drivers: can: initial support for Renesas RA CANFD

Add support for CAN driver running on Renesas RA CANFD Signed-off-by: The Nguyen <[email protected]>
mathieuchopstm · Oct 25, 2024 · 95cc5f5 · 95cc5f5
1 parent e876c5d
commit 95cc5f5
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Showing 14 changed files with 1,356 additions and 20 deletions.
diff --git a/boards/renesas/ek_ra8d1/ek_ra8d1-pinctrl.dtsi b/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";
+		};
+	};
 };
diff --git a/boards/renesas/ek_ra8d1/ek_ra8d1.dts b/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";
+	};
+};
diff --git a/boards/renesas/ek_ra8m1/ek_ra8m1-pinctrl.dtsi b/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";
+		};
+	};
 };
diff --git a/boards/renesas/ek_ra8m1/ek_ra8m1.dts b/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";
+	};
+};
diff --git a/boards/renesas/mck_ra8t1/mck_ra8t1-pinctrl.dtsi b/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";
+		};
+	};
 };
diff --git a/boards/renesas/mck_ra8t1/mck_ra8t1.dts b/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";
+	};
+};
diff --git a/drivers/can/CMakeLists.txt b/drivers/can/CMakeLists.txt
@@ -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)

diff --git a/drivers/can/Kconfig b/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"
 

diff --git a/drivers/can/Kconfig.renesas_ra b/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