diff --git a/boards/arm/stm32/nucleo-g431rb/configs/cansock/defconfig b/boards/arm/stm32/nucleo-g431rb/configs/cansock/defconfig
new file mode 100644
index 0000000000..44326688cc
--- /dev/null
+++ b/boards/arm/stm32/nucleo-g431rb/configs/cansock/defconfig
@@ -0,0 +1,56 @@
+#
+# 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_ARCH="arm"
+CONFIG_ARCH_BOARD="nucleo-g431rb"
+CONFIG_ARCH_BOARD_NUCLEO_G431RB=y
+CONFIG_ARCH_BUTTONS=y
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32G431R=y
+CONFIG_ARCH_INTERRUPTSTACK=1024
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=8499
+CONFIG_BOARD_NUCLEO_G431RB_USE_HSE=y
+CONFIG_BUILTIN=y
+CONFIG_DEFAULT_TASK_STACKSIZE=1024
+CONFIG_FS_PROCFS=y
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2048
+CONFIG_INTELHEX_BINARY=y
+CONFIG_IOB_BUFSIZE=128
+CONFIG_IOB_NBUFFERS=10
+CONFIG_NET=y
+CONFIG_NETDEVICES=y
+CONFIG_NETDEV_IFINDEX=y
+CONFIG_NETDEV_LATEINIT=y
+CONFIG_NET_CAN=y
+CONFIG_NET_SOCKOPTS=y
+CONFIG_NET_STATISTICS=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_READLINE=y
+CONFIG_RAM_SIZE=22528
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_WAITPID=y
+CONFIG_START_DAY=14
+CONFIG_START_MONTH=10
+CONFIG_START_YEAR=2014
+CONFIG_STM32_FDCAN1=y
+CONFIG_STM32_FDCAN_SOCKET=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_USART2=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USART2_SERIAL_CONSOLE=y
diff --git a/boards/arm/stm32/nucleo-g431rb/src/Make.defs b/boards/arm/stm32/nucleo-g431rb/src/Make.defs
index 7d3c4283a3..6401b82130 100644
--- a/boards/arm/stm32/nucleo-g431rb/src/Make.defs
+++ b/boards/arm/stm32/nucleo-g431rb/src/Make.defs
@@ -55,9 +55,14 @@ ifeq ($(CONFIG_MATH_CORDIC),y)
 CSRCS += stm32_cordic.c
 endif
 
+ifeq ($(CONFIG_STM32_FDCAN),y)
 ifeq ($(CONFIG_STM32_FDCAN_CHARDRIVER),y)
 CSRCS += stm32_can.c
 endif
+ifeq ($(CONFIG_STM32_FDCAN_SOCKET),y)
+CSRCS += stm32_cansock.c
+endif
+endif
 
 DEPPATH += --dep-path board
 VPATH += :board
diff --git a/boards/arm/stm32/nucleo-g431rb/src/nucleo-g431rb.h b/boards/arm/stm32/nucleo-g431rb/src/nucleo-g431rb.h
index 26196b9d2d..553f655adb 100644
--- a/boards/arm/stm32/nucleo-g431rb/src/nucleo-g431rb.h
+++ b/boards/arm/stm32/nucleo-g431rb/src/nucleo-g431rb.h
@@ -31,6 +31,16 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
+/* procfs File System */
+
+#ifdef CONFIG_FS_PROCFS
+#  ifdef CONFIG_NSH_PROC_MOUNTPOINT
+#    define STM32_PROCFS_MOUNTPOINT CONFIG_NSH_PROC_MOUNTPOINT
+#  else
+#    define STM32_PROCFS_MOUNTPOINT "/proc"
+#  endif
+#endif
+
 /* LED definitions **********************************************************/
 
 /* LED definitions **********************************************************/
@@ -167,4 +177,16 @@ int stm32_cordic_setup(void);
 int stm32_can_setup(void);
 #endif
 
+/****************************************************************************
+ * Name: stm32_cansock_setup
+ *
+ * Description:
+ *  Initialize CAN socket interface
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_STM32_FDCAN_SOCKET
+int stm32_cansock_setup(void);
+#endif
+
 #endif /* __BOARDS_ARM_STM32_NUCLEO_G431RB_SRC_NUCLEO_G431RB_H */
diff --git a/boards/arm/stm32/nucleo-g431rb/src/stm32_bringup.c b/boards/arm/stm32/nucleo-g431rb/src/stm32_bringup.c
index f204587c97..cc2b19415e 100644
--- a/boards/arm/stm32/nucleo-g431rb/src/stm32_bringup.c
+++ b/boards/arm/stm32/nucleo-g431rb/src/stm32_bringup.c
@@ -28,6 +28,7 @@
 #include <syslog.h>
 
 #include <nuttx/board.h>
+#include <nuttx/fs/fs.h>
 
 #ifdef CONFIG_USERLED
 #  include <nuttx/leds/userled.h>
@@ -75,6 +76,17 @@ int stm32_bringup(void)
 {
   int ret;
 
+#ifdef CONFIG_FS_PROCFS
+  /* Mount the procfs file system */
+
+  ret = nx_mount(NULL, STM32_PROCFS_MOUNTPOINT, "procfs", 0, NULL);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR,
+             "ERROR: Failed to mount the PROC filesystem: %d\n",  ret);
+    }
+#endif /* CONFIG_FS_PROCFS */
+
 #ifdef CONFIG_INPUT_BUTTONS
   /* Register the BUTTON driver */
 
@@ -159,6 +171,16 @@ int stm32_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_STM32_FDCAN_SOCKET
+  /* Initialize CAN socket interface */
+
+  ret = stm32_cansock_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: stm32_cansock_setup failed: %d\n", ret);
+    }
+#endif
+
   UNUSED(ret);
   return OK;
 }
diff --git a/boards/arm/stm32/nucleo-g431rb/src/stm32_cansock.c b/boards/arm/stm32/nucleo-g431rb/src/stm32_cansock.c
new file mode 100644
index 0000000000..e446a548e2
--- /dev/null
+++ b/boards/arm/stm32/nucleo-g431rb/src/stm32_cansock.c
@@ -0,0 +1,57 @@
+/****************************************************************************
+ * boards/arm/stm32/nucleo-g431rb/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_fdcan.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_cansock_setup
+ *
+ * Description:
+ *  Initialize CAN socket interface
+ *
+ ****************************************************************************/
+
+int stm32_cansock_setup(void)
+{
+  int ret;
+
+  /* Call stm32_fdcaninitialize() to get an instance of the FDCAN interface */
+
+  ret = stm32_fdcansockinitialize(1);
+  if (ret < 0)
+    {
+      canerr("ERROR:  Failed to get FDCAN interface %d\n", ret);
+      return ret;
+    }
+
+  return OK;
+}