drivers: can: Implement Bosch M_CAN driver

Implementation of the Bosch M_CAN IP driver.
This driver is just the base for a specific SoC implementation.

Signed-off-by: Alexander Wachter <[email protected]>

Author: alexanderwachter

drivers/can/CMakeLists.txt

@@ -4,6 +4,8 @@ zephyr_sources_ifdef(CONFIG_CAN              can_common.c)
 zephyr_sources_ifdef(CONFIG_CAN_LOOPBACK     can_loopback.c)
 zephyr_sources_ifdef(CONFIG_CAN_MCP2515      can_mcp2515.c)
 zephyr_sources_ifdef(CONFIG_CAN_STM32        can_stm32.c)
+zephyr_sources_ifdef(CONFIG_CAN_STM32FD      can_stm32fd.c)
+zephyr_sources_ifdef(CONFIG_CAN_MCAN         can_mcan.c)
 zephyr_sources_ifdef(CONFIG_CAN_MCUX_FLEXCAN can_mcux_flexcan.c)
 
 zephyr_sources_ifdef(CONFIG_USERSPACE        can_handlers.c)

drivers/can/Kconfig

@@ -24,15 +24,22 @@ config CAN_SHELL
 	help
 	  Enable CAN Shell for testing.
 
-config CAN_FD_MODE
+config CAN_HAS_CANFD
 	bool
+	help
+	  driver supports CAN-FD
+
+config CAN_FD_MODE
+	bool "CAN-FD"
+	default y
+	depends on CAN_HAS_CANFD
 	help
 	  Enable CAN-FD compatible API
 
 if CAN_FD_MODE
 
 config CAN_MAX_DLEN
-	int "Max data lenght in CAN frames"
+	int "Max data length in CAN frames"
 	range 8 64
 	default 64
 	help
@@ -57,7 +64,7 @@ config CAN_WORKQ_FRAMES_BUF_CNT
 
 config CAN_RX_TIMESTAMP
 	bool "Enable receiving timestamps"
-	depends on CAN_STM32 || CAN_MCUX_FLEXCAN
+	depends on CAN_STM32 || CAN_MCUX_FLEXCAN || CAN_STM32FD
 	help
 	  This option enables a timestamp value of the CAN free running timer.
 	  The value is incremented every bit time and starts when the controller
@@ -73,8 +80,10 @@ config CAN_AUTO_BUS_OFF_RECOVERY
 	  available.
 
 source "drivers/can/Kconfig.stm32"
+source "drivers/can/Kconfig.stm32fd"
 source "drivers/can/Kconfig.mcux"
 source "drivers/can/Kconfig.mcp2515"
+source "drivers/can/Kconfig.mcan"
 source "drivers/can/Kconfig.loopback"
 source "drivers/can/Kconfig.net"
 

drivers/can/Kconfig.mcan

@@ -0,0 +1,22 @@
+# Bosch m_can configuration options
+
+# Copyright (c) 2020 Alexander Wachter
+# SPDX-License-Identifier: Apache-2.0
+
+config CAN_MCAN
+	bool
+	select CAN_HAS_CANFD
+	help
+	  Enable Bosch m_can driver.
+	  This driver supports the Bosch m_can IP. This IP is built into the
+	  STM32G4, STM32G0 and the Microchip SAM controllers with CAN-FD.
+
+if CAN_MCAN
+
+config CAN_DELAY_COMP
+	bool "Enable transceiver delay compensation"
+	default y
+	help
+	  Enable the automatic transceiver delay compensation.
+
+endif #CAN_MCAN

drivers/can/Kconfig.stm32fd

@@ -0,0 +1,35 @@
+# STM32 CAN configuration options
+if CAN_MCAN && SOC_SERIES_STM32G4X
+
+config CAN_STM32FD
+	bool
+	default y
+
+config CAN_MAX_STD_ID_FILTER
+	int "Maximum number of std ID filters"
+	default 28
+	range 0 28
+	help
+	  Defines the maximum number of filters with standard ID (11-bit)
+	  that can be attached.
+
+config CAN_MAX_EXT_ID_FILTER
+	int "Maximum number of ext ID filters"
+	default 8
+	range 0 8
+	help
+	  Defines the maximum number of filters with extended ID (29-bit)
+	  that can be attached.
+
+config CAN_CKDIV
+	int "CKDIV register value"
+	range 0 15
+	default 0
+	help
+	  This value is written to the CKDIV register.
+	  The APB clock is divided according to this value before it is feed to
+	  CAN core. Note that the the divider affects all CAN controllers.
+	  The values of the register are multiplied by two and zero corresponds
+	  to one. The value six, for example results in a clock divided by 12.
+
+endif #CAN_MCAN