Run UAVCAN on CAN1 and run SocketCAN on CAN2

boards/px4/fmu-v6x/default.px4board

@@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
+CONFIG_DRIVERS_ACTUATORS_RUDDER=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
@@ -44,6 +45,7 @@ CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y

boards/px4/fmu-v6x/init/rc.board_defaults

@@ -41,3 +41,31 @@ if ver hwbasecmp 00a 008
 then
 	mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -U 10
 fi
+
+ifup can0
+ifup can1
+
+# CAN1=can0 runs UAVCAN
+# started automatically
+
+# CAN2=can1 runs the Rudder actuator driver continuosly sending dummy messages.
+# Also prints any received messages on the console.
+rudder start
+
+# Try a loopback test with CAN1 connected to CAN1 and you should see some UAVCAN traffic.
+# INFO  [rudder] rudder recv can_id=0x9f043901, can_dlc=8, data=60, usec=101781000
+# INFO  [rudder] rudder recv can_id=0x9f043901, can_dlc=8, data=0, usec=101781000
+# INFO  [rudder] rudder recv can_id=0x904e2001, can_dlc=2, data=0, usec=101831000
+# INFO  [rudder] rudder recv can_id=0x9f043901, can_dlc=4, data=0, usec=101832000
+# INFO  [rudder] rudder recv can_id=0x9f043901, can_dlc=4, data=0, usec=101931000
+
+# Alternatively try the candump with a loopback test:
+# nsh> rudder stop
+# nsh> candump can1,0:0,#FFFFFFFF &
+#  can1  1F043901   [4]  00 00 00 DA
+#  can1  1F043901   [4]  00 F8 00 D9
+#  can1  1F043901   [4]  00 00 00 DC
+#  can1  1F043901   [4]  00 F8 00 DB
+#  can1  1F043901   [8]  00 F7 FF DF FE 00 00 7D
+#  can1  1F043901   [8]  3C 35 F6 00 00 F8 00 9D
+#  can1  1F043901   [4]  00 F8 00 DE

boards/px4/fmu-v6x/nuttx-config/nsh/defconfig

@@ -12,6 +12,7 @@
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_MMCSD_SPI is not set
+# CONFIG_NET_CAN_CANFD is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
 # CONFIG_NSH_DISABLE_ARP is not set
@@ -76,6 +77,8 @@ CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95751
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
+CONFIG_CANUTILS_CANDUMP=y
+CONFIG_CANUTILS_CANSEND=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0035
@@ -101,6 +104,8 @@ CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
 CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCAN1_BITRATE=250000
+CONFIG_FDCAN2_BITRATE=250000
 CONFIG_FDCLONE_STDIO=y
 CONFIG_FSUTILS_IPCFG=y
 CONFIG_FS_BINFS=y
@@ -146,6 +151,9 @@ CONFIG_NET=y
 CONFIG_NETDB_DNSCLIENT=y
 CONFIG_NETDB_DNSCLIENT_ENTRIES=8
 CONFIG_NETDB_DNSSERVER_NOADDR=y
+CONFIG_NETDEV_CAN_BITRATE_IOCTL=y
+CONFIG_NETDEV_IFINDEX=y
+CONFIG_NETDEV_LATEINIT=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
@@ -158,15 +166,23 @@ CONFIG_NETUTILS_TELNETD=y
 CONFIG_NET_ARP_IPIN=y
 CONFIG_NET_ARP_SEND=y
 CONFIG_NET_BROADCAST=y
+CONFIG_NET_CAN=y
+CONFIG_NET_CAN_EXTID=y
+CONFIG_NET_CAN_NOTIFIER=y
+CONFIG_NET_CAN_RAW_TX_DEADLINE=y
+CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_ETH_PKTSIZE=1518
 CONFIG_NET_ICMP=y
 CONFIG_NET_ICMP_SOCKET=y
 CONFIG_NET_NACTIVESOCKETS=16
+CONFIG_NET_CANPROTO_OPTIONS=y
+CONFIG_NET_SOCKOPTS=y
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_DELAYED_ACK=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
+CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NET_UDP_WRITE_BUFFERS=y
@@ -232,6 +248,8 @@ CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
 CONFIG_STM32H7_ETHMAC=y
+CONFIG_STM32H7_FDCAN1=y
+CONFIG_STM32H7_FDCAN2=y
 CONFIG_STM32H7_FLASH_OVERRIDE_I=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y

boards/px4/fmu-v6x/src/init.cpp

@@ -62,6 +62,8 @@
 #include <nuttx/mm/gran.h>
 #include <chip.h>
 #include <stm32_uart.h>
+#include <stm32_ethernet.h>
+#include <stm32_fdcan_sock.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
 
@@ -293,6 +295,22 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		return ret;
 	}
 
+#  if STM32H7_NETHERNET == 1
+	stm32_ethinitialize(0);
+#  endif /* STM32H7_NETHERNET */
+
+#  ifdef CONFIG_STM32H7_FDCAN1
+	stm32_fdcansockinitialize(0);
+#  endif /* CONFIG_STM32H7_FDCAN1 */
+
+#  ifdef CONFIG_STM32H7_FDCAN2
+	stm32_fdcansockinitialize(1);
+#  endif /* CONFIG_STM32H7_FDCAN2 */
+
+#  ifdef CONFIG_STM32H7_FDCAN3
+	stm32_fdcansockinitialize(2);
+#  endif /* CONFIG_STM32H7_FDCAN3 */
+
 #endif /* !defined(BOOTLOADER) */
 
 	return OK;