drivers: can: Add Renesas R-Car RSCANFD driver

boards/renesas/rcar_ironhide_x5h/rcar_ironhide_x5h_r8a78000_r52-pinctrl.dtsi

@@ -52,4 +52,92 @@
 	i2c5_sda_default: i2c5_sda_default {
 		pin = <PIN_SDA5 FUNC_SDA5>;
 	};
+
+	can0_rx_default: can0_rx_default {
+		pin = <PIN_CAN0RX_INTP0 FUNC_CAN0RX_INTP0>;
+	};
+
+	can0_tx_default: can0_tx_default {
+		pin = <PIN_CAN0TX FUNC_CAN0TX>;
+	};
+
+	can1_rx_default: can1_rx_default {
+		pin = <PIN_CAN1RX_INTP1 FUNC_CAN1RX_INTP1>;
+	};
+
+	can1_tx_default: can1_tx_default {
+		pin = <PIN_CAN1TX FUNC_CAN1TX>;
+	};
+
+	can2_rx_default: can2_rx_default {
+		pin = <PIN_CAN2RX_INTP2 FUNC_CAN2RX_INTP2>;
+	};
+
+	can2_tx_default: can2_tx_default {
+		pin = <PIN_CAN2TX FUNC_CAN2TX>;
+	};
+
+	can3_rx_default: can3_rx_default {
+		pin = <PIN_CAN3RX_INTP3 FUNC_CAN3RX_INTP3>;
+	};
+
+	can3_tx_default: can3_tx_default {
+		pin = <PIN_CAN3TX FUNC_CAN3TX>;
+	};
+
+	can4_rx_default: can4_rx_default {
+		pin = <PIN_CAN4RX_INTP4 FUNC_CAN4RX_INTP4>;
+	};
+
+	can4_tx_default: can4_tx_default {
+		pin = <PIN_CAN4TX FUNC_CAN4TX>;
+	};
+
+	can5_rx_default: can5_rx_default {
+		pin = <PIN_CAN5RX_INTP5 FUNC_CAN5RX_INTP5>;
+	};
+
+	can5_tx_default: can5_tx_default {
+		pin = <PIN_CAN5TX FUNC_CAN5TX>;
+	};
+
+	can6_rx_default: can6_rx_default {
+		pin = <PIN_CAN6RX_INTP6 FUNC_CAN6RX_INTP6>;
+	};
+
+	can6_tx_default: can6_tx_default {
+		pin = <PIN_CAN6TX FUNC_CAN6TX>;
+	};
+
+	can12_rx_default: can12_rx_default {
+		pin = <PIN_CAN12RX_INTP12 FUNC_CAN12RX_INTP12_B>;
+	};
+
+	can12_tx_default: can12_tx_default {
+		pin = <PIN_CAN12TX FUNC_CAN12TX_B>;
+	};
+
+	can13_rx_default: can13_rx_default {
+		pin = <PIN_CAN13RX_INTP13 FUNC_CAN13RX_INTP13_B>;
+	};
+
+	can13_tx_default: can13_tx_default {
+		pin = <PIN_CAN13TX FUNC_CAN13TX_B>;
+	};
+
+	can14_rx_default: can14_rx_default {
+		pin = <PIN_CAN14RX_INTP14 FUNC_CAN14RX_INTP14_B>;
+	};
+
+	can14_tx_default: can14_tx_default {
+		pin = <PIN_CAN14TX FUNC_CAN14TX_B>;
+	};
+
+	can15_rx_default: can15_rx_default {
+		pin = <PIN_CAN15RX_INTP15 FUNC_CAN15RX_INTP15_B>;
+	};
+
+	can15_tx_default: can15_tx_default {
+		pin = <PIN_CAN15TX FUNC_CAN15TX_B>;
+	};
 };

boards/renesas/rcar_ironhide_x5h/rcar_ironhide_x5h_r8a78000_r52.dts

@@ -18,6 +18,7 @@
 		zephyr,sram = &sram0;
 		zephyr,console = &hscif1;
 		zephyr,shell-uart = &hscif1;
+		zephyr,canbus = &can0;
 	};
 
 	aliases {
@@ -106,3 +107,88 @@
 	clock-frequency = <I2C_BITRATE_FAST>;
 	status = "okay";
 };
+
+&can0_global {
+	status = "okay";
+};
+
+&can1_global {
+	status = "okay";
+};
+
+&can0 {
+	pinctrl-0 = <&can0_rx_default
+		     &can0_tx_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&can1 {
+	pinctrl-0 = <&can1_rx_default
+		     &can1_tx_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&can2 {
+	pinctrl-0 = <&can2_rx_default
+		     &can2_tx_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&can3 {
+	pinctrl-0 = <&can3_rx_default
+		     &can3_tx_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&can4 {
+	pinctrl-0 = <&can4_rx_default
+		     &can4_tx_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&can5 {
+	pinctrl-0 = <&can5_rx_default
+		     &can5_tx_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&can6 {
+	pinctrl-0 = <&can6_rx_default
+		     &can6_tx_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&can12 {
+	pinctrl-0 = <&can12_rx_default
+		     &can12_tx_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&can13 {
+	pinctrl-0 = <&can13_rx_default
+		     &can13_tx_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&can14 {
+	pinctrl-0 = <&can14_rx_default
+		     &can14_tx_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&can15 {
+	pinctrl-0 = <&can15_rx_default
+		     &can15_tx_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};

boards/renesas/rcar_ironhide_x5h/rcar_ironhide_x5h_r8a78000_r52.yaml

@@ -6,7 +6,8 @@ toolchain:
   - zephyr
   - gnuarmemb
 supported:
+  - can
   - clock_control
   - gpio
-  - uart
   - i2c
+  - uart

drivers/can/CMakeLists.txt

@@ -35,6 +35,7 @@ zephyr_library_sources_ifdef(CONFIG_CAN_NUMAKER can_numaker.c)
 zephyr_library_sources_ifdef(CONFIG_CAN_NXP_LPC_MCAN can_nxp_lpc_mcan.c)
 zephyr_library_sources_ifdef(CONFIG_CAN_NXP_S32_CANXL can_nxp_s32_canxl.c)
 zephyr_library_sources_ifdef(CONFIG_CAN_RCAR can_rcar.c)
+zephyr_library_sources_ifdef(CONFIG_CAN_RCAR_RSCANFD can_rcar_rscanfd.c)
 zephyr_library_sources_ifdef(CONFIG_CAN_RENESAS_RA_CANFD can_renesas_ra.c)
 zephyr_library_sources_ifdef(CONFIG_CAN_RENESAS_RZ_CANFD can_renesas_rz_canfd.c)
 zephyr_library_sources_ifdef(CONFIG_CAN_SAM can_sam.c)

drivers/can/Kconfig.rcar

@@ -19,3 +19,21 @@ config CAN_RCAR_MAX_FILTERS
 	help
 	  Defines the array size of the callback/msgq pointers.
 	  Must be at least the size of concurrent reads.
+
+config CAN_RCAR_RSCANFD
+	bool "Renesas R-Car RS-CANFD Driver"
+	default y
+	depends on DT_HAS_RENESAS_RCAR_RSCANFD_GLOBAL_ENABLED
+	select PINCTRL
+	help
+	  Enable Renesas R-Car CAN Driver for the RS-CANFD controller,
+	  found in Gen 4 and more recent platforms.
+
+config CAN_RCAR_RSCANFD_MAX_FILTERS
+	int "Maximum number of concurrent active reception filters"
+	depends on CAN_RCAR_RSCANFD
+	default 16
+	range 1 32
+	help
+	  Defines the array size of the callback/msgq pointers.
+	  Must be at least the size of concurrent reads.