[bsp][gd32]: can add support for GD32F5xx (#10737)

4 files changed, 65 insertions, 12 deletions

diff --git a/bsp/gd32/arm/gd32527I-eval/board/Kconfig b/bsp/gd32/arm/gd32527I-eval/board/Kconfig
index 7dbe2ec67b..d5756aaa22 100644
--- a/bsp/gd32/arm/gd32527I-eval/board/Kconfig
+++ b/bsp/gd32/arm/gd32527I-eval/board/Kconfig
@@ -371,6 +371,49 @@ menu "On-chip Peripheral Drivers"
         bool "Enable SDRAM"
         select RT_USING_SDRAM
         default n
+    
+    menuconfig BSP_USING_CAN
+        bool "Enable CAN BUS"
+        default n
+        select RT_USING_CAN
+        select RT_USING_DEVICE_IPC
+        select BSP_USING_GD_DBG
+        if BSP_USING_CAN
+            config BSP_USING_CAN0
+                bool "Enable CAN0"
+                default n
+
+            if BSP_USING_CAN0
+                choice
+                    prompt "Select CAN0 TX source"
+                    default BSP_CAN0_TX_PH13
+
+                    config BSP_CAN0_TX_PA12
+                        bool "GPIOA pin 12"
+                    config BSP_CAN0_TX_PB9
+                        bool "GPIOB pin 9"
+                    config BSP_CAN0_TX_PD1
+                        bool "GPIOD pin 1"
+                    config BSP_CAN0_TX_PH13
+                        bool "GPIOH pin 13"
+                endchoice
+
+                choice
+                    prompt "Select CAN0 RX source"
+                    default BSP_CAN0_RX_PI9
+
+                    config BSP_CAN0_RX_PA11
+                        bool "GPIOA pin 11"
+                    config BSP_CAN0_RX_PB8
+                        bool "GPIOB pin 8"
+                    config BSP_CAN0_RX_PD0
+                        bool "GPIOD pin 0"
+                    config BSP_CAN0_RX_PI9
+                        bool "GPIOI pin 9"
+                endchoice
+            endif
+
+        endif
 
     source "$(BSP_DIR)/../libraries/gd32_drivers/Kconfig"
 
diff --git a/bsp/gd32/arm/libraries/gd32_drivers/Kconfig b/bsp/gd32/arm/libraries/gd32_drivers/Kconfig
index 8f686d792c..d96f903fa2 100644
--- a/bsp/gd32/arm/libraries/gd32_drivers/Kconfig
+++ b/bsp/gd32/arm/libraries/gd32_drivers/Kconfig
@@ -24,3 +24,7 @@ if BSP_USING_USBD
         # "ULPI: UTMI+ Low Pin Interface"
 endif
 
+config BSP_USING_GD_DBG
+    bool 
+    default y
+    # "Using GD32 debug module"
diff --git a/bsp/gd32/arm/libraries/gd32_drivers/drv_can.c b/bsp/gd32/arm/libraries/gd32_drivers/drv_can.c
index 07e5f5f250..29d2fd8b97 100644
--- a/bsp/gd32/arm/libraries/gd32_drivers/drv_can.c
+++ b/bsp/gd32/arm/libraries/gd32_drivers/drv_can.c
@@ -8,6 +8,7 @@
  * Change Logs:
  * Date           Author               Notes
  * 2025-18-03     Dmitriy Chernov      first implementation for GD32F4xx
+ * 2025-09-24     CYFS                 add support for GD32F5xx
  */
 
 #include "drv_can.h"
@@ -31,7 +32,7 @@ static const struct gd32_baudrate_tbl can_baudrate_tbl[] =
     {CAN20kBaud,    CAN_BT_SJW_1TQ, CAN_BT_BS1_11TQ, CAN_BT_BS2_2TQ, 150},
     {CAN10kBaud,    CAN_BT_SJW_1TQ, CAN_BT_BS1_11TQ, CAN_BT_BS2_2TQ, 300},
 };
-#elif defined(GD32F425) || defined(GD32F427) || defined(GD32F450) /* 50MHz(max) */
+#elif defined(GD32F425) || defined(GD32F427) || defined(GD32F450) || defined(GD32F527)/* 50MHz(max) */
 static const struct gd32_baudrate_tbl can_baudrate_tbl[] =
 {
     {CAN1MBaud,     CAN_BT_SJW_1TQ, CAN_BT_BS1_8TQ,  CAN_BT_BS2_1TQ, 5},
@@ -82,7 +83,9 @@ static const struct gd32_can gd32_can_gpio[] =
 #ifdef BSP_USING_CAN0
     {
         .can_clk = RCU_CAN0,
+#if defined SOC_SERIES_GD32F4xx || defined SOC_SERIES_GD32F5xx
         .alt_func_num = GPIO_AF_9,
+#endif
 #if defined BSP_CAN0_TX_PA12
         .tx_clk = RCU_GPIOA,
         .tx_pin = GET_PIN(A, 12),
@@ -119,7 +122,10 @@ static const struct gd32_can gd32_can_gpio[] =
 #ifdef BSP_USING_CAN1
     {
         .can_clk = RCU_CAN1,
+#if defined SOC_SERIES_GD32F4xx || defined SOC_SERIES_GD32F5xx
         .alt_func_num = GPIO_AF_9,
+#endif
+
 #if defined BSP_CAN1_TX_PB6
         .tx_clk = RCU_GPIOB,
         .tx_pin = GET_PIN(B, 6),
@@ -150,7 +156,7 @@ static void gd32_can_gpio_init(void)
         rcu_periph_clock_enable(gd32_can_gpio[i].tx_clk);
         rcu_periph_clock_enable(gd32_can_gpio[i].rx_clk);
 
-#if defined SOC_SERIES_GD32F4xx
+#if defined SOC_SERIES_GD32F4xx || defined SOC_SERIES_GD32F5xx
         gpio_af_set(PIN_GDPORT(gd32_can_gpio[i].tx_pin), gd32_can_gpio[i].alt_func_num, PIN_GDPIN(gd32_can_gpio[i].tx_pin));
         gpio_af_set(PIN_GDPORT(gd32_can_gpio[i].rx_pin), gd32_can_gpio[i].alt_func_num, PIN_GDPIN(gd32_can_gpio[i].rx_pin));
 
@@ -515,7 +521,7 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
     return RT_EOK;
 }
 
-static int _can_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t box_num)
+static rt_ssize_t _can_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t box_num)
 {
     RT_ASSERT(can);
 
@@ -605,7 +611,7 @@ static int _can_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t
     return RT_EOK;
 }
 
-static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
+static rt_ssize_t _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
 {
     RT_ASSERT(can);
 
@@ -656,7 +662,6 @@ static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
     return RT_EOK;
 }
 
-
 static const struct rt_can_ops _can_ops =
 {
     _can_config,
@@ -735,7 +740,7 @@ static void _can_ewmc_isr(struct rt_can_device *can)
             can->status.ackerrcnt++;
             if (can_interrupt_flag_get(can_x, CAN_INT_FLAG_MTF0))
             {
-                if (!can_interrupt_flag_get(can_x, CAN_FLAG_MTFNERR0))
+                if (!can_flag_get(can_x, CAN_FLAG_MTFNERR0))
                 {
                     rt_hw_can_isr(can, RT_CAN_EVENT_TX_FAIL | 0 << 8);
                 }
@@ -743,7 +748,7 @@ static void _can_ewmc_isr(struct rt_can_device *can)
             }
             else if (can_interrupt_flag_get(can_x, CAN_INT_FLAG_MTF1))
             {
-                if (!can_interrupt_flag_get(can_x, CAN_FLAG_MTFNERR1))
+                if (!can_flag_get(can_x, CAN_FLAG_MTFNERR1))
                 {
                     rt_hw_can_isr(can, RT_CAN_EVENT_TX_FAIL | 1 << 8);
                 }
@@ -751,7 +756,7 @@ static void _can_ewmc_isr(struct rt_can_device *can)
             }
             else if (can_interrupt_flag_get(can_x, CAN_INT_FLAG_MTF2))
             {
-                if (!can_interrupt_flag_get(can_x, CAN_FLAG_MTFNERR2))
+                if (!can_flag_get(can_x, CAN_FLAG_MTFNERR2))
                 {
                     rt_hw_can_isr(can, RT_CAN_EVENT_TX_FAIL | 2 << 8);
                 }
@@ -796,7 +801,7 @@ static void _can_tx_isr(struct rt_can_device *can)
 
     if (can_interrupt_flag_get(can_x, CAN_INT_FLAG_MTF0))
     {
-        if (can_interrupt_flag_get(can_x, CAN_FLAG_MTFNERR0))
+        if (can_flag_get(can_x, CAN_FLAG_MTFNERR0))
         {
             rt_hw_can_isr(can, RT_CAN_EVENT_TX_DONE | 0 << 8);
         }
@@ -809,7 +814,7 @@ static void _can_tx_isr(struct rt_can_device *can)
     }
     else if (can_interrupt_flag_get(can_x, CAN_INT_FLAG_MTF1))
     {
-        if (can_interrupt_flag_get(can_x, CAN_FLAG_MTFNERR1))
+        if (can_flag_get(can_x, CAN_FLAG_MTFNERR1))
         {
             rt_hw_can_isr(can, RT_CAN_EVENT_TX_DONE | 1 << 8);
         }
@@ -822,7 +827,7 @@ static void _can_tx_isr(struct rt_can_device *can)
     }
     else if (can_interrupt_flag_get(can_x, CAN_INT_FLAG_MTF2))
     {
-        if (can_interrupt_flag_get(can_x, CAN_FLAG_MTFNERR2))
+        if (can_flag_get(can_x, CAN_FLAG_MTFNERR2))
         {
             rt_hw_can_isr(can, RT_CAN_EVENT_TX_DONE | 2 << 8);
         }
diff --git a/bsp/gd32/arm/libraries/gd32_drivers/drv_can.h b/bsp/gd32/arm/libraries/gd32_drivers/drv_can.h
index 01fc038297..579e355049 100644
--- a/bsp/gd32/arm/libraries/gd32_drivers/drv_can.h
+++ b/bsp/gd32/arm/libraries/gd32_drivers/drv_can.h
@@ -8,6 +8,7 @@
  * Change Logs:
  * Date           Author               Notes
  * 2025-18-03     Dmitriy Chernov      first implementation
+ * 2025-09-24     CYFS                 add support for GD32F5xx
  */
 
 #ifndef __DRV_CAN_H__
@@ -34,7 +35,7 @@ struct gd32_can
     rcu_periph_enum can_clk;
     rcu_periph_enum tx_clk;
     rcu_periph_enum rx_clk;
-#if defined SOC_SERIES_GD32F4xx
+#if defined SOC_SERIES_GD32F4xx || defined SOC_SERIES_GD32F5xx
     uint32_t alt_func_num;
 #endif
     rt_base_t tx_pin;