boards: arm: ucans32k1sic: enable FlexCAN

Enable FlexCAN peripheral driver for ucans32k1sic board. The GPIO-based CAN transceiver driver is used to control the on-board CAN transceivers. Signed-off-by: Manuel Argüelles <[email protected]>
zephyrproject-rtos · Jan 6, 2024 · 57ea377 · 57ea377
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commit 57ea377
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diff --git a/boards/arm/ucans32k1sic/Kconfig.defconfig b/boards/arm/ucans32k1sic/Kconfig.defconfig
@@ -13,4 +13,11 @@ config UART_CONSOLE
 
 endif # SERIAL
 
+if CAN
+
+config GPIO
+	default y
+
+endif # CAN
+
 endif # BOARD_UCANS32K1SIC
diff --git a/boards/arm/ucans32k1sic/doc/index.rst b/boards/arm/ucans32k1sic/doc/index.rst
@@ -50,6 +50,7 @@ LPUART        on-chip     serial
 LPI2C         on-chip     i2c
 LPSPI         on-chip     spi
 FTM           on-chip     pwm
+FlexCAN       on-chip     can
 ============  ==========  ================================
 
 The default configuration can be found in the Kconfig file

diff --git a/boards/arm/ucans32k1sic/ucans32k1sic-pinctrl.dtsi b/boards/arm/ucans32k1sic/ucans32k1sic-pinctrl.dtsi
@@ -60,4 +60,18 @@
 			drive-strength = "low";
 		};
 	};
+
+	flexcan0_default: flexcan0_default {
+		group0 {
+			pinmux = <CAN0_RX_PTE4>, <CAN0_TX_PTE5>;
+			drive-strength = "low";
+		};
+	};
+
+	flexcan1_default: flexcan1_default {
+		group0 {
+			pinmux = <CAN1_RX_PTA12>, <CAN1_TX_PTA13>;
+			drive-strength = "low";
+		};
+	};
 };
diff --git a/boards/arm/ucans32k1sic/ucans32k1sic.dts b/boards/arm/ucans32k1sic/ucans32k1sic.dts
@@ -21,6 +21,7 @@
 		zephyr,console = &lpuart1;
 		zephyr,shell-uart = &lpuart1;
 		zephyr,uart-pipe = &lpuart1;
+		zephyr,canbus = &flexcan0;
 	};
 
 	aliases {
@@ -81,6 +82,20 @@
 			zephyr,code = <INPUT_KEY_0>;
 		};
 	};
+
+	can_phy0: can-phy0 {
+		compatible = "nxp,tja1463", "nxp,tja1443", "nxp,tja1153", "can-transceiver-gpio";
+		enable-gpios = <&gpioa 10 GPIO_ACTIVE_HIGH>;
+		max-bitrate = <8000000>;
+		#phy-cells = <0>;
+	};
+
+	can_phy1: can-phy1 {
+		compatible = "nxp,tja1463", "nxp,tja1443", "nxp,tja1153", "can-transceiver-gpio";
+		enable-gpios = <&gpioe 2 GPIO_ACTIVE_HIGH>;
+		max-bitrate = <8000000>;
+		#phy-cells = <0>;
+	};
 };
 
 &gpioa {
@@ -154,3 +169,25 @@
 	#pwm-cells = <3>;
 	status = "okay";
 };
+
+&flexcan0 {
+	pinctrl-0 = <&flexcan0_default>;
+	pinctrl-names = "default";
+	phys = <&can_phy0>;
+	bus-speed = <125000>;
+	sample-point = <875>;
+	bus-speed-data = <1000000>;
+	sample-point-data = <875>;
+	status = "okay";
+};
+
+&flexcan1 {
+	pinctrl-0 = <&flexcan1_default>;
+	pinctrl-names = "default";
+	phys = <&can_phy1>;
+	bus-speed = <125000>;
+	sample-point = <875>;
+	bus-speed-data = <1000000>;
+	sample-point-data = <875>;
+	status = "okay";
+};
diff --git a/boards/arm/ucans32k1sic/ucans32k1sic.yaml b/boards/arm/ucans32k1sic/ucans32k1sic.yaml
@@ -18,3 +18,4 @@ supported:
   - i2c
   - spi
   - pwm
+  - can
-Original file line number
+Diff line change
@@ Expand Up / @@ -18,3 +18,4 @@ supported: @@
       - i2c
       - spi
       - pwm
+      - can