xtensa/esp32s3: Add support to TWAI/CANBus controller

apache · Sep 7, 2023 · b0c630e · b0c630e
1 parent ba73272
commit b0c630e
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Showing 14 changed files with 2,373 additions and 5 deletions.
diff --git a/Documentation/platforms/xtensa/esp32s3/boards/esp32s3-devkit/index.rst b/Documentation/platforms/xtensa/esp32s3/boards/esp32s3-devkit/index.rst
@@ -412,6 +412,24 @@ To test it, just run the following::
 
 Where x in the timer instance.
 
+twai
+----
+
+This configuration enables the support for the TWAI (Two-Wire Automotive Interface) driver.
+You can test it by connecting TWAI RX and TWAI TX pins which are GPIO0 and GPIO2 by default
+to a external transceiver or connecting TWAI RX to TWAI TX pin by enabling
+the ``Device Drivers -> CAN Driver Support -> CAN loopback mode`` option and running the ``can`` example::
+
+    nsh> can
+    nmsgs: 0
+    min ID: 1 max ID: 2047
+    Bit timing:
+      Baud: 1000000
+      TSEG1: 15
+      TSEG2: 4
+        SJW: 3
+      ID:    1 DLC: 1
+
 usbnsh
 ------
 

diff --git a/Documentation/platforms/xtensa/esp32s3/index.rst b/Documentation/platforms/xtensa/esp32s3/index.rst
@@ -93,7 +93,7 @@ ADC          No
 AES          No
 Bluetooth    No
 CAMERA       No
-CAN/TWAI     No
+CAN/TWAI     Yes
 DMA          Yes
 eFuse        No
 GPIO         Yes

diff --git a/arch/xtensa/include/esp32s3/irq.h b/arch/xtensa/include/esp32s3/irq.h
@@ -99,7 +99,7 @@
 #define ESP32S3_PERIPH_PWM1                                32
 #define ESP32S3_PERIPH_LEDC                                35
 #define ESP32S3_PERIPH_EFUSE                               36
-#define ESP32S3_PERIPH_CAN                                 37
+#define ESP32S3_PERIPH_TWAI                                37
 #define ESP32S3_PERIPH_USB                                 38
 #define ESP32S3_PERIPH_RTC_CORE                            39
 
@@ -239,7 +239,7 @@
 #define ESP32S3_IRQ_PWM1                                (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_PWM1)
 #define ESP32S3_IRQ_LEDC                                (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_LEDC)
 #define ESP32S3_IRQ_EFUSE                               (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_EFUSE)
-#define ESP32S3_IRQ_CAN                                 (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_CAN)
+#define ESP32S3_IRQ_TWAI                                (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_TWAI)
 #define ESP32S3_IRQ_USB                                 (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_USB)
 #define ESP32S3_IRQ_RTC_CORE                            (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_RTC_CORE)
 

diff --git a/arch/xtensa/src/esp32s3/Kconfig b/arch/xtensa/src/esp32s3/Kconfig
@@ -624,6 +624,11 @@ config ESP32S3_I2C1
 	select ESP32S3_I2C
 	select I2C
 
+config ESP32S3_TWAI
+	bool "TWAI (CAN)"
+	default n
+	select CAN
+
 config ESP32S3_LEDC
 	bool "LEDC (PWM)"
 	default n
@@ -1093,6 +1098,57 @@ config ESP32S3_I2CTIMEOMS
 
 endmenu # I2C Configuration
 
+menu "TWAI driver options"
+        depends on ESP32S3_TWAI
+
+if ESP32S3_TWAI
+
+config ESP32S3_TWAI_TXPIN
+	int "TWAI TX Pin"
+	default 0
+
+config ESP32S3_TWAI_RXPIN
+	int "TWAI RX Pin"
+	default 2
+
+config ESP32S3_TWAI_BITRATE
+	int "TWAI bitrate"
+	default 1000000
+	---help---
+		TWAI bit rate.
+
+config ESP32S3_TWAI_SAMPLEP
+	int "TWAI sample point"
+	default 80
+	---help---
+		TWAI sample point location as a percent value.
+
+config ESP32S3_TWAI_SJW
+	int "TWAI synchronization jump width"
+	default 3
+	---help---
+		SJW limits the number of Time Quanta corrections during bit
+		Resynchronization.
+
+config ESP32S3_TWAI_SAM
+	bool "TWAI sampling"
+	default n
+	---help---
+		The bus is sampled 3 times (recommended for low to medium speed buses
+		to spikes on the bus-line).
+
+endif # ESP32S3_TWAI
+
+config ESP32S3_TWAI_REGDEBUG
+    bool "TWAI register level debug"
+    depends on DEBUG_CAN_INFO
+    default n
+    ---help---
+        Output detailed register-level TWAI debug information. Requires also
+        CONFIG_DEBUG_CAN_INFO.
+
+endmenu #ESP32S3_TWAI
+
 menu "Wi-Fi Configuration"
 	depends on ESP32S3_WIFI
 

diff --git a/arch/xtensa/src/esp32s3/Make.defs b/arch/xtensa/src/esp32s3/Make.defs
@@ -57,6 +57,10 @@ ifeq ($(CONFIG_ESP32S3_RNG),y)
 CHIP_CSRCS += esp32s3_rng.c
 endif
 
+ifeq ($(CONFIG_ESP32S3_TWAI),y)
+CHIP_CSRCS += esp32s3_twai.c
+endif
+
 ifeq ($(CONFIG_ESP32S3_LEDC),y)
 CHIP_CSRCS += esp32s3_ledc.c
 endif