[DeviceDriver] Add CANFD support and correct typos (#5912)

* Add CANFD support and correct typos

- Added CANFD required fields to can.h
- Fixed typos in can.h and can.c
- Corrected all the projects affected by the typo
- Fixed wrong line-ending in some affected can driver files

Signed-off-by: Fan YANG <[email protected]>

* update

Signed-off-by: Fan YANG <[email protected]>
Co-authored-by: Meco Man <[email protected]>

17 files changed, 141 insertions, 73 deletions

diff --git a/bsp/at32/libraries/rt_drivers/drv_can.c b/bsp/at32/libraries/rt_drivers/drv_can.c
index 7a0f7ba49c..6b60187aab 100644
--- a/bsp/at32/libraries/rt_drivers/drv_can.c
+++ b/bsp/at32/libraries/rt_drivers/drv_can.c
@@ -192,13 +192,13 @@ static rt_err_t _can_config(struct rt_can_device *can, struct can_configure *cfg
     case RT_CAN_MODE_NORMAL:
         can_instance->config.base_init_struct.mode_selection = CAN_MODE_COMMUNICATE;
         break;
-    case RT_CAN_MODE_LISEN:
+    case RT_CAN_MODE_LISTEN:
         can_instance->config.base_init_struct.mode_selection = CAN_MODE_LISTENONLY;
         break;
     case RT_CAN_MODE_LOOPBACK:
         can_instance->config.base_init_struct.mode_selection = CAN_MODE_LOOPBACK;
         break;
-    case RT_CAN_MODE_LOOPBACKANLISEN:
+    case RT_CAN_MODE_LOOPBACKANLISTEN:
         can_instance->config.base_init_struct.mode_selection = CAN_MODE_LISTENONLY_LOOPBACK;
         break;
     }
@@ -432,9 +432,9 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
     case RT_CAN_CMD_SET_MODE:
         argval = (rt_uint32_t) arg;
         if (argval != RT_CAN_MODE_NORMAL &&
-            argval != RT_CAN_MODE_LISEN &&
+            argval != RT_CAN_MODE_LISTEN &&
             argval != RT_CAN_MODE_LOOPBACK &&
-            argval != RT_CAN_MODE_LOOPBACKANLISEN)
+            argval != RT_CAN_MODE_LOOPBACKANLISTEN)
         {
             return -RT_ERROR;
         }
diff --git a/bsp/essemi/es32f0654/drivers/drv_can.c b/bsp/essemi/es32f0654/drivers/drv_can.c
index c58ae1f2b2..76a8ddd662 100644
--- a/bsp/essemi/es32f0654/drivers/drv_can.c
+++ b/bsp/essemi/es32f0654/drivers/drv_can.c
@@ -108,13 +108,13 @@ static rt_err_t _can_config(struct rt_can_device *can_device, struct can_configu
     case RT_CAN_MODE_NORMAL:
         drv_can->CanHandle.init.mode = CAN_MODE_NORMAL;
         break;
-    case RT_CAN_MODE_LISEN:
+    case RT_CAN_MODE_LISTEN:
         drv_can->CanHandle.init.mode = CAN_MODE_SILENT;
         break;
     case RT_CAN_MODE_LOOPBACK:
         drv_can->CanHandle.init.mode = CAN_MODE_LOOPBACK;
         break;
-    case RT_CAN_MODE_LOOPBACKANLISEN:
+    case RT_CAN_MODE_LOOPBACKANLISTEN:
         drv_can->CanHandle.init.mode = CAN_MODE_SILENT_LOOPBACK;
         break;
     }
@@ -295,9 +295,9 @@ static rt_err_t _can_control(struct rt_can_device *can_device, int cmd, void *ar
     case RT_CAN_CMD_SET_MODE:
         argval = (rt_uint32_t) arg;
         if (argval != RT_CAN_MODE_NORMAL &&
-                argval != RT_CAN_MODE_LISEN &&
+                argval != RT_CAN_MODE_LISTEN &&
                 argval != RT_CAN_MODE_LOOPBACK &&
-                argval != RT_CAN_MODE_LOOPBACKANLISEN)
+                argval != RT_CAN_MODE_LOOPBACKANLISTEN)
         {
             return -RT_ERROR;
         }
diff --git a/bsp/essemi/es32f369x/drivers/drv_can.c b/bsp/essemi/es32f369x/drivers/drv_can.c
index 81936c33ac..c95fb780ce 100644
--- a/bsp/essemi/es32f369x/drivers/drv_can.c
+++ b/bsp/essemi/es32f369x/drivers/drv_can.c
@@ -107,13 +107,13 @@ static rt_err_t _can_config(struct rt_can_device *can_device, struct can_configu
     case RT_CAN_MODE_NORMAL:
         drv_can->CanHandle.init.mode = CAN_MODE_NORMAL;
         break;
-    case RT_CAN_MODE_LISEN:
+    case RT_CAN_MODE_LISTEN:
         drv_can->CanHandle.init.mode = CAN_MODE_SILENT;
         break;
     case RT_CAN_MODE_LOOPBACK:
         drv_can->CanHandle.init.mode = CAN_MODE_LOOPBACK;
         break;
-    case RT_CAN_MODE_LOOPBACKANLISEN:
+    case RT_CAN_MODE_LOOPBACKANLISTEN:
         drv_can->CanHandle.init.mode = CAN_MODE_SILENT_LOOPBACK;
         break;
     }
@@ -289,9 +289,9 @@ static rt_err_t _can_control(struct rt_can_device *can_device, int cmd, void *ar
     case RT_CAN_CMD_SET_MODE:
         argval = (rt_uint32_t) arg;
         if (argval != RT_CAN_MODE_NORMAL &&
-                argval != RT_CAN_MODE_LISEN &&
+                argval != RT_CAN_MODE_LISTEN &&
                 argval != RT_CAN_MODE_LOOPBACK &&
-                argval != RT_CAN_MODE_LOOPBACKANLISEN)
+                argval != RT_CAN_MODE_LOOPBACKANLISTEN)
         {
             return -RT_ERROR;
         }
diff --git a/bsp/hc32/libraries/hc32_drivers/drv_can.c b/bsp/hc32/libraries/hc32_drivers/drv_can.c
index 8482a10dbe..726eab12d5 100644
--- a/bsp/hc32/libraries/hc32_drivers/drv_can.c
+++ b/bsp/hc32/libraries/hc32_drivers/drv_can.c
@@ -124,13 +124,13 @@ static rt_uint32_t _get_can_work_mode(rt_uint32_t mode)
     case RT_CAN_MODE_NORMAL:
         work_mode = CAN_WORK_MD_NORMAL;
         break;
-    case RT_CAN_MODE_LISEN:
+    case RT_CAN_MODE_LISTEN:
         work_mode = CAN_WORK_MD_SILENT;
         break;
     case RT_CAN_MODE_LOOPBACK:
         work_mode = CAN_WORK_MD_ELB;
         break;
-    case RT_CAN_MODE_LOOPBACKANLISEN:
+    case RT_CAN_MODE_LOOPBACKANLISTEN:
         work_mode = CAN_WORK_MD_ELB_SILENT;
         break;
     default:
@@ -298,9 +298,9 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
     case RT_CAN_CMD_SET_MODE:
         argval = (rt_uint32_t) arg;
         if (argval != RT_CAN_MODE_NORMAL &&
-                argval != RT_CAN_MODE_LISEN &&
+                argval != RT_CAN_MODE_LISTEN &&
                 argval != RT_CAN_MODE_LOOPBACK &&
-                argval != RT_CAN_MODE_LOOPBACKANLISEN)
+                argval != RT_CAN_MODE_LOOPBACKANLISTEN)
         {
             return -RT_ERROR;
         }
diff --git a/bsp/imxrt/libraries/drivers/drv_can.c b/bsp/imxrt/libraries/drivers/drv_can.c
index c44ec9ab69..6af614418c 100644
--- a/bsp/imxrt/libraries/drivers/drv_can.c
+++ b/bsp/imxrt/libraries/drivers/drv_can.c
@@ -135,12 +135,12 @@ static rt_err_t can_cfg(struct rt_can_device *can_dev, struct can_configure *cfg
     case RT_CAN_MODE_NORMAL:
         /* default mode */
         break;
-    case RT_CAN_MODE_LISEN:
+    case RT_CAN_MODE_LISTEN:
         break;
     case RT_CAN_MODE_LOOPBACK:
         config.enableLoopBack = true;
         break;
-    case RT_CAN_MODE_LOOPBACKANLISEN:
+    case RT_CAN_MODE_LOOPBACKANLISTEN:
         break;
     }
     FLEXCAN_Init(can->base, &config, GetCanSrcFreq());
diff --git a/bsp/loongson/ls1cdev/drivers/drv_can.c b/bsp/loongson/ls1cdev/drivers/drv_can.c
index cf0e00f00a..78fc021ecb 100644
--- a/bsp/loongson/ls1cdev/drivers/drv_can.c
+++ b/bsp/loongson/ls1cdev/drivers/drv_can.c
@@ -156,14 +156,14 @@ static void bxcan_init(CAN_TypeDef *pcan, rt_uint32_t baud, rt_uint32_t mode)
     case RT_CAN_MODE_NORMAL:
         CAN_InitStructure.CAN_Mode = 0x00;
         break;
-    case RT_CAN_MODE_LISEN:
+    case RT_CAN_MODE_LISTEN:
         CAN_InitStructure.CAN_Mode = CAN_Mode_LOM;
         break;
     case RT_CAN_MODE_LOOPBACK:
         CAN_InitStructure.CAN_Mode = CAN_Mode_STM;
 
         break;
-    case RT_CAN_MODE_LOOPBACKANLISEN:
+    case RT_CAN_MODE_LOOPBACKANLISTEN:
         CAN_InitStructure.CAN_Mode = CAN_Mode_STM|CAN_Mode_LOM;
         break;
     }
@@ -272,9 +272,9 @@ static rt_err_t control(struct rt_can_device *can, int cmd, void *arg)
     case RT_CAN_CMD_SET_MODE:
         argval = (rt_uint32_t) arg;
         if (argval != RT_CAN_MODE_NORMAL ||
-                argval != RT_CAN_MODE_LISEN ||
+                argval != RT_CAN_MODE_LISTEN ||
                 argval != RT_CAN_MODE_LOOPBACK ||
-                argval != RT_CAN_MODE_LOOPBACKANLISEN)
+                argval != RT_CAN_MODE_LOOPBACKANLISTEN)
         {
             return RT_ERROR;
         }
diff --git a/bsp/loongson/ls1cdev/libraries/ls1c_can.h b/bsp/loongson/ls1cdev/libraries/ls1c_can.h
index b2b0f8efa8..fcf6e31d5c 100644
--- a/bsp/loongson/ls1cdev/libraries/ls1c_can.h
+++ b/bsp/loongson/ls1cdev/libraries/ls1c_can.h
@@ -1,9 +1,9 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2022, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
- * Change Logs:  (Pelican Mode) 
+ * Change Logs:  (Pelican Mode)
  * Date           Author       Notes
  * 2018-01-06     sundm75       first version
  */
@@ -54,9 +54,9 @@
 #define CAN_RTR_Remote            1
 
 #define CAN_MODE_NORMAL              0
-#define CAN_MODE_LISEN               1
+#define CAN_MODE_LISTEN               1
 #define CAN_MODE_LOOPBACK            2
-#define CAN_MODE_LOOPBACKANLISEN     3
+#define CAN_MODE_LOOPBACKANLISTEN     3
 
 /*!< CAN 控制状态寄存器 */
 /************************** CAN_MOD 寄存器位定义*******************************/
@@ -84,7 +84,7 @@
  #define  CAN_SR_TS                          ((unsigned char)0x20)         /*!< 发送状态1:  发送 0:  空闲*/
  #define  CAN_SR_ES                          ((unsigned char)0x40)         /*!< 出错状态1:出错 0: 正常 */
  #define  CAN_SR_BS                          ((unsigned char)0x80)         /*!< 总线状态1: 关闭  0: 开启  */
- 
+
 /************************** CAN_IR 中断寄存器位定义****************************/
  #define  CAN_IR_RI                          ((unsigned char)0x01)         /*!< 接收中断 */
  #define  CAN_IR_TI                          ((unsigned char)0x02)         /*!< 发送中断 */
@@ -94,7 +94,7 @@
  #define  CAN_IR_EPI                         ((unsigned char)0x20)         /*!< 错误消极中断 */
  #define  CAN_IR_ALI                         ((unsigned char)0x40)         /*!< 仲裁丢失中断 */
  #define  CAN_IR_BEI                         ((unsigned char)0x80)         /*!< 总线错误中断  */
- 
+
 /************************* CAN_IER 中断使能寄存器位定义************************/
  #define  CAN_IER_RIE                         ((unsigned char)0x01)        /*!< 接收中断使能 */
  #define  CAN_IER_TIE                         ((unsigned char)0x02)        /*!< 发送中断使能 */
@@ -104,17 +104,17 @@
  #define  CAN_IER_EPIE                        ((unsigned char)0x20)        /*!< 错误消极中断使能 */
  #define  CAN_IER_ALIE                        ((unsigned char)0x40)        /*!< 仲裁丢失中断使能 */
  #define  CAN_IER_BEIE                        ((unsigned char)0x80)        /*!< 总线错误中断使能  */
- 
-typedef enum 
+
+typedef enum
 {
-	LS1C_CAN1MBaud=0,    // 1 MBit/sec
-	LS1C_CAN800kBaud,    // 800 kBit/sec
-	LS1C_CAN500kBaud,    // 500 kBit/sec
-	LS1C_CAN250kBaud,    // 250 kBit/sec
-	LS1C_CAN125kBaud,    // 125 kBit/sec
-	LS1C_CAN100kBaud,    // 100 kBit/sec
-	LS1C_CAN50kBaud,     // 50 kBit/sec
-	LS1C_CAN40kBaud,     // 40 kBit/sec
+    LS1C_CAN1MBaud=0,    // 1 MBit/sec
+    LS1C_CAN800kBaud,    // 800 kBit/sec
+    LS1C_CAN500kBaud,    // 500 kBit/sec
+    LS1C_CAN250kBaud,    // 250 kBit/sec
+    LS1C_CAN125kBaud,    // 125 kBit/sec
+    LS1C_CAN100kBaud,    // 100 kBit/sec
+    LS1C_CAN50kBaud,     // 50 kBit/sec
+    LS1C_CAN40kBaud,     // 40 kBit/sec
 }Ls1c_CanBPS_t;
 
 typedef struct
@@ -143,12 +143,12 @@ typedef struct
 
 typedef struct
 {
-  unsigned char  CAN_Prescaler;    /* 波特率分频系数1 to 31. */  
+  unsigned char  CAN_Prescaler;    /* 波特率分频系数1 to 31. */
   unsigned char  CAN_Mode;         /*0x10:睡眠0x08:单,双滤波 0x40:正常工作0x20:只听 0x01:复位*/
   unsigned char  CAN_SJW;          /*同步跳转宽度 */
   unsigned char  CAN_BS1;          /*时间段1计数值*/
-  unsigned char  CAN_BS2;          /*时间段2计数值*/ 
-  
+  unsigned char  CAN_BS2;          /*时间段2计数值*/
+
 } CAN_InitTypeDef;
 
 typedef struct
diff --git a/bsp/n32g452xx/Libraries/rt_drivers/drv_can.c b/bsp/n32g452xx/Libraries/rt_drivers/drv_can.c
index 280e749d5c..22d8a04450 100644
--- a/bsp/n32g452xx/Libraries/rt_drivers/drv_can.c
+++ b/bsp/n32g452xx/Libraries/rt_drivers/drv_can.c
@@ -104,13 +104,13 @@ static uint8_t get_can_mode_rtt2n32(uint8_t rtt_can_mode)
     case RT_CAN_MODE_NORMAL:
         mode = CAN_Normal_Mode;
         break;
-    case RT_CAN_MODE_LISEN:
+    case RT_CAN_MODE_LISTEN:
         mode = CAN_Silent_Mode;
         break;
     case RT_CAN_MODE_LOOPBACK:
         mode = CAN_LoopBack_Mode;
         break;
-    case RT_CAN_MODE_LOOPBACKANLISEN:
+    case RT_CAN_MODE_LOOPBACKANLISTEN:
         mode = CAN_Silent_LoopBack_Mode;
         break;
     }
@@ -413,9 +413,9 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
     case RT_CAN_CMD_SET_MODE:
         argval = (rt_uint32_t)arg;
         if (argval != RT_CAN_MODE_NORMAL &&
-            argval != RT_CAN_MODE_LISEN &&
+            argval != RT_CAN_MODE_LISTEN &&
             argval != RT_CAN_MODE_LOOPBACK &&
-            argval != RT_CAN_MODE_LOOPBACKANLISEN)
+            argval != RT_CAN_MODE_LOOPBACKANLISTEN)
         {
             return -RT_ERROR;
         }
diff --git a/bsp/nuvoton/libraries/m2354/rtt_port/drv_can.c b/bsp/nuvoton/libraries/m2354/rtt_port/drv_can.c
index 511fb592a2..3327901cd1 100644
--- a/bsp/nuvoton/libraries/m2354/rtt_port/drv_can.c
+++ b/bsp/nuvoton/libraries/m2354/rtt_port/drv_can.c
@@ -256,13 +256,13 @@ static rt_err_t nu_can_configure(struct rt_can_device *can, struct can_configure
         CAN_EnterTestMode(base, CAN_TEST_BASIC_Msk);
 #endif
         break;
-    case RT_CAN_MODE_LISEN:
+    case RT_CAN_MODE_LISTEN:
         CAN_EnterTestMode(base, CAN_TEST_BASIC_Msk | CAN_TEST_SILENT_Msk);
         break;
     case RT_CAN_MODE_LOOPBACK:
         CAN_EnterTestMode(base, CAN_TEST_BASIC_Msk | CAN_TEST_LBACK_Msk);
         break;
-    case RT_CAN_MODE_LOOPBACKANLISEN:
+    case RT_CAN_MODE_LOOPBACKANLISTEN:
         CAN_EnterTestMode(base, CAN_TEST_BASIC_Msk | CAN_TEST_SILENT_Msk | CAN_TEST_LBACK_Msk);
         break;
     default:
@@ -328,9 +328,9 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
 
     case RT_CAN_CMD_SET_MODE:
         if ((argval == RT_CAN_MODE_NORMAL) ||
-                (argval == RT_CAN_MODE_LISEN) ||
+                (argval == RT_CAN_MODE_LISTEN) ||
                 (argval == RT_CAN_MODE_LOOPBACK) ||
-                (argval == RT_CAN_MODE_LOOPBACKANLISEN))
+                (argval == RT_CAN_MODE_LOOPBACKANLISTEN))
         {
             if (argval != can->config.mode)
             {
diff --git a/bsp/nuvoton/libraries/m480/rtt_port/drv_can.c b/bsp/nuvoton/libraries/m480/rtt_port/drv_can.c
index 14926076c3..c9915aee95 100644
--- a/bsp/nuvoton/libraries/m480/rtt_port/drv_can.c
+++ b/bsp/nuvoton/libraries/m480/rtt_port/drv_can.c
@@ -307,13 +307,13 @@ static rt_err_t nu_can_configure(struct rt_can_device *can, struct can_configure
         CAN_EnterTestMode(base, CAN_TEST_BASIC_Msk);
 #endif
         break;
-    case RT_CAN_MODE_LISEN:
+    case RT_CAN_MODE_LISTEN:
         CAN_EnterTestMode(base, CAN_TEST_BASIC_Msk | CAN_TEST_SILENT_Msk);
         break;
     case RT_CAN_MODE_LOOPBACK:
         CAN_EnterTestMode(base, CAN_TEST_BASIC_Msk | CAN_TEST_LBACK_Msk);
         break;
-    case RT_CAN_MODE_LOOPBACKANLISEN:
+    case RT_CAN_MODE_LOOPBACKANLISTEN:
         CAN_EnterTestMode(base, CAN_TEST_BASIC_Msk | CAN_TEST_SILENT_Msk | CAN_TEST_LBACK_Msk);
         break;
     default:
@@ -379,9 +379,9 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
 
     case RT_CAN_CMD_SET_MODE:
         if ((argval == RT_CAN_MODE_NORMAL) ||
-                (argval == RT_CAN_MODE_LISEN) ||
+                (argval == RT_CAN_MODE_LISTEN) ||
                 (argval == RT_CAN_MODE_LOOPBACK) ||
-                (argval == RT_CAN_MODE_LOOPBACKANLISEN))
+                (argval == RT_CAN_MODE_LOOPBACKANLISTEN))
         {
             if (argval != can->config.mode)
             {
diff --git a/bsp/nuvoton/libraries/n9h30/rtt_port/drv_can.c b/bsp/nuvoton/libraries/n9h30/rtt_port/drv_can.c
index aedd61f018..ebbda12689 100644
--- a/bsp/nuvoton/libraries/n9h30/rtt_port/drv_can.c
+++ b/bsp/nuvoton/libraries/n9h30/rtt_port/drv_can.c
@@ -256,13 +256,13 @@ static rt_err_t nu_can_configure(struct rt_can_device *can, struct can_configure
         CAN_EnterTestMode(base, CAN_TEST_BASIC_Msk);
 #endif
         break;
-    case RT_CAN_MODE_LISEN:
+    case RT_CAN_MODE_LISTEN:
         CAN_EnterTestMode(base, CAN_TEST_BASIC_Msk | CAN_TEST_SILENT_Msk);
         break;
     case RT_CAN_MODE_LOOPBACK:
         CAN_EnterTestMode(base, CAN_TEST_BASIC_Msk | CAN_TEST_LBACK_Msk);
         break;
-    case RT_CAN_MODE_LOOPBACKANLISEN:
+    case RT_CAN_MODE_LOOPBACKANLISTEN:
         CAN_EnterTestMode(base, CAN_TEST_BASIC_Msk | CAN_TEST_SILENT_Msk | CAN_TEST_LBACK_Msk);
         break;
     default:
@@ -328,9 +328,9 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
 
     case RT_CAN_CMD_SET_MODE:
         if ((argval == RT_CAN_MODE_NORMAL) ||
-                (argval == RT_CAN_MODE_LISEN) ||
+                (argval == RT_CAN_MODE_LISTEN) ||
                 (argval == RT_CAN_MODE_LOOPBACK) ||
-                (argval == RT_CAN_MODE_LOOPBACKANLISEN))
+                (argval == RT_CAN_MODE_LOOPBACKANLISTEN))
         {
             if (argval != can->config.mode)
             {
diff --git a/bsp/nuvoton/libraries/nuc980/rtt_port/drv_can.c b/bsp/nuvoton/libraries/nuc980/rtt_port/drv_can.c
index fcdbbe8d74..385f9e4123 100644
--- a/bsp/nuvoton/libraries/nuc980/rtt_port/drv_can.c
+++ b/bsp/nuvoton/libraries/nuc980/rtt_port/drv_can.c
@@ -280,13 +280,13 @@ static rt_err_t nu_can_configure(struct rt_can_device *can, struct can_configure
         CAN_EnterTestMode(base, CAN_TEST_BASIC_Msk);
 #endif
         break;
-    case RT_CAN_MODE_LISEN:
+    case RT_CAN_MODE_LISTEN:
         CAN_EnterTestMode(base, CAN_TEST_BASIC_Msk | CAN_TEST_SILENT_Msk);
         break;
     case RT_CAN_MODE_LOOPBACK:
         CAN_EnterTestMode(base, CAN_TEST_BASIC_Msk | CAN_TEST_LBACK_Msk);
         break;
-    case RT_CAN_MODE_LOOPBACKANLISEN:
+    case RT_CAN_MODE_LOOPBACKANLISTEN:
         CAN_EnterTestMode(base, CAN_TEST_BASIC_Msk | CAN_TEST_SILENT_Msk | CAN_TEST_LBACK_Msk);
         break;
     default:
@@ -352,9 +352,9 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
 
     case RT_CAN_CMD_SET_MODE:
         if ((argval == RT_CAN_MODE_NORMAL) ||
-                (argval == RT_CAN_MODE_LISEN) ||
+                (argval == RT_CAN_MODE_LISTEN) ||
                 (argval == RT_CAN_MODE_LOOPBACK) ||
-                (argval == RT_CAN_MODE_LOOPBACKANLISEN))
+                (argval == RT_CAN_MODE_LOOPBACKANLISTEN))
         {
             if (argval != can->config.mode)
             {
diff --git a/bsp/renesas/libraries/HAL_Drivers/drv_can.c b/bsp/renesas/libraries/HAL_Drivers/drv_can.c
index f87e0d9155..60b64565b3 100644
--- a/bsp/renesas/libraries/HAL_Drivers/drv_can.c
+++ b/bsp/renesas/libraries/HAL_Drivers/drv_can.c
@@ -134,7 +134,7 @@ rt_err_t ra_can_control(struct rt_can_device *can_dev, int cmd, void *arg)
     case RT_CAN_CMD_SET_MODE:
         argval = (rt_uint32_t) arg;
         if (argval != RT_CAN_MODE_NORMAL &&
-                argval != RT_CAN_MODE_LISEN &&
+                argval != RT_CAN_MODE_LISTEN &&
                 argval != RT_CAN_MODE_LOOPBACK)
         {
             return -RT_ERROR;
@@ -147,7 +147,7 @@ rt_err_t ra_can_control(struct rt_can_device *can_dev, int cmd, void *arg)
             {
             case RT_CAN_MODE_NORMAL:
                 mode_to_set = CAN_TEST_MODE_DISABLED;
-            case RT_CAN_MODE_LISEN:
+            case RT_CAN_MODE_LISTEN:
                 mode_to_set = CAN_TEST_MODE_LISTEN;
             case RT_CAN_MODE_LOOPBACK:
                 mode_to_set = CAN_TEST_MODE_LOOPBACK_INTERNAL;
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_can.c b/bsp/stm32/libraries/HAL_Drivers/drv_can.c
index a3959a2083..1cb003bdf4 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_can.c
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_can.c
@@ -149,13 +149,13 @@ static rt_err_t _can_config(struct rt_can_device *can, struct can_configure *cfg
     case RT_CAN_MODE_NORMAL:
         drv_can->CanHandle.Init.Mode = CAN_MODE_NORMAL;
         break;
-    case RT_CAN_MODE_LISEN:
+    case RT_CAN_MODE_LISTEN:
         drv_can->CanHandle.Init.Mode = CAN_MODE_SILENT;
         break;
     case RT_CAN_MODE_LOOPBACK:
         drv_can->CanHandle.Init.Mode = CAN_MODE_LOOPBACK;
         break;
-    case RT_CAN_MODE_LOOPBACKANLISEN:
+    case RT_CAN_MODE_LOOPBACKANLISTEN:
         drv_can->CanHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
         break;
     }
@@ -410,9 +410,9 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
     case RT_CAN_CMD_SET_MODE:
         argval = (rt_uint32_t) arg;
         if (argval != RT_CAN_MODE_NORMAL &&
-                argval != RT_CAN_MODE_LISEN &&
+                argval != RT_CAN_MODE_LISTEN &&
                 argval != RT_CAN_MODE_LOOPBACK &&
-                argval != RT_CAN_MODE_LOOPBACKANLISEN)
+                argval != RT_CAN_MODE_LOOPBACKANLISTEN)
         {
             return -RT_ERROR;
         }
diff --git a/components/drivers/Kconfig b/components/drivers/Kconfig
index d432faee05..00c4a07998 100755
--- a/components/drivers/Kconfig
+++ b/components/drivers/Kconfig
@@ -53,6 +53,9 @@ if RT_USING_CAN
     config RT_CAN_USING_HDR
         bool "Enable CAN hardware filter"
         default n
+    config RT_CAN_USING_CANFD
+        bool "Enable CANFD support"
+        default n
 endif
 
 config RT_USING_HWTIMER
diff --git a/components/drivers/can/can.c b/components/drivers/can/can.c
index 358220013f..f110bc9e1f 100644
--- a/components/drivers/can/can.c
+++ b/components/drivers/can/can.c
@@ -924,7 +924,7 @@ int cmd_canstat(int argc, void **argv)
             rt_kprintf(" Can't find can device %s\n", argv[1]);
             return -1;
         }
-        rt_kprintf(" Finded can device: %s...", argv[1]);
+        rt_kprintf(" Found can device: %s...", argv[1]);
 
         rt_device_control(candev, RT_CAN_CMD_GET_STATUS, &status);
         rt_kprintf("\n Receive...error..count: %010ld. Send.....error....count: %010ld.",
@@ -954,9 +954,9 @@ int cmd_canstat(int argc, void **argv)
             rt_kprintf("%s.", ErrCode[3]);
             break;
         }
-        rt_kprintf("\n Total.receive.packages: %010ld. Droped.receive.packages: %010ld.",
+        rt_kprintf("\n Total.receive.packages: %010ld. Dropped.receive.packages: %010ld.",
                    status.rcvpkg, status.dropedrcvpkg);
-        rt_kprintf("\n Total..send...packages: %010ld. Droped...send..packages: %010ld.\n",
+        rt_kprintf("\n Total..send...packages: %010ld. Dropped...send..packages: %010ld.\n",
                    status.sndpkg + status.dropedsndpkg, status.dropedsndpkg);
     }
     else
diff --git a/components/drivers/include/drivers/can.h b/components/drivers/include/drivers/can.h
index bb05317d4f..553e145e92 100644
--- a/components/drivers/include/drivers/can.h
+++ b/components/drivers/include/drivers/can.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2021, RT-Thread Development Team
+ * Copyright (c) 2006-2022, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -7,6 +7,7 @@
  * Date           Author            Notes
  * 2015-05-14     [email protected]   first version
  * 2015-07-06     Bernard           remove RT_CAN_USING_LED.
+ * 2022-05-08     hpmicro           add CANFD support, fixed typos
  */
 
 #ifndef CAN_H_
@@ -21,6 +22,26 @@
 #define RT_CANSND_BOX_NUM   1
 #endif
 
+enum CAN_DLC
+{
+    CAN_MSG_0BYTE = 0,
+    CAN_MSG_1BYTE,
+    CAN_MSG_2BYTES,
+    CAN_MSG_3BYTES,
+    CAN_MSG_4BYTES,
+    CAN_MSG_5BYTES,
+    CAN_MSG_6BYTES,
+    CAN_MSG_7BYTES,
+    CAN_MSG_8BYTES,
+    CAN_MSG_12BYTES,
+    CAN_MSG_16BYTES,
+    CAN_MSG_20BYTES,
+    CAN_MSG_24BYTES,
+    CAN_MSG_32BYTES,
+    CAN_MSG_48BYTES,
+    CAN_MSG_64BYTES,
+};
+
 enum CANBAUD
 {
     CAN1MBaud   = 1000UL * 1000,/* 1 MBit/sec   */
@@ -35,9 +56,9 @@ enum CANBAUD
 };
 
 #define RT_CAN_MODE_NORMAL              0
-#define RT_CAN_MODE_LISEN               1
+#define RT_CAN_MODE_LISTEN              1
 #define RT_CAN_MODE_LOOPBACK            2
-#define RT_CAN_MODE_LOOPBACKANLISEN     3
+#define RT_CAN_MODE_LOOPBACKANLISTEN    3
 
 #define RT_CAN_MODE_PRIV                0x01
 #define RT_CAN_MODE_NOPRIV              0x00
@@ -96,6 +117,27 @@ struct rt_can_filter_config
     struct rt_can_filter_item *items;
 };
 
+struct rt_can_bit_timing
+{
+    rt_uint16_t prescaler;  /* Pre-scaler */
+    rt_uint16_t num_seg1;   /* Bit Timing Segment 1, in terms of Tq */
+    rt_uint16_t num_seg2;   /* Bit Timing Segment 2, in terms of Tq */
+    rt_uint8_t num_sjw;     /* Synchronization Jump Width, in terms of Tq */
+    rt_uint8_t num_sspoff;  /* Secondary Sample Point Offset, in terms of Tq */
+};
+
+/**
+ * CAN bit timing configuration list
+ * NOTE:
+ *  items[0] always for CAN2.0/CANFD Arbitration Phase
+ *  items[1] always for CANFD (if it exists)
+ */
+struct rt_can_bit_timing_config
+{
+    rt_uint32_t count;
+    struct rt_can_bit_timing *items;
+};
+
 struct can_configure
 {
     rt_uint32_t baud_rate;
@@ -108,6 +150,17 @@ struct can_configure
 #ifdef RT_CAN_USING_HDR
     rt_uint32_t maxhdr;
 #endif
+
+#ifdef RT_CAN_USING_CANFD
+    rt_uint32_t baud_rate_fd;       /* CANFD data bit rate*/
+    rt_uint32_t use_bit_timing: 8;  /* Use the bit timing for CAN timing configuration */
+    rt_uint32_t enable_canfd : 8;   /* Enable CAN-FD mode */
+    rt_uint32_t reserved1 : 16;
+
+    /* The below fields take effect only if use_bit_timing is non-zero */
+    struct rt_can_bit_timing can_timing;    /* CAN bit-timing /CANFD bit-timing for arbitration phase */
+    struct rt_can_bit_timing canfd_timing;  /* CANFD bit-timing for datat phase */
+#endif
 };
 
 #define CANDEFAULTCONFIG \
@@ -126,6 +179,9 @@ struct rt_can_ops;
 #define RT_CAN_CMD_GET_STATUS       0x17
 #define RT_CAN_CMD_SET_STATUS_IND   0x18
 #define RT_CAN_CMD_SET_BUS_HOOK     0x19
+#define RT_CAN_CMD_SET_CANFD        0x1A
+#define RT_CAN_CMD_SET_BAUD_FD      0x1B
+#define RT_CAN_CMD_SET_BITTIMING    0x1C
 
 #define RT_DEVICE_CAN_INT_ERR       0x1000
 
@@ -222,8 +278,17 @@ struct rt_can_msg
     rt_uint32_t len : 8;
     rt_uint32_t priv : 8;
     rt_int32_t hdr : 8;
+#ifdef RT_CAN_USING_CANFD
+    rt_uint32_t fd_frame : 1;
+    rt_uint32_t reserved : 7;
+#else
     rt_uint32_t reserved : 8;
+#endif
+#ifdef RT_CAN_USING_CANFD
+    rt_uint8_t data[64];
+#else
     rt_uint8_t data[8];
+#endif
 };
 typedef struct rt_can_msg *rt_can_msg_t;