Add Can Drv

3 files changed, 1202 insertions, 0 deletions

diff --git a/components/drivers/can/can.c b/components/drivers/can/can.c
new file mode 100644
index 0000000000..3d31409756
--- /dev/null
+++ b/components/drivers/can/can.c
@@ -0,0 +1,906 @@
+/*
+ * File      : can.c
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2015, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ */
+#include <rthw.h>
+#include <rtthread.h>
+#include <rtdevice.h>
+
+static rt_err_t rt_can_init(struct rt_device *dev)
+{
+    rt_err_t result = RT_EOK;
+    struct rt_can_device *can;
+
+    RT_ASSERT(dev != RT_NULL);
+    can = (struct rt_can_device *)dev;
+
+    /* initialize rx/tx */
+    can->can_rx = RT_NULL;
+    can->can_tx = RT_NULL;
+
+    /* apply configuration */
+    if (can->ops->configure)
+        result = can->ops->configure(can, &can->config);
+
+    return result;
+}
+/*
+ * can interrupt routines
+ */
+rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, int msgs)
+{
+    int size;
+    struct rt_can_rx_fifo* rx_fifo;
+
+    RT_ASSERT(can != RT_NULL);
+    size = msgs; 
+    
+    rx_fifo = (struct rt_can_rx_fifo*) can->can_rx;
+    RT_ASSERT(rx_fifo != RT_NULL);
+
+    /* read from software FIFO */
+    while (msgs)
+    {
+        rt_base_t level;
+        struct rt_can_msg_list *listmsg=RT_NULL;
+        /* disable interrupt */
+        level = rt_hw_interrupt_disable();
+#ifdef RT_CAN_USING_HDR
+        rt_int32_t hdr = data->hdr;
+        if (hdr >=0 && can->hdr && hdr < can->config.maxhdr && !rt_list_isempty(&can->hdr[hdr].list))
+        {
+             listmsg=rt_list_entry(can->hdr[hdr].list.next, struct rt_can_msg_list, hdrlist);
+             rt_list_remove(&listmsg->list);
+             rt_list_remove(&listmsg->hdrlist);
+             if(can->hdr[hdr].msgs) {
+               can->hdr[hdr].msgs--;                     
+             }
+             listmsg->owner = RT_NULL;
+        } else
+#endif /*RT_CAN_USING_HDR*/
+        if (!rt_list_isempty(&rx_fifo->uselist))
+        {
+             listmsg=rt_list_entry(rx_fifo->uselist.next, struct rt_can_msg_list, list);
+             rt_list_remove(&listmsg->list);
+#ifdef RT_CAN_USING_HDR
+             rt_list_remove(&listmsg->hdrlist);
+             if(listmsg->owner != RT_NULL && listmsg->owner->msgs) {
+                listmsg->owner->msgs--;                     
+              }
+              listmsg->owner = RT_NULL;
+#endif
+        }
+        else
+        {
+            /* no data, enable interrupt and break out */
+            rt_hw_interrupt_enable(level);
+            break;
+        }
+
+        /* enable interrupt */
+        rt_hw_interrupt_enable(level);
+        if(listmsg!=RT_NULL)
+        {
+            rt_memcpy(data,&listmsg->data,sizeof(struct rt_can_msg));
+            level = rt_hw_interrupt_disable();
+            rt_list_insert_before(&rx_fifo->freelist,&listmsg->list);
+            rx_fifo->freenumbers++;
+            RT_ASSERT(rx_fifo->freenumbers <= can->config.msgboxsz);
+            rt_hw_interrupt_enable(level);
+            listmsg = RT_NULL;
+        }
+        data ++; msgs -= sizeof(struct rt_can_msg);
+    }
+
+    return (size - msgs);
+}
+
+rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *data, int msgs)
+{
+    int size;
+    struct rt_can_tx_fifo *tx_fifo;
+    
+    RT_ASSERT(can != RT_NULL);
+
+    size = msgs;
+    tx_fifo = (struct rt_can_tx_fifo*) can->can_tx;
+    RT_ASSERT(tx_fifo != RT_NULL);
+
+    while (msgs)
+    {      
+        rt_base_t level;
+        rt_uint32_t no;
+        struct rt_can_sndbxinx_list* tx_tosnd = RT_NULL;
+        level = rt_hw_interrupt_disable();
+        if(!rt_list_isempty(&tx_fifo->freelist))
+        {
+            tx_tosnd = rt_list_entry(tx_fifo->freelist.next, struct rt_can_sndbxinx_list, list);
+            RT_ASSERT(tx_tosnd != RT_NULL);
+            rt_list_remove(&tx_tosnd->list);
+        } else {
+            rt_hw_interrupt_enable(level);
+            rt_completion_wait(&(tx_fifo->completion), RT_WAITING_FOREVER);
+            continue;
+        }
+        rt_hw_interrupt_enable(level);
+        no=((rt_uint32_t)tx_tosnd-(rt_uint32_t)tx_fifo->buffer)/sizeof(struct rt_can_sndbxinx_list);
+        tx_tosnd->result = RT_CAN__SND_RESUTL_WAIT;
+        if (can->ops->sendmsg(can, data ,no))
+        {
+            level = rt_hw_interrupt_disable();
+            rt_list_insert_after(&tx_fifo->freelist,&tx_tosnd->list);
+            rt_hw_interrupt_enable(level);
+            continue;
+        }
+        can->status.sndchange = 1;
+        rt_completion_wait(&(tx_tosnd->completion), RT_WAITING_FOREVER);
+        level = rt_hw_interrupt_disable();
+        rt_uint32_t result = tx_tosnd->result;
+        if(!rt_list_isempty(&tx_tosnd->list)) {
+                rt_list_remove(&tx_tosnd->list);
+        }
+        rt_list_insert_before(&tx_fifo->freelist,&tx_tosnd->list);
+        rt_hw_interrupt_enable(level);
+        
+        if(result == RT_CAN__SND_RESUTL_OK)
+        {
+            level = rt_hw_interrupt_disable();
+            can->status.sndpkg++;
+            rt_hw_interrupt_enable(level);
+            data ++; msgs -= sizeof(struct rt_can_msg);
+            if(!msgs) break;
+        }
+        else
+        {
+            level = rt_hw_interrupt_disable();
+            can->status.dropedsndpkg++;
+            rt_hw_interrupt_enable(level);
+            break;
+        }
+
+        level = rt_hw_interrupt_disable();
+        if(rt_list_isempty(&tx_fifo->freelist))
+        {
+              rt_hw_interrupt_enable(level);
+              rt_completion_done(&(tx_fifo->completion));
+        }
+        else
+        {
+              rt_hw_interrupt_enable(level);
+        }
+    }
+
+    return (size - msgs);
+}
+rt_inline int _can_int_tx_priv(struct rt_can_device *can, const struct rt_can_msg *data, int msgs)
+{
+    int size;
+    struct rt_can_tx_fifo *tx_fifo;
+    
+    RT_ASSERT(can != RT_NULL);
+
+    size = msgs;
+    tx_fifo = (struct rt_can_tx_fifo*) can->can_tx;
+    RT_ASSERT(tx_fifo != RT_NULL);
+
+    rt_base_t level;
+    rt_uint32_t no;
+    rt_uint32_t result;
+    while (msgs)
+    {      
+        no = data->priv;
+        if(no >= can->config.sndboxnumber) {
+           break;
+        }
+        level = rt_hw_interrupt_disable();
+        if((tx_fifo->buffer[no].result != RT_CAN__SND_RESUTL_OK)) {
+           rt_hw_interrupt_enable(level);
+           rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
+           continue;
+        }
+        tx_fifo->buffer[no].result = RT_CAN__SND_RESUTL_WAIT;
+        rt_hw_interrupt_enable(level);
+        if (can->ops->sendmsg(can, data ,no) != RT_EOK)
+        {
+            continue;
+        }
+        can->status.sndchange = 1;
+        rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
+        result = tx_fifo->buffer[no].result;
+        if(result == RT_CAN__SND_RESUTL_OK)
+        {
+            level = rt_hw_interrupt_disable();
+            can->status.sndpkg++;
+            rt_hw_interrupt_enable(level);
+            data ++; msgs -= sizeof(struct rt_can_msg);
+            if(!msgs) break;
+        }
+        else
+        {
+            level = rt_hw_interrupt_disable();
+            can->status.dropedsndpkg++;
+            rt_hw_interrupt_enable(level);
+            break;
+        }
+    }
+
+    return (size - msgs);
+}
+static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
+{
+    struct rt_can_device *can;
+
+    RT_ASSERT(dev != RT_NULL);
+    can = (struct rt_can_device *)dev;
+
+    /* get open flags */
+    dev->open_flag = oflag & 0xff;
+    rt_enter_critical();
+    if (can->can_rx == RT_NULL)
+    {
+        if (oflag & RT_DEVICE_FLAG_INT_RX)
+        {
+            struct rt_can_rx_fifo* rx_fifo;
+
+            rx_fifo = (struct rt_can_rx_fifo*) rt_malloc (sizeof(struct rt_can_rx_fifo) + 
+                can->config.msgboxsz * sizeof(struct rt_can_msg_list));
+            RT_ASSERT(rx_fifo != RT_NULL);
+            rx_fifo->buffer = (struct rt_can_msg_list*) (rx_fifo + 1);
+            rt_memset(rx_fifo->buffer, 0, can->config.msgboxsz * sizeof(struct rt_can_msg_list));
+            rt_list_init(&rx_fifo->freelist);
+            rt_list_init(&rx_fifo->uselist);
+            rx_fifo->freenumbers=can->config.msgboxsz;
+            int i = 0;
+            for(i = 0;  i< can->config.msgboxsz; i++)
+            {
+                  rt_list_insert_before(&rx_fifo->freelist,&rx_fifo->buffer[i].list);
+#ifdef RT_CAN_USING_HDR
+                  rt_list_init(&rx_fifo->buffer[i].hdrlist);
+                  rx_fifo->buffer[i].owner = RT_NULL;
+#endif
+            }
+            can->can_rx = rx_fifo;
+            rt_exit_critical();
+            dev->open_flag |= RT_DEVICE_FLAG_INT_RX;
+            /* configure low level device */
+            can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_FLAG_INT_RX);
+        }
+        else
+        {
+            can->can_rx = RT_NULL;
+            rt_exit_critical();
+        }
+    } else {
+        rt_exit_critical();
+    }
+    rt_enter_critical();
+    if (can->can_tx == RT_NULL)
+    {
+        if (oflag & RT_DEVICE_FLAG_INT_TX)
+        {
+            struct rt_can_tx_fifo *tx_fifo;
+
+            tx_fifo = (struct rt_can_tx_fifo*) rt_malloc(sizeof(struct rt_can_tx_fifo)+
+                                can->config.sndboxnumber*sizeof(struct rt_can_sndbxinx_list));
+            RT_ASSERT(tx_fifo != RT_NULL);
+            tx_fifo->buffer = (struct rt_can_sndbxinx_list *) (tx_fifo + 1);
+            rt_memset(tx_fifo->buffer, 0, 
+                      can->config.sndboxnumber*sizeof(struct rt_can_sndbxinx_list));
+            rt_list_init(&tx_fifo->freelist);
+            int i = 0;
+            for(i = 0;  i< can->config.sndboxnumber; i++)
+            {
+                  rt_list_insert_before(&tx_fifo->freelist,&tx_fifo->buffer[i].list);
+                  rt_completion_init(&(tx_fifo->buffer[i].completion));
+                  tx_fifo->buffer[i].result = RT_CAN__SND_RESUTL_OK;
+            }
+            rt_completion_init(&(tx_fifo->completion));
+            can->can_tx = tx_fifo;
+            rt_exit_critical();
+            dev->open_flag |= RT_DEVICE_FLAG_INT_TX;
+            /* configure low level device */
+            can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_FLAG_INT_TX);
+        }
+        else
+        {
+            can->can_tx = RT_NULL;
+            rt_exit_critical();
+        }
+    } else {
+        rt_exit_critical();
+    }
+    can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_CAN_INT_ERR);
+#ifdef RT_CAN_USING_HDR
+    rt_enter_critical();
+    if(can->hdr == RT_NULL) {
+        struct rt_can_hdr * phdr;
+        phdr = (struct rt_can_hdr *) rt_malloc(can->config.maxhdr*sizeof(struct rt_can_hdr));
+        RT_ASSERT(phdr != RT_NULL);
+        rt_memset(phdr, 0,can->config.maxhdr*sizeof(struct rt_can_hdr));
+        int i = 0;
+        for(i = 0;  i< can->config.maxhdr; i++)
+        {
+              rt_list_init(&phdr[i].list);
+        }
+        can->hdr = phdr;
+        rt_exit_critical();
+    } else {
+        rt_exit_critical();
+    }
+#endif
+    rt_enter_critical();
+    if(!can->timerinitflag) {
+        can->timerinitflag = 1;
+        rt_exit_critical();
+        #ifdef RT_CAN_USING_LED
+        if(can->config.rcvled != RT_NULL) {
+            rt_pin_mode(can->config.rcvled->pin,can->config.rcvled->mode);
+            rt_pin_write(can->config.rcvled->pin,can->config.rcvled->init);
+        }
+        if(can->config.sndled != RT_NULL) {
+            rt_pin_mode(can->config.sndled->pin,can->config.sndled->mode);
+            rt_pin_write(can->config.sndled->pin,can->config.sndled->init);
+        }
+        if(can->config.errled != RT_NULL) {
+            rt_pin_mode(can->config.errled->pin,can->config.errled->mode);
+            rt_pin_write(can->config.errled->pin,can->config.errled->init);
+        }
+        #endif
+        rt_timer_start(&can->timer);
+    } else {
+        rt_exit_critical();
+    }
+    return RT_EOK;
+}
+
+static rt_err_t rt_can_close(struct rt_device *dev)
+{
+    struct rt_can_device *can;
+
+    RT_ASSERT(dev != RT_NULL);
+    can = (struct rt_can_device *)dev;
+
+    /* this device has more reference count */
+    if (dev->ref_count > 1) return RT_EOK;
+    rt_enter_critical();
+    if(can->timerinitflag) {
+        can->timerinitflag = 0;
+        rt_exit_critical();
+        rt_timer_stop(&can->timer);
+        #ifdef RT_CAN_USING_LED
+        rt_pin_write(can->config.rcvled->pin,can->config.rcvled->init);
+        rt_pin_write(can->config.rcvled->pin,can->config.sndled->init);
+        rt_pin_write(can->config.rcvled->pin,can->config.errled->init);
+        #endif
+    } else {
+        rt_exit_critical();
+    }
+    rt_enter_critical();
+    can->status_indicate.ind = RT_NULL;
+    can->status_indicate.args = RT_NULL;
+    rt_exit_critical();
+#ifdef RT_CAN_USING_HDR
+    rt_enter_critical();
+    if(can->hdr != RT_NULL) {
+        rt_free(can->hdr);
+        can->hdr = RT_NULL;
+        rt_exit_critical();
+    } else {
+        rt_exit_critical();
+    }
+#endif
+    if (dev->open_flag & RT_DEVICE_FLAG_INT_RX)
+    {
+        struct rt_can_rx_fifo* rx_fifo;
+
+        rx_fifo = (struct rt_can_rx_fifo*)can->can_rx;
+        RT_ASSERT(rx_fifo != RT_NULL);
+
+        rt_free(rx_fifo);
+        dev->open_flag &= ~RT_DEVICE_FLAG_INT_RX;
+        /* configure low level device */
+        can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void*)RT_DEVICE_FLAG_INT_TX);
+    }
+    if (dev->open_flag & RT_DEVICE_FLAG_INT_TX)
+    {
+        struct rt_can_tx_fifo* tx_fifo;
+
+        tx_fifo = (struct rt_can_tx_fifo*)can->can_rx;
+        RT_ASSERT(tx_fifo != RT_NULL);
+
+        rt_free(tx_fifo);
+        dev->open_flag &= ~RT_DEVICE_FLAG_INT_TX;
+        /* configure low level device */
+        can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void*)RT_DEVICE_FLAG_INT_TX);
+    }
+    can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_CAN_INT_ERR);
+    return RT_EOK;
+}
+
+static rt_size_t rt_can_read(struct rt_device *dev,
+                                rt_off_t          pos,
+                                void             *buffer,
+                                rt_size_t         size)
+{
+    struct rt_can_device *can;
+
+    RT_ASSERT(dev != RT_NULL);
+    if (size == 0) return 0;
+
+    can = (struct rt_can_device *)dev;
+
+    if (dev->open_flag & RT_DEVICE_FLAG_INT_RX)
+    {
+          return _can_int_rx(can, buffer, size);
+    }
+    return 0;
+}
+
+static rt_size_t rt_can_write(struct rt_device *dev,
+                                 rt_off_t          pos,
+                                 const void       *buffer,
+                                 rt_size_t         size)
+{
+    struct rt_can_device *can;
+
+    RT_ASSERT(dev != RT_NULL);
+    if (size == 0) return 0;
+
+    can = (struct rt_can_device *)dev;
+
+    if (dev->open_flag & RT_DEVICE_FLAG_INT_TX)
+    {
+      if(can->config.privmode) {
+         return _can_int_tx_priv(can, buffer, size);
+      } else {
+         return _can_int_tx(can, buffer, size);
+      }
+    }
+    return 0;
+}
+
+static rt_err_t rt_can_control(struct rt_device *dev,
+                                  rt_uint8_t        cmd,
+                                  void             *args)
+{
+    struct rt_can_device *can;
+    rt_err_t res;
+
+    RT_ASSERT(dev != RT_NULL);
+    can = (struct rt_can_device *)dev;
+
+    switch (cmd)
+    {
+        case RT_DEVICE_CTRL_SUSPEND:
+            /* suspend device */
+            dev->flag |= RT_DEVICE_FLAG_SUSPENDED;
+            break;
+
+        case RT_DEVICE_CTRL_RESUME:
+            /* resume device */
+            dev->flag &= ~RT_DEVICE_FLAG_SUSPENDED;
+            break;
+
+        case RT_DEVICE_CTRL_CONFIG:
+            /* configure device */
+            can->ops->configure(can, (struct can_configure *)args);
+            break;
+        case RT_CAN_CMD_SET_PRIV:
+            /* configure device */
+            if((rt_uint32_t)args != can->config.privmode) {
+              if(res = can->ops->control(can, cmd, args) != RT_EOK) {
+                return res;
+              }
+              struct rt_can_tx_fifo* tx_fifo;
+              tx_fifo = (struct rt_can_tx_fifo*) can->can_tx;
+              int i;
+              rt_base_t level; 
+              if(can->config.privmode) {
+                  rt_completion_done(&(tx_fifo->completion));
+                  level = rt_hw_interrupt_disable();
+                   for(i = 0;  i< can->config.sndboxnumber; i++)
+                   {
+                       rt_list_remove(&tx_fifo->buffer[i].list);
+                   }
+                   rt_hw_interrupt_enable(level);
+              } else {
+                    for(i = 0;  i< can->config.sndboxnumber; i++)
+                    {
+                        rt_base_t level;
+                        level = rt_hw_interrupt_disable();
+                        if(tx_fifo->buffer[i].result == RT_CAN__SND_RESUTL_OK) {
+                            rt_list_insert_before(&tx_fifo->freelist,&tx_fifo->buffer[i].list);
+                        }
+                        rt_hw_interrupt_enable(level);
+                    }
+              }
+              return RT_EOK;
+            }
+            break;
+      case RT_CAN_CMD_SET_STATUS_IND:
+            can->status_indicate.ind = ((rt_can_status_ind_type_t)args)->ind;
+            can->status_indicate.args = ((rt_can_status_ind_type_t)args)->args;
+      break;
+#ifdef RT_CAN_USING_HDR
+        case RT_CAN_CMD_SET_FILTER:
+            res = can->ops->control(can, cmd, args);
+            if(res != RT_EOK || can->hdr == RT_NULL) {
+              return res;
+            }
+            {
+                  struct rt_can_filter_config* pfilter;
+                  struct rt_can_filter_item* pitem;
+                  rt_uint32_t count;
+                  rt_base_t level; 
+                  pfilter = (struct rt_can_filter_config*)args;
+                  count = pfilter->count;
+                  pitem = pfilter->items;
+                  if(pfilter->actived) {
+                        while(count) {
+                          if(pitem->hdr >= can->config.maxhdr || pitem->hdr < 0) {
+                            count--;
+                            pitem++;
+                            continue;
+                          }
+                          level = rt_hw_interrupt_disable();
+                          if(!can->hdr[pitem->hdr].connected) {
+                              rt_memcpy(&can->hdr[pitem->hdr].filter,pitem,
+                                        sizeof(struct rt_can_filter_item));
+                              can->hdr[pitem->hdr].connected = 1;
+                              can->hdr[pitem->hdr].msgs = 0;
+                              rt_list_init(&can->hdr[pitem->hdr].list);
+                          }
+                          rt_hw_interrupt_enable(level);
+                          count--;
+                          pitem++;
+                        }
+                  } else {
+                       while(count) {
+                          if(pitem->hdr >= can->config.maxhdr || pitem->hdr < 0) {
+                            count--;
+                            pitem++;
+                            continue;
+                          }
+                          level = rt_hw_interrupt_disable();
+                          if(can->hdr[pitem->hdr].connected) {
+                              rt_memset(&can->hdr[pitem->hdr].filter,0,
+                                        sizeof(struct rt_can_filter_item));
+                              can->hdr[pitem->hdr].connected = 0;
+                              can->hdr[pitem->hdr].msgs = 0;
+                              if(!rt_list_isempty(&can->hdr[pitem->hdr].list))
+                              {
+                                  rt_list_remove(can->hdr[pitem->hdr].list.next);
+                              }
+                          }
+                          rt_hw_interrupt_enable(level);
+                          count--;
+                          pitem++;
+                        }
+                  }
+            }
+            break;
+#endif /*RT_CAN_USING_HDR*/
+        default :
+            /* control device */
+            if(can->ops->control != RT_NULL)
+            {
+                can->ops->control(can, cmd, args);
+            }
+            break;
+    }
+
+    return RT_EOK;
+}
+/*
+ * can timer
+ */
+static void cantimeout(void* arg)
+{
+     rt_uint32_t ledonflag = 0;
+     rt_can_t can = (rt_can_t)arg;
+     rt_device_control((rt_device_t)can,RT_CAN_CMD_GET_STATUS,(void* )&can->status);
+     if(can->timerinitflag == 1) {
+         ledonflag = 1;
+         can->timerinitflag = 0xFF;
+     }
+     #ifdef RT_CAN_USING_LED
+     if(can->config.rcvled != RT_NULL && can->config.sndled == RT_NULL) {
+         if(ledonflag == 1) {
+              rt_pin_write(can->config.rcvled->pin,can->config.rcvled->init?0:1);
+         } else {
+             if(can->status.rcvchange == 1 || can->status.sndchange == 1)
+             {
+                 can->status.rcvchange = 0;
+                 can->status.sndchange = 0;
+                 rt_pin_write(can->config.rcvled->pin,rt_pin_read(can->config.rcvled->pin)?0:1);
+             } else {
+                 rt_pin_write(can->config.rcvled->pin,can->config.rcvled->init);
+             }
+         }
+     } else if(can->config.rcvled != RT_NULL && can->config.sndled != RT_NULL) {
+         if(ledonflag == 1) {
+               rt_pin_write(can->config.rcvled->pin,can->config.rcvled->init?0:1);
+               rt_pin_write(can->config.sndled->pin,can->config.sndled->init?0:1);
+         } else {
+               if(can->status.rcvchange == 1)
+               {
+                   can->status.rcvchange = 0;
+                   rt_pin_write(can->config.rcvled->pin,rt_pin_read(can->config.rcvled->pin)?0:1);
+               } else {
+                   rt_pin_write(can->config.rcvled->pin,can->config.rcvled->init);
+               }
+               if(can->status.sndchange == 1)
+               {
+                   can->status.sndchange = 0;
+                   rt_pin_write(can->config.sndled->pin,rt_pin_read(can->config.sndled->pin)?0:1);
+               } else {
+                   rt_pin_write(can->config.sndled->pin,can->config.sndled->init);
+               }
+         }
+     } else if(can->config.rcvled == RT_NULL && can->config.sndled != RT_NULL) {
+         if(ledonflag == 1) {
+               rt_pin_write(can->config.sndled->pin,can->config.sndled->init?0:1);
+         } else {
+               if(can->status.rcvchange == 1 || can->status.sndchange == 1)
+               {
+                   can->status.rcvchange = 0;
+                   can->status.sndchange = 0;
+                   rt_pin_write(can->config.sndled->pin,rt_pin_read(can->config.sndled->pin)?0:1);
+               } else {
+                   rt_pin_write(can->config.sndled->pin,can->config.sndled->init);
+               }
+         }
+     }
+     if(ledonflag == 1) {
+           rt_pin_write(can->config.errled->pin,can->config.errled->init?0:1);
+     } else {
+           if(can->status.errcode) {
+               rt_pin_write(can->config.errled->pin,can->config.errled->init?0:1);
+           } else {
+               rt_pin_write(can->config.errled->pin,can->config.errled->init);
+           }
+     }
+     #endif
+     if(can->status_indicate.ind != RT_NULL)
+     {
+         can->status_indicate.ind(can,can->status_indicate.args);
+     }
+}
+
+/*
+ * can register
+ */
+rt_err_t rt_hw_can_register(struct rt_can_device *can,
+                               const char              *name,
+                               const struct rt_can_ops *ops,
+                               void                    *data)
+{
+    struct rt_device *device;
+    RT_ASSERT(can != RT_NULL);
+
+    device = &(can->parent);
+
+    device->type        = RT_Device_Class_CAN;
+    device->rx_indicate = RT_NULL;
+    device->tx_complete = RT_NULL;
+#ifdef RT_CAN_USING_HDR
+    can->hdr            = RT_NULL;
+#endif
+    can->can_rx         = RT_NULL;
+    can->can_tx         = RT_NULL;
+    device->init        = rt_can_init;
+    device->open        = rt_can_open;
+    device->close       = rt_can_close;
+    device->read        = rt_can_read;
+    device->write       = rt_can_write;
+    device->control     = rt_can_control;
+    can->ops            = ops;
+
+    can->status_indicate.ind  = RT_NULL;
+    can->status_indicate.args = RT_NULL;
+    rt_memset(&can->status,0,sizeof(can->status));
+
+    device->user_data   = data;
+    can->timerinitflag = 0;
+    if(can->config.rcvled != RT_NULL ||
+       can->config.sndled != RT_NULL ||
+       can->config.errled != RT_NULL)
+    {
+        rt_timer_init(&can->timer,
+                  name,
+                  cantimeout,
+                  (void*)can,
+                  can->config.ticks,
+                  RT_TIMER_FLAG_PERIODIC);
+    }
+    /* register a character device */
+    return rt_device_register(device, name, RT_DEVICE_FLAG_RDWR);
+}
+
+/* ISR for can interrupt */
+void rt_hw_can_isr(struct rt_can_device *can, int event)
+{
+    switch (event & 0xff)
+    {
+        case RT_CAN_EVENT_RXOF_IND:
+        {
+            rt_base_t level; 
+            level = rt_hw_interrupt_disable();
+            can->status.dropedrcvpkg++;
+            rt_hw_interrupt_enable(level);
+        }
+        case RT_CAN_EVENT_RX_IND:
+        {
+            struct rt_can_msg tmpmsg;
+            struct rt_can_rx_fifo* rx_fifo;
+            struct rt_can_msg_list* listmsg=RT_NULL;
+#ifdef RT_CAN_USING_HDR
+            rt_int32_t hdr;
+#endif
+            int ch = -1;
+            rt_base_t level; 
+            rx_fifo = (struct rt_can_rx_fifo*)can->can_rx;
+            RT_ASSERT(rx_fifo != RT_NULL);
+            /* interrupt mode receive */
+            RT_ASSERT(can->parent.open_flag & RT_DEVICE_FLAG_INT_RX);
+            
+            rt_uint32_t no;
+            no = event >> 8;
+            ch = can->ops->recvmsg(can,&tmpmsg,no);
+            if (ch == -1) break;
+            /* disable interrupt */
+            level = rt_hw_interrupt_disable();
+            can->status.rcvpkg++;
+            can->status.rcvchange = 1;
+            if(!rt_list_isempty(&rx_fifo->freelist))
+            {
+                   listmsg = rt_list_entry(rx_fifo->freelist.next, struct rt_can_msg_list, list);
+                   rt_list_remove(&listmsg->list);
+#ifdef RT_CAN_USING_HDR
+                   rt_list_remove(&listmsg->hdrlist);
+                   if(listmsg->owner != RT_NULL && listmsg->owner->msgs) {
+                     listmsg->owner->msgs--;                     
+                   }
+                   listmsg->owner = RT_NULL;
+#endif /*RT_CAN_USING_HDR*/
+                   RT_ASSERT(rx_fifo->freenumbers >0);
+                   rx_fifo->freenumbers--;
+            } else if(!rt_list_isempty(&rx_fifo->uselist)) {
+                   listmsg = rt_list_entry(rx_fifo->uselist.next, struct rt_can_msg_list, list);
+                   can->status.dropedrcvpkg++;
+                   rt_list_remove(&listmsg->list);
+#ifdef RT_CAN_USING_HDR
+                   rt_list_remove(&listmsg->hdrlist);
+                   if(listmsg->owner != RT_NULL && listmsg->owner->msgs) {
+                     listmsg->owner->msgs--;                     
+                   }
+                   listmsg->owner = RT_NULL;
+#endif
+            }                  
+            /* enable interrupt */
+            rt_hw_interrupt_enable(level);
+            if(listmsg != RT_NULL) {
+                  rt_memcpy(&listmsg->data,&tmpmsg,sizeof(struct rt_can_msg));
+                  level = rt_hw_interrupt_disable();
+                  rt_list_insert_before(&rx_fifo->uselist,&listmsg->list);
+#ifdef RT_CAN_USING_HDR
+                  hdr = tmpmsg.hdr;
+                  if(can->hdr != RT_NULL) {
+                        RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
+                        if(can->hdr[hdr].connected) {
+                            rt_list_insert_before(&can->hdr[hdr].list,&listmsg->hdrlist);
+                            listmsg->owner = &can->hdr[hdr];
+                            can->hdr[hdr].msgs++;
+                        }
+                        
+                  }
+#endif
+                  rt_hw_interrupt_enable(level);
+            }
+            
+            /* invoke callback */
+#ifdef RT_CAN_USING_HDR
+            if(can->hdr != RT_NULL && can->hdr[hdr].connected && can->hdr[hdr].filter.ind) {
+                  RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
+                  rt_size_t rx_length;
+                  level = rt_hw_interrupt_disable();
+                  rx_length = can->hdr[hdr].msgs * sizeof(struct rt_can_msg);
+                  rt_hw_interrupt_enable(level);
+                  can->hdr[hdr].filter.ind(&can->parent, can->hdr[hdr].filter.args, hdr, rx_length);
+                  
+            } else
+#endif
+              if (can->parent.rx_indicate != RT_NULL) {
+                rt_size_t rx_length;
+                /* get rx length */
+                level = rt_hw_interrupt_disable();
+                rx_length = rx_fifo->freenumbers*sizeof(struct rt_can_msg);
+                rt_hw_interrupt_enable(level);
+
+                can->parent.rx_indicate(&can->parent, rx_length);
+            }
+            break;
+        }
+        case RT_CAN_EVENT_TX_DONE:
+        case RT_CAN_EVENT_TX_FAIL:
+        {
+            struct rt_can_tx_fifo* tx_fifo;
+            rt_uint32_t no;
+            no = event >> 8;
+            tx_fifo = (struct rt_can_tx_fifo*) can->can_tx;
+            RT_ASSERT(tx_fifo != RT_NULL);
+            if((event & 0xff) == RT_CAN_EVENT_TX_DONE) {
+                tx_fifo->buffer[no].result = RT_CAN__SND_RESUTL_OK;
+            } else {
+                tx_fifo->buffer[no].result = RT_CAN__SND_RESUTL_ERR;
+            }
+            rt_completion_done(&(tx_fifo->buffer[no].completion));
+            break;
+        }
+    }
+}
+#ifdef RT_USING_FINSH
+#include <finsh.h>
+int cmd_canstat(int argc,void** argv)
+{
+    static const char* ErrCode[] = {
+      "No Error!",
+      "Warning !",
+      "Passive !",
+      "Bus Off !"
+    };
+    if(argc >= 2) {
+        rt_device_t candev = rt_device_find(argv[1]);
+        if(!candev) {
+            rt_kprintf(" Can't find can device %s\n",argv[1]);
+            return -1;
+        }
+        rt_kprintf(" Finded can device: %s...",argv[1]);
+        struct rt_can_status status;
+        rt_device_control(candev,RT_CAN_CMD_GET_STATUS,&status);
+        rt_kprintf("\n Receive...error..count: %010ld. Send.....error....count: %010ld.",
+                   status.rcverrcnt,status.snderrcnt);
+        rt_kprintf("\n Bit..pad..error..count: %010ld. Format...error....count: %010ld",
+                   status.bitpaderrcnt,status.formaterrcnt);
+        rt_kprintf("\n Ack.......error..count: %010ld. Bit......error....count: %010ld.",
+                   status.ackerrcnt,status.biterrcnt);
+        rt_kprintf("\n CRC.......error..count: %010ld. Error.code.[%010ld]: ",
+                   status.crcerrcnt,status.errcode);
+        switch(status.errcode) {
+        case 0:
+            rt_kprintf("%s.",ErrCode[0]);
+        break;
+        case 1:
+            rt_kprintf("%s.",ErrCode[1]);
+        break;
+        case 2:
+        case 3:
+            rt_kprintf("%s.",ErrCode[2]);
+        break;
+        case 4:
+        case 5:
+        case 6:
+        case 7:
+            rt_kprintf("%s.",ErrCode[3]);
+        break;
+        }
+        rt_kprintf("\n Total.receive.packages: %010ld. Droped.receive.packages: %010ld.",
+                   status.rcvpkg,status.dropedrcvpkg);
+        rt_kprintf("\n Total..send...packages: %010ld. Droped...send..packages: %010ld.\n",
+           status.sndpkg + status.dropedsndpkg,status.dropedsndpkg);
+    } else {
+        rt_kprintf(" Invalid Call %s\n",argv[0]);
+        rt_kprintf(" Please using %s cannamex .Here canname is driver name and x is candrive number.\n",argv[0]);
+    }
+    return 0;
+}
+FINSH_FUNCTION_EXPORT_ALIAS(cmd_canstat, __cmd_canstat, Stat Can Device Status.);
+#endif
diff --git a/components/drivers/include/drivers/can.h b/components/drivers/include/drivers/can.h
new file mode 100644
index 0000000000..0bd4106ee0
--- /dev/null
+++ b/components/drivers/include/drivers/can.h
@@ -0,0 +1,292 @@
+/*
+ * File      : can.h
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2015, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ */
+#ifndef CAN_H_
+#define CAN_H_
+
+#ifndef RT_CANMSG_BOX_SZ
+#define RT_CANMSG_BOX_SZ 16
+#endif
+#ifndef RT_CANSND_BOX_NUM
+#define RT_CANSND_BOX_NUM 1
+#endif
+
+enum CANBAUD
+{
+        CAN1MBaud=0,    // 1 MBit/sec
+        CAN800kBaud,    // 800 kBit/sec
+        CAN500kBaud,    // 500 kBit/sec
+        CAN250kBaud,    // 250 kBit/sec
+        CAN125kBaud,    // 125 kBit/sec
+        CAN100kBaud,    // 100 kBit/sec
+        CAN50kBaud,     // 50 kBit/sec
+        CAN20kBaud,     // 20 kBit/sec
+        CAN10kBaud      // 10 kBit/sec
+};
+#define RT_CAN_MODE_NORMAL 0
+#define RT_CAN_MODE_LISEN 1
+#define RT_CAN_MODE_LOOPBACK 2
+#define RT_CAN_MODE_LOOPBACKANLISEN 3
+
+#define RT_CAN_MODE_PRIV 0x01
+#define RT_CAN_MODE_NOPRIV 0x00
+
+#ifdef RT_CAN_USING_LED
+struct  rt_can_led
+{
+        rt_uint32_t pin,mode,init;
+        struct rt_timer* timer;
+        const char* timer_name;
+};
+#endif /*RT_CAN_USING_LED*/
+
+struct rt_can_filter_item
+{
+        rt_uint32_t id  :29;
+        rt_uint32_t ide :1;
+        rt_uint32_t rtr :1;
+        rt_uint32_t mode :1;
+        rt_uint32_t mask;
+        rt_int32_t hdr;
+        rt_err_t  (*ind)(rt_device_t dev, void* args ,rt_int32_t hdr, rt_size_t size);
+        void* args;
+};
+#ifdef RT_CAN_USING_HDR
+#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,ind,args) \
+     {\
+         id,\
+         ide,\
+         rtr,\
+         mode,\
+         mask,\
+         -1,\
+         ind,\
+         args,\
+     }
+#define RT_CAN_FILTER_STD_INIT(id,ind,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,ind,args)
+#define RT_CAN_FILTER_EXT_INIT(id,ind,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,1,0,0,0xFFFFFFFF,ind,args)
+#define RT_CAN_STD_RMT_FILTER_INIT(id,ind,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,0,1,0,0xFFFFFFFF,ind,args)
+#define RT_CAN_EXT_RMT_FILTER_INIT(id,ind,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,1,1,0,0xFFFFFFFF,ind,args)
+#define RT_CAN_STD_RMT_DATA_FILTER_INIT(id,ind,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,0,0,1,0xFFFFFFFF,ind,args)
+#define RT_CAN_EXT_RMT_DATA_FILTER_INIT(id,ind,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF,ind,args)
+#else
+#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,args) \
+     {\
+         id,\
+         ide,\
+         rtr,\
+         mode,\
+         mask,\
+         -1,\
+         args,\
+     }
+#define RT_CAN_FILTER_STD_INIT(id,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,args)
+#define RT_CAN_FILTER_EXT_INIT(id,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,1,0,0,0xFFFFFFFF,args)
+#define RT_CAN_STD_RMT_FILTER_INIT(id,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,0,1,0,0xFFFFFFFF,args)
+#define RT_CAN_EXT_RMT_FILTER_INIT(id,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,1,1,0,0xFFFFFFFF,args)
+#define RT_CAN_STD_RMT_DATA_FILTER_INIT(id,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,0,0,1,0xFFFFFFFF,args)
+#define RT_CAN_EXT_RMT_DATA_FILTER_INIT(id,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF,args)
+#endif
+
+struct rt_can_filter_config
+{
+        rt_uint32_t count;
+        rt_uint32_t actived;
+        struct rt_can_filter_item* items;
+};
+struct can_configure
+{
+        rt_uint32_t baud_rate;
+        rt_uint32_t msgboxsz;
+        rt_uint32_t sndboxnumber;
+        rt_uint32_t mode      :8;
+        rt_uint32_t privmode  :8;
+        rt_uint32_t reserved  :16;
+        #ifdef RT_CAN_USING_LED
+        const struct rt_can_led* rcvled;
+        const struct rt_can_led* sndled;
+        const struct rt_can_led* errled;
+        #endif  /*RT_CAN_USING_LED*/
+        rt_uint32_t ticks;
+#ifdef RT_CAN_USING_HDR
+        rt_uint32_t maxhdr;
+#endif
+};
+
+#define CANDEFAULTCONFIG \
+{\
+        CAN1MBaud,\
+        RT_CANMSG_BOX_SZ,\
+        RT_CANSND_BOX_NUM,\
+        RT_CAN_MODE_NORMAL,\
+};
+
+struct rt_can_ops;
+#define RT_CAN_CMD_SET_FILTER      0x13
+#define RT_CAN_CMD_SET_BAUD        0x14
+#define RT_CAN_CMD_SET_MODE        0x15
+#define RT_CAN_CMD_SET_PRIV        0x16
+#define RT_CAN_CMD_GET_STATUS      0x17
+#define RT_CAN_CMD_SET_STATUS_IND  0x18
+
+#define RT_DEVICE_CAN_INT_ERR  0x1000
+
+enum RT_CAN_STATUS_MODE
+{
+        NORMAL = 0,
+        ERRWARNING = 1,
+        ERRPASSIVE = 2,
+        BUSOFF = 4,
+};
+enum RT_CAN_BUS_ERR
+{
+        RT_CAN_BUS_NO_ERR = 0,
+        RT_CAN_BUS_BIT_PAD_ERR = 1,
+        RT_CAN_BUS_FORMAT_ERR = 2,
+        RT_CAN_BUS_ACK_ERR = 3,
+        RT_CAN_BUS_IMPLICIT_BIT_ERR = 4,
+        RT_CAN_BUS_EXPLICIT_BIT_ERR = 5,
+        RT_CAN_BUS_CRC_ERR = 6,
+};
+struct rt_can_status
+{
+        rt_uint32_t rcverrcnt;
+        rt_uint32_t snderrcnt;
+        rt_uint32_t errcode;
+        rt_uint32_t rcvpkg;
+        rt_uint32_t dropedrcvpkg;
+        rt_uint32_t sndpkg;
+        rt_uint32_t dropedsndpkg;
+        rt_uint32_t bitpaderrcnt;
+        rt_uint32_t formaterrcnt;
+        rt_uint32_t ackerrcnt;
+        rt_uint32_t biterrcnt;
+        rt_uint32_t crcerrcnt;
+        rt_uint32_t rcvchange;
+        rt_uint32_t sndchange;
+        rt_uint32_t lasterrtype;
+};
+#ifdef RT_CAN_USING_HDR
+struct rt_can_hdr {
+        rt_uint32_t connected;
+        rt_uint32_t msgs;
+        struct rt_can_filter_item filter;
+        struct rt_list_node list;
+};
+#endif
+struct rt_can_device;
+typedef rt_err_t (*rt_canstatus_ind)(struct rt_can_device*, void*);
+typedef struct rt_can_status_ind_type
+{
+    rt_canstatus_ind ind;
+    void* args;
+} *rt_can_status_ind_type_t;
+struct rt_can_device
+{
+        struct rt_device          parent;
+
+        const struct rt_can_ops *ops;
+        struct can_configure   config;
+        struct rt_can_status   status;
+        rt_uint32_t timerinitflag;
+        struct rt_timer timer;
+        struct rt_can_status_ind_type status_indicate;
+#ifdef RT_CAN_USING_HDR
+        struct rt_can_hdr* hdr;
+#endif
+        void *can_rx;
+	void *can_tx;
+};
+typedef struct rt_can_device *rt_can_t;
+
+#define RT_CAN_STDID 0
+#define RT_CAN_EXTID 1
+#define RT_CAN_DTR   0
+#define RT_CAN_RTR   1
+
+typedef struct rt_can_status * rt_can_status_t;
+struct rt_can_msg
+{
+        rt_uint32_t id  :29;
+        rt_uint32_t ide :1;
+        rt_uint32_t rtr :1;
+        rt_uint32_t rsv :1;
+        rt_uint32_t len :8;
+        rt_uint32_t priv :8;
+        rt_uint32_t hdr :8;
+        rt_uint32_t reserved :8;
+        rt_uint8_t data[8];
+};
+typedef struct rt_can_msg* rt_can_msg_t;
+struct rt_can_msg_list {
+        struct rt_list_node list;
+#ifdef RT_CAN_USING_HDR
+        struct rt_list_node hdrlist;
+        struct rt_can_hdr* owner;
+#endif
+        struct rt_can_msg data;
+};
+struct rt_can_rx_fifo
+{
+	/* software fifo */
+	struct rt_can_msg_list *buffer;
+        rt_uint32_t freenumbers;
+        struct rt_list_node freelist;
+        struct rt_list_node uselist;
+};
+
+#define RT_CAN__SND_RESUTL_OK 0
+#define RT_CAN__SND_RESUTL_ERR 1
+#define RT_CAN__SND_RESUTL_WAIT 2
+
+#define RT_CAN_EVENT_RX_IND          0x01    /* Rx indication */
+#define RT_CAN_EVENT_TX_DONE         0x02    /* Tx complete   */
+#define RT_CAN_EVENT_TX_FAIL         0x03    /* Tx complete   */
+#define RT_CAN_EVENT_RX_TIMEOUT      0x05    /* Rx timeout    */
+#define RT_CAN_EVENT_RXOF_IND        0x06    /* Rx overflow */
+
+struct rt_can_sndbxinx_list {
+        struct rt_list_node list;
+        struct rt_completion completion;
+        rt_uint32_t result;
+};
+struct rt_can_tx_fifo
+{
+  	struct rt_can_sndbxinx_list *buffer;
+	struct rt_completion completion;
+        struct rt_list_node freelist;
+};
+struct rt_can_ops
+{
+        rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
+        rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
+        int (*sendmsg)(struct rt_can_device *can, const void* buf, rt_uint32_t boxno);
+        int (*recvmsg)(struct rt_can_device *can,void* buf, rt_uint32_t boxno);
+};
+rt_err_t rt_hw_can_register(struct rt_can_device *can,
+                               const char              *name,
+                               const struct rt_can_ops *ops,
+                               void                    *data);
+void rt_hw_can_isr(struct rt_can_device *can, int event);
+#endif /*_CAN_H*/
diff --git a/components/drivers/include/rtdevice.h b/components/drivers/include/rtdevice.h
index 5d74ed6199..f4d967831c 100644
--- a/components/drivers/include/rtdevice.h
+++ b/components/drivers/include/rtdevice.h
@@ -366,6 +366,10 @@ rt_inline void rt_work_init(struct rt_work* work, void (*work_func)(struct rt_wo
 #include "drivers/pin.h"
 #endif
 
+#ifdef RT_USING_CAN
+#include "drivers/can.h"
+#endif
+
 #ifdef __cplusplus
 }
 #endif