boards: imx93_evk: enable flexcan driver

Add pinctrl for flexcan2
Add EXP_SEL gpio hog for board mux selection during boot.
Add TJA1057 CAN PHY driver.
Update supported features in board document

Signed-off-by: Chekhov Ma <chekhov.ma@nxp.com>

boards/nxp/imx93_evk/Kconfig.defconfig

@@ -0,0 +1,14 @@
+# MIMX93 EVK board defconfig
+
+# Copyright 2024 NXP
+# SPDX-License-Identifier: Apache-2.0
+
+if BOARD_IMX93_EVK_MIMX9352_A55
+
+if CAN
+# CAN Phy must be enabled after mfd0 gpio expander is ready
+config CAN_TRANSCEIVER_INIT_PRIORITY
+	default 75
+endif
+
+endif # BOARD_IMX93_EVK_MIMX9352_A55

boards/nxp/imx93_evk/doc/index.rst

@@ -58,8 +58,16 @@ features:
 +-----------+------------+-------------------------------------+
 | ARM TIMER | on-chip    | system clock                        |
 +-----------+------------+-------------------------------------+
+| GPIO      | on-chip    | gpio                                |
++-----------+------------+-------------------------------------+
 | UART      | on-chip    | serial port                         |
 +-----------+------------+-------------------------------------+
+| I2C       | on-chip    | i2c                                 |
++-----------+------------+-------------------------------------+
+| SPI       | on-chip    | spi                                 |
++-----------+------------+-------------------------------------+
+| CAN       | on-chip    | can                                 |
++-----------+------------+-------------------------------------+
 
 Devices
 ========

boards/nxp/imx93_evk/imx93_evk-pinctrl.dtsi

@@ -83,4 +83,22 @@
 		};
 	};
 
+	flexcan1_default: flexcan1_default {
+		group0 {
+			pinmux = <&iomuxc1_sai1_txd0_can_tx_can1_tx>,
+					 <&iomuxc1_sai1_txc_can_rx_can1_rx>;
+			slew-rate = "slightly_fast";
+			drive-strength = "x5";
+		};
+	};
+
+	flexcan2_default: flexcan2_default {
+		group0 {
+			pinmux = <&iomuxc1_gpio_io25_can_tx_can2_tx>,
+					 <&iomuxc1_gpio_io27_can_rx_can2_rx>;
+			slew-rate = "slightly_fast";
+			drive-strength = "x5";
+		};
+	};
+
 };

boards/nxp/imx93_evk/imx93_evk_mimx9352_a55.dts

@@ -17,6 +17,7 @@
 		zephyr,console = &lpuart2;
 		zephyr,shell-uart = &lpuart2;
 		zephyr,sram = &sram0;
+		zephyr,canbus = &flexcan2;
 	};
 
 	cpus {
@@ -64,6 +65,14 @@
 			gpios = <&gpio2 24 GPIO_ACTIVE_LOW>;
 		};
 	};
+
+	can_phy0: can-phy0 {
+		compatible = "nxp,tja1057", "can-transceiver-gpio";
+		max-bitrate = <8000000>;
+		standby-gpios = <&gpio_exp0 8 GPIO_ACTIVE_HIGH>;
+		#phy-cells = <0>;
+		status = "okay";
+	};
 };
 
 &lpuart1 {
@@ -91,7 +100,7 @@
 };
 
 &lpi2c2 {
-	status = "disabled";
+	status = "okay";
 	clock-frequency = <I2C_BITRATE_FAST>;
 	pinctrl-0 = <&i2c2_default>;
 	pinctrl-names = "default";
@@ -99,7 +108,7 @@
 	mfd0:adp5585@34 {
 		compatible = "adi,adp5585";
 		reg = <0x34>;
-		status = "disabled";
+		status = "okay";
 
 		gpio_exp0: adp5585_gpio {
 			compatible = "adi,adp5585-gpio";
@@ -146,3 +155,12 @@
 &gpio4{
 	status = "okay";
 };
+
+&flexcan2 {
+	pinctrl-0 = <&flexcan2_default>;
+	pinctrl-names = "default";
+	bus-speed = <125000>;
+	bus-speed-data = <1000000>;
+	phys = <&can_phy0>;
+	status = "okay";
+};

boards/nxp/imx93_evk/imx93_evk_mimx9352_a55.yaml

@@ -17,6 +17,7 @@ supported:
   - uart
   - i2c
   - spi
+  - can
 testing:
   ignore_tags:
     - net