[CAN]update struct can_filter_item and rt_can_msg (#6556)

* 修改ry命令，已便于自定义保存路径

* modified:   components/utilities/ymodem/ry_sy.c

* 修复从被动错误恢复后发送返回异常

* 修复在自动重传模式下,ACK异常阻塞线程
- 删除TX中断函数else分支。仅当RQCP位 置一才进入该中断
- 添加SCE中断函数中关于ACK_ERR的else判断。自动重传模式下会进入该判断,打断自动重传释放完成量。

* 增加对于CAN1与CAN2的SCE中断和TX中断的公共处理函数

* formatting格式化代码

* update struct can_filter_item and rt_can_msg
1. 对过滤器号和索引号结构体定义中同一名称hdr进行重命名hdr_bank和hdr_index,
以便准确区分.采用宏定义兼容以前变量名.
2. 添加接收标识rxfifo,已指明是哪个RXFIFO.

* 更正42M下的波特率

* 修复接收获取索引号错误

* 添加接收标识

* 更新注释

* 取消CANFD限制

* update struct can_filter_item and rt_can_msg

2 files changed, 32 insertions, 21 deletions

diff --git a/components/drivers/can/can.c b/components/drivers/can/can.c
index eee78da9ec..a3d81f6081 100644
--- a/components/drivers/can/can.c
+++ b/components/drivers/can/can.c
@@ -65,7 +65,7 @@ rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, in
         /* disable interrupt */
         level = rt_hw_interrupt_disable();
 #ifdef RT_CAN_USING_HDR
-        hdr = data->hdr;
+        hdr = data->hdr_index;
 
         if (hdr >= 0 && can->hdr && hdr < can->config.maxhdr && !rt_list_isempty(&can->hdr[hdr].list))
         {
@@ -581,7 +581,7 @@ static rt_err_t rt_can_control(struct rt_device *dev,
         {
             while (count)
             {
-                if (pitem->hdr >= can->config.maxhdr || pitem->hdr < 0)
+                if (pitem->hdr_bank >= can->config.maxhdr || pitem->hdr_bank < 0)
                 {
                     count--;
                     pitem++;
@@ -589,15 +589,15 @@ static rt_err_t rt_can_control(struct rt_device *dev,
                 }
 
                 level = rt_hw_interrupt_disable();
-                if (!can->hdr[pitem->hdr].connected)
+                if (!can->hdr[pitem->hdr_bank].connected)
                 {
                     rt_hw_interrupt_enable(level);
-                    rt_memcpy(&can->hdr[pitem->hdr].filter, pitem,
+                    rt_memcpy(&can->hdr[pitem->hdr_bank].filter, pitem,
                               sizeof(struct rt_can_filter_item));
                     level = rt_hw_interrupt_disable();
-                    can->hdr[pitem->hdr].connected = 1;
-                    can->hdr[pitem->hdr].msgs = 0;
-                    rt_list_init(&can->hdr[pitem->hdr].list);
+                    can->hdr[pitem->hdr_bank].connected = 1;
+                    can->hdr[pitem->hdr_bank].msgs = 0;
+                    rt_list_init(&can->hdr[pitem->hdr_bank].list);
                 }
                 rt_hw_interrupt_enable(level);
 
@@ -609,7 +609,7 @@ static rt_err_t rt_can_control(struct rt_device *dev,
         {
             while (count)
             {
-                if (pitem->hdr >= can->config.maxhdr || pitem->hdr < 0)
+                if (pitem->hdr_bank >= can->config.maxhdr || pitem->hdr_bank < 0)
                 {
                     count--;
                     pitem++;
@@ -617,16 +617,16 @@ static rt_err_t rt_can_control(struct rt_device *dev,
                 }
                 level = rt_hw_interrupt_disable();
 
-                if (can->hdr[pitem->hdr].connected)
+                if (can->hdr[pitem->hdr_bank].connected)
                 {
-                    can->hdr[pitem->hdr].connected = 0;
-                    can->hdr[pitem->hdr].msgs = 0;
-                    if (!rt_list_isempty(&can->hdr[pitem->hdr].list))
+                    can->hdr[pitem->hdr_bank].connected = 0;
+                    can->hdr[pitem->hdr_bank].msgs = 0;
+                    if (!rt_list_isempty(&can->hdr[pitem->hdr_bank].list))
                     {
-                        rt_list_remove(can->hdr[pitem->hdr].list.next);
+                        rt_list_remove(can->hdr[pitem->hdr_bank].list.next);
                     }
                     rt_hw_interrupt_enable(level);
-                    rt_memset(&can->hdr[pitem->hdr].filter, 0,
+                    rt_memset(&can->hdr[pitem->hdr_bank].filter, 0,
                               sizeof(struct rt_can_filter_item));
                 }
                 else
@@ -829,7 +829,7 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
             level = rt_hw_interrupt_disable();
             rt_list_insert_before(&rx_fifo->uselist, &listmsg->list);
 #ifdef RT_CAN_USING_HDR
-            hdr = tmpmsg.hdr;
+            hdr = tmpmsg.hdr_index;
             if (can->hdr != RT_NULL)
             {
                 RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
diff --git a/components/drivers/include/drivers/can.h b/components/drivers/include/drivers/can.h
index 553e145e92..4bae9fcb16 100644
--- a/components/drivers/include/drivers/can.h
+++ b/components/drivers/include/drivers/can.h
@@ -63,6 +63,12 @@ enum CANBAUD
 #define RT_CAN_MODE_PRIV                0x01
 #define RT_CAN_MODE_NOPRIV              0x00
 
+/** @defgroup CAN_receive_FIFO_number CAN Receive FIFO Number
+  * @{
+  */
+#define CAN_RX_FIFO0                (0x00000000U)  /*!< CAN receive FIFO 0 */
+#define CAN_RX_FIFO1                (0x00000001U)  /*!< CAN receive FIFO 1 */
+
 struct rt_can_filter_item
 {
     rt_uint32_t id  : 29;
@@ -70,16 +76,18 @@ struct rt_can_filter_item
     rt_uint32_t rtr : 1;
     rt_uint32_t mode : 1;
     rt_uint32_t mask;
-    rt_int32_t hdr;
+    rt_int32_t  hdr_bank;/*Should be defined as:rx.FilterBank,which should be changed to rt_int32_t hdr_bank*/
+    rt_uint32_t rxfifo;/*Add a configuration item that CAN_RX_FIFO0/CAN_RX_FIFO1*/
 #ifdef RT_CAN_USING_HDR
     rt_err_t (*ind)(rt_device_t dev, void *args , rt_int32_t hdr, rt_size_t size);
     void *args;
 #endif /*RT_CAN_USING_HDR*/
 };
 
+
 #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)}
+      {(id), (ide), (rtr), (mode),(mask), -1, CAN_RX_FIFO0,(ind), (args)}/*0:CAN_RX_FIFO0*/
 #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) \
@@ -95,7 +103,7 @@ struct rt_can_filter_item
 #else
 
 #define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask) \
-     {(id), (ide), (rtr), (mode), (mask), -1, }
+      {(id), (ide), (rtr), (mode), (mask), -1, CAN_RX_FIFO0 }/*0:CAN_RX_FIFO0*/
 #define RT_CAN_FILTER_STD_INIT(id) \
      RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF)
 #define RT_CAN_FILTER_EXT_INIT(id) \
@@ -269,6 +277,7 @@ typedef struct rt_can_device *rt_can_t;
 #define RT_CAN_RTR   1
 
 typedef struct rt_can_status *rt_can_status_t;
+
 struct rt_can_msg
 {
     rt_uint32_t id  : 29;
@@ -277,12 +286,14 @@ struct rt_can_msg
     rt_uint32_t rsv : 1;
     rt_uint32_t len : 8;
     rt_uint32_t priv : 8;
-    rt_int32_t hdr : 8;
+    rt_int32_t hdr_index : 8;/*Should be defined as:rx.FilterMatchIndex,which should be changed to rt_int32_t hdr_index : 8*/
 #ifdef RT_CAN_USING_CANFD
     rt_uint32_t fd_frame : 1;
-    rt_uint32_t reserved : 7;
+    rt_uint32_t rxfifo : 2;/*Redefined to return :CAN RX FIFO0/CAN RX FIFO1*/
+    rt_uint32_t reserved : 5;
 #else
-    rt_uint32_t reserved : 8;
+    rt_uint32_t rxfifo : 2;/*Redefined to return :CAN RX FIFO0/CAN RX FIFO1*/
+    rt_uint32_t reserved : 6;
 #endif
 #ifdef RT_CAN_USING_CANFD
     rt_uint8_t data[64];