Support flexcan (#6355)

* add ignore files and directories

* add flexcan support;fix build problem

* 优化格式，消除编译警告

* 增加can引脚分配；支持imxrt1170

* 优化格式

bsp/imxrt/imxrt1170-nxp-evk/board/Kconfig

@@ -85,6 +85,16 @@ menu "On-chip Peripheral Drivers"
                         int "Set LPUART3 TX DMA channel (0-32)"
                         default 1
         endif
+		
+		menuconfig BSP_USING_CAN
+			bool "Enable CAN"
+			select RT_USING_CAN
+			default n
+			if BSP_USING_CAN
+				config BSP_USING_CAN3
+					bool "Enable FLEXCAN3"
+					default n
+			endif
 endmenu
 
 menu "Onboard Peripheral Drivers"

bsp/imxrt/imxrt1170-nxp-evk/board/board.c

@@ -8,6 +8,7 @@
  * 2009-01-05     Bernard      first implementation
  * 2022-08-15     xjy198903    add sdram pin config
  * 2022-08-17     xjy198903    add rgmii pins
+ * 2022-09-01     xjy198903    add can pins
  */
 
 #include <rthw.h>
@@ -1256,6 +1257,21 @@ void imxrt_sdram_pins_init(void)
 }
 #endif
 
+#ifdef BSP_USING_CAN
+void imxrt_can_pins_init(void)
+{
+#ifdef BSP_USING_CAN3
+    CLOCK_EnableClock(kCLOCK_Iomuxc_Lpsr); /* LPCG on: LPCG is ON. */
+    IOMUXC_SetPinMux(
+        IOMUXC_GPIO_LPSR_00_FLEXCAN3_TX, /* GPIO_LPSR_00 is configured as FLEXCAN3_TX */
+        0U);                             /* Software Input On Field: Input Path is determined by functionality */
+    IOMUXC_SetPinMux(
+        IOMUXC_GPIO_LPSR_01_FLEXCAN3_RX, /* GPIO_LPSR_01 is configured as FLEXCAN3_RX */
+        0U);                             /* Software Input On Field: Input Path is determined by functionality */
+#endif
+}
+#endif
+
 void rt_hw_us_delay(rt_uint32_t us)
 {
 }
@@ -1296,5 +1312,9 @@ void rt_hw_board_init()
 #ifdef BSP_USING_ETH
     imxrt_eth_pins_init();
 #endif
+
+#ifdef BSP_USING_CAN
+    imxrt_can_pins_init();
+#endif
 }
 

bsp/imxrt/libraries/MIMXRT1170/SConscript

@@ -46,6 +46,9 @@ if GetDepend(['BSP_USING_SDRAM']):
 if GetDepend(['BSP_USING_ETH']):
     src += ['MIMXRT1176/drivers/fsl_enet.c']
 
+if GetDepend(['RT_USING_CAN']):
+    src += ['MIMXRT1176/drivers/fsl_flexcan.c']
+
 if rtconfig.PLATFORM in ['gcc']:
     group = DefineGroup('Libraries', src, depend = [''], CPPPATH = path, ASFLAGS = '$ASFLAGS -D __STARTUP_CLEAR_BSS')
 else:

bsp/imxrt/libraries/drivers/drv_can.c

@@ -6,6 +6,7 @@
  * Change Logs:
  * Date           Author       Notes
  * 2019-06-27     misonyo     the first version.
+ * 2022-09-01     xjy198903   add support for imxrt1170
  */
 
 #include <rtthread.h>
@@ -36,6 +37,9 @@ enum
 #ifdef BSP_USING_CAN2
     CAN2_INDEX,
 #endif
+#ifdef BSP_USING_CAN3
+    CAN3_INDEX,
+#endif
 };
 
 struct imxrt_can
@@ -63,14 +67,38 @@ struct imxrt_can flexcans[] =
         .irqn = CAN2_IRQn,
     },
 #endif
+#ifdef BSP_USING_CAN3
+    {
+        .name = "can3",
+        .base = CAN3,
+        .irqn = CAN3_IRQn,
+    },
+#endif
 };
 
-uint32_t GetCanSrcFreq(void)
+uint32_t GetCanSrcFreq(CAN_Type *can_base)
 {
     uint32_t freq;
-
+#ifdef SOC_IMXRT1170_SERIES
+    uint32_t base = (uint32_t) can_base;
+    switch (base)
+        {
+        case CAN1_BASE:
+            freq = (CLOCK_GetRootClockFreq(kCLOCK_Root_Can1) / 100000U) * 100000U;
+            break;
+        case CAN2_BASE:
+            freq = (CLOCK_GetRootClockFreq(kCLOCK_Root_Can2) / 100000U) * 100000U;
+            break;
+        case CAN3_BASE:
+            freq = (CLOCK_GetRootClockFreq(kCLOCK_Root_Can3) / 100000U) * 100000U;
+            break;
+        default:
+            freq = (CLOCK_GetRootClockFreq(kCLOCK_Root_Can3) / 100000U) * 100000U;
+            break;
+        }
+#else
     freq = (CLOCK_GetFreq(kCLOCK_Usb1PllClk) / 6) / (CLOCK_GetDiv(kCLOCK_CanDiv) + 1U);
-
+#endif
     return freq;
 }
 
@@ -143,7 +171,7 @@ static rt_err_t can_cfg(struct rt_can_device *can_dev, struct can_configure *cfg
     case RT_CAN_MODE_LOOPBACKANLISTEN:
         break;
     }
-    FLEXCAN_Init(can->base, &config, GetCanSrcFreq());
+    FLEXCAN_Init(can->base, &config, GetCanSrcFreq(can->base));
     FLEXCAN_TransferCreateHandle(can->base, &can->handle, flexcan_callback, can);
     /* init RX_MB_COUNT RX MB to default status */
     mbConfig.format = kFLEXCAN_FrameFormatStandard;  /* standard ID */

bsp/imxrt/libraries/drivers/drv_gpio.c

@@ -522,9 +522,12 @@ void GPIO13_Combined_0_31_IRQHandler(void)
 static void imxrt_pin_mode(rt_device_t dev, rt_base_t pin, rt_base_t mode)
 {
     gpio_pin_config_t gpio;
-    rt_uint32_t config_value = 0;
     rt_int8_t port, pin_num;
 
+#ifndef SOC_IMXRT1170_SERIES
+    rt_uint32_t config_value = 0;
+#endif
+
     port = pin >> 5;
     pin_num = pin & 31;
 
@@ -542,35 +545,45 @@ static void imxrt_pin_mode(rt_device_t dev, rt_base_t pin, rt_base_t mode)
     case PIN_MODE_OUTPUT:
     {
         gpio.direction = kGPIO_DigitalOutput;
+#ifndef SOC_IMXRT1170_SERIES
         config_value = 0x0030U;    /* Drive Strength R0/6 */
+#endif
     }
     break;
 
     case PIN_MODE_INPUT:
     {
         gpio.direction = kGPIO_DigitalInput;
+#ifndef SOC_IMXRT1170_SERIES
         config_value = 0x0830U;    /* Open Drain Enable */
+#endif
     }
     break;
 
     case PIN_MODE_INPUT_PULLDOWN:
     {
         gpio.direction = kGPIO_DigitalInput;
+#ifndef SOC_IMXRT1170_SERIES
         config_value = 0x3030U;    /* 100K Ohm Pull Down */
+#endif
     }
     break;
 
     case PIN_MODE_INPUT_PULLUP:
     {
         gpio.direction = kGPIO_DigitalInput;
+#ifndef SOC_IMXRT1170_SERIES
         config_value = 0xB030U;    /* 100K Ohm Pull Up */
+#endif
     }
     break;
 
     case PIN_MODE_OUTPUT_OD:
     {
         gpio.direction = kGPIO_DigitalOutput;
+#ifndef SOC_IMXRT1170_SERIES
         config_value = 0x0830U;    /* Open Drain Enable */
+#endif
     }
     break;
     }