Merge branch 'esp-rs:main' into yanshay_fix_lcd_cam_i8080_sending_gar…

…bage_try2
yanshay · Mar 21, 2024 · 3d03adf · 3d03adf
2 parents 10ddd40 + 33c7c32
commit 3d03adf
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diff --git a/esp-hal/CHANGELOG.md b/esp-hal/CHANGELOG.md
@@ -12,6 +12,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - ESP32-C6 / ESP32-H2: Implement `ETM` for general purpose timers (#1274)
 - `interrupt::enable` now has a direct CPU enable counter part, `interrupt::enable_direct` (#1310)
 - `Delay::delay(time: fugit::MicrosDurationU64)`
+- Added async support for TWAI (#1320)
 
 ### Fixed
 

diff --git a/esp-hal/src/embassy/mod.rs b/esp-hal/src/embassy/mod.rs
@@ -170,6 +170,11 @@ pub fn init(clocks: &Clocks, td: time_driver::TimerType) {
 
         crate::interrupt::enable(Interrupt::I2C_EXT0, Priority::min()).unwrap();
         crate::interrupt::enable(Interrupt::GPIO, Priority::min()).unwrap();
+
+        #[cfg(twai0)]
+        crate::interrupt::enable(Interrupt::TWAI0, Priority::min()).unwrap();
+        #[cfg(twai1)]
+        crate::interrupt::enable(Interrupt::TWAI1, Priority::min()).unwrap();
     }
 
     EmbassyTimer::init(clocks, td)

diff --git a/esp-hal/src/soc/esp32/gpio.rs b/esp-hal/src/soc/esp32/gpio.rs
@@ -218,7 +218,7 @@ pub enum InputSignal {
     RMT_SIG_6             = 89,
     RMT_SIG_7             = 90,
     EXT_ADC_START         = 93,
-    CAN_RX                = 94,
+    TWAI_RX               = 94,
     I2CEXT1_SCL           = 95,
     I2CEXT1_SDA           = 96,
     HOST_CARD_DETECT_N_1  = 97,
@@ -473,7 +473,7 @@ pub enum OutputSignal {
     PWM2_3L                  = 119,
     PWM2_4H                  = 120,
     PWM2_4L                  = 121,
-    CAN_TX                   = 123,
+    TWAI_TX                  = 123,
     CAN_BUS_OFF_ON           = 124,
     SPID4                    = 128,
     SPID5                    = 129,

diff --git a/esp-hal/src/soc/esp32s2/gpio.rs b/esp-hal/src/soc/esp32s2/gpio.rs
@@ -200,6 +200,7 @@ pub enum InputSignal {
     FSPIIO6           = 115,
     FSPIIO7           = 116,
     FSPICS0           = 117,
+    TWAI_RX           = 123,
     SUBSPIQ           = 127,
     SUBSPID           = 128,
     SUBSPIHD          = 129,
@@ -287,6 +288,7 @@ pub enum OutputSignal {
     FSPICS3          = 120,
     FSPICS4          = 121,
     FSPICS5          = 122,
+    TWAI_TX          = 123,
     SUBSPICLK        = 126,
     SUBSPIQ          = 127,
     SUBSPID          = 128,