zephyrproject-rtos · NeilChen93 · Oct 17, 2025 · Oct 20, 2025 · Oct 20, 2025 · Oct 20, 2025
diff --git a/boards/nxp/frdm_mcxaxx6/board.c b/boards/nxp/frdm_mcxaxx6/board.c
@@ -297,6 +297,12 @@ void board_early_init_hook(void)
 	CLOCK_SetClockDiv(kCLOCK_DivLPTMR0, 1u);
 #endif /* DT_PROP(DT_NODELABEL(lptmr0), clk_source) */
 
+#endif
+
+#if DT_NODE_HAS_STATUS_OKAY(DT_NODELABEL(flexcan0))
+	CLOCK_SetClockDiv(kCLOCK_DivFLEXCAN0, 1U);
+	CLOCK_SetClockDiv(kCLOCK_DivFRO_HF, 1U);
+	CLOCK_AttachClk(kFRO_HF_DIV_to_FLEXCAN0);
 #endif
 
 	/* Set SystemCoreClock variable. */

diff --git a/boards/nxp/frdm_mcxaxx6/board_common.dtsi b/boards/nxp/frdm_mcxaxx6/board_common.dtsi
@@ -26,6 +26,7 @@
 		zephyr,code-partition = &slot0_partition;
 		zephyr,console = &lpuart2;
 		zephyr,shell-uart = &lpuart2;
+		zephyr,canbus = &flexcan0;
 	};
 
 	leds {
@@ -207,3 +208,9 @@
 &lptmr0 {
 	status = "okay";
 };
+
+&flexcan0 {
+	status = "okay";
+	pinctrl-0 = <&pinmux_flexcan0>;
+	pinctrl-names = "default";
+};
diff --git a/boards/nxp/frdm_mcxaxx6/frdm_mcxa266-pinctrl.dtsi b/boards/nxp/frdm_mcxaxx6/frdm_mcxa266-pinctrl.dtsi
@@ -126,4 +126,14 @@
 			slew-rate = "fast";
 		};
 	};
+
+	pinmux_flexcan0: pinmux_flexcan0 {
+		group0 {
+			pinmux = <CAN0_TXD_P1_2>,
+				<CAN0_RXD_P1_11>;
+			slew-rate = "fast";
+			drive-strength = "low";
+			input-enable;
+		};
+	};
 };
diff --git a/boards/nxp/frdm_mcxaxx6/frdm_mcxa266.yaml b/boards/nxp/frdm_mcxaxx6/frdm_mcxa266.yaml
@@ -24,4 +24,5 @@ supported:
   - counter
   - dma
   - i3c
+  - can
 vendor: nxp
diff --git a/boards/nxp/frdm_mcxaxx6/frdm_mcxa346-pinctrl.dtsi b/boards/nxp/frdm_mcxaxx6/frdm_mcxa346-pinctrl.dtsi
@@ -118,4 +118,14 @@
 			slew-rate = "fast";
 		};
 	};
+
+	pinmux_flexcan0: pinmux_flexcan0 {
+		group0 {
+			pinmux = <CAN0_TXD_P1_2>,
+				<CAN0_RXD_P1_11>;
+			slew-rate = "fast";
+			drive-strength = "low";
+			input-enable;
+		};
+	};
 };
diff --git a/boards/nxp/frdm_mcxaxx6/frdm_mcxa346.yaml b/boards/nxp/frdm_mcxaxx6/frdm_mcxa346.yaml
@@ -24,4 +24,5 @@ supported:
   - counter
   - dma
   - opamp
+  - can
 vendor: nxp
diff --git a/boards/nxp/frdm_mcxaxx6/frdm_mcxa366-pinctrl.dtsi b/boards/nxp/frdm_mcxaxx6/frdm_mcxa366-pinctrl.dtsi
@@ -136,4 +136,14 @@
 			slew-rate = "fast";
 		};
 	};
+
+	pinmux_flexcan0: pinmux_flexcan0 {
+		group0 {
+			pinmux = <CAN0_TXD_P1_2>,
+				<CAN0_RXD_P1_11>;
+			slew-rate = "fast";
+			drive-strength = "low";
+			input-enable;
+		};
+	};
 };
diff --git a/boards/nxp/frdm_mcxaxx6/frdm_mcxa366.yaml b/boards/nxp/frdm_mcxaxx6/frdm_mcxa366.yaml
@@ -25,4 +25,5 @@ supported:
   - dma
   - i3c
   - opamp
+  - can
 vendor: nxp
diff --git a/drivers/clock_control/clock_control_mcux_syscon.c b/drivers/clock_control/clock_control_mcux_syscon.c
@@ -98,6 +98,11 @@ static int mcux_lpc_syscon_clock_control_on(const struct device *dev,
 	case MCUX_FLEXCAN0_CLK:
 		CLOCK_EnableClock(kCLOCK_GateFLEXCAN0);
 		break;
+#if (defined(FSL_FEATURE_SOC_FLEXCAN_COUNT) && (FSL_FEATURE_SOC_FLEXCAN_COUNT > 1))
+	case MCUX_FLEXCAN1_CLK:
+		CLOCK_EnableClock(kCLOCK_GateFLEXCAN1);
+		break;
+#endif /* defined(FSL_FEATURE_SOC_FLEXCAN_COUNT) */
 #else
 	case MCUX_FLEXCAN0_CLK:
 		CLOCK_EnableClock(kCLOCK_Flexcan0);
@@ -535,7 +540,8 @@ static int mcux_lpc_syscon_clock_control_get_subsys_rate(const struct device *de
 #endif /* CONFIG_ADC_MCUX_LPADC */
 
 #if defined(CONFIG_CAN_MCUX_FLEXCAN)
-#if defined(CONFIG_SOC_FAMILY_MCXA)
+#if (defined(FSL_FEATURE_SOC_FLEXCAN_COUNT) && (FSL_FEATURE_SOC_FLEXCAN_COUNT == 1) && \
+	!defined(CONFIG_SOC_MCXA346))
 	case MCUX_FLEXCAN0_CLK:
 		*rate = CLOCK_GetFlexcanClkFreq();
 		break;
@@ -546,7 +552,7 @@ static int mcux_lpc_syscon_clock_control_get_subsys_rate(const struct device *de
 	case MCUX_FLEXCAN1_CLK:
 		*rate = CLOCK_GetFlexcanClkFreq(1);
 		break;
-#endif /* defined(CONFIG_SOC_FAMILY_MCXA) */
+#endif /* defined(FSL_FEATURE_SOC_FLEXCAN_COUNT) */
 #endif /* defined(CONFIG_CAN_MCUX_FLEXCAN) */
 
 #if defined(CONFIG_MCUX_FLEXIO)

diff --git a/dts/arm/nxp/nxp_mcxa346.dtsi b/dts/arm/nxp/nxp_mcxa346.dtsi
@@ -7,3 +7,4 @@
 #include <nxp/nxp_mcxaxx6_common.dtsi>
 
 /delete-node/ &i3c0;
+/delete-node/ &flexcan1;
diff --git a/dts/arm/nxp/nxp_mcxaxx6_common.dtsi b/dts/arm/nxp/nxp_mcxaxx6_common.dtsi
@@ -481,6 +481,26 @@
 			status = "disabled";
 			clk-divider = <1>;
 		};
+
+		flexcan0: can@400cc000 {
+			compatible = "nxp,flexcan";
+			reg = <0x400cc000 0x1000>;
+			interrupts = <19 0>;
+			interrupt-names = "common";
+			clocks = <&syscon MCUX_FLEXCAN0_CLK>;
+			clk-source = <0>;
+			status = "disabled";
+		};
+
+		flexcan1: can@400d0000 {
+			compatible = "nxp,flexcan";
+			reg = <0x400d0000 0x1000>;
+			interrupts = <20 0>;
+			interrupt-names = "common";
+			clocks = <&syscon MCUX_FLEXCAN1_CLK>;
+			clk-source = <0>;
+			status = "disabled";
+		};
 	};
 };
 

diff --git a/tests/drivers/can/timing/boards/frdm_mcxa266.conf b/tests/drivers/can/timing/boards/frdm_mcxa266.conf
@@ -0,0 +1 @@
+CONFIG_TEST_ALL_BITRATES=y
diff --git a/tests/drivers/can/timing/boards/frdm_mcxa346.conf b/tests/drivers/can/timing/boards/frdm_mcxa346.conf
@@ -0,0 +1 @@
+CONFIG_TEST_ALL_BITRATES=y
diff --git a/tests/drivers/can/timing/boards/frdm_mcxa366.conf b/tests/drivers/can/timing/boards/frdm_mcxa366.conf
@@ -0,0 +1 @@
+CONFIG_TEST_ALL_BITRATES=y
-Original file line number
+Diff line change
@@ Expand Up / @@ -24,4 +24,5 @@ supported: @@
       - counter
       - dma
       - i3c
+      - can
     vendor: nxp
Original file line number	Diff line number	Diff line change
Expand Up		@@ -7,3 +7,4 @@
		#include <nxp/nxp_mcxaxx6_common.dtsi>

		/delete-node/ &i3c0;
		/delete-node/ &flexcan1;