// Copyright 2015-2019 Espressif Systems (Shanghai) PTE LTD // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at // http://www.apache.org/licenses/LICENSE-2.0 // // Unless required by applicable law or agreed to in writing, software // distributed under the License is distributed on an "AS IS" BASIS, // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. #pragma once #ifdef __cplusplus extern "C" { #endif #include #include /** * @brief TWAI Constants */ #define TWAI_EXTD_ID_MASK 0x1FFFFFFF /**< Bit mask for 29 bit Extended Frame Format ID */ #define TWAI_STD_ID_MASK 0x7FF /**< Bit mask for 11 bit Standard Frame Format ID */ #define TWAI_FRAME_MAX_DLC 8 /**< Max data bytes allowed in TWAI */ #define TWAI_FRAME_EXTD_ID_LEN_BYTES 4 /**< EFF ID requires 4 bytes (29bit) */ #define TWAI_FRAME_STD_ID_LEN_BYTES 2 /**< SFF ID requires 2 bytes (11bit) */ #define TWAI_ERR_PASS_THRESH 128 /**< Error counter threshold for error passive */ /** @cond */ //Doxy command to hide preprocessor definitions from docs /** * @brief TWAI Message flags * * The message flags are used to indicate the type of message transmitted/received. * Some flags also specify the type of transmission. */ #define TWAI_MSG_FLAG_NONE 0x00 /**< No message flags (Standard Frame Format) */ #define TWAI_MSG_FLAG_EXTD 0x01 /**< Extended Frame Format (29bit ID) */ #define TWAI_MSG_FLAG_RTR 0x02 /**< Message is a Remote Frame */ #define TWAI_MSG_FLAG_SS 0x04 /**< Transmit as a Single Shot Transmission. Unused for received. */ #define TWAI_MSG_FLAG_SELF 0x08 /**< Transmit as a Self Reception Request. Unused for received. */ #define TWAI_MSG_FLAG_DLC_NON_COMP 0x10 /**< Message's Data length code is larger than 8. This will break compliance with TWAI */ /** * @brief Initializer macros for timing configuration structure * * The following initializer macros offer commonly found bit rates. These macros * place the sample point at 80% or 67% of a bit time. * * @note These timing values are based on the assumption APB clock is at 80MHz * @note The available bit rates are dependent on the chip target and revision. */ #if (TWAI_BRP_MAX > 256) #define TWAI_TIMING_CONFIG_1KBITS() {.brp = 4000, .tseg_1 = 15, .tseg_2 = 8, .sjw = 3, .triple_sampling = false} #define TWAI_TIMING_CONFIG_5KBITS() {.brp = 800, .tseg_1 = 15, .tseg_2 = 8, .sjw = 3, .triple_sampling = false} #define TWAI_TIMING_CONFIG_10KBITS() {.brp = 400, .tseg_1 = 15, .tseg_2 = 8, .sjw = 3, .triple_sampling = false} #endif #if (TWAI_BRP_MAX > 128) #define TWAI_TIMING_CONFIG_12_5KBITS() {.brp = 256, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false} #define TWAI_TIMING_CONFIG_16KBITS() {.brp = 200, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false} #define TWAI_TIMING_CONFIG_20KBITS() {.brp = 200, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} #endif #define TWAI_TIMING_CONFIG_25KBITS() {.brp = 128, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false} #define TWAI_TIMING_CONFIG_50KBITS() {.brp = 80, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} #define TWAI_TIMING_CONFIG_100KBITS() {.brp = 40, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} #define TWAI_TIMING_CONFIG_125KBITS() {.brp = 32, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} #define TWAI_TIMING_CONFIG_250KBITS() {.brp = 16, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} #define TWAI_TIMING_CONFIG_500KBITS() {.brp = 8, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} #define TWAI_TIMING_CONFIG_800KBITS() {.brp = 4, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false} #define TWAI_TIMING_CONFIG_1MBITS() {.brp = 4, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} /** * @brief Initializer macro for filter configuration to accept all IDs */ #define TWAI_FILTER_CONFIG_ACCEPT_ALL() {.acceptance_code = 0, .acceptance_mask = 0xFFFFFFFF, .single_filter = true} /** @endcond */ /** * @brief TWAI Controller operating modes */ typedef enum { TWAI_MODE_NORMAL, /**< Normal operating mode where TWAI controller can send/receive/acknowledge messages */ TWAI_MODE_NO_ACK, /**< Transmission does not require acknowledgment. Use this mode for self testing */ TWAI_MODE_LISTEN_ONLY, /**< The TWAI controller will not influence the bus (No transmissions or acknowledgments) but can receive messages */ } twai_mode_t; /** * @brief Structure to store a TWAI message * * @note The flags member is deprecated */ typedef struct { union { struct { //The order of these bits must match deprecated message flags for compatibility reasons uint32_t extd: 1; /**< Extended Frame Format (29bit ID) */ uint32_t rtr: 1; /**< Message is a Remote Frame */ uint32_t ss: 1; /**< Transmit as a Single Shot Transmission. Unused for received. */ uint32_t self: 1; /**< Transmit as a Self Reception Request. Unused for received. */ uint32_t dlc_non_comp: 1; /**< Message's Data length code is larger than 8. This will break compliance with ISO 11898-1 */ uint32_t reserved: 27; /**< Reserved bits */ }; //Todo: Deprecate flags uint32_t flags; /**< Deprecated: Alternate way to set bits using message flags */ }; uint32_t identifier; /**< 11 or 29 bit identifier */ uint8_t data_length_code; /**< Data length code */ uint8_t data[TWAI_FRAME_MAX_DLC]; /**< Data bytes (not relevant in RTR frame) */ } twai_message_t; /** * @brief Structure for bit timing configuration of the TWAI driver * * @note Macro initializers are available for this structure */ typedef struct { uint32_t brp; /**< Baudrate prescaler (i.e., APB clock divider). Any even number from 2 to 128 for ESP32, 2 to 32768 for ESP32S2. For ESP32 Rev 2 or later, multiples of 4 from 132 to 256 are also supported */ uint8_t tseg_1; /**< Timing segment 1 (Number of time quanta, between 1 to 16) */ uint8_t tseg_2; /**< Timing segment 2 (Number of time quanta, 1 to 8) */ uint8_t sjw; /**< Synchronization Jump Width (Max time quanta jump for synchronize from 1 to 4) */ bool triple_sampling; /**< Enables triple sampling when the TWAI controller samples a bit */ } twai_timing_config_t; /** * @brief Structure for acceptance filter configuration of the TWAI driver (see documentation) * * @note Macro initializers are available for this structure */ typedef struct { uint32_t acceptance_code; /**< 32-bit acceptance code */ uint32_t acceptance_mask; /**< 32-bit acceptance mask */ bool single_filter; /**< Use Single Filter Mode (see documentation) */ } twai_filter_config_t; #ifdef __cplusplus } #endif