boards: arm: lpcxpresso55s16: add MCAN support

Add NXP LPC MCAN support for the NXP lpcxpresso55s16 board definition.

Fixes #35437

Signed-off-by: Henrik Brix Andersen <henrik@brixandersen.dk>

boards/arm/lpcxpresso55s16/doc/index.rst

@@ -73,6 +73,8 @@ hardware features:
 +-----------+------------+-------------------------------------+
 | CLOCK     | on-chip    | clock_control                       |
 +-----------+------------+-------------------------------------+
+| CAN       | on-chip    | canbus                              |
++-----------+------------+-------------------------------------+
 
 Other hardware features are not currently enabled.
 
@@ -119,6 +121,10 @@ the functionality of a pin.
 +---------+-----------------+----------------------------+
 | PIO1_26 | GPIO            | FXOS8700 INT1              |
 +---------+-----------------+----------------------------+
+| PIO1_22 | CAN             | CAN RXD                    |
++---------+-----------------+----------------------------+
+| PIO1_27 | CAN             | CAN TXD                    |
++---------+-----------------+----------------------------+
 
 System Clock
 ============

boards/arm/lpcxpresso55s16/lpcxpresso55s16.yaml

@@ -18,6 +18,8 @@ supported:
   - arduino_gpio
   - arduino_i2c
   - arduino_spi
+  - can
+  - canfd
   - gpio
   - i2c
   - spi

boards/arm/lpcxpresso55s16/lpcxpresso55s16_common.dtsi

@@ -12,6 +12,7 @@
 		zephyr,console = &flexcomm0;
 		zephyr,shell-uart = &flexcomm0;
 		zephyr,entropy = &rng;
+		zephyr,canbus = &can0;
 	};
 
 	aliases{
@@ -131,6 +132,12 @@
 	};
 };
 
+&can0 {
+	status = "okay";
+	bus-speed = <125000>;
+	bus-speed-data = <1000000>;
+};
+
 &hs_lspi {
 	status = "okay";
 };

boards/arm/lpcxpresso55s16/pinmux.c

@@ -181,6 +181,28 @@ static int lpcxpresso_55s16_pinmux_init(const struct device *dev)
 				  IOCON_PIO_OPENDRAIN_DI);
 #endif
 
+#if DT_NODE_HAS_COMPAT_STATUS(DT_NODELABEL(can0), nxp_lpc_mcan, okay) && CONFIG_CAN
+	/* CAN RXD, TXD */
+	uint32_t port1_pin22_config = (
+			IOCON_PIO_FUNC9 |
+			IOCON_PIO_MODE_INACT |
+			IOCON_PIO_INV_DI |
+			IOCON_PIO_DIGITAL_EN |
+			IOCON_PIO_SLEW_STANDARD |
+			IOCON_PIO_OPENDRAIN_DI
+			);
+	uint32_t port1_pin27_config = (
+			IOCON_PIO_FUNC9 |
+			IOCON_PIO_MODE_INACT |
+			IOCON_PIO_INV_DI |
+			IOCON_PIO_DIGITAL_EN |
+			IOCON_PIO_SLEW_STANDARD |
+			IOCON_PIO_OPENDRAIN_DI
+			);
+	pinmux_pin_set(port1, 22, port1_pin22_config);
+	pinmux_pin_set(port1, 27, port1_pin27_config);
+#endif
+
 	return 0;
 }