stm32f7: add SocketCAN support

arch/arm/src/stm32f7/Kconfig

@@ -6047,6 +6047,21 @@ endmenu # Timer Configuration
 menu "CAN driver configuration"
 	depends on STM32F7_CAN
 
+choice
+	prompt "CAN character driver or SocketCAN support"
+	default STM32F7_CAN_CHARDRIVER
+
+config STM32F7_CAN_CHARDRIVER
+	bool "STM32F7 CAN character driver support"
+	select ARCH_HAVE_CAN_ERRORS
+	select CAN
+
+config STM32F7_CAN_SOCKET
+	bool "STM32F7 CAN SocketCAN support"
+	select NET_CAN_HAVE_ERRORS
+
+endchoice # CAN character driver or SocketCAN support
+
 config STM32F7_CAN1_BAUD
 	int "CAN1 BAUD"
 	default 250000

arch/arm/src/stm32f7/Make.defs

@@ -155,10 +155,14 @@ ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CHIP_CSRCS += stm32_qencoder.c
 endif
 
-ifeq ($(CONFIG_STM32F7_CAN),y)
+ifeq ($(CONFIG_STM32F7_CAN_CHARDRIVER),y)
 CHIP_CSRCS += stm32_can.c
 endif
 
+ifeq ($(CONFIG_STM32F7_CAN_SOCKET),y)
+CHIP_CSRCS += stm32_can_sock.c
+endif
+
 ifeq ($(CONFIG_STM32F7_SAI),y)
 CHIP_CSRCS += stm32_sai.c
 endif

arch/arm/src/stm32f7/stm32_can.h

@@ -103,6 +103,8 @@ extern "C"
  * Public Function Prototypes
  ****************************************************************************/
 
+#ifdef CONFIG_STM32F7_CAN_CHARDRIVER
+
 /****************************************************************************
  * Name: stm32_caninitialize
  *
@@ -119,6 +121,26 @@ extern "C"
 
 struct can_dev_s;
 struct can_dev_s *stm32_caninitialize(int port);
+#endif
+
+#ifdef CONFIG_STM32F7_CAN_SOCKET
+
+/****************************************************************************
+ * Name: stm32_cansockinitialize
+ *
+ * Description:
+ *   Initialize the selected CAN port as SocketCAN interface
+ *
+ * Input Parameters:
+ *   Port number (for hardware that has multiple CAN interfaces)
+ *
+ * Returned Value:
+ *   OK on success; Negated errno on failure.
+ *
+ ****************************************************************************/
+
+int stm32_cansockinitialize(int port);
+#endif
 
 #undef EXTERN
 #if defined(__cplusplus)

boards/arm/stm32f7/nucleo-144/src/Makefile

@@ -76,8 +76,13 @@ ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += stm32_qencoder.c
 endif
 
-ifeq ($(CONFIG_CAN),y)
+ifeq ($(CONFIG_STM32F7_CAN),y)
+ifeq ($(CONFIG_STM32F7_CAN_CHARDRIVER),y)
 CSRCS += stm32_can.c
 endif
+ifeq ($(CONFIG_STM32F7_CAN_SOCKET),y)
+CSRCS += stm32_cansock.c
+endif
+endif
 
 include $(TOPDIR)/boards/Board.mk

boards/arm/stm32f7/nucleo-144/src/nucleo-144.h

@@ -312,10 +312,18 @@ int stm32_qencoder_initialize(const char *devpath, int timer);
  * Name: stm32_can_setup
  ****************************************************************************/
 
-#ifdef CONFIG_STM32F7_CAN
+#ifdef CONFIG_STM32F7_CAN_CHARDRIVER
 int stm32_can_setup(void);
 #endif
 
+/****************************************************************************
+ * Name: stm32_cansock_setup
+ ****************************************************************************/
+
+#ifdef CONFIG_STM32F7_CAN_SOCKET
+int stm32_cansock_setup(void);
+#endif
+
 /****************************************************************************
  * Name: stm32f7_gpio_initialize
  ****************************************************************************/

boards/arm/stm32f7/nucleo-144/src/stm32_bringup.c

@@ -184,7 +184,7 @@ int stm32_bringup(void)
     }
 #endif
 
-#ifdef CONFIG_CAN
+#ifdef CONFIG_STM32F7_CAN_CHARDRIVER
   ret = stm32_can_setup();
   if (ret < 0)
     {

boards/arm/stm32f7/nucleo-144/src/stm32_cansock.c

@@ -0,0 +1,83 @@
+/****************************************************************************
+ * boards/arm/stm32f7/nucleo-144/src/stm32_cansock.c
+ *
+ * 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
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <debug.h>
+
+#include "stm32_can.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+#if !defined(CONFIG_STM32F7_CAN1) && !defined(CONFIG_STM32F7_CAN2)
+#  error "No CAN is enable. Please eneable at least one CAN device"
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_cansock_setup
+ *
+ * Description:
+ *  Initialize CAN socket interface
+ *
+ ****************************************************************************/
+
+int stm32_cansock_setup(void)
+{
+  int ret = OK;
+
+  UNUSED(ret);
+
+#ifdef CONFIG_STM32F7_CAN1
+  /* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+  ret = stm32_cansockinitialize(1);
+  if (ret < 0)
+    {
+      canerr("ERROR:  Failed to get CAN interface %d\n", ret);
+      goto errout;
+    }
+#endif
+
+#ifdef CONFIG_STM32F7_CAN2
+  /* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+  ret = stm32_cansockinitialize(2);
+  if (ret < 0)
+    {
+      canerr("ERROR:  Failed to get CAN interface %d\n", ret);
+      goto errout;
+    }
+#endif
+
+errout:
+  return ret;
+}