From f3579e473b79e9653e306808ccfe82c60c92780a Mon Sep 17 00:00:00 2001
From: gitfishup <honglang@cuav.net>
Date: Wed, 2 Sep 2020 09:16:17 +0800
Subject: [PATCH] boards: CUAV Nora enable UAVCAN

---
 boards/cuav/nora/default.cmake                | 5 +++--
 boards/cuav/nora/firmware.prototype           | 2 +-
 boards/cuav/nora/nuttx-config/include/board.h | 3 +++
 boards/cuav/x7pro/default.cmake               | 2 +-
 4 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/boards/cuav/nora/default.cmake b/boards/cuav/nora/default.cmake
index 69e3fd6646..a200a7b158 100644
--- a/boards/cuav/nora/default.cmake
+++ b/boards/cuav/nora/default.cmake
@@ -9,7 +9,8 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
 	TESTING
-#	UAVCAN_INTERFACES 2  - No H7 or FD can support in UAVCAN
+	UAVCAN_INTERFACES 2
+	UAVCAN_TIMER_OVERRIDE 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1
@@ -53,7 +54,7 @@ px4_add_board(
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
-#		uavcan - No H7 or FD can support in UAVCAN yet
+		uavcan
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
diff --git a/boards/cuav/nora/firmware.prototype b/boards/cuav/nora/firmware.prototype
index fe1f02caa5..77470ef536 100644
--- a/boards/cuav/nora/firmware.prototype
+++ b/boards/cuav/nora/firmware.prototype
@@ -4,7 +4,7 @@
     "description": "Firmware for the CUAV Nora board",
     "image": "",
     "build_time": 0,
-    "summary": "NOra",
+    "summary": "Nora",
     "version": "0.1",
     "image_size": 0,
     "image_maxsize": 1966080,
diff --git a/boards/cuav/nora/nuttx-config/include/board.h b/boards/cuav/nora/nuttx-config/include/board.h
index ce7e1b06c4..3c1208f617 100644
--- a/boards/cuav/nora/nuttx-config/include/board.h
+++ b/boards/cuav/nora/nuttx-config/include/board.h
@@ -193,6 +193,9 @@
 #define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2    /* SPI6 clock source */
 #define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3    /* USB 1 and 2 clock source */
 #define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
+
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
 
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2
diff --git a/boards/cuav/x7pro/default.cmake b/boards/cuav/x7pro/default.cmake
index 23510712bc..af81e6583f 100644
--- a/boards/cuav/x7pro/default.cmake
+++ b/boards/cuav/x7pro/default.cmake
@@ -10,7 +10,7 @@ px4_add_board(
 	BUILD_BOOTLOADER
 	TESTING
 	UAVCAN_INTERFACES 2
-	UAVCAN_TIMER_OVERRIDE	  2
+	UAVCAN_TIMER_OVERRIDE 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1