xtensa/esp32s3: Add support to TWAI/CANBus controller
This commit is contained in:
Eren Terzioglu
Xiang Xiao
parent
83ba72e4b4
commit
a26996fb3b
@ -412,6 +412,24 @@ To test it, just run the following::
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Where x in the timer instance.
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twai
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----
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This configuration enables the support for the TWAI (Two-Wire Automotive Interface) driver.
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You can test it by connecting TWAI RX and TWAI TX pins which are GPIO0 and GPIO2 by default
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to a external transceiver or connecting TWAI RX to TWAI TX pin by enabling
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the ``Device Drivers -> CAN Driver Support -> CAN loopback mode`` option and running the ``can`` example::
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nsh> can
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nmsgs: 0
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min ID: 1 max ID: 2047
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Bit timing:
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Baud: 1000000
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TSEG1: 15
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TSEG2: 4
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SJW: 3
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ID: 1 DLC: 1
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usbnsh
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------
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@ -93,7 +93,7 @@ ADC No
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AES No
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Bluetooth No
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CAMERA No
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CAN/TWAI No
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CAN/TWAI Yes
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DMA Yes
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eFuse No
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GPIO Yes
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@ -99,7 +99,7 @@
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#define ESP32S3_PERIPH_PWM1 32
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#define ESP32S3_PERIPH_LEDC 35
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#define ESP32S3_PERIPH_EFUSE 36
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#define ESP32S3_PERIPH_CAN 37
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#define ESP32S3_PERIPH_TWAI 37
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#define ESP32S3_PERIPH_USB 38
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#define ESP32S3_PERIPH_RTC_CORE 39
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@ -239,7 +239,7 @@
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#define ESP32S3_IRQ_PWM1 (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_PWM1)
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#define ESP32S3_IRQ_LEDC (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_LEDC)
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#define ESP32S3_IRQ_EFUSE (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_EFUSE)
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#define ESP32S3_IRQ_CAN (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_CAN)
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#define ESP32S3_IRQ_TWAI (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_TWAI)
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#define ESP32S3_IRQ_USB (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_USB)
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#define ESP32S3_IRQ_RTC_CORE (XTENSA_IRQ_FIRSTPERIPH + ESP32S3_PERIPH_RTC_CORE)
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@ -624,6 +624,11 @@ config ESP32S3_I2C1
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select ESP32S3_I2C
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select I2C
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config ESP32S3_TWAI
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bool "TWAI (CAN)"
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default n
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select CAN
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config ESP32S3_LEDC
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bool "LEDC (PWM)"
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default n
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@ -1093,6 +1098,57 @@ config ESP32S3_I2CTIMEOMS
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endmenu # I2C Configuration
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menu "TWAI driver options"
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depends on ESP32S3_TWAI
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if ESP32S3_TWAI
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config ESP32S3_TWAI_TXPIN
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int "TWAI TX Pin"
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default 0
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config ESP32S3_TWAI_RXPIN
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int "TWAI RX Pin"
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default 2
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config ESP32S3_TWAI_BITRATE
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int "TWAI bitrate"
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default 1000000
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---help---
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TWAI bit rate.
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config ESP32S3_TWAI_SAMPLEP
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int "TWAI sample point"
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default 80
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---help---
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TWAI sample point location as a percent value.
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config ESP32S3_TWAI_SJW
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int "TWAI synchronization jump width"
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default 3
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---help---
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SJW limits the number of Time Quanta corrections during bit
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Resynchronization.
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config ESP32S3_TWAI_SAM
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bool "TWAI sampling"
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default n
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---help---
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The bus is sampled 3 times (recommended for low to medium speed buses
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to spikes on the bus-line).
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endif # ESP32S3_TWAI
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config ESP32S3_TWAI_REGDEBUG
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bool "TWAI register level debug"
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depends on DEBUG_CAN_INFO
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default n
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---help---
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Output detailed register-level TWAI debug information. Requires also
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CONFIG_DEBUG_CAN_INFO.
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endmenu #ESP32S3_TWAI
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menu "Wi-Fi Configuration"
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depends on ESP32S3_WIFI
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@ -57,6 +57,10 @@ ifeq ($(CONFIG_ESP32S3_RNG),y)
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CHIP_CSRCS += esp32s3_rng.c
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endif
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ifeq ($(CONFIG_ESP32S3_TWAI),y)
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CHIP_CSRCS += esp32s3_twai.c
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endif
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ifeq ($(CONFIG_ESP32S3_LEDC),y)
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CHIP_CSRCS += esp32s3_ledc.c
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endif
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1263
arch/xtensa/src/esp32s3/esp32s3_twai.c
Normal file
1263
arch/xtensa/src/esp32s3/esp32s3_twai.c
Normal file
File diff suppressed because it is too large
Load Diff
77
arch/xtensa/src/esp32s3/esp32s3_twai.h
Normal file
77
arch/xtensa/src/esp32s3/esp32s3_twai.h
Normal file
@ -0,0 +1,77 @@
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/****************************************************************************
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* arch/xtensa/src/esp32s3/esp32s3_twai.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __ARCH_XTENSA_SRC_ESP32S3_ESP32S3_TWAI_H
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#define __ARCH_XTENSA_SRC_ESP32S3_ESP32S3_TWAI_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/can/can.h>
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#include "hardware/esp32s3_twai.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/****************************************************************************
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* Public Data
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****************************************************************************/
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#ifndef __ASSEMBLY__
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/****************************************************************************
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* Public Functions Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: esp32s3_twaiinitialize
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*
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* Description:
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* Initialize the selected CAN port
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*
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* Input Parameters:
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* Port number (for hardware that has multiple TWAI interfaces)
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*
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* Returned Value:
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* Valid TWAI device structure reference on success; a NULL on failure
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*
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****************************************************************************/
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#if defined(CONFIG_CAN) && defined(CONFIG_ESP32S3_TWAI)
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struct can_dev_s *esp32s3_twaiinitialize(void);
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#endif
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#ifdef __cplusplus
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}
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#endif
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#endif /* __ASSEMBLY__ */
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#endif /* __ARCH_XTENSA_SRC_ESP32S3_ESP32S3_TWAI_H */
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@ -300,7 +300,7 @@
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#define SYSTEM_PWM1_CLK_EN_S 20
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/* SYSTEM_TWAI_CLK_EN : R/W; bitpos: [19]; default: 0;
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* Set 1 to enable CAN clock
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* Set 1 to enable TWAI clock
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*/
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#define SYSTEM_TWAI_CLK_EN (BIT(19))
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@ -699,7 +699,7 @@
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#define SYSTEM_PWM1_RST_S 20
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/* SYSTEM_TWAI_RST : R/W; bitpos: [19]; default: 0;
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* Set 1 to let CAN reset
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* Set 1 to let TWAI reset
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*/
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#define SYSTEM_TWAI_RST (BIT(19))
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792
arch/xtensa/src/esp32s3/hardware/esp32s3_twai.h
Normal file
792
arch/xtensa/src/esp32s3/hardware/esp32s3_twai.h
Normal file
@ -0,0 +1,792 @@
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/****************************************************************************
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* arch/xtensa/src/esp32s3/hardware/esp32s3_twai.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __ARCH_XTENSA_SRC_ESP32S3_HARDWARE_ESP32S3_TWAI_H
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#define __ARCH_XTENSA_SRC_ESP32S3_HARDWARE_ESP32S3_TWAI_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include "esp32s3_soc.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* TWAI_MODE_REG register
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* Mode Register
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*/
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#define TWAI_MODE_REG (DR_REG_TWAI_BASE + 0x0)
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/* TWAI_RX_FILTER_MODE : R/W; bitpos: [3]; default: 0;
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* This bit is used to configure the filter mode. 0: Dual filter mode; 1:
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* Single filter mode.
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*/
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#define TWAI_RX_FILTER_MODE (BIT(3))
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#define TWAI_RX_FILTER_MODE_M (TWAI_RX_FILTER_MODE_V << TWAI_RX_FILTER_MODE_S)
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#define TWAI_RX_FILTER_MODE_V 0x00000001
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#define TWAI_RX_FILTER_MODE_S 3
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/* TWAI_SELF_TEST_MODE : R/W; bitpos: [2]; default: 0;
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* 1: Self test mode. In this mode the TX nodes can perform a successful
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* transmission without receiving the acknowledge signal. This mode is often
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* used to test a single node with the self reception request command.
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*/
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#define TWAI_SELF_TEST_MODE (BIT(2))
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#define TWAI_SELF_TEST_MODE_M (TWAI_SELF_TEST_MODE_V << TWAI_SELF_TEST_MODE_S)
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#define TWAI_SELF_TEST_MODE_V 0x00000001
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#define TWAI_SELF_TEST_MODE_S 2
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/* TWAI_LISTEN_ONLY_MODE : R/W; bitpos: [1]; default: 0;
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* 1: Listen only mode. In this mode the nodes will only receive messages
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* from the bus, without generating the acknowledge signal nor updating the
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* RX error counter.
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*/
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#define TWAI_LISTEN_ONLY_MODE (BIT(1))
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#define TWAI_LISTEN_ONLY_MODE_M (TWAI_LISTEN_ONLY_MODE_V << TWAI_LISTEN_ONLY_MODE_S)
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#define TWAI_LISTEN_ONLY_MODE_V 0x00000001
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#define TWAI_LISTEN_ONLY_MODE_S 1
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/* TWAI_RESET_MODE : R/W; bitpos: [0]; default: 1;
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* This bit is used to configure the operating mode of the TWAI Controller.
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* 1: Reset mode; 0: Operating mode.
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*/
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#define TWAI_RESET_MODE (BIT(0))
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#define TWAI_RESET_MODE_M (TWAI_RESET_MODE_V << TWAI_RESET_MODE_S)
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#define TWAI_RESET_MODE_V 0x00000001
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#define TWAI_RESET_MODE_S 0
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/* TWAI_CMD_REG register
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* Command Register
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*/
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#define TWAI_CMD_REG (DR_REG_TWAI_BASE + 0x4)
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/* TWAI_SELF_RX_REQ : WO; bitpos: [4]; default: 0;
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* Self reception request command. Set the bit to 1 to allow a message be
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* transmitted and received simultaneously.
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*/
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#define TWAI_SELF_RX_REQ (BIT(4))
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#define TWAI_SELF_RX_REQ_M (TWAI_SELF_RX_REQ_V << TWAI_SELF_RX_REQ_S)
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#define TWAI_SELF_RX_REQ_V 0x00000001
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#define TWAI_SELF_RX_REQ_S 4
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/* TWAI_CLR_OVERRUN : WO; bitpos: [3]; default: 0;
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* Set the bit to 1 to clear the data overrun status bit.
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*/
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#define TWAI_CLR_OVERRUN (BIT(3))
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#define TWAI_CLR_OVERRUN_M (TWAI_CLR_OVERRUN_V << TWAI_CLR_OVERRUN_S)
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#define TWAI_CLR_OVERRUN_V 0x00000001
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#define TWAI_CLR_OVERRUN_S 3
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/* TWAI_RELEASE_BUF : WO; bitpos: [2]; default: 0;
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* Set the bit to 1 to release the RX buffer.
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*/
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#define TWAI_RELEASE_BUF (BIT(2))
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#define TWAI_RELEASE_BUF_M (TWAI_RELEASE_BUF_V << TWAI_RELEASE_BUF_S)
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#define TWAI_RELEASE_BUF_V 0x00000001
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#define TWAI_RELEASE_BUF_S 2
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/* TWAI_ABORT_TX : WO; bitpos: [1]; default: 0;
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* Set the bit to 1 to cancel a pending transmission request.
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*/
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#define TWAI_ABORT_TX (BIT(1))
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#define TWAI_ABORT_TX_M (TWAI_ABORT_TX_V << TWAI_ABORT_TX_S)
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#define TWAI_ABORT_TX_V 0x00000001
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#define TWAI_ABORT_TX_S 1
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/* TWAI_TX_REQ : WO; bitpos: [0]; default: 0;
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* Set the bit to 1 to allow the driving nodes start transmission.
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*/
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#define TWAI_TX_REQ (BIT(0))
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#define TWAI_TX_REQ_M (TWAI_TX_REQ_V << TWAI_TX_REQ_S)
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#define TWAI_TX_REQ_V 0x00000001
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#define TWAI_TX_REQ_S 0
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/* TWAI_STATUS_REG register
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* Status register
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*/
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#define TWAI_STATUS_REG (DR_REG_TWAI_BASE + 0x8)
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/* TWAI_MISS_ST : RO; bitpos: [8]; default: 0;
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* This bit reflects whether the data packet in the RX FIFO is complete. 1:
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* The current packet is missing; 0: The current packet is complete
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*/
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#define TWAI_MISS_ST (BIT(8))
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#define TWAI_MISS_ST_M (TWAI_MISS_ST_V << TWAI_MISS_ST_S)
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#define TWAI_MISS_ST_V 0x00000001
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#define TWAI_MISS_ST_S 8
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/* TWAI_BUS_OFF_ST : RO; bitpos: [7]; default: 0;
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* 1: In bus-off status, the TWAI Controller is no longer involved in bus
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* activities.
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*/
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#define TWAI_BUS_OFF_ST (BIT(7))
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#define TWAI_BUS_OFF_ST_M (TWAI_BUS_OFF_ST_V << TWAI_BUS_OFF_ST_S)
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#define TWAI_BUS_OFF_ST_V 0x00000001
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#define TWAI_BUS_OFF_ST_S 7
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/* TWAI_ERR_ST : RO; bitpos: [6]; default: 0;
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* 1: At least one of the RX/TX error counter has reached or exceeded the
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* value set in register TWAI_ERR_WARNING_LIMIT_REG.
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*/
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#define TWAI_ERR_ST (BIT(6))
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#define TWAI_ERR_ST_M (TWAI_ERR_ST_V << TWAI_ERR_ST_S)
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#define TWAI_ERR_ST_V 0x00000001
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#define TWAI_ERR_ST_S 6
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/* TWAI_TX_ST : RO; bitpos: [5]; default: 0;
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* 1: The TWAI Controller is transmitting a message to the bus.
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*/
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#define TWAI_TX_ST (BIT(5))
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#define TWAI_TX_ST_M (TWAI_TX_ST_V << TWAI_TX_ST_S)
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#define TWAI_TX_ST_V 0x00000001
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#define TWAI_TX_ST_S 5
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/* TWAI_RX_ST : RO; bitpos: [4]; default: 0;
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* 1: The TWAI Controller is receiving a message from the bus.
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*/
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#define TWAI_RX_ST (BIT(4))
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#define TWAI_RX_ST_M (TWAI_RX_ST_V << TWAI_RX_ST_S)
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#define TWAI_RX_ST_V 0x00000001
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#define TWAI_RX_ST_S 4
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/* TWAI_TX_COMPLETE : RO; bitpos: [3]; default: 0;
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* 1: The TWAI controller has successfully received a packet from the bus.
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*/
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#define TWAI_TX_COMPLETE (BIT(3))
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#define TWAI_TX_COMPLETE_M (TWAI_TX_COMPLETE_V << TWAI_TX_COMPLETE_S)
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#define TWAI_TX_COMPLETE_V 0x00000001
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#define TWAI_TX_COMPLETE_S 3
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/* TWAI_TX_BUF_ST : RO; bitpos: [2]; default: 0;
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* 1: The TX buffer is empty, the CPU may write a message into it.
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*/
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#define TWAI_TX_BUF_ST (BIT(2))
|
||||
#define TWAI_TX_BUF_ST_M (TWAI_TX_BUF_ST_V << TWAI_TX_BUF_ST_S)
|
||||
#define TWAI_TX_BUF_ST_V 0x00000001
|
||||
#define TWAI_TX_BUF_ST_S 2
|
||||
|
||||
/* TWAI_OVERRUN_ST : RO; bitpos: [1]; default: 0;
|
||||
* 1: The RX FIFO is full and data overrun has occurred.
|
||||
*/
|
||||
|
||||
#define TWAI_OVERRUN_ST (BIT(1))
|
||||
#define TWAI_OVERRUN_ST_M (TWAI_OVERRUN_ST_V << TWAI_OVERRUN_ST_S)
|
||||
#define TWAI_OVERRUN_ST_V 0x00000001
|
||||
#define TWAI_OVERRUN_ST_S 1
|
||||
|
||||
/* TWAI_RX_BUF_ST : RO; bitpos: [0]; default: 0;
|
||||
* 1: The data in the RX buffer is not empty, with at least one received
|
||||
* data packet.
|
||||
*/
|
||||
|
||||
#define TWAI_RX_BUF_ST (BIT(0))
|
||||
#define TWAI_RX_BUF_ST_M (TWAI_RX_BUF_ST_V << TWAI_RX_BUF_ST_S)
|
||||
#define TWAI_RX_BUF_ST_V 0x00000001
|
||||
#define TWAI_RX_BUF_ST_S 0
|
||||
|
||||
/* TWAI_INT_RAW_REG register
|
||||
* Interrupt Register
|
||||
*/
|
||||
|
||||
#define TWAI_INT_RAW_REG (DR_REG_TWAI_BASE + 0xc)
|
||||
|
||||
/* TWAI_BUS_ERR_INT_ST : RO; bitpos: [7]; default: 0;
|
||||
* Error interrupt. If this bit is set to 1, it indicates an error is
|
||||
* detected on the bus.
|
||||
*/
|
||||
|
||||
#define TWAI_BUS_ERR_INT_ST (BIT(7))
|
||||
#define TWAI_BUS_ERR_INT_ST_M (TWAI_BUS_ERR_INT_ST_V << TWAI_BUS_ERR_INT_ST_S)
|
||||
#define TWAI_BUS_ERR_INT_ST_V 0x00000001
|
||||
#define TWAI_BUS_ERR_INT_ST_S 7
|
||||
|
||||
/* TWAI_ARB_LOST_INT_ST : RO; bitpos: [6]; default: 0;
|
||||
* Arbitration lost interrupt. If this bit is set to 1, it indicates an
|
||||
* arbitration lost interrupt is generated.
|
||||
*/
|
||||
|
||||
#define TWAI_ARB_LOST_INT_ST (BIT(6))
|
||||
#define TWAI_ARB_LOST_INT_ST_M (TWAI_ARB_LOST_INT_ST_V << TWAI_ARB_LOST_INT_ST_S)
|
||||
#define TWAI_ARB_LOST_INT_ST_V 0x00000001
|
||||
#define TWAI_ARB_LOST_INT_ST_S 6
|
||||
|
||||
/* TWAI_ERR_PASSIVE_INT_ST : RO; bitpos: [5]; default: 0;
|
||||
* Error passive interrupt. If this bit is set to 1, it indicates the TWAI
|
||||
* Controller is switched between error active status and error passive
|
||||
* status due to the change of error counters.
|
||||
*/
|
||||
|
||||
#define TWAI_ERR_PASSIVE_INT_ST (BIT(5))
|
||||
#define TWAI_ERR_PASSIVE_INT_ST_M (TWAI_ERR_PASSIVE_INT_ST_V << TWAI_ERR_PASSIVE_INT_ST_S)
|
||||
#define TWAI_ERR_PASSIVE_INT_ST_V 0x00000001
|
||||
#define TWAI_ERR_PASSIVE_INT_ST_S 5
|
||||
|
||||
/* TWAI_OVERRUN_INT_ST : RO; bitpos: [3]; default: 0;
|
||||
* Data overrun interrupt. If this bit is set to 1, it indicates a data
|
||||
* overrun interrupt is generated in the RX FIFO.
|
||||
*/
|
||||
|
||||
#define TWAI_OVERRUN_INT_ST (BIT(3))
|
||||
#define TWAI_OVERRUN_INT_ST_M (TWAI_OVERRUN_INT_ST_V << TWAI_OVERRUN_INT_ST_S)
|
||||
#define TWAI_OVERRUN_INT_ST_V 0x00000001
|
||||
#define TWAI_OVERRUN_INT_ST_S 3
|
||||
|
||||
/* TWAI_ERR_WARN_INT_ST : RO; bitpos: [2]; default: 0;
|
||||
* Error warning interrupt. If this bit is set to 1, it indicates the error
|
||||
* status signal and the bus-off status signal of Status register have
|
||||
* changed (e.g., switched from 0 to 1 or from 1 to 0).
|
||||
*/
|
||||
|
||||
#define TWAI_ERR_WARN_INT_ST (BIT(2))
|
||||
#define TWAI_ERR_WARN_INT_ST_M (TWAI_ERR_WARN_INT_ST_V << TWAI_ERR_WARN_INT_ST_S)
|
||||
#define TWAI_ERR_WARN_INT_ST_V 0x00000001
|
||||
#define TWAI_ERR_WARN_INT_ST_S 2
|
||||
|
||||
/* TWAI_TX_INT_ST : RO; bitpos: [1]; default: 0;
|
||||
* Transmit interrupt. If this bit is set to 1, it indicates the message
|
||||
* transmitting mis- sion is finished and a new transmission is able to
|
||||
* execute.
|
||||
*/
|
||||
|
||||
#define TWAI_TX_INT_ST (BIT(1))
|
||||
#define TWAI_TX_INT_ST_M (TWAI_TX_INT_ST_V << TWAI_TX_INT_ST_S)
|
||||
#define TWAI_TX_INT_ST_V 0x00000001
|
||||
#define TWAI_TX_INT_ST_S 1
|
||||
|
||||
/* TWAI_RX_INT_ST : RO; bitpos: [0]; default: 0;
|
||||
* Receive interrupt. If this bit is set to 1, it indicates there are
|
||||
* messages to be handled in the RX FIFO.
|
||||
*/
|
||||
|
||||
#define TWAI_RX_INT_ST (BIT(0))
|
||||
#define TWAI_RX_INT_ST_M (TWAI_RX_INT_ST_V << TWAI_RX_INT_ST_S)
|
||||
#define TWAI_RX_INT_ST_V 0x00000001
|
||||
#define TWAI_RX_INT_ST_S 0
|
||||
|
||||
/* TWAI_INT_ENA_REG register
|
||||
* Interrupt Enable Register
|
||||
*/
|
||||
|
||||
#define TWAI_INT_ENA_REG (DR_REG_TWAI_BASE + 0x10)
|
||||
|
||||
/* TWAI_BUS_ERR_INT_ENA : R/W; bitpos: [7]; default: 0;
|
||||
* Set this bit to 1 to enable error interrupt.
|
||||
*/
|
||||
|
||||
#define TWAI_BUS_ERR_INT_ENA (BIT(7))
|
||||
#define TWAI_BUS_ERR_INT_ENA_M (TWAI_BUS_ERR_INT_ENA_V << TWAI_BUS_ERR_INT_ENA_S)
|
||||
#define TWAI_BUS_ERR_INT_ENA_V 0x00000001
|
||||
#define TWAI_BUS_ERR_INT_ENA_S 7
|
||||
|
||||
/* TWAI_ARB_LOST_INT_ENA : R/W; bitpos: [6]; default: 0;
|
||||
* Set this bit to 1 to enable arbitration lost interrupt.
|
||||
*/
|
||||
|
||||
#define TWAI_ARB_LOST_INT_ENA (BIT(6))
|
||||
#define TWAI_ARB_LOST_INT_ENA_M (TWAI_ARB_LOST_INT_ENA_V << TWAI_ARB_LOST_INT_ENA_S)
|
||||
#define TWAI_ARB_LOST_INT_ENA_V 0x00000001
|
||||
#define TWAI_ARB_LOST_INT_ENA_S 6
|
||||
|
||||
/* TWAI_ERR_PASSIVE_INT_ENA : R/W; bitpos: [5]; default: 0;
|
||||
* Set this bit to 1 to enable error passive interrupt.
|
||||
*/
|
||||
|
||||
#define TWAI_ERR_PASSIVE_INT_ENA (BIT(5))
|
||||
#define TWAI_ERR_PASSIVE_INT_ENA_M (TWAI_ERR_PASSIVE_INT_ENA_V << TWAI_ERR_PASSIVE_INT_ENA_S)
|
||||
#define TWAI_ERR_PASSIVE_INT_ENA_V 0x00000001
|
||||
#define TWAI_ERR_PASSIVE_INT_ENA_S 5
|
||||
|
||||
/* TWAI_OVERRUN_INT_ENA : R/W; bitpos: [3]; default: 0;
|
||||
* Set this bit to 1 to enable data overrun interrupt.
|
||||
*/
|
||||
|
||||
#define TWAI_OVERRUN_INT_ENA (BIT(3))
|
||||
#define TWAI_OVERRUN_INT_ENA_M (TWAI_OVERRUN_INT_ENA_V << TWAI_OVERRUN_INT_ENA_S)
|
||||
#define TWAI_OVERRUN_INT_ENA_V 0x00000001
|
||||
#define TWAI_OVERRUN_INT_ENA_S 3
|
||||
|
||||
/* TWAI_ERR_WARN_INT_ENA : R/W; bitpos: [2]; default: 0;
|
||||
* Set this bit to 1 to enable error warning interrupt.
|
||||
*/
|
||||
|
||||
#define TWAI_ERR_WARN_INT_ENA (BIT(2))
|
||||
#define TWAI_ERR_WARN_INT_ENA_M (TWAI_ERR_WARN_INT_ENA_V << TWAI_ERR_WARN_INT_ENA_S)
|
||||
#define TWAI_ERR_WARN_INT_ENA_V 0x00000001
|
||||
#define TWAI_ERR_WARN_INT_ENA_S 2
|
||||
|
||||
/* TWAI_TX_INT_ENA : R/W; bitpos: [1]; default: 0;
|
||||
* Set this bit to 1 to enable transmit interrupt.
|
||||
*/
|
||||
|
||||
#define TWAI_TX_INT_ENA (BIT(1))
|
||||
#define TWAI_TX_INT_ENA_M (TWAI_TX_INT_ENA_V << TWAI_TX_INT_ENA_S)
|
||||
#define TWAI_TX_INT_ENA_V 0x00000001
|
||||
#define TWAI_TX_INT_ENA_S 1
|
||||
|
||||
/* TWAI_RX_INT_ENA : R/W; bitpos: [0]; default: 0;
|
||||
* Set this bit to 1 to enable receive interrupt.
|
||||
*/
|
||||
|
||||
#define TWAI_RX_INT_ENA (BIT(0))
|
||||
#define TWAI_RX_INT_ENA_M (TWAI_RX_INT_ENA_V << TWAI_RX_INT_ENA_S)
|
||||
#define TWAI_RX_INT_ENA_V 0x00000001
|
||||
#define TWAI_RX_INT_ENA_S 0
|
||||
|
||||
/* TWAI_BUS_TIMING_0_REG register
|
||||
* Bus Timing Register 0
|
||||
*/
|
||||
|
||||
#define TWAI_BUS_TIMING_0_REG (DR_REG_TWAI_BASE + 0x18)
|
||||
|
||||
/* TWAI_SYNC_JUMP_WIDTH : RO | R/W; bitpos: [15:14]; default: 0;
|
||||
* Synchronization Jump Width (SJW), 1 \verb+~+ 14 Tq wide.
|
||||
*/
|
||||
|
||||
#define TWAI_SYNC_JUMP_WIDTH 0x00000003
|
||||
#define TWAI_SYNC_JUMP_WIDTH_M (TWAI_SYNC_JUMP_WIDTH_V << TWAI_SYNC_JUMP_WIDTH_S)
|
||||
#define TWAI_SYNC_JUMP_WIDTH_V 0x00000003
|
||||
#define TWAI_SYNC_JUMP_WIDTH_S 14
|
||||
|
||||
/* TWAI_BAUD_PRESC : RO | R/W; bitpos: [12:0]; default: 0;
|
||||
* Baud Rate Prescaler, determines the frequency dividing ratio.
|
||||
*/
|
||||
|
||||
#define TWAI_BAUD_PRESC 0x00001fff
|
||||
#define TWAI_BAUD_PRESC_M (TWAI_BAUD_PRESC_V << TWAI_BAUD_PRESC_S)
|
||||
#define TWAI_BAUD_PRESC_V 0x00001fff
|
||||
#define TWAI_BAUD_PRESC_S 0
|
||||
|
||||
/* TWAI_BUS_TIMING_1_REG register
|
||||
* Bus Timing Register 1
|
||||
*/
|
||||
|
||||
#define TWAI_BUS_TIMING_1_REG (DR_REG_TWAI_BASE + 0x1c)
|
||||
|
||||
/* TWAI_TIME_SAMP : RO | R/W; bitpos: [7]; default: 0;
|
||||
* The number of sample points. 0: the bus is sampled once; 1: the bus is
|
||||
* sampled three times
|
||||
*/
|
||||
|
||||
#define TWAI_TIME_SAMP (BIT(7))
|
||||
#define TWAI_TIME_SAMP_M (TWAI_TIME_SAMP_V << TWAI_TIME_SAMP_S)
|
||||
#define TWAI_TIME_SAMP_V 0x00000001
|
||||
#define TWAI_TIME_SAMP_S 7
|
||||
|
||||
/* TWAI_TIME_SEG2 : RO | R/W; bitpos: [6:4]; default: 0;
|
||||
* The width of PBS2.
|
||||
*/
|
||||
|
||||
#define TWAI_TIME_SEG2 0x00000007
|
||||
#define TWAI_TIME_SEG2_M (TWAI_TIME_SEG2_V << TWAI_TIME_SEG2_S)
|
||||
#define TWAI_TIME_SEG2_V 0x00000007
|
||||
#define TWAI_TIME_SEG2_S 4
|
||||
|
||||
/* TWAI_TIME_SEG1 : RO | R/W; bitpos: [3:0]; default: 0;
|
||||
* The width of PBS1.
|
||||
*/
|
||||
|
||||
#define TWAI_TIME_SEG1 0x0000000f
|
||||
#define TWAI_TIME_SEG1_M (TWAI_TIME_SEG1_V << TWAI_TIME_SEG1_S)
|
||||
#define TWAI_TIME_SEG1_V 0x0000000f
|
||||
#define TWAI_TIME_SEG1_S 0
|
||||
|
||||
/* TWAI_ARB_LOST_CAP_REG register
|
||||
* Arbitration Lost Capture Register
|
||||
*/
|
||||
|
||||
#define TWAI_ARB_LOST_CAP_REG (DR_REG_TWAI_BASE + 0x2c)
|
||||
|
||||
/* TWAI_ARB_LOST_CAP : RO; bitpos: [4:0]; default: 0;
|
||||
* This register contains information about the bit position of lost
|
||||
* arbitration.
|
||||
*/
|
||||
|
||||
#define TWAI_ARB_LOST_CAP 0x0000001f
|
||||
#define TWAI_ARB_LOST_CAP_M (TWAI_ARB_LOST_CAP_V << TWAI_ARB_LOST_CAP_S)
|
||||
#define TWAI_ARB_LOST_CAP_V 0x0000001f
|
||||
#define TWAI_ARB_LOST_CAP_S 0
|
||||
|
||||
/* TWAI_ERR_CODE_CAP_REG register
|
||||
* Error Code Capture Register
|
||||
*/
|
||||
|
||||
#define TWAI_ERR_CODE_CAP_REG (DR_REG_TWAI_BASE + 0x30)
|
||||
|
||||
/* TWAI_ECC_TYPE : RO; bitpos: [7:6]; default: 0;
|
||||
* This register contains information about error types: 00: bit error; 01:
|
||||
* form error; 10: stuff error; 11: other type of error
|
||||
*/
|
||||
|
||||
#define TWAI_ECC_TYPE 0x00000003
|
||||
#define TWAI_ECC_TYPE_M (TWAI_ECC_TYPE_V << TWAI_ECC_TYPE_S)
|
||||
#define TWAI_ECC_TYPE_V 0x00000003
|
||||
#define TWAI_ECC_TYPE_S 6
|
||||
|
||||
/* TWAI_ECC_DIRECTION : RO; bitpos: [5]; default: 0;
|
||||
* This register contains information about transmission direction of the
|
||||
* node when error occurs. 1: Error occurs when receiving a message; 0:
|
||||
* Error occurs when transmitting a message
|
||||
*/
|
||||
|
||||
#define TWAI_ECC_DIRECTION (BIT(5))
|
||||
#define TWAI_ECC_DIRECTION_M (TWAI_ECC_DIRECTION_V << TWAI_ECC_DIRECTION_S)
|
||||
#define TWAI_ECC_DIRECTION_V 0x00000001
|
||||
#define TWAI_ECC_DIRECTION_S 5
|
||||
|
||||
/* TWAI_ECC_SEGMENT : RO; bitpos: [4:0]; default: 0;
|
||||
* This register contains information about the location of errors, see
|
||||
* Table 181 for details.
|
||||
*/
|
||||
|
||||
#define TWAI_ECC_SEGMENT 0x0000001f
|
||||
#define TWAI_ECC_SEGMENT_M (TWAI_ECC_SEGMENT_V << TWAI_ECC_SEGMENT_S)
|
||||
#define TWAI_ECC_SEGMENT_V 0x0000001f
|
||||
#define TWAI_ECC_SEGMENT_S 0
|
||||
|
||||
/* TWAI_ERR_WARNING_LIMIT_REG register
|
||||
* Error Warning Limit Register
|
||||
*/
|
||||
|
||||
#define TWAI_ERR_WARNING_LIMIT_REG (DR_REG_TWAI_BASE + 0x34)
|
||||
|
||||
/* TWAI_ERR_WARNING_LIMIT : RO | R/W; bitpos: [7:0]; default: 96;
|
||||
* Error warning threshold. In the case when any of a error counter value
|
||||
* exceeds the threshold, or all the error counter values are below the
|
||||
* threshold, an error warning interrupt will be triggered (given the enable
|
||||
* signal is valid).
|
||||
*/
|
||||
|
||||
#define TWAI_ERR_WARNING_LIMIT 0x000000ff
|
||||
#define TWAI_ERR_WARNING_LIMIT_M (TWAI_ERR_WARNING_LIMIT_V << TWAI_ERR_WARNING_LIMIT_S)
|
||||
#define TWAI_ERR_WARNING_LIMIT_V 0x000000ff
|
||||
#define TWAI_ERR_WARNING_LIMIT_S 0
|
||||
|
||||
/* TWAI_RX_ERR_CNT_REG register
|
||||
* Receive Error Counter Register
|
||||
*/
|
||||
|
||||
#define TWAI_RX_ERR_CNT_REG (DR_REG_TWAI_BASE + 0x38)
|
||||
|
||||
/* TWAI_RX_ERR_CNT : RO | R/W; bitpos: [7:0]; default: 0;
|
||||
* The RX error counter register, reflects value changes under reception
|
||||
* status.
|
||||
*/
|
||||
|
||||
#define TWAI_RX_ERR_CNT 0x000000ff
|
||||
#define TWAI_RX_ERR_CNT_M (TWAI_RX_ERR_CNT_V << TWAI_RX_ERR_CNT_S)
|
||||
#define TWAI_RX_ERR_CNT_V 0x000000ff
|
||||
#define TWAI_RX_ERR_CNT_S 0
|
||||
|
||||
/* TWAI_TX_ERR_CNT_REG register
|
||||
* Transmit Error Counter Register
|
||||
*/
|
||||
|
||||
#define TWAI_TX_ERR_CNT_REG (DR_REG_TWAI_BASE + 0x3c)
|
||||
|
||||
/* TWAI_TX_ERR_CNT : RO | R/W; bitpos: [7:0]; default: 0;
|
||||
* The TX error counter register, reflects value changes under transmission
|
||||
* status.
|
||||
*/
|
||||
|
||||
#define TWAI_TX_ERR_CNT 0x000000ff
|
||||
#define TWAI_TX_ERR_CNT_M (TWAI_TX_ERR_CNT_V << TWAI_TX_ERR_CNT_S)
|
||||
#define TWAI_TX_ERR_CNT_V 0x000000ff
|
||||
#define TWAI_TX_ERR_CNT_S 0
|
||||
|
||||
/* TWAI_DATA_0_REG register
|
||||
* Data register 0
|
||||
*/
|
||||
|
||||
#define TWAI_DATA_0_REG (DR_REG_TWAI_BASE + 0x40)
|
||||
|
||||
/* TWAI_TX_BYTE_0 : WO; bitpos: [7:0]; default: 0;
|
||||
* In reset mode, it is acceptance code register 0 with R/W Permission. In
|
||||
* operation mode, it stores the 0th byte information of the data to be
|
||||
* transmitted under operating mode.
|
||||
*/
|
||||
|
||||
#define TWAI_TX_BYTE_0 0x000000ff
|
||||
#define TWAI_TX_BYTE_0_M (TWAI_TX_BYTE_0_V << TWAI_TX_BYTE_0_S)
|
||||
#define TWAI_TX_BYTE_0_V 0x000000ff
|
||||
#define TWAI_TX_BYTE_0_S 0
|
||||
|
||||
/* TWAI_DATA_1_REG register
|
||||
* Data register 1
|
||||
*/
|
||||
|
||||
#define TWAI_DATA_1_REG (DR_REG_TWAI_BASE + 0x44)
|
||||
|
||||
/* TWAI_TX_BYTE_1 : WO; bitpos: [7:0]; default: 0;
|
||||
* In reset mode, it is acceptance code register 1 with R/W Permission. In
|
||||
* operation mode, it stores the 1st byte information of the data to be
|
||||
* transmitted under operating mode.
|
||||
*/
|
||||
|
||||
#define TWAI_TX_BYTE_1 0x000000ff
|
||||
#define TWAI_TX_BYTE_1_M (TWAI_TX_BYTE_1_V << TWAI_TX_BYTE_1_S)
|
||||
#define TWAI_TX_BYTE_1_V 0x000000ff
|
||||
#define TWAI_TX_BYTE_1_S 0
|
||||
|
||||
/* TWAI_DATA_2_REG register
|
||||
* Data register 2
|
||||
*/
|
||||
|
||||
#define TWAI_DATA_2_REG (DR_REG_TWAI_BASE + 0x48)
|
||||
|
||||
/* TWAI_TX_BYTE_2 : WO; bitpos: [7:0]; default: 0;
|
||||
* In reset mode, it is acceptance code register 2 with R/W Permission. In
|
||||
* operation mode, it stores the 2nd byte information of the data to be
|
||||
* transmitted under operating mode.
|
||||
*/
|
||||
|
||||
#define TWAI_TX_BYTE_2 0x000000ff
|
||||
#define TWAI_TX_BYTE_2_M (TWAI_TX_BYTE_2_V << TWAI_TX_BYTE_2_S)
|
||||
#define TWAI_TX_BYTE_2_V 0x000000ff
|
||||
#define TWAI_TX_BYTE_2_S 0
|
||||
|
||||
/* TWAI_DATA_3_REG register
|
||||
* Data register 3
|
||||
*/
|
||||
|
||||
#define TWAI_DATA_3_REG (DR_REG_TWAI_BASE + 0x4c)
|
||||
|
||||
/* TWAI_TX_BYTE_3 : WO; bitpos: [7:0]; default: 0;
|
||||
* In reset mode, it is acceptance code register 3 with R/W Permission. In
|
||||
* operation mode, it stores the 3rd byte information of the data to be
|
||||
* transmitted under operating mode.
|
||||
*/
|
||||
|
||||
#define TWAI_TX_BYTE_3 0x000000ff
|
||||
#define TWAI_TX_BYTE_3_M (TWAI_TX_BYTE_3_V << TWAI_TX_BYTE_3_S)
|
||||
#define TWAI_TX_BYTE_3_V 0x000000ff
|
||||
#define TWAI_TX_BYTE_3_S 0
|
||||
|
||||
/* TWAI_DATA_4_REG register
|
||||
* Data register 4
|
||||
*/
|
||||
|
||||
#define TWAI_DATA_4_REG (DR_REG_TWAI_BASE + 0x50)
|
||||
|
||||
/* TWAI_TX_BYTE_4 : WO; bitpos: [7:0]; default: 0;
|
||||
* In reset mode, it is acceptance mask register 0 with R/W Permission. In
|
||||
* operation mode, it stores the 4th byte information of the data to be
|
||||
* transmitted under operating mode.
|
||||
*/
|
||||
|
||||
#define TWAI_TX_BYTE_4 0x000000ff
|
||||
#define TWAI_TX_BYTE_4_M (TWAI_TX_BYTE_4_V << TWAI_TX_BYTE_4_S)
|
||||
#define TWAI_TX_BYTE_4_V 0x000000ff
|
||||
#define TWAI_TX_BYTE_4_S 0
|
||||
|
||||
/* TWAI_DATA_5_REG register
|
||||
* Data register 5
|
||||
*/
|
||||
|
||||
#define TWAI_DATA_5_REG (DR_REG_TWAI_BASE + 0x54)
|
||||
|
||||
/* TWAI_TX_BYTE_5 : WO; bitpos: [7:0]; default: 0;
|
||||
* In reset mode, it is acceptance mask register 1 with R/W Permission. In
|
||||
* operation mode, it stores the 5th byte information of the data to be
|
||||
* transmitted under operating mode.
|
||||
*/
|
||||
|
||||
#define TWAI_TX_BYTE_5 0x000000ff
|
||||
#define TWAI_TX_BYTE_5_M (TWAI_TX_BYTE_5_V << TWAI_TX_BYTE_5_S)
|
||||
#define TWAI_TX_BYTE_5_V 0x000000ff
|
||||
#define TWAI_TX_BYTE_5_S 0
|
||||
|
||||
/* TWAI_DATA_6_REG register
|
||||
* Data register 6
|
||||
*/
|
||||
|
||||
#define TWAI_DATA_6_REG (DR_REG_TWAI_BASE + 0x58)
|
||||
|
||||
/* TWAI_TX_BYTE_6 : WO; bitpos: [7:0]; default: 0;
|
||||
* In reset mode, it is acceptance mask register 2 with R/W Permission. In
|
||||
* operation mode, it stores the 6th byte information of the data to be
|
||||
* transmitted under operating mode.
|
||||
*/
|
||||
|
||||
#define TWAI_TX_BYTE_6 0x000000ff
|
||||
#define TWAI_TX_BYTE_6_M (TWAI_TX_BYTE_6_V << TWAI_TX_BYTE_6_S)
|
||||
#define TWAI_TX_BYTE_6_V 0x000000ff
|
||||
#define TWAI_TX_BYTE_6_S 0
|
||||
|
||||
/* TWAI_DATA_7_REG register
|
||||
* Data register 7
|
||||
*/
|
||||
|
||||
#define TWAI_DATA_7_REG (DR_REG_TWAI_BASE + 0x5c)
|
||||
|
||||
/* TWAI_TX_BYTE_7 : WO; bitpos: [7:0]; default: 0;
|
||||
* In reset mode, it is acceptance mask register 3 with R/W Permission. In
|
||||
* operation mode, it stores the 7th byte information of the data to be
|
||||
* transmitted under operating mode.
|
||||
*/
|
||||
|
||||
#define TWAI_TX_BYTE_7 0x000000ff
|
||||
#define TWAI_TX_BYTE_7_M (TWAI_TX_BYTE_7_V << TWAI_TX_BYTE_7_S)
|
||||
#define TWAI_TX_BYTE_7_V 0x000000ff
|
||||
#define TWAI_TX_BYTE_7_S 0
|
||||
|
||||
/* TWAI_DATA_8_REG register
|
||||
* Data register 8
|
||||
*/
|
||||
|
||||
#define TWAI_DATA_8_REG (DR_REG_TWAI_BASE + 0x60)
|
||||
|
||||
/* TWAI_TX_BYTE_8 : WO; bitpos: [7:0]; default: 0;
|
||||
* Stored the 8th byte information of the data to be transmitted under
|
||||
* operating mode.
|
||||
*/
|
||||
|
||||
#define TWAI_TX_BYTE_8 0x000000ff
|
||||
#define TWAI_TX_BYTE_8_M (TWAI_TX_BYTE_8_V << TWAI_TX_BYTE_8_S)
|
||||
#define TWAI_TX_BYTE_8_V 0x000000ff
|
||||
#define TWAI_TX_BYTE_8_S 0
|
||||
|
||||
/* TWAI_DATA_9_REG register
|
||||
* Data register 9
|
||||
*/
|
||||
|
||||
#define TWAI_DATA_9_REG (DR_REG_TWAI_BASE + 0x64)
|
||||
|
||||
/* TWAI_TX_BYTE_9 : WO; bitpos: [7:0]; default: 0;
|
||||
* Stored the 9th byte information of the data to be transmitted under
|
||||
* operating mode.
|
||||
*/
|
||||
|
||||
#define TWAI_TX_BYTE_9 0x000000ff
|
||||
#define TWAI_TX_BYTE_9_M (TWAI_TX_BYTE_9_V << TWAI_TX_BYTE_9_S)
|
||||
#define TWAI_TX_BYTE_9_V 0x000000ff
|
||||
#define TWAI_TX_BYTE_9_S 0
|
||||
|
||||
/* TWAI_DATA_10_REG register
|
||||
* Data register 10
|
||||
*/
|
||||
|
||||
#define TWAI_DATA_10_REG (DR_REG_TWAI_BASE + 0x68)
|
||||
|
||||
/* TWAI_TX_BYTE_10 : WO; bitpos: [7:0]; default: 0;
|
||||
* Stored the 10th byte information of the data to be transmitted under
|
||||
* operating mode.
|
||||
*/
|
||||
|
||||
#define TWAI_TX_BYTE_10 0x000000ff
|
||||
#define TWAI_TX_BYTE_10_M (TWAI_TX_BYTE_10_V << TWAI_TX_BYTE_10_S)
|
||||
#define TWAI_TX_BYTE_10_V 0x000000ff
|
||||
#define TWAI_TX_BYTE_10_S 0
|
||||
|
||||
/* TWAI_DATA_11_REG register
|
||||
* Data register 11
|
||||
*/
|
||||
|
||||
#define TWAI_DATA_11_REG (DR_REG_TWAI_BASE + 0x6c)
|
||||
|
||||
/* TWAI_TX_BYTE_11 : WO; bitpos: [7:0]; default: 0;
|
||||
* Stored the 11th byte information of the data to be transmitted under
|
||||
* operating mode.
|
||||
*/
|
||||
|
||||
#define TWAI_TX_BYTE_11 0x000000ff
|
||||
#define TWAI_TX_BYTE_11_M (TWAI_TX_BYTE_11_V << TWAI_TX_BYTE_11_S)
|
||||
#define TWAI_TX_BYTE_11_V 0x000000ff
|
||||
#define TWAI_TX_BYTE_11_S 0
|
||||
|
||||
/* TWAI_DATA_12_REG register
|
||||
* Data register 12
|
||||
*/
|
||||
|
||||
#define TWAI_DATA_12_REG (DR_REG_TWAI_BASE + 0x70)
|
||||
|
||||
/* TWAI_TX_BYTE_12 : WO; bitpos: [7:0]; default: 0;
|
||||
* Stored the 12th byte information of the data to be transmitted under
|
||||
* operating mode.
|
||||
*/
|
||||
|
||||
#define TWAI_TX_BYTE_12 0x000000ff
|
||||
#define TWAI_TX_BYTE_12_M (TWAI_TX_BYTE_12_V << TWAI_TX_BYTE_12_S)
|
||||
#define TWAI_TX_BYTE_12_V 0x000000ff
|
||||
#define TWAI_TX_BYTE_12_S 0
|
||||
|
||||
/* TWAI_RX_MESSAGE_CNT_REG register
|
||||
* Receive Message Counter Register
|
||||
*/
|
||||
|
||||
#define TWAI_RX_MESSAGE_CNT_REG (DR_REG_TWAI_BASE + 0x74)
|
||||
|
||||
/* TWAI_RX_MESSAGE_COUNTER : RO; bitpos: [6:0]; default: 0;
|
||||
* This register reflects the number of messages available within the RX
|
||||
* FIFO.
|
||||
*/
|
||||
|
||||
#define TWAI_RX_MESSAGE_COUNTER 0x0000007f
|
||||
#define TWAI_RX_MESSAGE_COUNTER_M (TWAI_RX_MESSAGE_COUNTER_V << TWAI_RX_MESSAGE_COUNTER_S)
|
||||
#define TWAI_RX_MESSAGE_COUNTER_V 0x0000007f
|
||||
#define TWAI_RX_MESSAGE_COUNTER_S 0
|
||||
|
||||
/* TWAI_CLOCK_DIVIDER_REG register
|
||||
* Clock Divider register
|
||||
*/
|
||||
|
||||
#define TWAI_CLOCK_DIVIDER_REG (DR_REG_TWAI_BASE + 0x7c)
|
||||
|
||||
/* TWAI_CLOCK_OFF : RO | R/W; bitpos: [8]; default: 0;
|
||||
* This bit can be configured under reset mode. 1: Disable the external
|
||||
* CLKOUT pin; 0: Enable the external CLKOUT pin
|
||||
*/
|
||||
|
||||
#define TWAI_CLOCK_OFF (BIT(8))
|
||||
#define TWAI_CLOCK_OFF_M (TWAI_CLOCK_OFF_V << TWAI_CLOCK_OFF_S)
|
||||
#define TWAI_CLOCK_OFF_V 0x00000001
|
||||
#define TWAI_CLOCK_OFF_S 8
|
||||
|
||||
/* TWAI_CD : R/W; bitpos: [7:0]; default: 0;
|
||||
* These bits are used to configure frequency dividing coefficients of the
|
||||
* external CLKOUT pin.
|
||||
*/
|
||||
|
||||
#define TWAI_CD 0x000000ff
|
||||
#define TWAI_CD_M (TWAI_CD_V << TWAI_CD_S)
|
||||
#define TWAI_CD_V 0x000000ff
|
||||
#define TWAI_CD_S 0
|
||||
|
||||
#endif /* __ARCH_XTENSA_SRC_ESP32S3_HARDWARE_ESP32S3_TWAI_H */
|
||||
49
boards/xtensa/esp32s3/esp32s3-devkit/configs/twai/defconfig
Normal file
49
boards/xtensa/esp32s3/esp32s3-devkit/configs/twai/defconfig
Normal file
@ -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
|
||||
@ -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
|
||||
|
||||
@ -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 */
|
||||
|
||||
@ -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 */
|
||||
|
||||
|
||||
90
boards/xtensa/esp32s3/esp32s3-devkit/src/esp32s3_twai.c
Normal file
90
boards/xtensa/esp32s3/esp32s3-devkit/src/esp32s3_twai.c
Normal file
@ -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 */
|
||||
Loading…
Reference in New Issue
Block a user