stm32: add SocketCAN support, based on stm32_can.c

arch/arm/src/stm32/Kconfig

@@ -10836,6 +10836,20 @@ config STM32_USB_ITRMP
 menu "CAN driver configuration"
 	depends on STM32_CAN
 
+choice
+	prompt "CAN character driver or SocketCAN support"
+	default STM32_CAN_CHARDRIVER
+
+config STM32_CAN_CHARDRIVER
+	bool "STM32 CAN character driver support"
+	select ARCH_HAVE_CAN_ERRORS
+
+config STM32_CAN_SOCKET
+	bool "STM32 CAN SocketCAN support"
+	select NET_CAN_HAVE_ERRORS
+
+endchoice # CAN character driver or SocketCAN support
+
 config STM32_CAN1_BAUD
 	int "CAN1 BAUD"
 	default 250000

arch/arm/src/stm32/Make.defs

@@ -241,8 +241,13 @@ CHIP_CSRCS += stm32_hall3ph.c
 endif
 
 ifeq ($(CONFIG_STM32_CAN),y)
+ifeq ($(CONFIG_STM32_CAN_CHARDRIVER),y)
 CHIP_CSRCS += stm32_can.c
 endif
+ifeq ($(CONFIG_STM32_CAN_SOCKET),y)
+CHIP_CSRCS += stm32_can_sock.c
+endif
+endif
 
 ifeq ($(CONFIG_STM32_IWDG),y)
 CHIP_CSRCS += stm32_iwdg.c

arch/arm/src/stm32/stm32_can.h

@@ -48,9 +48,6 @@
 #  undef CONFIG_STM32_CAN1
 #endif
 
-#if defined(CONFIG_CAN) && \
-    (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
-
 /* CAN BAUD */
 
 #if defined(CONFIG_STM32_CAN1) && !defined(CONFIG_STM32_CAN1_BAUD)
@@ -107,11 +104,13 @@ extern "C"
  * Public Function Prototypes
  ****************************************************************************/
 
+#ifdef CONFIG_STM32_CAN_CHARDRIVER
+
 /****************************************************************************
  * Name: stm32_caninitialize
  *
  * Description:
- *   Initialize the selected CAN port
+ *   Initialize the selected CAN port as character device
  *
  * Input Parameters:
  *   Port number (for hardware that has multiple CAN interfaces)
@@ -123,6 +122,26 @@ extern "C"
 
 struct can_dev_s;
 FAR struct can_dev_s *stm32_caninitialize(int port);
+#endif
+
+#ifdef CONFIG_STM32_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)
@@ -130,5 +149,4 @@ FAR struct can_dev_s *stm32_caninitialize(int port);
 #endif
 
 #endif /* __ASSEMBLY__ */
-#endif /* CONFIG_CAN && (CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2) */
 #endif /* __ARCH_ARM_SRC_STM32_STM32_CAN_H */