Fix TWAI on ESP32

esp-hal/CHANGELOG.md

@@ -44,13 +44,14 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Removed gpio pin generics from I8080 driver type. (#2171)
 - I8080 driver now decides bus width at transfer time rather than construction time. (#2171)
 - Replaced `AnyPin` with `InputSignal` and `OutputSignal` and renamed `ErasedPin` to `AnyPin` (#2128)
-- Replaced the `ErasedTimer` enum with the `AnyTimer` struct. (#?)
+- Replaced the `ErasedTimer` enum with the `AnyTimer` struct. (#2144)
 - Changed the parameters of `Spi::with_pins` to no longer be optional (#2133)
 - Renamed `DummyPin` to `NoPin` and removed all internal logic from it. (#2133)
 - The `NO_PIN` constant has been removed. (#2133)
 - MSRV bump to 1.79 (#2156)
 - Allow handling interrupts while trying to lock critical section on multi-core chips. (#2197)
 - Removed the PS-RAM related features, replaced by `quad-psram`/`octal-psram`, `init_psram` takes a configuration parameter, it's now possible to auto-detect PS-RAM size (#2178)
+- `EspTwaiFrame` constructors now accept any type that converts into `esp_hal::twai::Id` (#2207)
 
 ### Fixed
 
@@ -69,6 +70,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - SPI: Fixed an issue where repeated calls to `dma_transfer` may end up looping indefinitely (#2179)
 - SPI: Fixed an issue that prevented correctly reading the first byte in a transaction (#2179)
 - PARL_IO: Fixed an issue that caused garbage to be output at the start of some requests (#2211)
+- TWAI on ESP32 (#2207)
 
 ### Removed
 

esp-hal/src/gpio/mod.rs

@@ -761,16 +761,11 @@ fn disable_usb_pads(gpionum: u8) {
         unsafe { &*crate::peripherals::USB_DEVICE::PTR }
             .conf0()
             .modify(|_, w| {
-                w.usb_pad_enable()
-                    .clear_bit()
-                    .dm_pullup()
-                    .clear_bit()
-                    .dm_pulldown()
-                    .clear_bit()
-                    .dp_pullup()
-                    .clear_bit()
-                    .dp_pulldown()
-                    .clear_bit()
+                w.usb_pad_enable().clear_bit();
+                w.dm_pullup().clear_bit();
+                w.dm_pulldown().clear_bit();
+                w.dp_pullup().clear_bit();
+                w.dp_pulldown().clear_bit()
             });
     }
 }
@@ -799,7 +794,10 @@ where
         #[cfg(esp32)]
         crate::soc::gpio::errata36(GPIONUM, Some(pull_up), Some(pull_down));
 
-        get_io_mux_reg(GPIONUM).modify(|_, w| w.fun_wpd().bit(pull_down).fun_wpu().bit(pull_up));
+        get_io_mux_reg(GPIONUM).modify(|_, w| {
+            w.fun_wpd().bit(pull_down);
+            w.fun_wpu().bit(pull_up)
+        });
     }
 }
 
@@ -814,12 +812,9 @@ where
         disable_usb_pads(GPIONUM);
 
         get_io_mux_reg(GPIONUM).modify(|_, w| unsafe {
-            w.mcu_sel()
-                .bits(GPIO_FUNCTION as u8)
-                .fun_ie()
-                .set_bit()
-                .slp_sel()
-                .clear_bit()
+            w.mcu_sel().bits(GPIO_FUNCTION as u8);
+            w.fun_ie().set_bit();
+            w.slp_sel().clear_bit()
         });
     }
 
@@ -936,14 +931,10 @@ where
         disable_usb_pads(GPIONUM);
 
         get_io_mux_reg(GPIONUM).modify(|_, w| unsafe {
-            w.mcu_sel()
-                .bits(alternate as u8)
-                .fun_ie()
-                .bit(open_drain)
-                .fun_drv()
-                .bits(DriveStrength::I20mA as u8)
-                .slp_sel()
-                .clear_bit()
+            w.mcu_sel().bits(alternate as u8);
+            w.fun_ie().bit(open_drain);
+            w.fun_drv().bits(DriveStrength::I20mA as u8);
+            w.slp_sel().clear_bit()
         });
     }
 
@@ -1231,10 +1222,10 @@ macro_rules! rtc_pins {
 
                 // disable input
                 paste::paste!{
-                    rtcio.$pin_reg.modify(|_,w| unsafe {w
-                        .[<$prefix fun_ie>]().bit(input_enable)
-                        .[<$prefix mux_sel>]().bit(mux)
-                        .[<$prefix fun_sel>]().bits(func as u8)
+                    rtcio.$pin_reg.modify(|_,w| unsafe {
+                        w.[<$prefix fun_ie>]().bit(input_enable);
+                        w.[<$prefix mux_sel>]().bit(mux);
+                        w.[<$prefix fun_sel>]().bits(func as u8)
                     });
                 }
             }
@@ -1485,10 +1476,10 @@ macro_rules! analog {
                     use $crate::peripherals::{GPIO};
 
                     get_io_mux_reg($pin_num).modify(|_,w| unsafe {
-                        w.mcu_sel().bits(1)
-                            .fun_ie().clear_bit()
-                            .fun_wpu().clear_bit()
-                            .fun_wpd().clear_bit()
+                        w.mcu_sel().bits(1);
+                        w.fun_ie().clear_bit();
+                        w.fun_wpu().clear_bit();
+                        w.fun_wpd().clear_bit()
                     });
 
                     unsafe{ &*GPIO::PTR }.enable_w1tc().write(|w| unsafe { w.bits(1 << $pin_num) });
@@ -1505,29 +1496,27 @@ macro_rules! touch {
     (@pin_specific $touch_num:expr, true) => {
         paste::paste! {
             unsafe { &*RTC_IO::ptr() }.[< touch_pad $touch_num >]().write(|w| unsafe {
-                w
-                .xpd().set_bit()
+                w.xpd().set_bit();
                 // clear input_enable
-                .fun_ie().clear_bit()
+                w.fun_ie().clear_bit();
                 // Connect pin to analog / RTC module instead of standard GPIO
-                .mux_sel().set_bit()
+                w.mux_sel().set_bit();
                 // Disable pull-up and pull-down resistors on the pin
-                .rue().clear_bit()
-                .rde().clear_bit()
-                .tie_opt().clear_bit()
+                w.rue().clear_bit();
+                w.rde().clear_bit();
+                w.tie_opt().clear_bit();
                 // Select function "RTC function 1" (GPIO) for analog use
-                .fun_sel().bits(0b00)
+                w.fun_sel().bits(0b00)
             });
         }
     };
 
     (@pin_specific $touch_num:expr, false) => {
         paste::paste! {
-            unsafe { &*RTC_IO::ptr() }.[< touch_pad $touch_num >]().write(|w|
-                w
-                .xpd().set_bit()
-                .tie_opt().clear_bit()
-            );
+            unsafe { &*RTC_IO::ptr() }.[< touch_pad $touch_num >]().write(|w| {
+                w.xpd().set_bit();
+                w.tie_opt().clear_bit()
+            });
         }
     };
 
@@ -2444,12 +2433,9 @@ fn is_listening(pin_num: u8) -> bool {
 fn set_int_enable(gpio_num: u8, int_ena: u8, int_type: u8, wake_up_from_light_sleep: bool) {
     let gpio = unsafe { &*crate::peripherals::GPIO::PTR };
     gpio.pin(gpio_num as usize).modify(|_, w| unsafe {
-        w.int_ena()
-            .bits(int_ena)
-            .int_type()
-            .bits(int_type)
-            .wakeup_enable()
-            .bit(wake_up_from_light_sleep)
+        w.int_ena().bits(int_ena);
+        w.int_type().bits(int_type);
+        w.wakeup_enable().bit(wake_up_from_light_sleep)
     });
 }
 
@@ -2496,36 +2482,36 @@ mod asynch {
     where
         P: InputPin,
     {
+        async fn wait_for(&mut self, event: Event) {
+            self.listen(event);
+            PinFuture::new(self.pin.number()).await
+        }
+
         /// Wait until the pin is high. If it is already high, return
         /// immediately.
         pub async fn wait_for_high(&mut self) {
-            self.listen(Event::HighLevel);
-            PinFuture::new(self.pin.number()).await
+            self.wait_for(Event::HighLevel).await
         }
 
         /// Wait until the pin is low. If it is already low, return immediately.
         pub async fn wait_for_low(&mut self) {
-            self.listen(Event::LowLevel);
-            PinFuture::new(self.pin.number()).await
+            self.wait_for(Event::LowLevel).await
         }
 
         /// Wait for the pin to undergo a transition from low to high.
         pub async fn wait_for_rising_edge(&mut self) {
-            self.listen(Event::RisingEdge);
-            PinFuture::new(self.pin.number()).await
+            self.wait_for(Event::RisingEdge).await
         }
 
         /// Wait for the pin to undergo a transition from high to low.
         pub async fn wait_for_falling_edge(&mut self) {
-            self.listen(Event::FallingEdge);
-            PinFuture::new(self.pin.number()).await
+            self.wait_for(Event::FallingEdge).await
         }
 
         /// Wait for the pin to undergo any transition, i.e low to high OR high
         /// to low.
         pub async fn wait_for_any_edge(&mut self) {
-            self.listen(Event::AnyEdge);
-            PinFuture::new(self.pin.number()).await
+            self.wait_for(Event::AnyEdge).await
         }
     }
 

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

@@ -467,7 +467,8 @@ pub enum OutputSignal {
     PWM2_4H                  = 120,
     PWM2_4L                  = 121,
     TWAI_TX                  = 123,
-    CAN_BUS_OFF_ON           = 124,
+    TWAI_BUS_OFF_ON          = 124,
+    TWAI_CLKOUT              = 125,
     SPID4                    = 128,
     SPID5                    = 129,
     SPID6                    = 130,