drivers: mcux: imx rt flexcan support
Adds imx rt support. Allows n-number of can interfaces based on device-tree. Adds a "common" irq name. Added CAN bus pins and dts for 1060 and 1064 EVK. Signed-off-by: Rick Talbott <rtalbott@fastmail.com>
This commit is contained in:
Rick Talbott
Maureen Helm
parent
fb71c6f47e
commit
60e5e79ca1
13 changed files with 225 additions and 145 deletions
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@ -14,5 +14,6 @@ config CAN_MAX_FILTER
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depends on CAN_MCUX_FLEXCAN
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default 5
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range 1 15 if SOC_SERIES_KINETIS_KE1XF || SOC_SERIES_KINETIS_K6X
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range 1 64 if SOC_SERIES_IMX_RT
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help
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Defines maximum number of concurrent active RX filters
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@ -665,154 +665,85 @@ static const struct can_driver_api mcux_flexcan_driver_api = {
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.register_state_change_isr = mcux_flexcan_register_state_change_isr
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};
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#if DT_NODE_HAS_STATUS(DT_DRV_INST(0), okay)
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static void mcux_flexcan_config_func_0(const struct device *dev);
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#define FLEXCAN_IRQ_CODE(id, name) \
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do { \
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IRQ_CONNECT(DT_INST_IRQ_BY_NAME(id, name, irq), \
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DT_INST_IRQ_BY_NAME(id, name, priority), \
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mcux_flexcan_isr, \
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DEVICE_GET(can_mcux_flexcan_##id), id); \
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irq_enable(DT_INST_IRQ_BY_NAME(id, name, irq)); \
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} while (0)
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static const struct mcux_flexcan_config mcux_flexcan_config_0 = {
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.base = (CAN_Type *) DT_INST_REG_ADDR(0),
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.clock_name = DT_INST_CLOCKS_LABEL(0),
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.clock_subsys = (clock_control_subsys_t)
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DT_INST_CLOCKS_CELL(0, name),
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.clk_source = DT_INST_PROP(0, clk_source),
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.bitrate = DT_INST_PROP(0, bus_speed),
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.sjw = DT_INST_PROP(0, sjw),
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.prop_seg = DT_INST_PROP(0, prop_seg),
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.phase_seg1 = DT_INST_PROP(0, phase_seg1),
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.phase_seg2 = DT_INST_PROP(0, phase_seg2),
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.irq_config_func = mcux_flexcan_config_func_0,
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};
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#define FLEXCAN_IRQ(id, name) \
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COND_CODE_1(DT_INST_IRQ_HAS_NAME(id, name), \
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(FLEXCAN_IRQ_CODE(id, name)), ())
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static struct mcux_flexcan_data mcux_flexcan_data_0 = {
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};
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#define FLEXCAN_DEVICE_INIT_MCUX(id) \
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static void mcux_flexcan_irq_config_##id(const struct device *dev); \
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\
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static const struct mcux_flexcan_config mcux_flexcan_config_##id = { \
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.base = (CAN_Type *)DT_INST_REG_ADDR(id), \
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.clock_name = DT_INST_CLOCKS_LABEL(id), \
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.clock_subsys = (clock_control_subsys_t) \
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DT_INST_CLOCKS_CELL(id, name), \
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.clk_source = DT_INST_PROP(id, clk_source), \
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.bitrate = DT_INST_PROP(id, bus_speed), \
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.sjw = DT_INST_PROP(id, sjw), \
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.prop_seg = DT_INST_PROP(id, prop_seg), \
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.phase_seg1 = DT_INST_PROP(id, phase_seg1), \
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.phase_seg2 = DT_INST_PROP(id, phase_seg2), \
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.irq_config_func = mcux_flexcan_irq_config_##id, \
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}; \
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\
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static struct mcux_flexcan_data mcux_flexcan_data_##id; \
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\
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DEVICE_AND_API_INIT(can_mcux_flexcan_##id, \
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DT_INST_LABEL(id), \
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&mcux_flexcan_init, &mcux_flexcan_data_##id, \
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&mcux_flexcan_config_##id, POST_KERNEL, \
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CONFIG_KERNEL_INIT_PRIORITY_DEVICE, \
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&mcux_flexcan_driver_api); \
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\
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static void mcux_flexcan_irq_config_##id(const struct device *dev) \
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{ \
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FLEXCAN_IRQ(id, rx_warning); \
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FLEXCAN_IRQ(id, tx_warning); \
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FLEXCAN_IRQ(id, bus_off); \
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FLEXCAN_IRQ(id, warning); \
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FLEXCAN_IRQ(id, error); \
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FLEXCAN_IRQ(id, wake_up); \
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FLEXCAN_IRQ(id, mb_0_15); \
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FLEXCAN_IRQ(id, common); \
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}
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DEVICE_AND_API_INIT(can_mcux_flexcan_0, DT_INST_LABEL(0),
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&mcux_flexcan_init, &mcux_flexcan_data_0,
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&mcux_flexcan_config_0, POST_KERNEL,
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CONFIG_CAN_INIT_PRIORITY, &mcux_flexcan_driver_api);
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static void mcux_flexcan_config_func_0(const struct device *dev)
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{
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#if DT_INST_IRQ_HAS_NAME(0, rx_warning)
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IRQ_CONNECT(DT_INST_IRQ_BY_NAME(0, rx_warning, irq),
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DT_INST_IRQ_BY_NAME(0, rx_warning, priority),
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mcux_flexcan_isr, DEVICE_GET(can_mcux_flexcan_0), 0);
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irq_enable(DT_INST_IRQ_BY_NAME(0, rx_warning, irq));
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#endif
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#if DT_INST_IRQ_HAS_NAME(0, tx_warning)
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IRQ_CONNECT(DT_INST_IRQ_BY_NAME(0, tx_warning, irq),
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DT_INST_IRQ_BY_NAME(0, tx_warning, priority),
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mcux_flexcan_isr, DEVICE_GET(can_mcux_flexcan_0), 0);
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irq_enable(DT_INST_IRQ_BY_NAME(0, tx_warning, irq));
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#endif
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#if DT_INST_IRQ_HAS_NAME(0, bus_off)
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IRQ_CONNECT(DT_INST_IRQ_BY_NAME(0, bus_off, irq),
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DT_INST_IRQ_BY_NAME(0, bus_off, priority),
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mcux_flexcan_isr, DEVICE_GET(can_mcux_flexcan_0), 0);
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irq_enable(DT_INST_IRQ_BY_NAME(0, bus_off, irq));
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#endif
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#if DT_INST_IRQ_HAS_NAME(0, warning)
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IRQ_CONNECT(DT_INST_IRQ_BY_NAME(0, warning, irq),
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DT_INST_IRQ_BY_NAME(0, warning, priority),
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mcux_flexcan_isr, DEVICE_GET(can_mcux_flexcan_0), 0);
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irq_enable(DT_INST_IRQ_BY_NAME(0, warning, irq));
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#endif
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IRQ_CONNECT(DT_INST_IRQ_BY_NAME(0, error, irq),
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DT_INST_IRQ_BY_NAME(0, error, priority),
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mcux_flexcan_isr, DEVICE_GET(can_mcux_flexcan_0), 0);
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irq_enable(DT_INST_IRQ_BY_NAME(0, error, irq));
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IRQ_CONNECT(DT_INST_IRQ_BY_NAME(0, wake_up, irq),
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DT_INST_IRQ_BY_NAME(0, wake_up, priority),
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mcux_flexcan_isr, DEVICE_GET(can_mcux_flexcan_0), 0);
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irq_enable(DT_INST_IRQ_BY_NAME(0, wake_up, irq));
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IRQ_CONNECT(DT_INST_IRQ_BY_NAME(0, mb_0_15, irq),
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DT_INST_IRQ_BY_NAME(0, mb_0_15, priority),
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mcux_flexcan_isr, DEVICE_GET(can_mcux_flexcan_0), 0);
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irq_enable(DT_INST_IRQ_BY_NAME(0, mb_0_15, irq));
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}
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DT_INST_FOREACH_STATUS_OKAY(FLEXCAN_DEVICE_INIT_MCUX)
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#if defined(CONFIG_NET_SOCKETS_CAN)
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#include "socket_can_generic.h" \
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#define FLEXCAN_DEVICE_SOCKET_CAN(id) \
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static int socket_can_init_##id(const struct device *dev) \
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{ \
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struct device *can_dev = DEVICE_GET(DT_INST_LABEL(id)); \
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struct socket_can_context *socket_context = dev->data; \
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LOG_DBG("Init socket CAN device %p (%s) for dev %p (%s)", \
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dev, dev->name, can_dev, can_dev->name); \
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socket_context->can_dev = can_dev; \
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socket_context->msgq = &socket_can_msgq; \
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socket_context->rx_tid = \
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k_thread_create(&socket_context->rx_thread_data, \
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rx_thread_stack, \
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K_KERNEL_STACK_SIZEOF(rx_thread_stack), \
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rx_thread, socket_context, NULL, NULL, \
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RX_THREAD_PRIORITY, 0, K_NO_WAIT); \
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return 0; \
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} \
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\
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NET_DEVICE_INIT(socket_can_flexcan_##id, SOCKET_CAN_NAME_##id, \
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socket_can_init_##id, device_pm_control_nop, \
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&socket_can_context_##id, NULL, \
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CONFIG_KERNEL_INIT_PRIORITY_DEVICE, &socket_can_api, \
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CANBUS_RAW_L2, NET_L2_GET_CTX_TYPE(CANBUS_RAW_L2), \
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CAN_MTU); \
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#include "socket_can_generic.h"
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static int socket_can_init_0(const struct device *dev)
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{
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const struct device *can_dev = DEVICE_GET(can_mcux_flexcan_0);
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struct socket_can_context *socket_context = dev->data;
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LOG_DBG("Init socket CAN device %p (%s) for dev %p (%s)",
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dev, dev->name, can_dev, can_dev->name);
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socket_context->can_dev = can_dev;
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socket_context->msgq = &socket_can_msgq;
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socket_context->rx_tid =
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k_thread_create(&socket_context->rx_thread_data,
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rx_thread_stack,
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K_KERNEL_STACK_SIZEOF(rx_thread_stack),
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rx_thread, socket_context, NULL, NULL,
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RX_THREAD_PRIORITY, 0, K_NO_WAIT);
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return 0;
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}
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NET_DEVICE_INIT(socket_can_flexcan_0, SOCKET_CAN_NAME_1, socket_can_init_0,
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device_pm_control_nop, &socket_can_context_1, NULL,
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CONFIG_KERNEL_INIT_PRIORITY_DEVICE,
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&socket_can_api,
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CANBUS_RAW_L2, NET_L2_GET_CTX_TYPE(CANBUS_RAW_L2), CAN_MTU);
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#endif /* CONFIG_NET_SOCKETS_CAN */
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#endif /* DT_NODE_HAS_STATUS(DT_DRV_INST(0), okay) */
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#if DT_NODE_HAS_STATUS(DT_DRV_INST(1), okay)
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static void mcux_flexcan_config_func_1(const struct device *dev);
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static const struct mcux_flexcan_config mcux_flexcan_config_1 = {
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.base = (CAN_Type *) DT_INST_REG_ADDR(1),
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.clock_name = DT_INST_CLOCKS_LABEL(1),
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.clock_subsys = (clock_control_subsys_t)
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DT_INST_CLOCKS_CELL(1, name),
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.clk_source = DT_INST_PROP(1, clk_source),
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.bitrate = DT_INST_PROP(1, bus_speed),
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.sjw = DT_INST_PROP(1, sjw),
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.prop_seg = DT_INST_PROP(1, prop_seg),
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.phase_seg1 = DT_INST_PROP(1, phase_seg1),
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.phase_seg2 = DT_INST_PROP(1, phase_seg2),
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.irq_config_func = mcux_flexcan_config_func_1,
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};
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static struct mcux_flexcan_data mcux_flexcan_data_1 = {
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};
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DEVICE_AND_API_INIT(can_mcux_flexcan_1, DT_INST_LABEL(1),
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&mcux_flexcan_init, &mcux_flexcan_data_1,
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&mcux_flexcan_config_1, POST_KERNEL,
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CONFIG_CAN_INIT_PRIORITY, &mcux_flexcan_driver_api);
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static void mcux_flexcan_config_func_1(const struct device *dev)
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{
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IRQ_CONNECT(DT_INST_IRQ_BY_NAME(1, warning, irq),
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DT_INST_IRQ_BY_NAME(1, warning, priority),
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mcux_flexcan_isr, DEVICE_GET(can_mcux_flexcan_1), 0);
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irq_enable(DT_INST_IRQ_BY_NAME(1, warning, irq));
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IRQ_CONNECT(DT_INST_IRQ_BY_NAME(1, error, irq),
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DT_INST_IRQ_BY_NAME(1, error, priority),
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mcux_flexcan_isr, DEVICE_GET(can_mcux_flexcan_1), 0);
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irq_enable(DT_INST_IRQ_BY_NAME(1, error, irq));
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IRQ_CONNECT(DT_INST_IRQ_BY_NAME(1, wake_up, irq),
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DT_INST_IRQ_BY_NAME(1, wake_up, priority),
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mcux_flexcan_isr, DEVICE_GET(can_mcux_flexcan_1), 0);
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irq_enable(DT_INST_IRQ_BY_NAME(1, wake_up, irq));
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IRQ_CONNECT(DT_INST_IRQ_BY_NAME(1, mb_0_15, irq),
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DT_INST_IRQ_BY_NAME(1, mb_0_15, priority),
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mcux_flexcan_isr, DEVICE_GET(can_mcux_flexcan_1), 0);
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irq_enable(DT_INST_IRQ_BY_NAME(1, mb_0_15, irq));
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}
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#endif /* DT_NODE_HAS_STATUS(DT_DRV_INST(1), okay) */
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DT_INST_FOREACH_STATUS_OKAY(FLEXCAN_DEVICE_SOCKET_CAN)
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#endif
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