docs: add headings for twai and gptimer api reference
Closes https://github.com/espressif/esp-idf/issues/17891
This commit is contained in:
Wang
@@ -1,3 +1,4 @@
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===============================
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General Purpose Timer (GPTimer)
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===============================
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@@ -11,7 +12,7 @@ This document introduces the features of the General Purpose Timer (GPTimer) dri
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:depth: 2
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Overview
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--------
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========
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GPTimer is a dedicated driver for the {IDF_TARGET_NAME} [`Timer Group peripheral <{IDF_TARGET_TRM_EN_URL}#timg>`__]. This timer can select different clock sources and prescalers to meet the requirements of nanosecond-level resolution. Additionally, it has flexible timeout alarm functions and allows automatic updating of the count value at the alarm moment, achieving very precise timing cycles.
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@@ -24,7 +25,7 @@ Based on the **high resolution, high count range, and high response** capabiliti
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- etc.
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Quick Start
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-----------
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===========
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This section provides a concise overview of how to use the GPTimer driver. Through practical examples, it demonstrates how to initialize and start a timer, configure alarm events, and register callback functions. The typical usage flow is as follows:
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@@ -54,7 +55,7 @@ This section provides a concise overview of how to use the GPTimer driver. Throu
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}
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Creating and Starting a Timer
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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-----------------------------
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First, we need to create a timer instance. The following code shows how to create a timer with a resolution of 1 MHz:
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@@ -104,7 +105,7 @@ The :cpp:func:`gptimer_start` and :cpp:func:`gptimer_stop` functions follow the
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However, note that when the timer is in the **intermediate state** of starting (the start has begun but not yet completed), if another thread calls the :cpp:func:`gptimer_start` or :cpp:func:`gptimer_stop` function, it will return the :c:macro:`ESP_ERR_INVALID_STATE` error to avoid triggering uncertain behavior.
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Setting and Getting the Count Value
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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-----------------------------------
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When a timer is newly created, its internal counter value defaults to zero. You can set other count values using the :cpp:func:`gptimer_set_raw_count` function. The maximum count value depends on the bit width of the hardware timer (usually no less than ``54 bits``).
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@@ -126,7 +127,7 @@ The :cpp:func:`gptimer_get_raw_count` function is used to get the current count
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double time = (double)count / resolution_hz;
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Triggering Periodic Alarm Events
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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--------------------------------
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In addition to the timestamp function, the general-purpose timer also supports alarm functions. The following code shows how to set a periodic alarm that triggers once per second:
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@@ -194,7 +195,7 @@ The supported event callback functions for GPTimer are as follows:
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Be sure to register the callback function before calling :cpp:func:`gptimer_enable`, otherwise the timer event will not correctly trigger the interrupt service.
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Triggering One-Shot Alarm Events
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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--------------------------------
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Some application scenarios only require triggering a one-shot alarm interrupt. The following code shows how to set a one-shot alarm that triggers after 1 second:
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@@ -242,17 +243,17 @@ Some application scenarios only require triggering a one-shot alarm interrupt. T
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Unlike periodic alarms, the above code disables the auto-reload function when configuring the alarm behavior. This means that after the alarm event occurs, the timer will not automatically reload to the preset count value but will continue counting until it overflows. If you want the timer to stop immediately after the alarm, you can call :cpp:func:`gptimer_stop` in the callback function.
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Resource Recycling
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^^^^^^^^^^^^^^^^^^
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------------------
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When the timer is no longer needed, you should call the :cpp:func:`gptimer_delete_timer` function to release software and hardware resources. Before deleting, ensure that the timer is already stopped.
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Advanced Features
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-----------------
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=================
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After understanding the basic usage, we can further explore more features of the GPTimer driver.
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Dynamic Alarm Value Update
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^^^^^^^^^^^^^^^^^^^^^^^^^^
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--------------------------
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The GPTimer driver supports dynamically updating the alarm value in the interrupt callback function by calling the :cpp:func:`gptimer_set_alarm_action` function, thereby implementing a monotonic software timer list. The following code shows how to reset the next alarm trigger time when the alarm event occurs:
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@@ -300,7 +301,7 @@ The GPTimer driver supports dynamically updating the alarm value in the interrup
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.. _gptimer-etm-event-and-task:
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GPTimer's ETM Events and Tasks
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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------------------------------
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GPTimer can generate various events that can be connected to the :doc:`ETM </api-reference/peripherals/etm>` module. The event types are listed in :cpp:type:`gptimer_etm_event_type_t`. Users can create an ``ETM event`` handle by calling :cpp:func:`gptimer_new_etm_event`.
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GPTimer also supports some tasks that can be triggered by other events and executed automatically. The task types are listed in :cpp:type:`gptimer_etm_task_type_t`. Users can create an ``ETM task`` handle by calling :cpp:func:`gptimer_new_etm_task`.
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@@ -308,7 +309,7 @@ The GPTimer driver supports dynamically updating the alarm value in the interrup
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For how to connect the timer events and tasks to the ETM channel, please refer to the :doc:`ETM </api-reference/peripherals/etm>` documentation.
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Power Management
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^^^^^^^^^^^^^^^^
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----------------
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When power management :ref:`CONFIG_PM_ENABLE` is enabled, the system may adjust or disable the clock source before entering sleep mode, causing the GPTimer to lose accuracy.
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@@ -319,7 +320,7 @@ To prevent this, the GPTimer driver creates a power management lock internally.
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Besides disabling the clock source, the system can also power down the GPTimer before entering sleep mode to further reduce power consumption. To achieve this, set :cpp:member:`gptimer_config_t::allow_pd` to ``true``. Before the system enters sleep mode, the GPTimer register context will be backed up to memory and restored after the system wakes up. Note that enabling this option reduces power consumption but increases memory usage. Therefore, you need to balance power consumption and memory usage when using this feature.
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Thread Safety
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^^^^^^^^^^^^^
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-------------
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The driver uses critical sections to ensure atomic operations on registers. Key members in the driver handle are also protected by critical sections. The driver's internal state machine uses atomic instructions to ensure thread safety, with state checks preventing certain invalid concurrent operations (e.g., conflicts between `start` and `stop`). Therefore, GPTimer driver APIs can be used in a multi-threaded environment without extra locking.
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@@ -335,7 +336,7 @@ The following functions can also be used in an interrupt context:
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- :cpp:func:`gptimer_set_alarm_action`
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Cache Safety
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^^^^^^^^^^^^
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------------
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When the file system performs Flash read/write operations, the system temporarily disables the Cache function to avoid errors when loading instructions and data from Flash. This causes the GPTimer interrupt handler to be unresponsive during this period, preventing the user callback function from executing in time. If you want the interrupt handler to run normally when the Cache is disabled, you can enable the :ref:`CONFIG_GPTIMER_ISR_CACHE_SAFE` option.
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@@ -344,7 +345,7 @@ When the file system performs Flash read/write operations, the system temporaril
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Note that when this option is enabled, all interrupt callback functions and their context data **must be placed in internal storage**. This is because the system cannot load data and instructions from Flash when the Cache is disabled.
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Performance
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^^^^^^^^^^^
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-----------
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To improve the real-time responsiveness of interrupt handling, the GPTimer driver provides the :ref:`CONFIG_GPTIMER_ISR_HANDLER_IN_IRAM` option. Once enabled, the interrupt handler is placed in internal RAM, reducing delays caused by potential cache misses when loading instructions from Flash.
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@@ -355,12 +356,12 @@ To improve the real-time responsiveness of interrupt handling, the GPTimer drive
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As mentioned above, the GPTimer driver allows some functions to be called in an interrupt context. By enabling the :ref:`CONFIG_GPTIMER_CTRL_FUNC_IN_IRAM` option, these functions can also be placed in IRAM, which helps avoid performance loss caused by cache misses and allows them to be used when the Cache is disabled.
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Other Kconfig Options
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^^^^^^^^^^^^^^^^^^^^^
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---------------------
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- The :ref:`CONFIG_GPTIMER_ENABLE_DEBUG_LOG` option forces the GPTimer driver to enable all debug logs, regardless of the global log level settings. Enabling this option helps developers obtain more detailed log information during debugging, making it easier to locate and solve problems.
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Resource Consumption
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^^^^^^^^^^^^^^^^^^^^
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--------------------
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Use the :doc:`/api-guides/tools/idf-size` tool to check the code and data consumption of the GPTimer driver. The following are the test conditions (using ESP32-C2 as an example):
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@@ -386,7 +387,7 @@ Use the :doc:`/api-guides/tools/idf-size` tool to check the code and data consum
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Additionally, each GPTimer handle dynamically allocates about ``100`` bytes of memory from the heap. If the :cpp:member:`gptimer_config_t::flags::allow_pd` option is enabled, each timer will also consume approximately ``30`` extra bytes of memory during sleep to store the register context.
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Application Examples
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--------------------
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====================
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.. list::
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@@ -395,12 +396,26 @@ Application Examples
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:SOC_TIMER_SUPPORT_ETM: - :example:`peripherals/timer_group/gptimer_capture_hc_sr04` demonstrates how to use the general-purpose timer and Event Task Matrix (ETM) to accurately capture timestamps of ultrasonic sensor events and convert them into distance information.
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API Reference
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-------------
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=============
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GPTimer Driver APIs
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-------------------
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.. include-build-file:: inc/gptimer.inc
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GPTimer Driver Types
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--------------------
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.. include-build-file:: inc/gptimer_types.inc
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GPTimer HAL Types
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-----------------
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.. include-build-file:: inc/timer_types.inc
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GPTimer ETM APIs
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----------------
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.. only:: SOC_TIMER_SUPPORT_ETM
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.. include-build-file:: inc/gptimer_etm.inc
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@@ -1,3 +1,4 @@
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====================================
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Two-Wire Automotive Interface (TWAI)
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====================================
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@@ -10,7 +11,7 @@ This document introduces the features of the Two-Wire Automotive Interface (TWAI
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:depth: 2
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Overview
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--------
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========
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TWAI is a highly reliable, multi-master, real-time, serial asynchronous communication protocol designed for automotive and industrial applications. It is compatible with the frame structure defined in the ISO 11898-1 standard and supports both standard frames with 11-bit identifiers and extended frames with 29-bit identifiers. The protocol supports message prioritization with lossless arbitration, automatic retransmission, and fault confinement mechanisms. The {IDF_TARGET_NAME} includes {IDF_TARGET_CONFIG_SOC_TWAI_CONTROLLER_NUM} TWAI controllers, allowing for the creation of {IDF_TARGET_CONFIG_SOC_TWAI_CONTROLLER_NUM} driver instances.
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@@ -30,7 +31,7 @@ Thanks to its hardware-based fault tolerance and multi-master architecture, the
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- Acting as a bridging node alongside other communication protocols
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Getting Started
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---------------
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===============
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This section provides a quick overview of how to use the TWAI driver. Through simple examples, it demonstrates how to create a TWAI node instance, transmit and receive messages on the bus, and safely stop and uninstall the driver. The general usage flow is as follows:
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@@ -38,7 +39,7 @@ This section provides a quick overview of how to use the TWAI driver. Through si
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:align: center
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Hardware Connection
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^^^^^^^^^^^^^^^^^^^
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-------------------
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The {IDF_TARGET_NAME} does not integrate an internal TWAI transceiver. Therefore, an external transceiver is required to connect to a TWAI bus. The model of the external transceiver depends on the physical layer standard used in your specific application. For example, a TJA105x transceiver can be used to comply with the ISO 11898-2 standard.
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@@ -53,7 +54,7 @@ Specifically:
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- CLK_OUT (optional): Outputs the time quantum clock of the controller, which is a divided version of the source clock.
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Creating and Starting a TWAI Node
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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---------------------------------
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First, we need to create a TWAI instance. The following code demonstrates how to create a TWAI node with a baud rate of 200 kHz:
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@@ -95,7 +96,7 @@ The :cpp:func:`twai_node_enable` function starts the TWAI controller. Once enabl
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The corresponding function, :cpp:func:`twai_node_disable`, immediately stops the node and disconnects it from the bus. Any ongoing transmissions will be aborted. When the node is re-enabled later, if there are pending transmissions in the queue, the driver will immediately initiate a new transmission attempt.
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Transmitting Messages
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^^^^^^^^^^^^^^^^^^^^^
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---------------------
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TWAI messages come in various types, which are specified by their headers. A typical data frame consists primarily of a header and data payload, with a structure similar to the following:
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@@ -130,7 +131,7 @@ The :cpp:type:`twai_frame_t` message structure also includes other configuration
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- :cpp:member:`twai_frame_t::header::esi`: For received frames, indicates the error state of the transmitting node.
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Receiving Messages
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^^^^^^^^^^^^^^^^^^
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------------------
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Receiving messages must be done within a receive event callback. Therefore, to receive messages, you need to register a receive event callback via :cpp:member:`twai_event_callbacks_t::on_rx_done` before starting the controller. This enables the controller to deliver received messages via the callback when events occur. The following code snippets demonstrate how to register the receive event callback and how to handle message reception inside the callback:
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@@ -163,12 +164,12 @@ Receiving messages inside the callback:
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Similarly, since the driver uses pointers for message passing, you must configure the pointer :cpp:member:`twai_frame_t::buffer` and its memory length :cpp:member:`twai_frame_t::buffer_len` before receiving.
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Stopping and Deleting the Node
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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------------------------------
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When the TWAI node is no longer needed, you should call :cpp:func:`twai_node_delete` to release software and hardware resources. Make sure the TWAI controller is stopped before deleting the node.
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Advanced Features
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-----------------
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=================
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After understanding the basic usage, you can further explore more advanced capabilities of the TWAI driver. The driver supports more detailed controller configuration and error feedback features. The complete driver feature diagram is shown below:
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@@ -176,7 +177,7 @@ After understanding the basic usage, you can further explore more advanced capab
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:align: center
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Transmit from ISR
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^^^^^^^^^^^^^^^^^
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-----------------
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The TWAI driver supports transmitting messages from an Interrupt Service Routine (ISR). This is particularly useful for applications requiring low-latency responses or periodic transmissions triggered by hardware timers. For example, you can trigger a new transmission from within the ``on_tx_done`` callback, which is executed in an ISR context.
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@@ -202,7 +203,7 @@ The TWAI driver supports transmitting messages from an Interrupt Service Routine
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When calling :cpp:func:`twai_node_transmit` from an ISR, the ``timeout`` parameter is ignored, and the function will not block. If the transmit queue is full, the function will return immediately with an error. It is the application's responsibility to handle cases where the queue is full.
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Bit Timing Customization
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^^^^^^^^^^^^^^^^^^^^^^^^
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------------------------
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Unlike other asynchronous communication protocols, the TWAI controller performs counting and sampling within one bit time in units of **Time Quanta (Tq)**. The number of time quanta per bit determines the final baud rate and the sample point position. When signal quality is poor, you can manually fine-tune these timing segments to meet specific requirements. The time quanta within a bit time are divided into different segments, as illustrated below:
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@@ -247,10 +248,10 @@ When manually configuring these timing segments, it is important to pay attentio
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Different combinations of ``brp``, ``prop_seg``, ``tseg_1``, ``tseg_2``, and ``sjw`` can achieve the same baud rate. Users should consider factors such as **propagation delay, node processing time, and phase errors**, and adjust the timing parameters based on the physical characteristics of the bus.
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Filter Configuration
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^^^^^^^^^^^^^^^^^^^^^
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---------------------
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Mask Filters
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""""""""""""
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^^^^^^^^^^^^
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The TWAI controller hardware can filter messages based on their ID to reduce software and hardware overhead, thereby improving node efficiency. Nodes that filter out certain messages will **not receive those messages, but will still send acknowledgments (ACKs)**.
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@@ -279,7 +280,7 @@ The following code demonstrates how to calculate the MASK and configure a filter
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.. only:: not SOC_TWAI_SUPPORT_FD
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Dual Filter Mode
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""""""""""""""""
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^^^^^^^^^^^^^^^^
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{IDF_TARGET_NAME} supports dual filter mode, which allows the hardware to be configured as two parallel independent 16-bit mask filters. By enabling this, more IDs can be received. Note that using dual filter mode to filter 29-bit extended IDs, each filter can only filter the upper 16 bits of the ID, while the remaining 13 bits are not filtered. The following code demonstrates how to configure dual filter mode using the function :cpp:func:`twai_make_dual_filter`:
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@@ -293,7 +294,7 @@ The following code demonstrates how to calculate the MASK and configure a filter
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.. only:: SOC_TWAI_SUPPORT_FD
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Range Filter
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""""""""""""
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^^^^^^^^^^^^
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{IDF_TARGET_NAME} also includes 1 range filter, which exists alongside the mask filters. You can configure the desired ID reception range directly using the function :cpp:func:`twai_node_config_range_filter`. The details are as follows:
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@@ -301,7 +302,7 @@ The following code demonstrates how to calculate the MASK and configure a filter
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- Configuring an invalid range means no messages will be received.
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Bus Errors and Recovery
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^^^^^^^^^^^^^^^^^^^^^^^
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-----------------------
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The TWAI controller can detect errors caused by bus interference or corrupted frames that do not conform to the frame format. It implements a fault isolation mechanism using transmit and receive error counters (TEC and REC). The values of these counters determine the node's error state: Error Active, Error Warning, Error Passive, and Bus Off. This mechanism ensures that nodes with persistent errors eventually disconnect themselves from the bus.
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@@ -317,12 +318,12 @@ When the node’s error state changes, the :cpp:member:`twai_event_callbacks_t::
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When recovery completes, the :cpp:member:`twai_event_callbacks_t::on_state_change` callback will be triggered again, the node changes its state from :cpp:enumerator:`TWAI_ERROR_BUS_OFF` to :cpp:enumerator:`TWAI_ERROR_ACTIVE`. A recovered node can immediately resume transmissions; if there are pending tasks in the transmit queue, the driver will start transmitting them right away.
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Power Management
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^^^^^^^^^^^^^^^^
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----------------
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When power management is enabled via :ref:`CONFIG_PM_ENABLE`, the system may adjust or disable clock sources before entering sleep mode, which could cause TWAI to malfunction. To prevent this, the driver manages a power management lock internally. This lock is acquired when calling :cpp:func:`twai_node_enable`, ensuring the system does not enter sleep mode and TWAI remains functional. To allow the system to enter a low-power state, call :cpp:func:`twai_node_disable` to release the lock. During sleep, the TWAI controller will also stop functioning.
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Cache Safety
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^^^^^^^^^^^^
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------------
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During Flash write operations, the system temporarily disables cache to prevent instruction and data fetch errors from Flash. This can cause interrupt handlers stored in Flash to become unresponsive. If you want interrupt routines to remain operational during cache-disabled periods, enable the :ref:`CONFIG_TWAI_ISR_CACHE_SAFE` option.
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@@ -331,12 +332,12 @@ During Flash write operations, the system temporarily disables cache to prevent
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When this option is enabled, **all interrupt callback functions and their context data must reside in internal memory**, because the system cannot fetch instructions or data from Flash while the cache is disabled.
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Thread Safety
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^^^^^^^^^^^^^
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-------------
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The driver guarantees thread safety for all public TWAI APIs. You can safely call these APIs from different RTOS tasks without requiring additional synchronization or locking mechanisms.
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Performance
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^^^^^^^^^^^
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-----------
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To improve the real-time performance of interrupt handling, the driver provides the :ref:`CONFIG_TWAI_ISR_IN_IRAM` option. When enabled, the TWAI ISR (Interrupt Service Routine) and receive operations are placed in internal RAM, reducing latency caused by instruction fetching from Flash.
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@@ -347,7 +348,7 @@ For applications that require high-performance transmit operations, the driver p
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However, user-defined callback functions and context data invoked by the ISR may still reside in Flash. To fully eliminate Flash latency, users must place these functions and data into internal RAM using macros such as :c:macro:`IRAM_ATTR` for functions and :c:macro:`DRAM_ATTR` for data.
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Resource Usage
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^^^^^^^^^^^^^^
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--------------
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You can inspect the Flash and memory usage of the TWAI driver using the :doc:`/api-guides/tools/idf-size` tool. Below are the test conditions (based on the ESP32-C6 as an example):
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@@ -385,12 +386,12 @@ Resource Usage with :ref:`CONFIG_TWAI_ISR_IN_IRAM` Enabled:
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Additionally, each TWAI handle dynamically allocates approximately ``168`` + 4 * :cpp:member:`twai_onchip_node_config_t::tx_queue_depth` bytes of memory from the heap.
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Other Kconfig Options
|
||||
^^^^^^^^^^^^^^^^^^^^^
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||||
---------------------
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- :ref:`CONFIG_TWAI_ENABLE_DEBUG_LOG`: This option forces all debug logs of the TWAI driver to be enabled regardless of the global log level settings. Enabling this can help developers obtain more detailed log information during debugging, making it easier to locate and resolve issues.
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Application Examples
|
||||
--------------------
|
||||
====================
|
||||
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||||
.. list::
|
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||||
@@ -398,9 +399,24 @@ Application Examples
|
||||
- :example:`peripherals/twai/twai_network` using 2 nodes with different roles: transmitting and listening, demonstrates how to use the driver for single and bulk data transmission, as well as configure filters to receive these data.
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API Reference
|
||||
-------------
|
||||
=============
|
||||
|
||||
On-Chip TWAI APIs
|
||||
-----------------
|
||||
|
||||
.. include-build-file:: inc/esp_twai_onchip.inc
|
||||
|
||||
TWAI Driver APIs
|
||||
----------------
|
||||
|
||||
.. include-build-file:: inc/esp_twai.inc
|
||||
|
||||
TWAI Driver Types
|
||||
-----------------
|
||||
|
||||
.. include-build-file:: inc/esp_twai_types.inc
|
||||
|
||||
TWAI HAL Types
|
||||
--------------
|
||||
|
||||
.. include-build-file:: inc/twai_types.inc
|
||||
|
||||
Reference in New Issue
Block a user