Merge branch 'refactor/remove_deprecated_can_stuffs' into 'master'

twai: remove the deprecated "CAN" driver code

See merge request espressif/esp-idf!20746

components/driver/include/driver/can.h

@@ -1,67 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#warning driver/can.h is deprecated, please use driver/twai.h instead
-
-#include "hal/can_types.h"
-#include "driver/twai.h"
-
-/* ---------------------------- Compatibility ------------------------------- */
-
-#define CAN_GENERAL_CONFIG_DEFAULT(tx_io_num, rx_io_num, op_mode)   TWAI_GENERAL_CONFIG_DEFAULT(tx_io_num, rx_io_num, op_mode)
-
-#define CAN_ALERT_TX_IDLE               TWAI_ALERT_TX_IDLE
-#define CAN_ALERT_TX_SUCCESS            TWAI_ALERT_TX_SUCCESS
-#define CAN_ALERT_BELOW_ERR_WARN        TWAI_ALERT_BELOW_ERR_WARN
-#define CAN_ALERT_ERR_ACTIVE            TWAI_ALERT_ERR_ACTIVE
-#define CAN_ALERT_RECOVERY_IN_PROGRESS  TWAI_ALERT_RECOVERY_IN_PROGRESS
-#define CAN_ALERT_BUS_RECOVERED         TWAI_ALERT_BUS_RECOVERED
-#define CAN_ALERT_ARB_LOST              TWAI_ALERT_ARB_LOST
-#define CAN_ALERT_ABOVE_ERR_WARN        TWAI_ALERT_ABOVE_ERR_WARN
-#define CAN_ALERT_BUS_ERROR             TWAI_ALERT_BUS_ERROR
-#define CAN_ALERT_TX_FAILED             TWAI_ALERT_TX_FAILED
-#define CAN_ALERT_RX_QUEUE_FULL         TWAI_ALERT_RX_QUEUE_FULL
-#define CAN_ALERT_ERR_PASS              TWAI_ALERT_ERR_PASS
-#define CAN_ALERT_BUS_OFF               TWAI_ALERT_BUS_OFF
-#define CAN_ALERT_ALL                   TWAI_ALERT_ALL
-#define CAN_ALERT_NONE                  TWAI_ALERT_NONE
-#define CAN_ALERT_AND_LOG               TWAI_ALERT_AND_LOG
-
-#define CAN_IO_UNUSED                   TWAI_IO_UNUSED
-
-#define CAN_STATE_STOPPED               TWAI_STATE_STOPPED
-#define CAN_STATE_RUNNING               TWAI_STATE_RUNNING
-#define CAN_STATE_BUS_OFF               TWAI_STATE_BUS_OFF
-#define CAN_STATE_RECOVERING            TWAI_STATE_RECOVERING
-
-#if SOC_TWAI_SUPPORTED
-typedef twai_state_t                    can_state_t;
-typedef twai_general_config_t           can_general_config_t;
-typedef twai_status_info_t              can_status_info_t;
-#endif // SOC_TWAI_SUPPORTED
-
-#define can_driver_install(g_config, t_config, f_config)        twai_driver_install(g_config, t_config, f_config)
-#define can_driver_uninstall()                                  twai_driver_uninstall()
-#define can_start()                                             twai_start()
-#define can_stop()                                              twai_stop()
-#define can_transmit(message, ticks_to_wait)                    twai_transmit(message, ticks_to_wait)
-#define can_receive(message, ticks_to_wait)                     twai_receive(message, ticks_to_wait)
-#define can_read_alerts(alerts, ticks_to_wait)                  twai_read_alerts(alerts, ticks_to_wait)
-#define can_reconfigure_alerts(alerts_enabled, current_alerts)  twai_reconfigure_alerts(alerts_enabled, current_alerts)
-#define can_initiate_recovery()                                 twai_initiate_recovery()
-#define can_get_status_info(status_info)                        twai_get_status_info(status_info)
-#define can_clear_transmit_queue()                              twai_clear_transmit_queue()
-#define can_clear_receive_queue()                               twai_clear_receive_queue()
-
-#ifdef __cplusplus
-}
-#endif

components/hal/esp32/include/hal/can_hal.h

@@ -1,139 +0,0 @@
-// Copyright 2015-2019 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/*******************************************************************************
- * NOTICE
- * The hal is not public api, don't use in application code.
- * See readme.md in hal/include/hal/readme.md
- ******************************************************************************/
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#warning hal/can_hal.h is deprecated, please use hal/twai_hal.h instead
-
-#include "hal/twai_hal.h"
-#include "hal/can_types.h"
-
-/* ------------------------- Defines and Typedefs --------------------------- */
-
-//Error active interrupt related
-#define CAN_HAL_EVENT_BUS_OFF               TWAI_HAL_EVENT_BUS_OFF
-#define CAN_HAL_EVENT_BUS_RECOV_CPLT        TWAI_HAL_EVENT_BUS_RECOV_CPLT
-#define CAN_HAL_EVENT_BUS_RECOV_PROGRESS    TWAI_HAL_EVENT_BUS_RECOV_PROGRESS
-#define CAN_HAL_EVENT_ABOVE_EWL             TWAI_HAL_EVENT_ABOVE_EWL
-#define CAN_HAL_EVENT_BELOW_EWL             TWAI_HAL_EVENT_BELOW_EWL
-#define CAN_HAL_EVENT_ERROR_PASSIVE         TWAI_HAL_EVENT_ERROR_PASSIVE
-#define CAN_HAL_EVENT_ERROR_ACTIVE          TWAI_HAL_EVENT_ERROR_ACTIVE
-#define CAN_HAL_EVENT_BUS_ERR               TWAI_HAL_EVENT_BUS_ERR
-#define CAN_HAL_EVENT_ARB_LOST              TWAI_HAL_EVENT_ARB_LOST
-#define CAN_HAL_EVENT_RX_BUFF_FRAME         TWAI_HAL_EVENT_RX_BUFF_FRAME
-#define CAN_HAL_EVENT_TX_BUFF_FREE          TWAI_HAL_EVENT_TX_BUFF_FREE
-
-typedef twai_hal_context_t can_hal_context_t;
-
-typedef twai_hal_frame_t can_hal_frame_t;
-
-/* ---------------------------- Init and Config ----------------------------- */
-
-static inline bool can_hal_init(can_hal_context_t *hal_ctx){
-    return twai_hal_init(hal_ctx);
-}
-
-static inline void can_hal_deinit(can_hal_context_t *hal_ctx)
-{
-    twai_hal_deinit(hal_ctx);
-}
-
-static inline void can_hal_configure(can_hal_context_t *hal_ctx, const can_timing_config_t *t_config, const can_filter_config_t *f_config, uint32_t intr_mask, uint32_t clkout_divider)
-{
-    twai_hal_configure(hal_ctx, t_config, f_config, intr_mask, clkout_divider);
-}
-
-/* -------------------------------- Actions --------------------------------- */
-
-static inline void can_hal_start(can_hal_context_t *hal_ctx, can_mode_t mode)
-{
-    twai_hal_start(hal_ctx, mode);
-}
-
-static inline void can_hal_stop(can_hal_context_t *hal_ctx)
-{
-    twai_hal_stop(hal_ctx);
-}
-
-static inline void can_hal_start_bus_recovery(can_hal_context_t *hal_ctx)
-{
-    twai_hal_start_bus_recovery(hal_ctx);
-}
-
-static inline uint32_t can_hal_get_tec(can_hal_context_t *hal_ctx)
-{
-    return twai_hal_get_tec(hal_ctx);
-}
-
-static inline uint32_t can_hal_get_rec(can_hal_context_t *hal_ctx)
-{
-    return twai_hal_get_rec(hal_ctx);
-}
-
-static inline uint32_t can_hal_get_rx_msg_count(can_hal_context_t *hal_ctx)
-{
-    return twai_hal_get_rx_msg_count(hal_ctx);
-}
-
-static inline bool can_hal_check_last_tx_successful(can_hal_context_t *hal_ctx)
-{
-    return twai_hal_check_last_tx_successful(hal_ctx);
-}
-
-static inline bool can_hal_check_state_flags(can_hal_context_t *hal_ctx, uint32_t check_flags)
-{
-    return twai_hal_check_state_flags(hal_ctx, check_flags);
-}
-
-/* ----------------------------- Event Handling ----------------------------- */
-
-static inline uint32_t can_hal_decode_interrupt_events(can_hal_context_t *hal_ctx) {
-    return twai_hal_decode_interrupt(hal_ctx);
-}
-
-/* ------------------------------- TX and RX -------------------------------- */
-
-static inline void can_hal_format_frame(const can_message_t *message, can_hal_frame_t *frame)
-{
-    twai_hal_format_frame(message, frame);
-}
-
-static inline void can_hal_parse_frame(can_hal_frame_t *frame, can_message_t *message)
-{
-    twai_hal_parse_frame(frame, message);
-}
-
-static inline void can_hal_set_tx_buffer_and_transmit(can_hal_context_t *hal_ctx, can_hal_frame_t *tx_frame)
-{
-    twai_hal_set_tx_buffer_and_transmit(hal_ctx, tx_frame);
-}
-
-static inline void can_hal_read_rx_buffer_and_clear(can_hal_context_t *hal_ctx, can_hal_frame_t *rx_frame)
-{
-    twai_hal_read_rx_buffer_and_clear(hal_ctx, rx_frame);
-}
-
-#ifdef __cplusplus
-}
-#endif

components/hal/esp32/include/hal/can_ll.h

@@ -1,246 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-/*******************************************************************************
- * NOTICE
- * The ll is not public api, don't use in application code.
- * See readme.md in hal/include/hal/readme.md
- ******************************************************************************/
-
-// The Lowlevel layer for CAN
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#warning hal/can_ll.h is deprecated, please use hal/twai_ll.h instead
-
-#include "hal/twai_ll.h"
-#include "hal/can_types.h"
-#include "soc/can_periph.h"
-
-/* ------------------------- Defines and Typedefs --------------------------- */
-
-#define CAN_LL_STATUS_RBS       TWAI_LL_STATUS_RBS
-#define CAN_LL_STATUS_DOS       TWAI_LL_STATUS_DOS
-#define CAN_LL_STATUS_TBS       TWAI_LL_STATUS_TBS
-#define CAN_LL_STATUS_TCS       TWAI_LL_STATUS_TCS
-#define CAN_LL_STATUS_RS        TWAI_LL_STATUS_RS
-#define CAN_LL_STATUS_TS        TWAI_LL_STATUS_TS
-#define CAN_LL_STATUS_ES        TWAI_LL_STATUS_ES
-#define CAN_LL_STATUS_BS        TWAI_LL_STATUS_BS
-
-#define CAN_LL_INTR_RI          TWAI_LL_INTR_RI
-#define CAN_LL_INTR_TI          TWAI_LL_INTR_TI
-#define CAN_LL_INTR_EI          TWAI_LL_INTR_EI
-#define CAN_LL_INTR_EPI         TWAI_LL_INTR_EPI
-#define CAN_LL_INTR_ALI         TWAI_LL_INTR_ALI
-#define CAN_LL_INTR_BEI         TWAI_LL_INTR_BEI
-
-typedef twai_ll_frame_buffer_t can_ll_frame_buffer_t;
-
-/* ---------------------------- Mode Register ------------------------------- */
-
-static inline void can_ll_enter_reset_mode(can_dev_t *hw)
-{
-    twai_ll_enter_reset_mode(hw);
-}
-
-static inline void can_ll_exit_reset_mode(can_dev_t *hw)
-{
-    twai_ll_exit_reset_mode(hw);
-}
-
-static inline bool can_ll_is_in_reset_mode(can_dev_t *hw)
-{
-    return twai_ll_is_in_reset_mode(hw);
-}
-
-static inline void can_ll_set_mode(can_dev_t *hw, can_mode_t mode)
-{
-    twai_ll_set_mode(hw, mode);
-}
-
-/* --------------------------- Command Register ----------------------------- */
-
-static inline void can_ll_set_cmd_tx(can_dev_t *hw)
-{
-    twai_ll_set_cmd_tx(hw);
-}
-
-static inline void can_ll_set_cmd_tx_single_shot(can_dev_t *hw)
-{
-    twai_ll_set_cmd_tx_single_shot(hw);
-}
-
-static inline void can_ll_set_cmd_abort_tx(can_dev_t *hw)
-{
-    twai_ll_set_cmd_abort_tx(hw);
-}
-
-static inline void can_ll_set_cmd_release_rx_buffer(can_dev_t *hw)
-{
-    twai_ll_set_cmd_release_rx_buffer(hw);
-}
-
-static inline void can_ll_set_cmd_clear_data_overrun(can_dev_t *hw)
-{
-    twai_ll_set_cmd_clear_data_overrun(hw);
-}
-
-static inline void can_ll_set_cmd_self_rx_request(can_dev_t *hw)
-{
-    twai_ll_set_cmd_self_rx_request(hw);
-}
-
-static inline void can_ll_set_cmd_self_rx_single_shot(can_dev_t *hw)
-{
-    twai_ll_set_cmd_self_rx_single_shot(hw);
-}
-
-/* --------------------------- Status Register ------------------------------ */
-
-static inline uint32_t can_ll_get_status(can_dev_t *hw)
-{
-    return twai_ll_get_status(hw);
-}
-
-static inline bool can_ll_is_fifo_overrun(can_dev_t *hw)
-{
-    return twai_ll_is_fifo_overrun(hw);
-}
-
-static inline bool can_ll_is_last_tx_successful(can_dev_t *hw)
-{
-    return twai_ll_is_last_tx_successful(hw);
-}
-
-/* -------------------------- Interrupt Register ---------------------------- */
-
-static inline uint32_t can_ll_get_and_clear_intrs(can_dev_t *hw)
-{
-    return twai_ll_get_and_clear_intrs(hw);
-}
-
-/* ----------------------- Interrupt Enable Register ------------------------ */
-
-static inline void can_ll_set_enabled_intrs(can_dev_t *hw, uint32_t intr_mask)
-{
-    twai_ll_set_enabled_intrs(hw, intr_mask);
-}
-
-/* ------------------------ Bus Timing Registers --------------------------- */
-
-static inline void can_ll_set_bus_timing(can_dev_t *hw, uint32_t brp, uint32_t sjw, uint32_t tseg1, uint32_t tseg2, bool triple_sampling)
-{
-    twai_ll_set_bus_timing(hw, brp, sjw, tseg1, tseg2, triple_sampling);
-}
-
-/* ----------------------------- ALC Register ------------------------------- */
-
-static inline void can_ll_clear_arb_lost_cap(can_dev_t *hw)
-{
-    twai_ll_clear_arb_lost_cap(hw);
-}
-
-/* ----------------------------- ECC Register ------------------------------- */
-
-static inline void can_ll_clear_err_code_cap(can_dev_t *hw)
-{
-    twai_ll_clear_err_code_cap(hw);
-}
-
-/* ----------------------------- EWL Register ------------------------------- */
-
-static inline void can_ll_set_err_warn_lim(can_dev_t *hw, uint32_t ewl)
-{
-    twai_ll_set_err_warn_lim(hw, ewl);
-}
-
-static inline uint32_t can_ll_get_err_warn_lim(can_dev_t *hw)
-{
-    return twai_ll_get_err_warn_lim(hw);
-}
-
-/* ------------------------ RX Error Count Register ------------------------- */
-
-static inline uint32_t can_ll_get_rec(can_dev_t *hw)
-{
-    return twai_ll_get_rec(hw);
-}
-
-static inline void can_ll_set_rec(can_dev_t *hw, uint32_t rec)
-{
-    twai_ll_set_rec(hw, rec);
-}
-
-/* ------------------------ TX Error Count Register ------------------------- */
-
-static inline uint32_t can_ll_get_tec(can_dev_t *hw)
-{
-    return twai_ll_get_tec(hw);
-}
-
-static inline void can_ll_set_tec(can_dev_t *hw, uint32_t tec)
-{
-    twai_ll_set_tec(hw, tec);
-}
-
-/* ---------------------- Acceptance Filter Registers ----------------------- */
-
-static inline void can_ll_set_acc_filter(can_dev_t* hw, uint32_t code, uint32_t mask, bool single_filter)
-{
-    twai_ll_set_acc_filter(hw, code, mask, single_filter);
-}
-
-/* ------------------------- TX/RX Buffer Registers ------------------------- */
-
-static inline void can_ll_set_tx_buffer(can_dev_t *hw, can_ll_frame_buffer_t *tx_frame)
-{
-    twai_ll_set_tx_buffer(hw, tx_frame);
-}
-
-static inline void can_ll_get_rx_buffer(can_dev_t *hw, can_ll_frame_buffer_t *rx_frame)
-{
-    twai_ll_get_rx_buffer(hw, rx_frame);
-}
-
-static inline void can_ll_format_frame_buffer(uint32_t id, uint8_t dlc, const uint8_t *data,
-                                              uint32_t flags, can_ll_frame_buffer_t *tx_frame)
-{
-    twai_ll_format_frame_buffer(id, dlc, data, flags, tx_frame);
-}
-
-static inline void can_ll_prase_frame_buffer(can_ll_frame_buffer_t *rx_frame, uint32_t *id, uint8_t *dlc,
-                                             uint8_t *data, uint32_t *flags)
-{
-    twai_ll_parse_frame_buffer(rx_frame, id, dlc, data, flags);
-}
-
-/* ----------------------- RX Message Count Register ------------------------ */
-
-static inline uint32_t can_ll_get_rx_msg_count(can_dev_t *hw)
-{
-    return twai_ll_get_rx_msg_count(hw);
-}
-
-/* ------------------------- Clock Divider Register ------------------------- */
-
-static inline void can_ll_set_clkout(can_dev_t *hw, uint32_t divider)
-{
-    twai_ll_set_clkout(hw, divider);
-}
-
-static inline void can_ll_enable_extended_reg_layout(can_dev_t *hw)
-{
-    twai_ll_enable_extended_reg_layout(hw);
-}
-
-#ifdef __cplusplus
-}
-#endif

components/hal/include/hal/can_types.h

@@ -1,60 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#warning hal/can_types.h is deprecated, please use hal/twai_types.h instead
-
-#include "hal/twai_types.h"
-
-/* ---------------------------- Compatibility ------------------------------- */
-
-#define CAN_EXTD_ID_MASK                TWAI_EXTD_ID_MASK
-#define CAN_STD_ID_MASK                 TWAI_STD_ID_MASK
-#define CAN_FRAME_MAX_DLC               TWAI_FRAME_MAX_DLC
-#define CAN_FRAME_EXTD_ID_LEN_BYTES     TWAI_FRAME_EXTD_ID_LEN_BYTES
-#define CAN_FRAME_STD_ID_LEN_BYTES      TWAI_FRAME_STD_ID_LEN_BYTES
-#define CAN_ERR_PASS_THRESH             TWAI_ERR_PASS_THRESH
-
-#define CAN_MSG_FLAG_NONE               TWAI_MSG_FLAG_NONE
-#define CAN_MSG_FLAG_EXTD               TWAI_MSG_FLAG_EXTD
-#define CAN_MSG_FLAG_RTR                TWAI_MSG_FLAG_RTR
-#define CAN_MSG_FLAG_SS                 TWAI_MSG_FLAG_SS
-#define CAN_MSG_FLAG_SELF               TWAI_MSG_FLAG_SELF
-#define CAN_MSG_FLAG_DLC_NON_COMP       TWAI_MSG_FLAG_DLC_NON_COMP
-
-#if (SOC_TWAI_BRP_MAX > 128) || (CONFIG_ESP32_REV_MIN >= 2)
-#define CAN_TIMING_CONFIG_12_5KBITS()   TWAI_TIMING_CONFIG_12_5KBITS()
-#define CAN_TIMING_CONFIG_16KBITS()     TWAI_TIMING_CONFIG_16KBITS()
-#define CAN_TIMING_CONFIG_20KBITS()     TWAI_TIMING_CONFIG_20KBITS()
-#endif
-#define CAN_TIMING_CONFIG_25KBITS()     TWAI_TIMING_CONFIG_25KBITS()
-#define CAN_TIMING_CONFIG_50KBITS()     TWAI_TIMING_CONFIG_50KBITS()
-#define CAN_TIMING_CONFIG_100KBITS()    TWAI_TIMING_CONFIG_100KBITS()
-#define CAN_TIMING_CONFIG_125KBITS()    TWAI_TIMING_CONFIG_125KBITS()
-#define CAN_TIMING_CONFIG_250KBITS()    TWAI_TIMING_CONFIG_250KBITS()
-#define CAN_TIMING_CONFIG_500KBITS()    TWAI_TIMING_CONFIG_500KBITS()
-#define CAN_TIMING_CONFIG_800KBITS()    TWAI_TIMING_CONFIG_800KBITS()
-#define CAN_TIMING_CONFIG_1MBITS()      TWAI_TIMING_CONFIG_1MBITS()
-
-#define CAN_FILTER_CONFIG_ACCEPT_ALL()  TWAI_FILTER_CONFIG_ACCEPT_ALL()
-
-typedef twai_mode_t                     can_mode_t;
-#define CAN_MODE_NORMAL                 TWAI_MODE_NORMAL
-#define CAN_MODE_NO_ACK                 TWAI_MODE_NO_ACK
-#define CAN_MODE_LISTEN_ONLY            TWAI_MODE_LISTEN_ONLY
-
-typedef twai_message_t                  can_message_t;
-typedef twai_timing_config_t            can_timing_config_t;
-typedef twai_filter_config_t            can_filter_config_t;
-
-#ifdef __cplusplus
-}
-#endif

components/soc/esp32/include/soc/can_periph.h

@@ -1,32 +0,0 @@
-// Copyright 2019 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#pragma once
-
-#include "sdkconfig.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#warning soc/can_periph.h is deprecated, please use soc/twai_periph.h instead
-
-#if CONFIG_IDF_TARGET_ESP32
-#include "soc/soc_caps.h"
-#include "soc/can_struct.h"
-#endif
-
-#ifdef __cplusplus
-}
-#endif

components/soc/esp32/include/soc/can_struct.h

@@ -1,30 +0,0 @@
-// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#warning soc/can_struct.h is deprecated, please use soc/twai_struct.h instead
-
-#include "soc/twai_struct.h"
-
-typedef twai_dev_t can_dev_t;
-extern can_dev_t CAN;
-
-#ifdef __cplusplus
-}
-#endif

components/soc/esp32/include/soc/soc_caps.h

@@ -369,16 +369,6 @@
 #define SOC_PM_SUPPORT_RTC_FAST_MEM_PD            (1)
 #define SOC_PM_SUPPORT_RTC_SLOW_MEM_PD            (1)
 
-/* ---------------------------- Compatibility ------------------------------- */
-#define SOC_CAN_SUPPORTED                   SOC_TWAI_SUPPORTED
-#define CAN_BRP_MIN                         SOC_TWAI_BRP_MIN
-#define CAN_BRP_MAX                         SOC_TWAI_BRP_MAX
-#define CAN_SUPPORT_MULTI_ADDRESS_LAYOUT    SOC_TWAI_SUPPORT_MULTI_ADDRESS_LAYOUT
-#if SOC_CAPS_ECO_VER >= 2
-#  define CAN_BRP_DIV_SUPPORTED             SOC_TWAI_BRP_DIV_SUPPORTED
-#  define CAN_BRP_DIV_THRESH                SOC_TWAI_BRP_DIV_THRESH
-#endif
-
 /*-------------------------- SDMMC CAPS -----------------------------------------*/
 
 /* On ESP32, clock/cmd/data pins use IO MUX.

components/soc/esp32/ld/esp32.peripherals.ld

@@ -36,7 +36,6 @@ PROVIDE ( EMAC_DMA = 0x3ff69000 );
 PROVIDE ( EMAC_EXT = 0x3ff69800 );
 PROVIDE ( EMAC_MAC = 0x3ff6A000 );
 PROVIDE ( TWAI = 0x3ff6B000 );
-PROVIDE ( CAN = 0x3ff6B000 );
 PROVIDE ( MCPWM1 = 0x3ff6C000 );
 PROVIDE ( I2S1 = 0x3ff6D000 );
 PROVIDE ( UART2 = 0x3ff6E000 );

docs/en/migration-guides/release-5.x/peripherals.rst

@@ -21,9 +21,9 @@ ADC
 ADC Oneshot & Continuous Mode drivers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-The ADC oneshot mode driver has been redesigned. 
+The ADC oneshot mode driver has been redesigned.
 
-- The new driver is in ``esp_adc`` component and the include path is ``esp_adc/adc_oneshot.h``. 
+- The new driver is in ``esp_adc`` component and the include path is ``esp_adc/adc_oneshot.h``.
 - The legacy driver is still available in the previous include path ``driver/adc.h``.
 
 The ADC continuous mode driver has been moved from ``driver`` component to ``esp_adc`` component.
@@ -56,8 +56,8 @@ API Changes
 
 - The ADC power management APIs ``adc_power_acquire`` and ``adc_power_release`` have made private and moved to ``esp_private/adc_share_hw_ctrl.h``.
 
-    - The two APIs were previously made public due to a HW errata workaround. 
-    - Now, ADC power management is completely handled internally by drivers. 
+    - The two APIs were previously made public due to a HW errata workaround.
+    - Now, ADC power management is completely handled internally by drivers.
     - Users who still require this API can include ``esp_private/adc_share_hw_ctrl.h`` to continue using these functions.
 
 - ``driver/adc2_wifi_private.h`` has been moved to ``esp_private/adc_share_hw_ctrl.h``.
@@ -87,11 +87,11 @@ GPIO
     Sigma-Delta Modulator
     ---------------------
 
-    The Sigma-Delta Modulator driver has been redesigned into :doc:`SDM <../../api-reference/peripherals/sdm>`. 
-    
-    - The new driver implements a factory pattern, where the SDM channels are managed in a pool internally, thus users don't have to fix a SDM channel to a GPIO manually. 
-    - All SDM channels can be allocated dynamically. 
-    
+    The Sigma-Delta Modulator driver has been redesigned into :doc:`SDM <../../api-reference/peripherals/sdm>`.
+
+    - The new driver implements a factory pattern, where the SDM channels are managed in a pool internally, thus users don't have to fix a SDM channel to a GPIO manually.
+    - All SDM channels can be allocated dynamically.
+
     Although it's recommended to use the new driver APIs, the legacy driver is still available in the previous include path ``driver/sigmadelta.h``. However, by default, including ``driver/sigmadelta.h`` will trigger the build warning below. The warning can be suppressed by Kconfig option :ref:`CONFIG_SDM_SUPPRESS_DEPRECATE_WARN`.
 
     .. code-block:: text
@@ -117,7 +117,7 @@ GPIO
 Timer Group Driver
 ------------------
 
-Timer Group driver has been redesigned into :doc:`GPTimer <../../api-reference/peripherals/gptimer>`, which aims to unify and simplify the usage of general purpose timer. 
+Timer Group driver has been redesigned into :doc:`GPTimer <../../api-reference/peripherals/gptimer>`, which aims to unify and simplify the usage of general purpose timer.
 
 Although it's recommended to use the new driver APIs, the legacy driver is still available in the previous include path ``driver/timer.h``. However, by default, including ``driver/timer.h`` will trigger the build warning below. The warning can be suppressed by the Kconfig option :ref:`CONFIG_GPTIMER_SUPPRESS_DEPRECATE_WARN`.
 
@@ -149,8 +149,8 @@ Breaking Changes in Usage
 UART
 ----
 
-.. list-table:: 
-    :width: 700 px 
+.. list-table::
+    :width: 700 px
     :header-rows: 1
 
     * - Removed/Deprecated items
@@ -162,18 +162,18 @@ UART
     * - ``uart_isr_free()``
       - None
       - UART interrupt handling is implemented by driver itself.
-    * - ``use_ref_tick`` in :cpp:type:`uart_config_t` 
+    * - ``use_ref_tick`` in :cpp:type:`uart_config_t`
       - :cpp:member:`uart_config_t::source_clk`
-      - Select the clock source. 
+      - Select the clock source.
     * - ``uart_enable_pattern_det_intr()``
-      - :cpp:func:`uart_enable_pattern_det_baud_intr` 
-      - Enable pattern detection interrupt.  
+      - :cpp:func:`uart_enable_pattern_det_baud_intr`
+      - Enable pattern detection interrupt.
 
 I2C
 ---
 
 .. list-table::
-    :width: 700 px 
+    :width: 700 px
     :header-rows: 1
 
     * - Removed/Deprecated items
@@ -182,7 +182,7 @@ I2C
     * - ``i2c_isr_register()``
       - None
       - I2C interrupt handling is implemented by driver itself.
-    * - ``i2c_isr_register()`` 
+    * - ``i2c_isr_register()``
       - None
       - I2C interrupt handling is implemented by driver itself.
     * - ``i2c_opmode_t``
@@ -192,15 +192,15 @@ I2C
 SPI
 ---
 
-.. list-table:: 
-    :width: 700 px 
+.. list-table::
+    :width: 700 px
     :header-rows: 1
 
     * - Removed/Deprecated items
       - Replacement
       - Remarks
     * - ``spi_cal_clock()``
-      - :cpp:func:`spi_get_actual_clock` 
+      - :cpp:func:`spi_get_actual_clock`
       - Get SPI real working frequency.
 
 - The internal header file ``spi_common_internal.h`` has been moved to ``esp_private/spi_common_internal.h``.
@@ -210,22 +210,22 @@ SPI
     SDMMC
     -----
 
-    .. list-table:: 
-        :width: 700 px 
+    .. list-table::
+        :width: 700 px
         :header-rows: 1
 
         * - Removed/Deprecated items
           - Replacement
           - Remarks
         * - ``sdmmc_host_pullup_en()``
-          - set ``SDMMC_SLOT_FLAG_INTERNAL_PULLUP`` flag in :cpp:member:`sdmmc_slot_config_t::flags` 
+          - set ``SDMMC_SLOT_FLAG_INTERNAL_PULLUP`` flag in :cpp:member:`sdmmc_slot_config_t::flags`
           - Enable internal pull up.
 
 LEDC
 -----
 
-.. list-table:: 
-    :width: 700 px 
+.. list-table::
+    :width: 700 px
     :header-rows: 1
 
     * - Removed/Deprecated items
@@ -233,15 +233,15 @@ LEDC
       - Remarks
     * - ``bit_num`` in :cpp:type:`ledc_timer_config_t`
       - :cpp:member:`ledc_timer_config_t::duty_resolution`
-      - Set resolution of the duty cycle. 
+      - Set resolution of the duty cycle.
 
 .. only:: SOC_PCNT_SUPPORTED
 
     Pulse Counter Driver
     --------------------
 
-    Pulse counter driver has been redesigned (see :doc:`PCNT <../../api-reference/peripherals/pcnt>`), which aims to unify and simplify the usage of PCNT peripheral. 
-    
+    Pulse counter driver has been redesigned (see :doc:`PCNT <../../api-reference/peripherals/pcnt>`), which aims to unify and simplify the usage of PCNT peripheral.
+
     Although it's recommended to use the new driver APIs, the legacy driver is still available in the previous include path ``driver/pcnt.h``. However, including ``driver/pcnt.h`` will trigger the build warning below by default. The warning can be suppressed by the Kconfig option :ref:`CONFIG_PCNT_SUPPRESS_DEPRECATE_WARN`.
 
     .. code-block:: text
@@ -261,7 +261,7 @@ LEDC
     ^^^^^^^^^^^^^^^^^^^^^^^^^
 
     - Previously, the PCNT unit configuration and channel configuration were combined into a single function: ``pcnt_unit_config``. They are now split into the two factory APIs: :cpp:func:`pcnt_new_unit` and :cpp:func:`pcnt_new_channel` respectively.
-    
+
         - Only the count range is necessary for initializing a PCNT unit. GPIO number assignment has been moved to :cpp:func:`pcnt_new_channel`.
         - High/Low control mode and positive/negative edge count mode are set by stand-alone functions: :cpp:func:`pcnt_channel_set_edge_action` and :cpp:func:`pcnt_channel_set_level_action`.
 
@@ -301,8 +301,8 @@ LEDC
     RMT Driver
     ----------
 
-    RMT driver has been redesigned (see :doc:`RMT transceiver <../../api-reference/peripherals/rmt>`), which aims to unify and extend the usage of RMT peripheral. 
-    
+    RMT driver has been redesigned (see :doc:`RMT transceiver <../../api-reference/peripherals/rmt>`), which aims to unify and extend the usage of RMT peripheral.
+
     Although it's recommended to use the new driver APIs, the legacy driver is still available in the previous include path ``driver/rmt.h``. However, including ``driver/rmt.h`` will trigger the build warning below by default. The warning can be suppressed by the Kconfig option :ref:`CONFIG_RMT_SUPPRESS_DEPRECATE_WARN`.
 
     .. code-block:: text
@@ -376,10 +376,10 @@ LCD
     MCPWM
     -----
 
-    MCPWM driver was redesigned (see :doc:`MCPWM <../../api-reference/peripherals/mcpwm>`), meanwhile, the legacy driver is deprecated. 
-    
-    The new driver's aim is to make each MCPWM submodule independent to each other, and give the freedom of resource connection back to users. 
-    
+    MCPWM driver was redesigned (see :doc:`MCPWM <../../api-reference/peripherals/mcpwm>`), meanwhile, the legacy driver is deprecated.
+
+    The new driver's aim is to make each MCPWM submodule independent to each other, and give the freedom of resource connection back to users.
+
     Although it's recommended to use the new driver APIs, the legacy driver is still available in the previous include path ``driver/mcpwm.h``. However, using legacy driver will rigger the build warning below by default. This warning can be suppressed by the Kconfig option :ref:`CONFIG_MCPWM_SUPPRESS_DEPRECATE_WARN`.
 
     .. code-block:: text
@@ -454,10 +454,10 @@ LCD
     I2S driver
     ----------
 
-    The I2S driver has been redesigned (see :doc:`I2S Driver <../../api-reference/peripherals/i2s>`), which aims to rectify the shortcomings of the driver that were exposed when supporting all the new features of ESP32-C3 & ESP32-S3. The new driver's APIs are available by including corresponding I2S mode's header files :component_file:`driver/include/driver/i2s_std.h`, :component_file:`driver/include/driver/i2s_pdm.h`, or :component_file:`driver/include/driver/i2s_tdm.h`. 
-    
-    Meanwhile, the old driver's APIs in :component_file:`driver/deprecated/driver/i2s.h` are still supported for backward compatibility. But there will be warnings if users keep using the old APIs in their projects, these warnings can be suppressed by the Kconfig option :ref:`CONFIG_I2S_SUPPRESS_DEPRECATE_WARN`. 
-    
+    The I2S driver has been redesigned (see :doc:`I2S Driver <../../api-reference/peripherals/i2s>`), which aims to rectify the shortcomings of the driver that were exposed when supporting all the new features of ESP32-C3 & ESP32-S3. The new driver's APIs are available by including corresponding I2S mode's header files :component_file:`driver/include/driver/i2s_std.h`, :component_file:`driver/include/driver/i2s_pdm.h`, or :component_file:`driver/include/driver/i2s_tdm.h`.
+
+    Meanwhile, the old driver's APIs in :component_file:`driver/deprecated/driver/i2s.h` are still supported for backward compatibility. But there will be warnings if users keep using the old APIs in their projects, these warnings can be suppressed by the Kconfig option :ref:`CONFIG_I2S_SUPPRESS_DEPRECATE_WARN`.
+
     Here is the general overview of the current I2S files:
 
     .. figure:: ../../../_static/diagrams/i2s/i2s_file_structure.png
@@ -499,7 +499,7 @@ LCD
     - Calling :cpp:func:`i2s_channel_reconfig_std_slot`, :cpp:func:`i2s_channel_reconfig_pdm_rx_slot`, :cpp:func:`i2s_channel_reconfig_pdm_tx_slot`, or :cpp:func:`i2s_channel_reconfig_tdm_slot` can change the slot configurations after initialization.
     - Calling :cpp:func:`i2s_channel_reconfig_std_clock`, :cpp:func:`i2s_channel_reconfig_pdm_rx_clock`, :cpp:func:`i2s_channel_reconfig_pdm_tx_clock`, or :cpp:func:`i2s_channel_reconfig_tdm_clock` can change the clock configurations after initialization.
     - Calling :cpp:func:`i2s_channel_reconfig_std_gpio`, :cpp:func:`i2s_channel_reconfig_pdm_rx_gpio`, :cpp:func:`i2s_channel_reconfig_pdm_tx_gpio`, or :cpp:func:`i2s_channel_reconfig_tdm_gpio` can change the GPIO configurations after initialization.
-        
+
     Misc
     """"
 
@@ -520,6 +520,13 @@ LCD
     7. Call :cpp:func:`i2s_channel_disable` to stop the hardware of I2S channel.
     8. Call :cpp:func:`i2s_del_channel` to delete and release the resources of the channel if it is not needed any more, but the channel must be disabled before deleting it.
 
+.. only:: SOC_TWAI_SUPPORTED
+
+    TWAI Driver
+    -----------
+
+    The deprecated ``CAN`` peripheral driver is removed. Please use ``TWAI`` driver instead (i.e. include ``driver/twai.h`` in your application).
+
 Register Access Macros
 ----------------------
 

tools/ci/check_copyright_ignore.txt

@@ -691,8 +691,6 @@ components/hal/aes_hal.c
 components/hal/dac_hal.c
 components/hal/ds_hal.c
 components/hal/esp32/include/hal/aes_ll.h
-components/hal/esp32/include/hal/can_hal.h
-components/hal/esp32/include/hal/can_types.h
 components/hal/esp32/include/hal/mpu_ll.h
 components/hal/esp32/include/hal/rwdt_ll.h
 components/hal/esp32/include/hal/spi_flash_encrypted_ll.h
@@ -933,8 +931,6 @@ components/soc/esp32/include/soc/apb_ctrl_reg.h
 components/soc/esp32/include/soc/apb_ctrl_struct.h
 components/soc/esp32/include/soc/bb_reg.h
 components/soc/esp32/include/soc/boot_mode.h
-components/soc/esp32/include/soc/can_periph.h
-components/soc/esp32/include/soc/can_struct.h
 components/soc/esp32/include/soc/dac_channel.h
 components/soc/esp32/include/soc/emac_dma_struct.h
 components/soc/esp32/include/soc/emac_ext_struct.h

tools/idf_py_actions/hints.yml

@@ -108,6 +108,9 @@
             re_variables: ['esp_panic.h']
             hint_variables: ['esp_panic.h', 'use functionalities provided in esp_debug_helpers.h']
 
+        -   re_variables: ['driver/can.h']
+            hint_variables: ['driver/can.h', 'driver/twai.h']
+
 -
     re: "error: implicit declaration of function 'esp_int_wdt_\\w+'"
     hint: 'The Interrupt Watchdog API has been made private, it shall not be used anymore. You can still force its inclusion with #include "esp_private/esp_int_wdt.h" (not recommended)'