From 1b8aa3826b3a02dd8a05b375b6e66c39aaea4c8c Mon Sep 17 00:00:00 2001
From: Tristan Seifert <tristans@carbonrobotics.com>
Date: Sat, 3 Aug 2024 18:57:27 -0700
Subject: [PATCH] hacky fix for FDCAN2

---
 drivers/can/can_mcan.c     |  1 +
 dts/arm/st/h7/stm32h7.dtsi | 17 +++++++++++++++++
 2 files changed, 18 insertions(+)

diff --git a/drivers/can/can_mcan.c b/drivers/can/can_mcan.c
index 4afae019f9f6cd..9414765cc3e2e7 100644
--- a/drivers/can/can_mcan.c
+++ b/drivers/can/can_mcan.c
@@ -380,6 +380,7 @@ int can_mcan_init(const struct device *dev)
 	uint32_t mrba = 0;
 #ifdef CONFIG_CAN_STM32H7
 	mrba = (uint32_t)msg_ram;
+	mrba = 0x4000ac00;
 #endif
 #ifdef CONFIG_CAN_MCUX_MCAN
 	mrba = (uint32_t)msg_ram & CAN_MCAN_MRBA_BA_MSK;
diff --git a/dts/arm/st/h7/stm32h7.dtsi b/dts/arm/st/h7/stm32h7.dtsi
index dac3dd2569e50b..c7a53ac8170d1d 100644
--- a/dts/arm/st/h7/stm32h7.dtsi
+++ b/dts/arm/st/h7/stm32h7.dtsi
@@ -479,6 +479,23 @@
 				sjw-data = <1>;
 				sample-point-data = <875>;
 			};
+
+			can2: can@4000a400 {
+				compatible = "st,stm32h7-fdcan";
+				#address-cells = <1>;
+				#size-cells = <0>;
+				reg = <0x4000a400 0x400>, <0x4000af50 0x350>;
+				reg-names = "m_can", "message_ram";
+				clocks = <&rcc STM32_CLOCK_BUS_APB1_2 0x00000100>;
+				interrupts = <20 0>, <22 0>, <63 0>;
+				interrupt-names = "LINE_0", "LINE_1", "CALIB";
+				status = "disabled";
+				label = "CAN_2";
+				sjw = <1>;
+				sample-point = <875>;
+				sjw-data = <1>;
+				sample-point-data = <875>;
+			};
 		};
 
 		timers1: timers@40010000 {