1.add can and on-chip-flash drivers 2.fixed c++ compiler error

16 files changed, 1337 insertions, 8 deletions

diff --git a/bsp/at32/Libraries/AT32_Std_Driver/AT32F4xx_StdPeriph_Driver/inc/at32f4xx_ertc.h b/bsp/at32/Libraries/AT32_Std_Driver/AT32F4xx_StdPeriph_Driver/inc/at32f4xx_ertc.h
index d133b594ed..4ec1055642 100644
--- a/bsp/at32/Libraries/AT32_Std_Driver/AT32F4xx_StdPeriph_Driver/inc/at32f4xx_ertc.h
+++ b/bsp/at32/Libraries/AT32_Std_Driver/AT32F4xx_StdPeriph_Driver/inc/at32f4xx_ertc.h
@@ -11,6 +11,9 @@
 #ifndef __AT32F4xx_ERTC_H
 #define __AT32F4xx_ERTC_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
 
 /* Includes ------------------------------------------------------------------*/
 #include "at32f4xx.h"
diff --git a/bsp/at32/Libraries/rt_drivers/SConscript b/bsp/at32/Libraries/rt_drivers/SConscript
index 52758085ee..7f59cd06f3 100644
--- a/bsp/at32/Libraries/rt_drivers/SConscript
+++ b/bsp/at32/Libraries/rt_drivers/SConscript
@@ -43,9 +43,15 @@ if GetDepend('BSP_USING_SRAM'):
 if GetDepend('BSP_USING_RTC'):
     src += ['drv_rtc.c']
 
+if GetDepend('BSP_USING_ON_CHIP_FLASH'):
+    src += ['drv_flash.c']
+
 if GetDepend(['BSP_USING_WDT']):
     src += ['drv_wdt.c']
 
+if GetDepend(['BSP_USING_CAN']):
+    src += ['drv_can.c']
+
 if GetDepend(['BSP_USING_SDIO']):
     src += ['drv_sdio.c']
 
diff --git a/bsp/at32/Libraries/rt_drivers/drv_can.c b/bsp/at32/Libraries/rt_drivers/drv_can.c
new file mode 100644
index 0000000000..43f5a287e3
--- /dev/null
+++ b/bsp/at32/Libraries/rt_drivers/drv_can.c
@@ -0,0 +1,878 @@
+/*
+ * Copyright (c) 2006-2018, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-02-09     shelton      the first version
+ */
+
+#include "drv_can.h"
+#ifdef BSP_USING_CAN
+
+#define LOG_TAG    "drv_can"
+#include <drv_log.h>
+
+/* attention !!! baud calculation example: apbclk / ((ss + bs1 + bs2) * brp), ep: 120 / ((1 + 8 + 3) * 10) = 1MHz*/
+static const struct at32_baud_rate_tab can_baud_rate_tab[] =
+{
+    {CAN1MBaud,   CAN_SJW_2tq, CAN_BS1_8tq,  CAN_BS2_3tq, 10},
+    {CAN800kBaud, CAN_SJW_2tq, CAN_BS1_7tq,  CAN_BS2_2tq, 15},
+    {CAN500kBaud, CAN_SJW_2tq, CAN_BS1_9tq,  CAN_BS2_2tq, 20},
+    {CAN250kBaud, CAN_SJW_2tq, CAN_BS1_9tq,  CAN_BS2_2tq, 40},
+    {CAN125kBaud, CAN_SJW_2tq, CAN_BS1_9tq,  CAN_BS2_2tq, 80},
+    {CAN100kBaud, CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 75},
+    {CAN50kBaud,  CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 150},
+    {CAN20kBaud,  CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 375},
+    {CAN10kBaud,  CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 750}
+};
+
+#ifdef BSP_USING_CAN1
+static struct at32_can can_instance1 =
+{
+    .name = "can1",
+    .CanConfig.Instance = CAN1,
+};
+#endif
+
+#ifdef BSP_USING_CAN2
+static struct at32_can can_instance2 =
+{
+    .name = "can2",
+    .CanConfig.Instance = CAN2,
+};
+#endif
+
+static rt_uint32_t get_can_baud_index(rt_uint32_t baud)
+{
+    rt_uint32_t len, index;
+
+    len = sizeof(can_baud_rate_tab) / sizeof(can_baud_rate_tab[0]);
+    for (index = 0; index < len; index++)
+    {
+        if (can_baud_rate_tab[index].baud_rate == baud)
+            return index;
+    }
+
+    return 0; /* default baud is CAN1MBaud */
+}
+
+static rt_err_t _can_config(struct rt_can_device *can, struct can_configure *cfg)
+{
+    struct at32_can *can_instance;
+    rt_uint32_t baud_index;
+
+    RT_ASSERT(can);
+    RT_ASSERT(cfg);
+    can_instance = (struct at32_can *)can->parent.user_data;
+    RT_ASSERT(can_instance);
+
+    at32_msp_can_init((void *)can_instance->CanConfig.Instance);
+
+    CAN_StructInit(&(can_instance->CanConfig.CanInit));
+
+    can_instance->CanConfig.CanInit.CAN_Mode = DISABLE;
+    can_instance->CanConfig.CanInit.CAN_ABO = ENABLE;
+    can_instance->CanConfig.CanInit.CAN_AWU = ENABLE;
+    can_instance->CanConfig.CanInit.CAN_NART = DISABLE;
+    can_instance->CanConfig.CanInit.CAN_RFL = DISABLE;
+    can_instance->CanConfig.CanInit.CAN_TFP = ENABLE;
+
+    switch (cfg->mode)
+    {
+    case RT_CAN_MODE_NORMAL:
+        can_instance->CanConfig.CanInit.CAN_Mode = CAN_Mode_Normal;
+        break;
+    case RT_CAN_MODE_LISEN:
+        can_instance->CanConfig.CanInit.CAN_Mode = CAN_Mode_Silent;
+        break;
+    case RT_CAN_MODE_LOOPBACK:
+        can_instance->CanConfig.CanInit.CAN_Mode = CAN_Mode_LoopBack;
+        break;
+    case RT_CAN_MODE_LOOPBACKANLISEN:
+        can_instance->CanConfig.CanInit.CAN_Mode = CAN_Mode_Silent_LoopBack;
+        break;
+    }
+
+    baud_index = get_can_baud_index(cfg->baud_rate);
+    can_instance->CanConfig.CanInit.CAN_SJW = can_baud_rate_tab[baud_index].sjw;
+    can_instance->CanConfig.CanInit.CAN_BS1 = can_baud_rate_tab[baud_index].bs1;
+    can_instance->CanConfig.CanInit.CAN_BS2 = can_baud_rate_tab[baud_index].bs2;
+    can_instance->CanConfig.CanInit.CAN_Prescaler = can_baud_rate_tab[baud_index].psc;
+
+    /* init can */
+    if (CAN_Init(can_instance->CanConfig.Instance, &(can_instance->CanConfig.CanInit)) != CAN_InitStatus_Success)
+    {
+        return -RT_ERROR;
+    }
+
+    /* default filter config */
+    CAN_FilterInit(can_instance->CanConfig.Instance, &can_instance->CanConfig.FilterConfig);
+
+    return RT_EOK;
+}
+
+static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
+{
+    rt_uint32_t argval;
+    NVIC_InitType NVIC_InitStruct;
+    struct at32_can *can_instance;
+    struct rt_can_filter_config *filter_cfg;
+
+    RT_ASSERT(can != RT_NULL);
+    can_instance = (struct at32_can *)can->parent.user_data;
+    RT_ASSERT(can_instance != RT_NULL);
+
+    switch (cmd)
+    {
+    case RT_DEVICE_CTRL_CLR_INT:
+        argval = (rt_uint32_t) arg;
+        if (argval == RT_DEVICE_FLAG_INT_RX)
+        {
+            if (CAN1 == can_instance->CanConfig.Instance)
+            {
+                NVIC_InitStruct.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
+                NVIC_InitStruct.NVIC_IRQChannelCmd = DISABLE;
+                NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
+                NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
+                NVIC_Init(&NVIC_InitStruct);
+
+                NVIC_InitStruct.NVIC_IRQChannel = CAN1_RX1_IRQn;
+                NVIC_Init(&NVIC_InitStruct);
+            }
+#ifdef CAN2
+            if (CAN2 == can_instance->CanConfig.Instance)
+            {
+                NVIC_InitStruct.NVIC_IRQChannel = CAN2_RX0_IRQn;
+                NVIC_InitStruct.NVIC_IRQChannelCmd = DISABLE;
+                NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
+                NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
+                NVIC_Init(&NVIC_InitStruct);
+
+                NVIC_InitStruct.NVIC_IRQChannel = CAN2_RX1_IRQn;
+                NVIC_Init(&NVIC_InitStruct);
+            }
+#endif
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFP0, DISABLE);
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFFU0, DISABLE);
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFOV0, DISABLE);
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFP1, DISABLE);
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFFU1, DISABLE);
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFOV1, DISABLE);
+        }
+        else if (argval == RT_DEVICE_FLAG_INT_TX)
+        {
+            if (CAN1 == can_instance->CanConfig.Instance)
+            {
+                NVIC_InitStruct.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn;
+                NVIC_InitStruct.NVIC_IRQChannelCmd = DISABLE;
+                NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
+                NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
+                NVIC_Init(&NVIC_InitStruct);
+            }
+#ifdef CAN2
+            if (CAN2 == can_instance->CanConfig.Instance)
+            {
+                NVIC_InitStruct.NVIC_IRQChannel = CAN2_TX_IRQn;
+                NVIC_InitStruct.NVIC_IRQChannelCmd = DISABLE;
+                NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
+                NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
+                NVIC_Init(&NVIC_InitStruct);
+            }
+#endif
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_TSME, DISABLE);
+        }
+        else if (argval == RT_DEVICE_CAN_INT_ERR)
+        {
+            if (CAN1 == can_instance->CanConfig.Instance)
+            {
+                NVIC_InitStruct.NVIC_IRQChannel = CAN1_SCE_IRQn;
+                NVIC_InitStruct.NVIC_IRQChannelCmd = DISABLE;
+                NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
+                NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
+                NVIC_Init(&NVIC_InitStruct);
+            }
+#ifdef CAN2
+            if (CAN2 == can_instance->CanConfig.Instance)
+            {
+                NVIC_InitStruct.NVIC_IRQChannel = CAN2_SCE_IRQn;
+                NVIC_InitStruct.NVIC_IRQChannelCmd = DISABLE;
+                NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
+                NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
+                NVIC_Init(&NVIC_InitStruct);
+            }
+#endif
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_ERG, DISABLE);
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_ERP, DISABLE);
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_BU, DISABLE);
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_LEC, DISABLE);
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_ERR, DISABLE);
+        }
+        break;
+    case RT_DEVICE_CTRL_SET_INT:
+        argval = (rt_uint32_t) arg;
+        if (argval == RT_DEVICE_FLAG_INT_RX)
+        {
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFP0, ENABLE);
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFFU0, ENABLE);
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFOV0, ENABLE);
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFP1, ENABLE);
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFFU1, ENABLE);
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFOV1, ENABLE);
+
+            if (CAN1 == can_instance->CanConfig.Instance)
+            {
+                NVIC_InitStruct.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
+                NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
+                NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
+                NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
+                NVIC_Init(&NVIC_InitStruct);
+
+                NVIC_InitStruct.NVIC_IRQChannel = CAN1_RX1_IRQn;
+                NVIC_Init(&NVIC_InitStruct);
+            }
+#ifdef CAN2
+            if (CAN2 == can_instance->CanConfig.Instance)
+            {
+                NVIC_InitStruct.NVIC_IRQChannel = CAN2_RX0_IRQn;
+                NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
+                NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
+                NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
+                NVIC_Init(&NVIC_InitStruct);
+
+                NVIC_InitStruct.NVIC_IRQChannel = CAN2_RX1_IRQn;
+                NVIC_Init(&NVIC_InitStruct);
+            }
+#endif
+        }
+        else if (argval == RT_DEVICE_FLAG_INT_TX)
+        {
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_TSME, ENABLE);
+
+            if (CAN1 == can_instance->CanConfig.Instance)
+            {
+                NVIC_InitStruct.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn;
+                NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
+                NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
+                NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
+                NVIC_Init(&NVIC_InitStruct);
+            }
+#ifdef CAN2
+            if (CAN2 == can_instance->CanConfig.Instance)
+            {
+                NVIC_InitStruct.NVIC_IRQChannel = CAN2_TX_IRQn;
+                NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
+                NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
+                NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
+                NVIC_Init(&NVIC_InitStruct);
+            }
+#endif
+        }
+        else if (argval == RT_DEVICE_CAN_INT_ERR)
+        {
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_ERG, ENABLE);
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_ERP, ENABLE);
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_BU, ENABLE);
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_LEC, ENABLE);
+            CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_ERR, ENABLE);
+
+            if (CAN1 == can_instance->CanConfig.Instance)
+            {
+                NVIC_InitStruct.NVIC_IRQChannel = CAN1_SCE_IRQn;
+                NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
+                NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
+                NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
+                NVIC_Init(&NVIC_InitStruct);
+            }
+#ifdef CAN2
+            if (CAN2 == can_instance->CanConfig.Instance)
+            {
+                NVIC_InitStruct.NVIC_IRQChannel = CAN2_SCE_IRQn;
+                NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
+                NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
+                NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
+                NVIC_Init(&NVIC_InitStruct);
+            }
+#endif
+        }
+        break;
+    case RT_CAN_CMD_SET_FILTER:
+        if (RT_NULL == arg)
+        {
+            /* default filter config */
+            CAN_FilterInit(can_instance->CanConfig.Instance, &can_instance->CanConfig.FilterConfig);
+        }
+        else
+        {
+            filter_cfg = (struct rt_can_filter_config *)arg;
+            /* get default filter */
+            for (int i = 0; i < filter_cfg->count; i++)
+            {
+                can_instance->CanConfig.FilterConfig.CAN_FilterNumber = filter_cfg->items[i].hdr & (0x1fU);
+                can_instance->CanConfig.FilterConfig.CAN_FilterIdHigh = (filter_cfg->items[i].id >> 13) & 0xFFFF;
+                can_instance->CanConfig.FilterConfig.CAN_FilterIdLow = ((filter_cfg->items[i].id << 3) | 
+                                                    (filter_cfg->items[i].ide << 2) | 
+                                                    (filter_cfg->items[i].rtr << 1)) & 0xFFFF;
+                can_instance->CanConfig.FilterConfig.CAN_FilterMskIdHigh = (filter_cfg->items[i].mask >> 16) & 0xFFFF;
+                can_instance->CanConfig.FilterConfig.CAN_FilterMskIdLow = filter_cfg->items[i].mask & 0xFFFF;
+                can_instance->CanConfig.FilterConfig.CAN_FilterMode = filter_cfg->items[i].mode;
+                /* Filter conf */
+                CAN_FilterInit(can_instance->CanConfig.Instance, &can_instance->CanConfig.FilterConfig);
+            }
+        }
+        break;
+    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_LOOPBACK &&
+            argval != RT_CAN_MODE_LOOPBACKANLISEN)
+        {
+            return -RT_ERROR;
+        }
+        if (argval != can_instance->device.config.mode)
+        {
+            can_instance->device.config.mode = argval;
+            return _can_config(&can_instance->device, &can_instance->device.config);
+        }
+        break;
+    case RT_CAN_CMD_SET_BAUD:
+        argval = (rt_uint32_t) arg;
+        if (argval != CAN1MBaud &&
+            argval != CAN800kBaud &&
+            argval != CAN500kBaud &&
+            argval != CAN250kBaud &&
+            argval != CAN125kBaud &&
+            argval != CAN100kBaud &&
+            argval != CAN50kBaud  &&
+            argval != CAN20kBaud  &&
+            argval != CAN10kBaud)
+        {
+            return -RT_ERROR;
+        }
+        if (argval != can_instance->device.config.baud_rate)
+        {
+            can_instance->device.config.baud_rate = argval;
+            return _can_config(&can_instance->device, &can_instance->device.config);
+        }
+        break;
+    case RT_CAN_CMD_SET_PRIV:
+        argval = (rt_uint32_t) arg;
+        if (argval != RT_CAN_MODE_PRIV &&
+            argval != RT_CAN_MODE_NOPRIV)
+        {
+            return -RT_ERROR;
+        }
+        if (argval != can_instance->device.config.privmode)
+        {
+            can_instance->device.config.privmode = argval;
+            return _can_config(&can_instance->device, &can_instance->device.config);
+        }
+        break;
+    case RT_CAN_CMD_GET_STATUS:
+    {
+        rt_uint32_t errtype;
+        errtype = can_instance->CanConfig.Instance->ESTS;
+        can_instance->device.status.rcverrcnt = errtype >> 24;
+        can_instance->device.status.snderrcnt = (errtype >> 16 & 0xFF);
+        can_instance->device.status.lasterrtype = errtype & 0x70;
+        can_instance->device.status.errcode = errtype & 0x07;
+
+        rt_memcpy(arg, &can_instance->device.status, sizeof(can_instance->device.status));
+    }
+    break;
+    }
+
+    return RT_EOK;
+}
+
+static int _can_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t box_num)
+{
+    struct CAN_Handler *hcan;
+    hcan = &((struct at32_can *) can->parent.user_data)->CanConfig;
+    struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
+    CanTxMsg TxMessage;
+    rt_uint32_t i;
+
+    /* Check the parameters */
+    RT_ASSERT(IS_CAN_DLC(pmsg->len));
+
+    /*check select mailbox  is empty */
+    switch (1 << box_num)
+    {
+      case CAN_TX_MAILBOX0:
+        if ((hcan->Instance->TSTS & CAN_TSTS_TSME0) != CAN_TSTS_TSME0)
+        {
+            /* Return function status */
+            return -RT_ERROR;
+        }
+        break;
+    case CAN_TX_MAILBOX1:
+        if ((hcan->Instance->TSTS & CAN_TSTS_TSME1) != CAN_TSTS_TSME1)
+        {
+            /* Return function status */
+            return -RT_ERROR;
+        }
+        break;
+    case CAN_TX_MAILBOX2:
+        if ((hcan->Instance->TSTS & CAN_TSTS_TSME2) != CAN_TSTS_TSME2)
+        {
+            /* Return function status */
+            return -RT_ERROR;
+        }
+        break;
+    default:
+        RT_ASSERT(0);
+        break;
+    }
+
+    if (RT_CAN_STDID == pmsg->ide)
+    {
+        TxMessage.IDT = CAN_ID_STD;
+        RT_ASSERT(IS_CAN_STDID(pmsg->id));
+        TxMessage.StdId = pmsg->id;
+    }
+    else
+    {
+        TxMessage.IDT = CAN_ID_EXT;
+        RT_ASSERT(IS_CAN_EXTID(pmsg->id));
+        TxMessage.ExtId = pmsg->id;
+    }
+
+    if (RT_CAN_DTR == pmsg->rtr)
+    {
+        TxMessage.RTR = CAN_RTR_DATA;
+    }
+    else
+    {
+        TxMessage.RTR = CAN_RTR_REMOTE;
+    }
+
+    /* Set up the DLC */
+    TxMessage.DLC = pmsg->len & 0x0FU;
+    /* Set up the data field */
+    TxMessage.Data[0] = (uint32_t)pmsg->data[0];
+    TxMessage.Data[1] = (uint32_t)pmsg->data[1];
+    TxMessage.Data[2] = (uint32_t)pmsg->data[2];
+    TxMessage.Data[3] = (uint32_t)pmsg->data[3];
+    TxMessage.Data[4] = (uint32_t)pmsg->data[4];
+    TxMessage.Data[5] = (uint32_t)pmsg->data[5];
+    TxMessage.Data[6] = (uint32_t)pmsg->data[6];
+    TxMessage.Data[7] = (uint32_t)pmsg->data[7];
+
+    CAN_Transmit(hcan->Instance, &TxMessage);
+    while((CAN_TransmitStatus(hcan->Instance, box_num) != CANTXOK) && (i != 0xFFFF))
+    {
+        i++;
+    }
+
+    return RT_EOK;
+}
+
+static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
+{
+    struct CAN_Handler *hcan;
+    hcan = &((struct at32_can *) can->parent.user_data)->CanConfig;
+    struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
+    CanRxMsg RxMessage;
+
+    RT_ASSERT(can);
+
+    /* get data */
+    CAN_Receive(hcan->Instance, fifo, &RxMessage);
+
+    pmsg->data[0] = RxMessage.Data[0];
+    pmsg->data[1] = RxMessage.Data[1];
+    pmsg->data[2] = RxMessage.Data[2];
+    pmsg->data[3] = RxMessage.Data[3];
+    pmsg->data[4] = RxMessage.Data[4];
+    pmsg->data[5] = RxMessage.Data[5];
+    pmsg->data[6] = RxMessage.Data[6];
+    pmsg->data[7] = RxMessage.Data[7];
+
+    pmsg->len = RxMessage.DLC;
+    pmsg->id = RxMessage.IDT;
+
+    if (RxMessage.IDT == CAN_ID_STD)
+        pmsg->id = RxMessage.StdId;
+    else
+        pmsg->ide = RxMessage.ExtId;
+    pmsg->rtr = RxMessage.RTR;
+    
+    return RT_EOK;
+}
+
+static const struct rt_can_ops _can_ops =
+{
+    _can_config,
+    _can_control,
+    _can_sendmsg,
+    _can_recvmsg,
+};
+
+static void _can_rx_isr(struct rt_can_device *can, rt_uint32_t fifo)
+{
+    struct CAN_Handler *hcan;
+    RT_ASSERT(can);
+    hcan = &((struct at32_can *) can->parent.user_data)->CanConfig;
+
+    switch (fifo)
+    {
+    case CAN_FIFO0:
+        /* save to user list */
+        if (CAN_MessagePending(hcan->Instance, CAN_FIFO0) && CAN_GetINTStatus(hcan->Instance, CAN_INT_RFP0))
+        {
+            rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8);
+        }
+        /* Check FULL flag for FIFO0 */
+        if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RFFU0) && CAN_GetINTStatus(hcan->Instance, CAN_INT_RFFU0))
+        {
+            /* Clear FIFO0 FULL Flag */
+            CAN_ClearFlag(hcan->Instance, CAN_FLAG_RFFU0);
+        }
+
+        /* Check Overrun flag for FIFO0 */
+        if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RFOV0) && CAN_GetINTStatus(hcan->Instance, CAN_INT_RFOV0))
+        {
+            /* Clear FIFO0 Overrun Flag */
+            CAN_ClearFlag(hcan->Instance, CAN_FLAG_RFOV0);
+            rt_hw_can_isr(can, RT_CAN_EVENT_RXOF_IND | fifo << 8);
+        }
+        break;
+    case CAN_FIFO1:
+        /* save to user list */
+        if (CAN_MessagePending(hcan->Instance, CAN_FIFO1) && CAN_GetINTStatus(hcan->Instance, CAN_INT_RFP1))
+        {
+            rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8);
+        }
+        /* Check FULL flag for FIFO1 */
+        if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RFFU1) && CAN_GetINTStatus(hcan->Instance, CAN_INT_RFFU1))
+        {
+            /* Clear FIFO1 FULL Flag */
+            CAN_ClearFlag(hcan->Instance, CAN_FLAG_RFFU1);
+        }
+
+        /* Check Overrun flag for FIFO1 */
+        if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RFOV1) && CAN_GetINTStatus(hcan->Instance, CAN_INT_RFOV1))
+        {
+            /* Clear FIFO1 Overrun Flag */
+            CAN_ClearFlag(hcan->Instance, CAN_FLAG_RFOV1);
+            rt_hw_can_isr(can, RT_CAN_EVENT_RXOF_IND | fifo << 8);
+        }
+        break;
+    }
+}
+
+#ifdef BSP_USING_CAN1
+/**
+ * @brief This function handles CAN1 TX interrupts. transmit fifo0/1/2 is empty can trigger this interrupt
+ */
+void USB_HP_CAN1_TX_IRQHandler(void)
+{
+    rt_interrupt_enter();
+    struct CAN_Handler *hcan;
+    hcan = &can_instance1.CanConfig;
+    if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RQCP0))
+    {
+        if ((hcan->Instance->TSTS & CAN_TSTS_TOK0) == CAN_TSTS_TOK0)
+        {
+            rt_hw_can_isr(&can_instance1.device, RT_CAN_EVENT_TX_DONE | 0 << 8);
+        }
+        else
+        {
+            rt_hw_can_isr(&can_instance1.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
+        }
+        /* Write 0 to Clear transmission status flag RQCPx */
+        hcan->Instance->TSTS |= CAN_TSTS_RQC0;
+    }
+    else if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RQCP1))
+    {
+        if ((hcan->Instance->TSTS & CAN_TSTS_TOK1) == CAN_TSTS_TOK1)
+        {
+            rt_hw_can_isr(&can_instance1.device, RT_CAN_EVENT_TX_DONE | 1 << 8);
+        }
+        else
+        {
+            rt_hw_can_isr(&can_instance1.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
+        }
+        /* Write 0 to Clear transmission status flag RQCPx */
+        hcan->Instance->TSTS |= CAN_TSTS_RQC1;
+    }
+    else if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RQCP2))
+    {
+        if ((hcan->Instance->TSTS & CAN_TSTS_TOK2) == CAN_TSTS_TOK2)
+        {
+            rt_hw_can_isr(&can_instance1.device, RT_CAN_EVENT_TX_DONE | 2 << 8);
+        }
+        else
+        {
+            rt_hw_can_isr(&can_instance1.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
+        }
+        /* Write 0 to Clear transmission status flag RQCPx */
+        hcan->Instance->TSTS |= CAN_TSTS_RQC2;
+    }
+    rt_interrupt_leave();
+}
+
+/**
+ * @brief This function handles CAN1 RX0 interrupts.
+ */
+void USB_LP_CAN1_RX0_IRQHandler(void)
+{
+    rt_interrupt_enter();
+    _can_rx_isr(&can_instance1.device, CAN_FIFO0);
+    rt_interrupt_leave();
+}
+
+/**
+ * @brief This function handles CAN1 RX1 interrupts.
+ */
+void CAN1_RX1_IRQHandler(void)
+{
+    rt_interrupt_enter();
+    _can_rx_isr(&can_instance1.device, CAN_FIFO1);
+    rt_interrupt_leave();
+}
+
+/**
+ * @brief This function handles CAN1 SCE interrupts.
+ */
+void CAN1_SCE_IRQHandler(void)
+{
+    rt_uint32_t errtype;
+    struct CAN_Handler *hcan;
+
+    hcan = &can_instance1.CanConfig;
+    errtype = hcan->Instance->ESTS;
+
+    rt_interrupt_enter();
+
+    switch ((errtype & 0x70) >> 4)
+    {
+    case RT_CAN_BUS_BIT_PAD_ERR:
+        can_instance1.device.status.bitpaderrcnt++;
+        break;
+    case RT_CAN_BUS_FORMAT_ERR:
+        can_instance1.device.status.formaterrcnt++;
+        break;
+    case RT_CAN_BUS_ACK_ERR:/* attention !!! test ack err's unit is transmit unit */
+        can_instance1.device.status.ackerrcnt++;
+        if (!(can_instance1.CanConfig.Instance->TSTS & CAN_TSTS_TOK0))
+            rt_hw_can_isr(&can_instance1.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
+        else if (!(can_instance1.CanConfig.Instance->TSTS & CAN_TSTS_TOK0))
+            rt_hw_can_isr(&can_instance1.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
+        else if (!(can_instance1.CanConfig.Instance->TSTS & CAN_TSTS_TOK0))
+            rt_hw_can_isr(&can_instance1.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
+        break;
+    case RT_CAN_BUS_IMPLICIT_BIT_ERR:
+    case RT_CAN_BUS_EXPLICIT_BIT_ERR:
+        can_instance1.device.status.biterrcnt++;
+        break;
+    case RT_CAN_BUS_CRC_ERR:
+        can_instance1.device.status.crcerrcnt++;
+        break;
+    }
+
+    can_instance1.device.status.lasterrtype = errtype & 0x70;
+    can_instance1.device.status.rcverrcnt = errtype >> 24;
+    can_instance1.device.status.snderrcnt = (errtype >> 16 & 0xFF);
+    can_instance1.device.status.errcode = errtype & 0x07;
+    hcan->Instance->MSTS |= CAN_MSTS_ERIT;
+    rt_interrupt_leave();
+}
+#endif /* BSP_USING_CAN1 */
+
+#ifdef BSP_USING_CAN2
+/**
+ * @brief This function handles CAN2 TX interrupts.
+ */
+void CAN2_TX_IRQHandler(void)
+{
+    rt_interrupt_enter();
+    struct CAN_Handler *hcan;
+    hcan = &can_instance2.CanConfig;
+    if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RQCP0))
+    {
+        if ((hcan->Instance->TSTS & CAN_TSTS_TOK0) == CAN_TSTS_TOK0)
+        {
+            rt_hw_can_isr(&can_instance2.device, RT_CAN_EVENT_TX_DONE | 0 << 8);
+        }
+        else
+        {
+            rt_hw_can_isr(&can_instance2.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
+        }
+        /* Write 0 to Clear transmission status flag RQCPx */
+        hcan->Instance->TSTS |= CAN_TSTS_RQC0;
+    }
+    else if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RQCP1))
+    {
+        if ((hcan->Instance->TSTS & CAN_TSTS_TOK1) == CAN_TSTS_TOK1)
+        {
+            rt_hw_can_isr(&can_instance2.device, RT_CAN_EVENT_TX_DONE | 1 << 8);
+        }
+        else
+        {
+            rt_hw_can_isr(&can_instance2.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
+        }
+        /* Write 0 to Clear transmission status flag RQCPx */
+        hcan->Instance->TSTS |= CAN_TSTS_RQC1;
+    }
+    else if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RQCP2))
+    {
+        if ((hcan->Instance->TSTS & CAN_TSTS_TOK2) == CAN_TSTS_TOK2)
+        {
+            rt_hw_can_isr(&can_instance2.device, RT_CAN_EVENT_TX_DONE | 2 << 8);
+        }
+        else
+        {
+            rt_hw_can_isr(&can_instance2.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
+        }
+        /* Write 0 to Clear transmission status flag RQCPx */
+        hcan->Instance->TSTS |= CAN_TSTS_RQC2;
+    }
+    rt_interrupt_leave();
+}
+
+/**
+ * @brief This function handles CAN2 RX0 interrupts.
+ */
+void CAN2_RX0_IRQHandler(void)
+{
+    rt_interrupt_enter();
+    _can_rx_isr(&can_instance2.device, CAN_FIFO0);
+    rt_interrupt_leave();
+}
+
+/**
+ * @brief This function handles CAN2 RX1 interrupts.
+ */
+void CAN2_RX1_IRQHandler(void)
+{
+    rt_interrupt_enter();
+    _can_rx_isr(&can_instance2.device, CAN_FIFO1);
+    rt_interrupt_leave();
+}
+
+/**
+ * @brief This function handles CAN2 SCE interrupts.
+ */
+void CAN2_SCE_IRQHandler(void)
+{
+    rt_uint32_t errtype;
+    struct CAN_Handler *hcan;
+
+    hcan = &can_instance2.CanConfig;
+    errtype = hcan->Instance->ESTS;
+
+    rt_interrupt_enter();
+
+    switch ((errtype & 0x70) >> 4)
+    {
+    case RT_CAN_BUS_BIT_PAD_ERR:
+        can_instance2.device.status.bitpaderrcnt++;
+        break;
+    case RT_CAN_BUS_FORMAT_ERR:
+        can_instance2.device.status.formaterrcnt++;
+        break;
+    case RT_CAN_BUS_ACK_ERR:
+        can_instance2.device.status.ackerrcnt++;
+        if (!(can_instance1.CanConfig.Instance->TSTS & CAN_TSTS_TOK0))
+            rt_hw_can_isr(&can_instance2.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
+        else if (!(can_instance2.CanConfig.Instance->TSTS & CAN_TSTS_TOK0))
+            rt_hw_can_isr(&can_instance2.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
+        else if (!(can_instance2.CanConfig.Instance->TSTS & CAN_TSTS_TOK0))
+            rt_hw_can_isr(&can_instance2.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
+        break;
+    case RT_CAN_BUS_IMPLICIT_BIT_ERR:
+    case RT_CAN_BUS_EXPLICIT_BIT_ERR:
+        can_instance2.device.status.biterrcnt++;
+        break;
+    case RT_CAN_BUS_CRC_ERR:
+        can_instance2.device.status.crcerrcnt++;
+        break;
+    }
+
+    can_instance2.device.status.lasterrtype = errtype & 0x70;
+    can_instance2.device.status.rcverrcnt = errtype >> 24;
+    can_instance2.device.status.snderrcnt = (errtype >> 16 & 0xFF);
+    can_instance2.device.status.errcode = errtype & 0x07;
+    hcan->Instance->MSTS |= CAN_MSTS_ERIT;
+    rt_interrupt_leave();
+}
+#endif /* BSP_USING_CAN2 */
+
+/**
+ * @brief  Error CAN callback.
+ * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
+ *         the configuration information for the specified CAN.
+ * @retval None
+ */
+void HAL_CAN_ErrorCallback(struct CAN_Handler *hcan)
+{
+    CAN_INTConfig(hcan->Instance, CAN_INT_TSME |
+                        CAN_INT_RFP0  |
+                        CAN_INT_RFFU0 |
+                        CAN_INT_RFOV0 |
+                        CAN_INT_RFP1  |
+                        CAN_INT_RFFU1 |
+                        CAN_INT_RFOV1 |
+                        CAN_INT_ERG   |
+                        CAN_INT_ERP   |
+                        CAN_INT_LEC   |
+                        CAN_INT_ERR   |
+                        CAN_INT_WK, ENABLE);
+}
+
+int rt_hw_can_init(void)
+{
+    struct can_configure config = CANDEFAULTCONFIG;
+    config.privmode = RT_CAN_MODE_NOPRIV;
+    config.ticks = 50;
+#ifdef RT_CAN_USING_HDR
+    config.maxhdr = 14;
+#endif
+    /* config default filter */
+    CAN_FilterInitType filterConf = {0};
+    filterConf.CAN_FilterIdHigh = 0x0000;
+    filterConf.CAN_FilterIdLow = 0x0000;
+    filterConf.CAN_FilterMskIdHigh = 0x0000;
+    filterConf.CAN_FilterMskIdLow = 0x0000;
+    filterConf.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
+    filterConf.CAN_FilterNumber = 0;
+    filterConf.CAN_FilterMode = CAN_FilterMode_IdMask;
+    filterConf.CAN_FilterScale = CAN_FilterScale_32bit;
+    filterConf.CAN_FilterActivation = ENABLE;
+
+#ifdef BSP_USING_CAN1
+    filterConf.CAN_FilterNumber = 0;
+
+    can_instance1.CanConfig.FilterConfig = filterConf;
+    can_instance1.device.config = config;
+    /* register CAN1 device */
+    rt_hw_can_register(&can_instance1.device,
+                       can_instance1.name,
+                       &_can_ops,
+                       &can_instance1);
+#endif /* BSP_USING_CAN1 */
+
+#ifdef BSP_USING_CAN2
+    filterConf.CAN_FilterNumber = 0;
+
+    can_instance2.CanConfig.FilterConfig = filterConf;
+    can_instance2.device.config = config;
+    /* register CAN2 device */
+    rt_hw_can_register(&can_instance2.device,
+                       can_instance2.name,
+                       &_can_ops,
+                       &can_instance2);
+#endif /* BSP_USING_CAN2 */
+
+    return 0;
+}
+
+INIT_BOARD_EXPORT(rt_hw_can_init);
+
+#endif /* BSP_USING_CAN */
+
+/************************** end of file ******************/
diff --git a/bsp/at32/Libraries/rt_drivers/drv_can.h b/bsp/at32/Libraries/rt_drivers/drv_can.h
new file mode 100644
index 0000000000..d89bacda26
--- /dev/null
+++ b/bsp/at32/Libraries/rt_drivers/drv_can.h
@@ -0,0 +1,58 @@
+/*
+ * Copyright (c) 2006-2018, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-02-09     shelton      the first version
+ */
+
+#ifndef __DRV_CAN_H__
+#define __DRV_CAN_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <board.h>
+#include <rtdevice.h>
+#include <rtthread.h>
+
+#define CAN_TX_MAILBOX0             (0x00000001U)  /*!< Tx Mailbox 0  */
+#define CAN_TX_MAILBOX1             (0x00000002U)  /*!< Tx Mailbox 1  */
+#define CAN_TX_MAILBOX2             (0x00000004U)  /*!< Tx Mailbox 2  */
+  
+struct at32_baud_rate_tab
+{
+    rt_uint32_t baud_rate;
+    rt_uint32_t sjw;
+    rt_uint32_t bs1;
+    rt_uint32_t bs2;
+    rt_uint32_t psc;
+};
+
+struct CAN_Handler
+{
+    CAN_Type *Instance;
+    CAN_InitType CanInit;
+    CAN_FilterInitType FilterConfig;
+};
+
+/* at32 can device */
+struct at32_can
+{
+    char *name;
+    struct CAN_Handler CanConfig;
+    struct rt_can_device device;     /* inherit from can device */
+};
+
+int rt_hw_can_init(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__DRV_CAN_H__ */
+
+/************************** end of file ******************/
diff --git a/bsp/at32/Libraries/rt_drivers/drv_flash.c b/bsp/at32/Libraries/rt_drivers/drv_flash.c
new file mode 100644
index 0000000000..8104f9b612
--- /dev/null
+++ b/bsp/at32/Libraries/rt_drivers/drv_flash.c
@@ -0,0 +1,210 @@
+/*
+ * Copyright (c) 2006-2018, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-02-09     shelton      the first version
+ */
+
+#include <board.h>
+#include <rtthread.h>
+
+#ifdef BSP_USING_ON_CHIP_FLASH
+#include "drv_flash.h"
+
+#if defined(PKG_USING_FAL)
+#include "fal.h"
+#endif
+
+//#define DRV_DEBUG
+#define LOG_TAG                "drv.flash"
+#include <drv_log.h>
+
+/**
+  * @brief  Gets the page of a given address
+  * @param  addr: address of the flash memory
+  * @retval The page of a given address
+  */
+static rt_uint32_t get_page(uint32_t addr)
+{
+    rt_uint32_t page = 0;
+
+    page = RT_ALIGN_DOWN(addr, FLASH_PAGE_SIZE);
+
+    return page;
+}
+
+/**
+ * Read data from flash.
+ * @note This operation's units is word.
+ *
+ * @param addr flash address
+ * @param buf buffer to store read data
+ * @param size read bytes size
+ *
+ * @return result
+ */
+int at32_flash_read(rt_uint32_t addr, rt_uint8_t *buf, size_t size)
+{
+    size_t i;
+
+    if ((addr + size) > AT32_FLASH_END_ADDRESS)
+    {
+        LOG_E("read outrange flash size! addr is (0x%p)", (void *)(addr + size));
+        return -RT_EINVAL;
+    }
+
+    for (i = 0; i < size; i++, buf++, addr++)
+    {
+        *buf = *(rt_uint8_t *) addr;
+    }
+
+    return size;
+}
+
+/**
+ * Write data to flash.
+ * @note This operation's units is word.
+ * @note This operation must after erase. @see flash_erase.
+ *
+ * @param addr flash address
+ * @param buf the write data buffer
+ * @param size write bytes size
+ *
+ * @return result
+ */
+int at32_flash_write(rt_uint32_t addr, const rt_uint8_t *buf, size_t size)
+{
+    rt_err_t result        = RT_EOK;
+    rt_uint32_t end_addr   = addr + size;
+
+    if (addr % 4 != 0)
+    {
+        LOG_E("write addr must be 4-byte alignment");
+        return -RT_EINVAL;
+    }
+
+    if ((end_addr) > AT32_FLASH_END_ADDRESS)
+    {
+        LOG_E("write outrange flash size! addr is (0x%p)", (void *)(addr + size));
+        return -RT_EINVAL;
+    }
+
+    FLASH_Unlock();
+
+    while (addr < end_addr)
+    {
+        if (FLASH_ProgramWord(addr, *((rt_uint32_t *)buf)) == FLASH_PRC_DONE)
+        {
+            if (*(rt_uint32_t *)addr != *(rt_uint32_t *)buf)
+            {
+                result = -RT_ERROR;
+                break;
+            }
+            addr += 4;
+            buf  += 4;
+        }
+        else
+        {
+            result = -RT_ERROR;
+            break;
+        }
+    }
+
+    FLASH_Lock();
+
+    if (result != RT_EOK)
+    {
+        return result;
+    }
+
+    return size;
+}
+
+/**
+ * Erase data on flash .
+ * @note This operation is irreversible.
+ * @note This operation's units is different which on many chips.
+ *
+ * @param addr flash address
+ * @param size erase bytes size
+ *
+ * @return result
+ */
+int at32_flash_erase(rt_uint32_t addr, size_t size)
+{
+    rt_err_t result = RT_EOK;
+    rt_uint32_t end_addr = addr + size;
+    rt_uint32_t page_addr = 0;
+
+    FLASH_Unlock();
+
+    if ((end_addr) > AT32_FLASH_END_ADDRESS)
+    {
+        LOG_E("erase outrange flash size! addr is (0x%p)", (void *)(addr + size));
+        return -RT_EINVAL;
+    }
+
+    while(addr < end_addr)
+    {
+        page_addr = get_page(addr);
+
+        if(FLASH_ErasePage(page_addr) != FLASH_PRC_DONE)
+        {
+            result = -RT_ERROR;
+            goto __exit;
+        }
+
+        addr += FLASH_PAGE_SIZE;
+    }
+
+		FLASH_Lock();
+		
+__exit:    
+    if(result != RT_EOK)
+    {
+        return result;
+    }
+    
+    return size;
+}
+
+#if defined(PKG_USING_FAL)
+
+static int fal_flash_read(long offset, rt_uint8_t *buf, size_t size);
+static int fal_flash_write(long offset, const rt_uint8_t *buf, size_t size);
+static int fal_flash_erase(long offset, size_t size);
+
+const struct fal_flash_dev at32_onchip_flash = 
+{
+    "onchip_flash",
+    AT32_FLASH_START_ADRESS,
+    AT32_FLASH_SIZE,
+    FLASH_PAGE_SIZE,
+    {
+        NULL,
+        fal_flash_read,
+        fal_flash_write,
+        fal_flash_erase
+    }
+};
+
+static int fal_flash_read(long offset, rt_uint8_t *buf, size_t size)
+{
+    return at32_flash_read(at32_onchip_flash.addr + offset, buf, size);
+}
+
+static int fal_flash_write(long offset, const rt_uint8_t *buf, size_t size)
+{
+    return at32_flash_write(at32_onchip_flash.addr + offset, buf, size);
+}
+
+static int fal_flash_erase(long offset, size_t size)
+{
+    return at32_flash_erase(at32_onchip_flash.addr + offset, size);
+}
+
+#endif
+#endif /* BSP_USING_ON_CHIP_FLASH */
diff --git a/bsp/at32/Libraries/rt_drivers/drv_flash.h b/bsp/at32/Libraries/rt_drivers/drv_flash.h
new file mode 100644
index 0000000000..9392ff4303
--- /dev/null
+++ b/bsp/at32/Libraries/rt_drivers/drv_flash.h
@@ -0,0 +1,30 @@
+/*
+ * Copyright (c) 2006-2018, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-02-09     shelton      the first version
+ */
+
+#ifndef __DRV_FLASH_H__
+#define __DRV_FLASH_H__
+
+#include <rtthread.h>
+#include "rtdevice.h"
+#include <rthw.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int at32_flash_read(rt_uint32_t addr, rt_uint8_t *buf, size_t size);
+int at32_flash_write(rt_uint32_t addr, const rt_uint8_t *buf, size_t size);
+int at32_flash_erase(rt_uint32_t addr, size_t size);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* __DRV_FLASH_H__ */
diff --git a/bsp/at32/at32f403a-start/README.md b/bsp/at32/at32f403a-start/README.md
index 3f470905ea..6460062bda 100644
--- a/bsp/at32/at32f403a-start/README.md
+++ b/bsp/at32/at32f403a-start/README.md
@@ -46,8 +46,10 @@ AT32F403A-START板级包支持MDK4﹑MDK5﹑IAR开发环境和GCC编译器，以
 | PWM       | 支持     | TMR1/2                     |
 | HWTIMER   | 支持     | TMR3/4/5                   |
 | SDIO      | 支持     | SDIO1                      |
+| CAN       | 支持     | CAN1/2                     |
 | WDT       | 支持     |                            |
 | RTC       | 支持     |                            |
+| FLASH     | 支持     |                            |
 
 ### IO在板级支持包中的映射情况
 
@@ -88,6 +90,10 @@ AT32F403A-START板级包支持MDK4﹑MDK5﹑IAR开发环境和GCC编译器，以
 | PC3  | ADC1/2_IN13    |
 | PC4  | ADC1/2_IN14    |
 | PC5  | ADC1/2_IN15    |
+| PA11 | CAN1_RX        |
+| PA12 | CAN1_TX        |
+| PB5  | CAN2_RX        |
+| PB6  | CAN2_TX        |
 
 ## 使用说明
 
diff --git a/bsp/at32/at32f403a-start/board/Kconfig b/bsp/at32/at32f403a-start/board/Kconfig
index ed6811f205..9816ab4729 100644
--- a/bsp/at32/at32f403a-start/board/Kconfig
+++ b/bsp/at32/at32f403a-start/board/Kconfig
@@ -24,6 +24,10 @@ menu "On-chip Peripheral Drivers"
         select RT_USING_PIN
         default y
 
+    config BSP_USING_ON_CHIP_FLASH
+        bool "Enable on-chip FLASH"
+        default n 
+
     menuconfig BSP_USING_RTC
         bool "Enable RTC"
         select RT_USING_RTC
@@ -151,6 +155,19 @@ menu "On-chip Peripheral Drivers"
                 default n
         endif
 
+    menuconfig BSP_USING_CAN
+        bool "Enable CAN"
+        default n
+        select RT_USING_CAN
+        if BSP_USING_CAN
+            config BSP_USING_CAN1
+                bool "using CAN1"
+                default n
+            config BSP_USING_CAN2
+                bool "using CAN2"
+                default n
+        endif
+
     menuconfig BSP_USING_SDIO
         bool "Enable SDIO"
         default n
diff --git a/bsp/at32/at32f403a-start/board/board.h b/bsp/at32/at32f403a-start/board/board.h
index 28bb16bf47..976863d3eb 100644
--- a/bsp/at32/at32f403a-start/board/board.h
+++ b/bsp/at32/at32f403a-start/board/board.h
@@ -6,6 +6,7 @@
  * Change Logs:
  * Date           Author       Notes
  * 2020-01-15     shelton      first version
+ * 2021-02-09     shelton      add flash macros
  */
 
 #ifndef __BOARD_H__
@@ -18,6 +19,12 @@
 extern "C" {
 #endif
 
+/* Just only support for AT32F40xxG */
+#define AT32_FLASH_START_ADRESS     ((uint32_t)0x08000000)
+#define FLASH_PAGE_SIZE             (2 * 1024)
+#define AT32_FLASH_SIZE             (1024 * 1024)
+#define AT32_FLASH_END_ADDRESS      ((uint32_t)(AT32_FLASH_START_ADRESS + AT32_FLASH_SIZE))
+
 /* Internal SRAM memory size[Kbytes] <96>, Default: 96*/
 #define AT32_SRAM_SIZE      96
 #define AT32_SRAM_END       (0x20000000 + AT32_SRAM_SIZE * 1024)
diff --git a/bsp/at32/at32f403a-start/board/msp/at32_msp.c b/bsp/at32/at32f403a-start/board/msp/at32_msp.c
index 5ea74628f3..1392b0e0cf 100644
--- a/bsp/at32/at32f403a-start/board/msp/at32_msp.c
+++ b/bsp/at32/at32f403a-start/board/msp/at32_msp.c
@@ -2,8 +2,8 @@
   ******************************************************************************
   * @file    at32_msp.c
   * @author  Artery Technology
-  * @version V1.0.0
-  * @date    2020-01-10
+  * @version V1.0.1
+  * @date    2021-02-09
   * @brief   Msp source file
   ******************************************************************************
   * @attention
@@ -256,3 +256,44 @@ void at32_msp_hwtmr_init(void *Instance)
 #endif
 }
 #endif
+
+#ifdef BSP_USING_CAN
+void at32_msp_can_init(void *Instance)
+{
+    GPIO_InitType GPIO_InitStruct;
+    CAN_Type *CANx = (CAN_Type *)Instance;
+
+    GPIO_StructInit(&GPIO_InitStruct);
+    GPIO_InitStruct.GPIO_MaxSpeed = GPIO_MaxSpeed_50MHz;
+#ifdef BSP_USING_CAN1
+    if(CAN1 == CANx)
+    {
+        RCC_APB1PeriphClockCmd(RCC_APB1PERIPH_CAN1, ENABLE);
+        RCC_APB2PeriphClockCmd(RCC_APB2PERIPH_GPIOA, ENABLE);
+        GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP;
+        GPIO_InitStruct.GPIO_Pins = GPIO_Pins_12;
+        GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+        GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+        GPIO_InitStruct.GPIO_Pins = GPIO_Pins_11;
+        GPIO_Init(GPIOA, &GPIO_InitStruct);
+    }
+#endif
+#ifdef BSP_USING_CAN2
+    if(CAN2 == CANx)
+    {
+        RCC_APB1PeriphClockCmd(RCC_APB1PERIPH_CAN2, ENABLE);
+        RCC_APB2PeriphClockCmd(RCC_APB2PERIPH_AFIO, ENABLE);
+        RCC_APB2PeriphClockCmd(RCC_APB2PERIPH_GPIOB, ENABLE);
+        GPIO_PinsRemapConfig(AFIO_MAP6_CAN2_0001, ENABLE);
+        GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP;
+        GPIO_InitStruct.GPIO_Pins = GPIO_Pins_6;
+        GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+        GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+        GPIO_InitStruct.GPIO_Pins = GPIO_Pins_5;
+        GPIO_Init(GPIOB, &GPIO_InitStruct);
+    }
+#endif
+}
+#endif /* BSP_USING_CAN */
diff --git a/bsp/at32/at32f403a-start/board/msp/at32_msp.h b/bsp/at32/at32f403a-start/board/msp/at32_msp.h
index c59bab2b2c..7b31c3bbff 100644
--- a/bsp/at32/at32f403a-start/board/msp/at32_msp.h
+++ b/bsp/at32/at32f403a-start/board/msp/at32_msp.h
@@ -2,8 +2,8 @@
   ******************************************************************************
   * @file    at32_msp.h
   * @author  Artery Technology
-  * @version V1.0.0
-  * @date    2020-01-10
+  * @version V1.0.1
+  * @date    2021-02-09
   * @brief   Msp header file
   ******************************************************************************
   * @attention
@@ -29,5 +29,6 @@ void at32_msp_i2c_init(void *Instance);
 void at32_msp_sdio_init(void *Instance);
 void at32_msp_adc_init(void *Instance);
 void at32_msp_hwtmr_init(void *Instance);
+void at32_msp_can_init(void *Instance);
 
 #endif /* __AT32_MSP_H__ */
diff --git a/bsp/at32/at32f407-start/README.md b/bsp/at32/at32f407-start/README.md
index b02b72c3ee..9c9ca665bf 100644
--- a/bsp/at32/at32f407-start/README.md
+++ b/bsp/at32/at32f407-start/README.md
@@ -46,8 +46,10 @@ AT32F407-START板级包支持MDK4﹑MDK5﹑IAR开发环境和GCC编译器，以�
 | PWM       | 支持     | TMR1/2                     |
 | HWTIMER   | 支持     | TMR3/4/5                   |
 | SDIO      | 支持     | SDIO1                      |
+| CAN       | 支持     | CAN1/2                     |
 | WDT       | 支持     |                            |
 | RTC       | 支持     |                            |
+| FLASH     | 支持     |                            |
 | ETH       | 支持     |                            |
 
 ### IO在板级支持包中的映射情况
@@ -89,6 +91,10 @@ AT32F407-START板级包支持MDK4﹑MDK5﹑IAR开发环境和GCC编译器，以�
 | PC3  | ADC1/2_IN13    |
 | PC4  | ADC1/2_IN14    |
 | PC5  | ADC1/2_IN15    |
+| PA11 | CAN1_RX        |
+| PA12 | CAN1_TX        |
+| PB5  | CAN2_RX        |
+| PB6  | CAN2_TX        |
 | PB11 | ETH_RMII_TX_EN |
 | PB12 | ETH_RMII_TX0   |
 | PB13 | ETH_RMII_TX1   |
diff --git a/bsp/at32/at32f407-start/board/Kconfig b/bsp/at32/at32f407-start/board/Kconfig
index 28ba92b67b..5a3b46274c 100644
--- a/bsp/at32/at32f407-start/board/Kconfig
+++ b/bsp/at32/at32f407-start/board/Kconfig
@@ -24,6 +24,10 @@ menu "On-chip Peripheral Drivers"
         select RT_USING_PIN
         default y
 
+    config BSP_USING_ON_CHIP_FLASH
+        bool "Enable on-chip FLASH"
+        default n 
+
     config BSP_USING_ETH
         bool "Enable Ethernet"
         default n
@@ -157,6 +161,19 @@ menu "On-chip Peripheral Drivers"
                 default n
         endif
 
+    menuconfig BSP_USING_CAN
+        bool "Enable CAN"
+        default n
+        select RT_USING_CAN
+        if BSP_USING_CAN
+            config BSP_USING_CAN1
+                bool "using CAN1"
+                default n
+            config BSP_USING_CAN2
+                bool "using CAN2"
+                default n
+        endif
+
     menuconfig BSP_USING_SDIO
         bool "Enable SDIO"
         default n
diff --git a/bsp/at32/at32f407-start/board/board.h b/bsp/at32/at32f407-start/board/board.h
index 28bb16bf47..976863d3eb 100644
--- a/bsp/at32/at32f407-start/board/board.h
+++ b/bsp/at32/at32f407-start/board/board.h
@@ -6,6 +6,7 @@
  * Change Logs:
  * Date           Author       Notes
  * 2020-01-15     shelton      first version
+ * 2021-02-09     shelton      add flash macros
  */
 
 #ifndef __BOARD_H__
@@ -18,6 +19,12 @@
 extern "C" {
 #endif
 
+/* Just only support for AT32F40xxG */
+#define AT32_FLASH_START_ADRESS     ((uint32_t)0x08000000)
+#define FLASH_PAGE_SIZE             (2 * 1024)
+#define AT32_FLASH_SIZE             (1024 * 1024)
+#define AT32_FLASH_END_ADDRESS      ((uint32_t)(AT32_FLASH_START_ADRESS + AT32_FLASH_SIZE))
+
 /* Internal SRAM memory size[Kbytes] <96>, Default: 96*/
 #define AT32_SRAM_SIZE      96
 #define AT32_SRAM_END       (0x20000000 + AT32_SRAM_SIZE * 1024)
diff --git a/bsp/at32/at32f407-start/board/msp/at32_msp.c b/bsp/at32/at32f407-start/board/msp/at32_msp.c
index 5ea74628f3..1392b0e0cf 100644
--- a/bsp/at32/at32f407-start/board/msp/at32_msp.c
+++ b/bsp/at32/at32f407-start/board/msp/at32_msp.c
@@ -2,8 +2,8 @@
   ******************************************************************************
   * @file    at32_msp.c
   * @author  Artery Technology
-  * @version V1.0.0
-  * @date    2020-01-10
+  * @version V1.0.1
+  * @date    2021-02-09
   * @brief   Msp source file
   ******************************************************************************
   * @attention
@@ -256,3 +256,44 @@ void at32_msp_hwtmr_init(void *Instance)
 #endif
 }
 #endif
+
+#ifdef BSP_USING_CAN
+void at32_msp_can_init(void *Instance)
+{
+    GPIO_InitType GPIO_InitStruct;
+    CAN_Type *CANx = (CAN_Type *)Instance;
+
+    GPIO_StructInit(&GPIO_InitStruct);
+    GPIO_InitStruct.GPIO_MaxSpeed = GPIO_MaxSpeed_50MHz;
+#ifdef BSP_USING_CAN1
+    if(CAN1 == CANx)
+    {
+        RCC_APB1PeriphClockCmd(RCC_APB1PERIPH_CAN1, ENABLE);
+        RCC_APB2PeriphClockCmd(RCC_APB2PERIPH_GPIOA, ENABLE);
+        GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP;
+        GPIO_InitStruct.GPIO_Pins = GPIO_Pins_12;
+        GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+        GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+        GPIO_InitStruct.GPIO_Pins = GPIO_Pins_11;
+        GPIO_Init(GPIOA, &GPIO_InitStruct);
+    }
+#endif
+#ifdef BSP_USING_CAN2
+    if(CAN2 == CANx)
+    {
+        RCC_APB1PeriphClockCmd(RCC_APB1PERIPH_CAN2, ENABLE);
+        RCC_APB2PeriphClockCmd(RCC_APB2PERIPH_AFIO, ENABLE);
+        RCC_APB2PeriphClockCmd(RCC_APB2PERIPH_GPIOB, ENABLE);
+        GPIO_PinsRemapConfig(AFIO_MAP6_CAN2_0001, ENABLE);
+        GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP;
+        GPIO_InitStruct.GPIO_Pins = GPIO_Pins_6;
+        GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+        GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+        GPIO_InitStruct.GPIO_Pins = GPIO_Pins_5;
+        GPIO_Init(GPIOB, &GPIO_InitStruct);
+    }
+#endif
+}
+#endif /* BSP_USING_CAN */
diff --git a/bsp/at32/at32f407-start/board/msp/at32_msp.h b/bsp/at32/at32f407-start/board/msp/at32_msp.h
index c59bab2b2c..7b31c3bbff 100644
--- a/bsp/at32/at32f407-start/board/msp/at32_msp.h
+++ b/bsp/at32/at32f407-start/board/msp/at32_msp.h
@@ -2,8 +2,8 @@
   ******************************************************************************
   * @file    at32_msp.h
   * @author  Artery Technology
-  * @version V1.0.0
-  * @date    2020-01-10
+  * @version V1.0.1
+  * @date    2021-02-09
   * @brief   Msp header file
   ******************************************************************************
   * @attention
@@ -29,5 +29,6 @@ void at32_msp_i2c_init(void *Instance);
 void at32_msp_sdio_init(void *Instance);
 void at32_msp_adc_init(void *Instance);
 void at32_msp_hwtmr_init(void *Instance);
+void at32_msp_can_init(void *Instance);
 
 #endif /* __AT32_MSP_H__ */