From f11bdc0cbc163a8bb89903f715e77afa560cf9b0 Mon Sep 17 00:00:00 2001
From: GC2020 <gaojunchen@svehicle.cn>
Date: Mon, 25 Mar 2024 20:20:56 +0800
Subject: [PATCH] stm32h7/linum-stm32h753bi: Add FDCAN support

---
 .../configs/socketcan/defconfig               | 72 +++++++++++++++++++
 .../stm32h7/linum-stm32h753bi/include/board.h | 10 +++
 .../linum-stm32h753bi/src/stm32_bringup.c     | 16 +++++
 3 files changed, 98 insertions(+)
 create mode 100644 boards/arm/stm32h7/linum-stm32h753bi/configs/socketcan/defconfig

diff --git a/boards/arm/stm32h7/linum-stm32h753bi/configs/socketcan/defconfig b/boards/arm/stm32h7/linum-stm32h753bi/configs/socketcan/defconfig
new file mode 100644
index 0000000000..2f59cb2b3a
--- /dev/null
+++ b/boards/arm/stm32h7/linum-stm32h753bi/configs/socketcan/defconfig
@@ -0,0 +1,72 @@
+#
+# 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_STM32H7_USE_LEGACY_PINMAP is not set
+CONFIG_ALLOW_GPL_COMPONENTS=y
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="linum-stm32h753bi"
+CONFIG_ARCH_BOARD_LINUM_STM32H753BI=y
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H753BI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_CHIP_STM32H7_CORTEXM7=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_PREALLOC_CONNS=2
+CONFIG_DEBUG_FEATURES=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_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/linum-stm32h753bi/include/board.h b/boards/arm/stm32h7/linum-stm32h753bi/include/board.h
index 3fda56c61f..f7d925dff4 100644
--- a/boards/arm/stm32h7/linum-stm32h753bi/include/board.h
+++ b/boards/arm/stm32h7/linum-stm32h753bi/include/board.h
@@ -401,6 +401,16 @@
 #define GPIO_TIM17_CH1OUT  (GPIO_TIM17_CH1NOUT_1) /* PB7 */
 #define GPIO_TIM4_CH2OUT   (GPIO_TIM4_CH2OUT_1)   /* PB7 */
 
+/* FDCAN1 */
+
+#define GPIO_CAN1_RX      (GPIO_CAN1_RX_3|GPIO_SPEED_50MHz)      /* PD0 */
+#define GPIO_CAN1_TX      (GPIO_CAN1_TX_3|GPIO_SPEED_50MHz)      /* PD1 */
+
+/* FDCAN2 */
+
+#define GPIO_CAN2_RX      (GPIO_CAN2_RX_2|GPIO_SPEED_50MHz)      /* PB5 - D11 */
+#define GPIO_CAN2_TX      (GPIO_CAN2_TX_2|GPIO_SPEED_50MHz)      /* PB6 - D1 */
+
 /****************************************************************************
  * Public Data
  ****************************************************************************/
diff --git a/boards/arm/stm32h7/linum-stm32h753bi/src/stm32_bringup.c b/boards/arm/stm32h7/linum-stm32h753bi/src/stm32_bringup.c
index 4604a28294..74c103a367 100644
--- a/boards/arm/stm32h7/linum-stm32h753bi/src/stm32_bringup.c
+++ b/boards/arm/stm32h7/linum-stm32h753bi/src/stm32_bringup.c
@@ -45,6 +45,10 @@
 #  include "stm32_rtc.h"
 #endif
 
+#ifdef CONFIG_STM32H7_FDCAN
+#include "stm32_fdcan_sock.h"
+#endif
+
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
@@ -216,6 +220,18 @@ int stm32_bringup(void)
     {
       syslog(LOG_ERR, "ERROR: stm32_pwm_setup() failed: %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;