xtensa/esp32s3: Add support to TWAI/CANBus controller

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
 ------
 

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

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)
 

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
 

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

arch/xtensa/src/esp32s3/esp32s3_twai.h

@@ -0,0 +1,77 @@
+/****************************************************************************
+ * arch/xtensa/src/esp32s3/esp32s3_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_XTENSA_SRC_ESP32S3_ESP32S3_TWAI_H
+#define __ARCH_XTENSA_SRC_ESP32S3_ESP32S3_TWAI_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/can/can.h>
+#include "hardware/esp32s3_twai.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/****************************************************************************
+ * Public Functions Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp32s3_twaiinitialize
+ *
+ * Description:
+ *   Initialize the selected CAN port
+ *
+ * Input Parameters:
+ *   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_ESP32S3_TWAI)
+struct can_dev_s *esp32s3_twaiinitialize(void);
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* __ASSEMBLY__ */
+
+#endif /* __ARCH_XTENSA_SRC_ESP32S3_ESP32S3_TWAI_H */

arch/xtensa/src/esp32s3/hardware/esp32s3_system.h

@@ -300,7 +300,7 @@
 #define SYSTEM_PWM1_CLK_EN_S  20
 
 /* SYSTEM_TWAI_CLK_EN : R/W; bitpos: [19]; default: 0;
- * Set 1 to enable CAN clock
+ * Set 1 to enable TWAI clock
  */
 
 #define SYSTEM_TWAI_CLK_EN    (BIT(19))
@@ -699,7 +699,7 @@
 #define SYSTEM_PWM1_RST_S  20
 
 /* SYSTEM_TWAI_RST : R/W; bitpos: [19]; default: 0;
- * Set 1 to let CAN reset
+ * Set 1 to let TWAI reset
  */
 
 #define SYSTEM_TWAI_RST    (BIT(19))

boards/xtensa/esp32s3/esp32s3-devkit/configs/twai/defconfig

@@ -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_ARCH_LEDS is not set
+# CONFIG_NSH_ARGCAT is not set
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+CONFIG_ARCH="xtensa"
+CONFIG_ARCH_BOARD="esp32s3-devkit"
+CONFIG_ARCH_BOARD_COMMON=y
+CONFIG_ARCH_BOARD_ESP32S3_DEVKIT=y
+CONFIG_ARCH_CHIP="esp32s3"
+CONFIG_ARCH_CHIP_ESP32S3=y
+CONFIG_ARCH_CHIP_ESP32S3WROOM1=y
+CONFIG_ARCH_INTERRUPTSTACK=2048
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_XTENSA=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_ESP32S3_TWAI=y
+CONFIG_ESP32S3_UART0=y
+CONFIG_EXAMPLES_CAN=y
+CONFIG_FS_PROCFS=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=3072
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INTELHEX_BINARY=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=114688
+CONFIG_RAM_START=0x20000000
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_START_DAY=6
+CONFIG_START_MONTH=12
+CONFIG_START_YEAR=2011
+CONFIG_SYSLOG_BUFFER=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_UART0_SERIAL_CONSOLE=y

boards/xtensa/esp32s3/esp32s3-devkit/src/Make.defs

@@ -41,6 +41,10 @@ ifeq ($(CONFIG_ESP32S3_SPI),y)
 CSRCS += esp32s3_board_spi.c
 endif
 
+ifeq ($(CONFIG_ESP32S3_TWAI),y)
+CSRCS += esp32s3_twai.c
+endif
+
 ifeq ($(CONFIG_PWM),y)
 CSRCS += esp32s3_ledc.c
 endif

boards/xtensa/esp32s3/esp32s3-devkit/src/esp32s3-devkit.h

@@ -190,5 +190,9 @@ int esp32s3_djoy_initialize(void);
 int esp32s3_pwm_setup(void);
 #endif
 
+#ifdef CONFIG_ESP32S3_TWAI
+int esp32s3_twai_setup(void);
+#endif
+
 #endif /* __ASSEMBLY__ */
 #endif /* __BOARDS_XTENSA_ESP32S3_ESP32S3_DEVKIT_SRC_ESP32S3_DEVKIT_H */

boards/xtensa/esp32s3/esp32s3-devkit/src/esp32s3_bringup.c

@@ -205,6 +205,17 @@ int esp32s3_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_ESP32S3_TWAI
+
+  /* Initialize TWAI and register the TWAI driver. */
+
+  ret = esp32s3_twai_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: esp32s3_twai_setup failed: %d\n", ret);
+    }
+#endif
+
 #ifdef CONFIG_SENSORS_BMP180
   /* Try to register BMP180 device in I2C0 */
 

boards/xtensa/esp32s3/esp32s3-devkit/src/esp32s3_twai.c

@@ -0,0 +1,90 @@
+/****************************************************************************
+ * boards/xtensa/esp32s3/esp32s3-devkit/src/esp32s3_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 "chip.h"
+
+#include "esp32s3_twai.h"
+#include "esp32s3-devkit.h"
+
+#ifdef CONFIG_CAN
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp32s3_twai_setup
+ *
+ * Description:
+ *  Initialize TWAI and register the TWAI device
+ *
+ ****************************************************************************/
+
+int esp32s3_twai_setup(void)
+{
+#ifdef CONFIG_ESP32S3_TWAI
+  struct can_dev_s *twai;
+  int ret;
+
+  /* Call esp32s3_twaiinitialize() to get an instance of the TWAI
+   * interface
+   * */
+
+  twai = esp32s3_twaiinitialize();
+  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: TWAI1 register failed: %d\n", ret);
+      return ret;
+    }
+
+  return OK;
+#else
+  return -ENODEV;
+#endif
+}
+
+#endif /* CONFIG_CAN */