2  * Copyright (c) 2022-2023 Vestas Wind Systems A/S
5  * SPDX-License-Identifier: Apache-2.0
22 	const struct can_mcan_config *config = dev->config;  in can_mcan_read_reg()
25 	err = config->ops->read_reg(dev, reg, val);  in can_mcan_read_reg()
35 	const struct can_mcan_config *config = dev->config;  in can_mcan_write_reg()
38 	err = config->ops->write_reg(dev, reg, val);  in can_mcan_write_reg()
48 	struct can_mcan_data *data = dev->data;  in can_mcan_exit_sleep_mode()
53 	k_mutex_lock(&data->lock, K_FOREVER);  in can_mcan_exit_sleep_mode()
75 		if (k_cycle_get_32() - start_time > k_ms_to_cyc_ceil32(CAN_INIT_TIMEOUT_MS)) {  in can_mcan_exit_sleep_mode()
82 			err = -EAGAIN;  in can_mcan_exit_sleep_mode()
94 	k_mutex_unlock(&data->lock);  in can_mcan_exit_sleep_mode()
101 	struct can_mcan_data *data = dev->data;  in can_mcan_enter_init_mode()
106 	k_mutex_lock(&data->lock, K_FOREVER);  in can_mcan_enter_init_mode()
128 		if (k_uptime_ticks() - start_time > timeout.ticks) {  in can_mcan_enter_init_mode()
135 			err = -EAGAIN;  in can_mcan_enter_init_mode()
146 	k_mutex_unlock(&data->lock);  in can_mcan_enter_init_mode()
153 	struct can_mcan_data *data = dev->data;  in can_mcan_leave_init_mode()
158 	k_mutex_lock(&data->lock, K_FOREVER);  in can_mcan_leave_init_mode()
180 		if (k_uptime_ticks() - start_time > timeout.ticks) {  in can_mcan_leave_init_mode()
181 			err = -EAGAIN;  in can_mcan_leave_init_mode()
192 	k_mutex_unlock(&data->lock);  in can_mcan_leave_init_mode()
199 	struct can_mcan_data *data = dev->data;  in can_mcan_set_timing()
203 	if (data->started) {  in can_mcan_set_timing()
204 		return -EBUSY;  in can_mcan_set_timing()
207 	k_mutex_lock(&data->lock, K_FOREVER);  in can_mcan_set_timing()
209 	nbtp |= FIELD_PREP(CAN_MCAN_NBTP_NSJW, timing->sjw - 1UL) |  in can_mcan_set_timing()
210 		FIELD_PREP(CAN_MCAN_NBTP_NTSEG1, timing->phase_seg1 - 1UL) |  in can_mcan_set_timing()
211 		FIELD_PREP(CAN_MCAN_NBTP_NTSEG2, timing->phase_seg2 - 1UL) |  in can_mcan_set_timing()
212 		FIELD_PREP(CAN_MCAN_NBTP_NBRP, timing->prescaler - 1UL);  in can_mcan_set_timing()
220 	k_mutex_unlock(&data->lock);  in can_mcan_set_timing()
228 	struct can_mcan_data *data = dev->data;  in can_mcan_set_timing_data()
232 	if (data->started) {  in can_mcan_set_timing_data()
233 		return -EBUSY;  in can_mcan_set_timing_data()
236 	k_mutex_lock(&data->lock, K_FOREVER);  in can_mcan_set_timing_data()
238 	dbtp |= FIELD_PREP(CAN_MCAN_DBTP_DSJW, timing_data->sjw - 1UL) |  in can_mcan_set_timing_data()
239 		FIELD_PREP(CAN_MCAN_DBTP_DTSEG1, timing_data->phase_seg1 - 1UL) |  in can_mcan_set_timing_data()
240 		FIELD_PREP(CAN_MCAN_DBTP_DTSEG2, timing_data->phase_seg2 - 1UL) |  in can_mcan_set_timing_data()
241 		FIELD_PREP(CAN_MCAN_DBTP_DBRP, timing_data->prescaler - 1UL);  in can_mcan_set_timing_data()
249 	k_mutex_unlock(&data->lock);  in can_mcan_set_timing_data()
270 	const struct can_mcan_config *config = dev->config;  in can_mcan_start()
271 	struct can_mcan_data *data = dev->data;  in can_mcan_start()
274 	if (data->started) {  in can_mcan_start()
275 		return -EALREADY;  in can_mcan_start()
278 	if (config->phy != NULL) {  in can_mcan_start()
279 		err = can_transceiver_enable(config->phy);  in can_mcan_start()
293 		if (config->phy != NULL) {  in can_mcan_start()
295 			(void)can_transceiver_disable(config->phy);  in can_mcan_start()
298 		return -EIO;  in can_mcan_start()
301 	data->started = true;  in can_mcan_start()
308 	const struct can_mcan_config *config = dev->config;  in can_mcan_stop()
309 	const struct can_mcan_callbacks *cbs = config->callbacks;  in can_mcan_stop()
310 	struct can_mcan_data *data = dev->data;  in can_mcan_stop()
315 	if (!data->started) {  in can_mcan_stop()
316 		return -EALREADY;  in can_mcan_stop()
323 		return -EIO;  in can_mcan_stop()
326 	if (config->phy != NULL) {  in can_mcan_stop()
327 		err = can_transceiver_disable(config->phy);  in can_mcan_stop()
336 	data->started = false;  in can_mcan_stop()
338 	for (tx_idx = 0U; tx_idx < cbs->num_tx; tx_idx++) {  in can_mcan_stop()
339 		tx_cb = cbs->tx[tx_idx].function;  in can_mcan_stop()
342 			cbs->tx[tx_idx].function = NULL;  in can_mcan_stop()
343 			tx_cb(dev, -ENETDOWN, cbs->tx[tx_idx].user_data);  in can_mcan_stop()
344 			k_sem_give(&data->tx_sem);  in can_mcan_stop()
353 	struct can_mcan_data *data = dev->data;  in can_mcan_set_mode()
361 		return -ENOTSUP;  in can_mcan_set_mode()
366 		return -ENOTSUP;  in can_mcan_set_mode()
370 	if (data->started) {  in can_mcan_set_mode()
371 		return -EBUSY;  in can_mcan_set_mode()
374 	k_mutex_lock(&data->lock, K_FOREVER);  in can_mcan_set_mode()
404 		data->fd = true;  in can_mcan_set_mode()
407 		data->fd = false;  in can_mcan_set_mode()
422 	k_mutex_unlock(&data->lock);  in can_mcan_set_mode()
429 	struct can_mcan_data *data = dev->data;  in can_mcan_state_change_handler()
430 	const can_state_change_callback_t cb = data->state_change_cb;  in can_mcan_state_change_handler()
431 	void *cb_data = data->state_change_cb_data;  in can_mcan_state_change_handler()
444 	const struct can_mcan_config *config = dev->config;  in can_mcan_tx_event_handler()
445 	const struct can_mcan_callbacks *cbs = config->callbacks;  in can_mcan_tx_event_handler()
446 	struct can_mcan_data *data = dev->data;  in can_mcan_tx_event_handler()
463 					 config->mram_offsets[CAN_MCAN_MRAM_CFG_TX_EVENT_FIFO] +  in can_mcan_tx_event_handler()
480 		__ASSERT_NO_MSG(tx_idx <= cbs->num_tx);  in can_mcan_tx_event_handler()
481 		tx_cb = cbs->tx[tx_idx].function;  in can_mcan_tx_event_handler()
482 		user_data = cbs->tx[tx_idx].user_data;  in can_mcan_tx_event_handler()
483 		cbs->tx[tx_idx].function = NULL;  in can_mcan_tx_event_handler()
485 		k_sem_give(&data->tx_sem);  in can_mcan_tx_event_handler()
557 	struct can_mcan_data *data = dev->data;  in can_mcan_line_0_isr()
583 			k_sem_give(&data->tx_sem);  in can_mcan_line_0_isr()
612 	const struct can_mcan_config *config = dev->config;  in can_mcan_get_message()
613 	const struct can_mcan_callbacks *cbs = config->callbacks;  in can_mcan_get_message()
661 		frame.timestamp = hdr.rxts;  in can_mcan_get_message()
669 			flags = cbs->ext[filt_idx].flags;  in can_mcan_get_message()
672 			flags = cbs->std[filt_idx].flags;  in can_mcan_get_message()
711 					filt_idx + cbs->num_std, frame.id);  in can_mcan_get_message()
712 				__ASSERT_NO_MSG(filt_idx <= cbs->num_ext);  in can_mcan_get_message()
713 				cb = cbs->ext[filt_idx].function;  in can_mcan_get_message()
714 				user_data = cbs->ext[filt_idx].user_data;  in can_mcan_get_message()
717 				__ASSERT_NO_MSG(filt_idx <= cbs->num_std);  in can_mcan_get_message()
718 				cb = cbs->std[filt_idx].function;  in can_mcan_get_message()
719 				user_data = cbs->std[filt_idx].user_data;  in can_mcan_get_message()
746 	const struct can_mcan_config *config = dev->config;  in can_mcan_line_1_isr()
765 			can_mcan_get_message(dev, config->mram_offsets[CAN_MCAN_MRAM_CFG_RX_FIFO0],  in can_mcan_line_1_isr()
771 			can_mcan_get_message(dev, config->mram_offsets[CAN_MCAN_MRAM_CFG_RX_FIFO1],  in can_mcan_line_1_isr()
795 	struct can_mcan_data *data = dev->data;  in can_mcan_get_state()
805 		if (!data->started) {  in can_mcan_get_state()
824 		err_cnt->tx_err_cnt = FIELD_GET(CAN_MCAN_ECR_TEC, reg);  in can_mcan_get_state()
825 		err_cnt->rx_err_cnt = FIELD_GET(CAN_MCAN_ECR_REC, reg);  in can_mcan_get_state()
834 	struct can_mcan_data *data = dev->data;  in can_mcan_recover()
836 	if (!data->started) {  in can_mcan_recover()
837 		return -ENETDOWN;  in can_mcan_recover()
847 	const struct can_mcan_config *config = dev->config;  in can_mcan_send()
848 	const struct can_mcan_callbacks *cbs = config->callbacks;  in can_mcan_send()
849 	struct can_mcan_data *data = dev->data;  in can_mcan_send()
850 	size_t data_length = can_dlc_to_bytes(frame->dlc);  in can_mcan_send()
852 		.rtr = (frame->flags & CAN_FRAME_RTR) != 0U ? 1U : 0U,  in can_mcan_send()
853 		.xtd = (frame->flags & CAN_FRAME_IDE) != 0U ? 1U : 0U,  in can_mcan_send()
855 		.dlc = frame->dlc,  in can_mcan_send()
857 		.fdf = (frame->flags & CAN_FRAME_FDF) != 0U ? 1U : 0U,  in can_mcan_send()
858 		.brs = (frame->flags & CAN_FRAME_BRS) != 0U ? 1U : 0U,  in can_mcan_send()
865 	uint32_t put_idx = -1;  in can_mcan_send()
869 	LOG_DBG("Sending %zu bytes. Id: 0x%x, ID type: %s %s %s %s", data_length, frame->id,  in can_mcan_send()
870 		(frame->flags & CAN_FRAME_IDE) != 0U ? "extended" : "standard",  in can_mcan_send()
871 		(frame->flags & CAN_FRAME_RTR) != 0U ? "RTR" : "",  in can_mcan_send()
872 		(frame->flags & CAN_FRAME_FDF) != 0U ? "FD frame" : "",  in can_mcan_send()
873 		(frame->flags & CAN_FRAME_BRS) != 0U ? "BRS" : "");  in can_mcan_send()
878 	if ((frame->flags & ~(CAN_FRAME_IDE | CAN_FRAME_RTR | CAN_FRAME_FDF | CAN_FRAME_BRS)) !=  in can_mcan_send()
880 		LOG_ERR("unsupported CAN frame flags 0x%02x", frame->flags);  in can_mcan_send()
881 		return -ENOTSUP;  in can_mcan_send()
884 	if (!data->fd && ((frame->flags & (CAN_FRAME_FDF | CAN_FRAME_BRS)) != 0U)) {  in can_mcan_send()
885 		LOG_ERR("CAN-FD format not supported in non-FD mode");  in can_mcan_send()
886 		return -ENOTSUP;  in can_mcan_send()
889 	if ((frame->flags & ~(CAN_FRAME_IDE | CAN_FRAME_RTR)) != 0U) {  in can_mcan_send()
890 		LOG_ERR("unsupported CAN frame flags 0x%02x", frame->flags);  in can_mcan_send()
891 		return -ENOTSUP;  in can_mcan_send()
895 	if (data_length > sizeof(frame->data)) {  in can_mcan_send()
897 			sizeof(frame->data));  in can_mcan_send()
898 		return -EINVAL;  in can_mcan_send()
901 	if ((frame->flags & CAN_FRAME_FDF) != 0U) {  in can_mcan_send()
902 		if (frame->dlc > CANFD_MAX_DLC) {  in can_mcan_send()
903 			LOG_ERR("DLC of %d for CAN-FD format frame", frame->dlc);  in can_mcan_send()
904 			return -EINVAL;  in can_mcan_send()
907 		if (frame->dlc > CAN_MAX_DLC) {  in can_mcan_send()
908 			LOG_ERR("DLC of %d for non-FD format frame", frame->dlc);  in can_mcan_send()
909 			return -EINVAL;  in can_mcan_send()
913 	if (!data->started) {  in can_mcan_send()
914 		return -ENETDOWN;  in can_mcan_send()
923 		return -ENETUNREACH;  in can_mcan_send()
926 	err = k_sem_take(&data->tx_sem, timeout);  in can_mcan_send()
928 		return -EAGAIN;  in can_mcan_send()
931 	k_mutex_lock(&data->tx_mtx, K_FOREVER);  in can_mcan_send()
934 	for (int i = 0; i < cbs->num_tx; i++) {  in can_mcan_send()
935 		if (cbs->tx[i].function == NULL) {  in can_mcan_send()
943 	if ((frame->flags & CAN_FRAME_IDE) != 0U) {  in can_mcan_send()
944 		tx_hdr.ext_id = frame->id;  in can_mcan_send()
946 		tx_hdr.std_id = frame->id & CAN_STD_ID_MASK;  in can_mcan_send()
949 	err = can_mcan_write_mram(dev, config->mram_offsets[CAN_MCAN_MRAM_CFG_TX_BUFFER] + put_idx *  in can_mcan_send()
958 	if ((frame->flags & CAN_FRAME_RTR) == 0U) {  in can_mcan_send()
959 		err = can_mcan_write_mram(dev, config->mram_offsets[CAN_MCAN_MRAM_CFG_TX_BUFFER] +  in can_mcan_send()
962 					&frame->data_32, ROUND_UP(data_length, sizeof(uint32_t)));  in can_mcan_send()
969 	__ASSERT_NO_MSG(put_idx < cbs->num_tx);  in can_mcan_send()
970 	cbs->tx[put_idx].function = callback;  in can_mcan_send()
971 	cbs->tx[put_idx].user_data = user_data;  in can_mcan_send()
975 		cbs->tx[put_idx].function = NULL;  in can_mcan_send()
979 	k_mutex_unlock(&data->tx_mtx);  in can_mcan_send()
983 	k_mutex_unlock(&data->tx_mtx);  in can_mcan_send()
984 	k_sem_give(&data->tx_sem);  in can_mcan_send()
991 	const struct can_mcan_config *config = dev->config;  in can_mcan_get_max_filters()
992 	const struct can_mcan_callbacks *cbs = config->callbacks;  in can_mcan_get_max_filters()
995 		return cbs->num_ext;  in can_mcan_get_max_filters()
997 		return cbs->num_std;  in can_mcan_get_max_filters()
1009 	const struct can_mcan_config *config = dev->config;  in can_mcan_add_rx_filter_std()
1010 	const struct can_mcan_callbacks *cbs = config->callbacks;  in can_mcan_add_rx_filter_std()
1011 	struct can_mcan_data *data = dev->data;  in can_mcan_add_rx_filter_std()
1013 		.sfid1 = filter->id,  in can_mcan_add_rx_filter_std()
1014 		.sfid2 = filter->mask,  in can_mcan_add_rx_filter_std()
1017 	int filter_id = -ENOSPC;  in can_mcan_add_rx_filter_std()
1021 	k_mutex_lock(&data->lock, K_FOREVER);  in can_mcan_add_rx_filter_std()
1023 	for (i = 0; i < cbs->num_std; i++) {  in can_mcan_add_rx_filter_std()
1024 		if (cbs->std[i].function == NULL) {  in can_mcan_add_rx_filter_std()
1030 	if (filter_id == -ENOSPC) {  in can_mcan_add_rx_filter_std()
1032 		k_mutex_unlock(&data->lock);  in can_mcan_add_rx_filter_std()
1033 		return -ENOSPC;  in can_mcan_add_rx_filter_std()
1039 	err = can_mcan_write_mram(dev, config->mram_offsets[CAN_MCAN_MRAM_CFG_STD_FILTER] +  in can_mcan_add_rx_filter_std()
1047 	k_mutex_unlock(&data->lock);  in can_mcan_add_rx_filter_std()
1051 	__ASSERT_NO_MSG(filter_id <= cbs->num_std);  in can_mcan_add_rx_filter_std()
1052 	cbs->std[filter_id].function = callback;  in can_mcan_add_rx_filter_std()
1053 	cbs->std[filter_id].user_data = user_data;  in can_mcan_add_rx_filter_std()
1054 	cbs->std[filter_id].flags = filter->flags;  in can_mcan_add_rx_filter_std()
1062 	const struct can_mcan_config *config = dev->config;  in can_mcan_add_rx_filter_ext()
1063 	const struct can_mcan_callbacks *cbs = config->callbacks;  in can_mcan_add_rx_filter_ext()
1064 	struct can_mcan_data *data = dev->data;  in can_mcan_add_rx_filter_ext()
1066 		.efid2 = filter->mask,  in can_mcan_add_rx_filter_ext()
1067 		.efid1 = filter->id,  in can_mcan_add_rx_filter_ext()
1070 	int filter_id = -ENOSPC;  in can_mcan_add_rx_filter_ext()
1074 	k_mutex_lock(&data->lock, K_FOREVER);  in can_mcan_add_rx_filter_ext()
1076 	for (i = 0; i < cbs->num_ext; i++) {  in can_mcan_add_rx_filter_ext()
1077 		if (cbs->ext[i].function == NULL) {  in can_mcan_add_rx_filter_ext()
1083 	if (filter_id == -ENOSPC) {  in can_mcan_add_rx_filter_ext()
1085 		k_mutex_unlock(&data->lock);  in can_mcan_add_rx_filter_ext()
1086 		return -ENOSPC;  in can_mcan_add_rx_filter_ext()
1092 	err = can_mcan_write_mram(dev, config->mram_offsets[CAN_MCAN_MRAM_CFG_EXT_FILTER] +  in can_mcan_add_rx_filter_ext()
1100 	k_mutex_unlock(&data->lock);  in can_mcan_add_rx_filter_ext()
1104 	__ASSERT_NO_MSG(filter_id <= cbs->num_ext);  in can_mcan_add_rx_filter_ext()
1105 	cbs->ext[filter_id].function = callback;  in can_mcan_add_rx_filter_ext()
1106 	cbs->ext[filter_id].user_data = user_data;  in can_mcan_add_rx_filter_ext()
1107 	cbs->ext[filter_id].flags = filter->flags;  in can_mcan_add_rx_filter_ext()
1115 	const struct can_mcan_config *config = dev->config;
1116 	const struct can_mcan_callbacks *cbs = config->callbacks;
1120 		return -EINVAL;
1124 	if ((filter->flags &
1127 	if ((filter->flags & ~(CAN_FILTER_IDE | CAN_FILTER_DATA | CAN_FILTER_RTR)) != 0U) {
1129 		LOG_ERR("unsupported CAN filter flags 0x%02x", filter->flags);
1130 		return -ENOTSUP;
1133 	if ((filter->flags & CAN_FILTER_IDE) != 0U) {
1136 			filter_id += cbs->num_std;
1147 	const struct can_mcan_config *config = dev->config;
1148 	const struct can_mcan_callbacks *cbs = config->callbacks;
1149 	struct can_mcan_data *data = dev->data;
1152 	k_mutex_lock(&data->lock, K_FOREVER);
1154 	if (filter_id >= cbs->num_std) {
1155 		filter_id -= cbs->num_std;
1156 		if (filter_id >= cbs->num_ext) {
1158 			k_mutex_unlock(&data->lock);
1162 		cbs->ext[filter_id].function = NULL;
1163 		cbs->ext[filter_id].user_data = NULL;
1165 		err = can_mcan_clear_mram(dev, config->mram_offsets[CAN_MCAN_MRAM_CFG_EXT_FILTER] +
1172 		cbs->std[filter_id].function = NULL;
1173 		cbs->std[filter_id].user_data = NULL;
1175 		err = can_mcan_clear_mram(dev, config->mram_offsets[CAN_MCAN_MRAM_CFG_STD_FILTER] +
1183 	k_mutex_unlock(&data->lock);
1189 	struct can_mcan_data *data = dev->data;
1191 	data->state_change_cb = callback;
1192 	data->state_change_cb_data = user_data;
1197 	const struct can_mcan_config *config = dev->config;
1199 	*max_bitrate = config->max_bitrate;
1210 	struct can_mcan_data *data = dev->data;
1214 	k_mutex_lock(&data->lock, K_FOREVER);
1229 	k_mutex_unlock(&data->lock);
1234 	const struct can_mcan_config *config = dev->config;
1242 		return -EIO;
1248 		return -EIO;
1253 	addr = mram - mrba + config->mram_offsets[CAN_MCAN_MRAM_CFG_STD_FILTER];
1255 		config->mram_elements[CAN_MCAN_MRAM_CFG_STD_FILTER]);
1261 	addr = mram - mrba + config->mram_offsets[CAN_MCAN_MRAM_CFG_EXT_FILTER];
1263 		config->mram_elements[CAN_MCAN_MRAM_CFG_EXT_FILTER]);
1269 	addr = mram - mrba + config->mram_offsets[CAN_MCAN_MRAM_CFG_RX_FIFO0];
1271 		config->mram_elements[CAN_MCAN_MRAM_CFG_RX_FIFO0]);
1277 	addr = mram - mrba + config->mram_offsets[CAN_MCAN_MRAM_CFG_RX_FIFO1];
1279 		config->mram_elements[CAN_MCAN_MRAM_CFG_RX_FIFO1]);
1285 	addr = mram - mrba + config->mram_offsets[CAN_MCAN_MRAM_CFG_RX_BUFFER];
1292 	addr = mram - mrba + config->mram_offsets[CAN_MCAN_MRAM_CFG_TX_EVENT_FIFO];
1294 		config->mram_elements[CAN_MCAN_MRAM_CFG_TX_EVENT_FIFO]);
1300 	addr = mram - mrba + config->mram_offsets[CAN_MCAN_MRAM_CFG_TX_BUFFER];
1302 		config->mram_elements[CAN_MCAN_MRAM_CFG_TX_BUFFER]) | CAN_MCAN_TXBC_TFQM;
1327 	const struct can_mcan_config *config = dev->config;
1328 	const struct can_mcan_callbacks *cbs = config->callbacks;
1329 	struct can_mcan_data *data = dev->data;
1337 	__ASSERT_NO_MSG(config->ops->read_reg != NULL);
1338 	__ASSERT_NO_MSG(config->ops->write_reg != NULL);
1339 	__ASSERT_NO_MSG(config->ops->read_mram != NULL);
1340 	__ASSERT_NO_MSG(config->ops->write_mram != NULL);
1341 	__ASSERT_NO_MSG(config->ops->clear_mram != NULL);
1342 	__ASSERT_NO_MSG(config->callbacks != NULL);
1344 	__ASSERT_NO_MSG(cbs->num_tx <= config->mram_elements[CAN_MCAN_MRAM_CFG_TX_BUFFER]);
1345 	__ASSERT_NO_MSG(cbs->num_std <= config->mram_elements[CAN_MCAN_MRAM_CFG_STD_FILTER]);
1346 	__ASSERT_NO_MSG(cbs->num_ext <= config->mram_elements[CAN_MCAN_MRAM_CFG_EXT_FILTER]);
1348 	k_mutex_init(&data->lock);
1349 	k_mutex_init(&data->tx_mtx);
1350 	k_sem_init(&data->tx_sem, cbs->num_tx, cbs->num_tx);
1352 	if (config->phy != NULL) {
1353 		if (!device_is_ready(config->phy)) {
1355 			return -ENODEV;
1362 		return -EIO;
1368 		return -EIO;
1376 		return -EIO;
1428 	reg |= FIELD_PREP(CAN_MCAN_TDCR_TDCO, config->tx_delay_comp_offset);
1448 	if (config->sample_point) {
1449 		err = can_calc_timing(dev, &timing, config->bus_speed, config->sample_point);
1450 		if (err == -EINVAL) {
1452 			return -EIO;
1454 		LOG_DBG("Presc: %d, TS1: %d, TS2: %d", timing.prescaler, timing.phase_seg1,
1456 		LOG_DBG("Sample-point err : %d", err);
1457 	} else if (config->prop_ts1) {
1458 		timing.sjw = config->sjw;
1460 		timing.phase_seg1 = config->prop_ts1;
1461 		timing.phase_seg2 = config->ts2;
1462 		err = can_calc_prescaler(dev, &timing, config->bus_speed);
1468 	if (config->sample_point_data) {
1469 		err = can_calc_timing_data(dev, &timing_data, config->bus_speed_data,
1470 					   config->sample_point_data);
1471 		if (err == -EINVAL) {
1473 			return -EIO;
1476 		LOG_DBG("Sample-point err data phase: %d", err);
1477 	} else if (config->prop_ts1_data) {
1478 		timing_data.sjw = config->sjw_data;
1480 		timing_data.phase_seg1 = config->prop_ts1_data;
1481 		timing_data.phase_seg2 = config->ts2_data;
1482 		err = can_calc_prescaler(dev, &timing_data, config->bus_speed_data);
1492 		return -ENODEV;
1499 		return -ENODEV;
1537 	return can_mcan_clear_mram(dev, 0, config->mram_size);