boards/arm/imxrt/teensy-4.x: add option to have CAN3 as can0

This commit adds option for Teensy 4.x board to initialize CAN3 as can0.
The reason of this is the CAN FD capability of CAN3. This commit also
disables tickless mode support for pikron-bb configuration as this option
started causing hard faults which are yet to be solved.

Signed-off-by: Michal Lenc <michallenc@seznam.cz>

boards/arm/imxrt/teensy-4.x/Kconfig

@@ -24,4 +24,10 @@ config TEENSY_41
 
 endchoice # Board configuration
 
+config IMXRT_FLEXCAN3_AS_CAN0
+	bool "Initialize CAN3 bus as can0"
+	---help---
+		This configuration option ensures that if more that one CAN bus is set on
+		that CAN 3 (with FD capability) will be initialized as can0.
+
 endif

boards/arm/imxrt/teensy-4.x/configs/pikron-bb/defconfig

@@ -9,6 +9,7 @@
 # CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_PRINTF is not set
 # CONFIG_NSH_DISABLE_TRUNCATE is not set
+CONFIG_ALLOW_GPL_COMPONENTS=y
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD="teensy-4.x"
 CONFIG_ARCH_BOARD_TEENSY_4X=y
@@ -31,11 +32,6 @@ CONFIG_CANUTILS_CANDUMP=y
 CONFIG_CANUTILS_CANSEND=y
 CONFIG_CAN_FD=y
 CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_ERROR=y
-CONFIG_DEBUG_FEATURES=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_WARN=y
 CONFIG_DEV_LOOP=y
 CONFIG_DEV_ZERO=y
 CONFIG_DRIVERS_VIDEO=y
@@ -58,7 +54,11 @@ CONFIG_IDLETHREAD_STACKSIZE=2048
 CONFIG_IMXRT_ENET=y
 CONFIG_IMXRT_ENET_NRXBUFFERS=16
 CONFIG_IMXRT_ENET_NTXBUFFERS=8
+CONFIG_IMXRT_FLEXCAN1=y
+CONFIG_IMXRT_FLEXCAN2=y
 CONFIG_IMXRT_FLEXCAN3=y
+CONFIG_IMXRT_FLEXCAN3_AS_CAN0=y
+CONFIG_IMXRT_FLEXCAN_TXMB=1
 CONFIG_IMXRT_LPSPI4=y
 CONFIG_IMXRT_LPUART1=y
 CONFIG_IMXRT_SNVS_LPSRTC=y
@@ -128,9 +128,8 @@ CONFIG_RAM_START=0x20200000
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_RR_INTERVAL=10
 CONFIG_SCHED_CPULOAD=y
+CONFIG_SCHED_CPULOAD_EXTCLK=y
 CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_TICKLESS=y
-CONFIG_SCHED_TICKLESS_ALARM=y
 CONFIG_SCHED_USER_IDENTITY=y
 CONFIG_SCHED_WAITPID=y
 CONFIG_SERIAL_TERMIOS=y
@@ -147,6 +146,6 @@ CONFIG_SYSTEM_PING6=y
 CONFIG_SYSTEM_PING=y
 CONFIG_SYSTEM_TEE=y
 CONFIG_TEENSY_41=y
-CONFIG_USEC_PER_TICK=10
+CONFIG_USEC_PER_TICK=1000
 CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_VIDEO_FB=y

boards/arm/imxrt/teensy-4.x/src/imxrt_flexcan.c

@@ -50,6 +50,19 @@
 int imxrt_can_setup(void)
 {
   int ret;
+
+#ifdef CONFIG_IMXRT_FLEXCAN3_AS_CAN0
+# ifdef CONFIG_IMXRT_FLEXCAN3
+  ret = imxrt_caninitialize(3);
+  if (ret < 0)
+    {
+      canerr("ERROR: Failed to get CAN interface\n");
+      return -ENODEV;
+    }
+
+# endif
+#endif
+
 #ifdef CONFIG_IMXRT_FLEXCAN1
   /* Call arm_caninitialize() to get an instance of the CAN interface */
 
@@ -70,7 +83,8 @@ int imxrt_can_setup(void)
     }
 
 #endif
-#ifdef CONFIG_IMXRT_FLEXCAN3
+#ifndef CONFIG_IMXRT_FLEXCAN3_AS_CAN0
+# ifdef CONFIG_IMXRT_FLEXCAN3
   ret = imxrt_caninitialize(3);
   if (ret < 0)
     {
@@ -78,6 +92,7 @@ int imxrt_can_setup(void)
       return -ENODEV;
     }
 
+# endif
 #endif
   UNUSED(ret);
   return OK;