5  * SPDX-License-Identifier: Apache-2.0
23  * Newer ESP32-series MCUs like ESP32-C3 and ESP32-S2 have some slightly different registers
24  * compared to the original ESP32, which is fully compatible with the SJA1000 controller.
56  * - TWAI_STATUS_REG has new bit 8: TWAI_MISS_ST
57  * - TWAI_INT_RAW_REG has new bit 8: TWAI_BUS_STATE_INT_ST
58  * - TWAI_INT_ENA_REG has new bit 8: TWAI_BUS_STATE_INT_ENA
77 	/* 32-bit variant of output clock divider register required for non-ESP32 MCUs */
84 	const struct can_sja1000_config *sja1000_config = dev->config;  in can_esp32_twai_read_reg()
85 	const struct can_esp32_twai_config *twai_config = sja1000_config->custom;  in can_esp32_twai_read_reg()
86 	mm_reg_t addr = twai_config->base + reg * sizeof(uint32_t);  in can_esp32_twai_read_reg()
93 	const struct can_sja1000_config *sja1000_config = dev->config;  in can_esp32_twai_write_reg()
94 	const struct can_esp32_twai_config *twai_config = sja1000_config->custom;  in can_esp32_twai_write_reg()
95 	mm_reg_t addr = twai_config->base + reg * sizeof(uint32_t);  in can_esp32_twai_write_reg()
103  * Required for newer ESP32-series MCUs which violate the original SJA1000 8-bit register size.
107 	const struct can_sja1000_config *sja1000_config = dev->config;  in can_esp32_twai_write_reg32()
108 	const struct can_esp32_twai_config *twai_config = sja1000_config->custom;  in can_esp32_twai_write_reg32()
109 	mm_reg_t addr = twai_config->base + reg * sizeof(uint32_t);  in can_esp32_twai_write_reg32()
120 	struct can_sja1000_data *data = dev->data;  in can_esp32_twai_set_timing()
124 	if (data->common.started) {  in can_esp32_twai_set_timing()
125 		return -EBUSY;  in can_esp32_twai_set_timing()
128 	k_mutex_lock(&data->mod_lock, K_FOREVER);  in can_esp32_twai_set_timing()
130 	btr0 = TWAI_BAUD_PRESC_PREP(timing->prescaler - 1) |  in can_esp32_twai_set_timing()
131 	       TWAI_SYNC_JUMP_WIDTH_PREP(timing->sjw - 1);  in can_esp32_twai_set_timing()
132 	btr1 = TWAI_TIME_SEG1_PREP(timing->phase_seg1 - 1) |  in can_esp32_twai_set_timing()
133 	       TWAI_TIME_SEG2_PREP(timing->phase_seg2 - 1);  in can_esp32_twai_set_timing()
135 	if ((data->common.mode & CAN_MODE_3_SAMPLES) != 0) {  in can_esp32_twai_set_timing()
142 	k_mutex_unlock(&data->mod_lock);  in can_esp32_twai_set_timing()
168 	const struct can_sja1000_config *sja1000_config = dev->config;  in can_esp32_twai_init()
169 	const struct can_esp32_twai_config *twai_config = sja1000_config->custom;  in can_esp32_twai_init()
172 	if (!device_is_ready(twai_config->clock_dev)) {  in can_esp32_twai_init()
174 		return -ENODEV;  in can_esp32_twai_init()
177 	err = pinctrl_apply_state(twai_config->pcfg, PINCTRL_STATE_DEFAULT);  in can_esp32_twai_init()
183 	err = clock_control_on(twai_config->clock_dev, twai_config->clock_subsys);  in can_esp32_twai_init()
197 	 * TWAI_CLOCK_DIVIDER_REG is incompatible with CAN_SJA1000_CDR for non-ESP32 MCUs  in can_esp32_twai_init()
198 	 *   - TWAI_CD has length of 8 bits instead of 3 bits  in can_esp32_twai_init()
199 	 *   - TWAI_CLOCK_OFF at BIT(8) instead of BIT(3)  in can_esp32_twai_init()
200 	 *   - TWAI_EXT_MODE bit missing (always "extended" = PeliCAN mode)  in can_esp32_twai_init()
202 	 * Overwrite with 32-bit register variant configured via devicetree.  in can_esp32_twai_init()
204 	can_esp32_twai_write_reg32(dev, TWAI_CLOCK_DIVIDER_REG, twai_config->cdr32);  in can_esp32_twai_init()
207 	err = esp_intr_alloc(twai_config->irq_source,  in can_esp32_twai_init()
208 			ESP_PRIO_TO_FLAGS(twai_config->irq_priority) |  in can_esp32_twai_init()
209 			ESP_INT_FLAGS_CHECK(twai_config->irq_flags) | ESP_INTR_FLAG_IRAM,  in can_esp32_twai_init()
243 	/* larger prescaler allowed for newer ESP32-series MCUs */
267 		"TWAI clkout-divider from dts invalid")
272 				((DT_INST_PROP(inst, clkout_divider)) / 2 - 1)),                   \