[bsp] [stm32] fix drv_can.c

3 files changed, 556 insertions, 513 deletions

diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_can.c b/bsp/stm32/libraries/HAL_Drivers/drv_can.c
index fd700e6c69..d0221b9623 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_can.c
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_can.c
@@ -14,13 +14,14 @@
  */
 
 #include "drv_can.h"
+#ifdef BSP_USING_CAN
 
-#ifdef RT_USING_CAN
+#define LOG_TAG    "drv_can"
+#include <drv_log.h>
 
-static void drv_rx_isr(struct rt_can_device *can, rt_uint32_t fifo);
-
-#if defined (SOC_SERIES_STM32F1)
-static const struct stm_baud_rate_tab can_baud_rate_tab[] =
+/* attention !!! baud calculation example: Tclk / ((ss + bs1 + bs2) * brp)  36 / ((1 + 8 + 3) * 3) = 1MHz*/
+#if defined (SOC_SERIES_STM32F1)/* APB1 36MHz(max) */
+static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
 {
     {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 3)},
     {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_5TQ  | CAN_BS2_3TQ | 5)},
@@ -32,8 +33,8 @@ static const struct stm_baud_rate_tab can_baud_rate_tab[] =
     {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 150)},
     {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 300)}
 };
-#elif defined (SOC_STM32F429IG)
-static const struct stm_baud_rate_tab can_baud_rate_tab[] =
+#elif defined (SOC_SERIES_STM32F4)/* APB1 45MHz(max) */
+static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
 {
     {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 3)},
     {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_5TQ | 4)},
@@ -45,368 +46,112 @@ static const struct stm_baud_rate_tab can_baud_rate_tab[] =
     {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 150)},
     {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 300)}
 };
-#elif defined (SOC_SERIES_STM32F4)
-static const struct stm_baud_rate_tab can_baud_rate_tab[] =
+#elif defined (SOC_SERIES_STM32F7)/* APB1 54MHz(max) */
+static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
 {
-    {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 3)},
-    {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_4TQ | 4)},
-    {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 6)},
-    {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 12)},
-    {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 24)},
-    {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 30)},
-    {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 60)},
-    {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 150)},
-    {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 300)}
+    {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ  | CAN_BS2_7TQ | 3)},
+    {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_7TQ | 4)},
+    {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ  | CAN_BS2_7TQ | 6)},
+    {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ  | CAN_BS2_7TQ | 12)},
+    {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ  | CAN_BS2_7TQ | 24)},
+    {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ  | CAN_BS2_7TQ | 30)},
+    {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ  | CAN_BS2_7TQ | 60)},
+    {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ  | CAN_BS2_7TQ | 150)},
+    {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ  | CAN_BS2_7TQ | 300)}
 };
 #endif
 
-#define BAUD_DATA(TYPE,NO)                              \
-    ((can_baud_rate_tab[NO].confdata & TYPE##MASK))
-
-static rt_uint32_t get_can_baud_index(rt_uint32_t baud)
-{
-    rt_uint32_t len, index, default_index;
-
-    len = sizeof(can_baud_rate_tab) / sizeof(can_baud_rate_tab[0]);
-    default_index = len;
-
-    for (index = 0; index < len; index++)
-    {
-        if (can_baud_rate_tab[index].baud_rate == baud)
-            return index;
-
-        if (can_baud_rate_tab[index].baud_rate == 1000UL * 250)
-            default_index = index;
-    }
-
-    if (default_index != len)
-        return default_index;
-
-    return 0;
-}
-
 #ifdef BSP_USING_CAN1
-static struct stm32_drv_can drv_can1;
-struct rt_can_device dev_can1;
-/**
- * @brief This function handles CAN1 TX interrupts.
- */
-void CAN1_TX_IRQHandler(void)
-{
-    rt_interrupt_enter();
-    CAN_HandleTypeDef *hcan;
-    hcan = &drv_can1.CanHandle;
-    if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP0))
-    {
-        if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK0))
-        {
-            rt_hw_can_isr(&dev_can1, RT_CAN_EVENT_TX_DONE | 0 << 8);
-        }
-        else
-        {
-            rt_hw_can_isr(&dev_can1, RT_CAN_EVENT_TX_FAIL | 0 << 8);
-        }
-        /* Write 0 to Clear transmission status flag RQCPx */
-        SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP0);
-    }
-    else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP1))
-    {
-        if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK1))
-        {
-            rt_hw_can_isr(&dev_can1, RT_CAN_EVENT_TX_DONE | 1 << 8);
-        }
-        else
-        {
-            rt_hw_can_isr(&dev_can1, RT_CAN_EVENT_TX_FAIL | 1 << 8);
-        }
-        /* Write 0 to Clear transmission status flag RQCPx */
-        SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP1);
-    }
-    else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP2))
-    {
-        if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK2))
-        {
-            rt_hw_can_isr(&dev_can1, RT_CAN_EVENT_TX_DONE | 2 << 8);
-        }
-        else
-        {
-            rt_hw_can_isr(&dev_can1, RT_CAN_EVENT_TX_FAIL | 2 << 8);
-        }
-        /* Write 0 to Clear transmission status flag RQCPx */
-        SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP2);
-    }
-    rt_interrupt_leave();
-}
-
-/**
- * @brief This function handles CAN1 RX0 interrupts.
- */
-void CAN1_RX0_IRQHandler(void)
-{
-    rt_interrupt_enter();
-    drv_rx_isr(&dev_can1, CAN_RX_FIFO0);
-    rt_interrupt_leave();
-}
-
-/**
- * @brief This function handles CAN1 RX1 interrupts.
- */
-void CAN1_RX1_IRQHandler(void)
+static struct stm32_can drv_can1 =
 {
-    rt_interrupt_enter();
-    drv_rx_isr(&dev_can1, CAN_RX_FIFO1);
-    rt_interrupt_leave();
-}
-
-/**
- * @brief This function handles CAN1 SCE interrupts.
- */
-void CAN1_SCE_IRQHandler(void)
-{
-    rt_uint32_t errtype;
-    CAN_HandleTypeDef *hcan;
-
-    hcan = &drv_can1.CanHandle;
-    errtype = hcan->Instance->ESR;
-
-    rt_interrupt_enter();
-    HAL_CAN_IRQHandler(hcan);
-
-    if (errtype & 0x70 && dev_can1.status.lasterrtype == (errtype & 0x70))
-    {
-        switch ((errtype & 0x70) >> 4)
-        {
-        case RT_CAN_BUS_BIT_PAD_ERR:
-            dev_can1.status.bitpaderrcnt++;
-            break;
-        case RT_CAN_BUS_FORMAT_ERR:
-            dev_can1.status.formaterrcnt++;
-            break;
-        case RT_CAN_BUS_ACK_ERR:
-            dev_can1.status.ackerrcnt++;
-            break;
-        case RT_CAN_BUS_IMPLICIT_BIT_ERR:
-        case RT_CAN_BUS_EXPLICIT_BIT_ERR:
-            dev_can1.status.biterrcnt++;
-            break;
-        case RT_CAN_BUS_CRC_ERR:
-            dev_can1.status.crcerrcnt++;
-            break;
-        }
-        dev_can1.status.lasterrtype = errtype & 0x70;
-        hcan->Instance->ESR &= ~0x70;
-    }
-    dev_can1.status.rcverrcnt = errtype >> 24;
-    dev_can1.status.snderrcnt = (errtype >> 16 & 0xFF);
-    dev_can1.status.errcode = errtype & 0x07;
-    hcan->Instance->MSR |= CAN_MSR_ERRI;
-    rt_interrupt_leave();
-}
-#endif /* BSP_USING_CAN1 */
+    .name = "can1",
+    .CanHandle.Instance = CAN1,
+};
+#endif
 
 #ifdef BSP_USING_CAN2
-static struct stm32_drv_can drv_can2;
-struct rt_can_device dev_can2;
-/**
- * @brief This function handles CAN2 TX interrupts.
- */
-void CAN2_TX_IRQHandler(void)
-{
-    rt_interrupt_enter();
-    CAN_HandleTypeDef *hcan;
-    hcan = &drv_can2.CanHandle;
-    if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP0))
-    {
-        if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK0))
-        {
-            rt_hw_can_isr(&dev_can2, RT_CAN_EVENT_TX_DONE | 0 << 8);
-        }
-        else
-        {
-            rt_hw_can_isr(&dev_can2, RT_CAN_EVENT_TX_FAIL | 0 << 8);
-        }
-        /* Write 0 to Clear transmission status flag RQCPx */
-        SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP0);
-    }
-    else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP1))
-    {
-        if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK1))
-        {
-            rt_hw_can_isr(&dev_can2, RT_CAN_EVENT_TX_DONE | 1 << 8);
-        }
-        else
-        {
-            rt_hw_can_isr(&dev_can2, RT_CAN_EVENT_TX_FAIL | 1 << 8);
-        }
-        /* Write 0 to Clear transmission status flag RQCPx */
-        SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP1);
-    }
-    else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP2))
-    {
-        if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK2))
-        {
-            rt_hw_can_isr(&dev_can2, RT_CAN_EVENT_TX_DONE | 2 << 8);
-        }
-        else
-        {
-            rt_hw_can_isr(&dev_can2, RT_CAN_EVENT_TX_FAIL | 2 << 8);
-        }
-        /* Write 0 to Clear transmission status flag RQCPx */
-        SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP2);
-    }
-    rt_interrupt_leave();
-}
-
-/**
- * @brief This function handles CAN2 RX0 interrupts.
- */
-void CAN2_RX0_IRQHandler(void)
+static struct stm32_can drv_can2 =
 {
-    rt_interrupt_enter();
-    drv_rx_isr(&dev_can2, CAN_RX_FIFO0);
-    rt_interrupt_leave();
-}
-
-/**
- * @brief This function handles CAN2 RX1 interrupts.
- */
-void CAN2_RX1_IRQHandler(void)
-{
-    rt_interrupt_enter();
-    drv_rx_isr(&dev_can2, CAN_RX_FIFO1);
-    rt_interrupt_leave();
-}
+    "can2",
+    .CanHandle.Instance = CAN2,
+};
+#endif
 
-/**
- * @brief This function handles CAN2 SCE interrupts.
- */
-void CAN2_SCE_IRQHandler(void)
+static rt_uint32_t get_can_baud_index(rt_uint32_t baud)
 {
-    rt_uint32_t errtype;
-    CAN_HandleTypeDef *hcan;
-
-    hcan = &drv_can2.CanHandle;
-    errtype = hcan->Instance->ESR;
+    rt_uint32_t len, index;
 
-    rt_interrupt_enter();
-    HAL_CAN_IRQHandler(hcan);
-
-    if (errtype & 0x70 && dev_can2.status.lasterrtype == (errtype & 0x70))
+    len = sizeof(can_baud_rate_tab) / sizeof(can_baud_rate_tab[0]);
+    for (index = 0; index < len; index++)
     {
-        switch ((errtype & 0x70) >> 4)
-        {
-        case RT_CAN_BUS_BIT_PAD_ERR:
-            dev_can2.status.bitpaderrcnt++;
-            break;
-        case RT_CAN_BUS_FORMAT_ERR:
-            dev_can2.status.formaterrcnt++;
-            break;
-        case RT_CAN_BUS_ACK_ERR:
-            dev_can2.status.ackerrcnt++;
-            break;
-        case RT_CAN_BUS_IMPLICIT_BIT_ERR:
-        case RT_CAN_BUS_EXPLICIT_BIT_ERR:
-            dev_can2.status.biterrcnt++;
-            break;
-        case RT_CAN_BUS_CRC_ERR:
-            dev_can2.status.crcerrcnt++;
-            break;
-        }
-        dev_can2.status.lasterrtype = errtype & 0x70;
-        hcan->Instance->ESR &= ~0x70;
+        if (can_baud_rate_tab[index].baud_rate == baud)
+            return index;
     }
-    dev_can2.status.rcverrcnt = errtype >> 24;
-    dev_can2.status.snderrcnt = (errtype >> 16 & 0xFF);
-    dev_can2.status.errcode = errtype & 0x07;
-    hcan->Instance->MSR |= CAN_MSR_ERRI;
-    rt_interrupt_leave();
-}
-#endif /* BSP_USING_CAN2 */
 
-/**
- * @brief  Error CAN callback.
- * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
- *         the configuration information for the specified CAN.
- * @retval None
- */
-void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
-{
-    __HAL_CAN_ENABLE_IT(hcan,  CAN_IT_ERROR_WARNING |
-                               CAN_IT_ERROR_PASSIVE |
-                               CAN_IT_BUSOFF |
-                               CAN_IT_LAST_ERROR_CODE |
-                               CAN_IT_ERROR |
-                               CAN_IT_RX_FIFO0_MSG_PENDING|
-                               CAN_IT_RX_FIFO0_OVERRUN|
-                               CAN_IT_RX_FIFO1_MSG_PENDING|
-                               CAN_IT_RX_FIFO1_OVERRUN|
-                               CAN_IT_TX_MAILBOX_EMPTY);
+    return 0; /* default baud is CAN1MBaud */
 }
 
-
-
-
-static rt_err_t drv_configure(struct rt_can_device *dev_can,
-                              struct can_configure *cfg)
+static rt_err_t _can_config(struct rt_can_device *can, struct can_configure *cfg)
 {
-    struct stm32_drv_can *drv_can;
+    struct stm32_can *drv_can;
     rt_uint32_t baud_index;
-    CAN_InitTypeDef *drv_init;
 
-    RT_ASSERT(dev_can);
+    RT_ASSERT(can);
     RT_ASSERT(cfg);
+    drv_can = (struct stm32_can *)can->parent.user_data;
+    RT_ASSERT(drv_can);
 
-    drv_can = (struct stm32_drv_can *)dev_can->parent.user_data;
-    drv_init = &drv_can->CanHandle.Init;
-
-    drv_init->TimeTriggeredMode = DISABLE;
-    drv_init->AutoBusOff = ENABLE;
-    drv_init->AutoWakeUp = DISABLE;
-    drv_init->AutoRetransmission = DISABLE;
-    drv_init->ReceiveFifoLocked = DISABLE;
-    drv_init->TransmitFifoPriority = ENABLE;
+    drv_can->CanHandle.Init.TimeTriggeredMode = DISABLE;
+    drv_can->CanHandle.Init.AutoBusOff = ENABLE;
+    drv_can->CanHandle.Init.AutoWakeUp = DISABLE;
+    drv_can->CanHandle.Init.AutoRetransmission = DISABLE;
+    drv_can->CanHandle.Init.ReceiveFifoLocked = DISABLE;
+    drv_can->CanHandle.Init.TransmitFifoPriority = ENABLE;
 
     switch (cfg->mode)
     {
     case RT_CAN_MODE_NORMAL:
-        drv_init->Mode = CAN_MODE_NORMAL;
+        drv_can->CanHandle.Init.Mode = CAN_MODE_NORMAL;
         break;
     case RT_CAN_MODE_LISEN:
-        drv_init->Mode = CAN_MODE_SILENT;
+        drv_can->CanHandle.Init.Mode = CAN_MODE_SILENT;
         break;
     case RT_CAN_MODE_LOOPBACK:
-        drv_init->Mode = CAN_MODE_LOOPBACK;
+        drv_can->CanHandle.Init.Mode = CAN_MODE_LOOPBACK;
         break;
     case RT_CAN_MODE_LOOPBACKANLISEN:
-        drv_init->Mode = CAN_MODE_SILENT_LOOPBACK;
+        drv_can->CanHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
         break;
     }
 
     baud_index = get_can_baud_index(cfg->baud_rate);
-    drv_init->SyncJumpWidth = BAUD_DATA(SJW, baud_index);
-    drv_init->TimeSeg1 = BAUD_DATA(BS1, baud_index);
-    drv_init->TimeSeg2 = BAUD_DATA(BS2, baud_index);
-    drv_init->Prescaler = BAUD_DATA(RRESCL, baud_index);
+    drv_can->CanHandle.Init.SyncJumpWidth = BAUD_DATA(SJW, baud_index);
+    drv_can->CanHandle.Init.TimeSeg1 = BAUD_DATA(BS1, baud_index);
+    drv_can->CanHandle.Init.TimeSeg2 = BAUD_DATA(BS2, baud_index);
+    drv_can->CanHandle.Init.Prescaler = BAUD_DATA(RRESCL, baud_index);
+    /* init can */
     if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK)
     {
-        return RT_ERROR;
+        return -RT_ERROR;
     }
-    
-    /* Filter conf */
+
+    /* default filter config */
     HAL_CAN_ConfigFilter(&drv_can->CanHandle, &drv_can->FilterConfig);
     /* can start */
     HAL_CAN_Start(&drv_can->CanHandle);
+
     return RT_EOK;
 }
 
-static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
+static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
 {
-    struct stm32_drv_can *drv_can = RT_NULL;
     rt_uint32_t argval;
-    struct rt_can_filter_config *filter_cfg = RT_NULL;
-    CAN_FilterTypeDef can_filter;
-    drv_can = (struct stm32_drv_can *) can->parent.user_data;
-    assert_param(drv_can != RT_NULL);
+    struct stm32_can *drv_can;
+    struct rt_can_filter_config *filter_cfg;
+
+    RT_ASSERT(can != RT_NULL);
+    drv_can = (struct stm32_can *)can->parent.user_data;
+    RT_ASSERT(drv_can != RT_NULL);
 
     switch (cmd)
     {
@@ -419,13 +164,13 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
                 HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
                 HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
             }
-            #ifdef CAN2
-            else
+#ifdef CAN2
+            if (CAN2 == drv_can->CanHandle.Instance)
             {
                 HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
                 HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
             }
-            #endif
+#endif
             __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_MSG_PENDING);
             __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_FULL);
             __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_OVERRUN);
@@ -439,12 +184,12 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
             {
                 HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
             }
-            #ifdef CAN2
-            else
+#ifdef CAN2
+            if (CAN2 == drv_can->CanHandle.Instance)
             {
                 HAL_NVIC_DisableIRQ(CAN2_TX_IRQn);
             }
-            #endif
+#endif
             __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_TX_MAILBOX_EMPTY);
         }
         else if (argval == RT_DEVICE_CAN_INT_ERR)
@@ -453,12 +198,14 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
             {
                 NVIC_DisableIRQ(CAN1_SCE_IRQn);
             }
-            #ifdef CAN2
-            else
+#ifdef CAN2
+            if (CAN2 == drv_can->CanHandle.Instance)
             {
                 NVIC_DisableIRQ(CAN2_SCE_IRQn);
             }
-            #endif
+#endif
+            __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR_WARNING);
+            __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR_PASSIVE);
             __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_BUSOFF);
             __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_LAST_ERROR_CODE);
             __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR);
@@ -482,15 +229,15 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
                 HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 1, 0);
                 HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
             }
-            #ifdef CAN2
-            else
+#ifdef CAN2
+            if (CAN2 == drv_can->CanHandle.Instance)
             {
                 HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 1, 0);
                 HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
                 HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 1, 0);
                 HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
             }
-            #endif
+#endif
         }
         else if (argval == RT_DEVICE_FLAG_INT_TX)
         {
@@ -501,16 +248,18 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
                 HAL_NVIC_SetPriority(CAN1_TX_IRQn, 1, 0);
                 HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
             }
-            #ifdef CAN2
-            else
+#ifdef CAN2
+            if (CAN2 == drv_can->CanHandle.Instance)
             {
                 HAL_NVIC_SetPriority(CAN2_TX_IRQn, 1, 0);
                 HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
             }
-            #endif
+#endif
         }
         else if (argval == RT_DEVICE_CAN_INT_ERR)
         {
+            __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR_WARNING);
+            __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR_PASSIVE);
             __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_BUSOFF);
             __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_LAST_ERROR_CODE);
             __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR);
@@ -520,100 +269,98 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
                 HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 1, 0);
                 HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
             }
-            #ifdef CAN2
-            else
+#ifdef CAN2
+            if (CAN2 == drv_can->CanHandle.Instance)
             {
                 HAL_NVIC_SetPriority(CAN2_SCE_IRQn, 1, 0);
                 HAL_NVIC_EnableIRQ(CAN2_SCE_IRQn);
             }
-            #endif
+#endif
         }
         break;
     case RT_CAN_CMD_SET_FILTER:
         if (RT_NULL == arg)
         {
-            /* default Filter conf */
+            /* default filter config */
             HAL_CAN_ConfigFilter(&drv_can->CanHandle, &drv_can->FilterConfig);
         }
         else
         {
             filter_cfg = (struct rt_can_filter_config *)arg;
             /* get default filter */
-            can_filter = drv_can->FilterConfig;
-            for (int i = 0; i < filter_cfg->count; ++i)
+            for (int i = 0; i < filter_cfg->count; i++)
             {
-                can_filter.FilterBank = filter_cfg->items[i].hdr;
-                can_filter.FilterIdHigh = (filter_cfg->items[i].id >> 13) & 0xFFFF;
-                can_filter.FilterIdLow = ((filter_cfg->items[i].id << 3) | 
-                                         (filter_cfg->items[i].ide << 2) | 
-                                         (filter_cfg->items[i].rtr << 1)) & 0xFFFF;
-                can_filter.FilterMaskIdHigh = (filter_cfg->items[i].mask >> 16) & 0xFFFF;
-                can_filter.FilterMaskIdLow = filter_cfg->items[i].mask & 0xFFFF;
-                can_filter.FilterMode = filter_cfg->items[i].mode;
+                drv_can->FilterConfig.FilterBank = filter_cfg->items[i].hdr;
+                drv_can->FilterConfig.FilterIdHigh = (filter_cfg->items[i].id >> 13) & 0xFFFF;
+                drv_can->FilterConfig.FilterIdLow = ((filter_cfg->items[i].id << 3) | 
+                                                    (filter_cfg->items[i].ide << 2) | 
+                                                    (filter_cfg->items[i].rtr << 1)) & 0xFFFF;
+                drv_can->FilterConfig.FilterMaskIdHigh = (filter_cfg->items[i].mask >> 16) & 0xFFFF;
+                drv_can->FilterConfig.FilterMaskIdLow = filter_cfg->items[i].mask & 0xFFFF;
+                drv_can->FilterConfig.FilterMode = filter_cfg->items[i].mode;
                 /* Filter conf */
-                HAL_CAN_ConfigFilter(&drv_can->CanHandle, &can_filter);
+                HAL_CAN_ConfigFilter(&drv_can->CanHandle, &drv_can->FilterConfig);
             }
         }
         break;
     case RT_CAN_CMD_SET_MODE:
         argval = (rt_uint32_t) arg;
         if (argval != RT_CAN_MODE_NORMAL &&
-            argval != RT_CAN_MODE_LISEN &&
-            argval != RT_CAN_MODE_LOOPBACK &&
-            argval != RT_CAN_MODE_LOOPBACKANLISEN)
+                argval != RT_CAN_MODE_LISEN &&
+                argval != RT_CAN_MODE_LOOPBACK &&
+                argval != RT_CAN_MODE_LOOPBACKANLISEN)
         {
-            return RT_ERROR;
+            return -RT_ERROR;
         }
-        if (argval != can->config.mode)
+        if (argval != drv_can->device.config.mode)
         {
-            can->config.mode = argval;
-            return drv_configure(can, &can->config);
+            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)
+                argval != CAN800kBaud &&
+                argval != CAN500kBaud &&
+                argval != CAN250kBaud &&
+                argval != CAN125kBaud &&
+                argval != CAN100kBaud &&
+                argval != CAN50kBaud  &&
+                argval != CAN20kBaud  &&
+                argval != CAN10kBaud)
         {
-            return RT_ERROR;
+            return -RT_ERROR;
         }
-        if (argval != can->config.baud_rate)
+        if (argval != drv_can->device.config.baud_rate)
         {
-            can->config.baud_rate = argval;
-            return drv_configure(can, &can->config);
+            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)
+                argval != RT_CAN_MODE_NOPRIV)
         {
-            return RT_ERROR;
+            return -RT_ERROR;
         }
-        if (argval != can->config.privmode)
+        if (argval != drv_can->device.config.privmode)
         {
-            can->config.privmode = argval;
-            return drv_configure(can, &can->config);
+            drv_can->device.config.privmode = argval;
+            return _can_config(&drv_can->device, &drv_can->device.config);
         }
         break;
     case RT_CAN_CMD_GET_STATUS:
     {
         rt_uint32_t errtype;
         errtype = drv_can->CanHandle.Instance->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));
-        }
+        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;
     }
@@ -621,19 +368,28 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
     return RT_EOK;
 }
 
-static int drv_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t boxno)
+static int _can_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t box_num)
 {
-    CAN_HandleTypeDef *hcan = RT_NULL;
-    hcan = &((struct stm32_drv_can *) can->parent.user_data)->CanHandle;
+    CAN_HandleTypeDef *hcan;
+    hcan = &((struct stm32_can *) can->parent.user_data)->CanHandle;
     struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
     CAN_TxHeaderTypeDef txheader = {0};
-    
-    /*check Select mailbox  is empty */
-    switch (1 << boxno)
+    HAL_CAN_StateTypeDef state = hcan->State;
+
+    /* Check the parameters */
+    RT_ASSERT(IS_CAN_IDTYPE(pmsg->ide));
+    RT_ASSERT(IS_CAN_RTR(pmsg->rtr));
+    RT_ASSERT(IS_CAN_DLC(pmsg->len));
+
+    if ((state == HAL_CAN_STATE_READY) ||
+            (state == HAL_CAN_STATE_LISTENING))
     {
-        case CAN_TX_MAILBOX0:   
-            if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME0) != SET) 
-            {    
+        /*check select mailbox  is empty */
+        switch (1 << box_num)
+        {
+        case CAN_TX_MAILBOX0:
+            if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME0) != SET)
+            {
                 /* Change CAN state */
                 hcan->State = HAL_CAN_STATE_ERROR;
                 /* Return function status */
@@ -641,8 +397,8 @@ static int drv_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t b
             }
             break;
         case CAN_TX_MAILBOX1:
-            if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME1) != SET) 
-            {    
+            if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME1) != SET)
+            {
                 /* Change CAN state */
                 hcan->State = HAL_CAN_STATE_ERROR;
                 /* Return function status */
@@ -650,8 +406,8 @@ static int drv_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t b
             }
             break;
         case CAN_TX_MAILBOX2:
-            if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME2) != SET) 
-            {    
+            if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME2) != SET)
+            {
                 /* Change CAN state */
                 hcan->State = HAL_CAN_STATE_ERROR;
                 /* Return function status */
@@ -661,62 +417,124 @@ static int drv_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t b
         default:
             RT_ASSERT(0);
             break;
-    }
-    
-    if (RT_CAN_STDID == pmsg->ide)
-    {
-        txheader.IDE = CAN_ID_STD;
-        txheader.StdId = pmsg->id;
+        }
+
+        if (RT_CAN_STDID == pmsg->ide)
+        {
+            txheader.IDE = CAN_ID_STD;
+            RT_ASSERT(IS_CAN_STDID(pmsg->id));
+            txheader.StdId = pmsg->id;
+        }
+        else
+        {
+            txheader.IDE = CAN_ID_EXT;
+            RT_ASSERT(IS_CAN_EXTID(pmsg->id));
+            txheader.ExtId = pmsg->id;
+        }
+
+        if (RT_CAN_DTR == pmsg->rtr)
+        {
+            txheader.RTR = CAN_RTR_DATA;
+        }
+        else
+        {
+            txheader.RTR = CAN_RTR_REMOTE;
+        }
+        /* Set up the Id */
+        if (RT_CAN_STDID == pmsg->ide)
+        {
+            hcan->Instance->sTxMailBox[box_num].TIR |= (txheader.StdId << CAN_TI0R_STID_Pos) | txheader.RTR;
+        }
+        else
+        {
+            hcan->Instance->sTxMailBox[box_num].TIR |= (txheader.ExtId << CAN_TI0R_EXID_Pos) | txheader.IDE | txheader.RTR;
+        }
+        /* Set up the DLC */
+        hcan->Instance->sTxMailBox[box_num].TDTR = pmsg->len & 0x0FU;
+        /* Set up the data field */
+        WRITE_REG(hcan->Instance->sTxMailBox[box_num].TDHR,
+                  ((uint32_t)pmsg->data[7] << CAN_TDH0R_DATA7_Pos) |
+                  ((uint32_t)pmsg->data[6] << CAN_TDH0R_DATA6_Pos) |
+                  ((uint32_t)pmsg->data[5] << CAN_TDH0R_DATA5_Pos) |
+                  ((uint32_t)pmsg->data[4] << CAN_TDH0R_DATA4_Pos));
+        WRITE_REG(hcan->Instance->sTxMailBox[box_num].TDLR,
+                  ((uint32_t)pmsg->data[3] << CAN_TDL0R_DATA3_Pos) |
+                  ((uint32_t)pmsg->data[2] << CAN_TDL0R_DATA2_Pos) |
+                  ((uint32_t)pmsg->data[1] << CAN_TDL0R_DATA1_Pos) |
+                  ((uint32_t)pmsg->data[0] << CAN_TDL0R_DATA0_Pos));
+        /* Request transmission */
+        SET_BIT(hcan->Instance->sTxMailBox[box_num].TIR, CAN_TI0R_TXRQ);
+
+        return RT_EOK;
     }
     else
     {
-        txheader.IDE = CAN_ID_EXT;
-        txheader.ExtId = pmsg->id;
+        /* Update error code */
+        hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+
+        return -RT_ERROR;
     }
-    
-    if (RT_CAN_DTR == pmsg->rtr)
+}
+
+static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
+{
+    HAL_StatusTypeDef status;
+    CAN_HandleTypeDef *hcan;
+    struct rt_can_msg *pmsg;
+    CAN_RxHeaderTypeDef rxheader = {0};
+
+    RT_ASSERT(can);
+
+    hcan = &((struct stm32_can *)can->parent.user_data)->CanHandle;
+    pmsg = (struct rt_can_msg *) buf;
+
+    /* get data */
+    status = HAL_CAN_GetRxMessage(hcan, fifo, &rxheader, pmsg->data);
+    if (HAL_OK != status)
+        return -RT_ERROR;
+    /* get id */
+    if (CAN_ID_STD == rxheader.IDE)
     {
-        txheader.RTR = CAN_RTR_DATA;
+        pmsg->ide = RT_CAN_STDID;
+        pmsg->id = rxheader.StdId;
     }
     else
     {
-        txheader.RTR = CAN_RTR_REMOTE;
+        pmsg->ide = RT_CAN_EXTID;
+        pmsg->id = rxheader.ExtId;
     }
-    
-    /* clear TIR */
-    hcan->Instance->sTxMailBox[boxno].TIR &= CAN_TI0R_TXRQ;
-    /* Set up the Id */
-    if (RT_CAN_STDID == pmsg->ide)
+    /* get type */
+    if (CAN_RTR_DATA == rxheader.RTR)
     {
-        hcan->Instance->sTxMailBox[boxno].TIR |= (txheader.StdId << CAN_TI0R_STID_Pos) | txheader.IDE | txheader.RTR;
+        pmsg->rtr = RT_CAN_DTR;
     }
     else
     {
-        hcan->Instance->sTxMailBox[boxno].TIR |= (txheader.ExtId << CAN_TI0R_EXID_Pos) | txheader.IDE | txheader.RTR;
+        pmsg->rtr = RT_CAN_RTR;
     }
-    /* Set up the DLC */
-    hcan->Instance->sTxMailBox[boxno].TDTR = pmsg->len & 0x0FU;
-    /* Set up the data field */
-    WRITE_REG(hcan->Instance->sTxMailBox[boxno].TDHR,
-            ((uint32_t)pmsg->data[7] << CAN_TDH0R_DATA7_Pos) |
-            ((uint32_t)pmsg->data[6] << CAN_TDH0R_DATA6_Pos) |
-            ((uint32_t)pmsg->data[5] << CAN_TDH0R_DATA5_Pos) |
-            ((uint32_t)pmsg->data[4] << CAN_TDH0R_DATA4_Pos));
-    WRITE_REG(hcan->Instance->sTxMailBox[boxno].TDLR,
-            ((uint32_t)pmsg->data[3] << CAN_TDL0R_DATA3_Pos) |
-            ((uint32_t)pmsg->data[2] << CAN_TDL0R_DATA2_Pos) |
-            ((uint32_t)pmsg->data[1] << CAN_TDL0R_DATA1_Pos) |
-            ((uint32_t)pmsg->data[0] << CAN_TDL0R_DATA0_Pos));
-    /* Request transmission */
-    SET_BIT(hcan->Instance->sTxMailBox[boxno].TIR, CAN_TI0R_TXRQ);
+    /* get len */
+    pmsg->len = rxheader.DLC;
+    /* get hdr */
+    pmsg->hdr = rxheader.FilterMatchIndex;
+
     return RT_EOK;
 }
 
-static void drv_rx_isr(struct rt_can_device *can, rt_uint32_t 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)
 {
     CAN_HandleTypeDef *hcan;
-    hcan = &((struct stm32_drv_can *) can->parent.user_data)->CanHandle;
-    
+    RT_ASSERT(can);
+    hcan = &((struct stm32_can *) can->parent.user_data)->CanHandle;
+
     switch (fifo)
     {
     case CAN_RX_FIFO0:
@@ -731,7 +549,7 @@ static void drv_rx_isr(struct rt_can_device *can, rt_uint32_t fifo)
             /* Clear FIFO0 FULL Flag */
             __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0);
         }
-        
+
         /* Check Overrun flag for FIFO0 */
         if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV0) && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_RX_FIFO0_OVERRUN))
         {
@@ -752,7 +570,7 @@ static void drv_rx_isr(struct rt_can_device *can, rt_uint32_t fifo)
             /* Clear FIFO1 FULL Flag */
             __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1);
         }
-        
+
         /* Check Overrun flag for FIFO1 */
         if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV1) && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_RX_FIFO1_OVERRUN))
         {
@@ -764,105 +582,321 @@ static void drv_rx_isr(struct rt_can_device *can, rt_uint32_t fifo)
     }
 }
 
-static int drv_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
+#ifdef BSP_USING_CAN1
+/**
+ * @brief This function handles CAN1 TX interrupts. transmit fifo0/1/2 is empty can trigger this interrupt
+ */
+void CAN1_TX_IRQHandler(void)
 {
-    HAL_StatusTypeDef status;
-    CAN_HandleTypeDef *hcan = RT_NULL;
-    struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
-    hcan = &((struct stm32_drv_can *) can->parent.user_data)->CanHandle;
-    CAN_RxHeaderTypeDef rxheader = {0};
-    /* get data */
-    status = HAL_CAN_GetRxMessage(hcan, fifo, &rxheader, pmsg->data);
-    if (HAL_OK != status) return -RT_ERROR;
-    /* get id */
-    if (CAN_ID_STD == rxheader.IDE)
+    rt_interrupt_enter();
+    CAN_HandleTypeDef *hcan;
+    hcan = &drv_can1.CanHandle;
+    if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP0))
     {
-        pmsg->ide = RT_CAN_STDID;
-        pmsg->id = rxheader.StdId;
+        if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK0))
+        {
+            rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_DONE | 0 << 8);
+        }
+        else
+        {
+            rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
+        }
+        /* Write 0 to Clear transmission status flag RQCPx */
+        SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP0);
     }
-    else
+    else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP1))
     {
-        pmsg->ide = RT_CAN_EXTID;
-        pmsg->id = rxheader.ExtId;
+        if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK1))
+        {
+            rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_DONE | 1 << 8);
+        }
+        else
+        {
+            rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
+        }
+        /* Write 0 to Clear transmission status flag RQCPx */
+        SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP1);
     }
-    /* get type */
-    if (CAN_RTR_DATA == rxheader.RTR)
+    else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP2))
     {
-        pmsg->rtr = RT_CAN_DTR;
+        if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK2))
+        {
+            rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_DONE | 2 << 8);
+        }
+        else
+        {
+            rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
+        }
+        /* Write 0 to Clear transmission status flag RQCPx */
+        SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP2);
     }
-    else
+    rt_interrupt_leave();
+}
+
+/**
+ * @brief This function handles CAN1 RX0 interrupts.
+ */
+void CAN1_RX0_IRQHandler(void)
+{
+    rt_interrupt_enter();
+    _can_rx_isr(&drv_can1.device, CAN_RX_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_RX_FIFO1);
+    rt_interrupt_leave();
+}
+
+/**
+ * @brief This function handles CAN1 SCE interrupts.
+ */
+void CAN1_SCE_IRQHandler(void)
+{
+    rt_uint32_t errtype;
+    CAN_HandleTypeDef *hcan;
+
+    hcan = &drv_can1.CanHandle;
+    errtype = hcan->Instance->ESR;
+
+    rt_interrupt_enter();
+    HAL_CAN_IRQHandler(hcan);
+
+    switch ((errtype & 0x70) >> 4)
     {
-        pmsg->rtr = RT_CAN_RTR;
+    case RT_CAN_BUS_BIT_PAD_ERR:
+        drv_can1.device.status.bitpaderrcnt++;
+        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.CanHandle.Instance->TSR, CAN_FLAG_TXOK0))
+            rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
+        else if (!READ_BIT(drv_can1.CanHandle.Instance->TSR, CAN_FLAG_TXOK0))
+            rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
+        else if (!READ_BIT(drv_can1.CanHandle.Instance->TSR, CAN_FLAG_TXOK0))
+            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;
     }
-    /* get len */
-    pmsg->len = rxheader.DLC;
-    /* get hdr */
-    pmsg->hdr = rxheader.FilterMatchIndex;
-    return RT_EOK;
+
+    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;
+    hcan->Instance->MSR |= CAN_MSR_ERRI;
+    rt_interrupt_leave();
 }
+#endif /* BSP_USING_CAN1 */
 
-static const struct rt_can_ops drv_can_ops =
+#ifdef BSP_USING_CAN2
+/**
+ * @brief This function handles CAN2 TX interrupts.
+ */
+void CAN2_TX_IRQHandler(void)
 {
-    drv_configure,
-    drv_control,
-    drv_sendmsg,
-    drv_recvmsg,
-};
+    rt_interrupt_enter();
+    CAN_HandleTypeDef *hcan;
+    hcan = &drv_can2.CanHandle;
+    if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP0))
+    {
+        if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK0))
+        {
+            rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_DONE | 0 << 8);
+        }
+        else
+        {
+            rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
+        }
+        /* Write 0 to Clear transmission status flag RQCPx */
+        SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP0);
+    }
+    else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP1))
+    {
+        if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK1))
+        {
+            rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_DONE | 1 << 8);
+        }
+        else
+        {
+            rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
+        }
+        /* Write 0 to Clear transmission status flag RQCPx */
+        SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP1);
+    }
+    else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP2))
+    {
+        if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK2))
+        {
+            rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_DONE | 2 << 8);
+        }
+        else
+        {
+            rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
+        }
+        /* Write 0 to Clear transmission status flag RQCPx */
+        SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP2);
+    }
+    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_RX_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_RX_FIFO1);
+    rt_interrupt_leave();
+}
+
+/**
+ * @brief This function handles CAN2 SCE interrupts.
+ */
+void CAN2_SCE_IRQHandler(void)
+{
+    rt_uint32_t errtype;
+    CAN_HandleTypeDef *hcan;
+
+    hcan = &drv_can2.CanHandle;
+    errtype = hcan->Instance->ESR;
+
+    rt_interrupt_enter();
+    HAL_CAN_IRQHandler(hcan);
+
+    switch ((errtype & 0x70) >> 4)
+    {
+    case RT_CAN_BUS_BIT_PAD_ERR:
+        drv_can2.device.status.bitpaderrcnt++;
+        break;
+    case RT_CAN_BUS_FORMAT_ERR:
+        drv_can2.device.status.formaterrcnt++;
+        break;
+    case RT_CAN_BUS_ACK_ERR:
+        drv_can2.device.status.ackerrcnt++;
+        if (!READ_BIT(drv_can1.CanHandle.Instance->TSR, CAN_FLAG_TXOK0))
+            rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
+        else if (!READ_BIT(drv_can2.CanHandle.Instance->TSR, CAN_FLAG_TXOK0))
+            rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
+        else if (!READ_BIT(drv_can2.CanHandle.Instance->TSR, CAN_FLAG_TXOK0))
+            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;
+    hcan->Instance->MSR |= CAN_MSR_ERRI;
+    rt_interrupt_leave();
+}
+#endif /* BSP_USING_CAN2 */
+
+/**
+ * @brief  Error CAN callback.
+ * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
+ *         the configuration information for the specified CAN.
+ * @retval None
+ */
+void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
+{
+    __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERROR_WARNING |
+                        CAN_IT_ERROR_PASSIVE |
+                        CAN_IT_BUSOFF |
+                        CAN_IT_LAST_ERROR_CODE |
+                        CAN_IT_ERROR |
+                        CAN_IT_RX_FIFO0_MSG_PENDING |
+                        CAN_IT_RX_FIFO0_OVERRUN |
+                        CAN_IT_RX_FIFO0_FULL |
+                        CAN_IT_RX_FIFO1_MSG_PENDING |
+                        CAN_IT_RX_FIFO1_OVERRUN |
+                        CAN_IT_RX_FIFO1_FULL |
+                        CAN_IT_TX_MAILBOX_EMPTY);
+}
 
 int rt_hw_can_init(void)
 {
-    struct stm32_drv_can *drv_can;
     struct can_configure config = CANDEFAULTCONFIG;
-    config.privmode = 0;
+    config.privmode = RT_CAN_MODE_NOPRIV;
     config.ticks = 50;
-    config.sndboxnumber = 3;
-    config.msgboxsz = 32;
 #ifdef RT_CAN_USING_HDR
     config.maxhdr = 14;
-    #ifdef CAN2
+#ifdef CAN2
     config.maxhdr = 28;
-    #endif
+#endif
 #endif
     /* config default filter */
     CAN_FilterTypeDef filterConf = {0};
-    filterConf.FilterBank = 0;
-    filterConf.FilterMode = CAN_FILTERMODE_IDMASK;
-    filterConf.FilterScale = CAN_FILTERSCALE_32BIT;
     filterConf.FilterIdHigh = 0x0000;
     filterConf.FilterIdLow = 0x0000;
     filterConf.FilterMaskIdHigh = 0x0000;
     filterConf.FilterMaskIdLow = 0x0000;
     filterConf.FilterFIFOAssignment = CAN_FILTER_FIFO0;
+    filterConf.FilterBank = 0;
+    filterConf.FilterMode = CAN_FILTERMODE_IDMASK;
+    filterConf.FilterScale = CAN_FILTERSCALE_32BIT;
     filterConf.FilterActivation = ENABLE;
     filterConf.SlaveStartFilterBank = 14;
-    
+
 #ifdef BSP_USING_CAN1
     filterConf.FilterBank = 0;
+
     drv_can1.FilterConfig = filterConf;
-    drv_can = &drv_can1;
-    drv_can->CanHandle.Instance = CAN1;
-    dev_can1.ops    = &drv_can_ops;
-    dev_can1.config = config;
+    drv_can1.device.config = config;
     /* register CAN1 device */
-    rt_hw_can_register(&dev_can1, "can1",
-                       &drv_can_ops,
-                       drv_can);
+    rt_hw_can_register(&drv_can1.device,
+                       drv_can1.name,
+                       &_can_ops,
+                       &drv_can1);
 #endif /* BSP_USING_CAN1 */
 
 #ifdef BSP_USING_CAN2
     filterConf.FilterBank = filterConf.SlaveStartFilterBank;
+
     drv_can2.FilterConfig = filterConf;
-    drv_can = &drv_can2;
-    drv_can->CanHandle.Instance = CAN2;
-    dev_can2.ops    = &drv_can_ops;
-    dev_can2.config = config;
+    drv_can2.device.config = config;
     /* register CAN2 device */
-    rt_hw_can_register(&dev_can2, "can2",
-                       &drv_can_ops,
-                       drv_can);
+    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 /* RT_USING_CAN */
+
+#endif /* BSP_USING_CAN */
+
+/************************** end of file ******************/
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_can.h b/bsp/stm32/libraries/HAL_Drivers/drv_can.h
index 736df7dec5..b0ae3072e6 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_can.h
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_can.h
@@ -11,40 +11,49 @@
  * 2019-02-19     YLZ          port to BSP [stm32]
  * 2019-06-17     YLZ          modify struct stm32_drv_can.
  */
+
 #ifndef __DRV_CAN_H__
 #define __DRV_CAN_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include <board.h>
 #include <rtdevice.h>
-#include <rthw.h>
 #include <rtthread.h>
 
-#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 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 )
 
-struct stm_baud_rate_tab
+struct stm32_baud_rate_tab
 {
     rt_uint32_t baud_rate;
-    rt_uint32_t confdata;
+    rt_uint32_t config_data;
 };
+#define BAUD_DATA(TYPE,NO)       ((can_baud_rate_tab[NO].config_data & TYPE##MASK))
 
-/* STM32 can driver */
-struct stm32_drv_can
+/* stm32 can device */
+struct stm32_can
 {
+    char *name;
     CAN_HandleTypeDef CanHandle;
     CAN_FilterTypeDef FilterConfig;
+    struct rt_can_device device;     /* inherit from can device */
 };
 
-#ifdef __cplusplus
- extern "C" {
-#endif
 int rt_hw_can_init(void);
+
 #ifdef __cplusplus
- }
+}
 #endif
+
 #endif /*__DRV_CAN_H__ */
+
+/************************** end of file ******************/
diff --git a/bsp/stm32/libraries/STM32H7xx_HAL/SConscript b/bsp/stm32/libraries/STM32H7xx_HAL/SConscript
index aacf24b3fe..f1548a3525 100644
--- a/bsp/stm32/libraries/STM32H7xx_HAL/SConscript
+++ b/bsp/stm32/libraries/STM32H7xx_HAL/SConscript
@@ -29,9 +29,9 @@ STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c
 ''')
  
 if GetDepend(['RT_USING_SERIAL']):
-	src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c']
-	src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_usart.c']
-	src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c']
+    src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c']
+    src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_usart.c']
+    src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c']
 
 if GetDepend(['RT_USING_I2C']):
     src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c']
@@ -49,7 +49,7 @@ if GetDepend(['RT_USING_USB_HOST']) or GetDepend(['RT_USING_USB_DEVICE']):
     src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usb.c']
 
 if GetDepend(['RT_USING_CAN']):
-    src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_can.c']
+    src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c']
 
 if GetDepend(['RT_USING_HWTIMER']) or GetDepend(['RT_USING_PWM']):
     src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c']