esp-hal 0.16.1

//! # Two-wire Automotive Interface (TWAI)
//!
//! ## Overview
//! The TWAI peripheral driver provides functions and structs specifically
//! designed for the Two-Wire Automotive Interface (TWAI) on ESP chips. TWAI is
//! a communication protocol commonly used in automotive applications for
//! sending and receiving messages between electronic control units (ECUs) in a
//! vehicle.
//!
//! The driver enables you to configure and utilize the TWAI module on ESP
//! chips. It offers functions for initializing the TWAI peripheral, setting up
//! the timing parameters, configuring acceptance filters, handling interrupts,
//! and transmitting/receiving messages on the TWAI bus.
//!
//! This driver manages the ISO 11898-1 (CAN Specification 2.0) compatible TWAI
//! controllers. It supports Standard Frame Format (11-bit) and Extended Frame
//! Format (29-bit) frame identifiers.
//!
//! ## Example
//! ```no_run
//! // Use GPIO pins 2 and 3 to connect to the respective pins on the CAN
//! // transceiver.
//! let can_tx_pin = io.pins.gpio2;
//! let can_rx_pin = io.pins.gpio3;
//!
//! // The speed of the CAN bus.
//! const CAN_BAUDRATE: twai::BaudRate = twai::BaudRate::B1000K;
//!
//! // Begin configuring the TWAI peripheral. The peripheral is in a reset like
//! // state that prevents transmission but allows configuration.
//! let mut can_config = twai::TwaiConfiguration::new(
//!     peripherals.TWAI0,
//!     can_tx_pin,
//!     can_rx_pin,
//!     &clocks,
//!     CAN_BAUDRATE,
//! );
//!
//! // Partially filter the incoming messages to reduce overhead of receiving undesired messages
//! const FILTER: twai::filter::SingleStandardFilter =
//!     twai::filter::SingleStandardFilter::new(b"xxxxxxxxxx0", b"x", [b"xxxxxxxx", b"xxxxxxxx"]);
//! can_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();
//!
//! loop {
//!     // Wait for a frame to be received.
//!     let frame = block!(can.receive()).unwrap();
//!
//!     println!("Received a frame:");
//!
//!     // Print different messages based on the frame id type.
//!     match frame.id() {
//!         Id::Standard(id) => {
//!             println!("\tStandard Id: {:?}", id);
//!         }
//!         Id::Extended(id) => {
//!             println!("\tExtended Id: {:?}", id);
//!         }
//!     }
//!
//!     // Print out the frame data or the requested data length code for a remote
//!     // transmission request frame.
//!     if frame.is_data_frame() {
//!         println!("\tData: {:?}", frame.data());
//!     } else {
//!         println!("\tRemote Frame. Data Length Code: {}", frame.dlc());
//!     }
//!
//!     // Transmit the frame back.
//!     let _result = block!(can.transmit(&frame)).unwrap();
//! }
//! ```

#[cfg(feature = "eh1")]
use embedded_can::{nb::Can, Error, ErrorKind, ExtendedId, Frame, Id, StandardId};
#[cfg(not(feature = "eh1"))]
use embedded_hal::can::{Can, Error, ErrorKind, ExtendedId, Frame, Id, StandardId};
use fugit::HertzU32;

use self::filter::{Filter, FilterType};
use crate::{
    clock::Clocks,
    gpio::{InputPin, InputSignal, OutputPin, OutputSignal},
    peripheral::{Peripheral, PeripheralRef},
    peripherals::twai0::RegisterBlock,
    system::{self, PeripheralClockControl},
};

pub mod filter;

/// Structure backing the embedded_hal::can::Frame/embedded_can::Frame trait.
#[derive(Clone, Copy, Debug)]
pub struct EspTwaiFrame {
    id: Id,
    dlc: usize,
    data: [u8; 8],
    is_remote: bool,
}

impl EspTwaiFrame {
    /// Make a new frame from an id, pointer to the TWAI_DATA_x_REG registers,
    /// and the length of the data payload (dlc).
    ///
    /// # Safety
    /// This is unsafe because it directly accesses peripheral registers.
    unsafe fn new_from_data_registers(
        id: impl Into<Id>,
        registers: *const u32,
        dlc: usize,
    ) -> Self {
        let mut data: [u8; 8] = [0; 8];

        // Copy the data from the memory mapped peripheral into actual memory.
        copy_from_data_register(&mut data[..dlc], registers);

        Self {
            id: id.into(),
            data,
            dlc,
            is_remote: false,
        }
    }
}

impl Frame for EspTwaiFrame {
    fn new(id: impl Into<Id>, data: &[u8]) -> Option<Self> {
        // CAN2.0 frames cannot contain more than 8 bytes of data.
        if data.len() > 8 {
            return None;
        }

        let mut d: [u8; 8] = [0; 8];
        let (left, _unused) = d.split_at_mut(data.len());
        left.clone_from_slice(data);

        Some(EspTwaiFrame {
            id: id.into(),
            data: d,
            dlc: data.len(),
            is_remote: false,
        })
    }

    fn new_remote(id: impl Into<Id>, dlc: usize) -> Option<Self> {
        // CAN2.0 frames cannot have more than 8 bytes.
        if dlc > 8 {
            return None;
        }
        Some(EspTwaiFrame {
            id: id.into(),
            data: [0; 8],
            dlc,
            is_remote: true,
        })
    }

    fn is_extended(&self) -> bool {
        match self.id {
            Id::Standard(_) => false,
            Id::Extended(_) => true,
        }
    }

    fn is_remote_frame(&self) -> bool {
        self.is_remote
    }

    fn id(&self) -> Id {
        self.id
    }

    fn dlc(&self) -> usize {
        self.dlc
    }

    fn data(&self) -> &[u8] {
        // Remote frames do not contain data, yet have a value for the dlc so return
        // an empty slice for remote frames.
        match self.is_remote_frame() {
            true => &[],
            false => &self.data[0..self.dlc],
        }
    }
}

/// The underlying timings for the TWAI peripheral.
pub struct TimingConfig {
    pub baud_rate_prescaler: u16,
    pub sync_jump_width: u8,
    pub tseg_1: u8,
    pub tseg_2: u8,
    pub triple_sample: bool,
}

/// A selection of pre-determined baudrates for the TWAI driver.
/// Currently these timings are sourced from the ESP IDF C driver which assumes
/// an APB clock of 80MHz.
pub enum BaudRate {
    B125K,
    B250K,
    B500K,
    B1000K,
    Custom(TimingConfig),
}

impl BaudRate {
    /// Convert the BaudRate into the timings that the peripheral needs.
    // These timings are copied from the ESP IDF C driver.
    // #define TWAI_TIMING_CONFIG_25KBITS()    {.brp = 128, .tseg_1 = 16, .tseg_2 =
    // 8, .sjw = 3, .triple_sampling = false}
    // #define TWAI_TIMING_CONFIG_50KBITS()    {.brp = 80, .tseg_1 = 15, .tseg_2 =
    // 4, .sjw = 3, .triple_sampling = false}
    // #define TWAI_TIMING_CONFIG_100KBITS()   {.brp = 40, .tseg_1 = 15, .tseg_2 =
    // 4, .sjw = 3, .triple_sampling = false}
    // #define TWAI_TIMING_CONFIG_125KBITS()   {.brp = 32, .tseg_1 = 15, .tseg_2 =
    // 4, .sjw = 3, .triple_sampling = false}
    // #define TWAI_TIMING_CONFIG_250KBITS()   {.brp = 16, .tseg_1 = 15, .tseg_2 =
    // 4, .sjw = 3, .triple_sampling = false}
    // #define TWAI_TIMING_CONFIG_500KBITS()   {.brp = 8, .tseg_1 = 15, .tseg_2 = 4,
    // .sjw = 3, .triple_sampling = false} #define TWAI_TIMING_CONFIG_800KBITS()
    // {.brp = 4, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false}
    // #define TWAI_TIMING_CONFIG_1MBITS()     {.brp = 4, .tseg_1 = 15, .tseg_2 = 4,
    // .sjw = 3, .triple_sampling = false}
    const fn timing(self) -> TimingConfig {
        match self {
            Self::B125K => TimingConfig {
                baud_rate_prescaler: 32,
                sync_jump_width: 3,
                tseg_1: 15,
                tseg_2: 4,
                triple_sample: false,
            },
            Self::B250K => TimingConfig {
                baud_rate_prescaler: 16,
                sync_jump_width: 3,
                tseg_1: 15,
                tseg_2: 4,
                triple_sample: false,
            },
            Self::B500K => TimingConfig {
                baud_rate_prescaler: 8,
                sync_jump_width: 3,
                tseg_1: 15,
                tseg_2: 4,
                triple_sample: false,
            },
            Self::B1000K => TimingConfig {
                baud_rate_prescaler: 4,
                sync_jump_width: 3,
                tseg_1: 15,
                tseg_2: 4,
                triple_sample: false,
            },
            Self::Custom(timing_config) => timing_config,
        }
    }
}

/// An inactive TWAI peripheral in the "Reset"/configuration state.
pub struct TwaiConfiguration<'d, T> {
    peripheral: PeripheralRef<'d, T>,
}

impl<'d, T> TwaiConfiguration<'d, T>
where
    T: Instance,
{
    pub fn new<TX: OutputPin, RX: InputPin>(
        peripheral: impl Peripheral<P = T> + 'd,
        tx_pin: impl Peripheral<P = TX> + 'd,
        rx_pin: impl Peripheral<P = RX> + 'd,
        clocks: &Clocks,
        baud_rate: BaudRate,
    ) -> Self {
        // Enable the peripheral clock for the TWAI peripheral.
        PeripheralClockControl::enable(T::SYSTEM_PERIPHERAL);

        // Set up the GPIO pins.
        crate::into_ref!(tx_pin, rx_pin);
        tx_pin.connect_peripheral_to_output(T::OUTPUT_SIGNAL);
        rx_pin.connect_input_to_peripheral(T::INPUT_SIGNAL);

        crate::into_ref!(peripheral);
        let mut cfg = TwaiConfiguration { peripheral };

        cfg.set_baud_rate(baud_rate, clocks);

        cfg
    }

    /// Set the bitrate of the bus.
    ///
    /// Note: The timings currently assume a APB_CLK of 80MHz.
    fn set_baud_rate(&mut self, baud_rate: BaudRate, clocks: &Clocks) {
        // 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.
        assert!(clocks.apb_clock == HertzU32::MHz(80));

        // Unpack the baud rate timings and convert them to the values needed for the
        // register. Many of the registers have a minimum value of 1 which is
        // represented by having zero bits set, therefore many values need to
        // have 1 subtracted from them before being stored into the register.
        let timing = baud_rate.timing();

        let prescale = (timing.baud_rate_prescaler / 2) - 1;
        let sjw = timing.sync_jump_width - 1;
        let tseg_1 = timing.tseg_1 - 1;
        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.
        self.peripheral
            .register_block()
            .bus_timing_0()
            .modify(|_, w| {
                w.baud_presc()
                    .variant(prescale)
                    .sync_jump_width()
                    .variant(sjw)
            });

        // Set up the time segment 1, time segment 2, and triple sample.
        self.peripheral
            .register_block()
            .bus_timing_1()
            .modify(|_, w| {
                w.time_seg1()
                    .variant(tseg_1)
                    .time_seg2()
                    .variant(tseg_2)
                    .time_samp()
                    .bit(triple_sample)
            });
    }

    /// Set up the acceptance filter on the device.
    ///
    /// NOTE: On a bus with mixed 11-bit and 29-bit packet id's, you may
    /// experience an 11-bit filter match against a 29-bit frame and vice
    /// versa. Your application should check the id again once a frame has
    /// been received to make sure it is the expected value.
    ///
    /// [ESP32C3 Reference Manual](https://www.espressif.com/sites/default/files/documentation/esp32-c3_technical_reference_manual_en.pdf#subsubsection.29.4.6)
    pub fn set_filter(&mut self, filter: impl Filter) {
        // Set or clear the rx filter mode bit depending on the filter type.
        let filter_mode_bit = filter.filter_type() == FilterType::Single;
        self.peripheral
            .register_block()
            .mode()
            .modify(|_, w| w.rx_filter_mode().bit(filter_mode_bit));

        // Convert the filter into values for the registers and store them to the
        // registers.
        let registers = filter.to_registers();

        // Copy the filter to the peripheral.
        unsafe {
            copy_to_data_register(
                self.peripheral.register_block().data_0().as_ptr(),
                &registers,
            );
        }
    }

    /// Set the error warning threshold.
    ///
    /// In the case when any of an error counter value exceeds the threshold, or
    /// all the error counter values are below the threshold, an error
    /// warning interrupt will be triggered (given the enable signal is
    /// valid).
    pub fn set_error_warning_limit(&mut self, limit: u8) {
        self.peripheral
            .register_block()
            .err_warning_limit()
            .write(|w| w.err_warning_limit().variant(limit));
    }

    /// Put the peripheral into Operation Mode, allowing the transmission and
    /// reception of packets using the new object.
    pub fn start(self) -> Twai<'d, T> {
        // Put the peripheral into operation mode by clearing the reset mode bit.
        self.peripheral
            .register_block()
            .mode()
            .modify(|_, w| w.reset_mode().clear_bit());

        Twai {
            peripheral: self.peripheral,
        }
    }
}

/// An active TWAI peripheral in Normal Mode.
///
/// In this mode, the TWAI controller can transmit and receive messages
/// including error signals (such as error and overload frames).
pub struct Twai<'d, T> {
    peripheral: PeripheralRef<'d, T>,
}

impl<'d, T> Twai<'d, T>
where
    T: Instance,
{
    /// Stop the peripheral, putting it into reset mode and enabling
    /// reconfiguration.
    pub fn stop(self) -> TwaiConfiguration<'d, T> {
        // Put the peripheral into reset/configuration mode by setting the reset mode
        // bit.
        self.peripheral
            .register_block()
            .mode()
            .modify(|_, w| w.reset_mode().set_bit());

        TwaiConfiguration {
            peripheral: self.peripheral,
        }
    }

    pub fn receive_error_count(&self) -> u8 {
        self.peripheral
            .register_block()
            .rx_err_cnt()
            .read()
            .rx_err_cnt()
            .bits()
    }

    pub fn transmit_error_count(&self) -> u8 {
        self.peripheral
            .register_block()
            .tx_err_cnt()
            .read()
            .tx_err_cnt()
            .bits()
    }

    /// Check if the controller is in a bus off state.
    pub fn is_bus_off(&self) -> bool {
        self.peripheral
            .register_block()
            .status()
            .read()
            .bus_off_st()
            .bit_is_set()
    }

    /// Get the number of messages that the peripheral has available in the
    /// receive FIFO.
    ///
    /// Note that this may not be the number of valid messages in the receive
    /// FIFO due to fifo overflow/overrun.
    pub fn num_available_messages(&self) -> u8 {
        self.peripheral
            .register_block()
            .rx_message_cnt()
            .read()
            .rx_message_counter()
            .bits()
    }

    /// Clear the receive FIFO, discarding any valid, partial, or invalid
    /// packets.
    ///
    /// This is typically used to clear an overrun receive FIFO.
    ///
    /// TODO: Not sure if this needs to be guarded against Bus Off or other
    /// error states.
    pub fn clear_receive_fifo(&self) {
        while self.num_available_messages() > 0 {
            self.release_receive_fifo();
        }
    }

    /// Release the message in the buffer. This will decrement the received
    /// message counter and prepare the next message in the FIFO for
    /// reading.
    fn release_receive_fifo(&self) {
        self.peripheral
            .register_block()
            .cmd()
            .write(|w| w.release_buf().set_bit());
    }
}

#[derive(Debug, Copy, Clone, Eq, PartialEq)]
pub enum EspTwaiError {
    BusOff,
    EmbeddedHAL(ErrorKind),
}

impl Error for EspTwaiError {
    fn kind(&self) -> ErrorKind {
        match self {
            Self::BusOff => ErrorKind::Other,
            Self::EmbeddedHAL(kind) => *kind,
        }
    }
}

/// Copy data from multiple TWAI_DATA_x_REG registers, packing the source into
/// the destination.
///
/// # Safety
/// This function is marked unsafe because it reads arbitrarily from
/// memory-mapped registers. Specifically, this function is used with the
/// TWAI_DATA_x_REG registers which has different results based on the mode of
/// the peripheral.
#[inline(always)]
unsafe fn copy_from_data_register(dest: &mut [u8], src: *const u32) {
    for (i, dest) in dest.iter_mut().enumerate() {
        // Perform a volatile read to avoid compiler optimizations.
        *dest = src.add(i).read_volatile() as u8;
    }
}

/// Copy data to multiple TWAI_DATA_x_REG registers, unpacking the source into
/// the destination.
///
/// # Safety
/// This function is marked unsafe because it writes arbitrarily to
/// memory-mapped registers. Specifically, this function is used with the
/// TWAI_DATA_x_REG registers which has different results based on the mode of
/// the peripheral.
#[inline(always)]
unsafe fn copy_to_data_register(dest: *mut u32, src: &[u8]) {
    for (i, src) in src.iter().enumerate() {
        // Perform a volatile write to avoid compiler optimizations.
        dest.add(i).write_volatile(*src as u32);
    }
}

impl<T> Can for Twai<'_, T>
where
    T: Instance,
{
    type Frame = EspTwaiFrame;
    type Error = EspTwaiError;
    /// Transmit a frame.
    ///
    /// Because of how the TWAI registers are set up, we have to do some
    /// assembly of bytes. Note that these registers serve a filter
    /// configuration role when the device is in configuration mode so
    /// patching the svd files to improve this may be non-trivial.
    ///
    /// [ESP32C3 Reference Manual](https://www.espressif.com/sites/default/files/documentation/esp32-c3_technical_reference_manual_en.pdf#subsubsection.29.4.4.2)
    ///
    /// NOTE: TODO: This may not work if using the self reception/self test
    /// functionality. See notes 1 and 2 in the "Frame Identifier" section
    /// of the reference manual.
    fn transmit(&mut self, frame: &Self::Frame) -> nb::Result<Option<Self::Frame>, Self::Error> {
        let status = self.peripheral.register_block().status().read();

        // Check that the peripheral is not in a bus off state.
        if status.bus_off_st().bit_is_set() {
            return nb::Result::Err(nb::Error::Other(EspTwaiError::BusOff));
        }
        // Check that the peripheral is not already transmitting a packet.
        if !status.tx_buf_st().bit_is_set() {
            return nb::Result::Err(nb::Error::WouldBlock);
        }

        // Assemble the frame information into the data_0 byte.
        let frame_format: u8 = frame.is_extended() as u8;
        let rtr_bit: u8 = frame.is_remote_frame() as u8;
        let dlc_bits: u8 = frame.dlc() as u8 & 0b1111;

        let data_0: u8 = frame_format << 7 | rtr_bit << 6 | dlc_bits;

        self.peripheral
            .register_block()
            .data_0()
            .write(|w| w.tx_byte_0().variant(data_0));

        // Assemble the identifier information of the packet.
        match frame.id() {
            Id::Standard(id) => {
                let id = id.as_raw();

                self.peripheral
                    .register_block()
                    .data_1()
                    .write(|w| w.tx_byte_1().variant((id >> 3) as u8));

                self.peripheral
                    .register_block()
                    .data_2()
                    .write(|w| w.tx_byte_2().variant((id << 5) as u8));
            }
            Id::Extended(id) => {
                let id = id.as_raw();

                self.peripheral
                    .register_block()
                    .data_1()
                    .write(|w| w.tx_byte_1().variant((id >> 21) as u8));
                self.peripheral
                    .register_block()
                    .data_2()
                    .write(|w| w.tx_byte_2().variant((id >> 13) as u8));
                self.peripheral
                    .register_block()
                    .data_3()
                    .write(|w| w.tx_byte_3().variant((id >> 5) as u8));
                self.peripheral
                    .register_block()
                    .data_4()
                    .write(|w| w.tx_byte_4().variant((id << 3) as u8));
            }
        }

        // Store the data portion of the packet into the transmit buffer.
        if frame.is_data_frame() {
            match frame.id() {
                Id::Standard(_) => unsafe {
                    copy_to_data_register(
                        self.peripheral.register_block().data_3().as_ptr(),
                        frame.data(),
                    )
                },
                Id::Extended(_) => unsafe {
                    copy_to_data_register(
                        self.peripheral.register_block().data_5().as_ptr(),
                        frame.data(),
                    )
                },
            }
        } else {
            // Is RTR frame, so no data is included.
        }

        // Set the transmit request command, this will lock the transmit buffer until
        // the transmission is complete or aborted.
        self.peripheral
            .register_block()
            .cmd()
            .write(|w| w.tx_req().set_bit());

        // Success in readying packet for transmit. No packets can be replaced in the
        // transmit buffer so return None in accordance with the
        // embedded-can/embedded-hal trait.
        nb::Result::Ok(None)
    }

    /// Return a received frame if there are any available.
    fn receive(&mut self) -> nb::Result<Self::Frame, Self::Error> {
        let status = self.peripheral.register_block().status().read();

        // Check that the peripheral is not in a bus off state.
        if status.bus_off_st().bit_is_set() {
            return nb::Result::Err(nb::Error::Other(EspTwaiError::BusOff));
        }

        // Check that we actually have packets to receive.
        if !status.rx_buf_st().bit_is_set() {
            return nb::Result::Err(nb::Error::WouldBlock);
        }

        // Check if the packet in the receive buffer is valid or overrun.
        if status.miss_st().bit_is_set() {
            return nb::Result::Err(nb::Error::Other(EspTwaiError::EmbeddedHAL(
                ErrorKind::Overrun,
            )));
        }

        // Read the frame information and extract the frame id format and dlc.
        let data_0 = self
            .peripheral
            .register_block()
            .data_0()
            .read()
            .tx_byte_0()
            .bits();

        let is_standard_format = data_0 & 0b1 << 7 == 0;
        let is_data_frame = data_0 & 0b1 << 6 == 0;
        let dlc = (data_0 & 0b1111) as usize;

        // Read the payload from the packet and construct a frame.
        let frame = if is_standard_format {
            // Frame uses standard 11 bit id.
            let data_1 = self
                .peripheral
                .register_block()
                .data_1()
                .read()
                .tx_byte_1()
                .bits();

            let data_2 = self
                .peripheral
                .register_block()
                .data_2()
                .read()
                .tx_byte_2()
                .bits();

            let raw_id: u16 = ((data_1 as u16) << 3) | ((data_2 as u16) >> 5);

            let id = StandardId::new(raw_id).unwrap();

            if is_data_frame {
                // Create a new frame from the contents of the appropriate TWAI_DATA_x_REG
                // registers.
                unsafe {
                    EspTwaiFrame::new_from_data_registers(
                        id,
                        self.peripheral.register_block().data_3().as_ptr(),
                        dlc,
                    )
                }
            } else {
                EspTwaiFrame::new_remote(id, dlc).unwrap()
            }
        } else {
            // Frame uses extended 29 bit id.
            let data_1 = self
                .peripheral
                .register_block()
                .data_1()
                .read()
                .tx_byte_1()
                .bits();

            let data_2 = self
                .peripheral
                .register_block()
                .data_2()
                .read()
                .tx_byte_2()
                .bits();

            let data_3 = self
                .peripheral
                .register_block()
                .data_3()
                .read()
                .tx_byte_3()
                .bits();

            let data_4 = self
                .peripheral
                .register_block()
                .data_4()
                .read()
                .tx_byte_4()
                .bits();

            let raw_id: u32 = (data_1 as u32) << 21
                | (data_2 as u32) << 13
                | (data_3 as u32) << 5
                | (data_4 as u32) >> 3;

            let id = ExtendedId::new(raw_id).unwrap();

            if is_data_frame {
                unsafe {
                    EspTwaiFrame::new_from_data_registers(
                        id,
                        self.peripheral.register_block().data_5().as_ptr(),
                        dlc,
                    )
                }
            } else {
                EspTwaiFrame::new_remote(id, dlc).unwrap()
            }
        };

        // Release the packet we read from the FIFO, allowing the peripheral to prepare
        // the next packet.
        self.release_receive_fifo();

        nb::Result::Ok(frame)
    }
}

pub trait Instance {
    const SYSTEM_PERIPHERAL: system::Peripheral;

    const INPUT_SIGNAL: InputSignal;
    const OUTPUT_SIGNAL: OutputSignal;

    fn register_block(&self) -> &RegisterBlock;
}

#[cfg(any(esp32c3, esp32s3))]
impl Instance for crate::peripherals::TWAI0 {
    const SYSTEM_PERIPHERAL: system::Peripheral = system::Peripheral::Twai0;

    const INPUT_SIGNAL: InputSignal = InputSignal::TWAI_RX;
    const OUTPUT_SIGNAL: OutputSignal = OutputSignal::TWAI_TX;

    #[inline(always)]
    fn register_block(&self) -> &RegisterBlock {
        self
    }
}

#[cfg(esp32c6)]
impl Instance for crate::peripherals::TWAI0 {
    const SYSTEM_PERIPHERAL: system::Peripheral = system::Peripheral::Twai0;

    const INPUT_SIGNAL: InputSignal = InputSignal::TWAI0_RX;
    const OUTPUT_SIGNAL: OutputSignal = OutputSignal::TWAI0_TX;

    #[inline(always)]
    fn register_block(&self) -> &RegisterBlock {
        self
    }
}

#[cfg(esp32c6)]
impl Instance for crate::peripherals::TWAI1 {
    const SYSTEM_PERIPHERAL: system::Peripheral = system::Peripheral::Twai1;

    const INPUT_SIGNAL: InputSignal = InputSignal::TWAI1_RX;
    const OUTPUT_SIGNAL: OutputSignal = OutputSignal::TWAI1_TX;

    #[inline(always)]
    fn register_block(&self) -> &RegisterBlock {
        self
    }
}