drivers: can: stm32fdcan

boards/arm/nucleo_g474re/nucleo_g474re.dts

@@ -18,6 +18,7 @@
 		zephyr,shell-uart = &lpuart1;
 		zephyr,sram = &sram0;
 		zephyr,flash = &flash0;
+		zephyr,can-primary = &can1;
 	};
 
 	leds {
@@ -153,3 +154,14 @@
 	pinctrl-0 = <&adc1_in1_pa0>;
 	status = "okay";
 };
+
+&can1 {
+	pinctrl-0 = <&fdcan1_rx_pa11 &fdcan1_tx_pa12>;
+	bus-speed = <125000>;
+	sjw = <1>;
+	sample-point = <875>;
+	bus-speed-data = <1000000>;
+	sjw-data = <1>;
+	sample-point-data = <875>;
+	status = "okay";
+};

boards/arm/nucleo_g474re/nucleo_g474re.yaml

@@ -22,3 +22,5 @@ supported:
   - watchdog
   - adc
   - dma
+  - can
+  - canfd

drivers/can/CMakeLists.txt

@@ -4,6 +4,8 @@ zephyr_sources_ifdef(CONFIG_CAN              can_common.c)
 zephyr_sources_ifdef(CONFIG_CAN_LOOPBACK     can_loopback.c)
 zephyr_sources_ifdef(CONFIG_CAN_MCP2515      can_mcp2515.c)
 zephyr_sources_ifdef(CONFIG_CAN_STM32        can_stm32.c)
+zephyr_sources_ifdef(CONFIG_CAN_STM32FD      can_stm32fd.c)
+zephyr_sources_ifdef(CONFIG_CAN_MCAN         can_mcan.c)
 zephyr_sources_ifdef(CONFIG_CAN_MCUX_FLEXCAN can_mcux_flexcan.c)
 
 zephyr_sources_ifdef(CONFIG_USERSPACE        can_handlers.c)

drivers/can/Kconfig

@@ -24,11 +24,30 @@ config CAN_SHELL
 	help
 	  Enable CAN Shell for testing.
 
-config CAN_FD_MODE
+config CAN_HAS_CANFD
 	bool
+	help
+	  driver supports CAN-FD
+
+config CAN_FD_MODE
+	bool "CAN-FD"
+	default y
+	depends on CAN_HAS_CANFD
 	help
 	  Enable CAN-FD compatible API
 
+if CAN_FD_MODE
+
+config CANFD_MAX_DLC
+	int "Max data length code in CAN frames"
+	range 8 15
+	default 15
+	help
+	  Maximum allowed DLC in a CAN frame. This parameter sets the
+	  data buffer size in a CAN frame and is therefore only used to
+	  optimize memory consumption.
+endif # CAN_FD_MODE
+
 config CAN_INIT_PRIORITY
 	int "CAN driver init priority"
 	default 80
@@ -47,7 +66,7 @@ config CAN_WORKQ_FRAMES_BUF_CNT
 
 config CAN_RX_TIMESTAMP
 	bool "Enable receiving timestamps"
-	depends on CAN_STM32 || CAN_MCUX_FLEXCAN
+	depends on CAN_STM32 || CAN_MCUX_FLEXCAN || CAN_STM32FD
 	help
 	  This option enables a timestamp value of the CAN free running timer.
 	  The value is incremented every bit time and starts when the controller
@@ -63,8 +82,10 @@ config CAN_AUTO_BUS_OFF_RECOVERY
 	  available.
 
 source "drivers/can/Kconfig.stm32"
+source "drivers/can/Kconfig.stm32fd"
 source "drivers/can/Kconfig.mcux"
 source "drivers/can/Kconfig.mcp2515"
+source "drivers/can/Kconfig.mcan"
 source "drivers/can/Kconfig.loopback"
 source "drivers/can/Kconfig.net"
 

drivers/can/Kconfig.mcan

@@ -0,0 +1,22 @@
+# Bosch m_can configuration options
+
+# Copyright (c) 2020 Alexander Wachter
+# SPDX-License-Identifier: Apache-2.0
+
+config CAN_MCAN
+	bool
+	select CAN_HAS_CANFD
+	help
+	  Enable Bosch m_can driver.
+	  This driver supports the Bosch m_can IP. This IP is built into the
+	  STM32G4, STM32G0 and the Microchip SAM controllers with CAN-FD.
+
+if CAN_MCAN
+
+config CAN_DELAY_COMP
+	bool "Enable transceiver delay compensation"
+	default y
+	help
+	  Enable the automatic transceiver delay compensation.
+
+endif #CAN_MCAN

drivers/can/Kconfig.stm32fd

@@ -0,0 +1,42 @@
+# STM32 CAN configuration options
+
+# Copyright (c) 2020 Alexander Wachter
+# SPDX-License-Identifier: Apache-2.0
+
+DT_COMPAT_STM32_FDCAN := st,stm32-fdcan
+
+config CAN_STM32FD
+	bool "STM32 FDCAN driver"
+	default $(dt_compat_enabled,$(DT_COMPAT_STM32_FDCAN))
+	select CAN_MCAN
+	select USE_STM32_LL_RCC
+
+if CAN_STM32FD
+
+config CAN_MAX_STD_ID_FILTER
+	int "Maximum number of std ID filters"
+	default 28
+	range 0 28
+	help
+	  Defines the maximum number of filters with standard ID (11-bit)
+	  that can be attached.
+
+config CAN_MAX_EXT_ID_FILTER
+	int "Maximum number of ext ID filters"
+	default 8
+	range 0 8
+	help
+	  Defines the maximum number of filters with extended ID (29-bit)
+	  that can be attached.
+
+config CAN_STM32_CLOCK_DIVISOR
+	int "CAN clock divisor"
+	range 1 30
+	default 1
+	help
+	  The APB clock is divided by this value (stored in CKDIV register)
+	  before it is fed to the CAN core.
+	  Note that the the divisor affects all CAN controllers.
+	  Allowed values: 1 or 2 * n, where n <= 15.
+
+endif #CAN_STM32FD