commit ec75dc2232d32a475654cc9098896f48c176bc7b
author Henrik Brix Andersen <hebad@vestas.com> Sun Mar 10 18:07:26 2024 +0100
committer Fabio Baltieri <fabio.baltieri@gmail.com> Thu Mar 28 09:41:53 2024 +0000
tree 4f44c8ccb04cfb2cde4b48c22e74a3e9f3da2f57
parent 47f6048490d4f6ed09963172ced267fbabe00f7a

drivers: can: mcan: remove broken transmitter delay compensation support

Remove broken support for Transmitter Delay Compensation from the Bosch
M_CAN backend driver.

Even if this was enabled via Kconfig, the TDC bit in the DBTP register set
during driver initialization is overwritten in can_mcan_set_timing_data(),
turning TDC off.

Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>

drivers/can/Kconfig.mcan

diff --git a/drivers/can/Kconfig.mcan b/drivers/can/Kconfig.mcan
index 83cf6ff..db09fc8 100644
--- a/drivers/can/Kconfig.mcan
+++ b/drivers/can/Kconfig.mcan
@@ -1,4 +1,4 @@
-# Bosch m_can configuration options
+# Bosch M_CAN configuration options
 
 # Copyright (c) 2020 Alexander Wachter
 # SPDX-License-Identifier: Apache-2.0
@@ -6,17 +6,4 @@
 config CAN_MCAN
 	bool
 	help
-	  Enable Bosch m_can driver.
-	  This driver supports the Bosch m_can IP. This IP is built into the
-	  STM32G4, STM32G0, STM32H7, and the Microchip SAM controllers with
-	  CAN FD.
-
-if CAN_MCAN
-
-config CAN_DELAY_COMP
-	bool "Transceiver delay compensation"
-	default y
-	help
-	  Enable the automatic transceiver delay compensation.
-
-endif #CAN_MCAN
+	  Enable the Bosch M_CAN CAN IP module driver backend.

drivers/can/can_mcan.c

diff --git a/drivers/can/can_mcan.c b/drivers/can/can_mcan.c
index 2e33bda..5bfaffa 100644
--- a/drivers/can/can_mcan.c
+++ b/drivers/can/can_mcan.c
@@ -1427,32 +1427,6 @@
 		return err;
 	}
 
-#if defined(CONFIG_CAN_DELAY_COMP) && defined(CONFIG_CAN_FD_MODE)
-	err = can_mcan_read_reg(dev, CAN_MCAN_DBTP, &reg);
-	if (err != 0) {
-		return err;
-	}
-
-	reg |= CAN_MCAN_DBTP_TDC;
-
-	err = can_mcan_write_reg(dev, CAN_MCAN_DBTP, reg);
-	if (err != 0) {
-		return err;
-	}
-
-	err = can_mcan_read_reg(dev, CAN_MCAN_TDCR, &reg);
-	if (err != 0) {
-		return err;
-	}
-
-	reg |= FIELD_PREP(CAN_MCAN_TDCR_TDCO, config->tx_delay_comp_offset);
-
-	err = can_mcan_write_reg(dev, CAN_MCAN_TDCR, reg);
-	if (err != 0) {
-		return err;
-	}
-#endif /* defined(CONFIG_CAN_DELAY_COMP) && defined(CONFIG_CAN_FD_MODE) */
-
 	err = can_mcan_read_reg(dev, CAN_MCAN_GFC, &reg);
 	if (err != 0) {
 		return err;

include/zephyr/drivers/can/can_mcan.h

diff --git a/include/zephyr/drivers/can/can_mcan.h b/include/zephyr/drivers/can/can_mcan.h
index 8a4241a..25eeb43 100644
--- a/include/zephyr/drivers/can/can_mcan.h
+++ b/include/zephyr/drivers/can/can_mcan.h
@@ -1237,9 +1237,6 @@
 	uint16_t mram_elements[CAN_MCAN_MRAM_CFG_NUM_CELLS];
 	uint16_t mram_offsets[CAN_MCAN_MRAM_CFG_NUM_CELLS];
 	size_t mram_size;
-#ifdef CONFIG_CAN_FD_MODE
-	uint8_t tx_delay_comp_offset;
-#endif
 	const void *custom;
 };
 
@@ -1300,7 +1297,6 @@
 		.mram_elements = CAN_MCAN_DT_MRAM_ELEMENTS_GET(node_id),                           \
 		.mram_offsets = CAN_MCAN_DT_MRAM_OFFSETS_GET(node_id),                             \
 		.mram_size = CAN_MCAN_DT_MRAM_ELEMENTS_SIZE(node_id),                              \
-		.tx_delay_comp_offset = DT_PROP(node_id, tx_delay_comp_offset),                    \
 		.custom = _custom,                                                                 \
 	}
 #else /* CONFIG_CAN_FD_MODE */