feat(driver_twai): add tx wait all done api

2025-07-16 16:34:12 +08:00
parent 0f2d8416b5
commit dd003fb051
10 changed files with 131 additions and 19 deletions
@@ -120,6 +120,7 @@ To reduce performance overhead caused by memory copying, the TWAI driver uses po
        .buffer_len = sizeof(send_buff),  // Length of data to transmit
    };
    ESP_ERROR_CHECK(twai_node_transmit(node_hdl, &tx_msg, 0));  // Timeout = 0: returns immediately if queue is full
+    ESP_ERROR_CHECK(twai_node_transmit_wait_all_done(node_hdl, -1));  // Wait for transmission to finish

 In this example, :cpp:member:`twai_frame_t::header::id` specifies the ID of the message as 0x01. Message IDs are typically used to indicate the type of message in an application and also play a role in bus arbitration during transmission—lower values indicate higher priority on the bus. :cpp:member:`twai_frame_t::buffer` points to the memory address where the data to be transmitted is stored, and :cpp:member:`twai_frame_t::buffer_len` specifies the length of that data. The :cpp:func:`twai_node_transmit` function is thread-safe and can also be called from an ISR. When called from an ISR, the ``timeout`` parameter is ignored, and the function will not block.