Add support for FLexCAN on S32K344

boards/arm/mr_canhubk3/doc/index.rst

@@ -50,6 +50,7 @@ SIUL2         on-chip     | pinctrl
                           | external interrupt controller
 LPUART        on-chip     serial
 QSPI          on-chip     flash
+FLEXCAN       on-chip     can
 ============  ==========  ================================
 
 The default configuration can be found in the Kconfig file
@@ -107,6 +108,73 @@ P6.2       PTA9   LPUART2_TX
 P6.3       PTA8   LPUART2_RX
 =========  =====  ============
 
+CAN
+===
+
+CAN is provided through FLEXCAN interface with 6 instances.
+
+===============  =======  ===============  =============
+Devicetree node  Pin      Pin Function     Bus Connector
+===============  =======  ===============  =============
+flexcan0         | PTA6   | PTA6_CAN0_RX   P12/P13
+                 | PTA7   | PTA7_CAN0_TX
+flexcan1         | PTC9   | PTC9_CAN0_RX   P14/P15
+                 | PTC8   | PTC8_CAN0_TX
+flexcan2         | PTE25  | PTE25_CAN0_RX  P16/P17
+                 | PTE24  | PTE24_CAN0_TX
+flexcan3         | PTC29  | PTC29_CAN0_RX  P18/019
+                 | PTC28  | PTC28_CAN0_TX
+flexcan4         | PTC31  | PTC31_CAN0_RX  P20/P21
+                 | PTC30  | PTC30_CAN0_TX
+flexcan5         | PTC11  | PTC11_CAN0_RX  P22/P23
+                 | PTC10  | PTC10_CAN0_TX
+===============  =======  ===============  =============
+
+.. note::
+   There is limitation by HAL SDK, so CAN only has support maximum 64 message buffers (MBs)
+   and support maximum 32 message buffers for concurrent active instances with 8 bytes
+   payload. We need to pay attention to configuration options:
+
+   1. :kconfig:option:`CONFIG_CAN_MAX_MB` must be less or equal than the
+      maximum number of message buffers that is according to the table below.
+
+   2. :kconfig:option:`CONFIG_CAN_MAX_FILTER` must be less or equal than
+      :kconfig:option:`CONFIG_CAN_MAX_MB`.
+
+===============  ==========  ================  ================
+Devicetree node  Payload     Hardware support  Software support
+===============  ==========  ================  ================
+flexcan0         | 8 bytes   | 96 MBs          | 64 MBs
+                 | 16 bytes  | 63 MBs          | 42 MBs
+                 | 32 bytes  | 36 MBs          | 24 MBs
+                 | 64 bytes  | 21 MBs          | 14 MBs
+flexcan1         | 8 bytes   | 64 MBs          | 64 MBs
+                 | 16 bytes  | 42 MBs          | 42 MBs
+                 | 32 bytes  | 24 MBs          | 24 MBs
+                 | 64 bytes  | 14 MBs          | 14 MBs
+flexcan2         | 8 bytes   | 64 MBs          | 64 MBs
+                 | 16 bytes  | 42 MBs          | 42 MBs
+                 | 32 bytes  | 24 MBs          | 24 MBs
+                 | 64 bytes  | 14 MBs          | 14 MBs
+flexcan3         | 8 bytes   | 32 MBs          | 32 MBs
+                 | 16 bytes  | 21 MBs          | 21 MBs
+                 | 32 bytes  | 12 MBs          | 12 MBs
+                 | 64 bytes  | 7 MBs           | 7 MBs
+flexcan4         | 8 bytes   | 32 MBs          | 32 MBs
+                 | 16 bytes  | 21 MBs          | 21 MBs
+                 | 32 bytes  | 12 MBs          | 12 MBs
+                 | 64 bytes  | 7 MBs           | 7 MBs
+flexcan5         | 8 bytes   | 32 MBs          | 32 MBs
+                 | 16 bytes  | 21 MBs          | 21 MBs
+                 | 32 bytes  | 12 MBs          | 12 MBs
+                 | 64 bytes  | 7 MBs           | 7 MBs
+===============  ==========  ================  ================
+
+.. note::
+   A CAN bus usually requires 60 Ohm termination at both ends of the bus. This may be
+   accomplished using one of the included CAN termination boards. For more details, refer
+   to the section ``6.3 CAN Connectors`` in the Hardware User Manual of `NXP MR-CANHUBK3`_.
+
 FS26 SBC Watchdog
 =================
 

boards/arm/mr_canhubk3/mr_canhubk3-pinctrl.dtsi

@@ -110,4 +110,70 @@
 			bias-pull-up;
 		};
 	};
+
+	flexcan0_default: flexcan0_default {
+		group1 {
+			pinmux = <PTA6_CAN0_RX>;
+			input-enable;
+		};
+		group2 {
+			pinmux = <PTA7_CAN0_TX>;
+			output-enable;
+		};
+	};
+
+	flexcan1_default: flexcan1_default {
+		group1 {
+			pinmux = <PTC9_CAN1_RX>;
+			input-enable;
+		};
+		group2 {
+			pinmux = <PTC8_CAN1_TX>;
+			output-enable;
+		};
+	};
+
+	flexcan2_default: flexcan2_default {
+		group1 {
+			pinmux = <PTE25_CAN2_RX>;
+			input-enable;
+		};
+		group2 {
+			pinmux = <PTE24_CAN2_TX>;
+			output-enable;
+		};
+	};
+
+	flexcan3_default: flexcan3_default {
+		group1 {
+			pinmux = <PTC29_CAN3_RX>;
+			input-enable;
+		};
+		group2 {
+			pinmux = <PTC28_CAN3_TX>;
+			output-enable;
+		};
+	};
+
+	flexcan4_default: flexcan4_default {
+		group1 {
+			pinmux = <PTC31_CAN4_RX>;
+			input-enable;
+		};
+		group2 {
+			pinmux = <PTC30_CAN4_TX>;
+			output-enable;
+		};
+	};
+
+	flexcan5_default: flexcan5_default {
+		group1 {
+			pinmux = <PTC11_CAN5_RX>;
+			input-enable;
+		};
+		group2 {
+			pinmux = <PTC10_CAN5_TX>;
+			output-enable;
+		};
+	};
 };

boards/arm/mr_canhubk3/mr_canhubk3.dts

@@ -22,6 +22,7 @@
 		zephyr,console = &lpuart2;
 		zephyr,shell-uart = &lpuart2;
 		zephyr,flash-controller = &mx25l6433f;
+		zephyr,canbus = &flexcan0;
 	};
 
 	aliases {
@@ -59,6 +60,54 @@
 			gpios = <&gpioa_h 9 GPIO_ACTIVE_HIGH>;
 		};
 	};
+
+	can_phy0: can-phy0 {
+		compatible = "nxp,tja1443", "can-transceiver-gpio";
+		enable-gpios = <&gpioc_h 8 GPIO_ACTIVE_HIGH>;
+		standby-gpios = <&gpioc_h 5 GPIO_ACTIVE_LOW>;
+		max-bitrate = <5000000>;
+		#phy-cells = <0>;
+	};
+
+	can_phy1: can-phy1 {
+		compatible = "nxp,tja1443", "can-transceiver-gpio";
+		enable-gpios = <&gpiod_l 2 GPIO_ACTIVE_HIGH>;
+		standby-gpios = <&gpiod_h 7 GPIO_ACTIVE_LOW>;
+		max-bitrate = <5000000>;
+		#phy-cells = <0>;
+	};
+
+	can_phy2: can-phy2 {
+		compatible = "nxp,tja1463", "can-transceiver-gpio";
+		enable-gpios = <&gpiod_l 4 GPIO_ACTIVE_HIGH>;
+		standby-gpios = <&gpiod_h 6 GPIO_ACTIVE_LOW>;
+		max-bitrate = <8000000>;
+		#phy-cells = <0>;
+	};
+
+	can_phy3: can-phy3 {
+		compatible = "nxp,tja1463", "can-transceiver-gpio";
+		enable-gpios = <&gpiob_l 0 GPIO_ACTIVE_HIGH>;
+		standby-gpios = <&gpiob_l 1 GPIO_ACTIVE_LOW>;
+		max-bitrate = <8000000>;
+		#phy-cells = <0>;
+	};
+
+	can_phy4: can-phy4 {
+		compatible = "nxp,tja1153", "can-transceiver-gpio";
+		enable-gpios = <&gpioc_h 10 GPIO_ACTIVE_HIGH>;
+		standby-gpios = <&gpioc_h 9 GPIO_ACTIVE_LOW>;
+		max-bitrate = <2000000>;
+		#phy-cells = <0>;
+	};
+
+	can_phy5: can-phy5 {
+		compatible = "nxp,tja1153", "can-transceiver-gpio";
+		enable-gpios = <&gpioe_h 1 GPIO_ACTIVE_HIGH>;
+		standby-gpios = <&gpiod_h 14 GPIO_ACTIVE_LOW>;
+		max-bitrate = <2000000>;
+		#phy-cells = <0>;
+	};
 };
 
 &flash0 {
@@ -87,10 +136,28 @@
 	status = "okay";
 };
 
+/* Enable gpio to control the CAN transceivers */
+
+&gpioc_h {
+	status = "okay";
+};
+
 &gpiod_l {
 	status = "okay";
 };
 
+&gpiod_h {
+	status = "okay";
+};
+
+&gpiob_l {
+	status = "okay";
+};
+
+&gpioe_h {
+	status = "okay";
+};
+
 &eirq0 {
 	pinctrl-0 = <&eirq0_default>;
 	pinctrl-names = "default";
@@ -168,3 +235,76 @@
 		};
 	};
 };
+
+&flexcan0 {
+	pinctrl-0 = <&flexcan0_default>;
+	pinctrl-names = "default";
+	phys = <&can_phy0>;
+	bus-speed = <125000>;
+	sample-point = <875>;
+	sjw = <1>;
+	bus-speed-data = <1000000>;
+	sample-point-data = <875>;
+	sjw-data = <1>;
+	status = "okay";
+};
+
+&flexcan1 {
+	pinctrl-0 = <&flexcan1_default>;
+	pinctrl-names = "default";
+	phys = <&can_phy1>;
+	bus-speed = <125000>;
+	sample-point = <875>;
+	sjw = <1>;
+	bus-speed-data = <1000000>;
+	sample-point-data = <875>;
+	sjw-data = <1>;
+};
+
+&flexcan2 {
+	pinctrl-0 = <&flexcan2_default>;
+	pinctrl-names = "default";
+	phys = <&can_phy2>;
+	bus-speed = <125000>;
+	sample-point = <875>;
+	sjw = <1>;
+	bus-speed-data = <1000000>;
+	sample-point-data = <875>;
+	sjw-data = <1>;
+};
+
+&flexcan3 {
+	pinctrl-0 = <&flexcan3_default>;
+	pinctrl-names = "default";
+	phys = <&can_phy3>;
+	bus-speed = <125000>;
+	sample-point = <875>;
+	sjw = <1>;
+	bus-speed-data = <1000000>;
+	sample-point-data = <875>;
+	sjw-data = <1>;
+};
+
+&flexcan4 {
+	pinctrl-0 = <&flexcan4_default>;
+	pinctrl-names = "default";
+	phys = <&can_phy4>;
+	bus-speed = <125000>;
+	sample-point = <875>;
+	sjw = <1>;
+	bus-speed-data = <1000000>;
+	sample-point-data = <875>;
+	sjw-data = <1>;
+};
+
+&flexcan5 {
+	pinctrl-0 = <&flexcan5_default>;
+	pinctrl-names = "default";
+	phys = <&can_phy5>;
+	bus-speed = <125000>;
+	sample-point = <875>;
+	sjw = <1>;
+	bus-speed-data = <1000000>;
+	sample-point-data = <875>;
+	sjw-data = <1>;
+};

boards/arm/mr_canhubk3/mr_canhubk3.yaml

@@ -12,3 +12,4 @@ toolchain:
 supported:
   - gpio
   - uart
+  - can

boards/arm/mr_canhubk3/mr_canhubk3_defconfig

@@ -21,6 +21,7 @@ CONFIG_NOCACHE_MEMORY=y
 # Drivers
 CONFIG_PINCTRL=y
 CONFIG_SERIAL=y
+CONFIG_GPIO=y # Enable support for GPIO controlled CAN transceivers
 
 # Serial console
 CONFIG_CONSOLE=y

drivers/can/Kconfig.mcux

@@ -21,12 +21,21 @@ config CAN_MCUX_FLEXCAN_FD
 	help
 	  Enable support for CAN-FD capable NXP FlexCAN devices.
 
+config CAN_MAX_MB
+	int "Maximum number of message buffers for concurrent active instances"
+	default 16
+	depends on SOC_SERIES_S32K3_M7
+	range 1 96
+	help
+	  Defines maximum number of message buffers for concurrent active instances.
+
 config CAN_MAX_FILTER
 	int "Maximum number of concurrent active RX filters"
 	default 5
 	range 1 15 if SOC_SERIES_KINETIS_KE1XF || SOC_SERIES_KINETIS_K6X
 	range 1 13 if SOC_SERIES_IMX_RT && CAN_MCUX_FLEXCAN_FD
 	range 1 63 if SOC_SERIES_IMX_RT
+	range 1 96 if SOC_SERIES_S32K3_M7
 	help
 	  Defines maximum number of concurrent active RX filters
 

drivers/can/can_mcux_flexcan.c

@@ -49,14 +49,19 @@ LOG_MODULE_REGISTER(can_mcux_flexcan, CONFIG_CAN_LOG_LEVEL);
 #define RX_START_IDX 0
 #endif
 
+/* The maximum number of message buffers for concurrent active instances */
+#ifdef CONFIG_CAN_MAX_MB
+#define MCUX_FLEXCAN_MAX_MB CONFIG_CAN_MAX_MB
+#else
+#define MCUX_FLEXCAN_MAX_MB FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(0)
+#endif
+
 /*
  * RX message buffers (filters) will take up the first N message
  * buffers. The rest are available for TX use.
  */
 #define MCUX_FLEXCAN_MAX_RX (CONFIG_CAN_MAX_FILTER + RX_START_IDX)
-#define MCUX_FLEXCAN_MAX_TX \
-	(FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(0) \
-	- MCUX_FLEXCAN_MAX_RX)
+#define MCUX_FLEXCAN_MAX_TX (MCUX_FLEXCAN_MAX_MB - MCUX_FLEXCAN_MAX_RX)
 
 /*
  * Convert from RX message buffer index to allocated filter ID and
@@ -1246,7 +1251,7 @@ static int mcux_flexcan_init(const struct device *dev)
 	data->dev = dev;
 
 	FLEXCAN_GetDefaultConfig(&flexcan_config);
-	flexcan_config.maxMbNum = FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(0);
+	flexcan_config.maxMbNum = MCUX_FLEXCAN_MAX_MB;
 	flexcan_config.clkSrc = config->clk_source;
 	flexcan_config.baudRate = clock_freq /
 	      (1U + data->timing.prop_seg + data->timing.phase_seg1 +