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arch/risc-v/espressif: Add TWAI2 support for esp32p4

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Enable TWAI2 support for esp32p4

Signed-off-by: Eren Terzioglu <eren.terzioglu@espressif.com>
This commit is contained in:
Eren Terzioglu 2026-06-19 17:21:18 +02:00 • committed by Xiang Xiao
parent 2a7cf05a20
commit 6a2eef788d
2 changed files with 101 additions and 0 deletions
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50
arch/risc-v/src/common/espressif/Kconfig
View file

@ -1645,6 +1645,14 @@ config ESPRESSIF_TWAI1
select ARCH_HAVE_CAN_ERRORS
select CAN
config ESPRESSIF_TWAI2
bool "TWAI2 (CAN)"
default n
depends on ARCH_CHIP_ESP32P4
select ESPRESSIF_TWAI
select ARCH_HAVE_CAN_ERRORS
select CAN
config ESPRESSIF_USBSERIAL
bool "USB-Serial-JTAG Driver"
default n
@ -3438,6 +3446,48 @@ config ESPRESSIF_TWAI1_SAM
endif # ESPRESSIF_TWAI1
if ESPRESSIF_TWAI2
config ESPRESSIF_TWAI2_TXPIN
int "TWAI2 TX Pin"
default 6
config ESPRESSIF_TWAI2_RXPIN
int "TWAI2 RX Pin"
default 7
choice ESPRESSIF_TWAI2_TIMING
prompt "TWAI2 Timing config"
default TWAI2_TIMING_100KBITS
---help---
These options control timing of TWAI2.
config TWAI2_TIMING_100KBITS
bool "100 KBits"
config TWAI2_TIMING_125KBITS
bool "125 KBits"
config TWAI2_TIMING_250KBITS
bool "250 KBits"
config TWAI2_TIMING_500KBITS
bool "500 KBits"
config TWAI2_TIMING_800KBITS
bool "800 KBits"
endchoice # ESPRESSIF_TWAI2_TIMING
config ESPRESSIF_TWAI2_SAM
bool "TWAI2 sampling"
default n
---help---
The bus is sampled 3 times (recommended for low to medium speed buses
to spikes on the bus-line).
endif # ESPRESSIF_TWAI2
config ESPRESSIF_TWAI_TEST_MODE
bool "TWAI character driver loopback test mode (for testing only)"
default n

51
arch/risc-v/src/common/espressif/esp_twai.c
View file

@ -99,6 +99,20 @@
# endif
#endif
#ifdef CONFIG_ESPRESSIF_TWAI2
# ifdef CONFIG_TWAI2_TIMING_100KBITS
# define TWAI2_TIMING_CONFIG TWAI_TIMING_CONFIG_100KBITS()
# elif CONFIG_TWAI2_TIMING_125KBITS
# define TWAI2_TIMING_CONFIG TWAI_TIMING_CONFIG_125KBITS()
# elif CONFIG_TWAI2_TIMING_250KBITS
# define TWAI2_TIMING_CONFIG TWAI_TIMING_CONFIG_250KBITS()
# elif CONFIG_TWAI2_TIMING_500KBITS
# define TWAI2_TIMING_CONFIG TWAI_TIMING_CONFIG_500KBITS()
# else
# define TWAI2_TIMING_CONFIG TWAI_TIMING_CONFIG_800KBITS()
# endif
#endif
#if defined(CONFIG_ARCH_CHIP_ESP32C3)
# define INT_ENA_REG(hw) hw->interrupt_enable_reg.val
#elif defined(CONFIG_ARCH_CHIP_ESP32P4)
@ -226,6 +240,24 @@ static struct can_dev_s g_twai1dev =
};
#endif /* CONFIG_ESPRESSIF_TWAI1 */
#ifdef CONFIG_ESPRESSIF_TWAI2
static struct esp_twai_dev_s g_twai2priv =
{
.port = 2,
.cpuint = -ENOMEM,
.t_config = TWAI2_TIMING_CONFIG,
#ifdef CONFIG_PM
.pm_lock = NULL,
#endif
};
static struct can_dev_s g_twai2dev =
{
.cd_ops = &g_twaiops,
.cd_priv = &g_twai2priv,
};
#endif /* CONFIG_ESPRESSIF_TWAI2 */
static const twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
/****************************************************************************
@ -865,6 +897,25 @@ struct can_dev_s *esp_twaiinitialize(int port)
else
#endif
#ifdef CONFIG_ESPRESSIF_TWAI2
if (port == 2)
{
int tx_sig = twai_periph_signals[2].tx_sig;
int rx_sig = twai_periph_signals[2].rx_sig;
/* Configure CAN GPIO pins */
esp_gpio_matrix_out(CONFIG_ESPRESSIF_TWAI2_TXPIN, tx_sig, 0, 0);
esp_configgpio(CONFIG_ESPRESSIF_TWAI2_TXPIN, TX_PIN_ATTR);
esp_gpio_matrix_in(CONFIG_ESPRESSIF_TWAI2_RXPIN, rx_sig, 0);
esp_configgpio(CONFIG_ESPRESSIF_TWAI2_RXPIN, RX_PIN_ATTR);
dev = &g_twai2dev;
}
else
#endif
{
canerr("ERROR: Unsupported port: %d\n", port);
leave_critical_section(flags);