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TWAI: Track HW state in HAL

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This commit refactors the TWAI HAL such that it now tracks
the harwdare's state instead of at the driver layer.
Some HAL and LL cleanup was also done.
This commit is contained in:
Darian Leung
2020-07-24 23:21:53 +08:00
parent e70c238be0
commit 90ee294139
9 changed files with 267 additions and 381 deletions
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131
components/soc/include/hal/twai_hal.h
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@@ -31,21 +31,33 @@ extern "C" {
/* ------------------------- Defines and Typedefs --------------------------- */
#define TWAI_HAL_SET_FLAG(var, flag) ((var) |= (flag))
#define TWAI_HAL_RESET_FLAG(var, flag) ((var) &= ~(flag))
//HAL state flags
#define TWAI_HAL_STATE_FLAG_RUNNING (1 << 0) //Controller is active (not in reset mode)
#define TWAI_HAL_STATE_FLAG_RECOVERING (1 << 1) //Bus is undergoing bus recovery
#define TWAI_HAL_STATE_FLAG_ERR_WARN (1 << 2) //TEC or REC is >= error warning limit
#define TWAI_HAL_STATE_FLAG_ERR_PASSIVE (1 << 3) //TEC or REC is >= 128
#define TWAI_HAL_STATE_FLAG_BUS_OFF (1 << 4) //Bus-off due to TEC >= 256
#define TWAI_HAL_STATE_FLAG_TX_BUFF_OCCUPIED (1 << 5) //Transmit buffer is occupied
//Error active interrupt related
#define TWAI_HAL_EVENT_BUS_OFF (1 << 0)
#define TWAI_HAL_EVENT_BUS_RECOV_CPLT (1 << 1)
#define TWAI_HAL_EVENT_BUS_RECOV_PROGRESS (1 << 2)
#define TWAI_HAL_EVENT_ABOVE_EWL (1 << 3)
#define TWAI_HAL_EVENT_BELOW_EWL (1 << 4)
#define TWAI_HAL_EVENT_ERROR_PASSIVE (1 << 5)
#define TWAI_HAL_EVENT_ERROR_ACTIVE (1 << 6)
#define TWAI_HAL_EVENT_BUS_ERR (1 << 7)
#define TWAI_HAL_EVENT_ARB_LOST (1 << 8)
#define TWAI_HAL_EVENT_RX_BUFF_FRAME (1 << 9)
#define TWAI_HAL_EVENT_TX_BUFF_FREE (1 << 10)
#define TWAI_HAL_EVENT_BUS_OFF (1 << 0)
#define TWAI_HAL_EVENT_BUS_RECOV_CPLT (1 << 1)
#define TWAI_HAL_EVENT_BUS_RECOV_PROGRESS (1 << 2)
#define TWAI_HAL_EVENT_ABOVE_EWL (1 << 3)
#define TWAI_HAL_EVENT_BELOW_EWL (1 << 4)
#define TWAI_HAL_EVENT_ERROR_PASSIVE (1 << 5)
#define TWAI_HAL_EVENT_ERROR_ACTIVE (1 << 6)
#define TWAI_HAL_EVENT_BUS_ERR (1 << 7)
#define TWAI_HAL_EVENT_ARB_LOST (1 << 8)
#define TWAI_HAL_EVENT_RX_BUFF_FRAME (1 << 9)
#define TWAI_HAL_EVENT_TX_BUFF_FREE (1 << 10)
typedef struct {
twai_dev_t *dev;
uint32_t state_flags;
} twai_hal_context_t;
typedef twai_ll_frame_buffer_t twai_hal_frame_t;
@@ -93,9 +105,8 @@ void twai_hal_configure(twai_hal_context_t *hal_ctx, const twai_timing_config_t
*
* @param hal_ctx Context of the HAL layer
* @param mode Operating mode
* @return True if successfully started, false otherwise.
*/
bool twai_hal_start(twai_hal_context_t *hal_ctx, twai_mode_t mode);
void twai_hal_start(twai_hal_context_t *hal_ctx, twai_mode_t mode);
/**
* @brief Stop the TWAI peripheral
@@ -104,19 +115,18 @@ bool twai_hal_start(twai_hal_context_t *hal_ctx, twai_mode_t mode);
* setting the operating mode to Listen Only so that REC is frozen.
*
* @param hal_ctx Context of the HAL layer
* @return True if successfully stopped, false otherwise.
*/
bool twai_hal_stop(twai_hal_context_t *hal_ctx);
void twai_hal_stop(twai_hal_context_t *hal_ctx);
/**
* @brief Start bus recovery
*
* @param hal_ctx Context of the HAL layer
* @return True if successfully started bus recovery, false otherwise.
*/
static inline bool twai_hal_start_bus_recovery(twai_hal_context_t *hal_ctx)
static inline void twai_hal_start_bus_recovery(twai_hal_context_t *hal_ctx)
{
return twai_ll_exit_reset_mode(hal_ctx->dev);
TWAI_HAL_SET_FLAG(hal_ctx->state_flags, TWAI_HAL_STATE_FLAG_RECOVERING);
twai_ll_exit_reset_mode(hal_ctx->dev);
}
/**
@@ -163,73 +173,42 @@ static inline bool twai_hal_check_last_tx_successful(twai_hal_context_t *hal_ctx
return twai_ll_is_last_tx_successful((hal_ctx)->dev);
}
/**
* @brief Check if certain HAL state flags are set
*
* The HAL will maintain a record of the controller's state via a set of flags.
* These flags are automatically maintained (i.e., set and reset) inside various
* HAL function calls. This function checks if certain flags are currently set.
*
* @param hal_ctx Context of the HAL layer
* @param check_flags Bit mask of flags to check
* @return True if one or more of the flags in check_flags are set
*/
static inline bool twai_hal_check_state_flags(twai_hal_context_t *hal_ctx, uint32_t check_flags)
{
return hal_ctx->state_flags & check_flags;
}
/* ----------------------------- Event Handling ----------------------------- */
/**
* @brief Decode current events that triggered an interrupt
*
* This function should be called on every TWAI interrupt. It will read (and
* thereby clear) the interrupt register, then determine what events have
* occurred to trigger the interrupt.
* This function should be the called at the beginning of an ISR. This
* function will do the following:
* - Read and clear interrupts
* - Decode current events that triggered an interrupt
* - Respond to low latency interrupt events
* - Bus off: Change to LOM to free TEC/REC
* - Recovery complete: Enter reset mode
* - Clear ECC and ALC
* - Update state flags based on events that have occurred.
*
* @param hal_ctx Context of the HAL layer
* @param bus_recovering Whether the TWAI peripheral was previous undergoing bus recovery
* @return Bit mask of events that have occurred
*/
uint32_t twai_hal_decode_interrupt_events(twai_hal_context_t *hal_ctx, bool bus_recovering);
/**
* @brief Handle bus recovery complete
*
* This function should be called on an bus recovery complete event. It simply
* enters reset mode to stop bus activity.
*
* @param hal_ctx Context of the HAL layer
* @return True if successfully handled bus recovery completion, false otherwise.
*/
static inline bool twai_hal_handle_bus_recov_cplt(twai_hal_context_t *hal_ctx)
{
return twai_ll_enter_reset_mode((hal_ctx)->dev);
}
/**
* @brief Handle arbitration lost
*
* This function should be called on an arbitration lost event. It simply clears
* the clears the ALC register.
*
* @param hal_ctx Context of the HAL layer
*/
static inline void twai_hal_handle_arb_lost(twai_hal_context_t *hal_ctx)
{
twai_ll_clear_arb_lost_cap((hal_ctx)->dev);
}
/**
* @brief Handle bus error
*
* This function should be called on an bus error event. It simply clears
* the clears the ECC register.
*
* @param hal_ctx Context of the HAL layer
*/
static inline void twai_hal_handle_bus_error(twai_hal_context_t *hal_ctx)
{
twai_ll_clear_err_code_cap((hal_ctx)->dev);
}
/**
* @brief Handle BUS OFF
*
* This function should be called on a BUS OFF event. It simply changes the
* mode to LOM to freeze REC
*
* @param hal_ctx Context of the HAL layer
*/
static inline void twai_hal_handle_bus_off(twai_hal_context_t *hal_ctx)
{
twai_ll_set_mode((hal_ctx)->dev, TWAI_MODE_LISTEN_ONLY);
}
uint32_t twai_hal_decode_interrupt_events(twai_hal_context_t *hal_ctx);
/* ------------------------------- TX and RX -------------------------------- */