boards: nxp: s32z2xxdc2: add Flexcan support for s32z2xxdc2

Enable Flexcan support on s32z2xxdc2 boards Signed-off-by: Tu Nguyen Van <[email protected]>
zephyrproject-rtos · Aug 21, 2024 · 34206f5 · 34206f5
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diff --git a/boards/nxp/s32z2xxdc2/doc/index.rst b/boards/nxp/s32z2xxdc2/doc/index.rst
@@ -53,6 +53,8 @@ The boards support the following hardware features:
 +-----------+------------+-------------------------------------+
 | CANEXCEL  | on-chip    | can                                 |
 +-----------+------------+-------------------------------------+
+| FLEXCAN   | on-chip    | can                                 |
++-----------+------------+-------------------------------------+
 
 Other hardware features are not currently supported by the port.
 
@@ -129,15 +131,24 @@ single Virtual SI (VSI). The rest of the VSI's shall be assigned to different
 cores of the system. Refer to :ref:`nxp_s32_netc-samples` to learn how to
 configure the Ethernet network controller.
 
-Controller Area Network (CAN)
-=============================
+Controller Area Network
+=======================
+
+CANEXCEL
+--------
+
+CANEXCEL supports CAN Classic (CAN 2.0) and CAN FD modes. Remote transmission
+request is not supported.
+
+Note that this board does not currently come with CAN transceivers installed for
+the CANEXCEL ports. To facilitate external traffic, you will need to add a CAN
+transceiver. Any transceiver pin-compatible with CAN 2.0 and CAN FD protocols
+can be used.
 
-Currently, the CANXL transceiver is not populated in this board. So CAN transceiver
-connection is required for running external traffic. We can use any CAN transceiver,
-which supports CAN 2.0 and CAN FD protocol.
+FlexCAN
+-------
 
-CAN driver supports classic (CAN 2.0) and CAN FD mode. Remote transmission request is
-not supported as this feature is not available on NXP S32 CANXL HAL.
+FlexCAN supports CAN Classic (CAN 2.0) and CAN FD modes.
 
 Programming and Debugging
 *************************

diff --git a/boards/nxp/s32z2xxdc2/s32z2xxdc2_s32z270.dtsi b/boards/nxp/s32z2xxdc2/s32z2xxdc2_s32z270.dtsi
@@ -40,3 +40,13 @@
 	pinctrl-0 = <&canxl1_default>;
 	pinctrl-names = "default";
 };
+
+&flexcan0 {
+	pinctrl-0 = <&flexcan0_default>;
+	pinctrl-names = "default";
+};
+
+&flexcan1 {
+	pinctrl-0 = <&flexcan1_default>;
+	pinctrl-names = "default";
+};
diff --git a/boards/nxp/s32z2xxdc2/s32z2xxdc2_s32z270_pinctrl.dtsi b/boards/nxp/s32z2xxdc2/s32z2xxdc2_s32z270_pinctrl.dtsi
@@ -85,4 +85,26 @@
 			output-enable;
 		};
 	};
+
+	flexcan0_default: flexcan0_default {
+		group1 {
+			pinmux = <PA5_CAN_0_RX>;
+			input-enable;
+		};
+		group2 {
+			pinmux = <PA4_CAN_0_TX>;
+			output-enable;
+		};
+	};
+
+	flexcan1_default: flexcan1_default {
+		group1 {
+			pinmux = <PB7_CAN_1_RX>;
+			input-enable;
+		};
+		group2 {
+			pinmux = <PB6_CAN_1_TX>;
+			output-enable;
+		};
+	};
 };
diff --git a/boards/nxp/s32z2xxdc2/s32z2xxdc2_s32z270_rtu1.dts b/boards/nxp/s32z2xxdc2/s32z2xxdc2_s32z270_rtu1.dts
@@ -16,7 +16,7 @@
 		zephyr,sram = &sram1;
 		zephyr,console = &uart0;
 		zephyr,shell-uart = &uart0;
-		zephyr,canbus = &canxl0;
+		zephyr,canbus = &flexcan0;
 	};
 
 	aliases {
@@ -33,3 +33,7 @@
 	mboxes = <&mru4 0>;
 	mbox-names = "rx";
 };
+
+&flexcan0 {
+	status = "okay";
+};