drivers/can/can_stm32fd.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /*
  * Copyright (c) 2020 Alexander Wachter
  *
  * SPDX-License-Identifier: Apache-2.0
  */

 #include <drivers/can.h>
 #include <drivers/can/transceiver.h>
 #include <drivers/pinctrl.h>
 #include <kernel.h>
 #include <soc.h>
 #include <stm32_ll_rcc.h>
 #include <logging/log.h>

 #include "can_stm32fd.h"

 LOG_MODULE_REGISTER(can_stm32fd, CONFIG_CAN_LOG_LEVEL);

 #if CONFIG_CAN_STM32_CLOCK_DIVISOR != 1 && CONFIG_CAN_STM32_CLOCK_DIVISOR & 0x01
 #error CAN_STM32_CLOCK_DIVISOR invalid.\
 Allowed values are 1 or 2 * n, where n <= 15
 #endif

 #define DT_DRV_COMPAT st_stm32_fdcan

 static int can_stm32fd_get_core_clock(const struct device *dev, uint32_t *rate)
 {
 	ARG_UNUSED(dev);
 	const uint32_t rate_tmp = LL_RCC_GetFDCANClockFreq(LL_RCC_FDCAN_CLKSOURCE);

 	if (rate_tmp == LL_RCC_PERIPH_FREQUENCY_NO) {
 		LOG_ERR("Can't read core clock");
 		return -EIO;
 	}

 	*rate = rate_tmp / CONFIG_CAN_STM32_CLOCK_DIVISOR;

 	return 0;
 }

 static int can_stm32fd_get_max_filters(const struct device *dev, enum can_ide id_type)
 {
 	if (id_type == CAN_STANDARD_IDENTIFIER) {
 		return NUM_STD_FILTER_DATA;
 	} else {
 		return NUM_EXT_FILTER_DATA;
 	}
 }

 static void can_stm32fd_clock_enable(void)
 {
 	LL_RCC_SetFDCANClockSource(LL_RCC_FDCAN_CLKSOURCE_PCLK1);
 	__HAL_RCC_FDCAN_CLK_ENABLE();

 	FDCAN_CONFIG->CKDIV = CONFIG_CAN_STM32_CLOCK_DIVISOR >> 1;
 }

 static void can_stm32fd_set_state_change_callback(const struct device *dev,
 						  can_state_change_callback_t cb,
 						  void *user_data)
 {
 	struct can_stm32fd_data *data = dev->data;

 	data->mcan_data.state_change_cb = cb;
 	data->mcan_data.state_change_cb_data = user_data;
 }

 static int can_stm32fd_init(const struct device *dev)
 {
 	const struct can_stm32fd_config *cfg = dev->config;
 	struct can_stm32fd_data *data = dev->data;
 	const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
 	struct can_mcan_data *mcan_data = &data->mcan_data;
 	struct can_mcan_msg_sram *msg_ram = cfg->msg_sram;
 	int ret;

 	/* Configure dt provided device signals when available */
 	ret = pinctrl_apply_state(cfg->pcfg, PINCTRL_STATE_DEFAULT);
 	if (ret < 0) {
 		LOG_ERR("CAN pinctrl setup failed (%d)", ret);
 		return ret;
 	}

 	can_stm32fd_clock_enable();
 	ret = can_mcan_init(dev, mcan_cfg, msg_ram, mcan_data);
 	if (ret) {
 		return ret;
 	}

 	cfg->config_irq();

 	return ret;
 }

 static int can_stm32fd_get_state(const struct device *dev, enum can_state *state,
 				 struct can_bus_err_cnt *err_cnt)
 {
 	const struct can_stm32fd_config *cfg = dev->config;
 	const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;

 	return can_mcan_get_state(mcan_cfg, state, err_cnt);
 }

 static int can_stm32fd_send(const struct device *dev, const struct zcan_frame *frame,
 			    k_timeout_t timeout, can_tx_callback_t callback,
 			    void *user_data)
 {
 	const struct can_stm32fd_config *cfg = dev->config;
 	struct can_stm32fd_data *data = dev->data;
 	const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
 	struct can_mcan_data *mcan_data = &data->mcan_data;
 	struct can_mcan_msg_sram *msg_ram = cfg->msg_sram;

 	return can_mcan_send(mcan_cfg, mcan_data, msg_ram, frame, timeout,
 			     callback, user_data);
 }

 static int can_stm32fd_add_rx_filter(const struct device *dev, can_rx_callback_t callback,
 				     void *user_data, const struct zcan_filter *filter)
 {
 	const struct can_stm32fd_config *cfg = dev->config;
 	struct can_stm32fd_data *data = dev->data;
 	struct can_mcan_data *mcan_data = &data->mcan_data;
 	struct can_mcan_msg_sram *msg_ram = cfg->msg_sram;

 	return can_mcan_add_rx_filter(mcan_data, msg_ram, callback, user_data, filter);
 }

 static void can_stm32fd_remove_rx_filter(const struct device *dev, int filter_id)
 {
 	const struct can_stm32fd_config *cfg = dev->config;
 	struct can_stm32fd_data *data = dev->data;
 	struct can_mcan_data *mcan_data = &data->mcan_data;
 	struct can_mcan_msg_sram *msg_ram = cfg->msg_sram;

 	can_mcan_remove_rx_filter(mcan_data, msg_ram, filter_id);
 }

 static int can_stm32fd_set_mode(const struct device *dev, enum can_mode mode)
 {
 	const struct can_stm32fd_config *cfg = dev->config;
 	const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;

 	return can_mcan_set_mode(mcan_cfg, mode);
 }

 static int can_stm32fd_set_timing(const struct device *dev,
 				  const struct can_timing *timing,
 				  const struct can_timing *timing_data)
 {
 	const struct can_stm32fd_config *cfg = dev->config;
 	const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;

 	return can_mcan_set_timing(mcan_cfg, timing, timing_data);
 }

 int can_stm32fd_get_max_bitrate(const struct device *dev, uint32_t *max_bitrate)
 {
 	const struct can_stm32fd_config *cfg = dev->config;

 	*max_bitrate = cfg->mcan.max_bitrate;

 	return 0;
 }

 static void can_stm32fd_line_0_isr(const struct device *dev)
 {
 	const struct can_stm32fd_config *cfg = dev->config;
 	const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
 	struct can_stm32fd_data *data = dev->data;
 	struct can_mcan_data *mcan_data = &data->mcan_data;
 	struct can_mcan_msg_sram *msg_ram = cfg->msg_sram;

 	can_mcan_line_0_isr(mcan_cfg, msg_ram, mcan_data);
 }

 static void can_stm32fd_line_1_isr(const struct device *dev)
 {
 	const struct can_stm32fd_config *cfg = dev->config;
 	const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
 	struct can_mcan_data *mcan_data = &data->mcan_data;
 	struct can_mcan_msg_sram *msg_ram = cfg->msg_sram;

 	can_mcan_line_1_isr(mcan_cfg, msg_ram, mcan_data);
 }

 static const struct can_driver_api can_api_funcs = {
 	.set_mode = can_stm32fd_set_mode,
 	.set_timing = can_stm32fd_set_timing,
 	.send = can_stm32fd_send,
 	.add_rx_filter = can_stm32fd_add_rx_filter,
 	.remove_rx_filter = can_stm32fd_remove_rx_filter,
 	.get_state = can_stm32fd_get_state,
 #ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
 	.recover = can_mcan_recover,
 #endif
 	.get_core_clock = can_stm32fd_get_core_clock,
 	.get_max_bitrate = can_stm32fd_get_max_bitrate,
 	.get_max_filters = can_stm32fd_get_max_filters,
 	.set_state_change_callback = can_stm32fd_set_state_change_callback,
 	.timing_min = {
 		.sjw = 0x7f,
 		.prop_seg = 0x00,
 		.phase_seg1 = 0x01,
 		.phase_seg2 = 0x01,
 		.prescaler = 0x01
 	},
 	.timing_max = {
 		.sjw = 0x7f,
 		.prop_seg = 0x00,
 		.phase_seg1 = 0x100,
 		.phase_seg2 = 0x80,
 		.prescaler = 0x200
 	},
 #ifdef CONFIG_CAN_FD_MODE
 	.timing_min_data = {
 		.sjw = 0x01,
 		.prop_seg = 0x01,
 		.phase_seg1 = 0x01,
 		.phase_seg2 = 0x01,
 		.prescaler = 0x01
 	},
 	.timing_max_data = {
 		.sjw = 0x10,
 		.prop_seg = 0x00,
 		.phase_seg1 = 0x20,
 		.phase_seg2 = 0x10,
 		.prescaler = 0x20
 	}
 #endif
 };

 #define CAN_STM32FD_IRQ_CFG_FUNCTION(inst)                                     \
 static void config_can_##inst##_irq(void)                                      \
 {                                                                              \
 	LOG_DBG("Enable CAN" #inst " IRQ");                                    \
 	IRQ_CONNECT(DT_INST_IRQ_BY_NAME(inst, line_0, irq),                    \
 		    DT_INST_IRQ_BY_NAME(inst, line_0, priority),               \
 		    can_stm32fd_line_0_isr, DEVICE_DT_INST_GET(inst), 0);      \
 	irq_enable(DT_INST_IRQ_BY_NAME(inst, line_0, irq));                    \
 	IRQ_CONNECT(DT_INST_IRQ_BY_NAME(inst, line_1, irq),                    \
 		    DT_INST_IRQ_BY_NAME(inst, line_1, priority),               \
 		    can_stm32fd_line_1_isr, DEVICE_DT_INST_GET(inst), 0);      \
 	irq_enable(DT_INST_IRQ_BY_NAME(inst, line_1, irq));                    \
 }

 #ifdef CONFIG_CAN_FD_MODE

 #define CAN_STM32FD_CFG_INST(inst)                                             \
 									       \
 PINCTRL_DT_INST_DEFINE(inst);						       \
 									       \
 static const struct can_stm32fd_config can_stm32fd_cfg_##inst = {              \
 	.msg_sram = (struct can_mcan_msg_sram *)                               \
 			DT_INST_REG_ADDR_BY_NAME(inst, message_ram),           \
 	.config_irq = config_can_##inst##_irq,                                 \
 	.mcan_cfg = {                                                          \
 		.can = (struct can_mcan_reg *)                                 \
 			DT_INST_REG_ADDR_BY_NAME(inst, m_can),                 \
 		.bus_speed = DT_INST_PROP(inst, bus_speed),                    \
 		.sjw = DT_INST_PROP(inst, sjw),                                \
 		.sample_point = DT_INST_PROP_OR(inst, sample_point, 0),        \
 		.prop_ts1 = DT_INST_PROP_OR(inst, prop_seg, 0) +               \
 			    DT_INST_PROP_OR(inst, phase_seg1, 0),              \
 		.ts2 = DT_INST_PROP_OR(inst, phase_seg2, 0),                   \
 		.bus_speed_data = DT_INST_PROP(inst, bus_speed_data),          \
 		.sjw_data = DT_INST_PROP(inst, sjw_data),                      \
 		.sample_point_data =                                           \
 			DT_INST_PROP_OR(inst, sample_point_data, 0),           \
 		.prop_ts1_data = DT_INST_PROP_OR(inst, prop_seg_data, 0) +     \
 				DT_INST_PROP_OR(inst, phase_seg1_data, 0),     \
 		.ts2_data = DT_INST_PROP_OR(inst, phase_seg2_data, 0),         \
 		.tx_delay_comp_offset =                                        \
 			DT_INST_PROP(inst, tx_delay_comp_offset),              \
 		.phy = DEVICE_DT_GET_OR_NULL(DT_INST_PHANDLE(inst, phys)),     \
 		.max_bitrate =                                                 \
 			DT_INST_CAN_TRANSCEIVER_MAX_BITRATE(inst, 5000000),    \
 	},                                                                     \
 	.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst),                          \
 };

 #else /* CONFIG_CAN_FD_MODE */

 #define CAN_STM32FD_CFG_INST(inst)                                             \
 									       \
 PINCTRL_DT_INST_DEFINE(inst);						       \
 									       \
 static const struct can_stm32fd_config can_stm32fd_cfg_##inst = {              \
 	.msg_sram = (struct can_mcan_msg_sram *)                               \
 			DT_INST_REG_ADDR_BY_NAME(inst, message_ram),           \
 	.config_irq = config_can_##inst##_irq,                                 \
 	.mcan_cfg = {                                                          \
 		.can = (struct can_mcan_reg *)                                 \
 			DT_INST_REG_ADDR_BY_NAME(inst, m_can),                 \
 		.bus_speed = DT_INST_PROP(inst, bus_speed),                    \
 		.sjw = DT_INST_PROP(inst, sjw),                                \
 		.sample_point = DT_INST_PROP_OR(inst, sample_point, 0),        \
 		.prop_ts1 = DT_INST_PROP_OR(inst, prop_seg, 0) +               \
 			    DT_INST_PROP_OR(inst, phase_seg1, 0),              \
 		.ts2 = DT_INST_PROP_OR(inst, phase_seg2, 0),                   \
 		.phy = DEVICE_DT_GET_OR_NULL(DT_INST_PHANDLE(inst, phys)),     \
 		.max_bitrate =                                                 \
 			DT_INST_CAN_TRANSCEIVER_MAX_BITRATE(inst, 1000000),    \
 	},                                                                     \
 	.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst),                          \
 };

 #endif /* CONFIG_CAN_FD_MODE */

 #define CAN_STM32FD_DATA_INST(inst) \
 static struct can_stm32fd_data can_stm32fd_dev_data_##inst;

 #define CAN_STM32FD_DEVICE_INST(inst)                                          \
 DEVICE_DT_INST_DEFINE(inst, &can_stm32fd_init, NULL,                           \
 		      &can_stm32fd_dev_data_##inst, &can_stm32fd_cfg_##inst,   \
 		      POST_KERNEL, CONFIG_CAN_INIT_PRIORITY,                   \
 		      &can_api_funcs);

 #define CAN_STM32FD_INST(inst)     \
 CAN_STM32FD_IRQ_CFG_FUNCTION(inst) \
 CAN_STM32FD_CFG_INST(inst)         \
 CAN_STM32FD_DATA_INST(inst)        \
 CAN_STM32FD_DEVICE_INST(inst)

 DT_INST_FOREACH_STATUS_OKAY(CAN_STM32FD_INST)
	/*
	* Copyright (c) 2020 Alexander Wachter
	*
	* SPDX-License-Identifier: Apache-2.0
	*/

	#include <drivers/can.h>
	#include <drivers/can/transceiver.h>
	#include <drivers/pinctrl.h>
	#include <kernel.h>
	#include <soc.h>
	#include <stm32_ll_rcc.h>
	#include <logging/log.h>

	#include "can_stm32fd.h"

	LOG_MODULE_REGISTER(can_stm32fd, CONFIG_CAN_LOG_LEVEL);

	#if CONFIG_CAN_STM32_CLOCK_DIVISOR != 1 && CONFIG_CAN_STM32_CLOCK_DIVISOR & 0x01
	#error CAN_STM32_CLOCK_DIVISOR invalid.\
	Allowed values are 1 or 2 * n, where n <= 15
	#endif

	#define DT_DRV_COMPAT st_stm32_fdcan

	static int can_stm32fd_get_core_clock(const struct device dev, uint32_t rate)
	{
	ARG_UNUSED(dev);
	const uint32_t rate_tmp = LL_RCC_GetFDCANClockFreq(LL_RCC_FDCAN_CLKSOURCE);

	if (rate_tmp == LL_RCC_PERIPH_FREQUENCY_NO) {
	LOG_ERR("Can't read core clock");
	return -EIO;
	}

	*rate = rate_tmp / CONFIG_CAN_STM32_CLOCK_DIVISOR;

	return 0;
	}

	static int can_stm32fd_get_max_filters(const struct device *dev, enum can_ide id_type)
	{
	if (id_type == CAN_STANDARD_IDENTIFIER) {
	return NUM_STD_FILTER_DATA;
	} else {
	return NUM_EXT_FILTER_DATA;
	}
	}

	static void can_stm32fd_clock_enable(void)
	{
	LL_RCC_SetFDCANClockSource(LL_RCC_FDCAN_CLKSOURCE_PCLK1);
	__HAL_RCC_FDCAN_CLK_ENABLE();

	FDCAN_CONFIG->CKDIV = CONFIG_CAN_STM32_CLOCK_DIVISOR >> 1;
	}

	static void can_stm32fd_set_state_change_callback(const struct device *dev,
	can_state_change_callback_t cb,
	void *user_data)
	{
	struct can_stm32fd_data *data = dev->data;

	data->mcan_data.state_change_cb = cb;
	data->mcan_data.state_change_cb_data = user_data;
	}

	static int can_stm32fd_init(const struct device *dev)
	{
	const struct can_stm32fd_config *cfg = dev->config;
	struct can_stm32fd_data *data = dev->data;
	const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
	struct can_mcan_data *mcan_data = &data->mcan_data;
	struct can_mcan_msg_sram *msg_ram = cfg->msg_sram;
	int ret;

	/* Configure dt provided device signals when available */
	ret = pinctrl_apply_state(cfg->pcfg, PINCTRL_STATE_DEFAULT);
	if (ret < 0) {
	LOG_ERR("CAN pinctrl setup failed (%d)", ret);
	return ret;
	}

	can_stm32fd_clock_enable();
	ret = can_mcan_init(dev, mcan_cfg, msg_ram, mcan_data);
	if (ret) {
	return ret;
	}

	cfg->config_irq();

	return ret;
	}

	static int can_stm32fd_get_state(const struct device dev, enum can_state state,
	struct can_bus_err_cnt *err_cnt)
	{
	const struct can_stm32fd_config *cfg = dev->config;
	const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;

	return can_mcan_get_state(mcan_cfg, state, err_cnt);
	}

	static int can_stm32fd_send(const struct device dev, const struct zcan_frame frame,
	k_timeout_t timeout, can_tx_callback_t callback,
	void *user_data)
	{
	const struct can_stm32fd_config *cfg = dev->config;
	struct can_stm32fd_data *data = dev->data;
	const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
	struct can_mcan_data *mcan_data = &data->mcan_data;
	struct can_mcan_msg_sram *msg_ram = cfg->msg_sram;

	return can_mcan_send(mcan_cfg, mcan_data, msg_ram, frame, timeout,
	callback, user_data);
	}

	static int can_stm32fd_add_rx_filter(const struct device *dev, can_rx_callback_t callback,
	void user_data, const struct zcan_filter filter)
	{
	const struct can_stm32fd_config *cfg = dev->config;
	struct can_stm32fd_data *data = dev->data;
	struct can_mcan_data *mcan_data = &data->mcan_data;
	struct can_mcan_msg_sram *msg_ram = cfg->msg_sram;

	return can_mcan_add_rx_filter(mcan_data, msg_ram, callback, user_data, filter);
	}

	static void can_stm32fd_remove_rx_filter(const struct device *dev, int filter_id)
	{
	const struct can_stm32fd_config *cfg = dev->config;
	struct can_stm32fd_data *data = dev->data;
	struct can_mcan_data *mcan_data = &data->mcan_data;
	struct can_mcan_msg_sram *msg_ram = cfg->msg_sram;

	can_mcan_remove_rx_filter(mcan_data, msg_ram, filter_id);
	}

	static int can_stm32fd_set_mode(const struct device *dev, enum can_mode mode)
	{
	const struct can_stm32fd_config *cfg = dev->config;
	const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;

	return can_mcan_set_mode(mcan_cfg, mode);
	}

	static int can_stm32fd_set_timing(const struct device *dev,
	const struct can_timing *timing,
	const struct can_timing *timing_data)
	{
	const struct can_stm32fd_config *cfg = dev->config;
	const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;

	return can_mcan_set_timing(mcan_cfg, timing, timing_data);
	}

	int can_stm32fd_get_max_bitrate(const struct device dev, uint32_t max_bitrate)
	{
	const struct can_stm32fd_config *cfg = dev->config;

	*max_bitrate = cfg->mcan.max_bitrate;

	return 0;
	}

	static void can_stm32fd_line_0_isr(const struct device *dev)
	{
	const struct can_stm32fd_config *cfg = dev->config;
	const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
	struct can_stm32fd_data *data = dev->data;
	struct can_mcan_data *mcan_data = &data->mcan_data;
	struct can_mcan_msg_sram *msg_ram = cfg->msg_sram;

	can_mcan_line_0_isr(mcan_cfg, msg_ram, mcan_data);
	}

	static void can_stm32fd_line_1_isr(const struct device *dev)
	{
	const struct can_stm32fd_config *cfg = dev->config;
	const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
	struct can_mcan_data *mcan_data = &data->mcan_data;
	struct can_mcan_msg_sram *msg_ram = cfg->msg_sram;

	can_mcan_line_1_isr(mcan_cfg, msg_ram, mcan_data);
	}

	static const struct can_driver_api can_api_funcs = {
	.set_mode = can_stm32fd_set_mode,
	.set_timing = can_stm32fd_set_timing,
	.send = can_stm32fd_send,
	.add_rx_filter = can_stm32fd_add_rx_filter,
	.remove_rx_filter = can_stm32fd_remove_rx_filter,
	.get_state = can_stm32fd_get_state,
	#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
	.recover = can_mcan_recover,
	#endif
	.get_core_clock = can_stm32fd_get_core_clock,
	.get_max_bitrate = can_stm32fd_get_max_bitrate,
	.get_max_filters = can_stm32fd_get_max_filters,
	.set_state_change_callback = can_stm32fd_set_state_change_callback,
	.timing_min = {
	.sjw = 0x7f,
	.prop_seg = 0x00,
	.phase_seg1 = 0x01,
	.phase_seg2 = 0x01,
	.prescaler = 0x01
	},
	.timing_max = {
	.sjw = 0x7f,
	.prop_seg = 0x00,
	.phase_seg1 = 0x100,
	.phase_seg2 = 0x80,
	.prescaler = 0x200
	},
	#ifdef CONFIG_CAN_FD_MODE
	.timing_min_data = {
	.sjw = 0x01,
	.prop_seg = 0x01,
	.phase_seg1 = 0x01,
	.phase_seg2 = 0x01,
	.prescaler = 0x01
	},
	.timing_max_data = {
	.sjw = 0x10,
	.prop_seg = 0x00,
	.phase_seg1 = 0x20,
	.phase_seg2 = 0x10,
	.prescaler = 0x20
	}
	#endif
	};

	#define CAN_STM32FD_IRQ_CFG_FUNCTION(inst) \
	static void config_can_##inst##_irq(void) \
	{ \
	LOG_DBG("Enable CAN" #inst " IRQ"); \
	IRQ_CONNECT(DT_INST_IRQ_BY_NAME(inst, line_0, irq), \
	DT_INST_IRQ_BY_NAME(inst, line_0, priority), \
	can_stm32fd_line_0_isr, DEVICE_DT_INST_GET(inst), 0); \
	irq_enable(DT_INST_IRQ_BY_NAME(inst, line_0, irq)); \
	IRQ_CONNECT(DT_INST_IRQ_BY_NAME(inst, line_1, irq), \
	DT_INST_IRQ_BY_NAME(inst, line_1, priority), \
	can_stm32fd_line_1_isr, DEVICE_DT_INST_GET(inst), 0); \
	irq_enable(DT_INST_IRQ_BY_NAME(inst, line_1, irq)); \
	}

	#ifdef CONFIG_CAN_FD_MODE

	#define CAN_STM32FD_CFG_INST(inst) \
	\
	PINCTRL_DT_INST_DEFINE(inst); \
	\
	static const struct can_stm32fd_config can_stm32fd_cfg_##inst = { \
	.msg_sram = (struct can_mcan_msg_sram *) \
	DT_INST_REG_ADDR_BY_NAME(inst, message_ram), \
	.config_irq = config_can_##inst##_irq, \
	.mcan_cfg = { \
	.can = (struct can_mcan_reg *) \
	DT_INST_REG_ADDR_BY_NAME(inst, m_can), \
	.bus_speed = DT_INST_PROP(inst, bus_speed), \
	.sjw = DT_INST_PROP(inst, sjw), \
	.sample_point = DT_INST_PROP_OR(inst, sample_point, 0), \
	.prop_ts1 = DT_INST_PROP_OR(inst, prop_seg, 0) + \
	DT_INST_PROP_OR(inst, phase_seg1, 0), \
	.ts2 = DT_INST_PROP_OR(inst, phase_seg2, 0), \
	.bus_speed_data = DT_INST_PROP(inst, bus_speed_data), \
	.sjw_data = DT_INST_PROP(inst, sjw_data), \
	.sample_point_data = \
	DT_INST_PROP_OR(inst, sample_point_data, 0), \
	.prop_ts1_data = DT_INST_PROP_OR(inst, prop_seg_data, 0) + \
	DT_INST_PROP_OR(inst, phase_seg1_data, 0), \
	.ts2_data = DT_INST_PROP_OR(inst, phase_seg2_data, 0), \
	.tx_delay_comp_offset = \
	DT_INST_PROP(inst, tx_delay_comp_offset), \
	.phy = DEVICE_DT_GET_OR_NULL(DT_INST_PHANDLE(inst, phys)), \
	.max_bitrate = \
	DT_INST_CAN_TRANSCEIVER_MAX_BITRATE(inst, 5000000), \
	}, \
	.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst), \
	};

	#else /* CONFIG_CAN_FD_MODE */

	#define CAN_STM32FD_CFG_INST(inst) \
	\
	PINCTRL_DT_INST_DEFINE(inst); \
	\
	static const struct can_stm32fd_config can_stm32fd_cfg_##inst = { \
	.msg_sram = (struct can_mcan_msg_sram *) \
	DT_INST_REG_ADDR_BY_NAME(inst, message_ram), \
	.config_irq = config_can_##inst##_irq, \
	.mcan_cfg = { \
	.can = (struct can_mcan_reg *) \
	DT_INST_REG_ADDR_BY_NAME(inst, m_can), \
	.bus_speed = DT_INST_PROP(inst, bus_speed), \
	.sjw = DT_INST_PROP(inst, sjw), \
	.sample_point = DT_INST_PROP_OR(inst, sample_point, 0), \
	.prop_ts1 = DT_INST_PROP_OR(inst, prop_seg, 0) + \
	DT_INST_PROP_OR(inst, phase_seg1, 0), \
	.ts2 = DT_INST_PROP_OR(inst, phase_seg2, 0), \
	.phy = DEVICE_DT_GET_OR_NULL(DT_INST_PHANDLE(inst, phys)), \
	.max_bitrate = \
	DT_INST_CAN_TRANSCEIVER_MAX_BITRATE(inst, 1000000), \
	}, \
	.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst), \
	};

	#endif /* CONFIG_CAN_FD_MODE */

	#define CAN_STM32FD_DATA_INST(inst) \
	static struct can_stm32fd_data can_stm32fd_dev_data_##inst;

	#define CAN_STM32FD_DEVICE_INST(inst) \
	DEVICE_DT_INST_DEFINE(inst, &can_stm32fd_init, NULL, \
	&can_stm32fd_dev_data_##inst, &can_stm32fd_cfg_##inst, \
	POST_KERNEL, CONFIG_CAN_INIT_PRIORITY, \
	&can_api_funcs);

	#define CAN_STM32FD_INST(inst) \
	CAN_STM32FD_IRQ_CFG_FUNCTION(inst) \
	CAN_STM32FD_CFG_INST(inst) \
	CAN_STM32FD_DATA_INST(inst) \
	CAN_STM32FD_DEVICE_INST(inst)

	DT_INST_FOREACH_STATUS_OKAY(CAN_STM32FD_INST)