[UPDATE]添加新驱动、完善 BSP

 - [update] 更新 template 工程配置
 - [update] 更新 PLATFORM 配置
 - [add] 添加 ra icu 驱动文件
 - [add] 增加传感器类型 IAQ、EtOH
 - [add] 添加 CAN 驱动
 - [add] 添加 RW007 驱动及使用说明
 - [fix] GCC 编译问题
 - [fix] flash 驱动
 - [fix] 修改 scons 脚本配置

bsp/ra6m4-cpk/.gitignore

@@ -0,0 +1,5 @@
+/RTE
+/Listings
+/Objects
+ra_cfg.txt
+

bsp/ra6m4-cpk/README.md

@@ -31,7 +31,7 @@
 
 | **片上外设** | **支持情况** | **备注** |
 | :----------------- | :----------------- | :------------- |
-| UART               | 支持               | UART7          |
+| UART               | 支持               | UART7 为默认日志输出端口 |
 | GPIO               | 支持               |                |
 | IIC                | 支持               | 软件           |
 | WDT                | 支持               |                |
@@ -41,7 +41,12 @@
 | SPI                | 支持               |                |
 | FLASH              | 支持               |                |
 | PWM                | 支持               |                |
+| CAN                | 支持               |                |
 | 持续更新中...      |                    |                |
+| **外接外设** | **支持情况** | **备注** |
+| WiFi        | 支持        |  [RW007 WiFi 网络模块](https://github.com/RT-Thread-packages/rw007)  |
+| 温湿度传感器   | 支持       |  [HS300x 温湿度模块](https://github.com/Guozhanxin/hs300x) |
+
 
 ## 使用说明
 
@@ -148,10 +153,10 @@ void hal_entry(void)
 
 需要修改瑞萨的 BSP 外设配置或添加新的外设端口，需要用到瑞萨的 [FSP](https://www2.renesas.cn/jp/zh/software-tool/flexible-software-package-fsp#document) 配置工具。请务必按照如下步骤完成配置。配置中有任何问题可到[RT-Thread 社区论坛](https://club.rt-thread.org/)中提问。
 
-1. [下载灵活配置软件包 (FSP) | Renesas](https://www.renesas.com/cn/zh/software-tool/flexible-software-package-fsp)
+1. [下载灵活配置软件包 (FSP) | Renesas](https://www.renesas.com/cn/zh/software-tool/flexible-software-package-fsp)，建议使用 FSP 3.1.0
 2. 下载安装完成后，需要添加 CPK-RA6M4 开发板的[官方板级支持包](https://www2.renesas.cn/document/sws/1527176?language=zh&r=1527191)
 3. 如何将 BSP 配置包添加到 FSP 中，请参考文档[如何导入板级支持包](https://www2.renesas.cn/document/ppt/1527171?language=zh&r=1527191)
-4. 请查看文档：[使用瑞萨 FSP 配置工具](./docs/使用瑞萨FSP配置工具.md)。在 MDK 中通过添加自定义命名来打开当前工程的 FSP 配置，
+4. 请查看文档：[使用瑞萨 FSP 配置工具](./docs/使用瑞萨FSP配置工具.md)。在 MDK 中通过添加自定义命名来打开当前工程的 FSP 配置。
 
 **ENV 配置**
 
@@ -165,10 +170,19 @@ void hal_entry(void)
 3. 输入`pkgs --update`命令更新软件包。
 4. 输入`scons --target=mdk5` 命令重新生成工程。
 
+
+## FAQ
+
+### 使用 MDK 的 DEBUG 时如果遇到提示  “Error: Flash Download failed Cortex-M33” 怎么办？
+
+可按照下图操作，修改 Utilities 中的选项：
+
+![image-20211214102231248](docs/picture/readme_faq1.png)
+
 ## 联系人信息
 
 在使用过程中若您有任何的想法和建议，建议您通过以下方式来联系到我们  [RT-Thread 社区论坛](https://club.rt-thread.org/)
 
 ## 贡献代码
 
-如果您对 CPK-RA6M4 感兴趣，并且有一些好玩的项目愿意与大家分享的话欢迎给我们贡献代码，您可以参考 [向 RT-Thread 代码贡献](https://www.rt-thread.org/document/site/#/rt-thread-version/rt-thread-standard/development-guide/github/github) 。
+如果您对 CPK-RA6M4 感兴趣，并且有一些好玩的项目愿意与大家分享的话欢迎给我们贡献代码，您可以参考 [如何向 RT-Thread 代码贡献](https://www.rt-thread.org/document/site/#/rt-thread-version/rt-thread-standard/development-guide/github/github)。

bsp/ra6m4-cpk/docs/使用瑞萨FSP配置工具.md

@@ -1,6 +1,6 @@
 ## 在 MDK 中使用 FSP
 
-- 添加RA Smart Config
+###  添加RA Smart Config
 
 1. 打开 MDK，选择 “Tools -> Customize Tools Menu…”
 2. 点击 “new” 图标，添加一条自定义命令: RA Smart Configurator
@@ -15,12 +15,12 @@
 
 ![image.png](picture/openrasc.png)
 
-- 添加 Device Partition Manager，添加步骤同上。
+###  添加 Device Partition Manager，添加步骤同上。
 
-1. 输入命令名称: `Device Partition Manager`
-2. Command: 在安装路径选中 `rasc.exe`
-3. Initial Folder : `$P`
-4. Arguments: `-application com.renesas.cdt.ddsc.dpm.ui.dpmapplication configuration.xml "SL%L"` 
+1. 输入命令名称:`Device Partition Manager`
+2. Command: 在安装路径选中`rasc.exe`
+3. Initial Folder :`$P`
+4. Arguments:`-application com.renesas.cdt.ddsc.dpm.ui.dpmapplication configuration.xml "SL%L"`
 
 > PS：以上相关操作也可以在 FSP 的说明文档中找到。
 >
@@ -28,14 +28,25 @@
 >
 > 文档路径（官网）：https://www2.renesas.cn/jp/zh/software-tool/flexible-software-package-fsp#document
 
+###  FSP 版本选择
+
+此 BSP 使用 **FSP 3.1.0** 版本为基础制作，优先推荐使用 FSP 3.1.0 版本进行配置修改。
+
+**使用 RASC 前请务必检查 FSP version 、Board、Device 配置项是否正确。**
+
+![fsp_version](picture/fsp_version.png)
+
 ## 更新工程配置
 
 使用 FSP 配置完成后如果有新的文件添加进工程中，不会马上添加进去。需要先编译一次，如果弹出如下提醒，选择 “是” 然后再次编译即可。
 
 ![img](picture/import_changes.png)
 
+## 如何使用 RASC 添加外设
+
+**注意：文档中的外设添加步骤均为单独配置的说明，排版顺序不代表外设添加顺序，如遇到引脚冲突请查阅开发板及芯片手册的相关章节。**
 
-## UART
+### UART
 
 如何添加一个 UART 端口外设配置？
 
@@ -45,7 +56,7 @@
 
 2. 配置 UART 参数，因为需要适配 RT-Thread 驱动中使用的命名，所以需要修改命名，设置**name** 、**channel**  、**callback** 是一致的标号。![image.png](picture/rascuart1.png)
 
-## GPIO 中断
+###  GPIO 中断
 
 如何添加一个 IO 中断？
 
@@ -91,7 +102,7 @@
    MSH_CMD_EXPORT(icu_sample, icu sample);
    ```
 
-## WDT
+### WDT
 
 1. 创建 WDT
 
@@ -105,7 +116,7 @@
 
 ![image-20211027183406251](picture/wdt_env.png)
 
-## RTC
+### RTC
 
 1. 添加 RTC 设备
 
@@ -115,11 +126,11 @@
 
 ![image-20211019152627412](picture/rtc_config.png)
 
-3. 如何在 ENV 中打开 RTC 以及[ RTC 接口使用说明](https://www.rt-thread.org/document/site/#/rt-thread-version/rt-thread-standard/programming-manual/device/rtc/rtc) 
+3. 如何在 ENV 中打开 RTC 以及[ RTC 接口使用说明](https://www.rt-thread.org/document/site/#/rt-thread-version/rt-thread-standard/programming-manual/device/rtc/rtc)
 
 ![image-20211027181550233](picture/rtc_env.png)
 
-## Flash
+### Flash
 
 1. 创建 Flash
 
@@ -133,7 +144,7 @@
 
 ![image-20211026123252310](picture/flash_menuconfig.png)
 
-## SPI
+### SPI
 
 1. 添加一个 SPI 外设端口
 
@@ -143,11 +154,16 @@
 
 ![img](picture/spi.png)
 
-3. 如何在 ENV 中打开 SPI 以及 [SPI 接口使用说明](https://www.rt-thread.org/document/site/#/rt-thread-version/rt-thread-standard/programming-manual/device/spi/spi)
+3. 在 Pins 中打开 SPI0 ，配置端口引脚。**注意：请勿在此处配置 SSLx 片选引脚，片选引脚的控制在驱动程序中由软件控制。**
+
+![image-20211209162334093](picture/spi_pin.png)
+
+
+4. 如何在 ENV 中打开 SPI 以及 [SPI 接口使用说明](https://www.rt-thread.org/document/site/#/rt-thread-version/rt-thread-standard/programming-manual/device/spi/spi)
 
    ![image-20211027181444023](picture/spi_env.png)
 
-## ADC/DAC
+### ADC/DAC
 
 创建 ADC/DAC
 
@@ -181,14 +197,13 @@
 
 4. 在 menuconfig 中打开对应的通道
 
-## 通用 PWM 定时器（GPT）
+### 通用 PWM 定时器（GPT）
 
 GPT 定时器在该芯片中可作为通用定时器，也可以用于产生 PWM 信号。在将其用于产生 PWM 信号时，GPT 定时器提供了 gpt0 - gpt9 总共 10 个通道，每个通道可以设定两个输出端口。当前版本的 PWM 驱动将每个通道都看做一个单独的 PWM 设备，每个设备都只有一个通道。用户可以选择开启一个通道的任意一个输出端口，或将两个端口均开启，但在同时开启两个端口的情况下，它们输出的波形将完全一致。
 
 1. 添加 GPT 设备
 
    ![img](./picture/add_gpt1.png)
-   
 2. 配置通道
 
    ![img](./picture/add_gpt2.png)
@@ -200,13 +215,83 @@ GPT 定时器在该芯片中可作为通用定时器，也可以用于产生 PWM
    3. 设定 PWM 通道默认输出的占空比，这里为 50% 。
    4. 设定 GPT 通道下两个输出端口的使能状态。
    5. 此处设置 GPT 通道下两个输出端口各自对应的引脚。
-   
 3. 配置输出引脚
 
    ![img](./picture/add_gpt3.png)
 
    在完成上一步对 GPT 定时器的设置后，根据图示找到对应 GPT 通道输出引脚设置的界面（这里是 GPT3），将图中标号 **1** 处设置为 ``GTIOCA or GTIOCB`` ，并根据需要在图中标号 **2** 处设置 GPT 通道下两个输出端口各自对应的输出引脚。
-   
-   4. 在 menuconfig 中打开对应的通道，[RT-Thread 的 pwm 框架介绍](https://www.rt-thread.org/document/site/#/rt-thread-version/rt-thread-standard/programming-manual/device/pwm/pwm) 
-   
+
+   4. 在 menuconfig 中打开对应的通道，[RT-Thread 的 pwm 框架介绍](https://www.rt-thread.org/document/site/#/rt-thread-version/rt-thread-standard/programming-manual/device/pwm/pwm)
+
    ![image-20211103202216381](picture/pwm_env.png)
+
+### CAN
+
+1. 添加CAN
+
+![image-20211102145023112](picture/can.png)
+
+2. 配置Callback为 `can0_callback` 或 `can1_callback`
+
+![image-20211102145227603](picture/can_callback.png)
+
+3. 配置其他选项，并生成代码。
+
+4. 使用ENV使能CAN。[CAN设备使用说明](https://www.rt-thread.org/document/site/#/rt-thread-version/rt-thread-standard/programming-manual/device/can/can)
+
+![image-20211102145613309](picture/can_menuconfig.png)
+
+
+### 使用 WiFi 模块 [RW007 ](https://github.com/RT-Thread-packages/rw007) 
+
+1. 软件包配置中找到 RW007，并修改为下图配置
+
+![image-20211108142805319](picture/rw007_pkg.png)
+
+2. menuconfig 中打开驱动的 RW007 配置，默认使用了 SPI1 端口。所以需要打开 SPI1 总线。
+
+![image-20211108142453678](picture/rw007_spi.png)
+
+![image-20211213212034701](picture/drv_rw007.png)
+
+3. 在设备驱动框架中打开 [WLAN 框架](https://www.rt-thread.org/document/site/#/rt-thread-version/rt-thread-standard/programming-manual/device/wlan/wlan)，
+
+![image-20211108143027485](picture/rw007_wlan.png)
+
+在网络配置中打开 NETDEV 组件：
+
+![image-20211108143712513](picture/rw007_netdev.png)
+
+在 kernel 中打开 mempool 配置：
+
+![image-20211209161902884](picture/rw007_mempool.png)
+
+4. FSP 中打开添加 SPI 外设端口，[如何添加SPI](#SPI)。下图以 SPI1 端口为例的配置如下：
+
+![image-20211108183631379](picture/rw007_spicfg.png)
+
+5. RW007 有一个从机控制的 INT 引脚，需要占用一个 IRQ 通道，下图以 P506 为例的配置如下：
+
+![image-20211108183724282](picture/rw007_int.png)
+
+6. RW007 的 RESET 控制引脚修改默认配置，这里在 RASC 中 mode 设为关闭，交由 RW007 中进行控制。
+
+![image-20211213144108558](picture/rw007_reset.png)
+
+7. 配置完成，检查 MDK 工程中是否加入了必要的文件
+
+![image-20211109102232233](picture/rw007_mdk.png)
+
+8. 编译下载，验证结果。
+
+系统启动会自动获取 RW007 的信息，输入`wifi scan` 命令扫描环境中的 WiFi 信号。[更多 WiFi 命令](https://www.rt-thread.org/document/site/#/rt-thread-version/rt-thread-standard/programming-manual/device/wlan/wlan?id=finsh-%e5%91%bd%e4%bb%a4)
+
+![image-20211109103856130](picture/rw007_test.png)
+
+使用 `WiFi join` 命令连接 WiFi 热点 ：
+
+![image-20211109104735733](picture/rw007_wifijoin.png)
+
+使用 `ping rt-thread.com` 测试网络连接：
+
+![image-20211109104700939](picture/rw007_ping.png)

bsp/ra6m4-cpk/drivers/Kconfig

@@ -72,11 +72,11 @@ menu "Hardware Drivers Config"
                     default y
                     if BSP_USING_I2C1
                         config BSP_I2C1_SCL_PIN
-                            int "i2c1 scl pin number"
+                            hex "i2c1 scl pin number"
                             range 0x0000 0x0B0F
                             default 0x0512
                         config BSP_I2C1_SDA_PIN
-                            int "I2C1 sda pin number"
+                            hex "I2C1 sda pin number"
                             range 0x0000 0x0B0F
                             default 0x0511
                     endif
@@ -181,9 +181,55 @@ menu "Hardware Drivers Config"
                     default n
             endif
 
+        menuconfig BSP_USING_CAN
+            bool "Enable CAN"
+            default n
+            select RT_USING_CAN
+            if BSP_USING_CAN
+                config BSP_USING_CAN0
+                    bool "Enable CAN0"
+                    default n
+
+                config BSP_USING_CAN1
+                    bool "Enable CAN1"
+                    default n
+            endif
+
     endmenu
 
     menu "Board extended module Drivers"
 
+        menuconfig BSP_USING_RW007
+            bool "Enable RW007"
+            default n
+            select PKG_USING_RW007
+            select BSP_USING_SPI
+
+        if BSP_USING_RW007
+            config RA_RW007_SPI_BUS_NAME
+                string "RW007 BUS NAME"
+                default "spi1"
+
+            config RA_RW007_CS_PIN
+                hex "(HEX)CS pin index"
+                default 0x040D
+
+            config RA_RW007_BOOT0_PIN
+                hex "(HEX)BOOT0 pin index (same as spi clk pin)"
+                default 0x040C
+
+            config RA_RW007_BOOT1_PIN
+                hex "(HEX)BOOT1 pin index (same as spi cs pin)"
+                default 0x040D
+
+            config RA_RW007_INT_BUSY_PIN
+                hex "(HEX)INT/BUSY pin index"
+                default 0x0506
+
+            config RA_RW007_RST_PIN
+                hex "(HEX)RESET pin index"
+                default 0x040F
+        endif
+
     endmenu
 endmenu

bsp/ra6m4-cpk/drivers/SConscript

@@ -44,6 +44,9 @@ if GetDepend(['BSP_USING_ONCHIP_FLASH']):
 if GetDepend(['BSP_USING_PWM']):
     src += ['drv_pwm.c']
 
+if GetDepend(['BSP_USING_CAN']):
+    src += ['drv_can.c']
+
 path =  [cwd]
 path += [cwd + '/config']
 

bsp/ra6m4-cpk/drivers/board.h

@@ -25,8 +25,8 @@ extern int Image$$RAM_END$$ZI$$Base;
 #pragma section="CSTACK"
 #define HEAP_BEGIN      (__segment_end("CSTACK"))
 #else
-extern int __bss_end;
-#define HEAP_BEGIN      (&__bss_end)
+extern int __RAM_segment_used_end__;
+#define HEAP_BEGIN      (&__RAM_segment_used_end__)
 #endif
 
 #define HEAP_END        RA_SRAM_END

bsp/ra6m4-cpk/drivers/config/drv_config.h

@@ -33,6 +33,10 @@ extern "C" {
 #include "ra6m4/pwm_config.h"
 #endif
 
+#ifdef BSP_USING_CAN
+#include "ra6m4/can_config.h"
+#endif
+
 #endif/* SOC_SERIES_R7FA6M4AF */
 
 #ifdef __cplusplus

bsp/ra6m4-cpk/drivers/config/ra6m4/can_config.h

@@ -0,0 +1,48 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author            Notes
+ * 2021-10-29     mazhiyuan         first version
+ */
+
+#ifndef __CAN_CONFIG_H__
+#define __CAN_CONFIG_H__
+
+#include <rtthread.h>
+#include "hal_data.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if defined(BSP_USING_CAN0)
+#ifndef CAN0_CONFIG
+#define CAN0_CONFIG                                                 \
+    {                                                               \
+        .name = "can0",                                            \
+        .num_of_mailboxs = CAN_NO_OF_MAILBOXES_g_can0,             \
+        .p_api_ctrl = &g_can0_ctrl,                                \
+        .p_cfg = &g_can0_cfg,                                      \
+    }
+#endif /* CAN0_CONFIG */
+#endif /* BSP_USING_CAN0 */
+
+#if defined(BSP_USING_CAN1)
+#ifndef CAN1_CONFIG
+#define CAN1_CONFIG                                                 \
+    {                                                               \
+        .name = "can1",                                            \
+        .num_of_mailboxs = CAN_NO_OF_MAILBOXES_g_can1,             \
+        .p_api_ctrl = &g_can1_ctrl,                                \
+        .p_cfg = &g_can1_cfg,                                      \
+    }
+#endif /* CAN1_CONFIG */
+#endif /* BSP_USING_CAN1 */
+
+#ifdef __cplusplus
+}
+#endif
+#endif

bsp/ra6m4-cpk/drivers/drv_can.c

@@ -0,0 +1,310 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author            Notes
+ * 2021-10-29     mazhiyuan         first version
+ */
+
+#include "drv_can.h"
+
+static struct ra_can_config can_config[] =
+{
+#ifdef BSP_USING_CAN0
+    CAN0_CONFIG,
+#endif
+
+#ifdef BSP_USING_CAN1
+    CAN1_CONFIG
+#endif
+};
+
+enum
+{
+#ifdef BSP_USING_CAN0
+    CAN0_INDEX,
+#endif
+
+#ifdef BSP_USING_CAN1
+    CAN1_INDEX,
+#endif
+};
+
+static struct ra_can can_obj[sizeof(can_config) / sizeof(can_config[0])] = {0};
+
+static const struct ra_baud_rate_tab can_baud_rate_tab[] =
+{
+    {CAN1MBaud, 3, 6, 3, 1 + 4},
+    {CAN800kBaud, 4, 15, 5, 1 + 2},
+    {CAN500kBaud, 4, 14, 5, 1 + 4},
+    {CAN250kBaud, 4, 14, 5, 1 + 9},
+    {CAN125kBaud, 4, 14, 5, 1 + 19},
+    {CAN100kBaud, 4, 14, 5, 1 + 24},
+    {CAN50kBaud, 4, 14, 5, 1 + 49},
+    {CAN20kBaud, 4, 14, 5, 1 + 124},
+    {CAN10kBaud, 4, 14, 5, 1 + 249}
+};
+
+static rt_uint32_t get_can_baud_index(rt_uint32_t baud)
+{
+    rt_uint32_t len, index;
+
+    len = sizeof(can_baud_rate_tab) / sizeof(can_baud_rate_tab[0]);
+    for (index = 0; index < len; index++)
+    {
+        if (can_baud_rate_tab[index].baud_rate == baud)
+            return index;
+    }
+
+    return 0; /* default baud is CAN1MBaud */
+}
+
+static void ra_can_get_config(void)
+{
+    struct can_configure config = CANDEFAULTCONFIG;
+#ifdef BSP_USING_CAN0
+    can_obj[CAN0_INDEX].can_dev.config = config;
+    can_obj[CAN0_INDEX].can_dev.config.msgboxsz = CAN_NO_OF_MAILBOXES_g_can0;
+    can_obj[CAN0_INDEX].can_dev.config.sndboxnumber = 1;
+    can_obj[CAN0_INDEX].can_dev.config.ticks = 50;
+#endif
+#ifdef BSP_USING_CAN1
+    can_obj[CAN1_INDEX].can_dev.config = config;
+    can_obj[CAN1_INDEX].can_dev.config.msgboxsz = CAN_NO_OF_MAILBOXES_g_can1;
+    can_obj[CAN1_INDEX].can_dev.config.sndboxnumber = 1;
+    can_obj[CAN1_INDEX].can_dev.config.ticks = 50;
+#endif
+}
+rt_err_t ra_can_configure(struct rt_can_device *can_dev, struct can_configure *cfg)
+{
+    struct ra_can *can;
+    RT_ASSERT(can_dev != RT_NULL);
+    RT_ASSERT(cfg != RT_NULL);
+
+    fsp_err_t err = FSP_SUCCESS;
+
+    can = rt_container_of(can_dev, struct ra_can, can_dev);
+    RT_ASSERT(can != RT_NULL);
+    err = R_CAN_Open(can->config->p_api_ctrl, can->config->p_cfg);
+    if (FSP_SUCCESS != err)
+    {
+        return RT_ERROR;
+    }
+    return RT_EOK;
+}
+rt_err_t ra_can_control(struct rt_can_device *can_dev, int cmd, void *arg)
+{
+    struct ra_can *can;
+    can_info_t can_info;
+    rt_uint32_t argval;
+    RT_ASSERT(can_dev != RT_NULL);
+    can = rt_container_of(can_dev, struct ra_can, can_dev);
+    switch (cmd)
+    {
+    case RT_DEVICE_CTRL_CLR_INT:
+        R_BSP_IrqStatusClear((IRQn_Type)arg);
+        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)
+        {
+            return -RT_ERROR;
+        }
+        if (argval != can->can_dev.config.baud_rate)
+        {
+            can->can_dev.config.baud_rate = argval;
+            uint32_t index = get_can_baud_index(argval);
+            can->config->p_cfg->p_bit_timing->baud_rate_prescaler = can_baud_rate_tab[index].prescaler;
+            can->config->p_cfg->p_bit_timing->synchronization_jump_width = can_baud_rate_tab[index].sjw;
+            can->config->p_cfg->p_bit_timing->time_segment_1 = can_baud_rate_tab[index].ts1;
+            can->config->p_cfg->p_bit_timing->time_segment_2 = can_baud_rate_tab[index].ts2;
+            return ra_can_configure(&can->can_dev, &can->can_dev.config);
+        }
+        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)
+        {
+            return -RT_ERROR;
+        }
+        if (argval != can->can_dev.config.mode)
+        {
+            can_test_mode_t mode_to_set;
+            can->can_dev.config.mode = argval;
+            switch (argval)
+            {
+            case RT_CAN_MODE_NORMAL:
+                mode_to_set = CAN_TEST_MODE_DISABLED;
+            case RT_CAN_MODE_LISEN:
+                mode_to_set = CAN_TEST_MODE_LISTEN;
+            case RT_CAN_MODE_LOOPBACK:
+                mode_to_set = CAN_TEST_MODE_LOOPBACK_INTERNAL;
+            }
+            R_CAN_ModeTransition(can->config->p_api_ctrl, ((can_instance_ctrl_t *)(can->config->p_api_ctrl))->operation_mode, mode_to_set);
+        }
+        break;
+    case RT_CAN_CMD_GET_STATUS:
+        R_CAN_InfoGet(can->config->p_api_ctrl, &can_info);
+        can->can_dev.status.rcverrcnt = can_info.error_count_receive;
+        can->can_dev.status.snderrcnt = can_info.error_count_transmit;
+        can->can_dev.status.errcode = can_info.error_code;
+        rt_memcpy(arg, &can->can_dev.status, sizeof(can->can_dev.status));
+        break;
+    default:
+        return -RT_ERROR;
+    }
+    return RT_EOK;
+}
+int ra_can_sendmsg(struct rt_can_device *can_dev, const void *buf, rt_uint32_t boxno)
+{
+    struct ra_can *can;
+    can_frame_t g_can_tx_frame;
+    struct rt_can_msg *msg_rt = (struct rt_can_msg *)buf;
+    RT_ASSERT(can_dev != RT_NULL);
+    RT_ASSERT(buf != RT_NULL);
+
+    g_can_tx_frame.id = msg_rt->id;
+    g_can_tx_frame.id_mode = msg_rt->ide;
+    g_can_tx_frame.type = msg_rt->rtr;
+    g_can_tx_frame.data_length_code = msg_rt->len;
+    g_can_tx_frame.options = 0;
+    memcpy(g_can_tx_frame.data, msg_rt->data, 8);
+    can = rt_container_of(can_dev, struct ra_can, can_dev);
+    RT_ASSERT(boxno < can->config->num_of_mailboxs);
+
+    if (R_CAN_Write(can->config->p_api_ctrl, boxno, &g_can_tx_frame) != FSP_SUCCESS)
+    {
+        rt_exit_critical();
+        return RT_ERROR;
+    }
+    return RT_EOK;
+}
+
+int ra_can_recvmsg(struct rt_can_device *can_dev, void *buf, rt_uint32_t boxno)
+{
+    struct rt_can_msg *msg_rt = (struct rt_can_msg *)buf;
+    can_frame_t *msg_ra;
+    struct ra_can *can;
+
+    RT_ASSERT(can_dev != RT_NULL);
+    RT_ASSERT(buf != RT_NULL);
+    can = rt_container_of(can_dev, struct ra_can, can_dev);
+    RT_ASSERT(boxno < can->config->num_of_mailboxs);
+    if (can->callback_args->mailbox != boxno)
+        return 0;
+    msg_ra = can->callback_args->p_frame;
+
+    msg_rt->id = msg_ra->id;
+    msg_rt->ide = msg_ra->id_mode;
+    msg_rt->rtr = msg_ra->type;
+    msg_rt->rsv = RT_NULL;
+    msg_rt->len = msg_ra->data_length_code;
+    msg_rt->priv = boxno;
+    msg_rt->hdr = RT_NULL;
+    memcpy(msg_rt->data, msg_ra->data, msg_ra->data_length_code);
+    return sizeof(struct rt_can_msg);
+}
+const struct rt_can_ops ra_can_ops =
+{
+    .configure = ra_can_configure,
+    .control = ra_can_control,
+    .sendmsg = ra_can_sendmsg,
+    .recvmsg = ra_can_recvmsg
+};
+
+#ifdef BSP_USING_CAN0
+void can0_callback(can_callback_args_t *p_args)
+{
+    rt_interrupt_enter();
+    switch (p_args->event)
+    {
+    case CAN_EVENT_TX_COMPLETE:
+        rt_hw_can_isr(&can_obj[CAN0_INDEX].can_dev, RT_CAN_EVENT_TX_DONE | p_args->mailbox << 8);
+        break;
+    case CAN_EVENT_RX_COMPLETE:
+        can_obj[CAN0_INDEX].callback_args = p_args;
+        if (p_args->event == CAN_EVENT_RX_COMPLETE)
+            rt_hw_can_isr(&can_obj[CAN0_INDEX].can_dev, RT_CAN_EVENT_RX_IND | p_args->mailbox << 8);
+        break;
+    case CAN_EVENT_TX_ABORTED:
+        rt_hw_can_isr(&can_obj[CAN0_INDEX].can_dev, RT_CAN_EVENT_TX_FAIL | p_args->mailbox << 8);
+        break;
+    case CAN_EVENT_MAILBOX_MESSAGE_LOST:    //overwrite/overrun error event
+    case CAN_EVENT_BUS_RECOVERY:            //Bus recovery error event
+    case CAN_EVENT_ERR_BUS_OFF:             //error Bus Off event
+    case CAN_EVENT_ERR_PASSIVE:             //error passive event
+    case CAN_EVENT_ERR_WARNING:             //error warning event
+    case CAN_EVENT_ERR_BUS_LOCK:            //error bus lock
+    case CAN_EVENT_ERR_CHANNEL:             //error channel
+    case CAN_EVENT_ERR_GLOBAL:              //error global
+    {
+        break;
+    }
+    }
+    rt_interrupt_leave();
+}
+#endif
+
+#ifdef BSP_USING_CAN1
+void can1_callback(can_callback_args_t *p_args)
+{
+    rt_interrupt_enter();
+    switch (p_args->event)
+    {
+    case CAN_EVENT_TX_COMPLETE:
+        rt_hw_can_isr(&can_obj[CAN1_INDEX].can_dev, RT_CAN_EVENT_TX_DONE | p_args->mailbox << 8);
+        break;
+    case CAN_EVENT_RX_COMPLETE:
+        can_obj[CAN1_INDEX].callback_args = p_args;
+        if (p_args->event == CAN_EVENT_RX_COMPLETE)
+            rt_hw_can_isr(&can_obj[CAN1_INDEX].can_dev, RT_CAN_EVENT_RX_IND | p_args->mailbox << 8);
+        break;
+    case CAN_EVENT_TX_ABORTED:
+        rt_hw_can_isr(&can_obj[CAN1_INDEX].can_dev, RT_CAN_EVENT_TX_FAIL | p_args->mailbox << 8);
+        break;
+    case CAN_EVENT_MAILBOX_MESSAGE_LOST:    //overwrite/overrun error event
+    case CAN_EVENT_BUS_RECOVERY:            //Bus recovery error event
+    case CAN_EVENT_ERR_BUS_OFF:             //error Bus Off event
+    case CAN_EVENT_ERR_PASSIVE:             //error passive event
+    case CAN_EVENT_ERR_WARNING:             //error warning event
+    case CAN_EVENT_ERR_BUS_LOCK:            //error bus lock
+    case CAN_EVENT_ERR_CHANNEL:             //error channel
+    case CAN_EVENT_ERR_GLOBAL:              //error global
+    {
+        break;
+    }
+    }
+    rt_interrupt_leave();
+}
+#endif
+
+int rt_hw_can_init(void)
+{
+    rt_err_t result = 0;
+    rt_size_t obj_num = sizeof(can_obj) / sizeof(struct ra_can);
+    ra_can_get_config();
+    for (int i = 0; i < obj_num; i++)
+    {
+        /* init CAN object */
+        can_obj[i].config = &can_config[i];
+        can_obj[i].can_dev.ops = &ra_can_ops;
+        /* register CAN device */
+        result = rt_hw_can_register(&can_obj[i].can_dev, can_obj[i].config->name, can_obj[i].can_dev.ops, RT_NULL);
+        RT_ASSERT(result == RT_EOK);
+    }
+
+    return result;
+}
+INIT_BOARD_EXPORT(rt_hw_can_init);

bsp/ra6m4-cpk/drivers/drv_can.h

@@ -0,0 +1,48 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author            Notes
+ * 2021-10-29     mazhiyuan         first version
+ */
+
+#ifndef __DRV_CAN_H__
+#define __DRV_CAN_H__
+
+#include <rtthread.h>
+#include <rtdevice.h>
+#include <rthw.h>
+#include <drv_common.h>
+#include <drv_config.h>
+#include <hal_data.h>
+
+/* renesas config class */
+struct ra_can_config
+{
+    const char *name;
+    int num_of_mailboxs;
+    can_ctrl_t *const p_api_ctrl;
+    can_cfg_t const *const p_cfg;
+};
+
+struct ra_can
+{
+    struct rt_can_device can_dev;
+    struct ra_can_config *config;
+    can_callback_args_t *callback_args;
+};
+
+struct ra_baud_rate_tab
+{
+    rt_uint32_t baud_rate;
+    rt_uint32_t sjw;
+    rt_uint32_t ts1;
+    rt_uint32_t ts2;
+    rt_uint32_t prescaler;
+};
+
+int rt_hw_can_init(void);
+
+#endif

bsp/ra6m4-cpk/drivers/drv_flash.c

@@ -5,7 +5,7 @@
  *
  * Change Logs:
  * Date           Author       Notes
- * 2018-12-5      SummerGift   first version
+ * 2021-11-30     flybreak     first version
  */
 
 #include <stdio.h>
@@ -64,12 +64,6 @@ int _flash_read(rt_uint32_t addr, rt_uint8_t *buf, size_t size)
 {
     size_t i;
 
-    if ((addr + size) > FLASH_HP_CF_BLCOK_10 + BSP_FEATURE_FLASH_HP_CF_REGION1_BLOCK_SIZE)
-    {
-        LOG_E("read outrange flash size! addr is (0x%p)", (void *)(addr + size));
-        return -1;
-    }
-
     for (i = 0; i < size; i++, buf++, addr++)
     {
         *buf = *(rt_uint8_t *) addr;
@@ -96,12 +90,6 @@ int _flash_write(rt_uint32_t addr, const rt_uint8_t *buf, size_t size)
     fsp_err_t err = FSP_SUCCESS;
     size_t written_size = 0;
 
-    if ((addr + size) > FLASH_HP_CF_BLCOK_10 + BSP_FEATURE_FLASH_HP_CF_REGION1_BLOCK_SIZE)
-    {
-        LOG_E("write outrange flash size! addr is (0x%p)", (void *)(addr + size));
-        return -RT_EINVAL;
-    }
-
     if (size % BSP_FEATURE_FLASH_HP_CF_WRITE_SIZE)
     {
         LOG_E("Flash Write size must be an integer multiple of %d", BSP_FEATURE_FLASH_HP_CF_WRITE_SIZE);
@@ -111,6 +99,7 @@ int _flash_write(rt_uint32_t addr, const rt_uint8_t *buf, size_t size)
     while (written_size < size)
     {
         level = rt_hw_interrupt_disable();
+        R_FLASH_HP_Reset(&g_flash_ctrl);
         /* Write code flash data*/
         err = R_FLASH_HP_Write(&g_flash_ctrl, (uint32_t)(buf + written_size), addr + written_size, BSP_FEATURE_FLASH_HP_CF_WRITE_SIZE);
         rt_hw_interrupt_enable(level);
@@ -160,6 +149,7 @@ int _flash_erase_8k(rt_uint32_t addr, size_t size)
     }
 
     level = rt_hw_interrupt_disable();
+    R_FLASH_HP_Reset(&g_flash_ctrl);
     /* Erase Block */
     err = R_FLASH_HP_Erase(&g_flash_ctrl, RT_ALIGN_DOWN(addr, FLASH_HP_CF_BLOCK_SIZE_8KB), (size - 1) / BSP_FEATURE_FLASH_HP_CF_REGION0_BLOCK_SIZE + 1);
     rt_hw_interrupt_enable(level);
@@ -174,23 +164,18 @@ int _flash_erase_8k(rt_uint32_t addr, size_t size)
     return size;
 }
 
-int _flash_erase_128k(rt_uint32_t addr, size_t size)
+int _flash_erase_32k(rt_uint32_t addr, size_t size)
 {
     fsp_err_t err = FSP_SUCCESS;
     rt_base_t level;
 
-    if ((addr + size) > FLASH_HP_CF_BLCOK_10 + BSP_FEATURE_FLASH_HP_CF_REGION1_BLOCK_SIZE)
-    {
-        LOG_E("ERROR: erase outrange flash size! addr is (0x%p)\n", (void *)(addr + size));
-        return -RT_EINVAL;
-    }
-
     if (size < 1)
     {
         return -RT_EINVAL;
     }
 
     level = rt_hw_interrupt_disable();
+    R_FLASH_HP_Reset(&g_flash_ctrl);
     /* Erase Block */
     err = R_FLASH_HP_Erase(&g_flash_ctrl, RT_ALIGN_DOWN(addr, FLASH_HP_CF_BLOCK_SIZE_32KB), (size - 1) / BSP_FEATURE_FLASH_HP_CF_REGION1_BLOCK_SIZE + 1);
     rt_hw_interrupt_enable(level);
@@ -208,25 +193,25 @@ int _flash_erase_128k(rt_uint32_t addr, size_t size)
 #if defined(PKG_USING_FAL)
 
 static int fal_flash_read_8k(long offset, rt_uint8_t *buf, size_t size);
-static int fal_flash_read_128k(long offset, rt_uint8_t *buf, size_t size);
+static int fal_flash_read_32k(long offset, rt_uint8_t *buf, size_t size);
 
 static int fal_flash_write_8k(long offset, const rt_uint8_t *buf, size_t size);
-static int fal_flash_write_128k(long offset, const rt_uint8_t *buf, size_t size);
+static int fal_flash_write_32k(long offset, const rt_uint8_t *buf, size_t size);
 
 static int fal_flash_erase_8k(long offset, size_t size);
-static int fal_flash_erase_128k(long offset, size_t size);
+static int fal_flash_erase_32k(long offset, size_t size);
 
 const struct fal_flash_dev _onchip_flash_8k = { "onchip_flash_8k", FLASH_HP_CF_BLCOK_0, FLASH_HP_CF_BLOCK_8, (8 * 1024), {_flash_init, fal_flash_read_8k, fal_flash_write_8k, fal_flash_erase_8k} };
-const struct fal_flash_dev _onchip_flash_128k = { "onchip_flash_128k", FLASH_HP_CF_BLOCK_8, 32 * 3 * 1024, (128 * 1024), {_flash_init, fal_flash_read_128k, fal_flash_write_128k, fal_flash_erase_128k} };
+const struct fal_flash_dev _onchip_flash_32k = { "onchip_flash_32k", FLASH_HP_CF_BLOCK_8, 32 * 30 * 1024, (32 * 1024), {_flash_init, fal_flash_read_32k, fal_flash_write_32k, fal_flash_erase_32k} };
 
 static int fal_flash_read_8k(long offset, rt_uint8_t *buf, size_t size)
 {
     return _flash_read(_onchip_flash_8k.addr + offset, buf, size);
 }
 
-static int fal_flash_read_128k(long offset, rt_uint8_t *buf, size_t size)
+static int fal_flash_read_32k(long offset, rt_uint8_t *buf, size_t size)
 {
-    return _flash_read(_onchip_flash_128k.addr + offset, buf, size);
+    return _flash_read(_onchip_flash_32k.addr + offset, buf, size);
 }
 
 static int fal_flash_write_8k(long offset, const rt_uint8_t *buf, size_t size)
@@ -234,9 +219,9 @@ static int fal_flash_write_8k(long offset, const rt_uint8_t *buf, size_t size)
     return _flash_write(_onchip_flash_8k.addr + offset, buf, size);
 }
 
-static int fal_flash_write_128k(long offset, const rt_uint8_t *buf, size_t size)
+static int fal_flash_write_32k(long offset, const rt_uint8_t *buf, size_t size)
 {
-    return _flash_write(_onchip_flash_128k.addr + offset, buf, size);
+    return _flash_write(_onchip_flash_32k.addr + offset, buf, size);
 }
 
 static int fal_flash_erase_8k(long offset, size_t size)
@@ -244,14 +229,14 @@ static int fal_flash_erase_8k(long offset, size_t size)
     return _flash_erase_8k(_onchip_flash_8k.addr + offset, size);
 }
 
-static int fal_flash_erase_128k(long offset, size_t size)
+static int fal_flash_erase_32k(long offset, size_t size)
 {
-    return _flash_erase_128k(_onchip_flash_128k.addr + offset, size);
+    return _flash_erase_32k(_onchip_flash_32k.addr + offset, size);
 }
 
 int flash_test(void)
 {
-#define TEST_OFF 0x10000
+#define TEST_OFF (_onchip_flash_32k.len - BSP_FEATURE_FLASH_HP_CF_REGION1_BLOCK_SIZE)
     const struct fal_partition *param;
     uint8_t write_buffer[BSP_FEATURE_FLASH_HP_CF_WRITE_SIZE] = {0};
     uint8_t read_buffer[BSP_FEATURE_FLASH_HP_CF_WRITE_SIZE] = {0};

bsp/ra6m4-cpk/drivers/drv_flash.h

@@ -5,7 +5,7 @@
  *
  * Change Logs:
  * Date           Author       Notes
- * 2018-12-5      SummerGift   first version
+ * 2021-11-30     flybreak     first version
  */
 
 #ifndef __DRV_FLASH_H__

bsp/ra6m4-cpk/drivers/drv_spi.c

@@ -6,6 +6,7 @@
  * Change Logs:
  * Date           Author       Notes
  * 2021-08-23     Mr.Tiger     first version
+ * 2021-11-04     Sherman      ADD complete_event
  */
 /**< Note : Turn on any DMA mode and all SPIs will turn on DMA */
 
@@ -22,6 +23,10 @@
 #endif /* DRV_DEBUG */
 #include <rtdbg.h>
 
+#define RA_SPI0_EVENT 0x00
+#define RA_SPI1_EVENT 0x01
+static struct rt_event complete_event = {0};
+
 static struct ra_spi_handle spi_handle[] =
 {
 #ifdef BSP_USING_SPI0
@@ -40,7 +45,7 @@ void g_spi0_callback(spi_callback_args_t *p_args)
     rt_interrupt_enter();
     if (SPI_EVENT_TRANSFER_COMPLETE == p_args->event)
     {
-        LOG_D("SPI0 cb");
+        rt_event_send(&complete_event, RA_SPI0_EVENT);
     }
     rt_interrupt_leave();
 }
@@ -50,11 +55,34 @@ void g_spi1_callback(spi_callback_args_t *p_args)
     rt_interrupt_enter();
     if (SPI_EVENT_TRANSFER_COMPLETE == p_args->event)
     {
-        LOG_D("SPI1 cb");
+        rt_event_send(&complete_event, RA_SPI1_EVENT);
     }
     rt_interrupt_leave();
 }
 
+static rt_err_t ra_wait_complete(rt_event_t event, const char bus_name[RT_NAME_MAX])
+{
+    rt_uint32_t recved = 0x00;
+
+    if (bus_name[3] == '0')
+    {
+        return rt_event_recv(event,
+                             RA_SPI0_EVENT,
+                             RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
+                             RT_WAITING_FOREVER,
+                             &recved);
+    }
+    else if (bus_name[3] == '1')
+    {
+        return rt_event_recv(event,
+                             RA_SPI1_EVENT,
+                             RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
+                             RT_WAITING_FOREVER,
+                             &recved);
+    }
+    return -RT_EINVAL;
+}
+
 static rt_err_t ra_write_message(struct rt_spi_device *device, const void *send_buf, const rt_size_t len)
 {
     RT_ASSERT(device != NULL);
@@ -63,13 +91,6 @@ static rt_err_t ra_write_message(struct rt_spi_device *device, const void *send_
     RT_ASSERT(len > 0);
     rt_err_t err = RT_EOK;
     struct ra_spi *spi_dev =  rt_container_of(device->bus, struct ra_spi, bus);
-    spi_dev->cs_pin = *(rt_uint32_t *)device->parent.user_data;
-
-    /**< Configure Select Line */
-    R_BSP_PinWrite(spi_dev->cs_pin, BSP_IO_LEVEL_HIGH);
-
-    /* Start a write transfer */
-    R_BSP_PinWrite(spi_dev->cs_pin, BSP_IO_LEVEL_LOW);
 
     /**< send msessage */
     err = R_SPI_Write((spi_ctrl_t *)spi_dev->ra_spi_handle_t->spi_ctrl_t, send_buf, len, spi_dev->rt_spi_cfg_t->data_width);
@@ -78,7 +99,8 @@ static rt_err_t ra_write_message(struct rt_spi_device *device, const void *send_
         LOG_E("%s write failed.", spi_dev->ra_spi_handle_t->bus_name);
         return -RT_ERROR;
     }
-
+    /* Wait for SPI_EVENT_TRANSFER_COMPLETE callback event. */
+    ra_wait_complete(&complete_event, spi_dev->ra_spi_handle_t->bus_name);
     return len;
 }
 
@@ -90,13 +112,6 @@ static rt_err_t ra_read_message(struct rt_spi_device *device, void *recv_buf, co
     RT_ASSERT(len > 0);
     rt_err_t err = RT_EOK;
     struct ra_spi *spi_dev =  rt_container_of(device->bus, struct ra_spi, bus);
-    spi_dev->cs_pin = *(rt_uint32_t *)device->parent.user_data;
-
-    /**< Configure Select Line */
-    R_BSP_PinWrite(spi_dev->cs_pin, BSP_IO_LEVEL_HIGH);
-
-    /* Start read transfer */
-    R_BSP_PinWrite(spi_dev->cs_pin, BSP_IO_LEVEL_LOW);
 
     /**< receive message */
     err = R_SPI_Read((spi_ctrl_t *)spi_dev->ra_spi_handle_t->spi_ctrl_t, recv_buf, len, spi_dev->rt_spi_cfg_t->data_width);
@@ -105,7 +120,8 @@ static rt_err_t ra_read_message(struct rt_spi_device *device, void *recv_buf, co
         LOG_E("\n%s write failed.\n", spi_dev->ra_spi_handle_t->bus_name);
         return -RT_ERROR;
     }
-
+    /* Wait for SPI_EVENT_TRANSFER_COMPLETE callback event. */
+    ra_wait_complete(&complete_event, spi_dev->ra_spi_handle_t->bus_name);
     return len;
 }
 
@@ -124,7 +140,8 @@ static rt_err_t ra_write_read_message(struct rt_spi_device *device, struct rt_sp
         LOG_E("%s write and read failed.", spi_dev->ra_spi_handle_t->bus_name);
         return -RT_ERROR;
     }
-
+    /* Wait for SPI_EVENT_TRANSFER_COMPLETE callback event. */
+    ra_wait_complete(&complete_event, spi_dev->ra_spi_handle_t->bus_name);
     return message->length;
 }
 
@@ -148,7 +165,7 @@ static rt_err_t ra_hw_spi_configure(struct rt_spi_device *device,
     spi_extended_cfg_t *spi_cfg = (spi_extended_cfg_t *)spi_dev->ra_spi_handle_t->spi_cfg_t->p_extend;
 
     /**< Configure Select Line */
-    R_BSP_PinWrite(spi_dev->cs_pin, BSP_IO_LEVEL_HIGH);
+    rt_pin_write(spi_dev->cs_pin, PIN_HIGH);
 
     /**< config bitrate */
     R_SPI_CalculateBitrate(spi_dev->rt_spi_cfg_t->max_hz, &spi_cfg->spck_div);
@@ -166,15 +183,23 @@ static rt_err_t ra_hw_spi_configure(struct rt_spi_device *device,
 
 static rt_uint32_t ra_spixfer(struct rt_spi_device *device, struct rt_spi_message *message)
 {
-    RT_ASSERT(device != NULL);
-    RT_ASSERT(message != NULL);
+    RT_ASSERT(device != RT_NULL);
+    RT_ASSERT(device->bus != RT_NULL);
+    RT_ASSERT(message != RT_NULL);
+
     rt_err_t err = RT_EOK;
+    struct ra_spi *spi_dev =  rt_container_of(device->bus, struct ra_spi, bus);
+    spi_dev->cs_pin = (rt_uint32_t)device->parent.user_data;
 
-    if (message->length <= 0)
+    if (message->cs_take && !(device->config.mode & RT_SPI_NO_CS))
     {
-        LOG_E("buf length err.");
+        if (device->config.mode & RT_SPI_CS_HIGH)
+            rt_pin_write(spi_dev->cs_pin, PIN_HIGH);
+        else
+            rt_pin_write(spi_dev->cs_pin, PIN_LOW);
     }
-    else
+
+    if (message->length > 0)
     {
         if (message->send_buf == RT_NULL && message->recv_buf != RT_NULL)
         {
@@ -192,6 +217,14 @@ static rt_uint32_t ra_spixfer(struct rt_spi_device *device, struct rt_spi_messag
             err =  ra_write_read_message(device, message);
         }
     }
+
+    if (message->cs_release && !(device->config.mode & RT_SPI_NO_CS))
+    {
+        if (device->config.mode & RT_SPI_CS_HIGH)
+            rt_pin_write(spi_dev->cs_pin, PIN_LOW);
+        else
+            rt_pin_write(spi_dev->cs_pin, PIN_HIGH);
+    }
     return err;
 }
 
@@ -226,9 +259,15 @@ int ra_hw_spi_init(void)
         if (RT_EOK != err)
         {
             LOG_E("%s bus register failed.", spi_config[spi_index].ra_spi_handle_t->bus_name);
+            return -RT_ERROR;
         }
     }
 
+    if (RT_EOK != rt_event_init(&complete_event, "ra_spi", RT_IPC_FLAG_PRIO))
+    {
+        LOG_E("SPI transfer event init fail!");
+        return -RT_ERROR;
+    }
     return RT_EOK;
 }
 INIT_BOARD_EXPORT(ra_hw_spi_init);

bsp/ra6m4-cpk/drivers/drv_spi.h

@@ -26,7 +26,7 @@ extern "C" {
 #ifdef R_SPI_H
 struct ra_spi_handle
 {
-    const char *bus_name;
+    const char bus_name[RT_NAME_MAX];
     const spi_cfg_t           *spi_cfg_t;
     const spi_instance_ctrl_t *spi_ctrl_t;
 };

bsp/ra6m4-cpk/ports/fal/SConscript

@@ -10,10 +10,12 @@ src     += Glob('*.c')
 CPPPATH = [cwd]
 LOCAL_CCFLAGS = ''
 
-if rtconfig.CROSS_TOOL == 'gcc':
+if rtconfig.PLATFORM == 'gcc':
     LOCAL_CCFLAGS += ' -std=c99'
-elif rtconfig.CROSS_TOOL == 'keil':
+elif rtconfig.PLATFORM == 'armcc':
     LOCAL_CCFLAGS += ' --c99'
+elif rtconfig.PLATFORM == 'armclang':
+    LOCAL_CCFLAGS += ' -std=c99'
 
 group = DefineGroup('FAL', src, depend = ['PKG_USING_FAL'], CPPPATH = CPPPATH, LOCAL_CCFLAGS = LOCAL_CCFLAGS)
 

bsp/ra6m4-cpk/ports/fal/fal_cfg.h

@@ -19,21 +19,23 @@
 #define FAL_FLASH_PORT_DRIVER_SFUD
 
 extern const struct fal_flash_dev _onchip_flash_8k;
-extern const struct fal_flash_dev _onchip_flash_128k;
+extern const struct fal_flash_dev _onchip_flash_32k;
 
 /* flash device table */
 #define FAL_FLASH_DEV_TABLE                                          \
 {                                                                    \
     &_onchip_flash_8k,                                               \
-    &_onchip_flash_128k,                                             \
+    &_onchip_flash_32k,                                             \
 }
 /* ====================== Partition Configuration ========================== */
 #ifdef FAL_PART_HAS_TABLE_CFG
-/* partition table */
-#define FAL_PART_TABLE                                                                                                   \
-{                                                                                                                        \
-    {FAL_PART_MAGIC_WROD,        "app", "onchip_flash_8k",                                    0,       64 * 1024, 0},    \
-    {FAL_PART_MAGIC_WROD,      "param", "onchip_flash_128k",                                  0,     3 * 128 * 1024, 0}, \
+/** partition table, The chip flash partition is defined in "\ra\fsp\src\bsp\mcu\ra6m4\bsp_feature.h".
+ * More details can be found in the RA6M4 Group User Manual: Hardware section 47 Flash memory.*/
+#define FAL_PART_TABLE                                                                                \
+{                                                                                                     \
+    {FAL_PART_MAGIC_WROD,        "app", "onchip_flash_8k",                   0,       64 * 1024, 0},  \
+    {FAL_PART_MAGIC_WROD,      "param", "onchip_flash_32k",                 0,  32 * 30 * 1024, 0},   \
 }
 #endif /* FAL_PART_HAS_TABLE_CFG */
 #endif /* _FAL_CFG_H_ */
+

bsp/ra6m4-cpk/ports/rw007/SConscript

@@ -0,0 +1,22 @@
+
+from building import *
+import rtconfig
+
+cwd     = GetCurrentDir()
+
+src = []
+
+src     += Glob('*.c')
+CPPPATH = [cwd]
+LOCAL_CCFLAGS = ''
+
+if rtconfig.PLATFORM == 'gcc':
+    LOCAL_CCFLAGS += ' -std=c99'
+elif rtconfig.PLATFORM == 'armcc':
+    LOCAL_CCFLAGS += ' --c99'
+elif rtconfig.PLATFORM == 'armclang':
+    LOCAL_CCFLAGS += ' -std=c99'
+
+group = DefineGroup('rw007', src, depend = ['BSP_USING_RW007'], CPPPATH = CPPPATH, LOCAL_CCFLAGS = LOCAL_CCFLAGS)
+
+Return('group')

bsp/ra6m4-cpk/ports/rw007/drv_rw007.c

@@ -0,0 +1,67 @@
+#include <rtthread.h>
+#include <rtdbg.h>
+#ifdef BSP_USING_RW007
+#include <rtdevice.h>
+#include <drv_spi.h>
+#include <board.h>
+#include <spi_wifi_rw007.h>
+
+extern void spi_wifi_isr(int vector);
+
+static void rw007_gpio_init(void)
+{
+    /* Configure IO */
+    rt_pin_mode(RA_RW007_RST_PIN, PIN_MODE_OUTPUT);
+    rt_pin_mode(RA_RW007_INT_BUSY_PIN, PIN_MODE_INPUT_PULLDOWN);
+
+    /* Reset rw007 and config mode */
+    rt_pin_write(RA_RW007_RST_PIN, PIN_LOW);
+    rt_thread_delay(rt_tick_from_millisecond(100));
+    rt_pin_write(RA_RW007_RST_PIN, PIN_HIGH);
+
+    /* Wait rw007 ready(exit busy stat) */
+    while (!rt_pin_read(RA_RW007_INT_BUSY_PIN))
+    {
+        rt_thread_delay(5);
+    }
+
+    rt_thread_delay(rt_tick_from_millisecond(200));
+    rt_pin_mode(RA_RW007_INT_BUSY_PIN, PIN_MODE_INPUT_PULLUP);
+}
+
+static struct rt_spi_device rw007_dev;
+
+int wifi_spi_device_init(void)
+{
+    char sn_version[32];
+    uint32_t cs_pin = RA_RW007_CS_PIN;
+
+    rw007_gpio_init();
+    rt_hw_spi_device_attach(&rw007_dev, "wspi", RA_RW007_SPI_BUS_NAME, (void *)cs_pin);
+    rt_hw_wifi_init("wspi");
+
+    rt_wlan_set_mode(RT_WLAN_DEVICE_STA_NAME, RT_WLAN_STATION);
+    rt_wlan_set_mode(RT_WLAN_DEVICE_AP_NAME, RT_WLAN_AP);
+
+    rw007_sn_get(sn_version);
+    rt_kprintf("\nrw007  sn: [%s]\n", sn_version);
+    rw007_version_get(sn_version);
+    rt_kprintf("rw007 ver: [%s]\n\n", sn_version);
+
+    return 0;
+}
+INIT_APP_EXPORT(wifi_spi_device_init);
+
+static void int_wifi_irq(void *p)
+{
+    ((void)p);
+    spi_wifi_isr(0);
+}
+
+void spi_wifi_hw_init(void)
+{
+    rt_pin_attach_irq(RA_RW007_INT_BUSY_PIN, PIN_IRQ_MODE_FALLING, int_wifi_irq, 0);
+    rt_pin_irq_enable(RA_RW007_INT_BUSY_PIN, RT_TRUE);
+}
+
+#endif /* BSP_USING_RW007 */

bsp/ra6m4-cpk/ra/SConscript

@@ -15,13 +15,7 @@ elif rtconfig.CROSS_TOOL == 'gcc':
     src += Glob(cwd + '/fsp/src/bsp/mcu/all/*.c')
     src += [cwd + '/fsp/src/bsp/cmsis/Device/RENESAS/Source/system.c']
     src += [cwd + '/fsp/src/bsp/cmsis/Device/RENESAS/Source/startup.c']
-    src += [cwd + '/fsp/src/r_ioport/r_ioport.c']
-
-    if GetDepend(['RT_USING_SERIAL']):
-        src += [cwd + '/fsp/src/r_sci_uart/r_sci_uart.c']
-
-    if GetDepend(['RT_USING_PIN']):
-        src += [cwd + '/fsp/src/r_icu/r_icu.c']
+    src += Glob(cwd + '/fsp/src/r_*/*.c')
 
     CPPPATH = [ cwd + '/arm/CMSIS_5/CMSIS/Core/Include',
                 cwd + '/fsp/inc',
@@ -29,4 +23,4 @@ elif rtconfig.CROSS_TOOL == 'gcc':
                 cwd + '/fsp/inc/instances',]
 
 group = DefineGroup('ra', src, depend = [''], CPPPATH = CPPPATH, CPPDEFINES = CPPDEFINES)
-Return('group')
+Return('group')

bsp/ra6m4-cpk/ra/fsp/inc/instances/r_icu.h

@@ -0,0 +1,95 @@
+/***********************************************************************************************************************
+ * Copyright [2020-2021] Renesas Electronics Corporation and/or its affiliates.  All Rights Reserved.
+ *
+ * This software and documentation are supplied by Renesas Electronics America Inc. and may only be used with products
+ * of Renesas Electronics Corp. and its affiliates ("Renesas").  No other uses are authorized.  Renesas products are
+ * sold pursuant to Renesas terms and conditions of sale.  Purchasers are solely responsible for the selection and use
+ * of Renesas products and Renesas assumes no liability.  No license, express or implied, to any intellectual property
+ * right is granted by Renesas. This software is protected under all applicable laws, including copyright laws. Renesas
+ * reserves the right to change or discontinue this software and/or this documentation. THE SOFTWARE AND DOCUMENTATION
+ * IS DELIVERED TO YOU "AS IS," AND RENESAS MAKES NO REPRESENTATIONS OR WARRANTIES, AND TO THE FULLEST EXTENT
+ * PERMISSIBLE UNDER APPLICABLE LAW, DISCLAIMS ALL WARRANTIES, WHETHER EXPLICITLY OR IMPLICITLY, INCLUDING WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND NONINFRINGEMENT, WITH RESPECT TO THE SOFTWARE OR
+ * DOCUMENTATION.  RENESAS SHALL HAVE NO LIABILITY ARISING OUT OF ANY SECURITY VULNERABILITY OR BREACH.  TO THE MAXIMUM
+ * EXTENT PERMITTED BY LAW, IN NO EVENT WILL RENESAS BE LIABLE TO YOU IN CONNECTION WITH THE SOFTWARE OR DOCUMENTATION
+ * (OR ANY PERSON OR ENTITY CLAIMING RIGHTS DERIVED FROM YOU) FOR ANY LOSS, DAMAGES, OR CLAIMS WHATSOEVER, INCLUDING,
+ * WITHOUT LIMITATION, ANY DIRECT, CONSEQUENTIAL, SPECIAL, INDIRECT, PUNITIVE, OR INCIDENTAL DAMAGES; ANY LOST PROFITS,
+ * OTHER ECONOMIC DAMAGE, PROPERTY DAMAGE, OR PERSONAL INJURY; AND EVEN IF RENESAS HAS BEEN ADVISED OF THE POSSIBILITY
+ * OF SUCH LOSS, DAMAGES, CLAIMS OR COSTS.
+ **********************************************************************************************************************/
+
+/*******************************************************************************************************************//**
+ * @addtogroup ICU
+ * @{
+ **********************************************************************************************************************/
+
+#ifndef R_ICU_H
+#define R_ICU_H
+
+/***********************************************************************************************************************
+ * Includes
+ **********************************************************************************************************************/
+#include "bsp_api.h"
+#include "r_external_irq_api.h"
+
+/* Common macro for FSP header files. There is also a corresponding FSP_FOOTER macro at the end of this file. */
+FSP_HEADER
+
+/***********************************************************************************************************************
+ * Macro definitions
+ **********************************************************************************************************************/
+
+/*********************************************************************************************************************
+ * Typedef definitions
+ *********************************************************************************************************************/
+
+/** ICU private control block. DO NOT MODIFY.  Initialization occurs when R_ICU_ExternalIrqOpen is called. */
+typedef struct st_icu_instance_ctrl
+{
+    uint32_t  open;                                             ///< Used to determine if channel control block is in use
+    IRQn_Type irq;                                              ///< NVIC interrupt number
+    uint8_t   channel;                                          ///< Channel
+
+#if BSP_TZ_SECURE_BUILD
+    external_irq_callback_args_t * p_callback_memory;           // Pointer to non-secure memory that can be used to pass arguments to a callback in non-secure memory.
+#endif
+    void (* p_callback)(external_irq_callback_args_t * p_args); // Pointer to callback that is called when an edge is detected on the external irq pin.
+
+    /** Placeholder for user data.  Passed to the user callback in ::external_irq_callback_args_t. */
+    void const * p_context;
+} icu_instance_ctrl_t;
+
+/**********************************************************************************************************************
+ * Exported global variables
+ **********************************************************************************************************************/
+
+/** @cond INC_HEADER_DEFS_SEC */
+/** Filled in Interface API structure for this Instance. */
+extern const external_irq_api_t g_external_irq_on_icu;
+
+/** @endcond */
+
+/***********************************************************************************************************************
+ * Public APIs
+ **********************************************************************************************************************/
+fsp_err_t R_ICU_ExternalIrqOpen(external_irq_ctrl_t * const p_api_ctrl, external_irq_cfg_t const * const p_cfg);
+
+fsp_err_t R_ICU_ExternalIrqEnable(external_irq_ctrl_t * const p_api_ctrl);
+
+fsp_err_t R_ICU_ExternalIrqDisable(external_irq_ctrl_t * const p_api_ctrl);
+
+fsp_err_t R_ICU_ExternalIrqCallbackSet(external_irq_ctrl_t * const          p_api_ctrl,
+                                       void (                             * p_callback)(external_irq_callback_args_t *),
+                                       void const * const                   p_context,
+                                       external_irq_callback_args_t * const p_callback_memory);
+
+fsp_err_t R_ICU_ExternalIrqClose(external_irq_ctrl_t * const p_api_ctrl);
+
+/*******************************************************************************************************************//**
+ * @} (end defgroup ICU)
+ **********************************************************************************************************************/
+
+/* Common macro for FSP header files. There is also a corresponding FSP_HEADER macro at the top of this file. */
+FSP_FOOTER
+
+#endif                                 // R_ICU_H

bsp/ra6m4-cpk/ra/fsp/src/bsp/cmsis/Device/RENESAS/Source/startup.c

@@ -63,8 +63,12 @@ void Reset_Handler (void)
     /* Initialize system using BSP. */
     SystemInit();
 
-    /* Call user application. */
+#ifdef __ARMCC_VERSION
     main();
+#elif defined(__GNUC__)
+    extern int entry(void);
+    entry();
+#endif
 
     while (1)
     {

bsp/ra6m4-cpk/ra/fsp/src/r_icu/r_icu.c

@@ -0,0 +1,370 @@
+/***********************************************************************************************************************
+ * Copyright [2020-2021] Renesas Electronics Corporation and/or its affiliates.  All Rights Reserved.
+ *
+ * This software and documentation are supplied by Renesas Electronics America Inc. and may only be used with products
+ * of Renesas Electronics Corp. and its affiliates ("Renesas").  No other uses are authorized.  Renesas products are
+ * sold pursuant to Renesas terms and conditions of sale.  Purchasers are solely responsible for the selection and use
+ * of Renesas products and Renesas assumes no liability.  No license, express or implied, to any intellectual property
+ * right is granted by Renesas. This software is protected under all applicable laws, including copyright laws. Renesas
+ * reserves the right to change or discontinue this software and/or this documentation. THE SOFTWARE AND DOCUMENTATION
+ * IS DELIVERED TO YOU "AS IS," AND RENESAS MAKES NO REPRESENTATIONS OR WARRANTIES, AND TO THE FULLEST EXTENT
+ * PERMISSIBLE UNDER APPLICABLE LAW, DISCLAIMS ALL WARRANTIES, WHETHER EXPLICITLY OR IMPLICITLY, INCLUDING WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND NONINFRINGEMENT, WITH RESPECT TO THE SOFTWARE OR
+ * DOCUMENTATION.  RENESAS SHALL HAVE NO LIABILITY ARISING OUT OF ANY SECURITY VULNERABILITY OR BREACH.  TO THE MAXIMUM
+ * EXTENT PERMITTED BY LAW, IN NO EVENT WILL RENESAS BE LIABLE TO YOU IN CONNECTION WITH THE SOFTWARE OR DOCUMENTATION
+ * (OR ANY PERSON OR ENTITY CLAIMING RIGHTS DERIVED FROM YOU) FOR ANY LOSS, DAMAGES, OR CLAIMS WHATSOEVER, INCLUDING,
+ * WITHOUT LIMITATION, ANY DIRECT, CONSEQUENTIAL, SPECIAL, INDIRECT, PUNITIVE, OR INCIDENTAL DAMAGES; ANY LOST PROFITS,
+ * OTHER ECONOMIC DAMAGE, PROPERTY DAMAGE, OR PERSONAL INJURY; AND EVEN IF RENESAS HAS BEEN ADVISED OF THE POSSIBILITY
+ * OF SUCH LOSS, DAMAGES, CLAIMS OR COSTS.
+ **********************************************************************************************************************/
+
+/***********************************************************************************************************************
+ * Includes
+ **********************************************************************************************************************/
+#include "r_icu.h"
+#include "r_icu_cfg.h"
+
+/***********************************************************************************************************************
+ * Macro definitions
+ **********************************************************************************************************************/
+
+/** "ICU" in ASCII, used to determine if channel is open. */
+#define ICU_OPEN              (0x00494355U)
+
+#define ICU_IRQMD_OFFSET      (0)
+#define ICU_FCLKSEL_OFFSET    (4)
+#define ICU_FLTEN_OFFSET      (7)
+
+/***********************************************************************************************************************
+ * Typedef definitions
+ **********************************************************************************************************************/
+
+#if defined(__ARMCC_VERSION) || defined(__ICCARM__)
+typedef void (BSP_CMSE_NONSECURE_CALL * icu_prv_ns_callback)(external_irq_callback_args_t * p_args);
+#elif defined(__GNUC__)
+typedef BSP_CMSE_NONSECURE_CALL void (*volatile icu_prv_ns_callback)(external_irq_callback_args_t * p_args);
+#endif
+
+/***********************************************************************************************************************
+ * Private function prototypes
+ **********************************************************************************************************************/
+void r_icu_isr(void);
+
+/***********************************************************************************************************************
+ * Private global variables
+ **********************************************************************************************************************/
+
+/***********************************************************************************************************************
+ * Global Variables
+ **********************************************************************************************************************/
+
+/* ICU implementation of External IRQ API. */
+const external_irq_api_t g_external_irq_on_icu =
+{
+    .open        = R_ICU_ExternalIrqOpen,
+    .enable      = R_ICU_ExternalIrqEnable,
+    .disable     = R_ICU_ExternalIrqDisable,
+    .callbackSet = R_ICU_ExternalIrqCallbackSet,
+    .close       = R_ICU_ExternalIrqClose,
+};
+
+/*******************************************************************************************************************//**
+ * @addtogroup ICU
+ * @{
+ **********************************************************************************************************************/
+
+/***********************************************************************************************************************
+ * Functions
+ **********************************************************************************************************************/
+
+/*******************************************************************************************************************//**
+ * Configure an IRQ input pin for use with the external interrupt interface.  Implements @ref external_irq_api_t::open.
+ *
+ * The Open function is responsible for preparing an external IRQ pin for operation.
+ *
+ * @retval FSP_SUCCESS                    Open successful.
+ * @retval FSP_ERR_ASSERTION              One of the following is invalid:
+ *                                          - p_ctrl or p_cfg is NULL
+ * @retval FSP_ERR_ALREADY_OPEN           The channel specified has already been opened. No configurations were changed.
+ *                                        Call the associated Close function to reconfigure the channel.
+ * @retval FSP_ERR_IP_CHANNEL_NOT_PRESENT The channel requested in p_cfg is not available on the device selected in
+ *                                        r_bsp_cfg.h.
+ * @retval FSP_ERR_INVALID_ARGUMENT       p_cfg->p_callback is not NULL, but ISR is not enabled. ISR must be enabled to
+ *                                        use callback function.
+ *
+ * @note This function is reentrant for different channels.  It is not reentrant for the same channel.
+ **********************************************************************************************************************/
+fsp_err_t R_ICU_ExternalIrqOpen (external_irq_ctrl_t * const p_api_ctrl, external_irq_cfg_t const * const p_cfg)
+{
+    icu_instance_ctrl_t * p_ctrl = (icu_instance_ctrl_t *) p_api_ctrl;
+
+#if ICU_CFG_PARAM_CHECKING_ENABLE
+    FSP_ASSERT(NULL != p_ctrl);
+    FSP_ERROR_RETURN(ICU_OPEN != p_ctrl->open, FSP_ERR_ALREADY_OPEN);
+    FSP_ASSERT(NULL != p_cfg);
+    FSP_ERROR_RETURN(0 != ((1U << p_cfg->channel) & BSP_FEATURE_ICU_IRQ_CHANNELS_MASK), FSP_ERR_IP_CHANNEL_NOT_PRESENT);
+
+    /* Callback must be used with a valid interrupt priority otherwise it will never be called. */
+    if (p_cfg->p_callback)
+    {
+        FSP_ERROR_RETURN(BSP_IRQ_DISABLED != p_cfg->ipl, FSP_ERR_INVALID_ARGUMENT);
+    }
+#endif
+
+    p_ctrl->irq = p_cfg->irq;
+
+    /* IELSR Must be zero when modifying the IRQCR bits.
+     * (See ICU Section 14.2.1 of the RA6M3 manual R01UH0886EJ0100). */
+    uint32_t ielsr = R_ICU->IELSR[p_ctrl->irq];
+    R_ICU->IELSR[p_ctrl->irq] = 0;
+
+#if BSP_TZ_SECURE_BUILD
+
+    /* If this is a secure build, the callback provided in p_cfg must be secure. */
+    p_ctrl->p_callback_memory = NULL;
+#endif
+
+    /* Initialize control block. */
+    p_ctrl->p_callback = p_cfg->p_callback;
+    p_ctrl->p_context  = p_cfg->p_context;
+    p_ctrl->channel    = p_cfg->channel;
+
+    /* Disable digital filter */
+    R_ICU->IRQCR[p_ctrl->channel] = 0U;
+
+    /* Set the digital filter divider. */
+    uint8_t irqcr = (uint8_t) (p_cfg->pclk_div << ICU_FCLKSEL_OFFSET);
+
+    /* Enable/Disable digital filter. */
+    irqcr |= (uint8_t) (p_cfg->filter_enable << ICU_FLTEN_OFFSET);
+
+    /* Set the IRQ trigger. */
+    irqcr |= (uint8_t) (p_cfg->trigger << ICU_IRQMD_OFFSET);
+
+    /* Write IRQCR */
+    R_ICU->IRQCR[p_ctrl->channel] = irqcr;
+
+    /* Restore IELSR. */
+    R_ICU->IELSR[p_ctrl->irq] = ielsr;
+
+    /* NOTE: User can have the driver opened when the IRQ is not in the vector table. This is for use cases
+     * where the external IRQ driver is used to generate ELC events only (without CPU interrupts).
+     * In such cases we will not set the IRQ priority but will continue with the processing.
+     */
+    if (p_ctrl->irq >= 0)
+    {
+        R_BSP_IrqCfg(p_ctrl->irq, p_cfg->ipl, p_ctrl);
+    }
+
+    /* Mark the control block as open */
+    p_ctrl->open = ICU_OPEN;
+
+    return FSP_SUCCESS;
+}
+
+/*******************************************************************************************************************//**
+ * Enable external interrupt for specified channel at NVIC. Implements @ref external_irq_api_t::enable.
+ *
+ * @retval FSP_SUCCESS                 Interrupt Enabled successfully.
+ * @retval FSP_ERR_ASSERTION           The p_ctrl parameter was null.
+ * @retval FSP_ERR_NOT_OPEN            The channel is not opened.
+ * @retval FSP_ERR_IRQ_BSP_DISABLED    Requested IRQ is not defined in this system
+ **********************************************************************************************************************/
+fsp_err_t R_ICU_ExternalIrqEnable (external_irq_ctrl_t * const p_api_ctrl)
+{
+    icu_instance_ctrl_t * p_ctrl = (icu_instance_ctrl_t *) p_api_ctrl;
+
+#if ICU_CFG_PARAM_CHECKING_ENABLE
+    FSP_ASSERT(NULL != p_ctrl);
+    FSP_ERROR_RETURN(ICU_OPEN == p_ctrl->open, FSP_ERR_NOT_OPEN);
+    FSP_ERROR_RETURN(p_ctrl->irq >= 0, FSP_ERR_IRQ_BSP_DISABLED);
+#endif
+
+    /* Clear the interrupt status and Pending bits, before the interrupt is enabled. */
+    R_BSP_IrqEnable(p_ctrl->irq);
+
+    return FSP_SUCCESS;
+}
+
+/*******************************************************************************************************************//**
+ * Disable external interrupt for specified channel at NVIC. Implements @ref external_irq_api_t::disable.
+ *
+ * @retval FSP_SUCCESS                 Interrupt disabled successfully.
+ * @retval FSP_ERR_ASSERTION           The p_ctrl parameter was null.
+ * @retval FSP_ERR_NOT_OPEN            The channel is not opened.
+ * @retval FSP_ERR_IRQ_BSP_DISABLED    Requested IRQ is not defined in this system
+ **********************************************************************************************************************/
+fsp_err_t R_ICU_ExternalIrqDisable (external_irq_ctrl_t * const p_api_ctrl)
+{
+    icu_instance_ctrl_t * p_ctrl = (icu_instance_ctrl_t *) p_api_ctrl;
+
+#if ICU_CFG_PARAM_CHECKING_ENABLE
+    FSP_ASSERT(NULL != p_ctrl);
+    FSP_ERROR_RETURN(ICU_OPEN == p_ctrl->open, FSP_ERR_NOT_OPEN);
+    FSP_ERROR_RETURN(p_ctrl->irq >= 0, FSP_ERR_IRQ_BSP_DISABLED);
+#endif
+
+    /* Disable the interrupt, and then clear the interrupt pending bits and interrupt status. */
+    R_BSP_IrqDisable(p_ctrl->irq);
+
+    return FSP_SUCCESS;
+}
+
+/*******************************************************************************************************************//**
+ * Updates the user callback and has option of providing memory for callback structure.
+ * Implements external_irq_api_t::callbackSet
+ *
+ * @retval  FSP_SUCCESS                  Callback updated successfully.
+ * @retval  FSP_ERR_ASSERTION            A required pointer is NULL.
+ * @retval  FSP_ERR_NOT_OPEN             The control block has not been opened.
+ * @retval  FSP_ERR_NO_CALLBACK_MEMORY   p_callback is non-secure and p_callback_memory is either secure or NULL.
+ **********************************************************************************************************************/
+fsp_err_t R_ICU_ExternalIrqCallbackSet (external_irq_ctrl_t * const p_api_ctrl,
+                                        void (                    * p_callback)(
+                                            external_irq_callback_args_t *),
+                                        void const * const                   p_context,
+                                        external_irq_callback_args_t * const p_callback_memory)
+{
+    icu_instance_ctrl_t * p_ctrl = p_api_ctrl;
+
+#if BSP_TZ_SECURE_BUILD
+
+    /* cmse_check_address_range returns NULL if p_callback is located in secure memory */
+    bool callback_is_secure =
+        (NULL == cmse_check_address_range((void *) p_callback, sizeof(void *), CMSE_AU_NONSECURE));
+#else
+    FSP_PARAMETER_NOT_USED(p_callback_memory);
+#endif
+
+#if ICU_CFG_PARAM_CHECKING_ENABLE
+    FSP_ASSERT(NULL != p_ctrl);
+    FSP_ERROR_RETURN(ICU_OPEN == p_ctrl->open, FSP_ERR_NOT_OPEN);
+    FSP_ASSERT(NULL != p_callback);
+
+ #if BSP_TZ_SECURE_BUILD
+
+    /* In secure projects, p_callback_memory must be provided in non-secure space if p_callback is non-secure */
+    external_irq_callback_args_t * const p_callback_memory_checked = cmse_check_pointed_object(p_callback_memory,
+                                                                                               CMSE_AU_NONSECURE);
+    FSP_ERROR_RETURN(callback_is_secure || (NULL != p_callback_memory_checked), FSP_ERR_NO_CALLBACK_MEMORY);
+ #endif
+#endif
+
+#if BSP_TZ_SECURE_BUILD
+    p_ctrl->p_callback_memory = p_callback_memory;
+    p_ctrl->p_callback        = callback_is_secure ? p_callback :
+                                (void (*)(external_irq_callback_args_t *))cmse_nsfptr_create(p_callback);
+#else
+    p_ctrl->p_callback = p_callback;
+#endif
+    p_ctrl->p_context = p_context;
+
+    return FSP_SUCCESS;
+}
+
+/*******************************************************************************************************************//**
+ * Close the external interrupt channel. Implements @ref external_irq_api_t::close.
+ *
+ * @retval     FSP_SUCCESS          Successfully closed.
+ * @retval     FSP_ERR_ASSERTION    The parameter p_ctrl is NULL.
+ * @retval     FSP_ERR_NOT_OPEN     The channel is not opened.
+ **********************************************************************************************************************/
+fsp_err_t R_ICU_ExternalIrqClose (external_irq_ctrl_t * const p_api_ctrl)
+{
+    icu_instance_ctrl_t * p_ctrl = (icu_instance_ctrl_t *) p_api_ctrl;
+
+#if ICU_CFG_PARAM_CHECKING_ENABLE
+    FSP_ASSERT(NULL != p_ctrl);
+    FSP_ERROR_RETURN(ICU_OPEN == p_ctrl->open, FSP_ERR_NOT_OPEN);
+#endif
+
+    /* Cleanup. Disable interrupt */
+    if (p_ctrl->irq >= 0)
+    {
+        /* Disable the interrupt, and then clear the interrupt pending bits and interrupt status. */
+        R_BSP_IrqDisable(p_ctrl->irq);
+        R_FSP_IsrContextSet(p_ctrl->irq, NULL);
+    }
+
+    p_ctrl->open = 0U;
+
+    return FSP_SUCCESS;
+}
+
+/*******************************************************************************************************************//**
+ * @} (end addtogroup ICU)
+ **********************************************************************************************************************/
+
+/*******************************************************************************************************************//**
+ * ICU External Interrupt ISR.
+ **********************************************************************************************************************/
+void r_icu_isr (void)
+{
+    /* Save context if RTOS is used */
+    FSP_CONTEXT_SAVE
+
+    IRQn_Type             irq    = R_FSP_CurrentIrqGet();
+    icu_instance_ctrl_t * p_ctrl = (icu_instance_ctrl_t *) R_FSP_IsrContextGet(irq);
+
+    bool level_irq = false;
+    if (EXTERNAL_IRQ_TRIG_LEVEL_LOW == R_ICU->IRQCR_b[p_ctrl->channel].IRQMD)
+    {
+        level_irq = true;
+    }
+    else
+    {
+        /* Clear the IR bit before calling the user callback so that if an edge is detected while the ISR is active
+         * it will not be missed. */
+        R_BSP_IrqStatusClear(irq);
+    }
+
+    if ((NULL != p_ctrl) && (NULL != p_ctrl->p_callback))
+    {
+#if BSP_TZ_SECURE_BUILD
+
+        /* p_callback can point to a secure function or a non-secure function. */
+        external_irq_callback_args_t args;
+        if (!cmse_is_nsfptr(p_ctrl->p_callback))
+        {
+            /* If p_callback is secure, then the project does not need to change security state. */
+            args.channel   = p_ctrl->channel;
+            args.p_context = p_ctrl->p_context;
+            p_ctrl->p_callback(&args);
+        }
+        else
+        {
+            /* Save current state of p_callback_args so that it can be shared between interrupts. */
+            args = *p_ctrl->p_callback_memory;
+
+            /* Set the callback args passed to the Non-secure calback. */
+            p_ctrl->p_callback_memory->channel   = p_ctrl->channel;
+            p_ctrl->p_callback_memory->p_context = p_ctrl->p_context;
+
+            /* If p_callback is Non-secure, then the project must change to Non-secure state in order to call the callback. */
+            icu_prv_ns_callback p_callback = (icu_prv_ns_callback) (p_ctrl->p_callback);
+            p_callback(p_ctrl->p_callback_memory);
+
+            /* Restore the state of p_callback_args. */
+            *p_ctrl->p_callback_memory = args;
+        }
+
+#else
+
+        /* Set data to identify callback to user, then call user callback. */
+        external_irq_callback_args_t args;
+        args.channel   = p_ctrl->channel;
+        args.p_context = p_ctrl->p_context;
+        p_ctrl->p_callback(&args);
+#endif
+    }
+
+    if (level_irq)
+    {
+        /* Clear the IR bit after calling the user callback so that if the condition is cleared the ISR will not
+         * be called again. */
+        R_BSP_IrqStatusClear(irq);
+    }
+
+    /* Restore context if RTOS is used */
+    FSP_CONTEXT_RESTORE
+}

bsp/ra6m4-cpk/ra_cfg/fsp_cfg/r_icu_cfg.h

@@ -0,0 +1,5 @@
+/* generated configuration header file - do not edit */
+#ifndef R_ICU_CFG_H_
+#define R_ICU_CFG_H_
+#define ICU_CFG_PARAM_CHECKING_ENABLE (BSP_CFG_PARAM_CHECKING_ENABLE)
+#endif /* R_ICU_CFG_H_ */

bsp/ra6m4-cpk/rtconfig.py

@@ -17,7 +17,7 @@ if  CROSS_TOOL == 'gcc':
     PLATFORM    = 'gcc'
     EXEC_PATH   = 'C:\Users\XXYYZZ'
 elif CROSS_TOOL == 'keil':
-    PLATFORM    = 'armcc'
+    PLATFORM    = 'armclang'
     EXEC_PATH   = 'C:/Keil_v5'
 elif CROSS_TOOL == 'iar':
     PLATFORM    = 'iar'
@@ -26,7 +26,8 @@ elif CROSS_TOOL == 'iar':
 if os.getenv('RTT_EXEC_PATH'):
     EXEC_PATH = os.getenv('RTT_EXEC_PATH')
 
-BUILD = 'debug'
+# BUILD = 'debug' 
+BUILD = 'release' 
 
 if PLATFORM == 'gcc':
     # toolchains
@@ -54,7 +55,7 @@ if PLATFORM == 'gcc':
         CFLAGS += ' -O0 -gdwarf-2 -g -Wall'
         AFLAGS += ' -gdwarf-2'
     else:
-        CFLAGS += ' -O2'
+        CFLAGS += ' -Os'
 
     POST_ACTION = OBJCPY + ' -O binary $TARGET rtthread.bin\n' + SIZE + ' $TARGET \n'
     POST_ACTION += OBJCPY + ' -O ihex $TARGET rtthread.hex\n' + SIZE + ' $TARGET \n'
@@ -79,7 +80,7 @@ elif PLATFORM == 'armcc':
         CFLAGS += ' -g -O0'
         AFLAGS += ' -g'
     else:
-        CFLAGS += ' -O2'
+        CFLAGS += ' -Os'
 
     POST_ACTION = 'fromelf --bin $TARGET --output rtthread.bin \nfromelf -z $TARGET \n'
     POST_ACTION += 'python ./makeimg.py'

bsp/ra6m4-cpk/script/fsp.ld

@@ -152,6 +152,26 @@ SECTIONS
         KEEP(*(.init))
         KEEP(*(.fini))
 
+        /* section information for finsh shell */
+        . = ALIGN(4);
+        __fsymtab_start = .;
+        KEEP(*(FSymTab))
+        __fsymtab_end = .;
+
+        . = ALIGN(4);
+        __vsymtab_start = .;
+        KEEP(*(VSymTab))
+        __vsymtab_end = .;
+
+        /* section information for initial. */
+        . = ALIGN(4);
+        __rt_init_start = .;
+        KEEP(*(SORT(.rti_fn*)))
+        __rt_init_end = .;
+
+        . = ALIGN(4);
+        KEEP(*(FalPartTable))
+
         /* .ctors */
         *crtbegin.o(.ctors)
         *crtbegin?.o(.ctors)

bsp/ra6m4-cpk/template.uvoptx

@@ -179,7 +179,7 @@
 
   <Group>
     <GroupName>:Renesas RA Smart Configurator:Common Sources</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -207,6 +207,30 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>3</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>.\src\mqtt_client.c</PathWithFileName>
+      <FilenameWithoutPath>mqtt_client.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>4</FileNumber>
+      <FileType>5</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>.\src\mqtt_client.h</PathWithFileName>
+      <FilenameWithoutPath>mqtt_client.h</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>

bsp/ra6m4-cpk/template.uvprojx

@@ -10,14 +10,15 @@
       <TargetName>Target 1</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
+      <pCCUsed>6160000::V6.16::ARMCLANG</pCCUsed>
       <uAC6>1</uAC6>
       <TargetOption>
         <TargetCommonOption>
-          <Device>R7FA6M4AF</Device>
+          <Device>R7FA6M4AF3CFB</Device>
           <Vendor>Renesas</Vendor>
           <PackID>Renesas.RA_DFP.3.1.0</PackID>
           <PackURL>https://www2.renesas.eu/Keil_MDK_Packs/</PackURL>
-          <Cpu>CPUTYPE("Cortex-M33") FPU2 CLOCK(12000000) ELITTLE</Cpu>
+          <Cpu>CPUTYPE("Cortex-M33") FPU3(SFPU) DSP TZ CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>
           <FlashDriverDll></FlashDriverDll>
@@ -32,7 +33,7 @@
           <SLE66CMisc></SLE66CMisc>
           <SLE66AMisc></SLE66AMisc>
           <SLE66LinkerMisc></SLE66LinkerMisc>
-          <SFDFile>$$Device:R7FA6M4AF$SVD\R7FA6M4AF.svd</SFDFile>
+          <SFDFile>$$Device:R7FA6M4AF3CFB$SVD\R7FA6M4AF.svd</SFDFile>
           <bCustSvd>0</bCustSvd>
           <UseEnv>0</UseEnv>
           <BinPath></BinPath>
@@ -108,10 +109,10 @@
           <ComprImg>1</ComprImg>
         </CommonProperty>
         <DllOption>
-          <SimDllName>SARMCM3.DLL</SimDllName>
-          <SimDllArguments>  -MPU</SimDllArguments>
-          <SimDlgDll>DCM.DLL</SimDlgDll>
-          <SimDlgDllArguments>-pCM4</SimDlgDllArguments>
+          <SimDllName></SimDllName>
+          <SimDllArguments></SimDllArguments>
+          <SimDlgDll></SimDlgDll>
+          <SimDlgDllArguments></SimDlgDllArguments>
           <TargetDllName>SARMCM3.DLL</TargetDllName>
           <TargetDllArguments> -MPU</TargetDllArguments>
           <TargetDlgDll>TCM.DLL</TargetDlgDll>
@@ -129,7 +130,7 @@
         <Utilities>
           <Flash1>
             <UseTargetDll>0</UseTargetDll>
-            <UseExternalTool>0</UseExternalTool>
+            <UseExternalTool>1</UseExternalTool>
             <RunIndependent>0</RunIndependent>
             <UpdateFlashBeforeDebugging>0</UpdateFlashBeforeDebugging>
             <Capability>1</Capability>
@@ -395,6 +396,16 @@
               <FileType>5</FileType>
               <FilePath>.\src\SConscript</FilePath>
             </File>
+            <File>
+              <FileName>mqtt_client.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\src\mqtt_client.c</FilePath>
+            </File>
+            <File>
+              <FileName>mqtt_client.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>.\src\mqtt_client.h</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>

components/drivers/include/drivers/sensor.h

@@ -50,6 +50,8 @@ extern "C" {
 #define RT_SENSOR_CLASS_GNSS           (16) /* GPS/GNSS sensor   */
 #define RT_SENSOR_CLASS_TOF            (17) /* TOF sensor        */
 #define RT_SENSOR_CLASS_SPO2           (18) /* SpO2 sensor       */
+#define RT_SENSOR_CLASS_IAQ            (19) /* IAQ sensor.       */
+#define RT_SENSOR_CLASS_ETOH           (20) /* EtOH sensor.      */
 
 /* Sensor vendor types */
 
@@ -90,6 +92,7 @@ extern "C" {
 #define  RT_SENSOR_UNIT_PPB            (15) /* Concentration           unit: ppb        */
 #define  RT_SENSOR_UNIT_DMS            (16) /* Coordinates             unit: DMS        */
 #define  RT_SENSOR_UNIT_DD             (17) /* Coordinates             unit: DD         */
+#define  RT_SENSOR_UNIT_MGM3           (18) /* Concentration           unit: mg/m3      */
 /* Sensor communication interface types */
 
 #define  RT_SENSOR_INTF_I2C            (1 << 0)
@@ -218,6 +221,8 @@ struct rt_sensor_data
         rt_uint32_t          dust;          /* Dust sensor.         unit: ug/m3       */
         rt_uint32_t          eco2;          /* eCO2 sensor.         unit: ppm         */
         rt_uint32_t          spo2;          /* SpO2 sensor.         unit: permillage  */
+        rt_uint32_t          iaq;           /* IAQ sensor.          unit: 1 */
+        rt_uint32_t          etoh;          /* EtOH sensor.         unit: ppm */
     } data;
 };
 

components/drivers/sensors/sensor.c

@@ -37,7 +37,9 @@ static char *const sensor_name_str[] =
     "eco2_",     /* eCO2 sensor       */
     "gnss_",     /* GPS/GNSS sensor   */
     "tof_",      /* TOF sensor        */
-    "spo2_"      /* SpO2 sensor       */
+    "spo2_",     /* SpO2 sensor       */
+    "iaq_",      /* IAQ sensor        */
+    "etoh_",     /* EtOH sensor       */
 };
 
 /* Sensor interrupt correlation function */
@@ -134,7 +136,8 @@ static rt_err_t local_control(struct rt_sensor_device *sensor, int cmd, void *ar
     LOG_D("Undefined control");
     return RT_ERROR;
 }
-static struct rt_sensor_ops local_ops = {
+static struct rt_sensor_ops local_ops =
+{
     .fetch_data = local_fetch_data,
     .control = local_control
 };
@@ -145,7 +148,7 @@ static rt_err_t rt_sensor_open(rt_device_t dev, rt_uint16_t oflag)
     rt_sensor_t sensor = (rt_sensor_t)dev;
     RT_ASSERT(dev != RT_NULL);
     rt_err_t res = RT_EOK;
-    rt_err_t (*local_ctrl)(struct rt_sensor_device *sensor, int cmd, void *arg) =  local_control;
+    rt_err_t (*local_ctrl)(struct rt_sensor_device * sensor, int cmd, void *arg) =  local_control;
 
     if (sensor->module)
     {
@@ -311,7 +314,7 @@ static rt_size_t rt_sensor_read(rt_device_t dev, rt_off_t pos, void *buf, rt_siz
         if (sensor->ops->fetch_data !=  RT_NULL)
         {
             result = sensor->ops->fetch_data(sensor, buf, len);
-        }        
+        }
     }
 
     if (sensor->module)
@@ -359,7 +362,7 @@ static rt_err_t rt_sensor_control(rt_device_t dev, int cmd, void *args)
         {
             sensor->config.range = (rt_int32_t)args;
             LOG_D("set range %d", sensor->config.range);
-        }    
+        }
         break;
     case RT_SENSOR_CTRL_SET_ODR:
         /* Configuration data output rate */

components/drivers/sensors/sensor_cmd.c

@@ -74,6 +74,12 @@ static void sensor_show_data(rt_size_t num, rt_sensor_t sensor, struct rt_sensor
     case RT_SENSOR_CLASS_ECO2:
         LOG_I("num:%3d, eco2:%5d ppm, timestamp:%5d", num, sensor_data->data.eco2, sensor_data->timestamp);
         break;
+    case RT_SENSOR_CLASS_IAQ:
+        LOG_I("num:%3d, IAQ:%5d.%d , timestamp:%5d", num, sensor_data->data.iaq / 10, sensor_data->data.iaq % 10, sensor_data->timestamp);
+        break;
+    case RT_SENSOR_CLASS_ETOH:
+        LOG_I("num:%3d, EtOH:%5d.%03d ppm, timestamp:%5d", num, sensor_data->data.etoh / 1000, sensor_data->data.etoh % 1000, sensor_data->timestamp);
+        break;
     default:
         break;
     }
@@ -156,7 +162,7 @@ static void sensor_fifo(int argc, char **argv)
     rt_device_control(dev, RT_SENSOR_CTRL_SET_ODR, (void *)20);
 }
 #ifdef RT_USING_FINSH
-MSH_CMD_EXPORT(sensor_fifo, Sensor fifo mode test function);
+    MSH_CMD_EXPORT(sensor_fifo, Sensor fifo mode test function);
 #endif
 
 static void sensor_irq_rx_entry(void *parameter)
@@ -220,7 +226,7 @@ static void sensor_int(int argc, char **argv)
     rt_device_control(dev, RT_SENSOR_CTRL_SET_ODR, (void *)20);
 }
 #ifdef RT_USING_FINSH
-MSH_CMD_EXPORT(sensor_int, Sensor interrupt mode test function);
+    MSH_CMD_EXPORT(sensor_int, Sensor interrupt mode test function);
 #endif
 
 static void sensor_polling(int argc, char **argv)
@@ -269,7 +275,7 @@ static void sensor_polling(int argc, char **argv)
     rt_device_close(dev);
 }
 #ifdef RT_USING_FINSH
-MSH_CMD_EXPORT(sensor_polling, Sensor polling mode test function);
+    MSH_CMD_EXPORT(sensor_polling, Sensor polling mode test function);
 #endif
 
 static void sensor(int argc, char **argv)
@@ -306,103 +312,103 @@ static void sensor(int argc, char **argv)
         rt_device_control(dev, RT_SENSOR_CTRL_GET_INFO, &info);
         switch (info.vendor)
         {
-            case RT_SENSOR_VENDOR_UNKNOWN:
-                rt_kprintf("vendor    :unknown vendor\n");
-                break;
-            case RT_SENSOR_VENDOR_STM:
-                rt_kprintf("vendor    :STMicroelectronics\n");
-                break;
-            case RT_SENSOR_VENDOR_BOSCH:
-                rt_kprintf("vendor    :Bosch\n");
-                break;
-            case RT_SENSOR_VENDOR_INVENSENSE:
-                rt_kprintf("vendor    :Invensense\n");
-                break;
-            case RT_SENSOR_VENDOR_SEMTECH:
-                rt_kprintf("vendor    :Semtech\n");
-                break;
-            case RT_SENSOR_VENDOR_GOERTEK:
-                rt_kprintf("vendor    :Goertek\n");
-                break;
-            case RT_SENSOR_VENDOR_MIRAMEMS:
-                rt_kprintf("vendor    :MiraMEMS\n");
-                break;
-            case RT_SENSOR_VENDOR_DALLAS:
-                rt_kprintf("vendor    :Dallas\n");
-                break;
-            case RT_SENSOR_VENDOR_ASAIR:
-                rt_kprintf("vendor    :Asair\n");
-                break;
-            case RT_SENSOR_VENDOR_SHARP:
-                rt_kprintf("vendor    :Sharp\n");
-                break;
-            case RT_SENSOR_VENDOR_SENSIRION:
-                rt_kprintf("vendor    :Sensirion\n");
-                break;
-            case RT_SENSOR_VENDOR_TI:
-                rt_kprintf("vendor    :Texas Instruments\n");
-                break;
-            case RT_SENSOR_VENDOR_PLANTOWER:
-                rt_kprintf("vendor    :Plantower\n");
-                break;
-            case RT_SENSOR_VENDOR_AMS:
-                rt_kprintf("vendor    :AMS\n");
-                break;
-            case RT_SENSOR_VENDOR_MAXIM:
-                rt_kprintf("vendor    :Maxim Integrated\n");
-                break;
+        case RT_SENSOR_VENDOR_UNKNOWN:
+            rt_kprintf("vendor    :unknown vendor\n");
+            break;
+        case RT_SENSOR_VENDOR_STM:
+            rt_kprintf("vendor    :STMicroelectronics\n");
+            break;
+        case RT_SENSOR_VENDOR_BOSCH:
+            rt_kprintf("vendor    :Bosch\n");
+            break;
+        case RT_SENSOR_VENDOR_INVENSENSE:
+            rt_kprintf("vendor    :Invensense\n");
+            break;
+        case RT_SENSOR_VENDOR_SEMTECH:
+            rt_kprintf("vendor    :Semtech\n");
+            break;
+        case RT_SENSOR_VENDOR_GOERTEK:
+            rt_kprintf("vendor    :Goertek\n");
+            break;
+        case RT_SENSOR_VENDOR_MIRAMEMS:
+            rt_kprintf("vendor    :MiraMEMS\n");
+            break;
+        case RT_SENSOR_VENDOR_DALLAS:
+            rt_kprintf("vendor    :Dallas\n");
+            break;
+        case RT_SENSOR_VENDOR_ASAIR:
+            rt_kprintf("vendor    :Asair\n");
+            break;
+        case RT_SENSOR_VENDOR_SHARP:
+            rt_kprintf("vendor    :Sharp\n");
+            break;
+        case RT_SENSOR_VENDOR_SENSIRION:
+            rt_kprintf("vendor    :Sensirion\n");
+            break;
+        case RT_SENSOR_VENDOR_TI:
+            rt_kprintf("vendor    :Texas Instruments\n");
+            break;
+        case RT_SENSOR_VENDOR_PLANTOWER:
+            rt_kprintf("vendor    :Plantower\n");
+            break;
+        case RT_SENSOR_VENDOR_AMS:
+            rt_kprintf("vendor    :AMS\n");
+            break;
+        case RT_SENSOR_VENDOR_MAXIM:
+            rt_kprintf("vendor    :Maxim Integrated\n");
+            break;
         }
         rt_kprintf("model     :%s\n", info.model);
         switch (info.unit)
         {
-            case RT_SENSOR_UNIT_NONE:
-                rt_kprintf("unit      :none\n");
-                break;
-            case RT_SENSOR_UNIT_MG:
-                rt_kprintf("unit      :mG\n");
-                break;
-            case RT_SENSOR_UNIT_MDPS:
-                rt_kprintf("unit      :mdps\n");
-                break;
-            case RT_SENSOR_UNIT_MGAUSS:
-                rt_kprintf("unit      :mGauss\n");
-                break;
-            case RT_SENSOR_UNIT_LUX:
-                rt_kprintf("unit      :lux\n");
-                break;
-            case RT_SENSOR_UNIT_CM:
-                rt_kprintf("unit      :cm\n");
-                break;
-            case RT_SENSOR_UNIT_PA:
-                rt_kprintf("unit      :pa\n");
-                break;
-            case RT_SENSOR_UNIT_PERMILLAGE:
-                rt_kprintf("unit      :permillage\n");
-                break;
-            case RT_SENSOR_UNIT_DCELSIUS:
-                rt_kprintf("unit      :Celsius\n");
-                break;
-            case RT_SENSOR_UNIT_HZ:
-                rt_kprintf("unit      :HZ\n");
-                break;
-            case RT_SENSOR_UNIT_ONE:
-                rt_kprintf("unit      :1\n");
-                break;
-            case RT_SENSOR_UNIT_BPM:
-                rt_kprintf("unit      :bpm\n");
-                break;
-            case RT_SENSOR_UNIT_MM:
-                rt_kprintf("unit      :mm\n");
-                break;
-            case RT_SENSOR_UNIT_MN:
-                rt_kprintf("unit      :mN\n");
-                break;
-            case RT_SENSOR_UNIT_PPM:
-                rt_kprintf("unit      :ppm\n");
-                break;
-            case RT_SENSOR_UNIT_PPB:
-                rt_kprintf("unit      :ppb\n");
-                break;
+        case RT_SENSOR_UNIT_NONE:
+            rt_kprintf("unit      :none\n");
+            break;
+        case RT_SENSOR_UNIT_MG:
+            rt_kprintf("unit      :mG\n");
+            break;
+        case RT_SENSOR_UNIT_MDPS:
+            rt_kprintf("unit      :mdps\n");
+            break;
+        case RT_SENSOR_UNIT_MGAUSS:
+            rt_kprintf("unit      :mGauss\n");
+            break;
+        case RT_SENSOR_UNIT_LUX:
+            rt_kprintf("unit      :lux\n");
+            break;
+        case RT_SENSOR_UNIT_CM:
+            rt_kprintf("unit      :cm\n");
+            break;
+        case RT_SENSOR_UNIT_PA:
+            rt_kprintf("unit      :pa\n");
+            break;
+        case RT_SENSOR_UNIT_PERMILLAGE:
+            rt_kprintf("unit      :permillage\n");
+            break;
+        case RT_SENSOR_UNIT_DCELSIUS:
+            rt_kprintf("unit      :Celsius\n");
+            break;
+        case RT_SENSOR_UNIT_HZ:
+            rt_kprintf("unit      :HZ\n");
+            break;
+        case RT_SENSOR_UNIT_ONE:
+            rt_kprintf("unit      :1\n");
+            break;
+        case RT_SENSOR_UNIT_BPM:
+            rt_kprintf("unit      :bpm\n");
+            break;
+        case RT_SENSOR_UNIT_MM:
+            rt_kprintf("unit      :mm\n");
+            break;
+        case RT_SENSOR_UNIT_MN:
+            rt_kprintf("unit      :mN\n");
+            break;
+        case RT_SENSOR_UNIT_PPM:
+            rt_kprintf("unit      :ppm\n");
+            break;
+        case RT_SENSOR_UNIT_PPB:
+            rt_kprintf("unit      :ppb\n");
+            break;
         }
         rt_kprintf("range_max :%d\n", info.range_max);
         rt_kprintf("range_min :%d\n", info.range_min);
@@ -497,5 +503,5 @@ static void sensor(int argc, char **argv)
     }
 }
 #ifdef RT_USING_FINSH
-MSH_CMD_EXPORT(sensor, sensor test function);
+    MSH_CMD_EXPORT(sensor, sensor test function);
 #endif