arch/stm32: add FDCAN SocketCAN support

arch/arm/src/stm32/Kconfig

@@ -2769,14 +2769,12 @@ config STM32_BKPSRAM
 config STM32_CAN1
 	bool "CAN1"
 	default n
-	select CAN
 	select STM32_CAN
 	depends on STM32_HAVE_CAN1
 
 config STM32_CAN2
 	bool "CAN2"
 	default n
-	select CAN
 	select STM32_CAN
 	depends on STM32_HAVE_CAN2
 
@@ -3391,11 +3389,9 @@ config STM32_I2C
 
 config STM32_CAN
 	bool
-	select ARCH_HAVE_CAN_ERRORS
 
 config STM32_FDCAN
 	bool
-	select ARCH_HAVE_CAN_ERRORS
 
 config STM32_TIM
 	bool
@@ -10863,6 +10859,7 @@ choice
 config STM32_CAN_CHARDRIVER
 	bool "STM32 CAN character driver support"
 	select ARCH_HAVE_CAN_ERRORS
+	select CAN
 
 config STM32_CAN_SOCKET
 	bool "STM32 CAN SocketCAN support"
@@ -10915,11 +10912,12 @@ choice
 
 config STM32_FDCAN_CHARDRIVER
 	bool "STM32 FDCAN character driver support"
-	select ARCH_HAVE_FDCAN_ERRORS
+	select ARCH_HAVE_CAN_ERRORS
+	select CAN
 
 config STM32_FDCAN_SOCKET
-	bool "STM32 FDCAN SocketCAN support (not supported yet)"
-	select NET_FDCAN_HAVE_ERRORS
+	bool "STM32 FDCAN SocketCAN support"
+	select NET_CAN_HAVE_ERRORS
 
 endchoice # FDCAN character driver or SocketCAN support
 

arch/arm/src/stm32/Make.defs

@@ -249,6 +249,9 @@ ifeq ($(CONFIG_STM32_FDCAN),y)
 ifeq ($(CONFIG_STM32_FDCAN_CHARDRIVER),y)
 CHIP_CSRCS += stm32_fdcan.c
 endif
+ifeq ($(CONFIG_STM32_FDCAN_SOCKET),y)
+CHIP_CSRCS += stm32_fdcan_sock.c
+endif
 endif
 
 ifeq ($(CONFIG_STM32_IWDG),y)

arch/arm/src/stm32/stm32_fdcan.h

@@ -65,6 +65,8 @@ extern "C"
  * Public Function Prototypes
  ****************************************************************************/
 
+#ifdef CONFIG_STM32_FDCAN_CHARDRIVER
+
 /****************************************************************************
  * Name: stm32_fdcaninitialize
  *
@@ -80,6 +82,26 @@ extern "C"
  ****************************************************************************/
 
 FAR struct can_dev_s *stm32_fdcaninitialize(int port);
+#endif
+
+#ifdef CONFIG_STM32_FDCAN_SOCKET
+
+/****************************************************************************
+ * Name: stm32_fdcansockinitialize
+ *
+ * Description:
+ *   Initialize the selected FDCAN port as SocketCAN interface
+ *
+ * Input Parameters:
+ *   Port number (for hardware that has multiple FDCAN interfaces)
+ *
+ * Returned Value:
+ *   OK on success; Negated errno on failure.
+ *
+ ****************************************************************************/
+
+int stm32_fdcansockinitialize(int port);
+#endif
 
 #undef EXTERN
 #if defined(__cplusplus)