boards: shields: Adding support for the adafruit can picowbell shield

Adding support for the adafruit can picowbell shield for the raspberry pi picoi. Also added nodelable for spi0 called 'pico_spi' as well as an GPIO nexus node 'pico_header' Signed-off-by: Joseph Yates <joeyatessecond@gmail.com>
zephyrproject-rtos · Jul 6, 2023 · 444bed2 · 444bed2
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diff --git a/boards/arm/rpi_pico/rpi_pico-common.dtsi b/boards/arm/rpi_pico/rpi_pico-common.dtsi
@@ -32,6 +32,39 @@
 	aliases {
 		watchdog0 = &wdt0;
 	};
+
+	pico_header: connector {
+		compatible = "raspberrypi,pico-header";
+		#gpio-cells = <2>;
+		gpio-map-mask = <0xffffffff 0xffffffc0>;
+		gpio-map-pass-thru = <0 0x3f>;
+		gpio-map = <0 0 &gpio0 0 0>,	/* GP0 */
+			<1 0 &gpio0 1 0>,	/* GP1 */
+			<2 0 &gpio0 2 0>,	/* GP2 */
+			<3 0 &gpio0 3 0>,	/* GP3 */
+			<4 0 &gpio0 4 0>,	/* GP4 */
+			<5 0 &gpio0 5 0>,	/* GP5 */
+			<6 0 &gpio0 6 0>,	/* GP6 */
+			<7 0 &gpio0 7 0>,	/* GP7 */
+			<8 0 &gpio0 8 0>,	/* GP8 */
+			<9 0 &gpio0 9 0>,	/* GP9 */
+			<10 0 &gpio0 10 0>,	/* GP10 */
+			<11 0 &gpio0 11 0>,	/* GP11 */
+			<12 0 &gpio0 12 0>,	/* GP12 */
+			<13 0 &gpio0 13 0>,	/* GP13 */
+			<14 0 &gpio0 14 0>,	/* GP14 */
+			<15 0 &gpio0 15 0>,	/* GP15 */
+			<16 0 &gpio0 16 0>,	/* GP16 */
+			<17 0 &gpio0 17 0>,	/* GP17 */
+			<18 0 &gpio0 18 0>,	/* GP18 */
+			<19 0 &gpio0 19 0>,	/* GP19 */
+			<20 0 &gpio0 20 0>,	/* GP20 */
+			<21 0 &gpio0 21 0>,	/* GP21 */
+			<22 0 &gpio0 22 0>,	/* GP22 */
+			<26 0 &gpio0 26 0>,	/* GP26 */
+			<27 0 &gpio0 27 0>,	/* GP27 */
+			<28 0 &gpio0 28 0>;	/* GP28 */
+	};
 };
 
 &flash0 {
@@ -110,3 +143,5 @@ zephyr_udc0: &usbd {
 	regulator-always-on;
 	regulator-allowed-modes = <REGULATOR_RPI_PICO_MODE_NORMAL>;
 };
+
+pico_spi: &spi0 {};
diff --git a/boards/shields/mcp2515/Kconfig.shield b/boards/shields/mcp2515/Kconfig.shield
@@ -6,3 +6,6 @@ config SHIELD_DFROBOT_CAN_BUS_V2_0
 
 config SHIELD_KEYESTUDIO_CAN_BUS_KS0411
 	def_bool $(shields_list_contains,keyestudio_can_bus_ks0411)
+
+config SHIELD_ADAFRUIT_CAN_PICOWBELL
+	def_bool $(shields_list_contains,adafruit_can_picowbell)
diff --git a/boards/shields/mcp2515/adafruit_can_picowbell.overlay b/boards/shields/mcp2515/adafruit_can_picowbell.overlay
@@ -0,0 +1,32 @@
+/*
+ * Copyright (c) 2023 Joseph Yates
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+&pico_spi {
+	status = "okay";
+	cs-gpios = <&pico_header 20 GPIO_ACTIVE_LOW>;
+
+	mcp2515_adafruit_can_picowbell: can@0 {
+		compatible = "microchip,mcp2515";
+		spi-max-frequency = <1000000>;
+		int-gpios = <&pico_header 21 GPIO_ACTIVE_LOW>;
+		status = "okay";
+		reg = <0x0>;
+		osc-freq = <16000000>;
+		bus-speed = <125000>;
+		sjw = <1>;
+		sample-point = <875>;
+
+		can-transceiver {
+			max-bitrate = <1000000>;
+		};
+	};
+};
+
+/ {
+	chosen {
+		zephyr,canbus = &mcp2515_adafruit_can_picowbell;
+	};
+};
diff --git a/boards/shields/mcp2515/doc/adafruit_can_picowbell.jpg b/boards/shields/mcp2515/doc/adafruit_can_picowbell.jpg
diff --git a/boards/shields/mcp2515/doc/index.rst b/boards/shields/mcp2515/doc/index.rst
@@ -219,11 +219,128 @@ For more information about the Keyestudio CAN-BUS shield:
 - `MCP2515 Datasheet`_
 - `MCP2551 Datasheet`_
 
+Adafruit PiCowbell CAN Bus Shield for Pico
+******************************************
+
+Overview
+--------
+
+The Adafruit PiCowbell CAN Bus Shield uses the Microchip MCP2515 controller
+with an TJA1051/3 transceiver. This shield is built for the Raspberry Pi Pico
+and uses the SPI interface. It also contains a Qwiic connector to add support
+for a sensor.
+
+.. figure:: adafruit_can_picowbell.jpg
+   :align: center
+   :alt: Adafruit PiCowbell CAN Bus Shield
+
+   Adafruit PiCowbell CAN Bus Shield
+
+Hardware
+--------
+
+- MCP2515
+
+        - Stand-Alone CAN 2.0B Controller
+        - Up to 1Mb/s baud rate
+        - Standard and extended data and remote frames
+        - 3x Tx Buffers
+        - 2x Rx Buffers
+        - 6x 29-bit Filters
+        - 2x 29-bit Masks
+        - Interrupt output
+        - One shot mode
+        - High speed SPI interface (10 MHz)
+
+- TJA1051
+
+        - Fully compatible with the “ISO 11898-2:2016”, "SAE J2284-1" & "SAE J2284-5"  standards
+        - Supports CAN FD
+        - Fast data rates (up to 5 Mbit/s)
+
+- Connectivity
+
+        - Terminal Block - 3-pin 3.5mm (CAN)
+        - Raspberry Pi Pico compatible (SPI)
+
++-------+-----------------------+---------------------------+
+| Name  | Function              | Usage                     |
++=======+=======================+===========================+
+| GP0   | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP1   | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP2   | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP3   | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP4   | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP5   | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP6   | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP7   | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP8   | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP9   | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP10  | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP11  | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP12  | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP13  | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP14  | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP15  | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP16  | SPI-MISO              | MCP2515                   |
++-------+-----------------------+---------------------------+
+| GP17  | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP18  | SPI-SCK               | MCP2515                   |
++-------+-----------------------+---------------------------+
+| GP19  | SPI-MOSI              | MCP2515                   |
++-------+-----------------------+---------------------------+
+| GP20  | SPI-CS                | MCP2515                   |
++-------+-----------------------+---------------------------+
+| GP21  | GPIO_ACTIVE_LOW       | MCP2515 - INT             |
++-------+-----------------------+---------------------------+
+| GP22  | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP23  | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP24  | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP25  | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP26  | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP27  | None                  |                           |
++-------+-----------------------+---------------------------+
+| GP28  | None                  |                           |
++-------+-----------------------+---------------------------+
+
+
+- Power Supply
+
+        - 3.3V ~ 5V
+
+For more information about the Adafruit PiCowbell CAN Bus shield:
+
+- `Adafruit Website`_
+- `MCP2515 Datasheet`_
+- `TJA1051 Datasheet`_
+
 Programming
 ***********
 
 Set ``-DSHIELD=dfrobot_can_bus_v2_0`` or ``-DSHIELD=keyestudio_can_bus_ks0411``
-when you invoke ``west build`` or ``cmake`` in your Zephyr application. For
+or ``-DSHIELD=adafruit_can_picowbell`` when you invoke ``west build`` or ``cmake`` in your Zephyr application. For
 example:
 
 .. zephyr-app-commands::
@@ -240,6 +357,13 @@ example:
    :shield: keyestudio_can_bus_ks0411
    :goals: build flash
 
+.. zephyr-app-commands::
+   :zephyr-app: samples/drivers/can/counter
+   :tool: all
+   :board: rpi_pico
+   :shield: adafruit_can_picowbell
+   :goals: build
+
 .. _DFRobot Website:
    https://www.dfrobot.com/product-1444.html
 
@@ -263,3 +387,9 @@ example:
 
 .. _MCP2551 Datasheet:
    https://ww1.microchip.com/downloads/en/DeviceDoc/20001667G.pdf
+
+.. _Adafruit Website:
+   https://www.adafruit.com/product/5728#technical-details
+
+.. _TJA1051 Datasheet:
+   https://www.nxp.com/docs/en/data-sheet/TJA1051.pdf
diff --git a/dts/bindings/gpio/raspberrypi,pico-header.yaml b/dts/bindings/gpio/raspberrypi,pico-header.yaml
@@ -0,0 +1,34 @@
+# Copyright (c) 2023, Joseph Yates
+# SPDX-License-Identifier: Apache-2.0
+
+description: |
+    GPIO pins exposed on Raspberry Pi Pico headers.
+
+    The Raspberry Pi Pico layout provides 2 columns of 20 pins headers
+
+    This binding provides a nexus mapping for the default 26 pins as depicted below:
+
+        0  GPIO0/UART0_TX      VBUS            -
+        1  GPIO1/UART0_RX      VSYS            -
+        -  GND                 GND             -
+        2  GPIO2               3V3_EN          -
+        3  GPIO3               3V3_OUT         -
+        4  GPIO4/I2C0_SDA      ADC_VREF        -
+        5  GPIO5/I2C0_SCL      GPIO28/ADC2     28
+        -  GND                 GND             -
+        6  GPIO6               GPIO27/ADC1     27
+        7  GPIO7               GPIO26/ADC0     26
+        8  GPIO8               RUN             -
+        9  GPIO9               GPIO22          22
+        -  GND                 GND             -
+        10 GPIO10              GPIO21          21
+        11 GPIO11              GPIO20          20
+        12 GPIO12              GPIO19/SPI0_TX  19
+        13 GPIO13              GPIO18/SPI0_SCK 18
+        -  GND                 GND             -
+        14 GPIO14              GPIO17/SPI0_CSn 17
+        15 GPIO15              GPIO16/SPI0_RX  16
+
+compatible: "raspberrypi,pico-header"
+
+include: [gpio-nexus.yaml, base.yaml]