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esp32[c3|h2|c6]: Add support to TWAI/CANBus controller

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This commit is contained in:
Eren Terzioglu
2024-04-02 18:49:57 +03:00
committed by Xiang Xiao
parent 7e30d38558
commit 891d67bb5e
32 changed files with 1786 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Documentation/platforms/risc-v/esp32c3/boards/esp32c3-generic/index.rst
+19
View File
@@ -175,6 +175,25 @@ 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 an external transceiver or connecting TWAI RX to TWAI TX pin by enabling
the `CONFIG_CAN_LOOPBACK` option (``Device Drivers -> CAN Driver Support -> CAN loopback mode``)
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
usbconsole
----------
Documentation/platforms/risc-v/esp32c3/index.rst
+1
View File
@@ -148,6 +148,7 @@ Peripheral Support NOTES
ADC No
AES No
Bluetooth No
CAN/TWAI Yes
CDC Console Yes Rev.3
DMA No
eFuse No
Documentation/platforms/risc-v/esp32c6/boards/esp32c6-devkitc/index.rst
+19
View File
@@ -210,6 +210,25 @@ 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 an external transceiver or connecting TWAI RX to TWAI TX pin by enabling
the `CONFIG_CAN_LOOPBACK` option (``Device Drivers -> CAN Driver Support -> CAN loopback mode``)
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
usbconsole
----------
Documentation/platforms/risc-v/esp32c6/boards/esp32c6-devkitm/index.rst
+19
View File
@@ -210,6 +210,25 @@ 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 an external transceiver or connecting TWAI RX to TWAI TX pin by enabling
the `CONFIG_CAN_LOOPBACK` option (``Device Drivers -> CAN Driver Support -> CAN loopback mode``)
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
usbconsole
----------
Documentation/platforms/risc-v/esp32c6/index.rst
+1 -1
View File
@@ -138,7 +138,7 @@ Peripheral Support
ADC No
AES No
Bluetooth No
CAN/TWAI No
CAN/TWAI Yes
DMA No
ECC No
eFuse No
Documentation/platforms/risc-v/esp32h2/boards/esp32h2-devkit/index.rst
+19
View File
@@ -209,6 +209,25 @@ 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 an external transceiver or connecting TWAI RX to TWAI TX pin by enabling
the `CONFIG_CAN_LOOPBACK` option (``Device Drivers -> CAN Driver Support -> CAN loopback mode``)
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
usbconsole
----------
Documentation/platforms/risc-v/esp32h2/index.rst
+1 -1
View File
@@ -138,7 +138,7 @@ Peripheral Support
ADC No
AES No
Bluetooth No
CAN/TWAI No
CAN/TWAI Yes
DMA No
ECC No
eFuse No
arch/risc-v/src/common/espressif/Kconfig
+119
View File
@@ -269,6 +269,27 @@ config ESPRESSIF_UART1
select UART1_SERIALDRIVER
select ARCH_HAVE_SERIAL_TERMIOS
config ESPRESSIF_TWAI
bool "TWAI (CAN)"
default n
select ARCH_HAVE_CAN_ERRORS
select CAN
config ESPRESSIF_TWAI0
bool "TWAI0 (CAN)"
default n
select ESPRESSIF_TWAI
select ARCH_HAVE_CAN_ERRORS
select CAN
config ESPRESSIF_TWAI1
bool "TWAI1 (CAN)"
default n
depends on ESPRESSIF_ESP32C6
select ESPRESSIF_TWAI
select ARCH_HAVE_CAN_ERRORS
select CAN
config ESPRESSIF_USBSERIAL
bool "USB-Serial-JTAG Driver"
default n
@@ -395,6 +416,104 @@ endif # ESPRESSIF_UART1
endmenu # UART Configuration
menu "TWAI driver options"
depends on ESPRESSIF_TWAI
if ESPRESSIF_TWAI0
config ESPRESSIF_TWAI0_TXPIN
int "TWAI0 TX Pin"
default 2
config ESPRESSIF_TWAI0_RXPIN
int "TWAI0 RX Pin"
default 3
choice ESPRESSIF_TWAI0_TIMING
prompt "TWAI0 Timing config"
default TWAI0_TIMING_100KBITS
---help---
These options control timing of TWAI0.
config TWAI0_TIMING_100KBITS
bool "100 KBits"
config TWAI0_TIMING_125KBITS
bool "125 KBits"
config TWAI0_TIMING_250KBITS
bool "250 KBits"
config TWAI0_TIMING_500KBITS
bool "500 KBits"
config TWAI0_TIMING_800KBITS
bool "800 KBits"
endchoice # ESPRESSIF_TWAI0_TIMING
config ESPRESSIF_TWAI0_SAM
bool "TWAI0 sampling"
default n
---help---
The bus is sampled 3 times (recommended for low to medium speed buses
to spikes on the bus-line).
endif # ESPRESSIF_TWAI0
if ESPRESSIF_TWAI1
config ESPRESSIF_TWAI1_TXPIN
int "TWAI1 TX Pin"
default 4
config ESPRESSIF_TWAI1_RXPIN
int "TWAI1 RX Pin"
default 5
choice ESPRESSIF_TWAI1_TIMING
prompt "TWAI1 Timing config"
default TWAI1_TIMING_100KBITS
---help---
These options control timing of TWAI1.
config TWAI1_TIMING_100KBITS
bool "100 KBits"
config TWAI1_TIMING_125KBITS
bool "125 KBits"
config TWAI1_TIMING_250KBITS
bool "250 KBits"
config TWAI1_TIMING_500KBITS
bool "500 KBits"
config TWAI1_TIMING_800KBITS
bool "800 KBits"
endchoice # ESPRESSIF_TWAI1_TIMING
config ESPRESSIF_TWAI1_SAM
bool "TWAI1 sampling"
default n
---help---
The bus is sampled 3 times (recommended for low to medium speed buses
to spikes on the bus-line).
endif # ESPRESSIF_TWAI1
config ESPRESSIF_TWAI_TEST_MODE
bool "TWAI character driver loopback test mode (for testing only)"
default n
depends on CAN_LOOPBACK
---help---
This enables a loopback test mode that attaches the transmitter
to the receiver internally, being able to test the TWAI
peripheral without any external connection.
endmenu #ESPRESSIF_TWAI
menu "SPI Flash Configuration"
choice ESPRESSIF_FLASH_MODE
arch/risc-v/src/common/espressif/Make.defs
+4
View File
@@ -65,6 +65,10 @@ ifeq ($(CONFIG_ESPRESSIF_HR_TIMER),y)
CHIP_CSRCS += esp_hr_timer.c
endif
ifeq ($(CONFIG_ESPRESSIF_TWAI),y)
CHIP_CSRCS += esp_twai.c
endif
ifeq ($(CONFIG_ESPRESSIF_LEDC),y)
CHIP_CSRCS += esp_ledc.c
endif
arch/risc-v/src/common/espressif/esp_twai.c
+855
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File diff suppressed because it is too large Load Diff
arch/risc-v/src/common/espressif/esp_twai.h
+76
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@@ -0,0 +1,76 @@
/****************************************************************************
* arch/risc-v/src/common/espressif/esp_twai.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
#ifndef __ARCH_RISCV_SRC_COMMON_ESPRESSIF_ESP_TWAI_H
#define __ARCH_RISCV_SRC_COMMON_ESPRESSIF_ESP_TWAI_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/can/can.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Public Types
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
#ifndef __ASSEMBLY__
#ifdef __cplusplus
extern "C"
{
#endif
/****************************************************************************
* Public Functions Prototypes
****************************************************************************/
/****************************************************************************
* Name: esp_twaiinitialize
*
* Description:
* Initialize CAN port
*
* Input Parameters:
* port - Port number (for hardware that has multiple TWAI interfaces)
*
* Returned Value:
* Valid TWAI device structure reference on success; a NULL on failure
*
****************************************************************************/
#if defined(CONFIG_CAN) && defined(CONFIG_ESPRESSIF_TWAI)
struct can_dev_s *esp_twaiinitialize(int port);
#endif
#ifdef __cplusplus
}
#endif
#endif /* __ASSEMBLY__ */
#endif /* __ARCH_RISCV_SRC_COMMON_ESPRESSIF_ESP_TWAI_H */
arch/risc-v/src/esp32c3/hal_esp32c3.mk
+3
View File
@@ -51,6 +51,7 @@ INCLUDES += $(INCDIR_PREFIX)$(ARCH_SRCDIR)/chip/$(ESP_HAL_3RDPARTY_REPO)/compone
INCLUDES += $(INCDIR_PREFIX)$(ARCH_SRCDIR)/chip/$(ESP_HAL_3RDPARTY_REPO)/components/soc/$(CHIP_SERIES)/include
INCLUDES += $(INCDIR_PREFIX)$(ARCH_SRCDIR)/chip/$(ESP_HAL_3RDPARTY_REPO)/components/spi_flash/include
INCLUDES += $(INCDIR_PREFIX)$(ARCH_SRCDIR)/chip/$(ESP_HAL_3RDPARTY_REPO)/components/spi_flash/include/spi_flash
INCLUDES += $(INCDIR_PREFIX)$(ARCH_SRCDIR)/chip/$(ESP_HAL_3RDPARTY_REPO)/components/driver/twai/include
ifeq ($(CONFIG_ESPRESSIF_SIMPLE_BOOT),y)
INCLUDES += $(INCDIR_PREFIX)$(ARCH_SRCDIR)/chip/$(ESP_HAL_3RDPARTY_REPO)/components/bootloader_support/include
@@ -146,6 +147,8 @@ ifeq ($(CONFIG_ESPRESSIF_SIMPLE_BOOT),y)
CHIP_CSRCS += chip/$(ESP_HAL_3RDPARTY_REPO)/components/esp_rom/patches/esp_rom_spiflash.c
CHIP_CSRCS += chip/$(ESP_HAL_3RDPARTY_REPO)/components/efuse/src/esp_efuse_fields.c
CHIP_CSRCS += chip/$(ESP_HAL_3RDPARTY_REPO)/components/efuse/src/efuse_controller/keys/with_key_purposes/esp_efuse_api_key.c
CHIP_CSRCS += chip/$(ESP_HAL_3RDPARTY_REPO)/components/hal/twai_hal.c
CHIP_CSRCS += chip/$(ESP_HAL_3RDPARTY_REPO)/components/hal/twai_hal_iram.c
LDFLAGS += --wrap=bootloader_print_banner
endif
arch/risc-v/src/esp32c6/hal_esp32c6.mk
+3
View File
@@ -51,6 +51,7 @@ INCLUDES += $(INCDIR_PREFIX)$(ARCH_SRCDIR)/chip/$(ESP_HAL_3RDPARTY_REPO)/compone
INCLUDES += $(INCDIR_PREFIX)$(ARCH_SRCDIR)/chip/$(ESP_HAL_3RDPARTY_REPO)/components/soc/$(CHIP_SERIES)/include
INCLUDES += $(INCDIR_PREFIX)$(ARCH_SRCDIR)/chip/$(ESP_HAL_3RDPARTY_REPO)/components/spi_flash/include
INCLUDES += $(INCDIR_PREFIX)$(ARCH_SRCDIR)/chip/$(ESP_HAL_3RDPARTY_REPO)/components/spi_flash/include/spi_flash
INCLUDES += $(INCDIR_PREFIX)$(ARCH_SRCDIR)/chip/$(ESP_HAL_3RDPARTY_REPO)/components/driver/twai/include
ifeq ($(CONFIG_ESPRESSIF_SIMPLE_BOOT),y)
INCLUDES += $(INCDIR_PREFIX)$(ARCH_SRCDIR)/chip/$(ESP_HAL_3RDPARTY_REPO)/components/bootloader_support/include
@@ -127,6 +128,8 @@ CHIP_CSRCS += chip/$(ESP_HAL_3RDPARTY_REPO)/components/riscv/interrupt.c
CHIP_CSRCS += chip/$(ESP_HAL_3RDPARTY_REPO)/components/soc/$(CHIP_SERIES)/gpio_periph.c
CHIP_CSRCS += chip/$(ESP_HAL_3RDPARTY_REPO)/components/soc/$(CHIP_SERIES)/ledc_periph.c
CHIP_CSRCS += chip/$(ESP_HAL_3RDPARTY_REPO)/components/soc/$(CHIP_SERIES)/rmt_periph.c
CHIP_CSRCS += chip/$(ESP_HAL_3RDPARTY_REPO)/components/hal/twai_hal_iram.c
CHIP_CSRCS += chip/$(ESP_HAL_3RDPARTY_REPO)/components/hal/twai_hal.c
ifeq ($(CONFIG_ESPRESSIF_SIMPLE_BOOT),y)
CHIP_CSRCS += chip/$(ESP_HAL_3RDPARTY_REPO)/nuttx/src/bootloader_banner_wrap.c
arch/risc-v/src/esp32h2/hal_esp32h2.mk
+3
View File
@@ -51,6 +51,7 @@ INCLUDES += $(INCDIR_PREFIX)$(ARCH_SRCDIR)/chip/$(ESP_HAL_3RDPARTY_REPO)/compone
INCLUDES += $(INCDIR_PREFIX)$(ARCH_SRCDIR)/chip/$(ESP_HAL_3RDPARTY_REPO)/components/soc/$(CHIP_SERIES)/include
INCLUDES += $(INCDIR_PREFIX)$(ARCH_SRCDIR)/chip/$(ESP_HAL_3RDPARTY_REPO)/components/spi_flash/include
INCLUDES += $(INCDIR_PREFIX)$(ARCH_SRCDIR)/chip/$(ESP_HAL_3RDPARTY_REPO)/components/spi_flash/include/spi_flash
INCLUDES += $(INCDIR_PREFIX)$(ARCH_SRCDIR)/chip/$(ESP_HAL_3RDPARTY_REPO)/components/driver/twai/include
ifeq ($(CONFIG_ESPRESSIF_SIMPLE_BOOT),y)
INCLUDES += $(INCDIR_PREFIX)$(ARCH_SRCDIR)/chip/$(ESP_HAL_3RDPARTY_REPO)/components/bootloader_support/include
@@ -152,6 +153,8 @@ ifeq ($(CONFIG_ESPRESSIF_SIMPLE_BOOT),y)
CHIP_CSRCS += chip/$(ESP_HAL_3RDPARTY_REPO)/components/esp_rom/patches/esp_rom_spiflash.c
CHIP_CSRCS += chip/$(ESP_HAL_3RDPARTY_REPO)/components/efuse/src/esp_efuse_fields.c
CHIP_CSRCS += chip/$(ESP_HAL_3RDPARTY_REPO)/components/efuse/src/efuse_controller/keys/with_key_purposes/esp_efuse_api_key.c
CHIP_CSRCS += chip/$(ESP_HAL_3RDPARTY_REPO)/components/hal/twai_hal.c
CHIP_CSRCS += chip/$(ESP_HAL_3RDPARTY_REPO)/components/hal/twai_hal_iram.c
LDFLAGS += --wrap=bootloader_print_banner
endif
boards/risc-v/esp32c3/common/src/Make.defs
+4
View File
@@ -32,6 +32,10 @@ ifeq ($(CONFIG_ESPRESSIF_SPIFLASH),y)
CSRCS += esp_board_spiflash.c
endif
ifeq ($(CONFIG_ESPRESSIF_TWAI),y)
CSRCS += esp_board_twai.c
endif
DEPPATH += --dep-path src
VPATH += :src
CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src
boards/risc-v/esp32c3/common/src/esp_board_twai.c
+94
View File
@@ -0,0 +1,94 @@
/****************************************************************************
* boards/risc-v/esp32c3/common/src/esp_board_twai.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/can/can.h>
#include <arch/board/board.h>
#include "espressif/esp_twai.h"
#ifdef CONFIG_CAN
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define TWAI_PORT 0
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_twai_setup
*
* Description:
* Initialize TWAI and register the TWAI device
*
* Input Parameters:
* None
*
* Returned Value:
* Zero (OK) is returned on success; A negated errno value is returned on
* any failure.
*
****************************************************************************/
int board_twai_setup(void)
{
#ifdef CONFIG_ESPRESSIF_TWAI
struct can_dev_s *twai;
int ret;
/* Call esp_twaiinitialize() to get an instance of the TWAI
* interface
* */
twai = esp_twaiinitialize(TWAI_PORT);
if (twai == NULL)
{
canerr("ERROR: Failed to get TWAI interface\n");
return -ENODEV;
}
/* Register the TWAI driver at "/dev/can0" */
ret = can_register("/dev/can0", twai);
if (ret < 0)
{
canerr("ERROR: TWAI0 register failed: %d\n", ret);
return ret;
}
return OK;
#else
return -ENODEV;
#endif
}
#endif /* CONFIG_CAN */
boards/risc-v/esp32c3/esp32c3-generic/configs/twai/defconfig
+48
View File
@@ -0,0 +1,48 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
# CONFIG_NSH_ARGCAT is not set
# CONFIG_NSH_CMDOPT_HEXDUMP is not set
CONFIG_ARCH="risc-v"
CONFIG_ARCH_BOARD="esp32c3-generic"
CONFIG_ARCH_BOARD_COMMON=y
CONFIG_ARCH_BOARD_ESP32C3_GENERIC=y
CONFIG_ARCH_CHIP="esp32c3"
CONFIG_ARCH_CHIP_ESP32C3_GENERIC=y
CONFIG_ARCH_INTERRUPTSTACK=1536
CONFIG_ARCH_RISCV=y
CONFIG_ARCH_STACKDUMP=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_LOOPSPERMSEC=15000
CONFIG_BUILTIN=y
CONFIG_DEV_ZERO=y
CONFIG_ESPRESSIF_TWAI0=y
CONFIG_EXAMPLES_CAN=y
CONFIG_FS_PROCFS=y
CONFIG_IDLETHREAD_STACKSIZE=2048
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INTELHEX_BINARY=y
CONFIG_LIBC_PERROR_STDOUT=y
CONFIG_LIBC_STRERROR=y
CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_READLINE=y
CONFIG_NSH_STRERROR=y
CONFIG_PREALLOC_TIMERS=0
CONFIG_RR_INTERVAL=200
CONFIG_SCHED_BACKTRACE=y
CONFIG_SCHED_WAITPID=y
CONFIG_START_DAY=29
CONFIG_START_MONTH=11
CONFIG_START_YEAR=2019
CONFIG_SYSTEM_DUMPSTACK=y
CONFIG_SYSTEM_NSH=y
CONFIG_TESTING_GETPRIME=y
CONFIG_TESTING_OSTEST=y
CONFIG_UART0_SERIAL_CONSOLE=y
boards/risc-v/esp32c3/esp32c3-generic/src/esp32c3-generic.h
+19
View File
@@ -81,6 +81,25 @@
int esp_bringup(void);
/****************************************************************************
* Name: board_twai_setup
*
* Description:
* Initialize TWAI and register the TWAI device
*
* Input Parameters:
* None
*
* Returned Value:
* Zero (OK) is returned on success; A negated errno value is returned on
* any failure.
*
****************************************************************************/
#ifdef CONFIG_ESPRESSIF_TWAI
int board_twai_setup(void);
#endif
/****************************************************************************
* Name: esp_gpio_init
*
boards/risc-v/esp32c3/esp32c3-generic/src/esp32c3_bringup.c
+11
View File
@@ -184,6 +184,17 @@ int esp_bringup(void)
}
#endif
#ifdef CONFIG_ESPRESSIF_TWAI
/* Initialize TWAI and register the TWAI driver. */
ret = board_twai_setup();
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: board_twai_setup failed: %d\n", ret);
}
#endif
#ifdef CONFIG_DEV_GPIO
ret = esp_gpio_init();
if (ret < 0)
boards/risc-v/esp32c6/common/src/Make.defs
+4
View File
@@ -32,6 +32,10 @@ ifeq ($(CONFIG_ESPRESSIF_SPIFLASH),y)
CSRCS += esp_board_spiflash.c
endif
ifeq ($(CONFIG_ESPRESSIF_TWAI),y)
CSRCS += esp_board_twai.c
endif
DEPPATH += --dep-path src
VPATH += :src
CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src
boards/risc-v/esp32c6/common/src/esp_board_twai.c
+105
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@@ -0,0 +1,105 @@
/****************************************************************************
* boards/risc-v/esp32c6/common/src/esp_board_twai.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/can/can.h>
#include <arch/board/board.h>
#include "espressif/esp_twai.h"
#ifdef CONFIG_CAN
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_twai_setup
*
* Description:
* Initialize TWAI and register the TWAI device
*
* Input Parameters:
* port - Port number (for hardware that has multiple TWAI interfaces)
*
* Returned Value:
* Zero (OK) is returned on success; A negated errno value is returned on
* any failure.
*
****************************************************************************/
int board_twai_setup(int port)
{
#ifdef CONFIG_ESPRESSIF_TWAI
struct can_dev_s *twai;
int ret;
/* Call esp_twaiinitialize() to get an instance of the TWAI
* interface
* */
twai = esp_twaiinitialize(port);
if (twai == NULL)
{
canerr("ERROR: Failed to get TWAI interface\n");
return -ENODEV;
}
#ifdef CONFIG_ESPRESSIF_TWAI0
/* Register the TWAI driver at "/dev/can0" */
ret = can_register("/dev/can0", twai);
if (ret < 0)
{
canerr("ERROR: TWAI0 register failed: %d\n", ret);
return ret;
}
#endif /* CONFIG_ESPRESSIF_TWAI0 */
#ifdef CONFIG_ESPRESSIF_TWAI1
/* Register the TWAI driver at "/dev/can1" */
ret = can_register("/dev/can1", twai);
if (ret < 0)
{
canerr("ERROR: TWAI1 register failed: %d\n", ret);
return ret;
}
#endif /* CONFIG_ESPRESSIF_TWAI1 */
return OK;
#else
return -ENODEV;
#endif
}
#endif /* CONFIG_CAN */
boards/risc-v/esp32c6/esp32c6-devkitc/configs/twai/defconfig
+50
View File
@@ -0,0 +1,50 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
# CONFIG_NSH_ARGCAT is not set
# CONFIG_NSH_CMDOPT_HEXDUMP is not set
CONFIG_ARCH="risc-v"
CONFIG_ARCH_BOARD="esp32c6-devkitc"
CONFIG_ARCH_BOARD_COMMON=y
CONFIG_ARCH_BOARD_ESP32C6_DEVKITC=y
CONFIG_ARCH_CHIP="esp32c6"
CONFIG_ARCH_CHIP_ESP32C6=y
CONFIG_ARCH_CHIP_ESP32C6WROOM1=y
CONFIG_ARCH_INTERRUPTSTACK=2048
CONFIG_ARCH_RISCV=y
CONFIG_ARCH_STACKDUMP=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_LOOPSPERMSEC=15000
CONFIG_BUILTIN=y
CONFIG_DEV_ZERO=y
CONFIG_ESPRESSIF_ESP32C6=y
CONFIG_ESPRESSIF_TWAI0=y
CONFIG_EXAMPLES_CAN=y
CONFIG_FS_PROCFS=y
CONFIG_IDLETHREAD_STACKSIZE=2048
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INTELHEX_BINARY=y
CONFIG_LIBC_PERROR_STDOUT=y
CONFIG_LIBC_STRERROR=y
CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_READLINE=y
CONFIG_NSH_STRERROR=y
CONFIG_PREALLOC_TIMERS=0
CONFIG_RR_INTERVAL=200
CONFIG_SCHED_BACKTRACE=y
CONFIG_SCHED_WAITPID=y
CONFIG_START_DAY=29
CONFIG_START_MONTH=11
CONFIG_START_YEAR=2019
CONFIG_SYSTEM_DUMPSTACK=y
CONFIG_SYSTEM_NSH=y
CONFIG_TESTING_GETPRIME=y
CONFIG_TESTING_OSTEST=y
CONFIG_UART0_SERIAL_CONSOLE=y
boards/risc-v/esp32c6/esp32c6-devkitc/src/esp32c6-devkitc.h
+19
View File
@@ -81,6 +81,25 @@
int esp_bringup(void);
/****************************************************************************
* Name: board_twai_setup
*
* Description:
* Initialize TWAI and register the TWAI device
*
* Input Parameters:
* port - Port number (for hardware that has multiple TWAI interfaces)
*
* Returned Value:
* Zero (OK) is returned on success; A negated errno value is returned on
* any failure.
*
****************************************************************************/
#ifdef CONFIG_ESPRESSIF_TWAI
int board_twai_setup(int port);
#endif
/****************************************************************************
* Name: esp_gpio_init
*
boards/risc-v/esp32c6/esp32c6-devkitc/src/esp32c6_bringup.c
+22
View File
@@ -184,6 +184,28 @@ int esp_bringup(void)
}
#endif
#ifdef CONFIG_ESPRESSIF_TWAI0
/* Initialize TWAI and register the TWAI driver. */
ret = board_twai_setup(0);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: TWAI0 board_twai_setup failed: %d\n", ret);
}
#endif
#ifdef CONFIG_ESPRESSIF_TWAI1
/* Initialize TWAI and register the TWAI driver. */
ret = board_twai_setup(1);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: TWAI1 board_twai_setup failed: %d\n", ret);
}
#endif
#ifdef CONFIG_DEV_GPIO
ret = esp_gpio_init();
if (ret < 0)
boards/risc-v/esp32c6/esp32c6-devkitm/configs/twai/defconfig
+50
View File
@@ -0,0 +1,50 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
# CONFIG_NSH_ARGCAT is not set
# CONFIG_NSH_CMDOPT_HEXDUMP is not set
CONFIG_ARCH="risc-v"
CONFIG_ARCH_BOARD="esp32c6-devkitm"
CONFIG_ARCH_BOARD_COMMON=y
CONFIG_ARCH_BOARD_ESP32C6_DEVKITM=y
CONFIG_ARCH_CHIP="esp32c6"
CONFIG_ARCH_CHIP_ESP32C6=y
CONFIG_ARCH_CHIP_ESP32C6MINI1=y
CONFIG_ARCH_INTERRUPTSTACK=2048
CONFIG_ARCH_RISCV=y
CONFIG_ARCH_STACKDUMP=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_LOOPSPERMSEC=15000
CONFIG_BUILTIN=y
CONFIG_DEV_ZERO=y
CONFIG_ESPRESSIF_ESP32C6=y
CONFIG_ESPRESSIF_TWAI0=y
CONFIG_EXAMPLES_CAN=y
CONFIG_FS_PROCFS=y
CONFIG_IDLETHREAD_STACKSIZE=2048
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INTELHEX_BINARY=y
CONFIG_LIBC_PERROR_STDOUT=y
CONFIG_LIBC_STRERROR=y
CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_READLINE=y
CONFIG_NSH_STRERROR=y
CONFIG_PREALLOC_TIMERS=0
CONFIG_RR_INTERVAL=200
CONFIG_SCHED_BACKTRACE=y
CONFIG_SCHED_WAITPID=y
CONFIG_START_DAY=29
CONFIG_START_MONTH=11
CONFIG_START_YEAR=2019
CONFIG_SYSTEM_DUMPSTACK=y
CONFIG_SYSTEM_NSH=y
CONFIG_TESTING_GETPRIME=y
CONFIG_TESTING_OSTEST=y
CONFIG_UART0_SERIAL_CONSOLE=y
boards/risc-v/esp32c6/esp32c6-devkitm/src/esp32c6-devkitm.h
+19
View File
@@ -81,6 +81,25 @@
int esp_bringup(void);
/****************************************************************************
* Name: board_twai_setup
*
* Description:
* Initialize TWAI and register the TWAI device
*
* Input Parameters:
* port - Port number (for hardware that has multiple TWAI interfaces)
*
* Returned Value:
* Zero (OK) is returned on success; A negated errno value is returned on
* any failure.
*
****************************************************************************/
#ifdef CONFIG_ESPRESSIF_TWAI
int board_twai_setup(int port);
#endif
/****************************************************************************
* Name: esp_gpio_init
*
boards/risc-v/esp32c6/esp32c6-devkitm/src/esp32c6_bringup.c
+22
View File
@@ -184,6 +184,28 @@ int esp_bringup(void)
}
#endif
#ifdef CONFIG_ESPRESSIF_TWAI0
/* Initialize TWAI and register the TWAI driver. */
ret = board_twai_setup(0);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: board_twai_setup failed: %d\n", ret);
}
#endif
#ifdef CONFIG_ESPRESSIF_TWAI1
/* Initialize TWAI and register the TWAI driver. */
ret = board_twai_setup(1);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: board_twai_setup failed: %d\n", ret);
}
#endif
#ifdef CONFIG_DEV_GPIO
ret = esp_gpio_init();
if (ret < 0)
boards/risc-v/esp32h2/common/src/Make.defs
+4
View File
@@ -32,6 +32,10 @@ ifeq ($(CONFIG_ESPRESSIF_SPIFLASH),y)
CSRCS += esp_board_spiflash.c
endif
ifeq ($(CONFIG_ESPRESSIF_TWAI),y)
CSRCS += esp_board_twai.c
endif
DEPPATH += --dep-path src
VPATH += :src
CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src
boards/risc-v/esp32h2/common/src/esp_board_twai.c
+94
View File
@@ -0,0 +1,94 @@
/****************************************************************************
* boards/risc-v/esp32h2/common/src/esp_board_twai.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/can/can.h>
#include <arch/board/board.h>
#include "espressif/esp_twai.h"
#ifdef CONFIG_CAN
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define TWAI_PORT 0
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_twai_setup
*
* Description:
* Initialize TWAI and register the TWAI device
*
* Input Parameters:
* None
*
* Returned Value:
* Zero (OK) is returned on success; A negated errno value is returned on
* any failure.
*
****************************************************************************/
int board_twai_setup(void)
{
#ifdef CONFIG_ESPRESSIF_TWAI
struct can_dev_s *twai;
int ret;
/* Call esp_twaiinitialize() to get an instance of the TWAI
* interface
* */
twai = esp_twaiinitialize(TWAI_PORT);
if (twai == NULL)
{
canerr("ERROR: Failed to get TWAI interface\n");
return -ENODEV;
}
/* Register the TWAI driver at "/dev/can0" */
ret = can_register("/dev/can0", twai);
if (ret < 0)
{
canerr("ERROR: TWAI0 register failed: %d\n", ret);
return ret;
}
return OK;
#else
return -ENODEV;
#endif
}
#endif /* CONFIG_CAN */
boards/risc-v/esp32h2/esp32h2-devkit/configs/twai/defconfig
+49
View File
@@ -0,0 +1,49 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
# CONFIG_NSH_ARGCAT is not set
# CONFIG_NSH_CMDOPT_HEXDUMP is not set
CONFIG_ARCH="risc-v"
CONFIG_ARCH_BOARD="esp32h2-devkit"
CONFIG_ARCH_BOARD_COMMON=y
CONFIG_ARCH_BOARD_ESP32H2_DEVKIT=y
CONFIG_ARCH_CHIP="esp32h2"
CONFIG_ARCH_CHIP_ESP32H2=y
CONFIG_ARCH_INTERRUPTSTACK=2048
CONFIG_ARCH_RISCV=y
CONFIG_ARCH_STACKDUMP=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_LOOPSPERMSEC=15000
CONFIG_BUILTIN=y
CONFIG_DEV_ZERO=y
CONFIG_ESPRESSIF_ESP32H2=y
CONFIG_ESPRESSIF_TWAI0=y
CONFIG_EXAMPLES_CAN=y
CONFIG_FS_PROCFS=y
CONFIG_IDLETHREAD_STACKSIZE=2048
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INTELHEX_BINARY=y
CONFIG_LIBC_PERROR_STDOUT=y
CONFIG_LIBC_STRERROR=y
CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_READLINE=y
CONFIG_NSH_STRERROR=y
CONFIG_PREALLOC_TIMERS=0
CONFIG_RR_INTERVAL=200
CONFIG_SCHED_BACKTRACE=y
CONFIG_SCHED_WAITPID=y
CONFIG_START_DAY=29
CONFIG_START_MONTH=11
CONFIG_START_YEAR=2019
CONFIG_SYSTEM_DUMPSTACK=y
CONFIG_SYSTEM_NSH=y
CONFIG_TESTING_GETPRIME=y
CONFIG_TESTING_OSTEST=y
CONFIG_UART0_SERIAL_CONSOLE=y
boards/risc-v/esp32h2/esp32h2-devkit/src/esp32h2-devkit.h
+19
View File
@@ -81,6 +81,25 @@
int esp_bringup(void);
/****************************************************************************
* Name: board_twai_setup
*
* Description:
* Initialize TWAI and register the TWAI device
*
* Input Parameters:
* None
*
* Returned Value:
* Zero (OK) is returned on success; A negated errno value is returned on
* any failure.
*
****************************************************************************/
#ifdef CONFIG_ESPRESSIF_TWAI
int board_twai_setup(void);
#endif
/****************************************************************************
* Name: esp_gpio_init
*
boards/risc-v/esp32h2/esp32h2-devkit/src/esp32h2_bringup.c
+11
View File
@@ -184,6 +184,17 @@ int esp_bringup(void)
}
#endif
#ifdef CONFIG_ESPRESSIF_TWAI
/* Initialize TWAI and register the TWAI driver. */
ret = board_twai_setup();
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: board_twai_setup failed: %d\n", ret);
}
#endif
#ifdef CONFIG_DEV_GPIO
ret = esp_gpio_init();
if (ret < 0)