twai-self-test-instrumentation.patch

diff --git a/examples/peripherals/twai/twai_self_test/main/Kconfig.projbuild b/examples/peripherals/twai/twai_self_test/main/Kconfig.projbuild
index 125931f16..25b1f306f 100644
--- a/examples/peripherals/twai/twai_self_test/main/Kconfig.projbuild
+++ b/examples/peripherals/twai/twai_self_test/main/Kconfig.projbuild
@@ -2,7 +2,7 @@ menu "Example Configuration"
 
     config EXAMPLE_TX_GPIO_NUM
         int "TX GPIO number"
-        default 20 if IDF_TARGET_ESP32S2
+        default 17 if IDF_TARGET_ESP32S2
         default 21 if IDF_TARGET_ESP32
         help
             This option selects the GPIO pin used for the TX signal. Connect the
@@ -10,7 +10,7 @@ menu "Example Configuration"
 
     config EXAMPLE_RX_GPIO_NUM
         int "RX GPIO number"
-        default 21 if IDF_TARGET_ESP32S2
+        default 18 if IDF_TARGET_ESP32S2
         default 22 if IDF_TARGET_ESP32
         help
             This option selects the GPIO pin used for the RX signal. Connect the
diff --git a/examples/peripherals/twai/twai_self_test/main/twai_self_test_example_main.c b/examples/peripherals/twai/twai_self_test/main/twai_self_test_example_main.c
index 0feda1d24..16a4984cf 100644
--- a/examples/peripherals/twai/twai_self_test/main/twai_self_test_example_main.c
+++ b/examples/peripherals/twai/twai_self_test/main/twai_self_test_example_main.c
@@ -26,6 +26,7 @@
 #include "esp_err.h"
 #include "esp_log.h"
 #include "driver/twai.h"
+#include "hal/twai_ll.h"
 
 /* --------------------- Definitions and static variables ------------------ */
 
@@ -41,10 +42,7 @@
 #define EXAMPLE_TAG             "TWAI Self Test"
 
 static const twai_timing_config_t t_config = TWAI_TIMING_CONFIG_25KBITS();
-//Filter all other IDs except MSG_ID
-static const twai_filter_config_t f_config = {.acceptance_code = (MSG_ID << 21),
-                                             .acceptance_mask = ~(TWAI_STD_ID_MASK << 21),
-                                             .single_filter = true};
+static const twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
 //Set to NO_ACK mode due to self testing with single module
 static const twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(TX_GPIO_NUM, RX_GPIO_NUM, TWAI_MODE_NO_ACK);
 
@@ -122,7 +120,31 @@ void app_main(void)
 
     //Install TWAI driver
     ESP_ERROR_CHECK(twai_driver_install(&g_config, &t_config, &f_config));
+
+    ESP_LOGI(EXAMPLE_TAG, "TWAI @ %p", &TWAI);
+
     ESP_LOGI(EXAMPLE_TAG, "Driver installed");
+    ESP_LOGI(EXAMPLE_TAG, "f_config.acceptance_code = 0x%08x", f_config.acceptance_code);
+    ESP_LOGI(EXAMPLE_TAG, "f_config.acceptance_mask = 0x%08x", f_config.acceptance_mask);
+    ESP_LOGI(EXAMPLE_TAG, "f_config.single_filter = 0x%08x", f_config.single_filter);
+
+#define PRINT_REG(x) \
+    ESP_LOGI(EXAMPLE_TAG, #x " = 0x%08x", TWAI.x.val);
+    PRINT_REG(mode_reg);
+    PRINT_REG(command_reg);
+    PRINT_REG(status_reg);
+    PRINT_REG(clock_divider_reg);
+
+    ESP_LOGI(EXAMPLE_TAG, "acceptance_filter.acr[] =");
+    for(int i=0; i<4; i++) {
+        ESP_LOGI(EXAMPLE_TAG, " %02x", TWAI.acceptance_filter.acr[i].byte);
+    }
+    ESP_LOGI(EXAMPLE_TAG, "\n");
+    ESP_LOGI(EXAMPLE_TAG, "acceptance_filter.amr[] =");
+    for(int i=0; i<4; i++) {
+        ESP_LOGI(EXAMPLE_TAG, " %02x", TWAI.acceptance_filter.amr[i].byte);
+    }
+    ESP_LOGI(EXAMPLE_TAG, "\n");
 
     //Start control task
     xSemaphoreGive(ctrl_sem);