kywwilson11 opened a new pull request, #16818:
URL: https://github.com/apache/nuttx/pull/16818
## Summary
- Introduce new Kconfig options to enable FDCAN support on STM32H5:
- `CONFIG_STM32H5_FDCAN` (global enable)
- `CONFIG_STM32H5_FDCAN1` and `CONFIG_STM32H5_FDCAN2` (per-instance
enables)
- Fix the character driver symbol in `Make.defs` to use
`CONFIG_STM32H5_FDCAN_CHARDRIVER`
- Update clock configuration:
- Correct PCLK1 prescaler bit definitions in `stm32h5xxx_rcc.h`
- Add FDCAN clock source setup in `stm32h5xx_rcc.c` under
`STM32_RCC_CCIPR5_FDCANSEL`
- Add a new example defconfig for the Nucleo-H563ZI board under
`boards/arm/stm32h5/nucleo-h563zi/configs/fdcan1`
- Update Nucleo-H563ZI board support:
- Adjust `PLL1Q` divider and frequency macros in `board.h. PLL1Q` output ≤
PCLK1 (APB1), so FDCAN input clock is valid`
- Refine ADC GPIO comments
- Provide bring-up and CAN test code in `stm32_bringup.c` and `stm32_can.c`
- Amend board Makefile to compile the new CAN example when FDCAN is enabled
## Impact
- **Features:** CAN FD driver integration for STM32H5 series
- **Build:** Adds Kconfig entries and a defconfig for FDCAN; no changes to
existing configs unless FDCAN is selected
- **Hardware:** Loopback test example for FDCAN1 on Nucleo-H563ZI;
unaffected boards remain unchanged
- **Compatibility:** Backward-compatible; FDCAN code only included when
explicitly enabled
- **Size:** Minor code footprint increase only when FDCAN support is enabled
- **Documentation:** Updated Kconfig help text and provided example defconfig
## Testing
- **Host:** Ubuntu 24.04, `arm-none-eabi-gcc` (GCC 10.2.1)
- **Target:** Nucleo-H563ZI (`stm32h5:fdcan1_defconfig`)
- **Before Change:**
- Built and ran `nucleo-h563zi:smp` and ADC example successfully
- **After Change:**
1. `make defconfig` for `boards/arm/stm32h5/nucleo-h563zi:fdcan1` and
`make`
2. Flash via ST-Link, start NSH
3. Verified driver registration and clock setup:
```
stm32_fdcaninitialize() returned FDCAN1
FDCAN1 clock source configured
Registered /dev/can1
```
4. Ran CAN example in loopback mode; observed continuous message RX/TX:
```
NuttShell (NSH) NuttX-12.10.0
nsh> can
nmsgs: 32
min ID: 1 max ID: 2047
Bit timing:
Baud: 500000
TSEG1: 8
TSEG2: 1
SJW: 1
ID: 1 DLC: 1
ID: 1 DLC: 1
Data received:
0: 0x00
ID: 2 DLC: 2
ID: 2 DLC: 2
Data received:
0: 0x01
1: 0x02
ID: 3 DLC: 3
ID: 3 DLC: 3
... (output continues up to DLC 10) ...
ID: 10 DLC: 10
0: 0x24
1: 0x25
2: 0x26
3: 0x27
4: 0x28
5: 0x29
6: 0x2a
7: 0x2b
8: 0x00
9: 0x00
10: 0x00
11: 0x00
```
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