Commit aeb9fd68 authored by Henrik Brix Andersen's avatar Henrik Brix Andersen Committed by Fabio Baltieri
Browse files

drivers: can: add ESP32 TWAI CAN controller driver 



Add ESP32 TWAI CAN controller driver. The TWAI is register-compatible with
the NXP SJA1000 CAN controller.

Signed-off-by: default avatarHenrik Brix Andersen <henrik@brixandersen.dk>
parent 491e8314

drivers/can/CMakeLists.txt

+1 −0
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@@ -15,6 +15,7 @@ zephyr_library_sources_ifdef(CONFIG_CAN_STM32H7 can_stm32h7.c) 
zephyr_library_sources_ifdef(CONFIG_CAN_RCAR         can_rcar.c)



zephyr_library_sources_ifdef(CONFIG_CAN_SJA1000      can_sja1000.c)

zephyr_library_sources_ifdef(CONFIG_CAN_ESP32_TWAI   can_esp32_twai.c)



zephyr_library_sources_ifdef(CONFIG_USERSPACE        can_handlers.c)

zephyr_library_sources_ifdef(CONFIG_CAN_SHELL        can_shell.c)

drivers/can/Kconfig

+1 −0
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@@ -94,6 +94,7 @@ source "drivers/can/Kconfig.rcar" 
source "drivers/can/Kconfig.loopback"



source "drivers/can/Kconfig.sja1000"

source "drivers/can/Kconfig.esp32"



source "drivers/can/transceiver/Kconfig"

drivers/can/Kconfig.esp32

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# Espressif ESP32 TWAI configuration options



# Copyright (c) 2022 Henrik Brix Andersen <henrik@brixandersen.dk>

# SPDX-License-Identifier: Apache-2.0



config CAN_ESP32_TWAI

	bool "Espressif TWAI CAN driver"

	default y

	depends on DT_HAS_ESPRESSIF_ESP32_TWAI_ENABLED

	select CAN_SJA1000

	help

	  This enables support for the Espressif Two-Wire Automotive Interface

	  (TWAI) CAN driver.

drivers/can/can_esp32_twai.c

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/*

 * Copyright (c) 2022 Henrik Brix Andersen <henrik@brixandersen.dk>

 *

 * SPDX-License-Identifier: Apache-2.0

 */



#define DT_DRV_COMPAT espressif_esp32_twai



#include "can_sja1000.h"



#include <zephyr/drivers/can.h>

#include <zephyr/drivers/clock_control.h>

#include <zephyr/drivers/interrupt_controller/intc_esp32.h>

#include <zephyr/drivers/pinctrl.h>

#include <zephyr/logging/log.h>



#include <soc.h>



LOG_MODULE_REGISTER(can_esp32_twai, CONFIG_CAN_LOG_LEVEL);



struct can_esp32_twai_config {

	mm_reg_t base;

	const struct pinctrl_dev_config *pcfg;

	const struct device *clock_dev;

	const clock_control_subsys_t clock_subsys;

	int irq_source;

};



static uint8_t can_esp32_twai_read_reg(const struct device *dev, uint8_t reg)

{

	const struct can_sja1000_config *sja1000_config = dev->config;

	const struct can_esp32_twai_config *twai_config = sja1000_config->custom;

	mm_reg_t addr = twai_config->base + reg * sizeof(uint32_t);



	return sys_read32(addr) & 0xFF;

}



static void can_esp32_twai_write_reg(const struct device *dev, uint8_t reg, uint8_t val)

{

	const struct can_sja1000_config *sja1000_config = dev->config;

	const struct can_esp32_twai_config *twai_config = sja1000_config->custom;

	mm_reg_t addr = twai_config->base + reg * sizeof(uint32_t);



	sys_write32(val & 0xFF, addr);

}



static int can_esp32_twai_get_core_clock(const struct device *dev, uint32_t *rate)

{

	ARG_UNUSED(dev);



	/* The internal clock operates at half of the oscillator frequency */

	*rate = APB_CLK_FREQ / 2;



	return 0;

}



static void IRAM_ATTR can_esp32_twai_isr(void *arg)

{

	const struct device *dev = (const struct device *)arg;



	can_sja1000_isr(dev);

}



static int can_esp32_twai_init(const struct device *dev)

{

	const struct can_sja1000_config *sja1000_config = dev->config;

	const struct can_esp32_twai_config *twai_config = sja1000_config->custom;

	int err;



	err = pinctrl_apply_state(twai_config->pcfg, PINCTRL_STATE_DEFAULT);

	if (err != 0) {

		LOG_ERR("failed to configure TWAI pins (err %d)", err);

		return err;

	}



	clock_control_on(twai_config->clock_dev, twai_config->clock_subsys);



	err = can_sja1000_init(dev);

	if (err != 0) {

		LOG_ERR("failed to initialize controller (err %d)", err);

		return err;

	}



	esp_intr_alloc(twai_config->irq_source, 0, can_esp32_twai_isr, (void *)dev, NULL);



	return 0;

}



const struct can_driver_api can_esp32_twai_driver_api = {

	.get_capabilities = can_sja1000_get_capabilities,

	.set_mode = can_sja1000_set_mode,

	.set_timing = can_sja1000_set_timing,

	.send = can_sja1000_send,

	.add_rx_filter = can_sja1000_add_rx_filter,

	.remove_rx_filter = can_sja1000_remove_rx_filter,

	.get_state = can_sja1000_get_state,

	.set_state_change_callback = can_sja1000_set_state_change_callback,

	.get_core_clock = can_esp32_twai_get_core_clock,

	.get_max_filters = can_sja1000_get_max_filters,

	.get_max_bitrate = can_sja1000_get_max_bitrate,

#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY

	.recover = can_sja1000_recover,

#endif /* !CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */

	.timing_min = CAN_SJA1000_TIMING_MIN_INITIALIZER,

	.timing_max = CAN_SJA1000_TIMING_MAX_INITIALIZER,

};



#define CAN_ESP32_TWAI_DT_CDR_INST_GET(inst)                                                       \

	COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, clkout_divider),                                   \

		    (UTIL_CAT(CAN_SJA1000_CDR_CD_DIV, DT_INST_PROP(inst, clkout_divider))),        \

		    (CAN_SJA1000_CDR_CLOCK_OFF))



#define CAN_ESP32_TWAI_INIT(inst)                                                                  \

	PINCTRL_DT_INST_DEFINE(inst);                                                              \

                                                                                                   \

	static const struct can_esp32_twai_config can_esp32_twai_config_##inst = {                 \

		.base = DT_INST_REG_ADDR(inst),                                                    \

		.clock_dev = DEVICE_DT_GET(DT_INST_CLOCKS_CTLR(inst)),                             \

		.clock_subsys = (clock_control_subsys_t)DT_INST_CLOCKS_CELL(inst, offset),         \

		.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst),                                      \

		.irq_source = DT_INST_IRQN(inst),                                                  \

	};                                                                                         \

	static const struct can_sja1000_config can_sja1000_config_##inst =                         \

		CAN_SJA1000_DT_CONFIG_INST_GET(inst, &can_esp32_twai_config_##inst,                \

					       can_esp32_twai_read_reg, can_esp32_twai_write_reg,  \

					       CAN_SJA1000_OCR_OCMODE_BIPHASE,                     \

					       CAN_ESP32_TWAI_DT_CDR_INST_GET(inst));              \

                                                                                                   \

	static struct can_sja1000_data can_sja1000_data_##inst =                                   \

		CAN_SJA1000_DATA_INITIALIZER(NULL);                                                \

                                                                                                   \

	DEVICE_DT_INST_DEFINE(inst, can_esp32_twai_init, NULL, &can_sja1000_data_##inst,           \

			      &can_sja1000_config_##inst, POST_KERNEL,                             \

			      CONFIG_CAN_INIT_PRIORITY, &can_esp32_twai_driver_api);



DT_INST_FOREACH_STATUS_OKAY(CAN_ESP32_TWAI_INIT)

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