From 5f82c82e4da48ff1b478cc5641029829700b0e33 Mon Sep 17 00:00:00 2001
From: JacobCrabill <jacob@flyvoly.com>
Date: Fri, 15 Apr 2022 14:35:40 -0700
Subject: [PATCH] boards/stm32h7: Add socketcan config to nucleo-h743zi2

---
 boards/arm/stm32h7/nucleo-h743zi2/README.txt  |  1 +
 .../configs/socketcan/defconfig               | 73 +++++++++++++++++++
 .../stm32h7/nucleo-h743zi2/include/board.h    | 15 ++++
 .../nucleo-h743zi2/src/stm32_bringup.c        | 16 ++++
 4 files changed, 105 insertions(+)
 create mode 100644 boards/arm/stm32h7/nucleo-h743zi2/configs/socketcan/defconfig

diff --git a/boards/arm/stm32h7/nucleo-h743zi2/README.txt b/boards/arm/stm32h7/nucleo-h743zi2/README.txt
index d0138e66a2..e491c4a69d 100644
--- a/boards/arm/stm32h7/nucleo-h743zi2/README.txt
+++ b/boards/arm/stm32h7/nucleo-h743zi2/README.txt
@@ -92,6 +92,7 @@ Configurations
        - Syslog with process name, priority, and timestamp
        - Process Snapshot with stack usage, cpu usage, and signal information
        - Interrupt Statistics
+       - procfs filesystem (required for ifconfig, ifup/ifdown)
 
       Networking:
        - IPv4 Networking
diff --git a/boards/arm/stm32h7/nucleo-h743zi2/configs/socketcan/defconfig b/boards/arm/stm32h7/nucleo-h743zi2/configs/socketcan/defconfig
new file mode 100644
index 0000000000..5101756e2a
--- /dev/null
+++ b/boards/arm/stm32h7/nucleo-h743zi2/configs/socketcan/defconfig
@@ -0,0 +1,73 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_NET_ETHERNET is not set
+# CONFIG_NET_IPv4 is not set
+# CONFIG_STANDARD_SERIAL is not set
+CONFIG_ALLOW_GPL_COMPONENTS=y
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="nucleo-h743zi2"
+CONFIG_ARCH_BOARD_NUCLEO_H743ZI2=y
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743ZI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=43103
+CONFIG_BUILTIN=y
+CONFIG_CANUTILS_CANDUMP=y
+CONFIG_CANUTILS_CANSEND=y
+CONFIG_CAN_CONNS=2
+CONFIG_DEBUG_ERROR=y
+CONFIG_DEBUG_FEATURES=y
+CONFIG_DEBUG_INFO=y
+CONFIG_DEBUG_NET=y
+CONFIG_DEBUG_NET_ERROR=y
+CONFIG_DEBUG_NET_INFO=y
+CONFIG_DEBUG_NET_WARN=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_WARN=y
+CONFIG_FS_PROCFS=y
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INTELHEX_BINARY=y
+CONFIG_MM_REGIONS=4
+CONFIG_NET=y
+CONFIG_NETDEV_CAN_BITRATE_IOCTL=y
+CONFIG_NETDEV_IFINDEX=y
+CONFIG_NETDEV_LATEINIT=y
+CONFIG_NET_CAN=y
+CONFIG_NET_CAN_RAW_DEFAULT_TX_DEADLINE=500
+CONFIG_NET_CAN_RAW_TX_DEADLINE=y
+CONFIG_NET_CAN_SOCK_OPTS=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAMLOG=y
+CONFIG_RAMLOG_SYSLOG=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_WAITPID=y
+CONFIG_START_DAY=6
+CONFIG_START_MONTH=12
+CONFIG_START_YEAR=2011
+CONFIG_STM32H7_FDCAN1=y
+CONFIG_STM32H7_FDCAN2=y
+CONFIG_STM32H7_USART3=y
+CONFIG_SYSLOG_TIMESTAMP=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USART3_SERIAL_CONSOLE=y
diff --git a/boards/arm/stm32h7/nucleo-h743zi2/include/board.h b/boards/arm/stm32h7/nucleo-h743zi2/include/board.h
index 2046c389be..a4def19fcc 100644
--- a/boards/arm/stm32h7/nucleo-h743zi2/include/board.h
+++ b/boards/arm/stm32h7/nucleo-h743zi2/include/board.h
@@ -1,5 +1,6 @@
 /****************************************************************************
  * boards/arm/stm32h7/nucleo-h743zi2/include/board.h
+ *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
  * this work for additional information regarding copyright ownership.  The
@@ -241,6 +242,10 @@
 
 #define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
 
+/* FDCAN 1 2 clock source - HSE (TODO: Not the best choice for this board?) */
+
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
+
 /* FLASH wait states
  *
  *  ------------ ---------- -----------
@@ -388,6 +393,16 @@
 #define GPIO_TIM1_CH3NOUT GPIO_TIM1_CH3NOUT_3 /* PE12 - D39 */
 #define GPIO_TIM1_CH4OUT  GPIO_TIM1_CH4OUT_2  /* PE14 - D38 */
 
+/* FDCAN1 */
+
+#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */
+#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
+
+/* FDCAN2 */
+
+#define GPIO_CAN2_RX GPIO_CAN2_RX_2 /* PB5 - D11 */
+#define GPIO_CAN2_TX GPIO_CAN2_TX_2 /* PB6 - D1 */
+
 /* DMA **********************************************************************/
 
 #define DMAMAP_SPI3_RX DMAMAP_DMA12_SPI3RX_0 /* DMA1 */
diff --git a/boards/arm/stm32h7/nucleo-h743zi2/src/stm32_bringup.c b/boards/arm/stm32h7/nucleo-h743zi2/src/stm32_bringup.c
index edcf02b752..0821f6d189 100644
--- a/boards/arm/stm32h7/nucleo-h743zi2/src/stm32_bringup.c
+++ b/boards/arm/stm32h7/nucleo-h743zi2/src/stm32_bringup.c
@@ -37,6 +37,10 @@
 #include "stm32_usbhost.h"
 #endif
 
+#ifdef CONFIG_STM32H7_FDCAN
+#include "stm32_fdcan_sock.h"
+#endif
+
 #include "nucleo-h743zi2.h"
 
 /****************************************************************************
@@ -172,6 +176,18 @@ int stm32_bringup(void)
              "ERROR: Failed to start USB monitor: %d\n",
              ret);
     }
+#endif
+
+#ifdef CONFIG_NETDEV_LATEINIT
+
+#  ifdef CONFIG_STM32H7_FDCAN1
+  stm32_fdcansockinitialize(0);
+#  endif
+
+#  ifdef CONFIG_STM32H7_FDCAN2
+  stm32_fdcansockinitialize(1);
+#  endif
+
 #endif
 
   return OK;