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authorAubr.Cool <[email protected]>2015-05-14 15:44:06 +0800
committerAubr.Cool <[email protected]>2015-05-14 16:52:48 +0800
commiteb56b832ef2528c9b9dd48c8df98c5311ac42daa (patch)
tree8bf0bd8defc1522beafb8212df4ce0d7fc21d457
parent2f5c5b676ddd1db13d2b850e39b6fbfb000f907e (diff)
Add Can Drv
Diffstat
-rw-r--r--bsp/stm32f10x/applications/canapp.c141
-rw-r--r--bsp/stm32f10x/drivers/bxcan.c1411
-rw-r--r--bsp/stm32f10x/drivers/bxcan.h16
-rw-r--r--components/drivers/can/can.c906
-rw-r--r--components/drivers/include/drivers/can.h292
-rw-r--r--components/drivers/include/rtdevice.h4
6 files changed, 2770 insertions, 0 deletions
diff --git a/bsp/stm32f10x/applications/canapp.c b/bsp/stm32f10x/applications/canapp.c
new file mode 100644
index 0000000000..7a77df4265
--- /dev/null
+++ b/bsp/stm32f10x/applications/canapp.c
@@ -0,0 +1,141 @@
+/*
+ * File : canapp.c
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2006, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date Author Notes
+ */
+#include <board.h>
+#include <rtthread.h>
+#include <rtdevice.h>
+struct can_app_struct
+{
+ const char* name;
+ struct rt_event event;
+ struct rt_can_filter_config * filter;
+ rt_uint8_t eventopt;
+};
+static struct can_app_struct can_data[2];
+static rt_err_t can1ind(rt_device_t dev, void* args, rt_int32_t hdr, rt_size_t size)
+{
+ rt_event_t pevent = (rt_event_t)args;
+ rt_event_send(pevent, 1 << (hdr));
+ return RT_EOK;
+}
+static rt_err_t can2ind(rt_device_t dev, void* args, rt_int32_t hdr, rt_size_t size)
+{
+ rt_event_t pevent = (rt_event_t)args;
+ rt_event_send(pevent, 1 << (hdr));
+ return RT_EOK;
+}
+struct rt_can_filter_item filter1item[4] =
+{
+ RT_CAN_FILTER_STD_INIT(1,can1ind,&can_data[0].event),
+ RT_CAN_FILTER_STD_INIT(2,can1ind,&can_data[0].event),
+ RT_CAN_STD_RMT_FILTER_INIT(3,can1ind,&can_data[0].event),
+ RT_CAN_STD_RMT_DATA_FILTER_INIT(4,can1ind,&can_data[0].event),
+};
+struct rt_can_filter_item filter2item[4] =
+{
+ RT_CAN_FILTER_STD_INIT(1,can2ind,&can_data[1].event),
+ RT_CAN_FILTER_STD_INIT(2,can2ind,&can_data[1].event),
+ RT_CAN_STD_RMT_FILTER_INIT(3,can2ind,&can_data[1].event),
+ RT_CAN_STD_RMT_DATA_FILTER_INIT(4,can2ind,&can_data[1].event),
+};
+struct rt_can_filter_config filter1 =
+{
+ .count = 4,
+ .actived = 1,
+ .items = filter1item,
+};
+struct rt_can_filter_config filter2 =
+{
+ .count = 4,
+ .actived = 1,
+ .items = filter2item,
+};
+static struct can_app_struct can_data[2] = {
+ {
+ .name = "bxcan1",
+ .filter = &filter1,
+ .eventopt = RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
+ },
+ {
+ .name = "bxcan2",
+ .filter = &filter2,
+ .eventopt = RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR,
+ },
+};
+void rt_can_thread_entry(void* parameter)
+{
+ struct rt_can_msg msg;
+ struct can_app_struct* canpara = (struct can_app_struct*) parameter;
+ rt_device_t candev;
+ rt_uint32_t e;
+
+ candev = rt_device_find(canpara->name);
+ RT_ASSERT(candev);
+ rt_event_init(&canpara->event, canpara->name, RT_IPC_FLAG_FIFO);
+ rt_device_open(candev, (RT_DEVICE_OFLAG_RDWR | RT_DEVICE_FLAG_INT_RX | RT_DEVICE_FLAG_INT_TX));
+ rt_device_control(candev,RT_CAN_CMD_SET_FILTER,canpara->filter);
+ while(1) {
+ if (
+ rt_event_recv(&canpara->event,
+ ((1 << canpara->filter->items[0].hdr) |
+ (1 << canpara->filter->items[1].hdr) |
+ (1 << canpara->filter->items[2].hdr) |
+ (1 << canpara->filter->items[3].hdr)),
+ canpara->eventopt,
+ RT_WAITING_FOREVER, &e) != RT_EOK
+ ) {
+ continue;
+ }
+ if(e & (1 << canpara->filter->items[0].hdr)) {
+ msg.hdr = canpara->filter->items[0].hdr;
+ while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) {
+ rt_device_write(candev, 0, &msg, sizeof(msg));
+ }
+ }
+ if(e & (1 << canpara->filter->items[1].hdr)) {
+ msg.hdr = canpara->filter->items[1].hdr;
+ while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) {
+ rt_device_write(candev, 0, &msg, sizeof(msg));
+ }
+ }
+ if(e & (1 << canpara->filter->items[2].hdr)) {
+ msg.hdr = canpara->filter->items[2].hdr;
+ while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) {
+ rt_device_write(candev, 0, &msg, sizeof(msg));
+ }
+ }
+ if(e & (1 << canpara->filter->items[3].hdr)) {
+ msg.hdr = canpara->filter->items[3].hdr;
+ while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) {
+ rt_device_write(candev, 0, &msg, sizeof(msg));
+ }
+ }
+ }
+}
+int rt_can_app_init(void)
+{
+ rt_thread_t tid;
+
+ tid = rt_thread_create("canapp1",
+ rt_can_thread_entry, &can_data[0],
+ 512, RT_THREAD_PRIORITY_MAX /3 - 1, 20);
+ if (tid != RT_NULL) rt_thread_startup(tid);
+
+ tid = rt_thread_create("canapp2",
+ rt_can_thread_entry, &can_data[1],
+ 512, RT_THREAD_PRIORITY_MAX /3 - 1, 20);
+ if (tid != RT_NULL) rt_thread_startup(tid);
+
+ return 0;
+}
+
+INIT_APP_EXPORT(rt_can_app_init);
diff --git a/bsp/stm32f10x/drivers/bxcan.c b/bsp/stm32f10x/drivers/bxcan.c
new file mode 100644
index 0000000000..0454991708
--- /dev/null
+++ b/bsp/stm32f10x/drivers/bxcan.c
@@ -0,0 +1,1411 @@
+/*
+ * File : bxcan.c
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2015, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date Author Notes
+ */
+#include <rthw.h>
+#include <rtdevice.h>
+#include <board.h>
+#include <bxcan.h>
+#ifdef RT_USING_COMPONENTS_INIT
+#include <init/components.h>
+#endif
+#ifdef RT_USING_CAN
+
+#ifndef STM32F10X_CL
+#define BX_CAN_FMRNUMBER 14
+#define BX_CAN2_FMRSTART 7
+#else
+#define BX_CAN_FMRNUMBER 28
+#define BX_CAN2_FMRSTART 14
+#endif
+
+#define BX_CAN_MAX_FILTERS (BX_CAN_FMRNUMBER * 4)
+#define BX_CAN_MAX_FILTER_MASKS BX_CAN_MAX_FILTERS
+#define BX_CAN_FILTER_MAX_ARRAY_SIZE ((BX_CAN_MAX_FILTERS + 32 - 1) / 32)
+
+struct stm_bxcanfiltermap {
+ rt_uint32_t id32mask_cnt;
+ rt_uint32_t id32bit_cnt;
+ rt_uint32_t id16mask_cnt;
+ rt_uint32_t id16bit_cnt;
+};
+struct stm_bxcanfilter_masks {
+ rt_uint32_t id32maskm[BX_CAN_FILTER_MAX_ARRAY_SIZE];
+ rt_uint32_t id32bitm[BX_CAN_FILTER_MAX_ARRAY_SIZE];
+ rt_uint32_t id16maskm[BX_CAN_FILTER_MAX_ARRAY_SIZE];
+ rt_uint32_t id16bitm[BX_CAN_FILTER_MAX_ARRAY_SIZE];
+ rt_uint32_t id32maskshift[2];
+ rt_uint32_t id32bitshift[2];
+ rt_uint32_t id16maskshift[2];
+ rt_uint32_t id16bitshift[2];
+};
+struct stm_bxcan
+{
+ CAN_TypeDef* reg;
+ void* mfrbase;
+ IRQn_Type sndirq;
+ IRQn_Type rcvirq0;
+ IRQn_Type rcvirq1;
+ IRQn_Type errirq;
+ struct stm_bxcanfilter_masks filtermask;
+ rt_uint32_t alocmask[BX_CAN_FILTER_MAX_ARRAY_SIZE];
+ const rt_uint32_t filtercnt;
+ const rt_uint32_t fifo1filteroff;
+ const struct stm_bxcanfiltermap filtermap[2];
+};
+static void calcfiltermasks(struct stm_bxcan *pbxcan);
+static void bxcan1_filter_init(struct rt_can_device *can)
+{
+ rt_uint32_t i;
+ rt_uint32_t mask;
+ struct stm_bxcan *pbxcan = (struct stm_bxcan *) can->parent.user_data;
+ for(i = 0; i < BX_CAN2_FMRSTART; i++) {
+ CAN1->FMR |= FMR_FINIT;
+ mask = 0x01 << (i + 0);
+ if(i < pbxcan->fifo1filteroff) {
+ if(pbxcan->filtermap[0].id32mask_cnt && i < pbxcan->filtermap[0].id32mask_cnt) {
+ CAN1->FS1R |= mask;
+ CAN1->FM1R &= ~mask;
+ CAN1->FFA1R &= ~mask;
+ } else if(pbxcan->filtermap[0].id32bit_cnt &&
+ i < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt /2) {
+ CAN1->FS1R |= mask;
+ CAN1->FM1R |= mask;
+ CAN1->FFA1R &= ~mask;
+ } else if(pbxcan->filtermap[0].id16mask_cnt &&
+ i < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt /2
+ + pbxcan->filtermap[0].id16mask_cnt /2) {
+ CAN1->FS1R &= ~mask;
+ CAN1->FM1R &= ~mask;
+ CAN1->FFA1R &= ~mask;
+ } else if(pbxcan->filtermap[0].id16bit_cnt &&
+ i < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt /2
+ + pbxcan->filtermap[0].id16mask_cnt /2 + pbxcan->filtermap[0].id16bit_cnt / 4
+ ) {
+ CAN1->FS1R &= ~mask;
+ CAN1->FM1R |= mask;
+ CAN1->FFA1R &= ~mask;
+ }
+ } else {
+ if(pbxcan->filtermap[1].id32mask_cnt &&
+ i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->fifo1filteroff) {
+ CAN1->FS1R |= mask;
+ CAN1->FM1R &= ~mask;
+ CAN1->FFA1R |= mask;
+ } else if(pbxcan->filtermap[1].id32bit_cnt &&
+ i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt /2
+ + pbxcan->fifo1filteroff) {
+ CAN1->FS1R |= mask;
+ CAN1->FM1R |= mask;
+ CAN1->FFA1R |= mask;
+ } else if(pbxcan->filtermap[1].id16mask_cnt &&
+ i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt /2
+ + pbxcan->filtermap[1].id16mask_cnt / 2 + pbxcan->fifo1filteroff) {
+ CAN1->FS1R &= ~mask;
+ CAN1->FM1R &= ~mask;
+ CAN1->FFA1R |= mask;
+ } else if(pbxcan->filtermap[1].id16bit_cnt &&
+ i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt /2
+ + pbxcan->filtermap[1].id16mask_cnt /2 + pbxcan->filtermap[1].id16bit_cnt / 4
+ + pbxcan->fifo1filteroff) {
+ CAN1->FS1R &= ~mask;
+ CAN1->FM1R |= mask;
+ CAN1->FFA1R |= mask;
+ }
+ }
+ CAN1->sFilterRegister[i].FR1 = 0xFFFFFFFF;
+ CAN1->sFilterRegister[i].FR2 = 0xFFFFFFFF;
+ CAN1->FMR &= ~FMR_FINIT;
+ }
+ calcfiltermasks(pbxcan);
+}
+static void bxcan2_filter_init(struct rt_can_device *can)
+{
+ rt_uint32_t i;
+ rt_uint32_t off;
+ rt_uint32_t mask;
+ CAN_SlaveStartBank(BX_CAN2_FMRSTART);
+ struct stm_bxcan *pbxcan = (struct stm_bxcan *) can->parent.user_data;
+ for(i = BX_CAN2_FMRSTART; i < BX_CAN_FMRNUMBER; i++) {
+ CAN1->FMR |= FMR_FINIT;
+ mask = 0x01 << (i + 0);
+ off = i - BX_CAN2_FMRSTART;
+ if(i < pbxcan->fifo1filteroff) {
+ if(pbxcan->filtermap[0].id32mask_cnt && off < pbxcan->filtermap[0].id32mask_cnt) {
+ CAN1->FS1R |= mask;
+ CAN1->FM1R &= ~mask;
+ CAN1->FFA1R &= ~mask;
+ } else if(pbxcan->filtermap[0].id32bit_cnt &&
+ off < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt /2) {
+ CAN1->FS1R |= mask;
+ CAN1->FM1R |= mask;
+ CAN1->FFA1R &= ~mask;
+ } else if(pbxcan->filtermap[0].id16mask_cnt &&
+ off < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt /2
+ + pbxcan->filtermap[0].id16mask_cnt /2) {
+ CAN1->FS1R &= ~mask;
+ CAN1->FM1R &= ~mask;
+ CAN1->FFA1R &= ~mask;
+ } else if(pbxcan->filtermap[0].id16bit_cnt &&
+ off < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt /2
+ + pbxcan->filtermap[0].id16mask_cnt /2 + pbxcan->filtermap[0].id16bit_cnt / 4
+ ) {
+ CAN1->FS1R &= ~mask;
+ CAN1->FM1R |= mask;
+ CAN1->FFA1R &= ~mask;
+ }
+ } else {
+ if(pbxcan->filtermap[1].id32mask_cnt &&
+ off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->fifo1filteroff) {
+ CAN1->FS1R |= mask;
+ CAN1->FM1R &= ~mask;
+ CAN1->FFA1R |= mask;
+ } else if(pbxcan->filtermap[1].id32bit_cnt &&
+ off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt /2
+ + pbxcan->fifo1filteroff) {
+ CAN1->FS1R |= mask;
+ CAN1->FM1R |= mask;
+ CAN1->FFA1R |= mask;
+ } else if(pbxcan->filtermap[1].id16mask_cnt &&
+ off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt /2
+ + pbxcan->filtermap[1].id16mask_cnt / 2 + pbxcan->fifo1filteroff) {
+ CAN1->FS1R &= ~mask;
+ CAN1->FM1R &= ~mask;
+ CAN1->FFA1R |= mask;
+ } else if(pbxcan->filtermap[1].id16bit_cnt &&
+ off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt /2
+ + pbxcan->filtermap[1].id16mask_cnt /2 + pbxcan->filtermap[1].id16bit_cnt / 4
+ + pbxcan->fifo1filteroff) {
+ CAN1->FS1R &= ~mask;
+ CAN1->FM1R |= mask;
+ CAN1->FFA1R |= mask;
+ }
+ }
+ CAN1->sFilterRegister[i].FR1 = 0xFFFFFFFF;
+ CAN1->sFilterRegister[i].FR2 = 0xFFFFFFFF;
+ CAN1->FMR &= ~FMR_FINIT;
+ }
+ calcfiltermasks(pbxcan);
+}
+#define BS1SHIFT 16
+#define BS2SHIFT 20
+#define RRESCLSHIFT 0
+#define SJWSHIFT 24
+#define BS1MASK ( (0x0F) << BS1SHIFT )
+#define BS2MASK ( (0x07) << BS2SHIFT )
+#define RRESCLMASK ( 0x3FF << RRESCLSHIFT )
+#define SJWMASK ( 0x3 << SJWSHIFT )
+
+#define MK_BKCAN_BAUD(SJW,BS1,BS2,PRES) \
+ ((SJW << SJWSHIFT) | (BS1 << BS1SHIFT) | (BS2 << BS2SHIFT) | (PRES << RRESCLSHIFT))
+
+static const rt_uint32_t bxcan_baud_rate_tab[] =
+{
+ // 48 M
+ MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_12tq,CAN_BS2_3tq,3),
+ MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_6tq,CAN_BS2_3tq,6),
+ MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_12tq,CAN_BS2_3tq,5),
+ MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_12tq,CAN_BS2_3tq,11),
+ MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_12tq,CAN_BS2_3tq,23),
+ MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_12tq,CAN_BS2_3tq,29),
+ MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_12tq,CAN_BS2_3tq,59),
+ MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_14tq,CAN_BS2_3tq,149),
+ MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_16tq,CAN_BS2_8tq,199),
+};
+
+#define BAUD_DATA(TYPE,NO) \
+ ((bxcan_baud_rate_tab[NO] & TYPE##MASK) >> TYPE##SHIFT)
+
+static void bxcan_init(CAN_TypeDef* pcan, rt_uint32_t baud, rt_uint32_t mode)
+{
+ CAN_InitTypeDef CAN_InitStructure;
+
+ CAN_InitStructure.CAN_TTCM = DISABLE;
+ CAN_InitStructure.CAN_ABOM = ENABLE;
+ CAN_InitStructure.CAN_AWUM = DISABLE;
+ CAN_InitStructure.CAN_NART = DISABLE;
+ CAN_InitStructure.CAN_RFLM = DISABLE;
+ CAN_InitStructure.CAN_TXFP = ENABLE;
+ switch(mode)
+ {
+ case RT_CAN_MODE_NORMAL:
+ CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
+ break;
+ case RT_CAN_MODE_LISEN:
+ CAN_InitStructure.CAN_Mode = CAN_Mode_Silent;
+ break;
+ case RT_CAN_MODE_LOOPBACK:
+ CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack;
+ break;
+ case RT_CAN_MODE_LOOPBACKANLISEN:
+ CAN_InitStructure.CAN_Mode = CAN_Mode_Silent_LoopBack;
+ break;
+ }
+ CAN_InitStructure.CAN_SJW = BAUD_DATA(SJW,baud);
+ CAN_InitStructure.CAN_BS1 = BAUD_DATA(BS1,baud);
+ CAN_InitStructure.CAN_BS2 = BAUD_DATA(BS2,baud);
+ CAN_InitStructure.CAN_Prescaler =BAUD_DATA(RRESCL,baud);
+
+ CAN_Init(pcan, &CAN_InitStructure);
+}
+static void bxcan1_hw_init(void)
+{
+ GPIO_InitTypeDef GPIO_InitStructure;
+ NVIC_InitTypeDef NVIC_InitStructure;
+
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA, ENABLE);
+
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+ GPIO_Init(GPIOA, &GPIO_InitStructure);
+
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOA, &GPIO_InitStructure);
+
+ RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1 , ENABLE);
+
+ CAN_DeInit(CAN1);
+ NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
+ NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
+ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1;
+ NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
+ NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
+ NVIC_Init(&NVIC_InitStructure);
+ NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX1_IRQn;
+ NVIC_Init(&NVIC_InitStructure);
+ NVIC_InitStructure.NVIC_IRQChannel = CAN1_TX_IRQn;
+ NVIC_Init(&NVIC_InitStructure);
+}
+static void bxcan2_hw_init(void)
+{
+ GPIO_InitTypeDef GPIO_InitStructure;
+ NVIC_InitTypeDef NVIC_InitStructure;
+
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB, ENABLE);
+
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
+ GPIO_Init(GPIOB, &GPIO_InitStructure);
+
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOB, &GPIO_InitStructure);
+
+ RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);
+
+ CAN_DeInit(CAN2);
+
+ NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
+ NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn;
+ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1;
+ NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
+ NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
+ NVIC_Init(&NVIC_InitStructure);
+ NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX1_IRQn;
+ NVIC_Init(&NVIC_InitStructure);
+ NVIC_InitStructure.NVIC_IRQChannel = CAN2_TX_IRQn;
+ NVIC_Init(&NVIC_InitStructure);
+}
+static inline rt_err_t bxcan_enter_init(CAN_TypeDef* pcan)
+{
+ uint32_t wait_ack = 0x00000000;
+
+ pcan->MCR |= CAN_MCR_INRQ ;
+
+ while (((pcan->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT))
+ {
+ wait_ack++;
+ }
+ if ((pcan->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
+ {
+ return RT_ERROR;
+ }
+ return RT_EOK;
+}
+static inline rt_err_t bxcan_exit_init(CAN_TypeDef* pcan)
+{
+ uint32_t wait_ack = 0x00000000;
+
+ pcan->MCR &= ~(uint32_t)CAN_MCR_INRQ;
+
+ while (((pcan->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT))
+ {
+ wait_ack++;
+ }
+ if ((pcan->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
+ {
+ return RT_ERROR;
+ }
+ return RT_EOK;
+}
+static rt_err_t bxcan_set_mode(CAN_TypeDef* pcan, rt_uint32_t mode)
+{
+ if(bxcan_enter_init(pcan) != RT_EOK)
+ {
+ return RT_ERROR;
+ }
+ pcan->BTR &= ~(uint32_t)((uint32_t)0x03 << 30);
+ switch(mode)
+ {
+ case RT_CAN_MODE_NORMAL:
+ mode = CAN_Mode_Normal;
+ break;
+ case RT_CAN_MODE_LISEN:
+ mode = CAN_Mode_Silent;
+ break;
+ case RT_CAN_MODE_LOOPBACK:
+ mode = CAN_Mode_LoopBack;
+ break;
+ case RT_CAN_MODE_LOOPBACKANLISEN:
+ mode = CAN_Mode_Silent_LoopBack;
+ break;
+ }
+ pcan->BTR |= ~(uint32_t)(mode << 30);
+ if(bxcan_exit_init(pcan) != RT_EOK)
+ {
+ return RT_ERROR;
+ }
+ return RT_EOK;
+}
+static rt_err_t bxcan_set_privmode(CAN_TypeDef* pcan, rt_uint32_t mode)
+{
+ if(bxcan_enter_init(pcan) != RT_EOK)
+ {
+ return RT_ERROR;
+ }
+ if (mode == ENABLE)
+ {
+ pcan->MCR |= CAN_MCR_TXFP;
+ }
+ else
+ {
+ pcan->MCR &= ~(uint32_t)CAN_MCR_TXFP;
+ }
+ if(bxcan_exit_init(pcan) != RT_EOK)
+ {
+ return RT_ERROR;
+ }
+ return RT_EOK;
+}
+static rt_err_t bxcan_set_baud_rate(CAN_TypeDef* pcan, rt_uint32_t baud)
+{
+ rt_uint32_t mode;
+ if(bxcan_enter_init(pcan) != RT_EOK)
+ {
+ return RT_ERROR;
+ }
+ pcan->BTR = 0;
+ mode = pcan->BTR & ((rt_uint32_t)0x03 << 30);
+ pcan->BTR = (mode | \
+ ((BAUD_DATA(SJW,baud)) << 24) | \
+ ((BAUD_DATA(BS1,baud)) << 16) | \
+ ((BAUD_DATA(BS2,baud)) << 20) | \
+ (BAUD_DATA(RRESCL,baud)));
+ if(bxcan_exit_init(pcan) != RT_EOK)
+ {
+ return RT_ERROR;
+ }
+ return RT_EOK;
+}
+static rt_err_t bxcancalcbaseoff(struct stm_bxcan *pbxcan, rt_int32_t hdr,
+ rt_int32_t * pbase, rt_int32_t * poff)
+{
+ rt_uint32_t fifo0start,fifo0end;
+ rt_uint32_t fifo1start,fifo1end;
+ rt_uint32_t ptr;
+ fifo0start = 0;
+ fifo0end = pbxcan->filtermap[0].id32mask_cnt
+ + pbxcan->filtermap[0].id32bit_cnt
+ + pbxcan->filtermap[0].id16mask_cnt
+ + pbxcan->filtermap[0].id16bit_cnt ;
+ fifo1start = pbxcan->fifo1filteroff * 4;
+ fifo1end = pbxcan->filtermap[1].id32mask_cnt
+ + pbxcan->filtermap[1].id32bit_cnt
+ + pbxcan->filtermap[1].id16mask_cnt
+ + pbxcan->filtermap[1].id16bit_cnt ;
+ if(hdr >= fifo0start && hdr < fifo0end) {
+ *pbase = 0;
+ ptr = 0;
+ } else if(hdr >= fifo1start && hdr < fifo1end) {
+ *pbase = pbxcan->fifo1filteroff;
+ ptr = 1;
+ } else {
+ return RT_ERROR;
+ }
+ ptr = 0;
+ if(hdr > pbxcan->filtermap[ptr].id32mask_cnt) {
+ hdr -= pbxcan->filtermap[ptr].id32mask_cnt;
+ *pbase += pbxcan->filtermap[ptr].id32mask_cnt;
+ } else {
+ *pbase += hdr;
+ *poff = 0;
+ return RT_EOK;
+ }
+ if(hdr > pbxcan->filtermap[ptr].id32bit_cnt) {
+ hdr -= pbxcan->filtermap[ptr].id32bit_cnt;
+ *pbase += pbxcan->filtermap[ptr].id32bit_cnt / 2;
+ } else {
+ *pbase += hdr / 2;
+ *poff = hdr % 2;
+ return RT_EOK;
+ }
+ if(hdr > pbxcan->filtermap[ptr].id16mask_cnt) {
+ hdr -= pbxcan->filtermap[ptr].id16mask_cnt;
+ *pbase += pbxcan->filtermap[ptr].id16mask_cnt / 2;
+ } else {
+ *pbase += hdr / 2;
+ *poff = hdr % 2;
+ return RT_EOK;
+ }
+ if(hdr > pbxcan->filtermap[ptr].id16bit_cnt) {
+ return RT_ERROR;
+ } else {
+ *pbase += hdr / 4;
+ *poff = hdr % 4;
+ return RT_EOK;
+ }
+}
+static void calcandormask(rt_uint32_t* pmask,rt_uint32_t shift,rt_int32_t count)
+{
+ rt_uint32_t tmpmask;
+ rt_uint32_t tmpmaskarray[BX_CAN_FILTER_MAX_ARRAY_SIZE] = {0,};
+ rt_int32_t i;
+ i = 0;
+ while(count > 0) {
+ if(i >= 32) {
+ tmpmaskarray[i] = 0xFFFFFFFF;
+ } else {
+ tmpmaskarray[i] = (0x01 << count) - 1;
+ }
+ count -= 32;
+ i++;
+ };
+ count = i;
+ for(i = 0; i < count && i < BX_CAN_FILTER_MAX_ARRAY_SIZE; i++) {
+ tmpmask = tmpmaskarray[i];
+ pmask[i] |= (rt_uint32_t)(tmpmask << shift);
+ if(i < BX_CAN_FILTER_MAX_ARRAY_SIZE - 1) {
+ pmask[i + 1] |= (rt_uint32_t)(tmpmask >> (32 - shift));
+ }
+ }
+}
+static void calcfiltermasks(struct stm_bxcan *pbxcan)
+{
+ rt_memset(&pbxcan->filtermask,0,sizeof(pbxcan->filtermask));
+ pbxcan->filtermask.id32maskshift[0] = 0;
+ if(pbxcan->filtermap[0].id32mask_cnt) {
+ calcandormask(pbxcan->filtermask.id32maskm,pbxcan->filtermask.id32maskshift[0],
+ pbxcan->filtermap[0].id32mask_cnt);
+ }
+ pbxcan->filtermask.id32maskshift[1] = pbxcan->fifo1filteroff * 4;
+ if(pbxcan->filtermap[1].id32mask_cnt) {
+ calcandormask(pbxcan->filtermask.id32maskm,pbxcan->filtermask.id32maskshift[1],
+ pbxcan->filtermap[1].id32mask_cnt);
+ }
+ pbxcan->filtermask.id32bitshift[0] = pbxcan->filtermask.id32maskshift[0] +
+ pbxcan->filtermap[0].id32mask_cnt;
+ if(pbxcan->filtermap[0].id32bit_cnt) {
+ calcandormask(pbxcan->filtermask.id32bitm,pbxcan->filtermask.id32bitshift[0],
+ pbxcan->filtermap[0].id32bit_cnt);
+ }
+ pbxcan->filtermask.id32bitshift[1] = pbxcan->filtermask.id32maskshift[1] +
+ pbxcan->filtermap[1].id32mask_cnt;
+ if(pbxcan->filtermap[1].id32bit_cnt) {
+ calcandormask(pbxcan->filtermask.id32bitm,pbxcan->filtermask.id32bitshift[1],
+ pbxcan->filtermap[1].id32bit_cnt);
+ }
+ pbxcan->filtermask.id16maskshift[0] = pbxcan->filtermask.id32bitshift[0] +
+ pbxcan->filtermap[0].id32bit_cnt;
+ if(pbxcan->filtermap[0].id16mask_cnt) {
+ calcandormask(pbxcan->filtermask.id16maskm,pbxcan->filtermask.id16maskshift[0],
+ pbxcan->filtermap[0].id16mask_cnt);
+ }
+ pbxcan->filtermask.id16maskshift[1] = pbxcan->filtermask.id32bitshift[1] +
+ pbxcan->filtermap[1].id32bit_cnt;
+ if(pbxcan->filtermap[1].id16mask_cnt) {
+ calcandormask(pbxcan->filtermask.id16maskm,pbxcan->filtermask.id16maskshift[1],
+ pbxcan->filtermap[1].id16mask_cnt);
+ }
+ pbxcan->filtermask.id16bitshift[0] = pbxcan->filtermask.id16maskshift[0] +
+ pbxcan->filtermap[0].id16mask_cnt;
+ if(pbxcan->filtermap[0].id16bit_cnt) {
+ calcandormask(pbxcan->filtermask.id16bitm,pbxcan->filtermask.id16bitshift[0],
+ pbxcan->filtermap[0].id16bit_cnt);
+ }
+ pbxcan->filtermask.id16bitshift[1] = pbxcan->filtermask.id16maskshift[1] +
+ pbxcan->filtermap[1].id16mask_cnt;
+ if(pbxcan->filtermap[1].id16bit_cnt) {
+ calcandormask(pbxcan->filtermask.id16bitm,pbxcan->filtermask.id16bitshift[1],
+ pbxcan->filtermap[1].id16bit_cnt);
+ }
+}
+static rt_int32_t bxcanfindfilter(struct stm_bxcan *pbxcan,struct rt_can_filter_item* pitem,
+ rt_int32_t type,rt_int32_t* base,rt_int32_t* off)
+{
+ rt_int32_t i;
+ rt_uint32_t bits,thisid,thismask,shift,found;
+ CAN_FilterRegister_TypeDef * pfilterreg;
+ found = 0;
+ switch(type) {
+ case 3:
+ shift = 3;
+ for(i = 0; i < BX_CAN_MAX_FILTERS; i++) {
+ bits = 0x01 << (i & 0x1F);
+ if(bits & (pbxcan->filtermask.id32maskm[i >> 5] & pbxcan->alocmask[i >> 5])) {
+ bxcancalcbaseoff(pbxcan,i,base,off);
+ pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[*base];
+ thisid = (rt_uint32_t)pitem->id<<shift;
+ thismask = (rt_uint32_t)pitem->mask<<shift;
+ if(pitem->ide) {
+ thisid |= CAN_ID_EXT;
+ thismask |= CAN_ID_EXT;
+ }
+ if(pitem->rtr) {
+ thisid |= CAN_RTR_REMOTE;
+ thismask |= CAN_RTR_REMOTE;
+ }
+ if(pfilterreg->FR1 == thisid && pfilterreg->FR2 == thismask) {
+ found = 1;
+ break;
+ }
+ }
+ }
+ break;
+ case 2:
+ shift = 3;
+ for(i = 0; i < BX_CAN_MAX_FILTERS; i++) {
+ bits = 0x01 << (i % 32);
+ if(bits & (pbxcan->filtermask.id32bitm[i >> 5] & pbxcan->alocmask[i >> 5])) {
+ bxcancalcbaseoff(pbxcan,i,base,off);
+ pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[*base];
+ thisid = (rt_uint32_t)pitem->id<<shift;
+ if(pitem->ide) {
+ thisid |= CAN_ID_EXT;
+ }
+ if(pitem->rtr) {
+ thisid |= CAN_RTR_REMOTE;
+ }
+ if((off == 0 && pfilterreg->FR1 == thisid) ||
+ (*off == 1 && pfilterreg->FR2 == thisid)
+ ) {
+ found = 1;
+ break;
+ }
+ }
+ }
+ break;
+ case 1:
+ shift = 5;
+ for(i = 0; i < BX_CAN_MAX_FILTERS; i++) {
+ bits = 0x01 << (i % 32);
+ if(bits & (pbxcan->filtermask.id16maskm[i >> 5] & pbxcan->alocmask[i >> 5])) {
+ bxcancalcbaseoff(pbxcan,i,base,off);
+ pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[*base];
+ thisid = pitem->id << shift;
+ if(pitem->rtr) {
+ thisid |= CAN_RTR_REMOTE << (shift - 2);
+ }
+ thismask = pitem->mask << shift;
+ if(pitem->rtr) {
+ thismask |= CAN_RTR_REMOTE << (shift - 2);
+ }
+ if(*off == 0 && pfilterreg->FR1 == ((thisid & 0x0000FFFF) | ((thismask & 0x0000FFFF) << 16)) ||
+ *off == 1 && pfilterreg->FR2 == ((thisid & 0x0000FFFF) | ((thismask & 0x0000FFFF) << 16))
+ ){
+ found = 1;
+ break;
+ }
+ }
+ }
+ break;
+ case 0:
+ shift = 5;
+ for(i = 0; i < BX_CAN_MAX_FILTERS; i++) {
+ bits = 0x01 << (i % 32);
+ if(bits & (pbxcan->filtermask.id16bitm[i >> 5] & pbxcan->alocmask[i >> 5])) {
+ bxcancalcbaseoff(pbxcan,i,base,off);
+ pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[*base];
+ thisid = pitem->id << shift;
+ if(pitem->rtr) {
+ thisid |= CAN_RTR_REMOTE << (shift - 2);
+ }
+ if(*off < 2 && ((rt_uint16_t*)&pfilterreg->FR1)[*off & 0x01] == thisid ||
+ *off >= 2 && ((rt_uint16_t*)&pfilterreg->FR2)[*off & 0x01] == thisid) {
+ found = 1;
+ break;
+ }
+ }
+ }
+ break;
+ }
+ if(found) {
+ return i;
+ }
+ return -1;
+}
+extern int __rt_ffs(int value);
+static rt_err_t bxcanallocfilter(rt_uint32_t * pmask, rt_uint32_t * palocmask,
+ rt_uint32_t count, rt_int32_t* hdr)
+{
+ rt_int32_t i;
+ for(i = 0; i < count; i++) {
+ rt_enter_critical();
+ if((pmask[i] & ~palocmask[i]) != 0) {
+ *hdr = __rt_ffs(pmask[i] & ~palocmask[i]) - 1 + i * 32;
+ palocmask[i] |= 0x01 <<(*hdr % 0x1F);
+ rt_exit_critical();
+ return RT_EOK;
+ }
+ rt_exit_critical();
+ }
+ if(i >= count) {
+ return RT_ENOMEM;
+ }
+ return RT_EOK;
+}
+static rt_err_t bxcanallocnewfilter(struct stm_bxcan *pbxcan, rt_int32_t actived,
+ rt_int32_t type, rt_int32_t* hdr, rt_int32_t* base, rt_int32_t* off)
+{
+ rt_err_t res;
+ *hdr = -1;
+ switch(type) {
+ case 0x03:
+ res = bxcanallocfilter(pbxcan->filtermask.id32maskm,pbxcan->alocmask,
+ BX_CAN_FILTER_MAX_ARRAY_SIZE,hdr);
+ break;
+ case 0x02:
+ res = bxcanallocfilter(pbxcan->filtermask.id32bitm,pbxcan->alocmask,
+ BX_CAN_FILTER_MAX_ARRAY_SIZE,hdr);
+ break;
+ case 0x01:
+ res = bxcanallocfilter(pbxcan->filtermask.id16maskm,pbxcan->alocmask,
+ BX_CAN_FILTER_MAX_ARRAY_SIZE,hdr);
+ break;
+ case 0x00:
+ res = bxcanallocfilter(pbxcan->filtermask.id16bitm,pbxcan->alocmask,
+ BX_CAN_FILTER_MAX_ARRAY_SIZE,hdr);
+ break;
+ }
+ if(res != RT_EOK || *hdr < 0) {
+ return RT_ENOMEM;
+ }
+ bxcancalcbaseoff(pbxcan,*hdr,base,off);
+ return RT_EOK;
+}
+static rt_err_t bxmodifyfilter(struct stm_bxcan *pbxcan, struct rt_can_filter_item* pitem, rt_uint32_t actived)
+{
+ rt_int32_t fcase;
+ rt_err_t res;
+ rt_int32_t hdr,fbase,foff;
+
+ fcase = (pitem->mode | (pitem->ide << 1));
+ hdr = bxcanfindfilter(pbxcan,pitem,fcase,&fbase,&foff);
+ if(hdr < 0) {
+ if(!actived) {
+ return RT_EOK;
+ } else if(pitem->hdr == -1) {
+ res = bxcanallocnewfilter(pbxcan,actived,fcase,&hdr,&fbase,&foff);
+ if(res != RT_EOK) {
+ return res;
+ }
+ } else if(pitem->hdr >= 0) {
+ rt_enter_critical();
+ res = bxcancalcbaseoff(pbxcan,pitem->hdr,&fbase,&foff);
+ if(res != RT_EOK) {
+ return res;
+ }
+ hdr = pitem->hdr;
+ if(actived) {
+ pbxcan->alocmask[hdr >> 5] |= 0x01 <<(hdr % 0x1F);
+ }
+ rt_exit_critical();
+ }
+ } else {
+ if(!actived) {
+ pitem->hdr = hdr;
+ } else if(hdr >= 0 && (pitem->hdr >= 0 || pitem->hdr == -1)) {
+ pitem->hdr = hdr;
+ return RT_EBUSY;
+ }
+ }
+ rt_uint32_t ID[2];
+ rt_uint32_t shift;
+ rt_uint32_t thisid;
+ rt_uint32_t thismask;
+ CAN_FilterInitTypeDef CAN_FilterInitStructure;
+
+ pitem->hdr = hdr;
+ CAN_FilterRegister_TypeDef * pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[fbase];
+ ID[0] = pfilterreg->FR1;
+ ID[1] = pfilterreg->FR2;
+ CAN_FilterInitStructure.CAN_FilterNumber = (pfilterreg - &CAN1->sFilterRegister[0]);
+ if(pitem->mode) {
+ CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
+ } else {
+ CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdList;
+ }
+ if(pitem->ide) {
+ CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
+ } else {
+ CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_16bit;
+ }
+ switch(fcase) {
+ case 0x03:
+ if(actived) {
+ shift = 3;
+ thisid = (rt_uint32_t)pitem->id<<shift;
+ thismask = (rt_uint32_t)pitem->mask<<shift;
+ if(pitem->ide) {
+ thisid |= CAN_ID_EXT;
+ thismask |= CAN_ID_EXT;
+ }
+ if(pitem->rtr) {
+ thisid |= CAN_RTR_REMOTE;
+ thismask |= CAN_RTR_REMOTE;
+ }
+ ID[0] = thisid;
+ ID[1] = thismask;
+ } else {
+ ID[0] = 0xFFFFFFFF;
+ ID[1] = 0xFFFFFFFF;
+ }
+ break;
+ case 0x02:
+ if(actived) {
+ shift = 3;
+ thisid = (rt_uint32_t)pitem->id<<shift;
+ if(pitem->ide) {
+ thisid |= CAN_ID_EXT;
+ }
+ if(pitem->rtr) {
+ thisid |= CAN_RTR_REMOTE;
+ }
+ ID[foff] = thisid;
+ } else {
+ ID[foff] = 0xFFFFFFFF;
+ }
+ break;
+ case 0x01:
+ if(actived) {
+ shift = 5;
+ thisid = pitem->id << shift;
+ if(pitem->rtr) {
+ thisid |= CAN_RTR_REMOTE << (shift - 2);
+ }
+ thismask = pitem->mask << shift;
+ if(pitem->rtr) {
+ thismask |= CAN_RTR_REMOTE << (shift - 2);
+ }
+ ID[foff] = (thisid & 0x0000FFFF) | ((thismask & 0x0000FFFF) << 16);
+ } else {
+ ID[foff] = 0xFFFFFFFF;
+ }
+ break;
+ case 0x00:
+ if(actived) {
+ shift = 5;
+ thisid = pitem->id << shift;
+ if(pitem->rtr) {
+ thisid |= CAN_RTR_REMOTE << (shift - 2);
+ }
+ ((rt_uint16_t*) ID)[foff] = thisid;
+ } else {
+ ((rt_uint16_t*) ID)[foff] = 0xFFFF;
+ }
+ break;
+ }
+ CAN_FilterInitStructure.CAN_FilterIdHigh = ((ID[1]) & 0x0000FFFF);
+ CAN_FilterInitStructure.CAN_FilterIdLow = ID[0] & 0x0000FFFF;
+ CAN_FilterInitStructure.CAN_FilterMaskIdHigh = (ID[1] & 0xFFFF0000) >> 16;
+ CAN_FilterInitStructure.CAN_FilterMaskIdLow = (ID[0] & 0xFFFF0000) >> 16;
+ if(fbase >= pbxcan->fifo1filteroff) {
+ CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 1;
+ } else {
+ CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
+ }
+ if(ID[0] != 0xFFFFFFFF || ID[1] != 0xFFFFFFFF) {
+ CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
+ } else {
+ CAN_FilterInitStructure.CAN_FilterActivation=DISABLE;
+ }
+ if(!actived) {
+ rt_enter_critical();
+ pbxcan->alocmask[hdr >> 5] &= ~(0x01 <<(hdr % 0x1F));
+ rt_exit_critical();
+ }
+ CAN_FilterInit(&CAN_FilterInitStructure);
+ return RT_EOK;
+}
+static rt_err_t setfilter(struct stm_bxcan *pbxcan,struct rt_can_filter_config *pconfig)
+{
+ struct rt_can_filter_item* pitem = pconfig->items;
+ rt_uint32_t count = pconfig->count;
+ rt_err_t res;
+ while(count) {
+ res = bxmodifyfilter(pbxcan,pitem,pconfig->actived);
+ if(res != RT_EOK) {
+ return res;
+ }
+ pitem++;
+ count--;
+ }
+ return RT_EOK;
+}
+static rt_err_t configure(struct rt_can_device *can, struct can_configure *cfg)
+{
+ CAN_TypeDef* pbxcan;
+
+ pbxcan = ((struct stm_bxcan *) can->parent.user_data)->reg;
+ assert_param(IS_CAN_ALL_PERIPH(pbxcan));
+ if(pbxcan == CAN1)
+ {
+ bxcan1_hw_init();
+ bxcan_init(pbxcan,cfg->baud_rate,can->config.mode);
+ bxcan1_filter_init(can);
+ } else {
+ bxcan2_hw_init();
+ bxcan_init(pbxcan,cfg->baud_rate,can->config.mode);
+ bxcan2_filter_init(can);
+ }
+ return RT_EOK;
+}
+static rt_err_t control(struct rt_can_device *can, int cmd, void *arg)
+{
+ struct stm_bxcan* pbxcan;
+ rt_uint32_t argval;
+ NVIC_InitTypeDef NVIC_InitStructure;
+
+ pbxcan= (struct stm_bxcan *) can->parent.user_data;
+ assert_param(pbxcan != RT_NULL);
+
+ switch (cmd)
+ {
+ case RT_DEVICE_CTRL_CLR_INT:
+ argval = (rt_uint32_t) arg;
+ if(argval == RT_DEVICE_FLAG_INT_RX)
+ {
+ NVIC_DisableIRQ(pbxcan->rcvirq0);
+ NVIC_DisableIRQ(pbxcan->rcvirq1);
+ CAN_ITConfig(pbxcan->reg,CAN_IT_FMP0 ,DISABLE);
+ CAN_ITConfig(pbxcan->reg,CAN_IT_FF0 ,DISABLE);
+ CAN_ITConfig(pbxcan->reg,CAN_IT_FOV0 ,DISABLE);
+ CAN_ITConfig(pbxcan->reg,CAN_IT_FMP1 ,DISABLE);
+ CAN_ITConfig(pbxcan->reg,CAN_IT_FF1 ,DISABLE);
+ CAN_ITConfig(pbxcan->reg,CAN_IT_FOV1 ,DISABLE);
+ } else if(argval == RT_DEVICE_FLAG_INT_TX)
+ {
+ NVIC_DisableIRQ(pbxcan->sndirq);
+ CAN_ITConfig(pbxcan->reg,CAN_IT_TME,DISABLE);
+ } else if(argval == RT_DEVICE_CAN_INT_ERR) {
+ CAN_ITConfig(pbxcan->reg,CAN_IT_BOF ,DISABLE);
+ CAN_ITConfig(pbxcan->reg,CAN_IT_LEC ,DISABLE);
+ CAN_ITConfig(pbxcan->reg,CAN_IT_ERR ,DISABLE);
+ NVIC_DisableIRQ(pbxcan->errirq);
+ }
+ break;
+ case RT_DEVICE_CTRL_SET_INT:
+ argval = (rt_uint32_t) arg;
+ if(argval == RT_DEVICE_FLAG_INT_RX)
+ {
+ CAN_ITConfig(pbxcan->reg,CAN_IT_FMP0 ,ENABLE);
+ CAN_ITConfig(pbxcan->reg,CAN_IT_FF0 ,ENABLE);
+ CAN_ITConfig(pbxcan->reg,CAN_IT_FOV0 ,ENABLE);
+ CAN_ITConfig(pbxcan->reg,CAN_IT_FMP1 ,ENABLE);
+ CAN_ITConfig(pbxcan->reg,CAN_IT_FF1 ,ENABLE);
+ CAN_ITConfig(pbxcan->reg,CAN_IT_FOV1 ,ENABLE);
+ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1;
+ NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
+ NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+ NVIC_InitStructure.NVIC_IRQChannel = pbxcan->rcvirq0;
+ NVIC_Init(&NVIC_InitStructure);
+ NVIC_InitStructure.NVIC_IRQChannel = pbxcan->rcvirq1;
+ NVIC_Init(&NVIC_InitStructure);
+ } else if(argval == RT_DEVICE_FLAG_INT_TX)
+ {
+ CAN_ITConfig(pbxcan->reg,CAN_IT_TME,ENABLE);
+ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1;
+ NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
+ NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+ NVIC_InitStructure.NVIC_IRQChannel = pbxcan->sndirq;
+ NVIC_Init(&NVIC_InitStructure);
+ } else if(argval == RT_DEVICE_CAN_INT_ERR) {
+ CAN_ITConfig(pbxcan->reg,CAN_IT_BOF ,ENABLE);
+ CAN_ITConfig(pbxcan->reg,CAN_IT_LEC ,ENABLE);
+ CAN_ITConfig(pbxcan->reg,CAN_IT_ERR ,ENABLE);
+ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1;
+ NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
+ NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+ NVIC_InitStructure.NVIC_IRQChannel = pbxcan->errirq;
+ NVIC_Init(&NVIC_InitStructure);
+ }
+ break;
+ case RT_CAN_CMD_SET_FILTER:
+ return setfilter(pbxcan, (struct rt_can_filter_config*) arg);
+ 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->config.mode)
+ {
+ can->config.mode = argval;
+ return bxcan_set_mode(pbxcan->reg, argval);
+ }
+ 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->config.baud_rate)
+ {
+ can->config.baud_rate = argval;
+ return bxcan_set_baud_rate(pbxcan->reg, argval);
+ }
+ 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->config.privmode)
+ {
+ can->config.privmode = argval;
+ return bxcan_set_privmode(pbxcan->reg, argval);
+ }
+ break;
+ case RT_CAN_CMD_GET_STATUS:
+ {
+ rt_uint32_t errtype;
+ errtype = pbxcan->reg->ESR;
+ can->status.rcverrcnt = errtype >> 24;
+ can->status.snderrcnt = (errtype >> 16 & 0xFF);
+ can->status.errcode = errtype & 0x07;
+ if(arg != &can->status) {
+ rt_memcpy(arg,&can->status,sizeof(can->status));
+ }
+ }
+ break;
+ }
+
+ return RT_EOK;
+}
+static int sendmsg(struct rt_can_device *can, const void* buf, rt_uint32_t boxno)
+{
+ CAN_TypeDef* pbxcan;
+ struct rt_can_msg* pmsg = (struct rt_can_msg*) buf;
+
+ pbxcan= ((struct stm_bxcan *) can->parent.user_data)->reg;
+ assert_param(IS_CAN_ALL_PERIPH(pbxcan));
+
+ pbxcan->sTxMailBox[boxno].TIR &= TMIDxR_TXRQ;
+ if (pmsg->ide == RT_CAN_STDID)
+ {
+ assert_param(IS_CAN_STDID(pmsg->id));
+ pbxcan->sTxMailBox[boxno].TIR |= ((pmsg->id << 21) | \
+ pmsg->rtr);
+ }
+ else
+ {
+ assert_param(IS_CAN_EXTID(pmsg->id));
+ pbxcan->sTxMailBox[boxno].TIR |= ((pmsg->id << 3) | \
+ pmsg->ide <<2 | \
+ pmsg->rtr);
+ }
+
+ pmsg->len &= (uint8_t)0x0000000F;
+ pbxcan->sTxMailBox[boxno].TDTR &= (uint32_t)0xFFFFFFF0;
+ pbxcan->sTxMailBox[boxno].TDTR |= pmsg->len;
+
+ pbxcan->sTxMailBox[boxno].TDLR = (((uint32_t)pmsg->data[3] << 24) |
+ ((uint32_t)pmsg->data[2] << 16) |
+ ((uint32_t)pmsg->data[1] << 8) |
+ ((uint32_t)pmsg->data[0]));
+ if(pmsg->len > 4) {
+ pbxcan->sTxMailBox[boxno].TDHR = (((uint32_t)pmsg->data[7] << 24) |
+ ((uint32_t)pmsg->data[6] << 16) |
+ ((uint32_t)pmsg->data[5] << 8) |
+ ((uint32_t)pmsg->data[4]));
+ }
+ pbxcan->sTxMailBox[boxno].TIR |= TMIDxR_TXRQ;
+
+ return RT_EOK;
+}
+static int recvmsg(struct rt_can_device *can, void* buf, rt_uint32_t boxno)
+{
+ CAN_TypeDef* pbxcan;
+ struct rt_can_msg* pmsg = (struct rt_can_msg*) buf;
+
+ pbxcan= ((struct stm_bxcan *) can->parent.user_data)->reg;
+ assert_param(IS_CAN_ALL_PERIPH(pbxcan));
+ assert_param(IS_CAN_FIFO(boxno));
+ pmsg->ide = ((uint8_t)0x04 & pbxcan->sFIFOMailBox[boxno].RIR)>>2;
+ if (pmsg->ide == CAN_Id_Standard)
+ {
+ pmsg->id = (uint32_t)0x000007FF & (pbxcan->sFIFOMailBox[boxno].RIR >> 21);
+ }
+ else
+ {
+ pmsg->id = (uint32_t)0x1FFFFFFF & (pbxcan->sFIFOMailBox[boxno].RIR >> 3);
+ }
+
+ pmsg->rtr = (uint8_t)0x02 & pbxcan->sFIFOMailBox[boxno].RIR;
+ pmsg->len = (uint8_t)0x0F & pbxcan->sFIFOMailBox[boxno].RDTR;
+ pmsg->data[0] = (uint8_t)0xFF & pbxcan->sFIFOMailBox[boxno].RDLR;
+ pmsg->data[1] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDLR >> 8);
+ pmsg->data[2] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDLR >> 16);
+ pmsg->data[3] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDLR >> 24);
+ if(pmsg->len > 4) {
+ pmsg->data[4] = (uint8_t)0xFF & pbxcan->sFIFOMailBox[boxno].RDHR;
+ pmsg->data[5] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDHR >> 8);
+ pmsg->data[6] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDHR >> 16);
+ pmsg->data[7] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDHR >> 24);
+ }
+ pmsg->hdr = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDTR >> 8);
+ if(boxno) pmsg->hdr += ((struct stm_bxcan *) can->parent.user_data)->fifo1filteroff * 4;
+ return RT_EOK;
+}
+
+static const struct rt_can_ops canops =
+{
+ configure,
+ control,
+ sendmsg,
+ recvmsg,
+};
+#ifdef USING_BXCAN1
+#ifdef RT_CAN_USING_LED
+static struct rt_can_led can1rcvled =
+{
+ CANRT1,PIN_MODE_OUTPUT_OD,1,
+};
+static struct rt_can_led can1errled =
+{
+ CANERR1,PIN_MODE_OUTPUT_OD,1,
+};
+#endif
+static struct stm_bxcan bxcan1data =
+{
+ .reg = CAN1,
+ .mfrbase = (void*)&CAN1->sFilterRegister[0],
+ .sndirq = CAN1_TX_IRQn,
+ .rcvirq0 = CAN1_RX0_IRQn,
+ .rcvirq1 = CAN1_RX1_IRQn,
+ .errirq = CAN1_SCE_IRQn,
+ .alocmask = {0,0},
+ .filtercnt = BX_CAN2_FMRSTART,
+ .fifo1filteroff = 7,
+ .filtermap = {
+ [0] = {
+ .id32mask_cnt = 0,
+ .id32bit_cnt = 0,
+ .id16mask_cnt = 2,
+ .id16bit_cnt =24,
+ },
+ [1] = {
+ .id32mask_cnt = 0,
+ .id32bit_cnt = 0,
+ .id16mask_cnt = 2,
+ .id16bit_cnt =24,
+ },
+ },
+};
+struct rt_can_device bxcan1;
+void CAN1_RX0_IRQHandler(void)
+{
+ while(CAN1->RF0R & 0x11)
+ {
+ if ((CAN1->RF0R & CAN_RF0R_FOVR0) != 0)
+ {
+ CAN1->RF0R = CAN_RF0R_FOVR0;
+ rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_RXOF_IND | 0<<8);
+ } else {
+ rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_RX_IND | 0<<8);
+ }
+ CAN1->RF0R |= CAN_RF0R_RFOM0;
+ }
+}
+void CAN1_RX1_IRQHandler(void)
+{
+ while(CAN1->RF1R & 0x11)
+ {
+ if ((CAN1->RF1R & CAN_RF1R_FOVR1) != 0)
+ {
+ CAN1->RF1R = CAN_RF1R_FOVR1;
+ rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_RXOF_IND | 1<<8);
+ } else {
+ rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_RX_IND | 1<<8);
+ }
+ CAN1->RF1R |= CAN_RF1R_RFOM1;
+ }
+}
+void CAN1_TX_IRQHandler(void)
+{
+ rt_uint32_t state;
+ if(CAN1->TSR & (CAN_TSR_RQCP0))
+ {
+ state = CAN1->TSR & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0);
+ CAN1->TSR |= CAN_TSR_RQCP0;
+ if(state == (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0))
+ {
+ rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_TX_DONE | 0<<8);
+ } else {
+ rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_TX_FAIL | 0<<8);
+ }
+ }
+ if(CAN1->TSR & (CAN_TSR_RQCP1)) {
+ state = CAN1->TSR & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1);
+ CAN1->TSR |= CAN_TSR_RQCP1;
+ if(state == (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1))
+ {
+ rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_TX_DONE | 1<<8);
+ } else {
+ rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_TX_FAIL | 1<<8);
+ }
+ }
+ if(CAN1->TSR & (CAN_TSR_RQCP2)) {
+ state = CAN1->TSR & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2);
+ CAN1->TSR |= CAN_TSR_RQCP2;
+ if(state == (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2))
+ {
+ rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_TX_DONE | 2<<8);
+ } else {
+ rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_TX_FAIL | 2<<8);
+ }
+ }
+}
+void CAN1_SCE_IRQHandler(void)
+{
+ rt_uint32_t errtype;
+ errtype = CAN1->ESR;
+ if(errtype & 0x70 && bxcan1.status.lasterrtype == (errtype & 0x70)) {
+ switch((errtype & 0x70)>>4) {
+ case RT_CAN_BUS_BIT_PAD_ERR:
+ bxcan1.status.bitpaderrcnt++;
+ break;
+ case RT_CAN_BUS_FORMAT_ERR:
+ bxcan1.status.formaterrcnt++;
+ break;
+ case RT_CAN_BUS_ACK_ERR:
+ bxcan1.status.ackerrcnt++;
+ break;
+ case RT_CAN_BUS_IMPLICIT_BIT_ERR:
+ case RT_CAN_BUS_EXPLICIT_BIT_ERR:
+ bxcan1.status.biterrcnt++;
+ break;
+ case RT_CAN_BUS_CRC_ERR:
+ bxcan1.status.crcerrcnt++;
+ break;
+ }
+ bxcan1.status.lasterrtype = errtype & 0x70;
+ CAN1->ESR &= ~0x70;
+ }
+ bxcan1.status.rcverrcnt = errtype >> 24;
+ bxcan1.status.snderrcnt = (errtype >> 16 & 0xFF);
+ bxcan1.status.errcode = errtype & 0x07;
+ CAN1->MSR |= CAN_MSR_ERRI;
+}
+#endif /*USING_BXCAN1*/
+
+#ifdef USING_BXCAN2
+#ifdef RT_CAN_USING_LED
+static struct rt_can_led can2rcvled =
+{
+ CANRT2,PIN_MODE_OUTPUT_OD,1,
+};
+static struct rt_can_led can2errled =
+{
+ CANERR2,PIN_MODE_OUTPUT_OD,1,
+};
+#endif
+static struct stm_bxcan bxcan2data =
+{
+ .reg = CAN2,
+ .mfrbase = (void*)&CAN1->sFilterRegister[BX_CAN2_FMRSTART],
+ .sndirq = CAN2_TX_IRQn,
+ .rcvirq0 = CAN2_RX0_IRQn,
+ .rcvirq1 = CAN2_RX1_IRQn,
+ .errirq = CAN2_SCE_IRQn,
+ .alocmask = {0,0},
+ .filtercnt = BX_CAN_FMRNUMBER - BX_CAN2_FMRSTART,
+ .fifo1filteroff = 7,
+ .filtermap = {
+ [0] = {
+ .id32mask_cnt = 0,
+ .id32bit_cnt = 0,
+ .id16mask_cnt = 2,
+ .id16bit_cnt =24,
+ },
+ [1] = {
+ .id32mask_cnt = 0,
+ .id32bit_cnt = 0,
+ .id16mask_cnt = 2,
+ .id16bit_cnt =24,
+ },
+ },
+};
+
+struct rt_can_device bxcan2;
+void CAN2_RX0_IRQHandler(void)
+{
+ while(CAN2->RF0R & 0x11)
+ {
+ if ((CAN2->RF0R & CAN_RF0R_FOVR0) != 0)
+ {
+ CAN2->RF0R = CAN_RF0R_FOVR0;
+ rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_RXOF_IND | 0<<8);
+ } else {
+ rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_RX_IND | 0<<8);
+ }
+ CAN2->RF0R |= CAN_RF0R_RFOM0;
+ }
+}
+void CAN2_RX1_IRQHandler(void)
+{
+ while(CAN2->RF1R & 0x11)
+ {
+ if ((CAN2->RF1R & CAN_RF1R_FOVR1) != 0)
+ {
+ CAN2->RF1R = CAN_RF1R_FOVR1;
+ rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_RXOF_IND | 1<<8);
+ } else {
+ rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_RX_IND | 1<<8);
+ }
+ CAN2->RF1R |= CAN_RF1R_RFOM1;
+ }
+}
+void CAN2_TX_IRQHandler(void)
+{
+ rt_uint32_t state;
+ if(CAN2->TSR & (CAN_TSR_RQCP0))
+ {
+ state = CAN2->TSR & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0);
+ CAN2->TSR |= CAN_TSR_RQCP0;
+ if(state == (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0))
+ {
+ rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_TX_DONE | 0<<8);
+ } else {
+ rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_TX_FAIL | 0<<8);
+ }
+ }
+ if(CAN2->TSR & (CAN_TSR_RQCP1)) {
+ state = CAN2->TSR & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1);
+ CAN2->TSR |= CAN_TSR_RQCP1;
+ if(state == (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1))
+ {
+ rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_TX_DONE | 1<<8);
+ } else {
+ rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_TX_FAIL | 1<<8);
+ }
+ }
+ if(CAN2->TSR & (CAN_TSR_RQCP2)) {
+ state = CAN2->TSR & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2);
+ CAN2->TSR |= CAN_TSR_RQCP2;
+ if(state == (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2))
+ {
+ rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_TX_DONE | 2<<8);
+ } else {
+ rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_TX_FAIL | 2<<8);
+ }
+ }
+}
+void CAN2_SCE_IRQHandler(void)
+{
+ rt_uint32_t errtype;
+ errtype = CAN2->ESR;
+ if(errtype & 0x70 && bxcan2.status.lasterrtype == (errtype & 0x70)) {
+ switch((errtype & 0x70)>>4) {
+ case RT_CAN_BUS_BIT_PAD_ERR:
+ bxcan2.status.bitpaderrcnt++;
+ break;
+ case RT_CAN_BUS_FORMAT_ERR:
+ bxcan2.status.formaterrcnt++;
+ break;
+ case RT_CAN_BUS_ACK_ERR:
+ bxcan2.status.ackerrcnt++;
+ break;
+ case RT_CAN_BUS_IMPLICIT_BIT_ERR:
+ case RT_CAN_BUS_EXPLICIT_BIT_ERR:
+ bxcan2.status.biterrcnt++;
+ break;
+ case RT_CAN_BUS_CRC_ERR:
+ bxcan2.status.crcerrcnt++;
+ break;
+ }
+ bxcan2.status.lasterrtype = errtype & 0x70;
+ CAN2->ESR &= ~0x70;
+ }
+ bxcan2.status.rcverrcnt = errtype >> 24;
+ bxcan2.status.snderrcnt = (errtype >> 16 & 0xFF);
+ bxcan2.status.errcode = errtype & 0x07;
+ CAN2->MSR |= CAN_MSR_ERRI;
+}
+#endif /*USING_BXCAN2*/
+
+int stm32_bxcan_init(void)
+{
+
+#ifdef USING_BXCAN1
+ bxcan1.config.baud_rate=CAN1MBaud;
+ bxcan1.config.msgboxsz=16;
+ bxcan1.config.sndboxnumber=3;
+ bxcan1.config.mode=RT_CAN_MODE_NORMAL;
+ bxcan1.config.privmode=0;
+ #ifdef RT_CAN_USING_LED
+ bxcan1.config.rcvled = &can1rcvled;
+ bxcan1.config.sndled = RT_NULL;
+ bxcan1.config.errled = &can1errled;
+ #endif
+ bxcan1.config.ticks = 50;
+#ifdef RT_CAN_USING_HDR
+ bxcan1.config.maxhdr = BX_CAN2_FMRSTART * 4;
+#endif
+ rt_hw_can_register(&bxcan1, "bxcan1", &canops, &bxcan1data);
+#endif
+
+#ifdef USING_BXCAN2
+ bxcan2.config.baud_rate=CAN1MBaud;
+ bxcan2.config.msgboxsz=16;
+ bxcan2.config.sndboxnumber=3;
+ bxcan2.config.mode=RT_CAN_MODE_NORMAL;
+ bxcan2.config.privmode=0;
+ #ifdef RT_CAN_USING_LED
+ bxcan2.config.rcvled = &can2rcvled;
+ bxcan2.config.sndled = RT_NULL;
+ bxcan2.config.errled = &can2errled;
+ #endif
+ bxcan2.config.ticks = 50;
+#ifdef RT_CAN_USING_HDR
+ bxcan2.config.maxhdr = (BX_CAN_FMRNUMBER - BX_CAN2_FMRSTART) * 4;
+#endif
+ rt_hw_can_register(&bxcan2, "bxcan2", &canops, &bxcan2data);
+#endif
+ return RT_EOK;
+}
+INIT_BOARD_EXPORT(stm32_bxcan_init);
+
+#endif /*RT_USING_CAN2*/
diff --git a/bsp/stm32f10x/drivers/bxcan.h b/bsp/stm32f10x/drivers/bxcan.h
new file mode 100644
index 0000000000..60ee996a3c
--- /dev/null
+++ b/bsp/stm32f10x/drivers/bxcan.h
@@ -0,0 +1,16 @@
+/*
+ * File : bxcan.h
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2015, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date Author Notes
+ */
+
+#ifndef BXCAN_H_
+#define BXCAN_H_
+#endif /*BXCAN_H_*/
diff --git a/components/drivers/can/can.c b/components/drivers/can/can.c
new file mode 100644
index 0000000000..3d31409756
--- /dev/null
+++ b/components/drivers/can/can.c
@@ -0,0 +1,906 @@
+/*
+ * File : can.c
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2015, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date Author Notes
+ */
+#include <rthw.h>
+#include <rtthread.h>
+#include <rtdevice.h>
+
+static rt_err_t rt_can_init(struct rt_device *dev)
+{
+ rt_err_t result = RT_EOK;
+ struct rt_can_device *can;
+
+ RT_ASSERT(dev != RT_NULL);
+ can = (struct rt_can_device *)dev;
+
+ /* initialize rx/tx */
+ can->can_rx = RT_NULL;
+ can->can_tx = RT_NULL;
+
+ /* apply configuration */
+ if (can->ops->configure)
+ result = can->ops->configure(can, &can->config);
+
+ return result;
+}
+/*
+ * can interrupt routines
+ */
+rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, int msgs)
+{
+ int size;
+ struct rt_can_rx_fifo* rx_fifo;
+
+ RT_ASSERT(can != RT_NULL);
+ size = msgs;
+
+ rx_fifo = (struct rt_can_rx_fifo*) can->can_rx;
+ RT_ASSERT(rx_fifo != RT_NULL);
+
+ /* read from software FIFO */
+ while (msgs)
+ {
+ rt_base_t level;
+ struct rt_can_msg_list *listmsg=RT_NULL;
+ /* disable interrupt */
+ level = rt_hw_interrupt_disable();
+#ifdef RT_CAN_USING_HDR
+ rt_int32_t hdr = data->hdr;
+ if (hdr >=0 && can->hdr && hdr < can->config.maxhdr && !rt_list_isempty(&can->hdr[hdr].list))
+ {
+ listmsg=rt_list_entry(can->hdr[hdr].list.next, struct rt_can_msg_list, hdrlist);
+ rt_list_remove(&listmsg->list);
+ rt_list_remove(&listmsg->hdrlist);
+ if(can->hdr[hdr].msgs) {
+ can->hdr[hdr].msgs--;
+ }
+ listmsg->owner = RT_NULL;
+ } else
+#endif /*RT_CAN_USING_HDR*/
+ if (!rt_list_isempty(&rx_fifo->uselist))
+ {
+ listmsg=rt_list_entry(rx_fifo->uselist.next, struct rt_can_msg_list, list);
+ rt_list_remove(&listmsg->list);
+#ifdef RT_CAN_USING_HDR
+ rt_list_remove(&listmsg->hdrlist);
+ if(listmsg->owner != RT_NULL && listmsg->owner->msgs) {
+ listmsg->owner->msgs--;
+ }
+ listmsg->owner = RT_NULL;
+#endif
+ }
+ else
+ {
+ /* no data, enable interrupt and break out */
+ rt_hw_interrupt_enable(level);
+ break;
+ }
+
+ /* enable interrupt */
+ rt_hw_interrupt_enable(level);
+ if(listmsg!=RT_NULL)
+ {
+ rt_memcpy(data,&listmsg->data,sizeof(struct rt_can_msg));
+ level = rt_hw_interrupt_disable();
+ rt_list_insert_before(&rx_fifo->freelist,&listmsg->list);
+ rx_fifo->freenumbers++;
+ RT_ASSERT(rx_fifo->freenumbers <= can->config.msgboxsz);
+ rt_hw_interrupt_enable(level);
+ listmsg = RT_NULL;
+ }
+ data ++; msgs -= sizeof(struct rt_can_msg);
+ }
+
+ return (size - msgs);
+}
+
+rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *data, int msgs)
+{
+ int size;
+ struct rt_can_tx_fifo *tx_fifo;
+
+ RT_ASSERT(can != RT_NULL);
+
+ size = msgs;
+ tx_fifo = (struct rt_can_tx_fifo*) can->can_tx;
+ RT_ASSERT(tx_fifo != RT_NULL);
+
+ while (msgs)
+ {
+ rt_base_t level;
+ rt_uint32_t no;
+ struct rt_can_sndbxinx_list* tx_tosnd = RT_NULL;
+ level = rt_hw_interrupt_disable();
+ if(!rt_list_isempty(&tx_fifo->freelist))
+ {
+ tx_tosnd = rt_list_entry(tx_fifo->freelist.next, struct rt_can_sndbxinx_list, list);
+ RT_ASSERT(tx_tosnd != RT_NULL);
+ rt_list_remove(&tx_tosnd->list);
+ } else {
+ rt_hw_interrupt_enable(level);
+ rt_completion_wait(&(tx_fifo->completion), RT_WAITING_FOREVER);
+ continue;
+ }
+ rt_hw_interrupt_enable(level);
+ no=((rt_uint32_t)tx_tosnd-(rt_uint32_t)tx_fifo->buffer)/sizeof(struct rt_can_sndbxinx_list);
+ tx_tosnd->result = RT_CAN__SND_RESUTL_WAIT;
+ if (can->ops->sendmsg(can, data ,no))
+ {
+ level = rt_hw_interrupt_disable();
+ rt_list_insert_after(&tx_fifo->freelist,&tx_tosnd->list);
+ rt_hw_interrupt_enable(level);
+ continue;
+ }
+ can->status.sndchange = 1;
+ rt_completion_wait(&(tx_tosnd->completion), RT_WAITING_FOREVER);
+ level = rt_hw_interrupt_disable();
+ rt_uint32_t result = tx_tosnd->result;
+ if(!rt_list_isempty(&tx_tosnd->list)) {
+ rt_list_remove(&tx_tosnd->list);
+ }
+ rt_list_insert_before(&tx_fifo->freelist,&tx_tosnd->list);
+ rt_hw_interrupt_enable(level);
+
+ if(result == RT_CAN__SND_RESUTL_OK)
+ {
+ level = rt_hw_interrupt_disable();
+ can->status.sndpkg++;
+ rt_hw_interrupt_enable(level);
+ data ++; msgs -= sizeof(struct rt_can_msg);
+ if(!msgs) break;
+ }
+ else
+ {
+ level = rt_hw_interrupt_disable();
+ can->status.dropedsndpkg++;
+ rt_hw_interrupt_enable(level);
+ break;
+ }
+
+ level = rt_hw_interrupt_disable();
+ if(rt_list_isempty(&tx_fifo->freelist))
+ {
+ rt_hw_interrupt_enable(level);
+ rt_completion_done(&(tx_fifo->completion));
+ }
+ else
+ {
+ rt_hw_interrupt_enable(level);
+ }
+ }
+
+ return (size - msgs);
+}
+rt_inline int _can_int_tx_priv(struct rt_can_device *can, const struct rt_can_msg *data, int msgs)
+{
+ int size;
+ struct rt_can_tx_fifo *tx_fifo;
+
+ RT_ASSERT(can != RT_NULL);
+
+ size = msgs;
+ tx_fifo = (struct rt_can_tx_fifo*) can->can_tx;
+ RT_ASSERT(tx_fifo != RT_NULL);
+
+ rt_base_t level;
+ rt_uint32_t no;
+ rt_uint32_t result;
+ while (msgs)
+ {
+ no = data->priv;
+ if(no >= can->config.sndboxnumber) {
+ break;
+ }
+ level = rt_hw_interrupt_disable();
+ if((tx_fifo->buffer[no].result != RT_CAN__SND_RESUTL_OK)) {
+ rt_hw_interrupt_enable(level);
+ rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
+ continue;
+ }
+ tx_fifo->buffer[no].result = RT_CAN__SND_RESUTL_WAIT;
+ rt_hw_interrupt_enable(level);
+ if (can->ops->sendmsg(can, data ,no) != RT_EOK)
+ {
+ continue;
+ }
+ can->status.sndchange = 1;
+ rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
+ result = tx_fifo->buffer[no].result;
+ if(result == RT_CAN__SND_RESUTL_OK)
+ {
+ level = rt_hw_interrupt_disable();
+ can->status.sndpkg++;
+ rt_hw_interrupt_enable(level);
+ data ++; msgs -= sizeof(struct rt_can_msg);
+ if(!msgs) break;
+ }
+ else
+ {
+ level = rt_hw_interrupt_disable();
+ can->status.dropedsndpkg++;
+ rt_hw_interrupt_enable(level);
+ break;
+ }
+ }
+
+ return (size - msgs);
+}
+static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
+{
+ struct rt_can_device *can;
+
+ RT_ASSERT(dev != RT_NULL);
+ can = (struct rt_can_device *)dev;
+
+ /* get open flags */
+ dev->open_flag = oflag & 0xff;
+ rt_enter_critical();
+ if (can->can_rx == RT_NULL)
+ {
+ if (oflag & RT_DEVICE_FLAG_INT_RX)
+ {
+ struct rt_can_rx_fifo* rx_fifo;
+
+ rx_fifo = (struct rt_can_rx_fifo*) rt_malloc (sizeof(struct rt_can_rx_fifo) +
+ can->config.msgboxsz * sizeof(struct rt_can_msg_list));
+ RT_ASSERT(rx_fifo != RT_NULL);
+ rx_fifo->buffer = (struct rt_can_msg_list*) (rx_fifo + 1);
+ rt_memset(rx_fifo->buffer, 0, can->config.msgboxsz * sizeof(struct rt_can_msg_list));
+ rt_list_init(&rx_fifo->freelist);
+ rt_list_init(&rx_fifo->uselist);
+ rx_fifo->freenumbers=can->config.msgboxsz;
+ int i = 0;
+ for(i = 0; i< can->config.msgboxsz; i++)
+ {
+ rt_list_insert_before(&rx_fifo->freelist,&rx_fifo->buffer[i].list);
+#ifdef RT_CAN_USING_HDR
+ rt_list_init(&rx_fifo->buffer[i].hdrlist);
+ rx_fifo->buffer[i].owner = RT_NULL;
+#endif
+ }
+ can->can_rx = rx_fifo;
+ rt_exit_critical();
+ dev->open_flag |= RT_DEVICE_FLAG_INT_RX;
+ /* configure low level device */
+ can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_FLAG_INT_RX);
+ }
+ else
+ {
+ can->can_rx = RT_NULL;
+ rt_exit_critical();
+ }
+ } else {
+ rt_exit_critical();
+ }
+ rt_enter_critical();
+ if (can->can_tx == RT_NULL)
+ {
+ if (oflag & RT_DEVICE_FLAG_INT_TX)
+ {
+ struct rt_can_tx_fifo *tx_fifo;
+
+ tx_fifo = (struct rt_can_tx_fifo*) rt_malloc(sizeof(struct rt_can_tx_fifo)+
+ can->config.sndboxnumber*sizeof(struct rt_can_sndbxinx_list));
+ RT_ASSERT(tx_fifo != RT_NULL);
+ tx_fifo->buffer = (struct rt_can_sndbxinx_list *) (tx_fifo + 1);
+ rt_memset(tx_fifo->buffer, 0,
+ can->config.sndboxnumber*sizeof(struct rt_can_sndbxinx_list));
+ rt_list_init(&tx_fifo->freelist);
+ int i = 0;
+ for(i = 0; i< can->config.sndboxnumber; i++)
+ {
+ rt_list_insert_before(&tx_fifo->freelist,&tx_fifo->buffer[i].list);
+ rt_completion_init(&(tx_fifo->buffer[i].completion));
+ tx_fifo->buffer[i].result = RT_CAN__SND_RESUTL_OK;
+ }
+ rt_completion_init(&(tx_fifo->completion));
+ can->can_tx = tx_fifo;
+ rt_exit_critical();
+ dev->open_flag |= RT_DEVICE_FLAG_INT_TX;
+ /* configure low level device */
+ can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_FLAG_INT_TX);
+ }
+ else
+ {
+ can->can_tx = RT_NULL;
+ rt_exit_critical();
+ }
+ } else {
+ rt_exit_critical();
+ }
+ can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_CAN_INT_ERR);
+#ifdef RT_CAN_USING_HDR
+ rt_enter_critical();
+ if(can->hdr == RT_NULL) {
+ struct rt_can_hdr * phdr;
+ phdr = (struct rt_can_hdr *) rt_malloc(can->config.maxhdr*sizeof(struct rt_can_hdr));
+ RT_ASSERT(phdr != RT_NULL);
+ rt_memset(phdr, 0,can->config.maxhdr*sizeof(struct rt_can_hdr));
+ int i = 0;
+ for(i = 0; i< can->config.maxhdr; i++)
+ {
+ rt_list_init(&phdr[i].list);
+ }
+ can->hdr = phdr;
+ rt_exit_critical();
+ } else {
+ rt_exit_critical();
+ }
+#endif
+ rt_enter_critical();
+ if(!can->timerinitflag) {
+ can->timerinitflag = 1;
+ rt_exit_critical();
+ #ifdef RT_CAN_USING_LED
+ if(can->config.rcvled != RT_NULL) {
+ rt_pin_mode(can->config.rcvled->pin,can->config.rcvled->mode);
+ rt_pin_write(can->config.rcvled->pin,can->config.rcvled->init);
+ }
+ if(can->config.sndled != RT_NULL) {
+ rt_pin_mode(can->config.sndled->pin,can->config.sndled->mode);
+ rt_pin_write(can->config.sndled->pin,can->config.sndled->init);
+ }
+ if(can->config.errled != RT_NULL) {
+ rt_pin_mode(can->config.errled->pin,can->config.errled->mode);
+ rt_pin_write(can->config.errled->pin,can->config.errled->init);
+ }
+ #endif
+ rt_timer_start(&can->timer);
+ } else {
+ rt_exit_critical();
+ }
+ return RT_EOK;
+}
+
+static rt_err_t rt_can_close(struct rt_device *dev)
+{
+ struct rt_can_device *can;
+
+ RT_ASSERT(dev != RT_NULL);
+ can = (struct rt_can_device *)dev;
+
+ /* this device has more reference count */
+ if (dev->ref_count > 1) return RT_EOK;
+ rt_enter_critical();
+ if(can->timerinitflag) {
+ can->timerinitflag = 0;
+ rt_exit_critical();
+ rt_timer_stop(&can->timer);
+ #ifdef RT_CAN_USING_LED
+ rt_pin_write(can->config.rcvled->pin,can->config.rcvled->init);
+ rt_pin_write(can->config.rcvled->pin,can->config.sndled->init);
+ rt_pin_write(can->config.rcvled->pin,can->config.errled->init);
+ #endif
+ } else {
+ rt_exit_critical();
+ }
+ rt_enter_critical();
+ can->status_indicate.ind = RT_NULL;
+ can->status_indicate.args = RT_NULL;
+ rt_exit_critical();
+#ifdef RT_CAN_USING_HDR
+ rt_enter_critical();
+ if(can->hdr != RT_NULL) {
+ rt_free(can->hdr);
+ can->hdr = RT_NULL;
+ rt_exit_critical();
+ } else {
+ rt_exit_critical();
+ }
+#endif
+ if (dev->open_flag & RT_DEVICE_FLAG_INT_RX)
+ {
+ struct rt_can_rx_fifo* rx_fifo;
+
+ rx_fifo = (struct rt_can_rx_fifo*)can->can_rx;
+ RT_ASSERT(rx_fifo != RT_NULL);
+
+ rt_free(rx_fifo);
+ dev->open_flag &= ~RT_DEVICE_FLAG_INT_RX;
+ /* configure low level device */
+ can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void*)RT_DEVICE_FLAG_INT_TX);
+ }
+ if (dev->open_flag & RT_DEVICE_FLAG_INT_TX)
+ {
+ struct rt_can_tx_fifo* tx_fifo;
+
+ tx_fifo = (struct rt_can_tx_fifo*)can->can_rx;
+ RT_ASSERT(tx_fifo != RT_NULL);
+
+ rt_free(tx_fifo);
+ dev->open_flag &= ~RT_DEVICE_FLAG_INT_TX;
+ /* configure low level device */
+ can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void*)RT_DEVICE_FLAG_INT_TX);
+ }
+ can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_CAN_INT_ERR);
+ return RT_EOK;
+}
+
+static rt_size_t rt_can_read(struct rt_device *dev,
+ rt_off_t pos,
+ void *buffer,
+ rt_size_t size)
+{
+ struct rt_can_device *can;
+
+ RT_ASSERT(dev != RT_NULL);
+ if (size == 0) return 0;
+
+ can = (struct rt_can_device *)dev;
+
+ if (dev->open_flag & RT_DEVICE_FLAG_INT_RX)
+ {
+ return _can_int_rx(can, buffer, size);
+ }
+ return 0;
+}
+
+static rt_size_t rt_can_write(struct rt_device *dev,
+ rt_off_t pos,
+ const void *buffer,
+ rt_size_t size)
+{
+ struct rt_can_device *can;
+
+ RT_ASSERT(dev != RT_NULL);
+ if (size == 0) return 0;
+
+ can = (struct rt_can_device *)dev;
+
+ if (dev->open_flag & RT_DEVICE_FLAG_INT_TX)
+ {
+ if(can->config.privmode) {
+ return _can_int_tx_priv(can, buffer, size);
+ } else {
+ return _can_int_tx(can, buffer, size);
+ }
+ }
+ return 0;
+}
+
+static rt_err_t rt_can_control(struct rt_device *dev,
+ rt_uint8_t cmd,
+ void *args)
+{
+ struct rt_can_device *can;
+ rt_err_t res;
+
+ RT_ASSERT(dev != RT_NULL);
+ can = (struct rt_can_device *)dev;
+
+ switch (cmd)
+ {
+ case RT_DEVICE_CTRL_SUSPEND:
+ /* suspend device */
+ dev->flag |= RT_DEVICE_FLAG_SUSPENDED;
+ break;
+
+ case RT_DEVICE_CTRL_RESUME:
+ /* resume device */
+ dev->flag &= ~RT_DEVICE_FLAG_SUSPENDED;
+ break;
+
+ case RT_DEVICE_CTRL_CONFIG:
+ /* configure device */
+ can->ops->configure(can, (struct can_configure *)args);
+ break;
+ case RT_CAN_CMD_SET_PRIV:
+ /* configure device */
+ if((rt_uint32_t)args != can->config.privmode) {
+ if(res = can->ops->control(can, cmd, args) != RT_EOK) {
+ return res;
+ }
+ struct rt_can_tx_fifo* tx_fifo;
+ tx_fifo = (struct rt_can_tx_fifo*) can->can_tx;
+ int i;
+ rt_base_t level;
+ if(can->config.privmode) {
+ rt_completion_done(&(tx_fifo->completion));
+ level = rt_hw_interrupt_disable();
+ for(i = 0; i< can->config.sndboxnumber; i++)
+ {
+ rt_list_remove(&tx_fifo->buffer[i].list);
+ }
+ rt_hw_interrupt_enable(level);
+ } else {
+ for(i = 0; i< can->config.sndboxnumber; i++)
+ {
+ rt_base_t level;
+ level = rt_hw_interrupt_disable();
+ if(tx_fifo->buffer[i].result == RT_CAN__SND_RESUTL_OK) {
+ rt_list_insert_before(&tx_fifo->freelist,&tx_fifo->buffer[i].list);
+ }
+ rt_hw_interrupt_enable(level);
+ }
+ }
+ return RT_EOK;
+ }
+ break;
+ case RT_CAN_CMD_SET_STATUS_IND:
+ can->status_indicate.ind = ((rt_can_status_ind_type_t)args)->ind;
+ can->status_indicate.args = ((rt_can_status_ind_type_t)args)->args;
+ break;
+#ifdef RT_CAN_USING_HDR
+ case RT_CAN_CMD_SET_FILTER:
+ res = can->ops->control(can, cmd, args);
+ if(res != RT_EOK || can->hdr == RT_NULL) {
+ return res;
+ }
+ {
+ struct rt_can_filter_config* pfilter;
+ struct rt_can_filter_item* pitem;
+ rt_uint32_t count;
+ rt_base_t level;
+ pfilter = (struct rt_can_filter_config*)args;
+ count = pfilter->count;
+ pitem = pfilter->items;
+ if(pfilter->actived) {
+ while(count) {
+ if(pitem->hdr >= can->config.maxhdr || pitem->hdr < 0) {
+ count--;
+ pitem++;
+ continue;
+ }
+ level = rt_hw_interrupt_disable();
+ if(!can->hdr[pitem->hdr].connected) {
+ rt_memcpy(&can->hdr[pitem->hdr].filter,pitem,
+ sizeof(struct rt_can_filter_item));
+ can->hdr[pitem->hdr].connected = 1;
+ can->hdr[pitem->hdr].msgs = 0;
+ rt_list_init(&can->hdr[pitem->hdr].list);
+ }
+ rt_hw_interrupt_enable(level);
+ count--;
+ pitem++;
+ }
+ } else {
+ while(count) {
+ if(pitem->hdr >= can->config.maxhdr || pitem->hdr < 0) {
+ count--;
+ pitem++;
+ continue;
+ }
+ level = rt_hw_interrupt_disable();
+ if(can->hdr[pitem->hdr].connected) {
+ rt_memset(&can->hdr[pitem->hdr].filter,0,
+ sizeof(struct rt_can_filter_item));
+ can->hdr[pitem->hdr].connected = 0;
+ can->hdr[pitem->hdr].msgs = 0;
+ if(!rt_list_isempty(&can->hdr[pitem->hdr].list))
+ {
+ rt_list_remove(can->hdr[pitem->hdr].list.next);
+ }
+ }
+ rt_hw_interrupt_enable(level);
+ count--;
+ pitem++;
+ }
+ }
+ }
+ break;
+#endif /*RT_CAN_USING_HDR*/
+ default :
+ /* control device */
+ if(can->ops->control != RT_NULL)
+ {
+ can->ops->control(can, cmd, args);
+ }
+ break;
+ }
+
+ return RT_EOK;
+}
+/*
+ * can timer
+ */
+static void cantimeout(void* arg)
+{
+ rt_uint32_t ledonflag = 0;
+ rt_can_t can = (rt_can_t)arg;
+ rt_device_control((rt_device_t)can,RT_CAN_CMD_GET_STATUS,(void* )&can->status);
+ if(can->timerinitflag == 1) {
+ ledonflag = 1;
+ can->timerinitflag = 0xFF;
+ }
+ #ifdef RT_CAN_USING_LED
+ if(can->config.rcvled != RT_NULL && can->config.sndled == RT_NULL) {
+ if(ledonflag == 1) {
+ rt_pin_write(can->config.rcvled->pin,can->config.rcvled->init?0:1);
+ } else {
+ if(can->status.rcvchange == 1 || can->status.sndchange == 1)
+ {
+ can->status.rcvchange = 0;
+ can->status.sndchange = 0;
+ rt_pin_write(can->config.rcvled->pin,rt_pin_read(can->config.rcvled->pin)?0:1);
+ } else {
+ rt_pin_write(can->config.rcvled->pin,can->config.rcvled->init);
+ }
+ }
+ } else if(can->config.rcvled != RT_NULL && can->config.sndled != RT_NULL) {
+ if(ledonflag == 1) {
+ rt_pin_write(can->config.rcvled->pin,can->config.rcvled->init?0:1);
+ rt_pin_write(can->config.sndled->pin,can->config.sndled->init?0:1);
+ } else {
+ if(can->status.rcvchange == 1)
+ {
+ can->status.rcvchange = 0;
+ rt_pin_write(can->config.rcvled->pin,rt_pin_read(can->config.rcvled->pin)?0:1);
+ } else {
+ rt_pin_write(can->config.rcvled->pin,can->config.rcvled->init);
+ }
+ if(can->status.sndchange == 1)
+ {
+ can->status.sndchange = 0;
+ rt_pin_write(can->config.sndled->pin,rt_pin_read(can->config.sndled->pin)?0:1);
+ } else {
+ rt_pin_write(can->config.sndled->pin,can->config.sndled->init);
+ }
+ }
+ } else if(can->config.rcvled == RT_NULL && can->config.sndled != RT_NULL) {
+ if(ledonflag == 1) {
+ rt_pin_write(can->config.sndled->pin,can->config.sndled->init?0:1);
+ } else {
+ if(can->status.rcvchange == 1 || can->status.sndchange == 1)
+ {
+ can->status.rcvchange = 0;
+ can->status.sndchange = 0;
+ rt_pin_write(can->config.sndled->pin,rt_pin_read(can->config.sndled->pin)?0:1);
+ } else {
+ rt_pin_write(can->config.sndled->pin,can->config.sndled->init);
+ }
+ }
+ }
+ if(ledonflag == 1) {
+ rt_pin_write(can->config.errled->pin,can->config.errled->init?0:1);
+ } else {
+ if(can->status.errcode) {
+ rt_pin_write(can->config.errled->pin,can->config.errled->init?0:1);
+ } else {
+ rt_pin_write(can->config.errled->pin,can->config.errled->init);
+ }
+ }
+ #endif
+ if(can->status_indicate.ind != RT_NULL)
+ {
+ can->status_indicate.ind(can,can->status_indicate.args);
+ }
+}
+
+/*
+ * can register
+ */
+rt_err_t rt_hw_can_register(struct rt_can_device *can,
+ const char *name,
+ const struct rt_can_ops *ops,
+ void *data)
+{
+ struct rt_device *device;
+ RT_ASSERT(can != RT_NULL);
+
+ device = &(can->parent);
+
+ device->type = RT_Device_Class_CAN;
+ device->rx_indicate = RT_NULL;
+ device->tx_complete = RT_NULL;
+#ifdef RT_CAN_USING_HDR
+ can->hdr = RT_NULL;
+#endif
+ can->can_rx = RT_NULL;
+ can->can_tx = RT_NULL;
+ device->init = rt_can_init;
+ device->open = rt_can_open;
+ device->close = rt_can_close;
+ device->read = rt_can_read;
+ device->write = rt_can_write;
+ device->control = rt_can_control;
+ can->ops = ops;
+
+ can->status_indicate.ind = RT_NULL;
+ can->status_indicate.args = RT_NULL;
+ rt_memset(&can->status,0,sizeof(can->status));
+
+ device->user_data = data;
+ can->timerinitflag = 0;
+ if(can->config.rcvled != RT_NULL ||
+ can->config.sndled != RT_NULL ||
+ can->config.errled != RT_NULL)
+ {
+ rt_timer_init(&can->timer,
+ name,
+ cantimeout,
+ (void*)can,
+ can->config.ticks,
+ RT_TIMER_FLAG_PERIODIC);
+ }
+ /* register a character device */
+ return rt_device_register(device, name, RT_DEVICE_FLAG_RDWR);
+}
+
+/* ISR for can interrupt */
+void rt_hw_can_isr(struct rt_can_device *can, int event)
+{
+ switch (event & 0xff)
+ {
+ case RT_CAN_EVENT_RXOF_IND:
+ {
+ rt_base_t level;
+ level = rt_hw_interrupt_disable();
+ can->status.dropedrcvpkg++;
+ rt_hw_interrupt_enable(level);
+ }
+ case RT_CAN_EVENT_RX_IND:
+ {
+ struct rt_can_msg tmpmsg;
+ struct rt_can_rx_fifo* rx_fifo;
+ struct rt_can_msg_list* listmsg=RT_NULL;
+#ifdef RT_CAN_USING_HDR
+ rt_int32_t hdr;
+#endif
+ int ch = -1;
+ rt_base_t level;
+ rx_fifo = (struct rt_can_rx_fifo*)can->can_rx;
+ RT_ASSERT(rx_fifo != RT_NULL);
+ /* interrupt mode receive */
+ RT_ASSERT(can->parent.open_flag & RT_DEVICE_FLAG_INT_RX);
+
+ rt_uint32_t no;
+ no = event >> 8;
+ ch = can->ops->recvmsg(can,&tmpmsg,no);
+ if (ch == -1) break;
+ /* disable interrupt */
+ level = rt_hw_interrupt_disable();
+ can->status.rcvpkg++;
+ can->status.rcvchange = 1;
+ if(!rt_list_isempty(&rx_fifo->freelist))
+ {
+ listmsg = rt_list_entry(rx_fifo->freelist.next, struct rt_can_msg_list, list);
+ rt_list_remove(&listmsg->list);
+#ifdef RT_CAN_USING_HDR
+ rt_list_remove(&listmsg->hdrlist);
+ if(listmsg->owner != RT_NULL && listmsg->owner->msgs) {
+ listmsg->owner->msgs--;
+ }
+ listmsg->owner = RT_NULL;
+#endif /*RT_CAN_USING_HDR*/
+ RT_ASSERT(rx_fifo->freenumbers >0);
+ rx_fifo->freenumbers--;
+ } else if(!rt_list_isempty(&rx_fifo->uselist)) {
+ listmsg = rt_list_entry(rx_fifo->uselist.next, struct rt_can_msg_list, list);
+ can->status.dropedrcvpkg++;
+ rt_list_remove(&listmsg->list);
+#ifdef RT_CAN_USING_HDR
+ rt_list_remove(&listmsg->hdrlist);
+ if(listmsg->owner != RT_NULL && listmsg->owner->msgs) {
+ listmsg->owner->msgs--;
+ }
+ listmsg->owner = RT_NULL;
+#endif
+ }
+ /* enable interrupt */
+ rt_hw_interrupt_enable(level);
+ if(listmsg != RT_NULL) {
+ rt_memcpy(&listmsg->data,&tmpmsg,sizeof(struct rt_can_msg));
+ level = rt_hw_interrupt_disable();
+ rt_list_insert_before(&rx_fifo->uselist,&listmsg->list);
+#ifdef RT_CAN_USING_HDR
+ hdr = tmpmsg.hdr;
+ if(can->hdr != RT_NULL) {
+ RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
+ if(can->hdr[hdr].connected) {
+ rt_list_insert_before(&can->hdr[hdr].list,&listmsg->hdrlist);
+ listmsg->owner = &can->hdr[hdr];
+ can->hdr[hdr].msgs++;
+ }
+
+ }
+#endif
+ rt_hw_interrupt_enable(level);
+ }
+
+ /* invoke callback */
+#ifdef RT_CAN_USING_HDR
+ if(can->hdr != RT_NULL && can->hdr[hdr].connected && can->hdr[hdr].filter.ind) {
+ RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
+ rt_size_t rx_length;
+ level = rt_hw_interrupt_disable();
+ rx_length = can->hdr[hdr].msgs * sizeof(struct rt_can_msg);
+ rt_hw_interrupt_enable(level);
+ can->hdr[hdr].filter.ind(&can->parent, can->hdr[hdr].filter.args, hdr, rx_length);
+
+ } else
+#endif
+ if (can->parent.rx_indicate != RT_NULL) {
+ rt_size_t rx_length;
+ /* get rx length */
+ level = rt_hw_interrupt_disable();
+ rx_length = rx_fifo->freenumbers*sizeof(struct rt_can_msg);
+ rt_hw_interrupt_enable(level);
+
+ can->parent.rx_indicate(&can->parent, rx_length);
+ }
+ break;
+ }
+ case RT_CAN_EVENT_TX_DONE:
+ case RT_CAN_EVENT_TX_FAIL:
+ {
+ struct rt_can_tx_fifo* tx_fifo;
+ rt_uint32_t no;
+ no = event >> 8;
+ tx_fifo = (struct rt_can_tx_fifo*) can->can_tx;
+ RT_ASSERT(tx_fifo != RT_NULL);
+ if((event & 0xff) == RT_CAN_EVENT_TX_DONE) {
+ tx_fifo->buffer[no].result = RT_CAN__SND_RESUTL_OK;
+ } else {
+ tx_fifo->buffer[no].result = RT_CAN__SND_RESUTL_ERR;
+ }
+ rt_completion_done(&(tx_fifo->buffer[no].completion));
+ break;
+ }
+ }
+}
+#ifdef RT_USING_FINSH
+#include <finsh.h>
+int cmd_canstat(int argc,void** argv)
+{
+ static const char* ErrCode[] = {
+ "No Error!",
+ "Warning !",
+ "Passive !",
+ "Bus Off !"
+ };
+ if(argc >= 2) {
+ rt_device_t candev = rt_device_find(argv[1]);
+ if(!candev) {
+ rt_kprintf(" Can't find can device %s\n",argv[1]);
+ return -1;
+ }
+ rt_kprintf(" Finded can device: %s...",argv[1]);
+ struct rt_can_status status;
+ rt_device_control(candev,RT_CAN_CMD_GET_STATUS,&status);
+ rt_kprintf("\n Receive...error..count: %010ld. Send.....error....count: %010ld.",
+ status.rcverrcnt,status.snderrcnt);
+ rt_kprintf("\n Bit..pad..error..count: %010ld. Format...error....count: %010ld",
+ status.bitpaderrcnt,status.formaterrcnt);
+ rt_kprintf("\n Ack.......error..count: %010ld. Bit......error....count: %010ld.",
+ status.ackerrcnt,status.biterrcnt);
+ rt_kprintf("\n CRC.......error..count: %010ld. Error.code.[%010ld]: ",
+ status.crcerrcnt,status.errcode);
+ switch(status.errcode) {
+ case 0:
+ rt_kprintf("%s.",ErrCode[0]);
+ break;
+ case 1:
+ rt_kprintf("%s.",ErrCode[1]);
+ break;
+ case 2:
+ case 3:
+ rt_kprintf("%s.",ErrCode[2]);
+ break;
+ case 4:
+ case 5:
+ case 6:
+ case 7:
+ rt_kprintf("%s.",ErrCode[3]);
+ break;
+ }
+ rt_kprintf("\n Total.receive.packages: %010ld. Droped.receive.packages: %010ld.",
+ status.rcvpkg,status.dropedrcvpkg);
+ rt_kprintf("\n Total..send...packages: %010ld. Droped...send..packages: %010ld.\n",
+ status.sndpkg + status.dropedsndpkg,status.dropedsndpkg);
+ } else {
+ rt_kprintf(" Invalid Call %s\n",argv[0]);
+ rt_kprintf(" Please using %s cannamex .Here canname is driver name and x is candrive number.\n",argv[0]);
+ }
+ return 0;
+}
+FINSH_FUNCTION_EXPORT_ALIAS(cmd_canstat, __cmd_canstat, Stat Can Device Status.);
+#endif
diff --git a/components/drivers/include/drivers/can.h b/components/drivers/include/drivers/can.h
new file mode 100644
index 0000000000..0bd4106ee0
--- /dev/null
+++ b/components/drivers/include/drivers/can.h
@@ -0,0 +1,292 @@
+/*
+ * File : can.h
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2015, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date Author Notes
+ */
+#ifndef CAN_H_
+#define CAN_H_
+
+#ifndef RT_CANMSG_BOX_SZ
+#define RT_CANMSG_BOX_SZ 16
+#endif
+#ifndef RT_CANSND_BOX_NUM
+#define RT_CANSND_BOX_NUM 1
+#endif
+
+enum CANBAUD
+{
+ CAN1MBaud=0, // 1 MBit/sec
+ CAN800kBaud, // 800 kBit/sec
+ CAN500kBaud, // 500 kBit/sec
+ CAN250kBaud, // 250 kBit/sec
+ CAN125kBaud, // 125 kBit/sec
+ CAN100kBaud, // 100 kBit/sec
+ CAN50kBaud, // 50 kBit/sec
+ CAN20kBaud, // 20 kBit/sec
+ CAN10kBaud // 10 kBit/sec
+};
+#define RT_CAN_MODE_NORMAL 0
+#define RT_CAN_MODE_LISEN 1
+#define RT_CAN_MODE_LOOPBACK 2
+#define RT_CAN_MODE_LOOPBACKANLISEN 3
+
+#define RT_CAN_MODE_PRIV 0x01
+#define RT_CAN_MODE_NOPRIV 0x00
+
+#ifdef RT_CAN_USING_LED
+struct rt_can_led
+{
+ rt_uint32_t pin,mode,init;
+ struct rt_timer* timer;
+ const char* timer_name;
+};
+#endif /*RT_CAN_USING_LED*/
+
+struct rt_can_filter_item
+{
+ rt_uint32_t id :29;
+ rt_uint32_t ide :1;
+ rt_uint32_t rtr :1;
+ rt_uint32_t mode :1;
+ rt_uint32_t mask;
+ rt_int32_t hdr;
+ rt_err_t (*ind)(rt_device_t dev, void* args ,rt_int32_t hdr, rt_size_t size);
+ void* args;
+};
+#ifdef RT_CAN_USING_HDR
+#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,ind,args) \
+ {\
+ id,\
+ ide,\
+ rtr,\
+ mode,\
+ mask,\
+ -1,\
+ ind,\
+ args,\
+ }
+#define RT_CAN_FILTER_STD_INIT(id,ind,args) \
+ RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,ind,args)
+#define RT_CAN_FILTER_EXT_INIT(id,ind,args) \
+ RT_CAN_FILTER_ITEM_INIT(id,1,0,0,0xFFFFFFFF,ind,args)
+#define RT_CAN_STD_RMT_FILTER_INIT(id,ind,args) \
+ RT_CAN_FILTER_ITEM_INIT(id,0,1,0,0xFFFFFFFF,ind,args)
+#define RT_CAN_EXT_RMT_FILTER_INIT(id,ind,args) \
+ RT_CAN_FILTER_ITEM_INIT(id,1,1,0,0xFFFFFFFF,ind,args)
+#define RT_CAN_STD_RMT_DATA_FILTER_INIT(id,ind,args) \
+ RT_CAN_FILTER_ITEM_INIT(id,0,0,1,0xFFFFFFFF,ind,args)
+#define RT_CAN_EXT_RMT_DATA_FILTER_INIT(id,ind,args) \
+ RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF,ind,args)
+#else
+#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,args) \
+ {\
+ id,\
+ ide,\
+ rtr,\
+ mode,\
+ mask,\
+ -1,\
+ args,\
+ }
+#define RT_CAN_FILTER_STD_INIT(id,args) \
+ RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,args)
+#define RT_CAN_FILTER_EXT_INIT(id,args) \
+ RT_CAN_FILTER_ITEM_INIT(id,1,0,0,0xFFFFFFFF,args)
+#define RT_CAN_STD_RMT_FILTER_INIT(id,args) \
+ RT_CAN_FILTER_ITEM_INIT(id,0,1,0,0xFFFFFFFF,args)
+#define RT_CAN_EXT_RMT_FILTER_INIT(id,args) \
+ RT_CAN_FILTER_ITEM_INIT(id,1,1,0,0xFFFFFFFF,args)
+#define RT_CAN_STD_RMT_DATA_FILTER_INIT(id,args) \
+ RT_CAN_FILTER_ITEM_INIT(id,0,0,1,0xFFFFFFFF,args)
+#define RT_CAN_EXT_RMT_DATA_FILTER_INIT(id,args) \
+ RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF,args)
+#endif
+
+struct rt_can_filter_config
+{
+ rt_uint32_t count;
+ rt_uint32_t actived;
+ struct rt_can_filter_item* items;
+};
+struct can_configure
+{
+ rt_uint32_t baud_rate;
+ rt_uint32_t msgboxsz;
+ rt_uint32_t sndboxnumber;
+ rt_uint32_t mode :8;
+ rt_uint32_t privmode :8;
+ rt_uint32_t reserved :16;
+ #ifdef RT_CAN_USING_LED
+ const struct rt_can_led* rcvled;
+ const struct rt_can_led* sndled;
+ const struct rt_can_led* errled;
+ #endif /*RT_CAN_USING_LED*/
+ rt_uint32_t ticks;
+#ifdef RT_CAN_USING_HDR
+ rt_uint32_t maxhdr;
+#endif
+};
+
+#define CANDEFAULTCONFIG \
+{\
+ CAN1MBaud,\
+ RT_CANMSG_BOX_SZ,\
+ RT_CANSND_BOX_NUM,\
+ RT_CAN_MODE_NORMAL,\
+};
+
+struct rt_can_ops;
+#define RT_CAN_CMD_SET_FILTER 0x13
+#define RT_CAN_CMD_SET_BAUD 0x14
+#define RT_CAN_CMD_SET_MODE 0x15
+#define RT_CAN_CMD_SET_PRIV 0x16
+#define RT_CAN_CMD_GET_STATUS 0x17
+#define RT_CAN_CMD_SET_STATUS_IND 0x18
+
+#define RT_DEVICE_CAN_INT_ERR 0x1000
+
+enum RT_CAN_STATUS_MODE
+{
+ NORMAL = 0,
+ ERRWARNING = 1,
+ ERRPASSIVE = 2,
+ BUSOFF = 4,
+};
+enum RT_CAN_BUS_ERR
+{
+ RT_CAN_BUS_NO_ERR = 0,
+ RT_CAN_BUS_BIT_PAD_ERR = 1,
+ RT_CAN_BUS_FORMAT_ERR = 2,
+ RT_CAN_BUS_ACK_ERR = 3,
+ RT_CAN_BUS_IMPLICIT_BIT_ERR = 4,
+ RT_CAN_BUS_EXPLICIT_BIT_ERR = 5,
+ RT_CAN_BUS_CRC_ERR = 6,
+};
+struct rt_can_status
+{
+ rt_uint32_t rcverrcnt;
+ rt_uint32_t snderrcnt;
+ rt_uint32_t errcode;
+ rt_uint32_t rcvpkg;
+ rt_uint32_t dropedrcvpkg;
+ rt_uint32_t sndpkg;
+ rt_uint32_t dropedsndpkg;
+ rt_uint32_t bitpaderrcnt;
+ rt_uint32_t formaterrcnt;
+ rt_uint32_t ackerrcnt;
+ rt_uint32_t biterrcnt;
+ rt_uint32_t crcerrcnt;
+ rt_uint32_t rcvchange;
+ rt_uint32_t sndchange;
+ rt_uint32_t lasterrtype;
+};
+#ifdef RT_CAN_USING_HDR
+struct rt_can_hdr {
+ rt_uint32_t connected;
+ rt_uint32_t msgs;
+ struct rt_can_filter_item filter;
+ struct rt_list_node list;
+};
+#endif
+struct rt_can_device;
+typedef rt_err_t (*rt_canstatus_ind)(struct rt_can_device*, void*);
+typedef struct rt_can_status_ind_type
+{
+ rt_canstatus_ind ind;
+ void* args;
+} *rt_can_status_ind_type_t;
+struct rt_can_device
+{
+ struct rt_device parent;
+
+ const struct rt_can_ops *ops;
+ struct can_configure config;
+ struct rt_can_status status;
+ rt_uint32_t timerinitflag;
+ struct rt_timer timer;
+ struct rt_can_status_ind_type status_indicate;
+#ifdef RT_CAN_USING_HDR
+ struct rt_can_hdr* hdr;
+#endif
+ void *can_rx;
+ void *can_tx;
+};
+typedef struct rt_can_device *rt_can_t;
+
+#define RT_CAN_STDID 0
+#define RT_CAN_EXTID 1
+#define RT_CAN_DTR 0
+#define RT_CAN_RTR 1
+
+typedef struct rt_can_status * rt_can_status_t;
+struct rt_can_msg
+{
+ rt_uint32_t id :29;
+ rt_uint32_t ide :1;
+ rt_uint32_t rtr :1;
+ rt_uint32_t rsv :1;
+ rt_uint32_t len :8;
+ rt_uint32_t priv :8;
+ rt_uint32_t hdr :8;
+ rt_uint32_t reserved :8;
+ rt_uint8_t data[8];
+};
+typedef struct rt_can_msg* rt_can_msg_t;
+struct rt_can_msg_list {
+ struct rt_list_node list;
+#ifdef RT_CAN_USING_HDR
+ struct rt_list_node hdrlist;
+ struct rt_can_hdr* owner;
+#endif
+ struct rt_can_msg data;
+};
+struct rt_can_rx_fifo
+{
+ /* software fifo */
+ struct rt_can_msg_list *buffer;
+ rt_uint32_t freenumbers;
+ struct rt_list_node freelist;
+ struct rt_list_node uselist;
+};
+
+#define RT_CAN__SND_RESUTL_OK 0
+#define RT_CAN__SND_RESUTL_ERR 1
+#define RT_CAN__SND_RESUTL_WAIT 2
+
+#define RT_CAN_EVENT_RX_IND 0x01 /* Rx indication */
+#define RT_CAN_EVENT_TX_DONE 0x02 /* Tx complete */
+#define RT_CAN_EVENT_TX_FAIL 0x03 /* Tx complete */
+#define RT_CAN_EVENT_RX_TIMEOUT 0x05 /* Rx timeout */
+#define RT_CAN_EVENT_RXOF_IND 0x06 /* Rx overflow */
+
+struct rt_can_sndbxinx_list {
+ struct rt_list_node list;
+ struct rt_completion completion;
+ rt_uint32_t result;
+};
+struct rt_can_tx_fifo
+{
+ struct rt_can_sndbxinx_list *buffer;
+ struct rt_completion completion;
+ struct rt_list_node freelist;
+};
+struct rt_can_ops
+{
+ rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
+ rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
+ int (*sendmsg)(struct rt_can_device *can, const void* buf, rt_uint32_t boxno);
+ int (*recvmsg)(struct rt_can_device *can,void* buf, rt_uint32_t boxno);
+};
+rt_err_t rt_hw_can_register(struct rt_can_device *can,
+ const char *name,
+ const struct rt_can_ops *ops,
+ void *data);
+void rt_hw_can_isr(struct rt_can_device *can, int event);
+#endif /*_CAN_H*/
diff --git a/components/drivers/include/rtdevice.h b/components/drivers/include/rtdevice.h
index 5d74ed6199..f4d967831c 100644
--- a/components/drivers/include/rtdevice.h
+++ b/components/drivers/include/rtdevice.h
@@ -366,6 +366,10 @@ rt_inline void rt_work_init(struct rt_work* work, void (*work_func)(struct rt_wo
#include "drivers/pin.h"
#endif
+#ifdef RT_USING_CAN
+#include "drivers/can.h"
+#endif
+
#ifdef __cplusplus
}
#endif
generated by cgit v1.3.1 (git 2.54.0) at 2026-10-30 16:43:50 +0000