H2: enable TWAI, enable delay test

esp-hal/CHANGELOG.md

@@ -25,6 +25,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Added APIs to allow connecting signals through the GPIO matrix. (#2128)
 - Implement `TryFrom<u32>` for `ledc::timer::config::Duty` (#1984)
 - Expose `RtcClock::get_xtal_freq` and `RtcClock::get_slow_freq` publically for all chips (#2183)
+- TWAI support for ESP32-H2 (#2199)
 
 ### Changed
 

esp-hal/src/twai/mod.rs

@@ -662,8 +662,8 @@ impl BaudRate {
     /// Convert the BaudRate into the timings that the peripheral needs.
     // See: https://github.com/espressif/esp-idf/tree/master/components/hal/include/hal/twai_types.h
     const fn timing(self) -> TimingConfig {
-        #[allow(unused_mut)]
-        let mut timing = match self {
+        #[cfg(not(esp32h2))]
+        let timing = match self {
             Self::B125K => TimingConfig {
                 baud_rate_prescaler: 32,
                 sync_jump_width: 3,
@@ -695,11 +695,45 @@ impl BaudRate {
             Self::Custom(timing_config) => timing_config,
         };
 
+        #[cfg(esp32h2)]
+        let timing = match self {
+            Self::B125K => TimingConfig {
+                baud_rate_prescaler: 8,
+                sync_jump_width: 3,
+                tseg_1: 23,
+                tseg_2: 8,
+                triple_sample: false,
+            },
+            Self::B250K => TimingConfig {
+                baud_rate_prescaler: 8,
+                sync_jump_width: 3,
+                tseg_1: 11,
+                tseg_2: 4,
+                triple_sample: false,
+            },
+            Self::B500K => TimingConfig {
+                baud_rate_prescaler: 4,
+                sync_jump_width: 3,
+                tseg_1: 11,
+                tseg_2: 4,
+                triple_sample: false,
+            },
+            Self::B1000K => TimingConfig {
+                baud_rate_prescaler: 2,
+                sync_jump_width: 3,
+                tseg_1: 11,
+                tseg_2: 4,
+                triple_sample: false,
+            },
+            Self::Custom(timing_config) => timing_config,
+        };
+
+        // clock source on ESP32-C6 is xtal (40MHz)
         #[cfg(esp32c6)]
-        {
-            // clock source on ESP32-C6 is xtal (40MHz)
-            timing.baud_rate_prescaler /= 2;
-        }
+        let timing = TimingConfig {
+            baud_rate_prescaler: timing.baud_rate_prescaler / 2,
+            ..timing
+        };
 
         timing
     }
@@ -802,7 +836,7 @@ where
     fn set_baud_rate(&mut self, baud_rate: BaudRate) {
         // TWAI is clocked from the APB_CLK according to Table 6-4 [ESP32C3 Reference Manual](https://www.espressif.com/sites/default/files/documentation/esp32-c3_technical_reference_manual_en.pdf)
         // Included timings are all for 80MHz so assert that we are running at 80MHz.
-        #[cfg(not(esp32c6))]
+        #[cfg(not(any(esp32h2, esp32c6)))]
         {
             let apb_clock = crate::clock::Clocks::get().apb_clock;
             assert!(apb_clock == fugit::HertzU32::MHz(80));
@@ -820,22 +854,17 @@ where
         let tseg_2 = timing.tseg_2 - 1;
         let triple_sample = timing.triple_sample;
 
-        #[cfg(esp32)]
-        let prescale = prescale as u8;
-
         // Set up the prescaler and sync jump width.
-        T::register_block()
-            .bus_timing_0()
-            .modify(|_, w| unsafe { w.baud_presc().bits(prescale).sync_jump_width().bits(sjw) });
+        T::register_block().bus_timing_0().modify(|_, w| unsafe {
+            w.baud_presc().bits(prescale as _);
+            w.sync_jump_width().bits(sjw)
+        });
 
         // Set up the time segment 1, time segment 2, and triple sample.
         T::register_block().bus_timing_1().modify(|_, w| unsafe {
-            w.time_seg1()
-                .bits(tseg_1)
-                .time_seg2()
-                .bits(tseg_2)
-                .time_samp()
-                .bit(triple_sample)
+            w.time_seg1().bits(tseg_1);
+            w.time_seg2().bits(tseg_2);
+            w.time_samp().bit(triple_sample)
         });
     }
 
@@ -1510,7 +1539,7 @@ impl Instance for crate::peripherals::TWAI0 {
 #[cfg(any(esp32, esp32c3, esp32s2, esp32s3))]
 impl OperationInstance for crate::peripherals::TWAI0 {}
 
-#[cfg(esp32c6)]
+#[cfg(any(esp32h2, esp32c6))]
 impl Instance for crate::peripherals::TWAI0 {
     const SYSTEM_PERIPHERAL: system::Peripheral = system::Peripheral::Twai0;
     const NUMBER: usize = 0;
@@ -1554,7 +1583,7 @@ impl Instance for crate::peripherals::TWAI0 {
     }
 }
 
-#[cfg(esp32c6)]
+#[cfg(any(esp32h2, esp32c6))]
 impl OperationInstance for crate::peripherals::TWAI0 {}
 
 #[cfg(esp32c6)]
@@ -1641,7 +1670,7 @@ mod asynch {
         }
     }
 
-    const NUM_TWAI: usize = 2;
+    const NUM_TWAI: usize = 1 + cfg!(twai1) as usize;
     #[allow(clippy::declare_interior_mutable_const)]
     const NEW_STATE: TwaiAsyncState = TwaiAsyncState::new();
     pub(crate) static TWAI_STATE: [TwaiAsyncState; NUM_TWAI] = [NEW_STATE; NUM_TWAI];
@@ -1768,7 +1797,7 @@ mod asynch {
         }
     }
 
-    #[cfg(esp32c6)]
+    #[cfg(any(esp32h2, esp32c6))]
     #[handler]
     pub(super) fn twai0() {
         let register_block = TWAI0::register_block();

esp-metadata/devices/esp32h2.toml

@@ -54,7 +54,7 @@ peripherals = [
     "timg0",
     "timg1",
     "trace0",
-    # "twai0",
+    "twai0",
     "uart0",
     "uart1",
     "uhci0",

examples/src/bin/twai.rs

@@ -1,6 +1,6 @@
-//! This example sends a CAN message to another ESP and receives it back.
+//! This example sends a TWAI message to another ESP and receives it back.
 //!
-//! This example works without CAN Transceivers by:
+//! This example works without TWAI transceivers by:
 //! * setting the tx pins to open drain
 //! * connecting all rx and tx pins together
 //! * adding a pull-up to the signal pins
@@ -17,7 +17,7 @@
 //! In case you want to use `self-testing`, get rid of everything related to the aforementioned `IS_FIRST_SENDER`
 //! and follow the advice in the comments related to this mode.
 
-//% CHIPS: esp32c3 esp32c6 esp32s2 esp32s3
+//% CHIPS: esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
 
 #![no_std]
 #![no_main]
@@ -39,23 +39,23 @@ fn main() -> ! {
 
     let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 
-    let can_tx_pin = io.pins.gpio0;
-    let can_rx_pin = io.pins.gpio2;
+    let tx_pin = io.pins.gpio0;
+    let rx_pin = io.pins.gpio2;
 
     // The speed of the CAN bus.
-    const CAN_BAUDRATE: twai::BaudRate = twai::BaudRate::B1000K;
+    const TWAI_BAUDRATE: twai::BaudRate = twai::BaudRate::B1000K;
 
     // !!! Use `new` when using a transceiver. `new_no_transceiver` sets TX to open-drain
     // Self-testing also works using the regular `new` function.
 
     // Begin configuring the TWAI peripheral. The peripheral is in a reset like
     // state that prevents transmission but allows configuration.
     // For self-testing use `SelfTest` mode of the TWAI peripheral.
-    let mut can_config = twai::TwaiConfiguration::new_no_transceiver(
+    let mut twai_config = twai::TwaiConfiguration::new_no_transceiver(
         peripherals.TWAI0,
-        can_rx_pin,
-        can_tx_pin,
-        CAN_BAUDRATE,
+        rx_pin,
+        tx_pin,
+        TWAI_BAUDRATE,
         TwaiMode::Normal,
     );
 
@@ -67,12 +67,12 @@ fn main() -> ! {
     // A filter that matches StandardId::ZERO.
     const FILTER: SingleStandardFilter =
         SingleStandardFilter::new(b"00000000000", b"x", [b"xxxxxxxx", b"xxxxxxxx"]);
-    can_config.set_filter(FILTER);
+    twai_config.set_filter(FILTER);
 
     // Start the peripheral. This locks the configuration settings of the peripheral
     // and puts it into operation mode, allowing packets to be sent and
     // received.
-    let mut can = can_config.start();
+    let mut can = twai_config.start();
 
     if IS_FIRST_SENDER {
         // Send a frame to the other ESP

hil-test/tests/delay.rs

@@ -1,6 +1,6 @@
 //! Delay Test
 
-//% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32s2 esp32s3
+//% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
 
 #![no_std]
 #![no_main]

hil-test/tests/twai.rs

@@ -1,6 +1,6 @@
 //! TWAI test
 
-//% CHIPS: esp32c3 esp32c6 esp32s2 esp32s3
+//% CHIPS: esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
 
 #![no_std]
 #![no_main]
@@ -33,12 +33,12 @@ mod tests {
 
         let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 
-        let (can_tx_pin, can_rx_pin) = hil_test::common_test_pins!(io);
+        let (tx_pin, rx_pin) = hil_test::common_test_pins!(io);
 
         let mut config = twai::TwaiConfiguration::new(
             peripherals.TWAI0,
-            can_rx_pin,
-            can_tx_pin,
+            rx_pin,
+            tx_pin,
             twai::BaudRate::B1000K,
             TwaiMode::SelfTest,
         );