Added the zig_main project to software for zig based implementation of code for robot

software/zig_main/imports/twai.zig

@@ -0,0 +1,175 @@
+const sys = @import("sys");
+const errors = @import("error");
+
+// ---------------------------------------------------------------------------
+// Type aliases
+// ---------------------------------------------------------------------------
+
+pub const Handle = sys.twai_handle_t;
+pub const Message = sys.twai_message_t;
+pub const FilterConfig = sys.twai_filter_config_t;
+pub const TimingConfig = sys.twai_timing_config_t;
+pub const GeneralConfig = sys.twai_general_config_t;
+pub const StatusInfo = sys.twai_status_info_t;
+pub const FrameHeader = sys.twai_frame_header_t;
+
+/// TWAI operating mode.
+pub const Mode = enum(sys.twai_mode_t) {
+    normal = sys.TWAI_MODE_NORMAL,
+    no_ack = sys.TWAI_MODE_NO_ACK,
+    listen_only = sys.TWAI_MODE_LISTEN_ONLY,
+};
+
+/// Bus error state.
+pub const ErrorState = enum(sys.twai_error_state_t) {
+    active = sys.TWAI_ERROR_ACTIVE,
+    warning = sys.TWAI_ERROR_WARNING,
+    passive = sys.TWAI_ERROR_PASSIVE,
+    bus_off = sys.TWAI_ERROR_BUS_OFF,
+};
+
+/// Driver state.
+pub const State = enum(sys.twai_state_t) {
+    stopped = sys.TWAI_STATE_STOPPED,
+    running = sys.TWAI_STATE_RUNNING,
+    bus_off = sys.TWAI_STATE_BUS_OFF,
+    recovering = sys.TWAI_STATE_RECOVERING,
+};
+
+// ---------------------------------------------------------------------------
+// Alert flag constants
+// ---------------------------------------------------------------------------
+
+pub const Alert = struct {
+    pub const tx_idle: u32 = sys.TWAI_ALERT_TX_IDLE;
+    pub const tx_success: u32 = sys.TWAI_ALERT_TX_SUCCESS;
+    pub const rx_data: u32 = sys.TWAI_ALERT_RX_DATA;
+    pub const below_err_warn: u32 = sys.TWAI_ALERT_BELOW_ERR_WARN;
+    pub const err_active: u32 = sys.TWAI_ALERT_ERR_ACTIVE;
+    pub const recovery_in_progress: u32 = sys.TWAI_ALERT_RECOVERY_IN_PROGRESS;
+    pub const bus_recovered: u32 = sys.TWAI_ALERT_BUS_RECOVERED;
+    pub const arb_lost: u32 = sys.TWAI_ALERT_ARB_LOST;
+    pub const above_err_warn: u32 = sys.TWAI_ALERT_ABOVE_ERR_WARN;
+    pub const bus_error: u32 = sys.TWAI_ALERT_BUS_ERROR;
+    pub const tx_failed: u32 = sys.TWAI_ALERT_TX_FAILED;
+    pub const rx_queue_full: u32 = sys.TWAI_ALERT_RX_QUEUE_FULL;
+    pub const err_pass: u32 = sys.TWAI_ALERT_ERR_PASS;
+    pub const bus_off: u32 = sys.TWAI_ALERT_BUS_OFF;
+    pub const rx_fifo_overrun: u32 = sys.TWAI_ALERT_RX_FIFO_OVERRUN;
+    pub const tx_retried: u32 = sys.TWAI_ALERT_TX_RETRIED;
+    pub const periph_reset: u32 = sys.TWAI_ALERT_PERIPH_RESET;
+    pub const all: u32 = sys.TWAI_ALERT_ALL;
+    pub const none: u32 = sys.TWAI_ALERT_NONE;
+    pub const and_log: u32 = sys.TWAI_ALERT_AND_LOG;
+};
+
+// ---------------------------------------------------------------------------
+// Message flag constants
+// ---------------------------------------------------------------------------
+
+pub const MsgFlag = struct {
+    pub const none: u32 = sys.TWAI_MSG_FLAG_NONE;
+    pub const extd: u32 = sys.TWAI_MSG_FLAG_EXTD;
+    pub const rtr: u32 = sys.TWAI_MSG_FLAG_RTR;
+    pub const ss: u32 = sys.TWAI_MSG_FLAG_SS;
+    pub const self: u32 = sys.TWAI_MSG_FLAG_SELF;
+    pub const dlc_non_comp: u32 = sys.TWAI_MSG_FLAG_DLC_NON_COMP;
+};
+
+// ---------------------------------------------------------------------------
+// Driver — v2 handle-based API (preferred)
+// ---------------------------------------------------------------------------
+
+pub const Driver = struct {
+    // ── Lifecycle ────────────────────────────────────────────────────────────
+
+    /// Install the TWAI driver and return a handle.
+    /// Use `GPIO_NUM_NC` (-1) for unused clkout/bus_off pins.
+    pub fn install(
+        g_config: *const GeneralConfig,
+        t_config: *const TimingConfig,
+        f_config: *const FilterConfig,
+    ) !Handle {
+        var handle: Handle = null;
+        try errors.espCheckError(sys.twai_driver_install_v2(g_config, t_config, f_config, &handle));
+        return handle;
+    }
+
+    /// Uninstall a TWAI driver instance and release resources.
+    pub fn uninstall(handle: Handle) !void {
+        try errors.espCheckError(sys.twai_driver_uninstall_v2(handle));
+    }
+
+    /// Start the TWAI driver (enter running state).
+    pub fn start(handle: Handle) !void {
+        try errors.espCheckError(sys.twai_start_v2(handle));
+    }
+
+    /// Stop the TWAI driver (enter stopped state).
+    pub fn stop(handle: Handle) !void {
+        try errors.espCheckError(sys.twai_stop_v2(handle));
+    }
+
+    // ── Transmit / Receive ───────────────────────────────────────────────────
+
+    /// Queue a message for transmission. `ticks_to_wait` is the FreeRTOS
+    /// tick timeout (use `sys.portMAX_DELAY` to block indefinitely).
+    pub fn transmit(handle: Handle, msg: *const Message, ticks_to_wait: sys.TickType_t) !void {
+        try errors.espCheckError(sys.twai_transmit_v2(handle, msg, ticks_to_wait));
+    }
+
+    /// Receive a message. Blocks until a message is available or timeout.
+    pub fn receive(handle: Handle, ticks_to_wait: sys.TickType_t) !Message {
+        var msg: Message = std.mem.zeroes(Message);
+        try errors.espCheckError(sys.twai_receive_v2(handle, &msg, ticks_to_wait));
+        return msg;
+    }
+
+    // ── Alerts ───────────────────────────────────────────────────────────────
+
+    /// Block until one of the enabled alerts fires (or timeout).
+    /// Returns bitmask of triggered alerts.
+    pub fn readAlerts(handle: Handle, ticks_to_wait: sys.TickType_t) !u32 {
+        var alerts: u32 = 0;
+        try errors.espCheckError(sys.twai_read_alerts_v2(handle, &alerts, ticks_to_wait));
+        return alerts;
+    }
+
+    /// Change the set of enabled alerts at runtime.
+    /// Returns the alerts that were pending at the time of reconfiguration.
+    pub fn reconfigureAlerts(handle: Handle, alerts_enabled: u32) !u32 {
+        var current: u32 = 0;
+        try errors.espCheckError(sys.twai_reconfigure_alerts_v2(handle, alerts_enabled, &current));
+        return current;
+    }
+
+    // ── Recovery ──────────────────────────────────────────────────────────────
+
+    /// Initiate bus-off recovery. The driver must be in `bus_off` state.
+    pub fn initiateRecovery(handle: Handle) !void {
+        try errors.espCheckError(sys.twai_initiate_recovery_v2(handle));
+    }
+
+    // ── Status ────────────────────────────────────────────────────────────────
+
+    /// Get the current driver and bus status.
+    pub fn getStatus(handle: Handle) !StatusInfo {
+        var info: StatusInfo = std.mem.zeroes(StatusInfo);
+        try errors.espCheckError(sys.twai_get_status_info_v2(handle, &info));
+        return info;
+    }
+
+    // ── Queue management ─────────────────────────────────────────────────────
+
+    /// Discard all messages pending in the transmit queue.
+    pub fn clearTxQueue(handle: Handle) !void {
+        try errors.espCheckError(sys.twai_clear_transmit_queue_v2(handle));
+    }
+
+    /// Discard all messages in the receive queue.
+    pub fn clearRxQueue(handle: Handle) !void {
+        try errors.espCheckError(sys.twai_clear_receive_queue_v2(handle));
+    }
+};
+
+const std = @import("std");