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@@ -284,6 +284,8 @@ TWAI_ISR_ATTR static void twai_intr_handler_main(void *arg)
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static void twai_configure_gpio(gpio_num_t tx, gpio_num_t rx, gpio_num_t clkout, gpio_num_t bus_status)
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{
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+ // assert the GPIO number is not a negative number (shift operation on a negative number is undefined)
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+ assert(tx >= 0 && rx >= 0);
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int controller_id = p_twai_obj->controller_id;
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// if TX and RX set to the same GPIO, which means we want to create a loop-back in the GPIO matrix
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bool io_loop_back = (tx == rx);
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@@ -408,8 +410,8 @@ esp_err_t twai_driver_install(const twai_general_config_t *g_config, const twai_
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TWAI_CHECK(t_config != NULL, ESP_ERR_INVALID_ARG);
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TWAI_CHECK(f_config != NULL, ESP_ERR_INVALID_ARG);
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TWAI_CHECK(g_config->rx_queue_len > 0, ESP_ERR_INVALID_ARG);
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- TWAI_CHECK(g_config->tx_io >= 0 && g_config->tx_io < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG);
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- TWAI_CHECK(g_config->rx_io >= 0 && g_config->rx_io < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG);
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+ TWAI_CHECK(GPIO_IS_VALID_OUTPUT_GPIO(g_config->tx_io), ESP_ERR_INVALID_ARG);
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+ TWAI_CHECK(GPIO_IS_VALID_GPIO(g_config->rx_io), ESP_ERR_INVALID_ARG);
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#ifndef CONFIG_TWAI_ISR_IN_IRAM
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TWAI_CHECK(!(g_config->intr_flags & ESP_INTR_FLAG_IRAM), ESP_ERR_INVALID_ARG);
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#endif
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morris