feat[nxp][can]：add mcxa346 can device

5 files changed, 648 insertions, 119 deletions

diff --git a/bsp/nxp/mcx/mcxa/Libraries/drivers/SConscript b/bsp/nxp/mcx/mcxa/Libraries/drivers/SConscript
index 76cc1c2f7b..da702a27ef 100644
--- a/bsp/nxp/mcx/mcxa/Libraries/drivers/SConscript
+++ b/bsp/nxp/mcx/mcxa/Libraries/drivers/SConscript
@@ -37,6 +37,9 @@ if GetDepend('BSP_USING_PWM'):
 if GetDepend('BSP_USING_FLASH'):
     src += ['drv_chipflash.c']
 
+if GetDepend('BSP_USING_CAN'):
+    src += ['drv_can.c']
+
 path =  [cwd,cwd + '/config']
 
 group = DefineGroup('Drivers', src, depend = [''], CPPPATH = path)
diff --git a/bsp/nxp/mcx/mcxa/Libraries/drivers/drv_can.c b/bsp/nxp/mcx/mcxa/Libraries/drivers/drv_can.c
new file mode 100644
index 0000000000..1445bc6bbb
--- /dev/null
+++ b/bsp/nxp/mcx/mcxa/Libraries/drivers/drv_can.c
@@ -0,0 +1,551 @@
+/*
+ * Copyright (c) 2006-2025, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2025-12-23     CYFS         the first version.
+ */
+
+#include <rtdevice.h>
+
+#ifdef RT_USING_CAN
+
+#include "fsl_common.h"
+#include "fsl_flexcan.h"
+
+#define TX_MB_IDX       (6)
+#define RX_MB_COUNT     (1)
+static flexcan_frame_t frame[RX_MB_COUNT];    /* one frame buffer per RX MB */
+static rt_uint32_t filter_mask = 0;
+
+enum
+{
+#ifdef BSP_USING_CAN0
+    CAN0_INDEX,
+#endif
+#ifdef BSP_USING_CAN1
+    CAN1_INDEX,
+#endif
+};
+
+struct imxrt_can
+{
+    char                    *name;
+    CAN_Type                *base;
+    IRQn_Type               irqn;
+    uint32_t                instance;
+    clock_div_name_t        clock_div_name;
+    clock_attach_id_t       clock_attach_id;
+    flexcan_handle_t        handle;
+    struct rt_can_device    can_dev;
+};
+
+struct imxrt_can flexcans[] =
+{
+#ifdef BSP_USING_CAN0
+    {
+        .name = "can0",
+        .base = CAN0,
+        .instance = 0,
+        .irqn = CAN0_IRQn,
+        .clock_div_name = kCLOCK_DivFLEXCAN0,
+        .clock_attach_id = kFRO_HF_DIV_to_FLEXCAN0,
+    },
+#endif
+#ifdef BSP_USING_CAN1
+    {
+        .name = "can1",
+        .base = CAN1,
+        .instance = 1,
+        .irqn = CAN1_IRQn,
+        .clock_div_name = kCLOCK_DivFLEXCAN1,
+        .clock_attach_id = kFRO_HF_DIV_to_FLEXCAN1,
+    },
+#endif
+};
+
+static void flexcan_callback(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint64_t result, void *userData)
+{
+    struct imxrt_can *can;
+    flexcan_mb_transfer_t rxXfer;
+
+    can = (struct imxrt_can *)userData;
+
+    switch (status)
+    {
+        case kStatus_FLEXCAN_RxIdle:
+            rt_hw_can_isr(&can->can_dev, RT_CAN_EVENT_RX_IND | result << 8);
+            rxXfer.frame = &frame[result - 1];
+            rxXfer.mbIdx = result;
+            FLEXCAN_TransferReceiveNonBlocking(can->base, &can->handle, &rxXfer);
+            break;
+
+        case kStatus_FLEXCAN_TxIdle:
+            rt_hw_can_isr(&can->can_dev, RT_CAN_EVENT_TX_DONE | result << 8);
+            break;
+        default:
+            break;
+    }
+}
+
+static rt_err_t _can_config(struct rt_can_device *can_dev, struct can_configure *cfg)
+{
+    struct imxrt_can *can =  (struct imxrt_can *)can_dev->parent.user_data;
+    flexcan_config_t config;
+    rt_uint32_t res = RT_EOK;
+    flexcan_rx_mb_config_t mbConfig;
+    flexcan_mb_transfer_t rxXfer;
+    rt_uint8_t i, mailbox;
+
+    FLEXCAN_GetDefaultConfig(&config);
+    config.baudRate = cfg->baud_rate;
+    config.enableIndividMask = true;    /* one filter per MB */
+    config.disableSelfReception = true;
+
+    switch (cfg->mode)
+    {
+    case RT_CAN_MODE_NORMAL:
+        /* default mode */
+        break;
+    case RT_CAN_MODE_LISTEN:
+        break;
+    case RT_CAN_MODE_LOOPBACK:
+        config.enableLoopBack = true;
+        break;
+    case RT_CAN_MODE_LOOPBACKANLISTEN:
+        break;
+    }
+
+    flexcan_timing_config_t timing_config;
+    rt_memset(&timing_config, 0, sizeof(flexcan_timing_config_t));
+
+    if(FLEXCAN_CalculateImprovedTimingValues(can->base, config.baudRate, CLOCK_GetFlexcanClkFreq(can->instance), &timing_config))
+    {
+        /* Update the improved timing configuration*/
+        rt_memcpy(&(config.timingConfig), &timing_config, sizeof(flexcan_timing_config_t));
+    }
+    else
+    {
+        //rt_kprintf("No found Improved Timing Configuration. Just used default configuration\n");
+    }
+
+    FLEXCAN_Init(can->base, &config, CLOCK_GetFlexcanClkFreq(can->instance));
+    FLEXCAN_TransferCreateHandle(can->base, &can->handle, flexcan_callback, can);
+
+    /* init RX_MB_COUNT RX MB to default status */
+    mbConfig.format = kFLEXCAN_FrameFormatStandard;  /* standard ID */
+    mbConfig.type = kFLEXCAN_FrameTypeData;          /* data frame */
+    mbConfig.id = FLEXCAN_ID_STD(0);                 /* default ID is 0 */
+    for (i = 0; i < RX_MB_COUNT; i++)
+    {
+        /* the used MB index from 1 to RX_MB_COUNT */
+        mailbox = i + 1;
+
+        /* all ID bit in the filter is "don't care" */
+        FLEXCAN_SetRxIndividualMask(can->base, mailbox, FLEXCAN_RX_MB_STD_MASK(0, 0, 0));
+        FLEXCAN_SetRxMbConfig(can->base, mailbox, &mbConfig, true);
+        /* one frame buffer per MB */
+        rxXfer.frame = &frame[i];
+        rxXfer.mbIdx = mailbox;
+        FLEXCAN_TransferReceiveNonBlocking(can->base, &can->handle, &rxXfer);
+    }
+
+    return res;
+}
+
+static rt_err_t _can_control(struct rt_can_device *can_dev, int cmd, void *arg)
+{
+    struct imxrt_can *can;
+    rt_uint32_t argval, mask;
+    rt_uint32_t res = RT_EOK;
+    flexcan_rx_mb_config_t mbConfig;
+    struct rt_can_filter_config  *cfg;
+    struct rt_can_filter_item *item;
+    rt_uint8_t i, count, index;
+
+    RT_ASSERT(can_dev != RT_NULL);
+
+    can = (struct imxrt_can *)can_dev->parent.user_data;
+    RT_ASSERT(can != RT_NULL);
+
+    switch (cmd)
+    {
+    case RT_DEVICE_CTRL_SET_INT:
+        argval = (rt_uint32_t) arg;
+        if (argval == RT_DEVICE_FLAG_INT_RX)
+        {
+            mask = kFLEXCAN_RxWarningInterruptEnable;
+        }
+        else if (argval == RT_DEVICE_FLAG_INT_TX)
+        {
+            mask = kFLEXCAN_TxWarningInterruptEnable;
+        }
+        else if (argval == RT_DEVICE_CAN_INT_ERR)
+        {
+            mask = kFLEXCAN_ErrorInterruptEnable;
+        }
+        FLEXCAN_EnableInterrupts(can->base, mask);
+        EnableIRQ(can->irqn);
+        break;
+    case RT_DEVICE_CTRL_CLR_INT:
+        /* each CAN device have one IRQ number. */
+        DisableIRQ(can->irqn);
+        break;
+    case RT_CAN_CMD_SET_FILTER:
+        cfg = (struct rt_can_filter_config *)arg;
+        item = cfg->items;
+        count = cfg->count;
+
+        if (filter_mask == 0xffffffff)
+        {
+            rt_kprintf("%s filter is full!\n", can->name);
+            res = -RT_ERROR;
+            break;
+        }
+        else if (filter_mask == 0)
+        {
+            /* deinit all init RX MB */
+            for (i = 0; i < RX_MB_COUNT; i++)
+            {
+                FLEXCAN_SetRxMbConfig(can->base, i + 1, RT_NULL, false);
+            }
+        }
+
+        while (count)
+        {
+            if (item->ide)
+            {
+                mbConfig.format = kFLEXCAN_FrameFormatExtend;
+                mbConfig.id = FLEXCAN_ID_EXT(item->id);
+                mask = FLEXCAN_RX_MB_EXT_MASK(item->mask, 0, 0);
+            }
+            else
+            {
+                mbConfig.format = kFLEXCAN_FrameFormatStandard;
+                mbConfig.id = FLEXCAN_ID_STD(item->id);
+                mask = FLEXCAN_RX_MB_STD_MASK(item->mask, 0, 0);
+            }
+
+            if (item->rtr)
+            {
+                mbConfig.type = kFLEXCAN_FrameTypeRemote;
+            }
+            else
+            {
+                mbConfig.type = kFLEXCAN_FrameTypeData;
+            }
+
+            /* user does not specify hdr index,set hdr_bank from RX MB 1 */
+            if (item->hdr_bank == -1)
+            {
+
+                for (i = 0; i < 32; i++)
+                {
+                    if (!(filter_mask & (1 << i)))
+                    {
+                        index = i;
+                        break;
+                    }
+                }
+            }
+            else    /* use user specified hdr_bank */
+            {
+                if (filter_mask & (1 << item->hdr_bank))
+                {
+                    res = -RT_ERROR;
+                    rt_kprintf("%s hdr%d filter already set!\n", can->name, item->hdr_bank);
+                    break;
+                }
+                else
+                {
+                    index = item->hdr_bank;
+                }
+            }
+
+            /* RX MB index from 1 to 32,hdr index 0~31 map RX MB index 1~32. */
+            FLEXCAN_SetRxIndividualMask(can->base, index + 1, mask);
+            FLEXCAN_SetRxMbConfig(can->base, index + 1, &mbConfig, true);
+            filter_mask |= 1 << index;
+
+            item++;
+            count--;
+        }
+
+        break;
+
+    case RT_CAN_CMD_SET_BAUD:
+        {
+            struct can_configure *cfg = (struct can_configure *)arg;
+            if (cfg != RT_NULL)
+            {
+                can->can_dev.config = *cfg;
+                _can_config(can_dev, cfg);
+                res = RT_EOK;
+            }
+            else
+            {
+                res = -RT_ERROR;
+            }
+            break;
+        }
+    case RT_CAN_CMD_SET_MODE:
+        res = -RT_ERROR;
+        break;
+
+    case RT_CAN_CMD_SET_PRIV:
+        res = -RT_ERROR;
+        break;
+    case RT_CAN_CMD_GET_STATUS:
+        FLEXCAN_GetBusErrCount(can->base, (rt_uint8_t *)(&can->can_dev.status.snderrcnt), (rt_uint8_t *)(&can->can_dev.status.rcverrcnt));
+        rt_memcpy(arg, &can->can_dev.status, sizeof(can->can_dev.status));
+        break;
+    case RT_CAN_CMD_START:
+        /* already started in can_cfg */
+        break;
+    default:
+        res = -RT_ERROR;
+        break;
+    }
+
+    return res;
+}
+
+static rt_ssize_t _can_sendmsg(struct rt_can_device *can_dev, const void *buf, rt_uint32_t boxno)
+{
+    struct imxrt_can *can;
+    struct rt_can_msg *msg;
+    status_t ret;
+    flexcan_frame_t frame;
+    flexcan_mb_transfer_t txXfer;
+
+    RT_ASSERT(can_dev != RT_NULL);
+    RT_ASSERT(buf != RT_NULL);
+
+    can = (struct imxrt_can *)can_dev->parent.user_data;
+    msg = (struct rt_can_msg *) buf;
+
+    RT_ASSERT(can != RT_NULL);
+    RT_ASSERT(msg != RT_NULL);
+
+    FLEXCAN_SetTxMbConfig(can->base, boxno, true);
+
+    if (RT_CAN_STDID == msg->ide)
+    {
+        frame.id = FLEXCAN_ID_STD(msg->id);
+        frame.format = kFLEXCAN_FrameFormatStandard;
+    }
+    else if (RT_CAN_EXTID == msg->ide)
+    {
+        frame.id = FLEXCAN_ID_EXT(msg->id);
+        frame.format = kFLEXCAN_FrameFormatExtend;
+    }
+
+    if (RT_CAN_DTR == msg->rtr)
+    {
+        frame.type = kFLEXCAN_FrameTypeData;
+    }
+    else if (RT_CAN_RTR == msg->rtr)
+    {
+        frame.type = kFLEXCAN_FrameTypeRemote;
+    }
+
+    frame.length = msg->len;
+    frame.dataByte0 = msg->data[0];
+    frame.dataByte1 = msg->data[1];
+    frame.dataByte2 = msg->data[2];
+    frame.dataByte3 = msg->data[3];
+    frame.dataByte4 = msg->data[4];
+    frame.dataByte5 = msg->data[5];
+    frame.dataByte6 = msg->data[6];
+    frame.dataByte7 = msg->data[7];
+
+    txXfer.mbIdx = boxno;
+    txXfer.frame = &frame;
+    ret = FLEXCAN_TransferSendBlocking(can->base, boxno, txXfer.frame);
+    switch (ret)
+    {
+    case kStatus_Success:
+        ret = RT_EOK;
+        rt_hw_can_isr(&can->can_dev, RT_CAN_EVENT_TX_DONE | boxno << 8);
+        break;
+    case kStatus_Fail:
+        ret = -RT_ERROR;
+        break;
+    }
+
+    return (rt_ssize_t)ret;
+}
+
+static rt_ssize_t _can_recvmsg(struct rt_can_device *can_dev, void *buf, rt_uint32_t boxno)
+{
+    struct imxrt_can *can;
+    struct rt_can_msg *pmsg;
+    rt_uint8_t index;
+
+    RT_ASSERT(can_dev != RT_NULL);
+
+    can = (struct imxrt_can *)can_dev->parent.user_data;
+    pmsg = (struct rt_can_msg *) buf;
+    RT_ASSERT(can != RT_NULL);
+
+    index = boxno - 1;
+
+    if (frame[index].format == kFLEXCAN_FrameFormatStandard)
+    {
+        pmsg->ide = RT_CAN_STDID;
+        pmsg->id = frame[index].id >> CAN_ID_STD_SHIFT;
+    }
+    else
+    {
+        pmsg->ide = RT_CAN_EXTID;
+        pmsg->id = frame[index].id >> CAN_ID_EXT_SHIFT;
+    }
+
+    if (frame[index].type == kFLEXCAN_FrameTypeData)
+    {
+        pmsg->rtr = RT_CAN_DTR;
+    }
+    else if (frame[index].type == kFLEXCAN_FrameTypeRemote)
+    {
+        pmsg->rtr = RT_CAN_RTR;
+    }
+    pmsg->hdr_index = index;      /* one hdr filter per MB */
+    pmsg->len = frame[index].length;
+    pmsg->data[0] = frame[index].dataByte0;
+    pmsg->data[1] = frame[index].dataByte1;
+    pmsg->data[2] = frame[index].dataByte2;
+    pmsg->data[3] = frame[index].dataByte3;
+    pmsg->data[4] = frame[index].dataByte4;
+    pmsg->data[5] = frame[index].dataByte5;
+    pmsg->data[6] = frame[index].dataByte6;
+    pmsg->data[7] = frame[index].dataByte7;
+
+    return 0;
+}
+
+static uint8_t FLEXCAN_GetFirstValidMb(CAN_Type *base)
+{
+    uint8_t firstValidMbNum;
+
+    if (0U != (base->MCR & CAN_MCR_RFEN_MASK))
+    {
+        firstValidMbNum = (uint8_t)((base->CTRL2 & CAN_CTRL2_RFFN_MASK) >> CAN_CTRL2_RFFN_SHIFT);
+        firstValidMbNum = ((firstValidMbNum + 1U) * 2U) + 6U;
+    }
+    else
+    {
+        firstValidMbNum = 0U;
+    }
+
+    return firstValidMbNum;
+}
+
+rt_ssize_t _can_sendmsg_nonblocking(struct rt_can_device *can_dev, const void *buf)
+{
+    struct imxrt_can *can;
+    struct rt_can_msg *msg;
+    status_t ret;
+    flexcan_frame_t frame;
+    flexcan_mb_transfer_t txXfer;
+    rt_uint32_t boxno;
+    RT_ASSERT(can_dev != RT_NULL);
+    RT_ASSERT(buf != RT_NULL);
+
+    can = (struct imxrt_can *)can_dev->parent.user_data;
+    msg = (struct rt_can_msg *) buf;
+
+    RT_ASSERT(can != RT_NULL);
+    RT_ASSERT(msg != RT_NULL);
+
+    boxno = FLEXCAN_GetFirstValidMb(can->base);
+
+    if (boxno == 0xFF)
+    {
+        return -RT_EBUSY;
+    }
+
+    if (RT_CAN_STDID == msg->ide)
+    {
+        frame.id = FLEXCAN_ID_STD(msg->id);
+        frame.format = kFLEXCAN_FrameFormatStandard;
+    }
+    else if (RT_CAN_EXTID == msg->ide)
+    {
+        frame.id = FLEXCAN_ID_EXT(msg->id);
+        frame.format = kFLEXCAN_FrameFormatExtend;
+    }
+
+    if (RT_CAN_DTR == msg->rtr)
+    {
+        frame.type = kFLEXCAN_FrameTypeData;
+    }
+    else if (RT_CAN_RTR == msg->rtr)
+    {
+        frame.type = kFLEXCAN_FrameTypeRemote;
+    }
+
+    frame.length = msg->len;
+    frame.dataByte0 = msg->data[0];
+    frame.dataByte1 = msg->data[1];
+    frame.dataByte2 = msg->data[2];
+    frame.dataByte3 = msg->data[3];
+    frame.dataByte4 = msg->data[4];
+    frame.dataByte5 = msg->data[5];
+    frame.dataByte6 = msg->data[6];
+    frame.dataByte7 = msg->data[7];
+
+    txXfer.mbIdx = boxno;
+    txXfer.frame = &frame;
+    ret = FLEXCAN_TransferSendNonBlocking(can->base, &can->handle, &txXfer);
+    switch (ret)
+    {
+    case kStatus_Success:
+        ret = RT_EOK;
+        break;
+    case kStatus_Fail:
+        ret = -RT_ERROR;
+        break;
+    }
+
+    return (rt_ssize_t)ret;
+}
+
+static struct rt_can_ops imxrt_can_ops =
+{
+    .configure    = _can_config,
+    .control      = _can_control,
+    .sendmsg      = _can_sendmsg,
+    .recvmsg      = _can_recvmsg,
+    .sendmsg_nonblocking = _can_sendmsg_nonblocking
+};
+
+int rt_hw_can_init(void)
+{
+    int i;
+    rt_err_t ret = RT_EOK;
+    struct can_configure config = CANDEFAULTCONFIG;
+
+    config.privmode = 0;
+    config.ticks = 50;
+    config.sndboxnumber = 1;
+    config.msgboxsz = RX_MB_COUNT;
+#ifdef RT_CAN_USING_HDR
+    config.maxhdr = RX_MB_COUNT;          /* filter count,one filter per MB */
+#endif
+
+    for (i = 0; i < sizeof(flexcans) / sizeof(flexcans[0]); i++)
+    {
+        flexcans[i].can_dev.config = config;
+        CLOCK_SetClockDiv(flexcans[i].clock_div_name, 1u);
+        CLOCK_AttachClk(flexcans[i].clock_attach_id);
+
+        ret = rt_hw_can_register(&flexcans[i].can_dev, flexcans[i].name, &imxrt_can_ops, &flexcans[i]);
+    }
+
+    return ret;
+}
+INIT_BOARD_EXPORT(rt_hw_can_init);
+
+#endif /*RT_USING_CAN */
diff --git a/bsp/nxp/mcx/mcxa/frdm-mcxa346/.ci/attachconfig/ci.attachconfig.yml b/bsp/nxp/mcx/mcxa/frdm-mcxa346/.ci/attachconfig/ci.attachconfig.yml
new file mode 100644
index 0000000000..a37fda0654
--- /dev/null
+++ b/bsp/nxp/mcx/mcxa/frdm-mcxa346/.ci/attachconfig/ci.attachconfig.yml
@@ -0,0 +1,9 @@
+scons.args: &scons
+    scons_arg:
+      - '--strict'
+
+# ------ component CI ------
+component.can:
+    kconfig:
+      - CONFIG_BSP_USING_CAN
+      - CONFIG_BSP_USING_CAN0
diff --git a/bsp/nxp/mcx/mcxa/frdm-mcxa346/board/Kconfig b/bsp/nxp/mcx/mcxa/frdm-mcxa346/board/Kconfig
index b4fbf9377c..a8eb2bd4bd 100644
--- a/bsp/nxp/mcx/mcxa/frdm-mcxa346/board/Kconfig
+++ b/bsp/nxp/mcx/mcxa/frdm-mcxa346/board/Kconfig
@@ -104,23 +104,39 @@ menu "On-chip Peripheral Drivers"
                     default n
             endif
 
-        menuconfig BSP_USING_PWM
-            config BSP_USING_PWM
-                bool "Enable PWM"
-                select RT_USING_PWM
-                default n
-    
-                if BSP_USING_PWM
-                    config BSP_USING_PWM0
-                        bool "Enable eFlex PWM0"
-                        default n
-                    config BSP_USING_PWM1
-                        bool "Enable eFlex PWM1"
-                        default n
-                    config BSP_USING_PWM2
-                        bool "Enable eFlex PWM2"
-                        default n
-                endif
+    menuconfig BSP_USING_PWM
+        config BSP_USING_PWM
+            bool "Enable PWM"
+            select RT_USING_PWM
+            default n
+
+            if BSP_USING_PWM
+                config BSP_USING_PWM0
+                    bool "Enable eFlex PWM0"
+                    default n
+                config BSP_USING_PWM1
+                    bool "Enable eFlex PWM1"
+                    default n
+                config BSP_USING_PWM2
+                    bool "Enable eFlex PWM2"
+                    default n
+            endif
+
+    menuconfig BSP_USING_CAN
+        config BSP_USING_CAN
+            bool "Enable CAN"
+            select RT_USING_CAN
+            default n
+            if BSP_USING_CAN
+                config BSP_USING_CAN0
+                    bool "Enable CAN0"
+                    default n
+                
+                config BSP_USING_CAN1
+                    bool "Enable CAN1"
+                    default n
+            endif
+
 endmenu
 
 
diff --git a/bsp/nxp/mcx/mcxa/frdm-mcxa346/board/MCUX_Config/board/pin_mux.c b/bsp/nxp/mcx/mcxa/frdm-mcxa346/board/MCUX_Config/board/pin_mux.c
index 03b612b08b..57004a9c15 100644
--- a/bsp/nxp/mcx/mcxa/frdm-mcxa346/board/MCUX_Config/board/pin_mux.c
+++ b/bsp/nxp/mcx/mcxa/frdm-mcxa346/board/MCUX_Config/board/pin_mux.c
@@ -48,6 +48,7 @@ void BOARD_InitPins(void)
     static const reset_ip_name_t i2c_resets[] = LPI2C_RSTS;
     static const reset_ip_name_t spi_resets[] = LPSPI_RSTS;
     static const reset_ip_name_t dma_resets[] = DMA_RSTS_N;
+    static const reset_ip_name_t can_resets[] = FLEXCAN_RSTS_N;
 
     // Release resets
     release_reset_array(port_resets, ARRAY_SIZE(port_resets));
@@ -56,7 +57,7 @@ void BOARD_InitPins(void)
     release_reset_array(i2c_resets, ARRAY_SIZE(i2c_resets));
     release_reset_array(spi_resets, ARRAY_SIZE(spi_resets));
     release_reset_array(dma_resets, ARRAY_SIZE(dma_resets));
-
+    release_reset_array(can_resets, ARRAY_SIZE(can_resets));
 
     const port_pin_config_t port2_2_pin35_config = {/* Internal pull-up resistor is enabled */
                                                     .pullSelect = kPORT_PullUp,
@@ -285,107 +286,6 @@ void BOARD_InitPins(void)
     /* PORT3_28 (pin 73) is configured as LPI2C3_SDA */
     PORT_SetPinConfig(PORT3, 28U, &port3_28_pin73_config);
 
-
-    const port_pin_config_t port1_0_pin135_config = {/* Internal pull-up/down resistor is disabled */
-                                                     .pullSelect = kPORT_PullDisable,
-                                                     /* Low internal pull resistor value is selected. */
-                                                     .pullValueSelect = kPORT_LowPullResistor,
-                                                     /* Fast slew rate is configured */
-                                                     .slewRate = kPORT_FastSlewRate,
-                                                     /* Passive input filter is disabled */
-                                                     .passiveFilterEnable = kPORT_PassiveFilterDisable,
-                                                     /* Open drain output is disabled */
-                                                     .openDrainEnable = kPORT_OpenDrainDisable,
-                                                     /* Low drive strength is configured */
-                                                     .driveStrength = kPORT_LowDriveStrength,
-                                                     /* Normal drive strength is configured */
-                                                     .driveStrength1 = kPORT_NormalDriveStrength,
-                                                     /* Pin is configured as LPSPI0_SDO */
-                                                     .mux = kPORT_MuxAlt2,
-                                                     /* Digital input enabled */
-                                                     .inputBuffer = kPORT_InputBufferEnable,
-                                                     /* Digital input is not inverted */
-                                                     .invertInput = kPORT_InputNormal,
-                                                     /* Pin Control Register fields [15:0] are not locked */
-                                                     .lockRegister = kPORT_UnlockRegister};
-    /* PORT1_0 (pin 135) is configured as LPSPI0_SDO */
-    PORT_SetPinConfig(PORT1, 0U, &port1_0_pin135_config);
-
-    const port_pin_config_t port1_1_pin136_config = {/* Internal pull-up/down resistor is disabled */
-                                                     .pullSelect = kPORT_PullDisable,
-                                                     /* Low internal pull resistor value is selected. */
-                                                     .pullValueSelect = kPORT_LowPullResistor,
-                                                     /* Fast slew rate is configured */
-                                                     .slewRate = kPORT_FastSlewRate,
-                                                     /* Passive input filter is disabled */
-                                                     .passiveFilterEnable = kPORT_PassiveFilterDisable,
-                                                     /* Open drain output is disabled */
-                                                     .openDrainEnable = kPORT_OpenDrainDisable,
-                                                     /* Low drive strength is configured */
-                                                     .driveStrength = kPORT_LowDriveStrength,
-                                                     /* Normal drive strength is configured */
-                                                     .driveStrength1 = kPORT_NormalDriveStrength,
-                                                     /* Pin is configured as LPSPI0_SCK */
-                                                     .mux = kPORT_MuxAlt2,
-                                                     /* Digital input enabled */
-                                                     .inputBuffer = kPORT_InputBufferEnable,
-                                                     /* Digital input is not inverted */
-                                                     .invertInput = kPORT_InputNormal,
-                                                     /* Pin Control Register fields [15:0] are not locked */
-                                                     .lockRegister = kPORT_UnlockRegister};
-    /* PORT1_1 (pin 136) is configured as LPSPI0_SCK */
-    PORT_SetPinConfig(PORT1, 1U, &port1_1_pin136_config);
-
-    const port_pin_config_t port1_2_pin137_config = {/* Internal pull-up/down resistor is disabled */
-                                                     .pullSelect = kPORT_PullDisable,
-                                                     /* Low internal pull resistor value is selected. */
-                                                     .pullValueSelect = kPORT_LowPullResistor,
-                                                     /* Fast slew rate is configured */
-                                                     .slewRate = kPORT_FastSlewRate,
-                                                     /* Passive input filter is disabled */
-                                                     .passiveFilterEnable = kPORT_PassiveFilterDisable,
-                                                     /* Open drain output is disabled */
-                                                     .openDrainEnable = kPORT_OpenDrainDisable,
-                                                     /* Low drive strength is configured */
-                                                     .driveStrength = kPORT_LowDriveStrength,
-                                                     /* Normal drive strength is configured */
-                                                     .driveStrength1 = kPORT_NormalDriveStrength,
-                                                     /* Pin is configured as LPSPI0_SDI */
-                                                     .mux = kPORT_MuxAlt2,
-                                                     /* Digital input enabled */
-                                                     .inputBuffer = kPORT_InputBufferEnable,
-                                                     /* Digital input is not inverted */
-                                                     .invertInput = kPORT_InputNormal,
-                                                     /* Pin Control Register fields [15:0] are not locked */
-                                                     .lockRegister = kPORT_UnlockRegister};
-    /* PORT1_2 (pin 137) is configured as LPSPI0_SDI */
-    PORT_SetPinConfig(PORT1, 2U, &port1_2_pin137_config);
-
-    const port_pin_config_t port1_3_pin138_config = {/* Internal pull-up/down resistor is disabled */
-                                                     .pullSelect = kPORT_PullDisable,
-                                                     /* Low internal pull resistor value is selected. */
-                                                     .pullValueSelect = kPORT_LowPullResistor,
-                                                     /* Fast slew rate is configured */
-                                                     .slewRate = kPORT_FastSlewRate,
-                                                     /* Passive input filter is disabled */
-                                                     .passiveFilterEnable = kPORT_PassiveFilterDisable,
-                                                     /* Open drain output is disabled */
-                                                     .openDrainEnable = kPORT_OpenDrainDisable,
-                                                     /* Low drive strength is configured */
-                                                     .driveStrength = kPORT_LowDriveStrength,
-                                                     /* Normal drive strength is configured */
-                                                     .driveStrength1 = kPORT_NormalDriveStrength,
-                                                     /* Pin is configured as LPSPI0_PCS0 */
-                                                     .mux = kPORT_MuxAlt2,
-                                                     /* Digital input enabled */
-                                                     .inputBuffer = kPORT_InputBufferEnable,
-                                                     /* Digital input is not inverted */
-                                                     .invertInput = kPORT_InputNormal,
-                                                     /* Pin Control Register fields [15:0] are not locked */
-                                                     .lockRegister = kPORT_UnlockRegister};
-    /* PORT1_3 (pin 138) is configured as LPSPI0_PCS0 */
-    PORT_SetPinConfig(PORT1, 3U, &port1_3_pin138_config);
-
     const port_pin_config_t port3_10_pin96_config = {/* Internal pull-up/down resistor is disabled */
                                                      .pullSelect = kPORT_PullDisable,
                                                      /* Low internal pull resistor value is selected. */
@@ -485,4 +385,54 @@ void BOARD_InitPins(void)
                                                     .lockRegister = kPORT_UnlockRegister};
     /* PORT3_9 (pin 97) is configured as LPSPI1_SDI */
     PORT_SetPinConfig(PORT3, 9U, &port3_9_pin97_config);
+
+    const port_pin_config_t port1_11_pin4_config = {/* Internal pull-up/down resistor is disabled */
+                                                    .pullSelect = kPORT_PullDisable,
+                                                    /* Low internal pull resistor value is selected. */
+                                                    .pullValueSelect = kPORT_LowPullResistor,
+                                                    /* Fast slew rate is configured */
+                                                    .slewRate = kPORT_FastSlewRate,
+                                                    /* Passive input filter is disabled */
+                                                    .passiveFilterEnable = kPORT_PassiveFilterDisable,
+                                                    /* Open drain output is disabled */
+                                                    .openDrainEnable = kPORT_OpenDrainDisable,
+                                                    /* Low drive strength is configured */
+                                                    .driveStrength = kPORT_LowDriveStrength,
+                                                    /* Normal drive strength is configured */
+                                                    .driveStrength1 = kPORT_NormalDriveStrength,
+                                                    /* Pin is configured as CAN0_RXD */
+                                                    .mux = kPORT_MuxAlt11,
+                                                    /* Digital input enabled */
+                                                    .inputBuffer = kPORT_InputBufferEnable,
+                                                    /* Digital input is not inverted */
+                                                    .invertInput = kPORT_InputNormal,
+                                                    /* Pin Control Register fields [15:0] are not locked */
+                                                    .lockRegister = kPORT_UnlockRegister};
+    /* PORT1_11 (pin 4) is configured as CAN0_RXD */
+    PORT_SetPinConfig(PORT1, 11U, &port1_11_pin4_config);
+
+    const port_pin_config_t port1_2_pin137_config = {/* Internal pull-up/down resistor is disabled */
+                                                     .pullSelect = kPORT_PullDisable,
+                                                     /* Low internal pull resistor value is selected. */
+                                                     .pullValueSelect = kPORT_LowPullResistor,
+                                                     /* Fast slew rate is configured */
+                                                     .slewRate = kPORT_FastSlewRate,
+                                                     /* Passive input filter is disabled */
+                                                     .passiveFilterEnable = kPORT_PassiveFilterDisable,
+                                                     /* Open drain output is disabled */
+                                                     .openDrainEnable = kPORT_OpenDrainDisable,
+                                                     /* Low drive strength is configured */
+                                                     .driveStrength = kPORT_LowDriveStrength,
+                                                     /* Normal drive strength is configured */
+                                                     .driveStrength1 = kPORT_NormalDriveStrength,
+                                                     /* Pin is configured as CAN0_TXD */
+                                                     .mux = kPORT_MuxAlt11,
+                                                     /* Digital input enabled */
+                                                     .inputBuffer = kPORT_InputBufferEnable,
+                                                     /* Digital input is not inverted */
+                                                     .invertInput = kPORT_InputNormal,
+                                                     /* Pin Control Register fields [15:0] are not locked */
+                                                     .lockRegister = kPORT_UnlockRegister};
+    /* PORT1_2 (pin 137) is configured as CAN0_TXD */
+    PORT_SetPinConfig(PORT1, 2U, &port1_2_pin137_config);
 }