mirror of
https://github.com/apache/nuttx.git
synced 2026-05-20 20:44:39 +08:00
xtensa/esp32s3: Add support to TWAI/CANBus controller
This commit is contained in:
Eren Terzioglu
committed by
Xiang Xiao
Xiang Xiao
parent
83ba72e4b4
commit
a26996fb3b
@@ -412,6 +412,24 @@ To test it, just run the following::
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Where x in the timer instance.
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twai
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----
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This configuration enables the support for the TWAI (Two-Wire Automotive Interface) driver.
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You can test it by connecting TWAI RX and TWAI TX pins which are GPIO0 and GPIO2 by default
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to a external transceiver or connecting TWAI RX to TWAI TX pin by enabling
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the ``Device Drivers -> CAN Driver Support -> CAN loopback mode`` option and running the ``can`` example::
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nsh> can
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nmsgs: 0
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min ID: 1 max ID: 2047
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Bit timing:
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Baud: 1000000
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TSEG1: 15
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TSEG2: 4
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SJW: 3
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ID: 1 DLC: 1
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usbnsh
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------
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@@ -93,7 +93,7 @@ ADC No
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AES No
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Bluetooth No
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CAMERA No
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CAN/TWAI No
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CAN/TWAI Yes
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DMA Yes
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eFuse No
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GPIO Yes
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@@ -99,7 +99,7 @@
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#define ESP32S3_PERIPH_PWM1 32
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#define ESP32S3_PERIPH_LEDC 35
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#define ESP32S3_PERIPH_EFUSE 36
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#define ESP32S3_PERIPH_CAN 37
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#define ESP32S3_PERIPH_TWAI 37
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#define ESP32S3_PERIPH_USB 38
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#define ESP32S3_PERIPH_RTC_CORE 39
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@@ -239,7 +239,7 @@
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#define ESP32S3_IRQ_PWM1 (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_PWM1)
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#define ESP32S3_IRQ_LEDC (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_LEDC)
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#define ESP32S3_IRQ_EFUSE (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_EFUSE)
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#define ESP32S3_IRQ_CAN (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_CAN)
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#define ESP32S3_IRQ_TWAI (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_TWAI)
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#define ESP32S3_IRQ_USB (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_USB)
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#define ESP32S3_IRQ_RTC_CORE (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_RTC_CORE)
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@@ -624,6 +624,11 @@ config ESP32S3_I2C1
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select ESP32S3_I2C
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select I2C
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config ESP32S3_TWAI
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bool "TWAI (CAN)"
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default n
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select CAN
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config ESP32S3_LEDC
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bool "LEDC (PWM)"
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default n
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@@ -1093,6 +1098,57 @@ config ESP32S3_I2CTIMEOMS
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endmenu # I2C Configuration
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menu "TWAI driver options"
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depends on ESP32S3_TWAI
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if ESP32S3_TWAI
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config ESP32S3_TWAI_TXPIN
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int "TWAI TX Pin"
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default 0
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config ESP32S3_TWAI_RXPIN
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int "TWAI RX Pin"
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default 2
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config ESP32S3_TWAI_BITRATE
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int "TWAI bitrate"
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default 1000000
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---help---
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TWAI bit rate.
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config ESP32S3_TWAI_SAMPLEP
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int "TWAI sample point"
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default 80
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---help---
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TWAI sample point location as a percent value.
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config ESP32S3_TWAI_SJW
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int "TWAI synchronization jump width"
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default 3
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---help---
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SJW limits the number of Time Quanta corrections during bit
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Resynchronization.
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config ESP32S3_TWAI_SAM
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bool "TWAI sampling"
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default n
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---help---
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The bus is sampled 3 times (recommended for low to medium speed buses
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to spikes on the bus-line).
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endif # ESP32S3_TWAI
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config ESP32S3_TWAI_REGDEBUG
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bool "TWAI register level debug"
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depends on DEBUG_CAN_INFO
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default n
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---help---
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Output detailed register-level TWAI debug information. Requires also
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CONFIG_DEBUG_CAN_INFO.
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endmenu #ESP32S3_TWAI
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menu "Wi-Fi Configuration"
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depends on ESP32S3_WIFI
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@@ -57,6 +57,10 @@ ifeq ($(CONFIG_ESP32S3_RNG),y)
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CHIP_CSRCS += esp32s3_rng.c
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endif
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ifeq ($(CONFIG_ESP32S3_TWAI),y)
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CHIP_CSRCS += esp32s3_twai.c
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endif
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ifeq ($(CONFIG_ESP32S3_LEDC),y)
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CHIP_CSRCS += esp32s3_ledc.c
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endif
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,77 @@
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/****************************************************************************
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* arch/xtensa/src/esp32s3/esp32s3_twai.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __ARCH_XTENSA_SRC_ESP32S3_ESP32S3_TWAI_H
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#define __ARCH_XTENSA_SRC_ESP32S3_ESP32S3_TWAI_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/can/can.h>
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#include "hardware/esp32s3_twai.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/****************************************************************************
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* Public Data
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****************************************************************************/
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#ifndef __ASSEMBLY__
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/****************************************************************************
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* Public Functions Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: esp32s3_twaiinitialize
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*
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* Description:
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* Initialize the selected CAN port
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*
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* Input Parameters:
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* Port number (for hardware that has multiple TWAI interfaces)
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*
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* Returned Value:
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* Valid TWAI device structure reference on success; a NULL on failure
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*
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****************************************************************************/
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#if defined(CONFIG_CAN) && defined(CONFIG_ESP32S3_TWAI)
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struct can_dev_s *esp32s3_twaiinitialize(void);
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#endif
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#ifdef __cplusplus
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}
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#endif
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#endif /* __ASSEMBLY__ */
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#endif /* __ARCH_XTENSA_SRC_ESP32S3_ESP32S3_TWAI_H */
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@@ -300,7 +300,7 @@
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#define SYSTEM_PWM1_CLK_EN_S 20
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/* SYSTEM_TWAI_CLK_EN : R/W; bitpos: [19]; default: 0;
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* Set 1 to enable CAN clock
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* Set 1 to enable TWAI clock
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*/
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#define SYSTEM_TWAI_CLK_EN (BIT(19))
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@@ -699,7 +699,7 @@
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#define SYSTEM_PWM1_RST_S 20
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/* SYSTEM_TWAI_RST : R/W; bitpos: [19]; default: 0;
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* Set 1 to let CAN reset
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* Set 1 to let TWAI reset
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*/
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#define SYSTEM_TWAI_RST (BIT(19))
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,49 @@
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#
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# This file is autogenerated: PLEASE DO NOT EDIT IT.
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#
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# You can use "make menuconfig" to make any modifications to the installed .config file.
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# You can then do "make savedefconfig" to generate a new defconfig file that includes your
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# modifications.
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#
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# CONFIG_ARCH_LEDS is not set
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# CONFIG_NSH_ARGCAT is not set
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# CONFIG_NSH_CMDOPT_HEXDUMP is not set
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CONFIG_ARCH="xtensa"
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CONFIG_ARCH_BOARD="esp32s3-devkit"
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CONFIG_ARCH_BOARD_COMMON=y
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CONFIG_ARCH_BOARD_ESP32S3_DEVKIT=y
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CONFIG_ARCH_CHIP="esp32s3"
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CONFIG_ARCH_CHIP_ESP32S3=y
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CONFIG_ARCH_CHIP_ESP32S3WROOM1=y
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CONFIG_ARCH_INTERRUPTSTACK=2048
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CONFIG_ARCH_STACKDUMP=y
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CONFIG_ARCH_XTENSA=y
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CONFIG_BOARD_LOOPSPERMSEC=16717
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CONFIG_BUILTIN=y
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CONFIG_DEBUG_FULLOPT=y
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CONFIG_DEBUG_SYMBOLS=y
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CONFIG_ESP32S3_TWAI=y
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CONFIG_ESP32S3_UART0=y
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CONFIG_EXAMPLES_CAN=y
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CONFIG_FS_PROCFS=y
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CONFIG_HAVE_CXX=y
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CONFIG_HAVE_CXXINITIALIZE=y
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CONFIG_IDLETHREAD_STACKSIZE=3072
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CONFIG_INIT_ENTRYPOINT="nsh_main"
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CONFIG_INTELHEX_BINARY=y
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CONFIG_NSH_ARCHINIT=y
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CONFIG_NSH_BUILTIN_APPS=y
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CONFIG_NSH_FILEIOSIZE=512
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CONFIG_NSH_LINELEN=64
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CONFIG_NSH_READLINE=y
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CONFIG_PREALLOC_TIMERS=4
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CONFIG_RAM_SIZE=114688
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CONFIG_RAM_START=0x20000000
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CONFIG_RR_INTERVAL=200
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CONFIG_SCHED_WAITPID=y
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CONFIG_START_DAY=6
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CONFIG_START_MONTH=12
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CONFIG_START_YEAR=2011
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CONFIG_SYSLOG_BUFFER=y
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CONFIG_SYSTEM_NSH=y
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CONFIG_UART0_SERIAL_CONSOLE=y
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@@ -41,6 +41,10 @@ ifeq ($(CONFIG_ESP32S3_SPI),y)
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CSRCS += esp32s3_board_spi.c
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endif
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ifeq ($(CONFIG_ESP32S3_TWAI),y)
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CSRCS += esp32s3_twai.c
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endif
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ifeq ($(CONFIG_PWM),y)
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CSRCS += esp32s3_ledc.c
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endif
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@@ -190,5 +190,9 @@ int esp32s3_djoy_initialize(void);
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int esp32s3_pwm_setup(void);
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#endif
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#ifdef CONFIG_ESP32S3_TWAI
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int esp32s3_twai_setup(void);
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#endif
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#endif /* __ASSEMBLY__ */
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#endif /* __BOARDS_XTENSA_ESP32S3_ESP32S3_DEVKIT_SRC_ESP32S3_DEVKIT_H */
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@@ -205,6 +205,17 @@ int esp32s3_bringup(void)
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}
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#endif
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#ifdef CONFIG_ESP32S3_TWAI
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/* Initialize TWAI and register the TWAI driver. */
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ret = esp32s3_twai_setup();
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: esp32s3_twai_setup failed: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_SENSORS_BMP180
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/* Try to register BMP180 device in I2C0 */
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@@ -0,0 +1,90 @@
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/****************************************************************************
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* boards/xtensa/esp32s3/esp32s3-devkit/src/esp32s3_twai.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/can/can.h>
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#include <arch/board/board.h>
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#include "chip.h"
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#include "esp32s3_twai.h"
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#include "esp32s3-devkit.h"
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#ifdef CONFIG_CAN
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Configuration ************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: esp32s3_twai_setup
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*
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* Description:
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* Initialize TWAI and register the TWAI device
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*
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****************************************************************************/
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int esp32s3_twai_setup(void)
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{
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#ifdef CONFIG_ESP32S3_TWAI
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struct can_dev_s *twai;
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int ret;
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/* Call esp32s3_twaiinitialize() to get an instance of the TWAI
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* interface
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* */
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twai = esp32s3_twaiinitialize();
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if (twai == NULL)
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{
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canerr("ERROR: Failed to get TWAI interface\n");
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return -ENODEV;
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}
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/* Register the TWAI driver at "/dev/can0" */
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ret = can_register("/dev/can0", twai);
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if (ret < 0)
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{
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canerr("ERROR: TWAI1 register failed: %d\n", ret);
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return ret;
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}
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return OK;
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#else
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return -ENODEV;
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#endif
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}
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#endif /* CONFIG_CAN */
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Reference in New Issue
Block a user