blob: 6648750f2cd599605ca8f006f997bcac7f7941a2 [file] [log] [blame]
/*
* 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;
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;
}
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,
.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)