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drivers: can: add ESP32 TWAI CAN controller driver

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

Signed-off-by: Henrik Brix Andersen <henrik@brixandersen.dk>
This commit is contained in:
Henrik Brix Andersen 2022-06-22 16:14:34 +02:00 committed by Fabio Baltieri
parent 491e831436
commit aeb9fd68e7
4 changed files with 151 additions and 0 deletions
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1
drivers/can/CMakeLists.txt
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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)

1
drivers/can/Kconfig
View file

@ -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"

13
drivers/can/Kconfig.esp32 Normal file
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@ -0,0 +1,13 @@
# 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.

136
drivers/can/can_esp32_twai.c Normal file
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@ -0,0 +1,136 @@
/*
* 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)