twai: TWAI_ALERT_RX_DATA indicates that frames were received

Signed-off-by: Darian Leung <darian@espressif.com>

Closes https://github.com/espressif/esp-idf/pull/7386
Closes https://github.com/espressif/esp-idf/issues/7374

components/driver/include/driver/twai.h

@@ -47,23 +47,24 @@ extern "C" {
  */
 #define TWAI_ALERT_TX_IDLE                  0x00000001  /**< Alert(1): No more messages to transmit */
 #define TWAI_ALERT_TX_SUCCESS               0x00000002  /**< Alert(2): The previous transmission was successful */
-#define TWAI_ALERT_BELOW_ERR_WARN           0x00000004  /**< Alert(4): Both error counters have dropped below error warning limit */
-#define TWAI_ALERT_ERR_ACTIVE               0x00000008  /**< Alert(8): TWAI controller has become error active */
-#define TWAI_ALERT_RECOVERY_IN_PROGRESS     0x00000010  /**< Alert(16): TWAI controller is undergoing bus recovery */
-#define TWAI_ALERT_BUS_RECOVERED            0x00000020  /**< Alert(32): TWAI controller has successfully completed bus recovery */
-#define TWAI_ALERT_ARB_LOST                 0x00000040  /**< Alert(64): The previous transmission lost arbitration */
-#define TWAI_ALERT_ABOVE_ERR_WARN           0x00000080  /**< Alert(128): One of the error counters have exceeded the error warning limit */
-#define TWAI_ALERT_BUS_ERROR                0x00000100  /**< Alert(256): A (Bit, Stuff, CRC, Form, ACK) error has occurred on the bus */
-#define TWAI_ALERT_TX_FAILED                0x00000200  /**< Alert(512): The previous transmission has failed (for single shot transmission) */
-#define TWAI_ALERT_RX_QUEUE_FULL            0x00000400  /**< Alert(1024): The RX queue is full causing a frame to be lost */
-#define TWAI_ALERT_ERR_PASS                 0x00000800  /**< Alert(2048): TWAI controller has become error passive */
-#define TWAI_ALERT_BUS_OFF                  0x00001000  /**< Alert(4096): Bus-off condition occurred. TWAI controller can no longer influence bus */
-#define TWAI_ALERT_RX_FIFO_OVERRUN          0x00002000  /**< Alert(8192): An RX FIFO overrun has occurred */
-#define TWAI_ALERT_TX_RETRIED               0x00004000  /**< Alert(16384): An message transmission was cancelled and retried due to an errata workaround */
-#define TWAI_ALERT_PERIPH_RESET             0x00008000  /**< Alert(32768): The TWAI controller was reset */
-#define TWAI_ALERT_ALL                      0x0000FFFF  /**< Bit mask to enable all alerts during configuration */
+#define TWAI_ALERT_RX_DATA                  0x00000004  /**< Alert(4): A frame has been received and added to the RX queue */
+#define TWAI_ALERT_BELOW_ERR_WARN           0x00000008  /**< Alert(8): Both error counters have dropped below error warning limit */
+#define TWAI_ALERT_ERR_ACTIVE               0x00000010  /**< Alert(16): TWAI controller has become error active */
+#define TWAI_ALERT_RECOVERY_IN_PROGRESS     0x00000020  /**< Alert(32): TWAI controller is undergoing bus recovery */
+#define TWAI_ALERT_BUS_RECOVERED            0x00000040  /**< Alert(64): TWAI controller has successfully completed bus recovery */
+#define TWAI_ALERT_ARB_LOST                 0x00000080  /**< Alert(128): The previous transmission lost arbitration */
+#define TWAI_ALERT_ABOVE_ERR_WARN           0x00000100  /**< Alert(256): One of the error counters have exceeded the error warning limit */
+#define TWAI_ALERT_BUS_ERROR                0x00000200  /**< Alert(512): A (Bit, Stuff, CRC, Form, ACK) error has occurred on the bus */
+#define TWAI_ALERT_TX_FAILED                0x00000400  /**< Alert(1024): The previous transmission has failed (for single shot transmission) */
+#define TWAI_ALERT_RX_QUEUE_FULL            0x00000800  /**< Alert(2048): The RX queue is full causing a frame to be lost */
+#define TWAI_ALERT_ERR_PASS                 0x00001000  /**< Alert(4096): TWAI controller has become error passive */
+#define TWAI_ALERT_BUS_OFF                  0x00002000  /**< Alert(8192): Bus-off condition occurred. TWAI controller can no longer influence bus */
+#define TWAI_ALERT_RX_FIFO_OVERRUN          0x00004000  /**< Alert(16384): An RX FIFO overrun has occurred */
+#define TWAI_ALERT_TX_RETRIED               0x00008000  /**< Alert(32768): An message transmission was cancelled and retried due to an errata workaround */
+#define TWAI_ALERT_PERIPH_RESET             0x00010000  /**< Alert(65536): The TWAI controller was reset */
+#define TWAI_ALERT_ALL                      0x0001FFFF  /**< Bit mask to enable all alerts during configuration */
 #define TWAI_ALERT_NONE                     0x00000000  /**< Bit mask to disable all alerts during configuration */
-#define TWAI_ALERT_AND_LOG                  0x00010000  /**< Bit mask to enable alerts to also be logged when they occur. Note that logging from the ISR is disabled if CONFIG_TWAI_ISR_IN_IRAM is enabled (see docs). */
+#define TWAI_ALERT_AND_LOG                  0x00020000  /**< Bit mask to enable alerts to also be logged when they occur. Note that logging from the ISR is disabled if CONFIG_TWAI_ISR_IN_IRAM is enabled (see docs). */
 
 /** @endcond */
 

components/driver/twai.c

@@ -130,6 +130,7 @@ static inline void twai_handle_rx_buffer_frames(BaseType_t *task_woken, int *ale
             //Valid frame copied from RX buffer
             if (xQueueSendFromISR(p_twai_obj->rx_queue, &frame, task_woken) == pdTRUE) {
                 p_twai_obj->rx_msg_count++;
+                twai_alert_handler(TWAI_ALERT_RX_DATA, alert_req);
             } else {    //Failed to send to queue
                 p_twai_obj->rx_missed_count++;
                 twai_alert_handler(TWAI_ALERT_RX_QUEUE_FULL, alert_req);
@@ -149,6 +150,7 @@ static inline void twai_handle_rx_buffer_frames(BaseType_t *task_woken, int *ale
             //Valid frame copied from RX buffer
             if (xQueueSendFromISR(p_twai_obj->rx_queue, &frame, task_woken) == pdTRUE) {
                 p_twai_obj->rx_msg_count++;
+                twai_alert_handler(TWAI_ALERT_RX_DATA, alert_req);
             } else {
                 p_twai_obj->rx_missed_count++;
                 twai_alert_handler(TWAI_ALERT_RX_QUEUE_FULL, alert_req);
@@ -391,8 +393,6 @@ cleanup:
     return NULL;
 }
 
-
-
 /* ---------------------------- Public Functions ---------------------------- */
 
 esp_err_t twai_driver_install(const twai_general_config_t *g_config, const twai_timing_config_t *t_config, const twai_filter_config_t *f_config)

docs/en/api-reference/peripherals/twai.rst

@@ -124,6 +124,8 @@ The TWAI driver contains an alert feature that is used to notify the application
       - No more messages queued for transmission
     * - ``TWAI_ALERT_TX_SUCCESS``
       - The previous transmission was successful
+    * - ``TWAI_ALERT_RX_DATA``
+      - A frame has been received and added to the RX queue
     * - ``TWAI_ALERT_BELOW_ERR_WARN``
       - Both error counters have dropped below error warning limit
     * - ``TWAI_ALERT_ERR_ACTIVE``