add n32g45x can 驱动

2 files changed, 1045 insertions, 0 deletions

diff --git a/bsp/n32g452xx/Libraries/rt_drivers/drv_can.c b/bsp/n32g452xx/Libraries/rt_drivers/drv_can.c
new file mode 100644
index 0000000000..c4aeecdefa
--- /dev/null
+++ b/bsp/n32g452xx/Libraries/rt_drivers/drv_can.c
@@ -0,0 +1,1015 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2022-01-09     chenbin      the first version
+ */
+
+#include "drv_can.h"
+#ifdef BSP_USING_CAN
+
+#include "stdint.h"
+#include "n32g45x.h"
+#include "n32g45x_can.h"
+
+struct n32g45x_baud_rate_tab
+{
+	uint32_t baud_rate;
+	uint16_t PRESCALE;
+	uint8_t RSJW;
+	uint8_t TBS1;
+	uint8_t TBS2;
+	uint8_t notused;
+};
+
+#define N32_CAN_BAUD_DEF(rate,rsjw,tbs1,tbs2,prescale) \
+	{.baud_rate = rate, \
+	 .RSJW = rsjw, \
+	 .TBS1 = tbs1, \
+	 .TBS2 = tbs2, \
+	 .PRESCALE = prescale \
+	}
+
+/* N32G45x can device */
+struct n32g45x_can
+{
+    char *name;
+		CAN_Module * 					 CANx;
+    CAN_InitType           can_init;
+    CAN_FilterInitType     can_filter_init;
+    struct rt_can_device   device;     /* inherit from can device */
+};
+
+#define LOG_TAG    "drv_can"
+#include <drv_log.h>
+
+/*
+* N32G45x CAN1 CAN2 used APB1 (36MHz)
+* baud calculation example:  baud =  Tclk / ((ss + bs1 + bs2) * brp)
+* 36MHz / ((1 + 5 + 3) * 4) = 1MHz
+*/
+#if defined (N32G45X)/* APB1 36MHz(max) */
+static const struct n32g45x_baud_rate_tab can_baud_rate_tab[] =
+{
+	N32_CAN_BAUD_DEF(CAN1MBaud,   CAN_RSJW_1tq, CAN_TBS1_5tq, CAN_TBS2_3tq, 4),
+	N32_CAN_BAUD_DEF(CAN800kBaud, CAN_RSJW_1tq, CAN_TBS1_5tq, CAN_TBS2_3tq, 5),
+	N32_CAN_BAUD_DEF(CAN500kBaud, CAN_RSJW_1tq, CAN_TBS1_5tq, CAN_TBS2_3tq, 8),
+	N32_CAN_BAUD_DEF(CAN250kBaud, CAN_RSJW_1tq, CAN_TBS1_5tq, CAN_TBS2_3tq, 16),
+	N32_CAN_BAUD_DEF(CAN125kBaud, CAN_RSJW_1tq, CAN_TBS1_5tq, CAN_TBS2_3tq, 32),
+	N32_CAN_BAUD_DEF(CAN100kBaud, CAN_RSJW_2tq, CAN_TBS1_8tq, CAN_TBS2_8tq, 20),
+	N32_CAN_BAUD_DEF(CAN50kBaud,  CAN_RSJW_2tq, CAN_TBS1_8tq, CAN_TBS2_8tq, 40),
+	N32_CAN_BAUD_DEF(CAN20kBaud,  CAN_RSJW_2tq, CAN_TBS1_8tq, CAN_TBS2_8tq, 80),
+	N32_CAN_BAUD_DEF(CAN10kBaud,  CAN_RSJW_2tq, CAN_TBS1_8tq, CAN_TBS2_8tq, 160),
+};
+#endif
+
+#ifdef BSP_USING_CAN1
+static struct n32g45x_can drv_can1 =
+{
+    .name = "can1",
+    .CANx = CAN1,
+};
+#endif
+
+#ifdef BSP_USING_CAN2
+static struct n32g45x_can drv_can2 =
+{
+    .name = "can2",
+    .CANx = CAN2,
+};
+#endif
+
+static uint32_t get_can_baud_index(rt_uint32_t baud)
+{
+    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 uint8_t get_can_mode_rtt2n32(uint8_t rtt_can_mode)
+{
+	uint8_t mode = CAN_Normal_Mode;
+	switch (rtt_can_mode)
+	{
+	case RT_CAN_MODE_NORMAL:
+			mode = CAN_Normal_Mode;
+			break;
+	case RT_CAN_MODE_LISEN:
+			mode = CAN_Silent_Mode;
+			break;
+	case RT_CAN_MODE_LOOPBACK:
+			mode = CAN_LoopBack_Mode;
+			break;
+	case RT_CAN_MODE_LOOPBACKANLISEN:
+			mode = CAN_Silent_LoopBack_Mode;
+			break;
+	}
+	return mode;
+}
+
+static rt_err_t _can_filter_config(struct n32g45x_can *drv_can)
+{
+		if(drv_can->CANx == CAN1)
+		{
+			CAN1_InitFilter(&(drv_can->can_filter_init));
+		}
+#ifdef CAN2
+		else
+		if(drv_can->CANx == CAN2)
+		{
+			CAN2_InitFilter(&(drv_can->can_filter_init));
+		}
+#endif
+		else
+		{
+			rt_kprintf("can filter config error\n");
+			return -RT_EINVAL;
+		}
+		return RT_EOK;
+}
+
+static rt_err_t _can_config(struct rt_can_device *can, struct can_configure *cfg)
+{
+    struct n32g45x_can *drv_can;
+    rt_uint32_t baud_index;
+
+    RT_ASSERT(can);
+    RT_ASSERT(cfg);
+    drv_can = (struct n32g45x_can *)can->parent.user_data;
+    RT_ASSERT(drv_can);
+	
+		/* CAN1 and CAN2 register init */
+		//CAN_DeInit(drv_can->CANx);
+	
+		/* Configure CAN1 and CAN2 */
+		if(drv_can->CANx == CAN1)
+		{
+			RCC_EnableAPB1PeriphClk(RCC_APB1_PERIPH_CAN1 , ENABLE);
+			n32_msp_can_init(CAN1);
+		}
+#ifdef CAN2
+		else
+		if(drv_can->CANx == CAN2)
+		{
+			RCC_EnableAPB1PeriphClk(RCC_APB1_PERIPH_CAN2 , ENABLE);
+			n32_msp_can_init(CAN2);
+		}
+#endif
+		else
+		{
+			rt_kprintf("can init error1\n");
+			return -RT_EINVAL;
+		}
+    /* Struct init*/
+    CAN_InitStruct(&(drv_can->can_init));
+		
+    drv_can->can_init.TTCM          = DISABLE;
+    drv_can->can_init.ABOM          = DISABLE;
+    drv_can->can_init.AWKUM         = DISABLE;
+    drv_can->can_init.NART          = DISABLE;
+    drv_can->can_init.RFLM          = DISABLE;
+    drv_can->can_init.TXFP          = ENABLE;
+		
+		//mode
+    drv_can->can_init.OperatingMode = get_can_mode_rtt2n32(cfg->mode);
+		
+		//baud
+    baud_index = get_can_baud_index(cfg->baud_rate);
+    drv_can->can_init.RSJW    = can_baud_rate_tab[baud_index].RSJW;
+    drv_can->can_init.TBS1    = can_baud_rate_tab[baud_index].TBS1;
+    drv_can->can_init.TBS2    = can_baud_rate_tab[baud_index].TBS2;
+    drv_can->can_init.BaudRatePrescaler  = can_baud_rate_tab[baud_index].PRESCALE;
+
+    /* init can */
+		if( CAN_Init(drv_can->CANx, &(drv_can->can_init) ) != CAN_InitSTS_Success )
+		{
+			rt_kprintf("can init error2\n");
+			return -RT_ERROR;
+		}
+		/* default filter config */
+		_can_filter_config(drv_can);
+    return RT_EOK;
+}
+
+#ifndef CAN1_TX_IRQn
+#define CAN1_TX_IRQn USB_HP_CAN1_TX_IRQn
+#endif
+
+#ifndef CAN1_RX0_IRQn
+#define CAN1_RX0_IRQn USB_LP_CAN1_RX0_IRQn
+#endif
+
+static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
+{
+    rt_uint32_t argval;
+    struct n32g45x_can *drv_can;
+    struct rt_can_filter_config *filter_cfg;
+
+    RT_ASSERT(can != RT_NULL);
+    drv_can = (struct n32g45x_can *)can->parent.user_data;
+    RT_ASSERT(drv_can != RT_NULL);
+
+    switch (cmd)
+    {
+    case RT_DEVICE_CTRL_CLR_INT:
+        argval = (rt_uint32_t) arg;
+        if (argval == RT_DEVICE_FLAG_INT_RX)
+        {
+            if (CAN1 == drv_can->CANx)
+            {
+                NVIC_DisableIRQ(CAN1_RX0_IRQn);
+                NVIC_DisableIRQ(CAN1_RX1_IRQn);
+            }
+#ifdef CAN2
+            if (CAN2 == drv_can->CANx)
+            {
+                NVIC_DisableIRQ(CAN2_RX0_IRQn);
+                NVIC_DisableIRQ(CAN2_RX1_IRQn);
+            }
+#endif
+						CAN_INTConfig(drv_can->CANx, CAN_INT_FMP0, DISABLE);   /*!< DATFIFO 0 message pending Interrupt*/
+						CAN_INTConfig(drv_can->CANx, CAN_INT_FF0, DISABLE);   /*!< DATFIFO 0 full Interrupt*/
+						CAN_INTConfig(drv_can->CANx, CAN_INT_FOV0, DISABLE);  /*!< DATFIFO 0 overrun Interrupt*/
+						CAN_INTConfig(drv_can->CANx, CAN_INT_FMP1, DISABLE);  /*!< DATFIFO 1 message pending Interrupt*/
+						CAN_INTConfig(drv_can->CANx, CAN_INT_FF1, DISABLE);  /*!< DATFIFO 1 full Interrupt*/
+						CAN_INTConfig(drv_can->CANx, CAN_INT_FOV1, DISABLE);  /*!< DATFIFO 1 overrun Interrupt*/
+        }
+        else if (argval == RT_DEVICE_FLAG_INT_TX)
+        {
+            if (CAN1 == drv_can->CANx)
+            {
+                NVIC_DisableIRQ(CAN1_TX_IRQn);
+            }
+#ifdef CAN2
+            if (CAN2 == drv_can->CANx)
+            {
+                NVIC_DisableIRQ(CAN2_TX_IRQn);
+            }
+#endif
+            CAN_INTConfig(drv_can->CANx, CAN_INT_TME, DISABLE);  /*!< Transmit mailbox empty Interrupt*/
+        }
+        else if (argval == RT_DEVICE_CAN_INT_ERR)
+        {
+            if (CAN1 == drv_can->CANx)
+            {
+                NVIC_DisableIRQ(CAN1_SCE_IRQn);
+            }
+#ifdef CAN2
+            if (CAN2 == drv_can->CANx)
+            {
+                NVIC_DisableIRQ(CAN2_SCE_IRQn);
+            }
+#endif
+						CAN_INTConfig(drv_can->CANx, CAN_INT_EWG, DISABLE); /*!< Error warning Interrupt*/
+						CAN_INTConfig(drv_can->CANx, CAN_INT_EPV, DISABLE); /*!< Error passive Interrupt*/
+						CAN_INTConfig(drv_can->CANx, CAN_INT_BOF, DISABLE); /*!< Bus-off Interrupt*/
+						CAN_INTConfig(drv_can->CANx, CAN_INT_LEC, DISABLE); /*!< Last error code Interrupt*/
+						CAN_INTConfig(drv_can->CANx, CAN_INT_ERR, DISABLE); /*!< Error Interrupt*/
+        }
+        break;
+    case RT_DEVICE_CTRL_SET_INT:
+        argval = (rt_uint32_t) arg;
+        if (argval == RT_DEVICE_FLAG_INT_RX)
+        {
+						CAN_INTConfig(drv_can->CANx, CAN_INT_FMP0, ENABLE);   /*!< DATFIFO 0 message pending Interrupt*/
+						CAN_INTConfig(drv_can->CANx, CAN_INT_FF0,  ENABLE);   /*!< DATFIFO 0 full Interrupt*/
+						CAN_INTConfig(drv_can->CANx, CAN_INT_FOV0, ENABLE);  /*!< DATFIFO 0 overrun Interrupt*/
+						CAN_INTConfig(drv_can->CANx, CAN_INT_FMP1, ENABLE);  /*!< DATFIFO 1 message pending Interrupt*/
+						CAN_INTConfig(drv_can->CANx, CAN_INT_FF1,  ENABLE);  /*!< DATFIFO 1 full Interrupt*/
+						CAN_INTConfig(drv_can->CANx, CAN_INT_FOV1, ENABLE);  /*!< DATFIFO 1 overrun Interrupt*/
+						
+            if (CAN1 == drv_can->CANx)
+            {
+                NVIC_SetPriority(CAN1_RX0_IRQn, 1);
+                NVIC_EnableIRQ(CAN1_RX0_IRQn);
+                NVIC_SetPriority(CAN1_RX1_IRQn, 1);
+                NVIC_EnableIRQ(CAN1_RX1_IRQn);
+            }
+#ifdef CAN2
+            if (CAN2 == drv_can->CANx)
+            {
+                NVIC_SetPriority(CAN2_RX0_IRQn, 1);
+                NVIC_EnableIRQ(CAN2_RX0_IRQn);
+                NVIC_SetPriority(CAN2_RX1_IRQn, 1);
+                NVIC_EnableIRQ(CAN2_RX1_IRQn);
+            }
+#endif
+        }
+        else if (argval == RT_DEVICE_FLAG_INT_TX)
+        {
+            CAN_INTConfig(drv_can->CANx, CAN_INT_TME, ENABLE);  /*!< Transmit mailbox empty Interrupt*/
+
+            if (CAN1 == drv_can->CANx)
+            {
+                NVIC_SetPriority(CAN1_TX_IRQn, 1);
+                NVIC_EnableIRQ(CAN1_TX_IRQn);
+            }
+#ifdef CAN2
+            if (CAN2 == drv_can->CANx)
+            {
+                NVIC_SetPriority(CAN2_TX_IRQn, 1);
+                NVIC_EnableIRQ(CAN2_TX_IRQn);
+            }
+#endif
+        }
+        else if (argval == RT_DEVICE_CAN_INT_ERR)
+        {
+						CAN_INTConfig(drv_can->CANx, CAN_INT_EWG, ENABLE); /*!< Error warning Interrupt*/
+						CAN_INTConfig(drv_can->CANx, CAN_INT_EPV, ENABLE); /*!< Error passive Interrupt*/
+						CAN_INTConfig(drv_can->CANx, CAN_INT_BOF, ENABLE); /*!< Bus-off Interrupt*/
+						CAN_INTConfig(drv_can->CANx, CAN_INT_LEC, ENABLE); /*!< Last error code Interrupt*/
+						CAN_INTConfig(drv_can->CANx, CAN_INT_ERR, ENABLE); /*!< Error Interrupt*/
+
+            if (CAN1 == drv_can->CANx)
+            {
+                NVIC_SetPriority(CAN1_SCE_IRQn, 1);
+                NVIC_EnableIRQ(CAN1_SCE_IRQn);
+            }
+#ifdef CAN2
+            if (CAN2 == drv_can->CANx)
+            {
+                NVIC_SetPriority(CAN2_SCE_IRQn, 1);
+                NVIC_EnableIRQ(CAN2_SCE_IRQn);
+            }
+#endif
+        }
+        break;
+    case RT_CAN_CMD_SET_FILTER:
+    {
+        rt_uint32_t id_h = 0;
+        rt_uint32_t id_l = 0;
+        rt_uint32_t mask_h = 0;
+        rt_uint32_t mask_l = 0;
+        rt_uint32_t mask_l_tail = 0;  //CAN_FxR2 bit [2:0]
+
+        if (RT_NULL == arg)
+        {
+            /* default filter config */
+						_can_filter_config(drv_can);
+        }
+        else
+        {
+            filter_cfg = (struct rt_can_filter_config *)arg;
+            /* get default filter */
+            for (int i = 0; i < filter_cfg->count; i++)
+            {
+                if (filter_cfg->items[i].hdr == -1)
+                {
+                    drv_can->can_filter_init.Filter_Num = i;
+                }
+                else
+                {
+                    drv_can->can_filter_init.Filter_Num = filter_cfg->items[i].hdr;
+                }
+								
+                if (filter_cfg->items[i].mode == 0x00)
+                {
+                    drv_can->can_filter_init.Filter_Mode  = CAN_Filter_IdMaskMode;
+                }
+                else if (filter_cfg->items[i].mode == 0x01)
+                {
+                    drv_can->can_filter_init.Filter_Mode  = CAN_Filter_IdListMode;
+                }
+								
+                if (filter_cfg->items[i].ide == RT_CAN_STDID)
+                {
+                    id_h = ((filter_cfg->items[i].id << 18) >> 13) & 0xFFFF;
+                    id_l = ((filter_cfg->items[i].id << 18) | 
+                            (filter_cfg->items[i].ide << 2) | 
+                            (filter_cfg->items[i].rtr << 1)) & 0xFFFF;
+                    mask_h = ((filter_cfg->items[i].mask << 21) >> 16) & 0xFFFF;
+                    mask_l = ((filter_cfg->items[i].mask << 21) | mask_l_tail) & 0xFFFF;
+                }
+                else if (filter_cfg->items[i].ide == RT_CAN_EXTID)
+                {
+                    id_h = (filter_cfg->items[i].id >> 13) & 0xFFFF;
+                    id_l = ((filter_cfg->items[i].id << 3)   | 
+                            (filter_cfg->items[i].ide << 2)  | 
+                            (filter_cfg->items[i].rtr << 1)) & 0xFFFF;
+                    mask_h = ((filter_cfg->items[i].mask << 3) >> 16) & 0xFFFF;
+                    mask_l = ((filter_cfg->items[i].mask << 3) | mask_l_tail) & 0xFFFF;
+                }
+								
+								drv_can->can_filter_init.Filter_Scale        = CAN_Filter_32bitScale;
+                drv_can->can_filter_init.Filter_HighId       = id_h;
+                drv_can->can_filter_init.Filter_LowId        = id_l;
+                drv_can->can_filter_init.FilterMask_HighId   = mask_h;
+                drv_can->can_filter_init.FilterMask_LowId    = mask_l;
+								drv_can->can_filter_init.Filter_FIFOAssignment = CAN_FIFO0;
+								drv_can->can_filter_init.Filter_Act            = ENABLE;
+								
+                /* Filter conf */
+                _can_filter_config(drv_can);
+            }
+        }
+        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 != drv_can->device.config.mode)
+        {
+            drv_can->device.config.mode = argval;
+            return _can_config(&drv_can->device, &drv_can->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 != drv_can->device.config.baud_rate)
+        {
+            drv_can->device.config.baud_rate = argval;
+            return _can_config(&drv_can->device, &drv_can->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 != drv_can->device.config.privmode)
+        {
+            drv_can->device.config.privmode = argval;
+            return _can_config(&drv_can->device, &drv_can->device.config);
+        }
+        break;
+    case RT_CAN_CMD_GET_STATUS:
+    {
+//        drv_can->device.status.rcverrcnt   = CAN_GetReceiveErrCounter(drv_can->CANx);
+//        drv_can->device.status.snderrcnt   = CAN_GetLSBTransmitErrCounter(drv_can->CANx);
+//        drv_can->device.status.lasterrtype = CAN_GetLastErrCode(drv_can->CANx);
+//        drv_can->device.status.errcode     = CAN_GetLastErrCode(drv_can->CANx);
+			
+        rt_uint32_t errtype;
+        errtype = drv_can->CANx->ESTS;
+        drv_can->device.status.rcverrcnt = errtype >> 24;
+        drv_can->device.status.snderrcnt = (errtype >> 16 & 0xFF);
+        drv_can->device.status.lasterrtype = errtype & 0x70;
+        drv_can->device.status.errcode = errtype & 0x07;
+
+        rt_memcpy(arg, &drv_can->device.status, sizeof(drv_can->device.status));
+    }
+    break;
+    }
+
+    return RT_EOK;
+}
+
+/* CAN Mailbox Transmit Request */
+#define TMIDxR_TXRQ ((uint32_t)0x00000001) /* Transmit mailbox request */
+
+static int _can_sendmsg_rtmsg(CAN_Module* CANx, struct rt_can_msg *pmsg, uint32_t mailbox_index)
+{
+		CanTxMessage CAN_TxMessage = {0};
+		CanTxMessage* TxMessage = &CAN_TxMessage;
+    /* Check the parameters */
+    assert_param(IS_CAN_ALL_PERIPH(CANx));
+	
+		if (RT_CAN_STDID == pmsg->ide)
+		{
+				TxMessage->IDE = CAN_Standard_Id;
+				RT_ASSERT(IS_CAN_STDID(pmsg->id));
+				TxMessage->StdId = pmsg->id;
+		}
+		else
+		{
+				TxMessage->IDE = CAN_Extended_Id;
+				RT_ASSERT(IS_CAN_EXTID(pmsg->id));
+				TxMessage->ExtId = pmsg->id;
+		}
+
+		if (RT_CAN_DTR == pmsg->rtr)
+		{
+				TxMessage->RTR = CAN_RTRQ_DATA;
+		}
+		else
+		{
+				TxMessage->RTR = CAN_RTRQ_REMOTE;
+		}
+		
+    if (mailbox_index != CAN_TxSTS_NoMailBox)
+    {
+			/* Set up the Id */
+			CANx->sTxMailBox[mailbox_index].TMI &= TMIDxR_TXRQ;
+			if (TxMessage->IDE == CAN_Standard_Id)
+			{
+					assert_param(IS_CAN_STDID(TxMessage->StdId));
+					CANx->sTxMailBox[mailbox_index].TMI |= ((TxMessage->StdId << 21) | TxMessage->RTR);
+			}
+			else
+			{
+					assert_param(IS_CAN_EXTID(TxMessage->ExtId));
+					CANx->sTxMailBox[mailbox_index].TMI |= ((TxMessage->ExtId << 3) | TxMessage->IDE | TxMessage->RTR);
+			}
+
+			/* Set up the DLC */
+			TxMessage->DLC = pmsg->len & 0x0FU;
+			CANx->sTxMailBox[mailbox_index].TMDT &= (uint32_t)0xFFFFFFF0;
+			CANx->sTxMailBox[mailbox_index].TMDT |= TxMessage->DLC;
+
+			/* Set up the data field */
+			CANx->sTxMailBox[mailbox_index].TMDH =
+					(((uint32_t)pmsg->data[7] << 24) |
+    			((uint32_t)pmsg->data[6] << 16)  |
+			    ((uint32_t)pmsg->data[5] << 8) | 
+			    ((uint32_t)pmsg->data[4]) );
+			CANx->sTxMailBox[mailbox_index].TMDL =
+					(((uint32_t)pmsg->data[3] << 24) |
+			    ((uint32_t)pmsg->data[2] << 16) |
+			    ((uint32_t)pmsg->data[1] << 8) |
+			    ((uint32_t)pmsg->data[0]) );
+			/* Request transmission */
+			CANx->sTxMailBox[mailbox_index].TMI |= TMIDxR_TXRQ;
+			
+			return RT_EOK;
+    }
+		return -RT_ERROR;
+}
+
+
+static int _can_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t box_num)
+{
+    struct n32g45x_can *drv_can;
+
+    RT_ASSERT(can != RT_NULL);
+    RT_ASSERT(buf != RT_NULL);
+    drv_can = (struct n32g45x_can *)can->parent.user_data;
+    RT_ASSERT(drv_can != RT_NULL);
+		
+    /* Select one empty transmit mailbox */
+		switch(box_num)
+		{
+			case 0:
+				if ((drv_can->CANx->TSTS & CAN_TSTS_TMEM0) != CAN_TSTS_TMEM0)
+				{
+						/* Return function status */
+						return -RT_ERROR;
+				}
+			break;
+			case 1:
+				if ((drv_can->CANx->TSTS & CAN_TSTS_TMEM1) != CAN_TSTS_TMEM1)
+				{
+						/* Return function status */
+						return -RT_ERROR;
+				}
+			break;
+			case 2:
+				if ((drv_can->CANx->TSTS & CAN_TSTS_TMEM2) != CAN_TSTS_TMEM2)
+				{
+						/* Return function status */
+						return -RT_ERROR;
+				}
+			break;
+			default:
+        RT_ASSERT(0);
+			break;
+		}
+		//start send msg
+		return _can_sendmsg_rtmsg(drv_can->CANx , ((struct rt_can_msg *) buf) ,box_num);
+}
+
+
+
+static int _can_recvmsg_rtmsg(CAN_Module* CANx, struct rt_can_msg *pmsg, uint32_t FIFONum)
+{
+		CanRxMessage CAN_RxMessage = {0};
+		CanRxMessage* RxMessage = &CAN_RxMessage;
+    /* Check the parameters */
+    assert_param(IS_CAN_ALL_PERIPH(CANx));
+    assert_param(IS_CAN_FIFO(FIFONum));
+		
+    /* Check the Rx FIFO */
+    if (FIFONum == CAN_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
+    {
+      /* Check that the Rx FIFO 0 is not empty */
+      if ((CANx->RFF0 & CAN_RFF0_FFMP0) == 0U)
+      {
+				return -RT_ERROR;
+      }
+    }
+    else /* Rx element is assigned to Rx FIFO 1 */
+    {
+      /* Check that the Rx FIFO 1 is not empty */
+      if ((CANx->RFF1 & CAN_RFF1_FFMP1) == 0U)
+      {
+				return -RT_ERROR;
+      }
+    }
+		
+    /* Get the Id */
+    RxMessage->IDE = (uint8_t)0x04 & CANx->sFIFOMailBox[FIFONum].RMI;
+    if (RxMessage->IDE == CAN_Standard_Id)
+    {
+        RxMessage->StdId = (uint32_t)0x000007FF & (CANx->sFIFOMailBox[FIFONum].RMI >> 21);
+    }
+    else
+    {
+        RxMessage->ExtId = (uint32_t)0x1FFFFFFF & (CANx->sFIFOMailBox[FIFONum].RMI >> 3);
+    }
+    RxMessage->RTR = (uint8_t)0x02 & CANx->sFIFOMailBox[FIFONum].RMI;
+    /* Get the DLC */
+    RxMessage->DLC = (uint8_t)0x0F & CANx->sFIFOMailBox[FIFONum].RMDT;
+    /* Get the FMI */
+    RxMessage->FMI = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONum].RMDT >> 8);
+		
+    /* Get the data field */
+    pmsg->data[0] = (uint8_t)0xFF & CANx->sFIFOMailBox[FIFONum].RMDL;
+    pmsg->data[1] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONum].RMDL >> 8);
+    pmsg->data[2] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONum].RMDL >> 16);
+    pmsg->data[3] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONum].RMDL >> 24);
+    pmsg->data[4] = (uint8_t)0xFF & CANx->sFIFOMailBox[FIFONum].RMDH;
+    pmsg->data[5] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONum].RMDH >> 8);
+    pmsg->data[6] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONum].RMDH >> 16);
+    pmsg->data[7] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONum].RMDH >> 24);
+		
+		/* get len */
+		pmsg->len = RxMessage->DLC;
+		
+		/* get id */
+    if (RxMessage->IDE == CAN_Standard_Id)
+    {
+        pmsg->ide = RT_CAN_STDID;
+        pmsg->id = RxMessage->StdId;
+    }
+    else
+    {
+        pmsg->ide = RT_CAN_EXTID;
+        pmsg->id = RxMessage->ExtId;
+    }
+    /* get type */
+    if (CAN_RTRQ_Data == RxMessage->RTR)
+    {
+        pmsg->rtr = RT_CAN_DTR;
+    }
+    else
+    {
+        pmsg->rtr = RT_CAN_RTR;
+    }
+		
+    /* get hdr */
+    if (CANx == CAN1)
+    {
+        pmsg->hdr = (RxMessage->FMI + 1) >> 1;
+    }
+#ifdef CAN2
+    else if (CANx == CAN2)
+    {
+       pmsg->hdr = (RxMessage->FMI >> 1) + 14;
+    }
+#endif
+    /* Release the DATFIFO */
+    /* Release FIFO0 */
+    if (FIFONum == CAN_FIFO0)
+    {
+        CANx->RFF0 |= CAN_RFF0_RFFOM0;
+    }
+    /* Release FIFO1 */
+    else /* FIFONum == CAN_FIFO1 */
+    {
+        CANx->RFF1 |= CAN_RFF1_RFFOM1;
+    }
+		return RT_EOK;
+}
+
+
+static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
+{
+    struct n32g45x_can *drv_can;
+
+    RT_ASSERT(can != RT_NULL);
+    RT_ASSERT(buf != RT_NULL);
+    drv_can = (struct n32g45x_can *)can->parent.user_data;
+    RT_ASSERT(drv_can != RT_NULL);
+	
+    /* get data */
+		return _can_recvmsg_rtmsg(drv_can->CANx,((struct rt_can_msg *) buf),fifo);
+}
+
+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 n32g45x_can *drv_can;
+    RT_ASSERT(can != RT_NULL);
+    drv_can = (struct n32g45x_can *)can->parent.user_data;
+    RT_ASSERT(drv_can != RT_NULL);
+	
+    switch (fifo)
+    {
+    case CAN_FIFO0:
+        /* save to user list */
+				if( CAN_GetFlagSTS(drv_can->CANx, CAN_FLAG_FFMP0) && CAN_PendingMessage(drv_can->CANx, CAN_FIFO0) )
+				{
+					rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8);
+				}
+				/* Check FULL flag for FIFO0 */
+				if( CAN_GetFlagSTS(drv_can->CANx, CAN_FLAG_FFULL0) )
+				{
+					/* Clear FIFO0 FULL Flag */
+					CAN_ClearFlag(drv_can->CANx, CAN_FLAG_FFULL0);
+				}
+				/* Check Overrun flag for FIFO0 */
+				if( CAN_GetFlagSTS(drv_can->CANx, CAN_FLAG_FFOVR0) )
+				{
+					/* Clear FIFO0 Overrun Flag */
+					CAN_ClearFlag(drv_can->CANx, CAN_FLAG_FFOVR0);
+					rt_hw_can_isr(can, RT_CAN_EVENT_RXOF_IND | fifo << 8);
+				}
+        break;
+    case CAN_FIFO1:
+        /* save to user list */
+				if( CAN_GetFlagSTS(drv_can->CANx, CAN_FLAG_FFMP1) && CAN_PendingMessage(drv_can->CANx, CAN_FIFO1) )
+				{
+					rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8);
+				}
+				/* Check FULL flag for FIFO1 */
+				if( CAN_GetFlagSTS(drv_can->CANx, CAN_FLAG_FFULL1) )
+				{
+					/* Clear FIFO1 FULL Flag */
+					CAN_ClearFlag(drv_can->CANx, CAN_FLAG_FFULL1);
+				}
+				/* Check Overrun flag for FIFO1 */
+				if( CAN_GetFlagSTS(drv_can->CANx, CAN_FLAG_FFOVR1) )
+				{
+					/* Clear FIFO1 Overrun Flag */
+					CAN_ClearFlag(drv_can->CANx, CAN_FLAG_FFOVR1);
+					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
+ */
+#define CAN1_TX_IRQHandler USB_HP_CAN1_TX_IRQHandler
+void CAN1_TX_IRQHandler(void)
+{
+	rt_interrupt_enter();
+	if(CAN_GetFlagSTS(drv_can1.CANx, CAN_FLAG_RQCPM0) )
+	{
+		rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_DONE | (0x00 << 8) );
+		CAN_ClearFlag(drv_can1.CANx, CAN_FLAG_RQCPM0);
+	}
+	if(CAN_GetFlagSTS(drv_can1.CANx, CAN_FLAG_RQCPM1) )
+	{
+		rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_DONE | (0x01 << 8) );
+		CAN_ClearFlag(drv_can1.CANx, CAN_FLAG_RQCPM1);
+	}
+	if(CAN_GetFlagSTS(drv_can1.CANx, CAN_FLAG_RQCPM2) )
+	{
+		rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_DONE | (0x02 << 8) );
+		CAN_ClearFlag(drv_can1.CANx, CAN_FLAG_RQCPM2);
+	}
+	rt_interrupt_leave();
+}
+
+/**
+ * @brief This function handles CAN1 RX0 interrupts.
+ */
+#define CAN1_RX0_IRQHandler USB_LP_CAN1_RX0_IRQHandler
+void CAN1_RX0_IRQHandler(void)
+{
+    rt_interrupt_enter();
+    _can_rx_isr(&drv_can1.device, CAN_FIFO0);
+    rt_interrupt_leave();
+}
+
+/**
+ * @brief This function handles CAN1 RX1 interrupts.
+ */
+void CAN1_RX1_IRQHandler(void)
+{
+    rt_interrupt_enter();
+    _can_rx_isr(&drv_can1.device, CAN_FIFO1);
+    rt_interrupt_leave();
+}
+
+/**
+ * @brief This function handles CAN1 SCE interrupts.
+ */
+void CAN1_SCE_IRQHandler(void)
+{
+    uint32_t errtype;
+    rt_interrupt_enter();
+	
+		if(CAN_GetIntStatus(drv_can1.CANx, CAN_INT_ERR) )
+		{
+			errtype = drv_can1.CANx->ESTS;
+			// ESTS -> LEC
+			switch ((errtype & 0x70) >> 4)
+			{
+			case RT_CAN_BUS_BIT_PAD_ERR:
+					break;
+			case RT_CAN_BUS_FORMAT_ERR:
+					drv_can1.device.status.formaterrcnt++;
+					break;
+			case RT_CAN_BUS_ACK_ERR:/* attention !!! test ack err's unit is transmit unit */
+					drv_can1.device.status.ackerrcnt++;
+					if (!READ_BIT(drv_can1.CANx->TSTS, CAN_TSTS_TXOKM0))
+							rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
+					else if (!READ_BIT(drv_can1.CANx->TSTS, CAN_TSTS_TXOKM1))
+							rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
+					else if (!READ_BIT(drv_can1.CANx->TSTS, CAN_TSTS_TXOKM2))
+							rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
+					break;
+			case RT_CAN_BUS_IMPLICIT_BIT_ERR:
+			case RT_CAN_BUS_EXPLICIT_BIT_ERR:
+					drv_can1.device.status.biterrcnt++;
+					break;
+			case RT_CAN_BUS_CRC_ERR:
+					drv_can1.device.status.crcerrcnt++;
+					break;
+			}
+			drv_can1.device.status.lasterrtype = errtype & 0x70;
+			drv_can1.device.status.rcverrcnt = errtype >> 24;
+			drv_can1.device.status.snderrcnt = (errtype >> 16 & 0xFF);
+			drv_can1.device.status.errcode = errtype & 0x07;
+			
+			CAN_ClearINTPendingBit(drv_can1.CANx, CAN_INT_ERR);
+		}
+    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();
+	if(CAN_GetFlagSTS(drv_can2.CANx, CAN_FLAG_RQCPM0) )
+	{
+		CAN_ClearFlag(drv_can2.CANx, CAN_FLAG_RQCPM0);
+		rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_DONE | (0x00 << 8) );
+	}
+	if(CAN_GetFlagSTS(drv_can2.CANx, CAN_FLAG_RQCPM1) )
+	{
+		CAN_ClearFlag(drv_can2.CANx, CAN_FLAG_RQCPM1);
+		rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_DONE | (0x01 << 8) );
+	}
+	if(CAN_GetFlagSTS(drv_can2.CANx, CAN_FLAG_RQCPM2) )
+	{
+		CAN_ClearFlag(drv_can2.CANx, CAN_FLAG_RQCPM2);
+		rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_DONE | (0x02 << 8) );
+	}
+	rt_interrupt_leave();
+}
+
+/**
+ * @brief This function handles CAN2 RX0 interrupts.
+ */
+void CAN2_RX0_IRQHandler(void)
+{
+    rt_interrupt_enter();
+    _can_rx_isr(&drv_can2.device, CAN_FIFO0);
+    rt_interrupt_leave();
+}
+
+/**
+ * @brief This function handles CAN2 RX1 interrupts.
+ */
+void CAN2_RX1_IRQHandler(void)
+{
+    rt_interrupt_enter();
+    _can_rx_isr(&drv_can2.device, CAN_FIFO1);
+    rt_interrupt_leave();
+}
+
+/**
+ * @brief This function handles CAN2 SCE interrupts.
+ */
+void CAN2_SCE_IRQHandler(void)
+{
+    uint32_t errtype;
+    rt_interrupt_enter();
+	
+		if(CAN_GetIntStatus(drv_can2.CANx, CAN_INT_ERR) )
+		{
+			errtype = drv_can2.CANx->ESTS;
+			// ESTS -> LEC
+			switch ((errtype & 0x70) >> 4)
+			{
+			case RT_CAN_BUS_BIT_PAD_ERR:
+					break;
+			case RT_CAN_BUS_FORMAT_ERR:
+					drv_can2.device.status.formaterrcnt++;
+					break;
+			case RT_CAN_BUS_ACK_ERR:/* attention !!! test ack err's unit is transmit unit */
+					drv_can2.device.status.ackerrcnt++;
+					if (!READ_BIT(drv_can2.CANx->TSTS, CAN_TSTS_TXOKM0))
+							rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
+					else if (!READ_BIT(drv_can2.CANx->TSTS, CAN_TSTS_TXOKM1))
+							rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
+					else if (!READ_BIT(drv_can2.CANx->TSTS, CAN_TSTS_TXOKM2))
+							rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
+					break;
+			case RT_CAN_BUS_IMPLICIT_BIT_ERR:
+			case RT_CAN_BUS_EXPLICIT_BIT_ERR:
+					drv_can2.device.status.biterrcnt++;
+					break;
+			case RT_CAN_BUS_CRC_ERR:
+					drv_can2.device.status.crcerrcnt++;
+					break;
+			}
+
+			drv_can2.device.status.lasterrtype = errtype & 0x70;
+			drv_can2.device.status.rcverrcnt = errtype >> 24;
+			drv_can2.device.status.snderrcnt = (errtype >> 16 & 0xFF);
+			drv_can2.device.status.errcode = errtype & 0x07;
+			
+			CAN_ClearINTPendingBit(drv_can2.CANx, CAN_INT_ERR);
+		}
+    rt_interrupt_leave();
+}
+#endif /* BSP_USING_CAN2 */
+
+
+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;
+#ifdef CAN2
+    config.maxhdr = 28;
+#endif
+#endif
+
+#ifdef BSP_USING_CAN1
+    /* config default filter */
+    drv_can1.can_filter_init.Filter_Num            = 0;
+    drv_can1.can_filter_init.Filter_Mode           = CAN_Filter_IdMaskMode;
+    drv_can1.can_filter_init.Filter_Scale          = CAN_Filter_32bitScale;
+    drv_can1.can_filter_init.Filter_HighId         = 0x0000;
+    drv_can1.can_filter_init.Filter_LowId          = 0x0000;
+    drv_can1.can_filter_init.FilterMask_HighId     = 0;
+    drv_can1.can_filter_init.FilterMask_LowId      = 0;
+    drv_can1.can_filter_init.Filter_FIFOAssignment = CAN_FIFO0;
+    drv_can1.can_filter_init.Filter_Act            = ENABLE;
+    drv_can1.device.config = config;
+    /* register CAN1 device */
+    rt_hw_can_register(&drv_can1.device, drv_can1.name, &_can_ops, &drv_can1);
+#endif /* BSP_USING_CAN1 */
+
+#ifdef BSP_USING_CAN2
+    /* config default filter */
+    drv_can2.can_filter_init.Filter_Num            = 0;
+    drv_can2.can_filter_init.Filter_Mode           = CAN_Filter_IdMaskMode;
+    drv_can2.can_filter_init.Filter_Scale          = CAN_Filter_32bitScale;
+    drv_can2.can_filter_init.Filter_HighId         = 0x0000;
+    drv_can2.can_filter_init.Filter_LowId          = 0x0000;
+    drv_can2.can_filter_init.FilterMask_HighId     = 0;
+    drv_can2.can_filter_init.FilterMask_LowId      = 0;
+    drv_can2.can_filter_init.Filter_FIFOAssignment = CAN_FIFO0;
+    drv_can2.can_filter_init.Filter_Act            = ENABLE;
+    drv_can2.device.config = config;
+    /* register CAN2 device */
+    rt_hw_can_register(&drv_can2.device, drv_can2.name, &_can_ops, &drv_can2);
+#endif /* BSP_USING_CAN2 */
+
+    return 0;
+}
+
+INIT_BOARD_EXPORT(rt_hw_can_init);
+
+#endif /* BSP_USING_CAN */
+
+/************************** end of file ******************/
diff --git a/bsp/n32g452xx/Libraries/rt_drivers/drv_can.h b/bsp/n32g452xx/Libraries/rt_drivers/drv_can.h
new file mode 100644
index 0000000000..c4253fa533
--- /dev/null
+++ b/bsp/n32g452xx/Libraries/rt_drivers/drv_can.h
@@ -0,0 +1,30 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2022-01-09     chenbin      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>
+
+int rt_hw_can_init(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__DRV_CAN_H__ */
+
+/************************** end of file ******************/