boards/arm/imxrt/teensy-4.x: allow configuration of all CANs

Signed-off-by: Michal Lenc <michallenc@seznam.cz>

boards/arm/imxrt/teensy-4.x/README.txt

@@ -138,8 +138,9 @@ Configuration sub-directories
   can-4.1:
 
     This is an nsh configuration (see above) for Teensy-4.x with added support of 
-    CAN driver. FlexCAN3 is chosen as default, the change can be made at System 
-    type peripheral selection.
+    CAN driver. All FlexCANs (CAN1, CAN2, CAN3) are chosen as default. FlexCAN3
+    is FD capable. Please note that device driver name if counted from zero.
+    That means for CAN1 -> can0, CAN2 -> can1 and CAN3 -> can2
 
     Bitrate and sample point can be also changed at System type peripheral selection,
     basic values are 1 MHz for bitrate and 0.80 for sample point. The FlexCAN driver
@@ -147,15 +148,12 @@ Configuration sub-directories
 
     The configuration also includes CAN utilities as candump and cansend.
 
-    CAN_FD supported but not enabled. For CAN_FD please select following:
-
-    CAN_FD = y
-    NET_CAN_CANFD = y
-    NET_CAN_SOCK_OPTS = y
-
     This configuration can be easily changed to work with Teensy 4.0 by
     selecting CONFIG_TEENSY_40=y.
 
+    This configuration runs over LPUART1 (pins 24 and 25 on Teensy). Communication
+    over USB console can be turn on, but it couses problems with FlexCAN.
+
   netnsh-4.1:
 
     This configuration is similar to the nsh configuration except that is

boards/arm/imxrt/teensy-4.x/configs/can-4.1/defconfig

@@ -5,7 +5,6 @@
 # You can then do "make savedefconfig" to generate a new defconfig file that includes your
 # modifications.
 #
-# CONFIG_NET_CAN_CANFD is not set
 # CONFIG_NET_ETHERNET is not set
 # CONFIG_NET_IPv4 is not set
 CONFIG_ARCH="arm"
@@ -21,17 +20,16 @@ CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARD_LOOPSPERMSEC=104926
 CONFIG_BUILTIN=y
-CONFIG_CAN=y
 CONFIG_CANUTILS_CANDUMP=y
 CONFIG_CANUTILS_CANSEND=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_CONSOLE=y
 CONFIG_FS_PROCFS=y
 CONFIG_IDLETHREAD_STACKSIZE=2048
+CONFIG_IMXRT_FLEXCAN1=y
+CONFIG_IMXRT_FLEXCAN2=y
 CONFIG_IMXRT_FLEXCAN3=y
 CONFIG_IMXRT_LPUART1=y
-CONFIG_IMXRT_USBDEV=y
 CONFIG_INTELHEX_BINARY=y
+CONFIG_LPUART1_SERIAL_CONSOLE=y
 CONFIG_MAX_TASKS=16
 CONFIG_NET=y
 CONFIG_NETDEVICES=y
@@ -40,7 +38,7 @@ CONFIG_NETDEV_LATEINIT=y
 CONFIG_NETDEV_STATISTICS=y
 CONFIG_NET_CAN=y
 CONFIG_NET_CAN_NOTIFIER=y
-CONFIG_NET_SOCKOPTS=y
+CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_STATISTICS=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NFILE_DESCRIPTORS=8
@@ -49,7 +47,6 @@ CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_FILEIOSIZE=512
 CONFIG_NSH_LINELEN=64
 CONFIG_NSH_READLINE=y
-CONFIG_NSH_USBCONSOLE=y
 CONFIG_RAM_SIZE=1048576
 CONFIG_RAM_START=0x20200000
 CONFIG_SCHED_HPWORK=y
@@ -58,5 +55,4 @@ CONFIG_START_DAY=14
 CONFIG_START_MONTH=3
 CONFIG_SYSTEM_NSH=y
 CONFIG_TEENSY_41=y
-CONFIG_USBDEV=y
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/arm/imxrt/teensy-4.x/src/imxrt_flexcan.c

@@ -50,31 +50,34 @@
 int imxrt_can_setup(void)
 {
   int ret;
-#ifdef CONFIG_IMXRT_FLEXCAN3
+#ifdef CONFIG_IMXRT_FLEXCAN1
   /* Call arm_caninitialize() to get an instance of the CAN interface */
 
-  ret = imxrt_caninitialize(3);
-  if (ret < 0)
-    {
-      canerr("ERROR: Failed to get CAN interface\n");
-      return -ENODEV;
-    }
-#elif CONFIG_IMXRT_FLEXCAN2
-  ret = imxrt_caninitialize(2);
-  if (ret < 0)
-    {
-      canerr("ERROR: Failed to get CAN interface\n");
-      return -ENODEV;
-    }
-#elif CONFIG_IMXRT_FLEXCAN1
   ret = imxrt_caninitialize(1);
   if (ret < 0)
     {
       canerr("ERROR: Failed to get CAN interface\n");
       return -ENODEV;
     }
-#else
+
+#endif
+#ifdef CONFIG_IMXRT_FLEXCAN2
+  ret = imxrt_caninitialize(2);
+  if (ret < 0)
+    {
+      canerr("ERROR: Failed to get CAN interface\n");
       return -ENODEV;
+    }
+
+#endif
+#ifdef CONFIG_IMXRT_FLEXCAN3
+  ret = imxrt_caninitialize(3);
+  if (ret < 0)
+    {
+      canerr("ERROR: Failed to get CAN interface\n");
+      return -ENODEV;
+    }
+
 #endif
   UNUSED(ret);
   return OK;