drivers: can: initial support for Renesas RA CANFD

Add support for CAN driver running on Renesas RA CANFD

Signed-off-by: The Nguyen <the.nguyen.yf@renesas.com>

boards/renesas/ek_ra8d1/ek_ra8d1-pinctrl.dtsi

@@ -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";
+		};
+	};
 };

boards/renesas/ek_ra8d1/ek_ra8d1.dts

@@ -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";
+	};
+};

boards/renesas/ek_ra8m1/ek_ra8m1-pinctrl.dtsi

@@ -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";
+		};
+	};
 };

boards/renesas/ek_ra8m1/ek_ra8m1.dts

@@ -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";
+	};
+};

boards/renesas/mck_ra8t1/mck_ra8t1-pinctrl.dtsi

@@ -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";
+		};
+	};
 };

boards/renesas/mck_ra8t1/mck_ra8t1.dts

@@ -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";
+	};
+};

drivers/can/CMakeLists.txt

@@ -25,6 +25,7 @@ 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)

drivers/can/Kconfig

@@ -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"
 

drivers/can/Kconfig.renesas_ra

@@ -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

dts/arm/renesas/ra/ra8/ra8x1.dtsi

@@ -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";
+			};
+		};
 	};
 };
 

dts/bindings/can/renesas,ra-canfd-global.yaml

@@ -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

dts/bindings/can/renesas,ra-canfd.yaml

@@ -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

modules/Kconfig.renesas_fsp

@@ -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