xtensa/esp32s2: Add support to TWAI/CANBus controller

Documentation/platforms/xtensa/esp32s2/boards/esp32s2-kaluga-1/index.rst

@@ -295,4 +295,22 @@ After successfully built and flashed, run on the boards' terminal::
   16 bits/sample and 48KHz. These arguments can be supplied to select
   different audio formats, for instance::
 
-    nxlooper> loopback 2 8 44100
+    nxlooper> loopback 2 8 44100
+
+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

Documentation/platforms/xtensa/esp32s2/boards/esp32s2-saola-1/index.rst

@@ -348,6 +348,24 @@ 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
+
 watchdog
 --------
 

Documentation/platforms/xtensa/esp32s2/index.rst

@@ -98,7 +98,7 @@ Peripheral Support NOTES
 ========== ======= =====
 ADC          No
 AES          No
-CAN/TWAI     No
+CAN/TWAI     Yes
 DMA          Yes
 eFuse        No
 Ethernet     No