drivers/can/can_esp32_twai.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /*
  * Copyright (c) 2022 Henrik Brix Andersen <henrik@brixandersen.dk>
  * Copyright (c) 2022 Martin Jäger <martin@libre.solar>
  *
  * 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);

 /*
  * Newer ESP32-series MCUs like ESP32-C3 and ESP32-S2 have some slightly different registers
  * compared to the original ESP32, which is fully compatible with the SJA1000 controller.
  *
  * The names with TWAI_ prefixes from Espressif reference manuals are used for these incompatible
  * registers.
  */
 #ifndef CONFIG_SOC_ESP32

 /* TWAI_BUS_TIMING_0_REG is incompatible with CAN_SJA1000_BTR0 */
 #define TWAI_BUS_TIMING_0_REG           (6U)
 #define TWAI_BAUD_PRESC_MASK            GENMASK(12, 0)
 #define TWAI_SYNC_JUMP_WIDTH_MASK       GENMASK(15, 14)
 #define TWAI_BAUD_PRESC_PREP(brp)	FIELD_PREP(TWAI_BAUD_PRESC_MASK, brp)
 #define TWAI_SYNC_JUMP_WIDTH_PREP(sjw)	FIELD_PREP(TWAI_SYNC_JUMP_WIDTH_MASK, sjw)

 /*
  * TWAI_BUS_TIMING_1_REG is compatible with CAN_SJA1000_BTR1, but needed here for the custom
  * set_timing() function.
  */
 #define TWAI_BUS_TIMING_1_REG           (7U)
 #define TWAI_TIME_SEG1_MASK             GENMASK(3, 0)
 #define TWAI_TIME_SEG2_MASK             GENMASK(6, 4)
 #define TWAI_TIME_SAMP                  BIT(7)
 #define TWAI_TIME_SEG1_PREP(seg1)       FIELD_PREP(TWAI_TIME_SEG1_MASK, seg1)
 #define TWAI_TIME_SEG2_PREP(seg2)       FIELD_PREP(TWAI_TIME_SEG2_MASK, seg2)

 /* TWAI_CLOCK_DIVIDER_REG is incompatible with CAN_SJA1000_CDR */
 #define TWAI_CLOCK_DIVIDER_REG          (31U)
 #define TWAI_CD_MASK			GENMASK(7, 0)
 #define TWAI_CLOCK_OFF			BIT(8)

 /*
  * Further incompatible registers currently not used by the driver:
  * - TWAI_STATUS_REG has new bit 8: TWAI_MISS_ST
  * - TWAI_INT_RAW_REG has new bit 8: TWAI_BUS_STATE_INT_ST
  * - TWAI_INT_ENA_REG has new bit 8: TWAI_BUS_STATE_INT_ENA
  */
 #else

 /* Redefinitions of the SJA1000 CDR bits to simplify driver config */
 #define TWAI_CD_MASK			GENMASK(2, 0)
 #define TWAI_CLOCK_OFF			BIT(3)

 #endif /* !CONFIG_SOC_ESP32 */

 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;
 #ifndef CONFIG_SOC_ESP32
 	/* 32-bit variant of output clock divider register required for non-ESP32 MCUs */
 	uint32_t cdr32;
 #endif /* !CONFIG_SOC_ESP32 */
 };

 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);
 }

 #ifndef CONFIG_SOC_ESP32

 /*
  * Required for newer ESP32-series MCUs which violate the original SJA1000 8-bit register size.
  */
 static void can_esp32_twai_write_reg32(const struct device *dev, uint8_t reg, uint32_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, addr);
 }

 /*
  * Custom implementation instead of can_sja1000_set_timing required because TWAI_BUS_TIMING_0_REG
  * is incompatible with CAN_SJA1000_BTR0.
  */
 static int can_esp32_twai_set_timing(const struct device *dev, const struct can_timing *timing)
 {
 	struct can_sja1000_data *data = dev->data;
 	uint8_t btr0;
 	uint8_t btr1;
 	uint8_t sjw;

 	__ASSERT_NO_MSG(timing->sjw == CAN_SJW_NO_CHANGE ||
 			(timing->sjw >= 0x1 && timing->sjw <= 0x4));
 	__ASSERT_NO_MSG(timing->prop_seg == 0);
 	__ASSERT_NO_MSG(timing->phase_seg1 >= 0x1 && timing->phase_seg1 <= 0x10);
 	__ASSERT_NO_MSG(timing->phase_seg2 >= 0x1 && timing->phase_seg2 <= 0x8);
 	__ASSERT_NO_MSG(timing->prescaler >= 0x1 && timing->prescaler <= 0x2000);

 	if (data->started) {
 		return -EBUSY;
 	}

 	k_mutex_lock(&data->mod_lock, K_FOREVER);

 	if (timing->sjw == CAN_SJW_NO_CHANGE) {
 		sjw = data->sjw;
 	} else {
 		sjw = timing->sjw;
 		data->sjw = timing->sjw;
 	}

 	btr0 = TWAI_BAUD_PRESC_PREP(timing->prescaler - 1) |
 	       TWAI_SYNC_JUMP_WIDTH_PREP(sjw - 1);
 	btr1 = TWAI_TIME_SEG1_PREP(timing->phase_seg1 - 1) |
 	       TWAI_TIME_SEG2_PREP(timing->phase_seg2 - 1);

 	if ((data->mode & CAN_MODE_3_SAMPLES) != 0) {
 		btr1 |= TWAI_TIME_SAMP;
 	}

 	can_esp32_twai_write_reg32(dev, TWAI_BUS_TIMING_0_REG, btr0);
 	can_esp32_twai_write_reg32(dev, TWAI_BUS_TIMING_1_REG, btr1);

 	k_mutex_unlock(&data->mod_lock);

 	return 0;
 }

 #endif /* !CONFIG_SOC_ESP32 */

 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;

 	if (!device_is_ready(twai_config->clock_dev)) {
 		LOG_ERR("clock control device not ready");
 		return -ENODEV;
 	}

 	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;
 	}

 	err = clock_control_on(twai_config->clock_dev, twai_config->clock_subsys);
 	if (err != 0) {
 		LOG_ERR("failed to enable CAN clock (err %d)", err);
 		return err;
 	}

 	err = can_sja1000_init(dev);
 	if (err != 0) {
 		LOG_ERR("failed to initialize controller (err %d)", err);
 		return err;
 	}

 #ifndef CONFIG_SOC_ESP32
 	/*
 	 * TWAI_CLOCK_DIVIDER_REG is incompatible with CAN_SJA1000_CDR for non-ESP32 MCUs
 	 *   - TWAI_CD has length of 8 bits instead of 3 bits
 	 *   - TWAI_CLOCK_OFF at BIT(8) instead of BIT(3)
 	 *   - TWAI_EXT_MODE bit missing (always "extended" = PeliCAN mode)
 	 *
 	 * Overwrite with 32-bit register variant configured via devicetree.
 	 */
 	can_esp32_twai_write_reg32(dev, TWAI_CLOCK_DIVIDER_REG, twai_config->cdr32);
 #endif /* !CONFIG_SOC_ESP32 */

 	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,
 	.start = can_sja1000_start,
 	.stop = can_sja1000_stop,
 	.set_mode = can_sja1000_set_mode,
 #ifdef CONFIG_SOC_ESP32
 	.set_timing = can_sja1000_set_timing,
 #else
 	.set_timing = can_esp32_twai_set_timing,
 #endif /* CONFIG_SOC_ESP32 */
 	.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,
 #ifdef CONFIG_SOC_ESP32
 	.timing_max = CAN_SJA1000_TIMING_MAX_INITIALIZER,
 #else
 	/* larger prescaler allowed for newer ESP32-series MCUs */
 	.timing_max = {
 		.sjw = 0x4,
 		.prop_seg = 0x0,
 		.phase_seg1 = 0x10,
 		.phase_seg2 = 0x8,
 		.prescaler = 0x2000,
 	}
 #endif /* CONFIG_SOC_ESP32 */
 };

 #ifdef CONFIG_SOC_ESP32
 #define TWAI_CLKOUT_DIVIDER_MAX (14)
 #define TWAI_CDR32_INIT(inst)
 #else
 #define TWAI_CLKOUT_DIVIDER_MAX (490)
 #define TWAI_CDR32_INIT(inst) .cdr32 = CAN_ESP32_TWAI_DT_CDR_INST_GET(inst)
 #endif /* CONFIG_SOC_ESP32 */

 #define CAN_ESP32_TWAI_ASSERT_CLKOUT_DIVIDER(inst)                                                 \
 	BUILD_ASSERT(COND_CODE_0(DT_INST_NODE_HAS_PROP(inst, clkout_divider), (1),                 \
 		(DT_INST_PROP(inst, clkout_divider) == 1 ||                                        \
 		(DT_INST_PROP(inst, clkout_divider) % 2 == 0 &&                                    \
 		DT_INST_PROP(inst, clkout_divider) / 2 <= TWAI_CLKOUT_DIVIDER_MAX))),              \
 		"TWAI clkout-divider from dts invalid")

 #define CAN_ESP32_TWAI_DT_CDR_INST_GET(inst)                                                       \
 	COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, clkout_divider),                                   \
 		    COND_CODE_1(DT_INST_PROP(inst, clkout_divider) == 1, (TWAI_CD_MASK),           \
 				((DT_INST_PROP(inst, clkout_divider)) / 2 - 1)),                   \
 		    (TWAI_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),                                                  \
 		TWAI_CDR32_INIT(inst)                                                              \
 	};                                                                                         \
 	CAN_ESP32_TWAI_ASSERT_CLKOUT_DIVIDER(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,                     \
 					       COND_CODE_0(IS_ENABLED(CONFIG_SOC_ESP32), (0),      \
 							(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)
	/*
	* Copyright (c) 2022 Henrik Brix Andersen <henrik@brixandersen.dk>
	* Copyright (c) 2022 Martin Jäger <martin@libre.solar>
	*
	* 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);

	/*
	* Newer ESP32-series MCUs like ESP32-C3 and ESP32-S2 have some slightly different registers
	* compared to the original ESP32, which is fully compatible with the SJA1000 controller.
	*
	* The names with TWAI_ prefixes from Espressif reference manuals are used for these incompatible
	* registers.
	*/
	#ifndef CONFIG_SOC_ESP32

	/* TWAI_BUS_TIMING_0_REG is incompatible with CAN_SJA1000_BTR0 */
	#define TWAI_BUS_TIMING_0_REG (6U)
	#define TWAI_BAUD_PRESC_MASK GENMASK(12, 0)
	#define TWAI_SYNC_JUMP_WIDTH_MASK GENMASK(15, 14)
	#define TWAI_BAUD_PRESC_PREP(brp) FIELD_PREP(TWAI_BAUD_PRESC_MASK, brp)
	#define TWAI_SYNC_JUMP_WIDTH_PREP(sjw) FIELD_PREP(TWAI_SYNC_JUMP_WIDTH_MASK, sjw)

	/*
	* TWAI_BUS_TIMING_1_REG is compatible with CAN_SJA1000_BTR1, but needed here for the custom
	* set_timing() function.
	*/
	#define TWAI_BUS_TIMING_1_REG (7U)
	#define TWAI_TIME_SEG1_MASK GENMASK(3, 0)
	#define TWAI_TIME_SEG2_MASK GENMASK(6, 4)
	#define TWAI_TIME_SAMP BIT(7)
	#define TWAI_TIME_SEG1_PREP(seg1) FIELD_PREP(TWAI_TIME_SEG1_MASK, seg1)
	#define TWAI_TIME_SEG2_PREP(seg2) FIELD_PREP(TWAI_TIME_SEG2_MASK, seg2)

	/* TWAI_CLOCK_DIVIDER_REG is incompatible with CAN_SJA1000_CDR */
	#define TWAI_CLOCK_DIVIDER_REG (31U)
	#define TWAI_CD_MASK GENMASK(7, 0)
	#define TWAI_CLOCK_OFF BIT(8)

	/*
	* Further incompatible registers currently not used by the driver:
	* - TWAI_STATUS_REG has new bit 8: TWAI_MISS_ST
	* - TWAI_INT_RAW_REG has new bit 8: TWAI_BUS_STATE_INT_ST
	* - TWAI_INT_ENA_REG has new bit 8: TWAI_BUS_STATE_INT_ENA
	*/
	#else

	/* Redefinitions of the SJA1000 CDR bits to simplify driver config */
	#define TWAI_CD_MASK GENMASK(2, 0)
	#define TWAI_CLOCK_OFF BIT(3)

	#endif /* !CONFIG_SOC_ESP32 */

	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;
	#ifndef CONFIG_SOC_ESP32
	/* 32-bit variant of output clock divider register required for non-ESP32 MCUs */
	uint32_t cdr32;
	#endif /* !CONFIG_SOC_ESP32 */
	};

	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);
	}

	#ifndef CONFIG_SOC_ESP32

	/*
	* Required for newer ESP32-series MCUs which violate the original SJA1000 8-bit register size.
	*/
	static void can_esp32_twai_write_reg32(const struct device *dev, uint8_t reg, uint32_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, addr);
	}

	/*
	* Custom implementation instead of can_sja1000_set_timing required because TWAI_BUS_TIMING_0_REG
	* is incompatible with CAN_SJA1000_BTR0.
	*/
	static int can_esp32_twai_set_timing(const struct device dev, const struct can_timing timing)
	{
	struct can_sja1000_data *data = dev->data;
	uint8_t btr0;
	uint8_t btr1;
	uint8_t sjw;

	__ASSERT_NO_MSG(timing->sjw == CAN_SJW_NO_CHANGE \|\|
	(timing->sjw >= 0x1 && timing->sjw <= 0x4));
	__ASSERT_NO_MSG(timing->prop_seg == 0);
	__ASSERT_NO_MSG(timing->phase_seg1 >= 0x1 && timing->phase_seg1 <= 0x10);
	__ASSERT_NO_MSG(timing->phase_seg2 >= 0x1 && timing->phase_seg2 <= 0x8);
	__ASSERT_NO_MSG(timing->prescaler >= 0x1 && timing->prescaler <= 0x2000);

	if (data->started) {
	return -EBUSY;
	}

	k_mutex_lock(&data->mod_lock, K_FOREVER);

	if (timing->sjw == CAN_SJW_NO_CHANGE) {
	sjw = data->sjw;
	} else {
	sjw = timing->sjw;
	data->sjw = timing->sjw;
	}

	btr0 = TWAI_BAUD_PRESC_PREP(timing->prescaler - 1) \|
	TWAI_SYNC_JUMP_WIDTH_PREP(sjw - 1);
	btr1 = TWAI_TIME_SEG1_PREP(timing->phase_seg1 - 1) \|
	TWAI_TIME_SEG2_PREP(timing->phase_seg2 - 1);

	if ((data->mode & CAN_MODE_3_SAMPLES) != 0) {
	btr1 \|= TWAI_TIME_SAMP;
	}

	can_esp32_twai_write_reg32(dev, TWAI_BUS_TIMING_0_REG, btr0);
	can_esp32_twai_write_reg32(dev, TWAI_BUS_TIMING_1_REG, btr1);

	k_mutex_unlock(&data->mod_lock);

	return 0;
	}

	#endif /* !CONFIG_SOC_ESP32 */

	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;

	if (!device_is_ready(twai_config->clock_dev)) {
	LOG_ERR("clock control device not ready");
	return -ENODEV;
	}

	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;
	}

	err = clock_control_on(twai_config->clock_dev, twai_config->clock_subsys);
	if (err != 0) {
	LOG_ERR("failed to enable CAN clock (err %d)", err);
	return err;
	}

	err = can_sja1000_init(dev);
	if (err != 0) {
	LOG_ERR("failed to initialize controller (err %d)", err);
	return err;
	}

	#ifndef CONFIG_SOC_ESP32
	/*
	* TWAI_CLOCK_DIVIDER_REG is incompatible with CAN_SJA1000_CDR for non-ESP32 MCUs
	* - TWAI_CD has length of 8 bits instead of 3 bits
	* - TWAI_CLOCK_OFF at BIT(8) instead of BIT(3)
	* - TWAI_EXT_MODE bit missing (always "extended" = PeliCAN mode)
	*
	* Overwrite with 32-bit register variant configured via devicetree.
	*/
	can_esp32_twai_write_reg32(dev, TWAI_CLOCK_DIVIDER_REG, twai_config->cdr32);
	#endif /* !CONFIG_SOC_ESP32 */

	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,
	.start = can_sja1000_start,
	.stop = can_sja1000_stop,
	.set_mode = can_sja1000_set_mode,
	#ifdef CONFIG_SOC_ESP32
	.set_timing = can_sja1000_set_timing,
	#else
	.set_timing = can_esp32_twai_set_timing,
	#endif /* CONFIG_SOC_ESP32 */
	.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,
	#ifdef CONFIG_SOC_ESP32
	.timing_max = CAN_SJA1000_TIMING_MAX_INITIALIZER,
	#else
	/* larger prescaler allowed for newer ESP32-series MCUs */
	.timing_max = {
	.sjw = 0x4,
	.prop_seg = 0x0,
	.phase_seg1 = 0x10,
	.phase_seg2 = 0x8,
	.prescaler = 0x2000,
	}
	#endif /* CONFIG_SOC_ESP32 */
	};

	#ifdef CONFIG_SOC_ESP32
	#define TWAI_CLKOUT_DIVIDER_MAX (14)
	#define TWAI_CDR32_INIT(inst)
	#else
	#define TWAI_CLKOUT_DIVIDER_MAX (490)
	#define TWAI_CDR32_INIT(inst) .cdr32 = CAN_ESP32_TWAI_DT_CDR_INST_GET(inst)
	#endif /* CONFIG_SOC_ESP32 */

	#define CAN_ESP32_TWAI_ASSERT_CLKOUT_DIVIDER(inst) \
	BUILD_ASSERT(COND_CODE_0(DT_INST_NODE_HAS_PROP(inst, clkout_divider), (1), \
	(DT_INST_PROP(inst, clkout_divider) == 1 \|\| \
	(DT_INST_PROP(inst, clkout_divider) % 2 == 0 && \
	DT_INST_PROP(inst, clkout_divider) / 2 <= TWAI_CLKOUT_DIVIDER_MAX))), \
	"TWAI clkout-divider from dts invalid")

	#define CAN_ESP32_TWAI_DT_CDR_INST_GET(inst) \
	COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, clkout_divider), \
	COND_CODE_1(DT_INST_PROP(inst, clkout_divider) == 1, (TWAI_CD_MASK), \
	((DT_INST_PROP(inst, clkout_divider)) / 2 - 1)), \
	(TWAI_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), \
	TWAI_CDR32_INIT(inst) \
	}; \
	CAN_ESP32_TWAI_ASSERT_CLKOUT_DIVIDER(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, \
	COND_CODE_0(IS_ENABLED(CONFIG_SOC_ESP32), (0), \
	(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)