group clock source 129 * @note User should select the clock source based on the power and resolution requirement 130 */ 131 #if SOC_TWAI_SUPPORTED 132 typedef soc_periph_twai_clk_src_t twai_clock_source_t; 133 #else 134 typedef int twai_clock_source_t; 135 #endif 136 137 /** 138 * @brief Structure for bit timing configuration of the TWAI driver 139 * 140 * @note Macro initializers are available for this structure 141 */ 142 typedef struct { 143 twai_clock_source_t clk_src; /**< Clock source, set to 0 or TWAI_CLK_SRC_DEFAULT if you want a default clock source */ 144 uint32_t quanta_resolution_hz; /**< The resolution of one timing quanta, in Hz. 145 Note: the value of `brp` will reflected by this field if it's non-zero, otherwise, `brp` needs to be set manually */ 146 uint32_t brp; /**< Baudrate prescale (i.e., clock divider). Any even number from 2 to 128 for ESP32, 2 to 32768 for non-ESP32 chip. 147 Note: For ESP32 ECO 2 or later, multiples of 4 from 132 to 256 are also supported */ 148 uint8_t tseg_1; /**< Timing segment 1 (Number of time quanta, between 1 to 16) */ 149 uint8_t tseg_2; /**< Timing segment 2 (Number of time quanta, 1 to 8) */ 150 uint8_t sjw; /**< Synchronization Jump Width (Max time quanta jump for synchronize from 1 to 4) */ 151 bool triple_sampling; /**< Enables triple sampling when the TWAI controller samples a bit */ 152 } twai_timing_config_t; 153 154 /** 155 * @brief Structure for acceptance filter configuration of the TWAI driver (see documentation) 156 * 157 * @note Macro initializers are available for this structure 158 */ 159 typedef struct { 160 uint32_t acceptance_code; /**< 32-bit acceptance code */ 161 uint32_t acceptance_mask; /**< 32-bit acceptance mask */ 162 bool single_filter; /**< Use Single Filter Mode (see documentation) */ 163 } twai_filter_config_t; 164 165 #ifdef __cplusplus 166 } 167 #endif 168
