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drivers: can: initial support for Renesas RA CANFD

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Add support for CAN driver running on Renesas RA CANFD

Signed-off-by: The Nguyen <the.nguyen.yf@renesas.com>
This commit is contained in:
The Nguyen 2024-03-28 10:19:04 +00:00 committed by Henrik Brix Andersen
parent e876c5d487
commit 95cc5f53b8
14 changed files with 1356 additions and 20 deletions
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9
boards/renesas/ek_ra8d1/ek_ra8d1-pinctrl.dtsi
View file

@ -36,4 +36,13 @@
psels = <RA_PSEL(RA_PSEL_GPT1, 10, 6)>;
};
};
canfd0_default: canfd0_default {
group1 {
/* CRX0 CTX0 */
psels = <RA_PSEL(RA_PSEL_CANFD, 4, 2)>,
<RA_PSEL(RA_PSEL_CANFD, 4, 1)>;
drive-strength = "high";
};
};
};

17
boards/renesas/ek_ra8d1/ek_ra8d1.dts
View file

@ -21,6 +21,7 @@
zephyr,shell-uart = &uart9;
zephyr,entropy = &trng;
zephyr,flash-controller = &flash1;
zephyr,canbus = &canfd0;
};
leds {
@ -74,6 +75,12 @@
status = "okay";
};
&canfdclk {
clocks = <&pll>;
div = <5>;
status = "okay";
};
&ioport1 {
status = "okay";
};
@ -132,3 +139,13 @@
pinctrl-names = "default";
status = "okay";
};
&canfd_global {
status = "okay";
canfd0 {
pinctrl-0 = <&canfd0_default>;
pinctrl-names = "default";
rx-max-filters = <16>;
status = "okay";
};
};

9
boards/renesas/ek_ra8m1/ek_ra8m1-pinctrl.dtsi
View file

@ -64,4 +64,13 @@
psels = <RA_PSEL(RA_PSEL_GPT1, 6, 2)>;
};
};
canfd0_default: canfd0_default {
group1 {
/* CRX0 CTX0 */
psels = <RA_PSEL(RA_PSEL_CANFD, 3, 11)>,
<RA_PSEL(RA_PSEL_CANFD, 3, 12)>;
drive-strength = "high";
};
};
};

29
boards/renesas/ek_ra8m1/ek_ra8m1.dts
View file

@ -21,6 +21,7 @@
zephyr,console = &uart9;
zephyr,shell-uart = &uart9;
zephyr,entropy = &trng;
zephyr,canbus = &canfd0;
};
leds {
@ -65,6 +66,13 @@
aliases {
led0 = &led1;
};
transceiver0: can-phy0 {
compatible = "nxp,tja1040t", "can-transceiver-gpio";
standby-gpios = <&ioport2 7 GPIO_ACTIVE_HIGH>;
max-bitrate = <5000000>;
#phy-cells = <0>;
};
};
&xtal {
@ -97,6 +105,12 @@
status = "okay";
};
&canfdclk {
clocks = <&pll>;
div = <5>;
status = "okay";
};
&ioport0 {
status = "okay";
};
@ -105,6 +119,10 @@
status = "okay";
};
&ioport2 {
status = "okay";
};
&ioport3 {
status = "okay";
};
@ -189,3 +207,14 @@ mikrobus_serial: &uart3 {};
};
};
};
&canfd_global {
status = "okay";
canfd0 {
pinctrl-0 = <&canfd0_default>;
pinctrl-names = "default";
phys = <&transceiver0>;
rx-max-filters = <16>;
status = "okay";
};
};

9
boards/renesas/mck_ra8t1/mck_ra8t1-pinctrl.dtsi
View file

@ -36,4 +36,13 @@
psels = <RA_PSEL(RA_PSEL_GPT1, 1, 14)>;
};
};
canfd1_default: canfd1_default {
group1 {
/* CRX1 CTX1 */
psels = <RA_PSEL(RA_PSEL_CANFD, 4, 14)>,
<RA_PSEL(RA_PSEL_CANFD, 4, 15)>;
drive-strength = "high";
};
};
};

17
boards/renesas/mck_ra8t1/mck_ra8t1.dts
View file

@ -21,6 +21,7 @@
zephyr,shell-uart = &uart3;
zephyr,entropy = &trng;
zephyr,flash-controller = &flash1;
zephyr,canbus = &canfd1;
};
leds {
@ -78,6 +79,12 @@
status = "okay";
};
&canfdclk {
clocks = <&pll>;
div = <5>;
status = "okay";
};
&ioport6 {
status = "okay";
};
@ -126,3 +133,13 @@
pinctrl-names = "default";
status = "okay";
};
&canfd_global {
status = "okay";
canfd1 {
pinctrl-0 = <&canfd1_default>;
pinctrl-names = "default";
rx-max-filters = <16>;
status = "okay";
};
};

41
drivers/can/CMakeLists.txt
View file

@ -5,26 +5,27 @@ zephyr_syscall_header(${ZEPHYR_BASE}/include/zephyr/drivers/can.h)
zephyr_library()
zephyr_sources_ifdef(CONFIG_CAN_MCUX_MCAN can_mcux_mcan.c)
zephyr_library_sources_ifdef(CONFIG_CAN can_common.c)
zephyr_library_sources_ifdef(CONFIG_CAN_FAKE can_fake.c)
zephyr_library_sources_ifdef(CONFIG_CAN_LOOPBACK can_loopback.c)
zephyr_library_sources_ifdef(CONFIG_CAN_MCAN can_mcan.c)
zephyr_library_sources_ifdef(CONFIG_CAN_MCP2515 can_mcp2515.c)
zephyr_library_sources_ifdef(CONFIG_CAN_MCP251XFD can_mcp251xfd.c)
zephyr_library_sources_ifdef(CONFIG_CAN_MCUX_FLEXCAN can_mcux_flexcan.c)
zephyr_library_sources_ifdef(CONFIG_CAN_SAM can_sam.c)
zephyr_library_sources_ifdef(CONFIG_CAN_SAM0 can_sam0.c)
zephyr_library_sources_ifdef(CONFIG_CAN_STM32_BXCAN can_stm32_bxcan.c)
zephyr_library_sources_ifdef(CONFIG_CAN_STM32_FDCAN can_stm32_fdcan.c)
zephyr_library_sources_ifdef(CONFIG_CAN_STM32H7_FDCAN can_stm32h7_fdcan.c)
zephyr_library_sources_ifdef(CONFIG_CAN_TCAN4X5X can_tcan4x5x.c)
zephyr_library_sources_ifdef(CONFIG_CAN_RCAR can_rcar.c)
zephyr_library_sources_ifdef(CONFIG_CAN_NUMAKER can_numaker.c)
zephyr_library_sources_ifdef(CONFIG_CAN_XMC4XXX can_xmc4xxx.c)
zephyr_library_sources_ifdef(CONFIG_CAN_SJA1000 can_sja1000.c)
zephyr_library_sources_ifdef(CONFIG_CAN_ESP32_TWAI can_esp32_twai.c)
zephyr_library_sources_ifdef(CONFIG_CAN_KVASER_PCI can_kvaser_pci.c)
zephyr_library_sources_ifdef(CONFIG_CAN_NRF can_nrf.c)
zephyr_library_sources_ifdef(CONFIG_CAN can_common.c)
zephyr_library_sources_ifdef(CONFIG_CAN_FAKE can_fake.c)
zephyr_library_sources_ifdef(CONFIG_CAN_LOOPBACK can_loopback.c)
zephyr_library_sources_ifdef(CONFIG_CAN_MCAN can_mcan.c)
zephyr_library_sources_ifdef(CONFIG_CAN_MCP2515 can_mcp2515.c)
zephyr_library_sources_ifdef(CONFIG_CAN_MCP251XFD can_mcp251xfd.c)
zephyr_library_sources_ifdef(CONFIG_CAN_MCUX_FLEXCAN can_mcux_flexcan.c)
zephyr_library_sources_ifdef(CONFIG_CAN_SAM can_sam.c)
zephyr_library_sources_ifdef(CONFIG_CAN_SAM0 can_sam0.c)
zephyr_library_sources_ifdef(CONFIG_CAN_STM32_BXCAN can_stm32_bxcan.c)
zephyr_library_sources_ifdef(CONFIG_CAN_STM32_FDCAN can_stm32_fdcan.c)
zephyr_library_sources_ifdef(CONFIG_CAN_STM32H7_FDCAN can_stm32h7_fdcan.c)
zephyr_library_sources_ifdef(CONFIG_CAN_TCAN4X5X can_tcan4x5x.c)
zephyr_library_sources_ifdef(CONFIG_CAN_RCAR can_rcar.c)
zephyr_library_sources_ifdef(CONFIG_CAN_NUMAKER can_numaker.c)
zephyr_library_sources_ifdef(CONFIG_CAN_XMC4XXX can_xmc4xxx.c)
zephyr_library_sources_ifdef(CONFIG_CAN_SJA1000 can_sja1000.c)
zephyr_library_sources_ifdef(CONFIG_CAN_ESP32_TWAI can_esp32_twai.c)
zephyr_library_sources_ifdef(CONFIG_CAN_KVASER_PCI can_kvaser_pci.c)
zephyr_library_sources_ifdef(CONFIG_CAN_NRF can_nrf.c)
zephyr_library_sources_ifdef(CONFIG_CAN_RENESAS_RA_CANFD can_renesas_ra.c)
zephyr_library_sources_ifdef(CONFIG_USERSPACE can_handlers.c)
zephyr_library_sources_ifdef(CONFIG_CAN_SHELL can_shell.c)

1
drivers/can/Kconfig
View file

@ -129,6 +129,7 @@ source "drivers/can/Kconfig.tcan4x5x"
source "drivers/can/Kconfig.mcp251xfd"
source "drivers/can/Kconfig.xmc4xxx"
source "drivers/can/Kconfig.nrf"
source "drivers/can/Kconfig.renesas_ra"
source "drivers/can/transceiver/Kconfig"

11
drivers/can/Kconfig.renesas_ra Normal file
View file

@ -0,0 +1,11 @@
# Copyright (c) 2024 Renesas Electronics Corporation
# SPDX-License-Identifier: Apache-2.0
config CAN_RENESAS_RA_CANFD
bool "Renesas RA CANFD"
default y
depends on DT_HAS_RENESAS_RA_CANFD_ENABLED
select USE_RA_FSP_CANFD
select PINCTRL
help
Enable Renesas RA CANFD driver

1158
drivers/can/can_renesas_ra.c Normal file
View file

File diff suppressed because it is too large Load diff

30
dts/arm/renesas/ra/ra8/ra8x1.dtsi
View file

@ -527,6 +527,36 @@
status = "disabled";
};
};
canfd_global: canfd_global@40380000 {
compatible = "renesas,ra-canfd-global";
interrupts = <40 1>, <41 1>;
interrupt-names = "rxf", "glerr";
clocks = <&pclka 0 0>, <&pclke 0 0>;
clock-names = "opclk", "ramclk";
reg = <0x40380000 0x4000>;
status = "disabled";
canfd0: canfd0 {
compatible = "renesas,ra-canfd";
channel = <0>;
interrupts = <43 12>, <44 12>, <45 12>;
interrupt-names = "err", "tx", "rx";
clocks = <&canfdclk MSTPC 27>;
clock-names = "dllclk";
status = "disabled";
};
canfd1: canfd1 {
compatible = "renesas,ra-canfd";
channel = <1>;
interrupts = <46 1>, <47 1>, <48 1>;
interrupt-names = "err", "tx", "rx";
clocks = <&canfdclk MSTPC 26>;
clock-names = "dllclk";
status = "disabled";
};
};
};
};

15
dts/bindings/can/renesas,ra-canfd-global.yaml Normal file
View file

@ -0,0 +1,15 @@
# Copyright (c) 2024 Renesas Electronics Corporation
# SPDX-License-Identifier: Apache-2.0
description: Renesas RA CANFD controller global
compatible: "renesas,ra-canfd-global"
include: [base.yaml]
properties:
interrupts:
required: true
clocks:
required: true

25
dts/bindings/can/renesas,ra-canfd.yaml Normal file
View file

@ -0,0 +1,25 @@
# Copyright (c) 2024 Renesas Electronics Corporation
# SPDX-License-Identifier: Apache-2.0
description: Renesas RA CANFD controller
compatible: "renesas,ra-canfd"
include: [can-fd-controller.yaml, pinctrl-device.yaml]
properties:
interrupts:
required: true
clocks:
required: true
channel:
type: int
required: true
rx-max-filters:
type: int
description: |
To determine the maximum rx filters can be added on this CAN device.
Valid range: 0 - 16

5
modules/Kconfig.renesas_fsp
View file

@ -71,4 +71,9 @@ config USE_RA_FSP_AGT
help
Enable RA FSP AGT driver
config USE_RA_FSP_CANFD
bool
help
Enable RA FSP CANFD driver
endif # HAS_RENESAS_RA_FSP