feat(twai): support twai on esp32h21

Author: Kainarx

components/driver/test_apps/legacy_twai/README.md

@@ -1,5 +1,5 @@
-| Supported Targets | ESP32 | ESP32-C3 | ESP32-C6 | ESP32-H2 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | ----- | -------- | -------- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32 | ESP32-C3 | ESP32-C6 | ESP32-H2 | ESP32-H21 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
+| ----------------- | ----- | -------- | -------- | -------- | --------- | -------- | -------- | -------- |
 
 # Enable Socket CAN Device with bitrate 250Kbps
 

components/driver/test_apps/legacy_twai/main/test_twai_loop_back.c

@@ -134,6 +134,7 @@ TEST_CASE("twai_mode_ext_no_ack_250kbps", "[twai-loop-back]")
     }
 }
 
+#if SOC_LIGHT_SLEEP_SUPPORTED
 static void s_test_sleep_retention(bool allow_pd)
 {
     // Prepare a TOP PD sleep
@@ -220,3 +221,4 @@ TEST_CASE("twai_mode_ext_no_ack_250kbps with sleep retention (no pd)", "[twai-lo
 {
     s_test_sleep_retention(false);
 }
+#endif // SOC_LIGHT_SLEEP_SUPPORTED

components/esp_driver_twai/test_apps/test_twai/README.md

@@ -1,2 +1,2 @@
-| Supported Targets | ESP32 | ESP32-C3 | ESP32-C5 | ESP32-C6 | ESP32-H2 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | ----- | -------- | -------- | -------- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32 | ESP32-C3 | ESP32-C5 | ESP32-C6 | ESP32-H2 | ESP32-H21 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
+| ----------------- | ----- | -------- | -------- | -------- | -------- | --------- | -------- | -------- | -------- |

components/hal/esp32h2/include/hal/twai_ll.h

@@ -190,7 +190,7 @@ static inline void twai_ll_set_clock_source(int group_id, twai_clock_source_t cl
 {
     (void)group_id;
     switch (clk_src) {
-    case TWAI_CLK_SRC_DEFAULT:
+    case TWAI_CLK_SRC_XTAL:
         PCR.twai0_func_clk_conf.twai0_func_clk_sel = 0;
         break;
     default: