arch/risc-v/espressif: Add TWAI2 support for esp32p4#19176
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eren-terzioglu wants to merge 4 commits into
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arch/risc-v/espressif: Add TWAI2 support for esp32p4#19176eren-terzioglu wants to merge 4 commits into
eren-terzioglu wants to merge 4 commits into
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Area: Documentation
Enable TWAI2 support for esp32p4 Signed-off-by: Eren Terzioglu <eren.terzioglu@espressif.com>
Add TWAI2 support for esp32p4 Signed-off-by: Eren Terzioglu <eren.terzioglu@espressif.com>
Add TWAI2 docs for esp32p4 Signed-off-by: Eren Terzioglu <eren.terzioglu@espressif.com>
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xiaoxiang781216
approved these changes
Jun 19, 2026
Fix twai initialization when multiple twai devices enabled for esp32c6 and esp32p4 Signed-off-by: Eren Terzioglu <eren.terzioglu@espressif.com>
tmedicci
reviewed
Jun 19, 2026
Comment on lines
+80
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| if (port == 0) | ||
| { | ||
| canerr("ERROR: TWAI0 register failed: %d\n", ret); | ||
| return ret; | ||
| /* Register the TWAI driver at "/dev/can0" */ | ||
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| ret = can_register("/dev/can0", twai); | ||
| if (ret < 0) | ||
| { | ||
| canerr("ERROR: TWAI0 register failed: %d\n", ret); | ||
| return ret; | ||
| } | ||
| } | ||
| #endif /* CONFIG_ESPRESSIF_TWAI0 */ | ||
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| #ifdef CONFIG_ESPRESSIF_TWAI1 | ||
| /* Register the TWAI driver at "/dev/can1" */ | ||
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| ret = can_register("/dev/can1", twai); | ||
| if (ret < 0) | ||
| if (port == 1) | ||
| { | ||
| canerr("ERROR: TWAI1 register failed: %d\n", ret); | ||
| return ret; | ||
| /* Register the TWAI driver at "/dev/can1" */ | ||
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| ret = can_register("/dev/can1", twai); | ||
| if (ret < 0) | ||
| { | ||
| canerr("ERROR: TWAI1 register failed: %d\n", ret); | ||
| return ret; | ||
| } |
Contributor
There was a problem hiding this comment.
Instead of duplicating the can_register function, can't port be used to derive the device's path and the same function used?
Think of a case with more than two ports; it wouldn't make sense to replicate the function n times.
Comment on lines
+80
to
+118
| if (port == 0) | ||
| { | ||
| canerr("ERROR: TWAI0 register failed: %d\n", ret); | ||
| return ret; | ||
| /* Register the TWAI driver at "/dev/can0" */ | ||
|
|
||
| ret = can_register("/dev/can0", twai); | ||
| if (ret < 0) | ||
| { | ||
| canerr("ERROR: TWAI0 register failed: %d\n", ret); | ||
| return ret; | ||
| } | ||
| } | ||
| #endif /* CONFIG_ESPRESSIF_TWAI0 */ | ||
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| #ifdef CONFIG_ESPRESSIF_TWAI1 | ||
| /* Register the TWAI driver at "/dev/can1" */ | ||
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| ret = can_register("/dev/can1", twai); | ||
| if (ret < 0) | ||
| if (port == 1) | ||
| { | ||
| canerr("ERROR: TWAI1 register failed: %d\n", ret); | ||
| return ret; | ||
| /* Register the TWAI driver at "/dev/can1" */ | ||
|
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| ret = can_register("/dev/can1", twai); | ||
| if (ret < 0) | ||
| { | ||
| canerr("ERROR: TWAI1 register failed: %d\n", ret); | ||
| return ret; | ||
| } | ||
| } | ||
| #endif /* CONFIG_ESPRESSIF_TWAI1 */ | ||
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| #ifdef CONFIG_ESPRESSIF_TWAI2 | ||
| if (port == 2) | ||
| { | ||
| /* Register the TWAI driver at "/dev/can2" */ | ||
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| ret = can_register("/dev/can2", twai); | ||
| if (ret < 0) | ||
| { | ||
| canerr("ERROR: TWAI2 register failed: %d\n", ret); | ||
| return ret; | ||
| } | ||
| } |
Contributor
There was a problem hiding this comment.
Same (about multiple calls to can_register).
acassis
approved these changes
Jun 20, 2026
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Summary
Unnecessary select lines and free to choose
ESPRESSIF_TWAIoption (which should not be) handled to have clearer Kconfig option systemAdd TWAI2 docs for esp32p4
Add TWAI2 support for esp32p4
Enable TWAI2 support for esp32p4
Impact
Impact on user: Yes, twai2 can be used with ESP32-P4
Impact on build: No
Impact on hardware: Yes, twai2 peripheral supported for ESP32-P4
Impact on documentation: Yes, related docs added
Impact on security: No
Impact on compatibility: No
Testing
esp32p4-function-ev-board:twaiconfig used withCAN_LOOPBACKandESPRESSIF_TWAI2options enabledBuilding
Command to build:
Running
can -n 5command used to test with connecting PIN 6-7 with a cableResults