Add Can Drv

bsp/stm32f10x/applications/canapp.c

@@ -0,0 +1,141 @@
+/*
+ * File      : canapp.c
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2006, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ */
+#include <board.h>
+#include <rtthread.h>
+#include <rtdevice.h>
+struct can_app_struct
+{
+    const char* name;
+    struct rt_event event;
+    struct rt_can_filter_config * filter;
+    rt_uint8_t eventopt;
+};
+static struct can_app_struct can_data[2];
+static rt_err_t  can1ind(rt_device_t dev,  void* args, rt_int32_t hdr, rt_size_t size)
+{
+    rt_event_t pevent = (rt_event_t)args;
+    rt_event_send(pevent, 1 << (hdr));
+    return RT_EOK;
+}
+static rt_err_t  can2ind(rt_device_t dev, void* args, rt_int32_t hdr, rt_size_t size)
+{
+    rt_event_t pevent = (rt_event_t)args;
+    rt_event_send(pevent, 1 << (hdr));
+    return RT_EOK;
+}
+struct rt_can_filter_item filter1item[4] =
+{
+  RT_CAN_FILTER_STD_INIT(1,can1ind,&can_data[0].event),
+  RT_CAN_FILTER_STD_INIT(2,can1ind,&can_data[0].event),
+  RT_CAN_STD_RMT_FILTER_INIT(3,can1ind,&can_data[0].event),
+  RT_CAN_STD_RMT_DATA_FILTER_INIT(4,can1ind,&can_data[0].event),
+};
+struct rt_can_filter_item filter2item[4] =
+{
+  RT_CAN_FILTER_STD_INIT(1,can2ind,&can_data[1].event),
+  RT_CAN_FILTER_STD_INIT(2,can2ind,&can_data[1].event),
+  RT_CAN_STD_RMT_FILTER_INIT(3,can2ind,&can_data[1].event),
+  RT_CAN_STD_RMT_DATA_FILTER_INIT(4,can2ind,&can_data[1].event),
+};
+struct rt_can_filter_config filter1 =
+{
+       .count = 4,
+       .actived = 1,
+       .items = filter1item,
+};
+struct rt_can_filter_config filter2 =
+{
+       .count = 4,
+       .actived = 1,
+       .items = filter2item,
+};
+static struct can_app_struct can_data[2] = {
+    {
+      .name = "bxcan1",
+      .filter = &filter1,
+      .eventopt = RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
+    },
+    {
+      .name = "bxcan2",
+      .filter = &filter2,
+      .eventopt = RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR,
+    },
+};
+void rt_can_thread_entry(void* parameter)
+{
+      struct rt_can_msg msg;
+      struct can_app_struct* canpara = (struct can_app_struct*) parameter;
+      rt_device_t candev;
+      rt_uint32_t e;
+
+      candev = rt_device_find(canpara->name);
+      RT_ASSERT(candev);
+      rt_event_init(&canpara->event, canpara->name, RT_IPC_FLAG_FIFO);
+      rt_device_open(candev, (RT_DEVICE_OFLAG_RDWR | RT_DEVICE_FLAG_INT_RX | RT_DEVICE_FLAG_INT_TX));
+      rt_device_control(candev,RT_CAN_CMD_SET_FILTER,canpara->filter);
+      while(1) {
+              if (
+                     rt_event_recv(&canpara->event, 
+                     ((1 << canpara->filter->items[0].hdr)  |
+                      (1 << canpara->filter->items[1].hdr) |
+                      (1 << canpara->filter->items[2].hdr) |
+                      (1 << canpara->filter->items[3].hdr)),
+                      canpara->eventopt,
+                      RT_WAITING_FOREVER, &e) != RT_EOK
+                  ) {
+                    continue;
+                  }
+              if(e & (1 << canpara->filter->items[0].hdr)) {
+                  msg.hdr = canpara->filter->items[0].hdr;
+                  while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) {
+                     rt_device_write(candev, 0, &msg, sizeof(msg));
+                  }
+              }
+              if(e & (1 << canpara->filter->items[1].hdr)) {
+                  msg.hdr = canpara->filter->items[1].hdr;
+                  while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) {
+                     rt_device_write(candev, 0, &msg, sizeof(msg));
+                  }
+              }
+              if(e & (1 << canpara->filter->items[2].hdr)) {
+                  msg.hdr = canpara->filter->items[2].hdr;
+                  while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) {
+                     rt_device_write(candev, 0, &msg, sizeof(msg));
+                  }
+              }
+              if(e & (1 << canpara->filter->items[3].hdr)) {
+                  msg.hdr = canpara->filter->items[3].hdr;
+                  while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) {
+                     rt_device_write(candev, 0, &msg, sizeof(msg));
+                  }
+              }
+      }
+}
+int rt_can_app_init(void)
+{
+    rt_thread_t tid;
+    
+    tid = rt_thread_create("canapp1",
+    rt_can_thread_entry, &can_data[0],
+    512, RT_THREAD_PRIORITY_MAX /3 - 1, 20);
+    if (tid != RT_NULL) rt_thread_startup(tid);
+    
+    tid = rt_thread_create("canapp2",
+    rt_can_thread_entry, &can_data[1],
+    512, RT_THREAD_PRIORITY_MAX /3 - 1, 20);
+    if (tid != RT_NULL) rt_thread_startup(tid);
+    
+    return 0;
+}
+
+INIT_APP_EXPORT(rt_can_app_init);

bsp/stm32f10x/drivers/bxcan.c

@@ -0,0 +1,1411 @@
+/*
+ * File      : bxcan.c
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2015, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ */
+#include <rthw.h>
+#include <rtdevice.h>
+#include <board.h>
+#include <bxcan.h>
+#ifdef RT_USING_COMPONENTS_INIT
+#include <init/components.h>
+#endif
+#ifdef RT_USING_CAN
+
+#ifndef STM32F10X_CL
+#define BX_CAN_FMRNUMBER 14
+#define BX_CAN2_FMRSTART 7
+#else
+#define BX_CAN_FMRNUMBER 28
+#define BX_CAN2_FMRSTART 14
+#endif
+
+#define BX_CAN_MAX_FILTERS (BX_CAN_FMRNUMBER * 4)
+#define BX_CAN_MAX_FILTER_MASKS BX_CAN_MAX_FILTERS
+#define BX_CAN_FILTER_MAX_ARRAY_SIZE ((BX_CAN_MAX_FILTERS + 32 - 1) / 32)
+
+struct stm_bxcanfiltermap {
+    rt_uint32_t id32mask_cnt;
+    rt_uint32_t id32bit_cnt;
+    rt_uint32_t id16mask_cnt;
+    rt_uint32_t id16bit_cnt;
+};
+struct stm_bxcanfilter_masks {
+      rt_uint32_t id32maskm[BX_CAN_FILTER_MAX_ARRAY_SIZE];
+      rt_uint32_t id32bitm[BX_CAN_FILTER_MAX_ARRAY_SIZE];
+      rt_uint32_t id16maskm[BX_CAN_FILTER_MAX_ARRAY_SIZE];
+      rt_uint32_t id16bitm[BX_CAN_FILTER_MAX_ARRAY_SIZE];
+      rt_uint32_t id32maskshift[2];
+      rt_uint32_t id32bitshift[2];
+      rt_uint32_t id16maskshift[2];
+      rt_uint32_t id16bitshift[2];
+};
+struct stm_bxcan
+{
+    CAN_TypeDef* reg;
+    void* mfrbase;
+    IRQn_Type sndirq;
+    IRQn_Type rcvirq0;
+    IRQn_Type rcvirq1;
+    IRQn_Type errirq;
+    struct stm_bxcanfilter_masks filtermask;
+    rt_uint32_t alocmask[BX_CAN_FILTER_MAX_ARRAY_SIZE];
+    const rt_uint32_t filtercnt;
+    const rt_uint32_t fifo1filteroff;
+    const struct stm_bxcanfiltermap filtermap[2];
+};
+static void calcfiltermasks(struct stm_bxcan *pbxcan);
+static void bxcan1_filter_init(struct rt_can_device *can)
+{
+    rt_uint32_t i;
+    rt_uint32_t mask;
+    struct stm_bxcan *pbxcan = (struct stm_bxcan *) can->parent.user_data;
+    for(i = 0; i < BX_CAN2_FMRSTART; i++) {
+        CAN1->FMR |= FMR_FINIT;
+        mask = 0x01 << (i + 0);
+        if(i < pbxcan->fifo1filteroff) {
+          if(pbxcan->filtermap[0].id32mask_cnt && i < pbxcan->filtermap[0].id32mask_cnt) {
+            CAN1->FS1R |= mask;
+            CAN1->FM1R &= ~mask;
+            CAN1->FFA1R &= ~mask;
+          } else if(pbxcan->filtermap[0].id32bit_cnt &&
+              i < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt /2) {
+            CAN1->FS1R |= mask;
+            CAN1->FM1R |= mask;
+            CAN1->FFA1R &= ~mask;
+          } else if(pbxcan->filtermap[0].id16mask_cnt &&
+              i < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt /2
+              + pbxcan->filtermap[0].id16mask_cnt /2) {
+            CAN1->FS1R &= ~mask;
+            CAN1->FM1R &= ~mask;
+            CAN1->FFA1R &= ~mask;
+          } else if(pbxcan->filtermap[0].id16bit_cnt &&
+              i < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt /2
+              + pbxcan->filtermap[0].id16mask_cnt /2 + pbxcan->filtermap[0].id16bit_cnt / 4
+          ) {
+            CAN1->FS1R &= ~mask;
+            CAN1->FM1R |= mask;
+            CAN1->FFA1R &= ~mask;
+          }
+        } else {
+          if(pbxcan->filtermap[1].id32mask_cnt &&
+              i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->fifo1filteroff) {
+              CAN1->FS1R |= mask;
+              CAN1->FM1R &= ~mask;
+              CAN1->FFA1R |= mask;
+          } else if(pbxcan->filtermap[1].id32bit_cnt &&
+              i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt /2
+              + pbxcan->fifo1filteroff) {
+              CAN1->FS1R |= mask;
+              CAN1->FM1R |= mask;
+              CAN1->FFA1R |= mask;
+          } else if(pbxcan->filtermap[1].id16mask_cnt &&
+              i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt /2
+              + pbxcan->filtermap[1].id16mask_cnt / 2 + pbxcan->fifo1filteroff) {
+              CAN1->FS1R &= ~mask;
+              CAN1->FM1R &= ~mask;
+              CAN1->FFA1R |= mask;
+          } else if(pbxcan->filtermap[1].id16bit_cnt &&
+              i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt /2
+              + pbxcan->filtermap[1].id16mask_cnt /2 + pbxcan->filtermap[1].id16bit_cnt / 4
+              + pbxcan->fifo1filteroff) {
+              CAN1->FS1R &= ~mask;
+              CAN1->FM1R |= mask;
+              CAN1->FFA1R |= mask;
+          }
+        }
+        CAN1->sFilterRegister[i].FR1 = 0xFFFFFFFF; 
+        CAN1->sFilterRegister[i].FR2 = 0xFFFFFFFF; 
+        CAN1->FMR &= ~FMR_FINIT;
+    }
+    calcfiltermasks(pbxcan);
+}
+static void bxcan2_filter_init(struct rt_can_device *can)
+{
+    rt_uint32_t i;
+    rt_uint32_t off;
+    rt_uint32_t mask;
+    CAN_SlaveStartBank(BX_CAN2_FMRSTART);
+    struct stm_bxcan *pbxcan = (struct stm_bxcan *) can->parent.user_data;
+    for(i = BX_CAN2_FMRSTART; i < BX_CAN_FMRNUMBER; i++) {
+        CAN1->FMR |= FMR_FINIT;
+        mask = 0x01 << (i + 0);
+        off = i - BX_CAN2_FMRSTART;
+        if(i < pbxcan->fifo1filteroff) {
+          if(pbxcan->filtermap[0].id32mask_cnt && off < pbxcan->filtermap[0].id32mask_cnt) {
+            CAN1->FS1R |= mask;
+            CAN1->FM1R &= ~mask;
+            CAN1->FFA1R &= ~mask;
+          } else if(pbxcan->filtermap[0].id32bit_cnt &&
+              off < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt /2) {
+            CAN1->FS1R |= mask;
+            CAN1->FM1R |= mask;
+            CAN1->FFA1R &= ~mask;
+          } else if(pbxcan->filtermap[0].id16mask_cnt &&
+              off < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt /2
+              + pbxcan->filtermap[0].id16mask_cnt /2) {
+            CAN1->FS1R &= ~mask;
+            CAN1->FM1R &= ~mask;
+            CAN1->FFA1R &= ~mask;
+          } else if(pbxcan->filtermap[0].id16bit_cnt &&
+              off < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt /2
+              + pbxcan->filtermap[0].id16mask_cnt /2 + pbxcan->filtermap[0].id16bit_cnt / 4
+          ) {
+            CAN1->FS1R &= ~mask;
+            CAN1->FM1R |= mask;
+            CAN1->FFA1R &= ~mask;
+          }
+        } else {
+          if(pbxcan->filtermap[1].id32mask_cnt &&
+              off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->fifo1filteroff) {
+              CAN1->FS1R |= mask;
+              CAN1->FM1R &= ~mask;
+              CAN1->FFA1R |= mask;
+          } else if(pbxcan->filtermap[1].id32bit_cnt &&
+              off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt /2
+              + pbxcan->fifo1filteroff) {
+              CAN1->FS1R |= mask;
+              CAN1->FM1R |= mask;
+              CAN1->FFA1R |= mask;
+          } else if(pbxcan->filtermap[1].id16mask_cnt &&
+              off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt /2
+              + pbxcan->filtermap[1].id16mask_cnt / 2 + pbxcan->fifo1filteroff) {
+              CAN1->FS1R &= ~mask;
+              CAN1->FM1R &= ~mask;
+              CAN1->FFA1R |= mask;
+          } else if(pbxcan->filtermap[1].id16bit_cnt &&
+              off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt /2
+              + pbxcan->filtermap[1].id16mask_cnt /2 + pbxcan->filtermap[1].id16bit_cnt / 4
+              + pbxcan->fifo1filteroff) {
+              CAN1->FS1R &= ~mask;
+              CAN1->FM1R |= mask;
+              CAN1->FFA1R |= mask;
+          }
+        }
+        CAN1->sFilterRegister[i].FR1 = 0xFFFFFFFF; 
+        CAN1->sFilterRegister[i].FR2 = 0xFFFFFFFF; 
+        CAN1->FMR &= ~FMR_FINIT;
+    }
+    calcfiltermasks(pbxcan);
+}
+#define BS1SHIFT 16
+#define BS2SHIFT 20
+#define RRESCLSHIFT 0
+#define SJWSHIFT 24
+#define BS1MASK ( (0x0F) << BS1SHIFT )
+#define BS2MASK ( (0x07) << BS2SHIFT )
+#define RRESCLMASK ( 0x3FF << RRESCLSHIFT )
+#define SJWMASK ( 0x3 << SJWSHIFT )
+
+#define MK_BKCAN_BAUD(SJW,BS1,BS2,PRES) \
+    ((SJW << SJWSHIFT) | (BS1 << BS1SHIFT) | (BS2 << BS2SHIFT) | (PRES << RRESCLSHIFT))
+  
+static const rt_uint32_t bxcan_baud_rate_tab[] =
+{
+    // 48 M
+    MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_12tq,CAN_BS2_3tq,3),
+    MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_6tq,CAN_BS2_3tq,6),
+    MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_12tq,CAN_BS2_3tq,5),
+    MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_12tq,CAN_BS2_3tq,11),
+    MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_12tq,CAN_BS2_3tq,23),
+    MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_12tq,CAN_BS2_3tq,29),
+    MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_12tq,CAN_BS2_3tq,59),
+    MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_14tq,CAN_BS2_3tq,149),
+    MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_16tq,CAN_BS2_8tq,199),
+};
+
+#define BAUD_DATA(TYPE,NO) \
+    ((bxcan_baud_rate_tab[NO] & TYPE##MASK) >> TYPE##SHIFT)
+
+static void bxcan_init(CAN_TypeDef* pcan, rt_uint32_t baud, rt_uint32_t mode)
+{
+      CAN_InitTypeDef        CAN_InitStructure;
+
+      CAN_InitStructure.CAN_TTCM = DISABLE;
+      CAN_InitStructure.CAN_ABOM = ENABLE;
+      CAN_InitStructure.CAN_AWUM = DISABLE;
+      CAN_InitStructure.CAN_NART = DISABLE;
+      CAN_InitStructure.CAN_RFLM = DISABLE;
+      CAN_InitStructure.CAN_TXFP = ENABLE;
+      switch(mode)
+      {
+      case RT_CAN_MODE_NORMAL:
+        CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
+      break;
+      case RT_CAN_MODE_LISEN:
+        CAN_InitStructure.CAN_Mode = CAN_Mode_Silent;
+      break;
+      case RT_CAN_MODE_LOOPBACK:
+        CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack;
+      break;
+      case RT_CAN_MODE_LOOPBACKANLISEN:
+        CAN_InitStructure.CAN_Mode = CAN_Mode_Silent_LoopBack;
+      break;
+      }
+      CAN_InitStructure.CAN_SJW = BAUD_DATA(SJW,baud);
+      CAN_InitStructure.CAN_BS1 = BAUD_DATA(BS1,baud);
+      CAN_InitStructure.CAN_BS2 = BAUD_DATA(BS2,baud);
+      CAN_InitStructure.CAN_Prescaler =BAUD_DATA(RRESCL,baud);
+
+      CAN_Init(pcan, &CAN_InitStructure);
+}
+static void bxcan1_hw_init(void)
+{
+      GPIO_InitTypeDef  GPIO_InitStructure;
+      NVIC_InitTypeDef  NVIC_InitStructure;    
+
+      RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA, ENABLE);
+         
+      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
+      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+      GPIO_Init(GPIOA, &GPIO_InitStructure);
+    
+      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
+      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+      GPIO_Init(GPIOA, &GPIO_InitStructure);
+    
+      RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1 , ENABLE);  
+      
+      CAN_DeInit(CAN1);
+      NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
+      NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
+      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1;
+      NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
+      NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;      
+      NVIC_Init(&NVIC_InitStructure);
+      NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX1_IRQn;
+      NVIC_Init(&NVIC_InitStructure);
+      NVIC_InitStructure.NVIC_IRQChannel = CAN1_TX_IRQn;
+      NVIC_Init(&NVIC_InitStructure);
+}
+static void bxcan2_hw_init(void)
+{
+      GPIO_InitTypeDef  GPIO_InitStructure;
+      NVIC_InitTypeDef  NVIC_InitStructure;    
+
+      RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB, ENABLE);
+
+      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;      
+      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
+      GPIO_Init(GPIOB, &GPIO_InitStructure);
+
+      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
+      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+      GPIO_Init(GPIOB, &GPIO_InitStructure);
+    
+      RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);  
+      
+      CAN_DeInit(CAN2);
+
+      NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
+      NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn;
+      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1;
+      NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
+      NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;      
+      NVIC_Init(&NVIC_InitStructure);
+      NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX1_IRQn;
+      NVIC_Init(&NVIC_InitStructure);
+      NVIC_InitStructure.NVIC_IRQChannel = CAN2_TX_IRQn;
+      NVIC_Init(&NVIC_InitStructure);
+}
+static inline rt_err_t bxcan_enter_init(CAN_TypeDef* pcan)
+{
+  uint32_t wait_ack = 0x00000000;
+
+  pcan->MCR |= CAN_MCR_INRQ ;
+
+  while (((pcan->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT))
+  {
+    wait_ack++;
+  }
+  if ((pcan->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
+  {
+    return RT_ERROR;
+  }
+  return RT_EOK;
+}
+static inline rt_err_t bxcan_exit_init(CAN_TypeDef* pcan)
+{
+   uint32_t wait_ack = 0x00000000;
+
+   pcan->MCR &= ~(uint32_t)CAN_MCR_INRQ;
+
+   while (((pcan->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT))
+   {
+     wait_ack++;
+   }
+   if ((pcan->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
+   {
+      return RT_ERROR;
+   }
+   return RT_EOK;
+}
+static rt_err_t bxcan_set_mode(CAN_TypeDef* pcan, rt_uint32_t mode)
+{
+    if(bxcan_enter_init(pcan) != RT_EOK)
+    {
+      return RT_ERROR;
+    }
+    pcan->BTR &= ~(uint32_t)((uint32_t)0x03 << 30);
+    switch(mode)
+    {
+    case RT_CAN_MODE_NORMAL:
+      mode = CAN_Mode_Normal;
+    break;
+    case RT_CAN_MODE_LISEN:
+      mode = CAN_Mode_Silent;
+    break;
+    case RT_CAN_MODE_LOOPBACK:
+      mode = CAN_Mode_LoopBack;
+    break;
+    case RT_CAN_MODE_LOOPBACKANLISEN:
+      mode = CAN_Mode_Silent_LoopBack;
+    break;
+    }
+    pcan->BTR |= ~(uint32_t)(mode << 30);
+    if(bxcan_exit_init(pcan) != RT_EOK)
+    {
+      return RT_ERROR;
+    }
+   return RT_EOK;
+}
+static rt_err_t bxcan_set_privmode(CAN_TypeDef* pcan, rt_uint32_t mode)
+{
+    if(bxcan_enter_init(pcan) != RT_EOK)
+    {
+      return RT_ERROR;
+    }
+    if (mode == ENABLE)
+    {
+      pcan->MCR |= CAN_MCR_TXFP;
+    }
+    else
+    {
+      pcan->MCR &= ~(uint32_t)CAN_MCR_TXFP;
+    }
+    if(bxcan_exit_init(pcan) != RT_EOK)
+    {
+      return RT_ERROR;
+    }
+   return RT_EOK;
+}
+static rt_err_t bxcan_set_baud_rate(CAN_TypeDef* pcan, rt_uint32_t baud)
+{
+    rt_uint32_t mode;
+    if(bxcan_enter_init(pcan) != RT_EOK)
+    {
+      return RT_ERROR;
+    }
+    pcan->BTR = 0;
+    mode = pcan->BTR & ((rt_uint32_t)0x03 << 30);
+    pcan->BTR = (mode                         | \
+                ((BAUD_DATA(SJW,baud)) << 24) | \
+                ((BAUD_DATA(BS1,baud)) << 16) | \
+                ((BAUD_DATA(BS2,baud)) << 20) | \
+                (BAUD_DATA(RRESCL,baud)));
+    if(bxcan_exit_init(pcan) != RT_EOK)
+    {
+      return RT_ERROR;
+    }
+   return RT_EOK;
+}
+static rt_err_t bxcancalcbaseoff(struct stm_bxcan *pbxcan, rt_int32_t hdr, 
+                rt_int32_t * pbase, rt_int32_t *  poff)
+{
+    rt_uint32_t fifo0start,fifo0end;
+    rt_uint32_t fifo1start,fifo1end;
+    rt_uint32_t ptr;
+    fifo0start = 0;
+    fifo0end = pbxcan->filtermap[0].id32mask_cnt
+               + pbxcan->filtermap[0].id32bit_cnt
+               + pbxcan->filtermap[0].id16mask_cnt
+               + pbxcan->filtermap[0].id16bit_cnt ;
+    fifo1start = pbxcan->fifo1filteroff * 4;
+    fifo1end = pbxcan->filtermap[1].id32mask_cnt
+               + pbxcan->filtermap[1].id32bit_cnt
+               + pbxcan->filtermap[1].id16mask_cnt
+               + pbxcan->filtermap[1].id16bit_cnt ;
+    if(hdr >= fifo0start && hdr < fifo0end) {
+      *pbase = 0;
+      ptr = 0;
+    } else if(hdr >= fifo1start && hdr < fifo1end) {
+        *pbase = pbxcan->fifo1filteroff;
+        ptr = 1;
+    } else {
+      return RT_ERROR;
+    }
+    ptr = 0;
+    if(hdr > pbxcan->filtermap[ptr].id32mask_cnt) {
+      hdr -= pbxcan->filtermap[ptr].id32mask_cnt;
+      *pbase += pbxcan->filtermap[ptr].id32mask_cnt;
+    } else {
+      *pbase += hdr;
+      *poff = 0;
+      return RT_EOK;
+    }
+    if(hdr > pbxcan->filtermap[ptr].id32bit_cnt) {
+      hdr -= pbxcan->filtermap[ptr].id32bit_cnt;
+      *pbase += pbxcan->filtermap[ptr].id32bit_cnt / 2;
+    } else {
+      *pbase += hdr / 2;
+      *poff = hdr % 2;
+      return RT_EOK;
+    }
+    if(hdr > pbxcan->filtermap[ptr].id16mask_cnt) {
+      hdr -= pbxcan->filtermap[ptr].id16mask_cnt;
+      *pbase += pbxcan->filtermap[ptr].id16mask_cnt / 2;
+    } else {
+      *pbase += hdr / 2;
+      *poff = hdr % 2;
+      return RT_EOK;
+    }
+    if(hdr > pbxcan->filtermap[ptr].id16bit_cnt) {
+      return RT_ERROR;
+    } else {
+      *pbase += hdr / 4;
+      *poff = hdr % 4;
+      return RT_EOK;
+    }
+}
+static void calcandormask(rt_uint32_t* pmask,rt_uint32_t shift,rt_int32_t count)
+{
+      rt_uint32_t tmpmask;
+      rt_uint32_t tmpmaskarray[BX_CAN_FILTER_MAX_ARRAY_SIZE] = {0,};
+      rt_int32_t i;
+      i = 0;
+      while(count > 0) {
+          if(i >= 32) {
+            tmpmaskarray[i] = 0xFFFFFFFF;
+          } else {
+            tmpmaskarray[i] = (0x01 << count) - 1;
+          }
+          count -= 32;
+          i++;
+      };
+      count = i;
+      for(i = 0; i < count && i < BX_CAN_FILTER_MAX_ARRAY_SIZE; i++) {
+          tmpmask = tmpmaskarray[i];
+          pmask[i] |= (rt_uint32_t)(tmpmask << shift);
+          if(i < BX_CAN_FILTER_MAX_ARRAY_SIZE - 1) {
+            pmask[i + 1] |= (rt_uint32_t)(tmpmask >> (32 - shift));
+          }
+      }
+}
+static void calcfiltermasks(struct stm_bxcan *pbxcan)
+{
+      rt_memset(&pbxcan->filtermask,0,sizeof(pbxcan->filtermask));
+      pbxcan->filtermask.id32maskshift[0] = 0;
+      if(pbxcan->filtermap[0].id32mask_cnt) {
+          calcandormask(pbxcan->filtermask.id32maskm,pbxcan->filtermask.id32maskshift[0],
+                        pbxcan->filtermap[0].id32mask_cnt);
+      }
+      pbxcan->filtermask.id32maskshift[1] = pbxcan->fifo1filteroff * 4;
+      if(pbxcan->filtermap[1].id32mask_cnt) {
+            calcandormask(pbxcan->filtermask.id32maskm,pbxcan->filtermask.id32maskshift[1],
+                  pbxcan->filtermap[1].id32mask_cnt);
+      }
+      pbxcan->filtermask.id32bitshift[0] = pbxcan->filtermask.id32maskshift[0] +
+                                           pbxcan->filtermap[0].id32mask_cnt;
+      if(pbxcan->filtermap[0].id32bit_cnt) {
+            calcandormask(pbxcan->filtermask.id32bitm,pbxcan->filtermask.id32bitshift[0],
+                          pbxcan->filtermap[0].id32bit_cnt);
+      }
+      pbxcan->filtermask.id32bitshift[1] = pbxcan->filtermask.id32maskshift[1] +
+                                           pbxcan->filtermap[1].id32mask_cnt;
+      if(pbxcan->filtermap[1].id32bit_cnt) {
+            calcandormask(pbxcan->filtermask.id32bitm,pbxcan->filtermask.id32bitshift[1],
+                          pbxcan->filtermap[1].id32bit_cnt);
+      }
+      pbxcan->filtermask.id16maskshift[0] = pbxcan->filtermask.id32bitshift[0] +
+                                            pbxcan->filtermap[0].id32bit_cnt;
+      if(pbxcan->filtermap[0].id16mask_cnt) {
+            calcandormask(pbxcan->filtermask.id16maskm,pbxcan->filtermask.id16maskshift[0],
+                          pbxcan->filtermap[0].id16mask_cnt);
+      }
+      pbxcan->filtermask.id16maskshift[1] = pbxcan->filtermask.id32bitshift[1] +
+                                            pbxcan->filtermap[1].id32bit_cnt;
+      if(pbxcan->filtermap[1].id16mask_cnt) {
+            calcandormask(pbxcan->filtermask.id16maskm,pbxcan->filtermask.id16maskshift[1],
+                          pbxcan->filtermap[1].id16mask_cnt);
+      }
+      pbxcan->filtermask.id16bitshift[0] = pbxcan->filtermask.id16maskshift[0] +
+                                           pbxcan->filtermap[0].id16mask_cnt;
+      if(pbxcan->filtermap[0].id16bit_cnt) {
+            calcandormask(pbxcan->filtermask.id16bitm,pbxcan->filtermask.id16bitshift[0],
+                          pbxcan->filtermap[0].id16bit_cnt);
+      }
+      pbxcan->filtermask.id16bitshift[1] = pbxcan->filtermask.id16maskshift[1] +
+                                           pbxcan->filtermap[1].id16mask_cnt;
+      if(pbxcan->filtermap[1].id16bit_cnt) {
+            calcandormask(pbxcan->filtermask.id16bitm,pbxcan->filtermask.id16bitshift[1],
+                          pbxcan->filtermap[1].id16bit_cnt);
+      }
+}
+static rt_int32_t bxcanfindfilter(struct stm_bxcan *pbxcan,struct rt_can_filter_item* pitem,
+                                  rt_int32_t type,rt_int32_t* base,rt_int32_t* off)
+{
+      rt_int32_t i;
+      rt_uint32_t bits,thisid,thismask,shift,found;
+      CAN_FilterRegister_TypeDef * pfilterreg;
+      found = 0;
+      switch(type) {
+      case 3:
+        shift = 3;
+        for(i = 0; i < BX_CAN_MAX_FILTERS; i++) {
+            bits = 0x01 << (i & 0x1F);
+            if(bits & (pbxcan->filtermask.id32maskm[i >> 5] & pbxcan->alocmask[i >> 5])) {
+                bxcancalcbaseoff(pbxcan,i,base,off);
+                pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[*base];
+                thisid = (rt_uint32_t)pitem->id<<shift;
+                thismask = (rt_uint32_t)pitem->mask<<shift;
+                if(pitem->ide) {
+                      thisid |= CAN_ID_EXT;
+                      thismask |= CAN_ID_EXT;
+                }
+                if(pitem->rtr) {
+                    thisid |= CAN_RTR_REMOTE;
+                    thismask |= CAN_RTR_REMOTE;
+                }
+                if(pfilterreg->FR1 == thisid && pfilterreg->FR2 == thismask) {
+                    found = 1;
+                    break;
+                }
+            }
+        }
+        break;
+      case 2:
+        shift = 3;
+        for(i = 0; i < BX_CAN_MAX_FILTERS; i++) {
+            bits = 0x01 << (i % 32);
+            if(bits & (pbxcan->filtermask.id32bitm[i >> 5] & pbxcan->alocmask[i >> 5])) {
+                  bxcancalcbaseoff(pbxcan,i,base,off);
+                  pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[*base];
+                  thisid = (rt_uint32_t)pitem->id<<shift;
+                  if(pitem->ide) {
+                       thisid |= CAN_ID_EXT;
+                  }
+                  if(pitem->rtr) {
+                      thisid |= CAN_RTR_REMOTE;
+                  }
+                  if((off == 0 && pfilterreg->FR1 == thisid) ||
+                     (*off == 1 && pfilterreg->FR2 == thisid)
+                  ) {
+                    found = 1;
+                    break;
+                  }
+            }
+        }
+        break;
+      case 1:
+        shift = 5;
+        for(i = 0; i < BX_CAN_MAX_FILTERS; i++) {
+            bits = 0x01 << (i % 32);
+            if(bits & (pbxcan->filtermask.id16maskm[i >> 5] & pbxcan->alocmask[i >> 5])) {
+                bxcancalcbaseoff(pbxcan,i,base,off);
+                pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[*base];
+                thisid = pitem->id << shift;
+                if(pitem->rtr) {
+                    thisid |= CAN_RTR_REMOTE << (shift - 2);
+                }
+                thismask = pitem->mask << shift;
+                if(pitem->rtr) {
+                    thismask |= CAN_RTR_REMOTE << (shift - 2);
+                }
+                if(*off == 0 && pfilterreg->FR1 == ((thisid & 0x0000FFFF) | ((thismask & 0x0000FFFF) << 16)) ||
+                   *off == 1 && pfilterreg->FR2 == ((thisid & 0x0000FFFF) | ((thismask & 0x0000FFFF) << 16))
+                   ){
+                    found = 1;
+                    break;
+                }
+            }
+        }
+        break;
+      case 0:
+        shift = 5;
+        for(i = 0; i < BX_CAN_MAX_FILTERS; i++) {
+            bits = 0x01 << (i % 32);
+            if(bits & (pbxcan->filtermask.id16bitm[i >> 5] & pbxcan->alocmask[i >> 5])) {
+                  bxcancalcbaseoff(pbxcan,i,base,off);
+                  pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[*base];
+                  thisid = pitem->id << shift;
+                  if(pitem->rtr) {
+                     thisid |= CAN_RTR_REMOTE << (shift - 2);
+                  }
+                  if(*off < 2 && ((rt_uint16_t*)&pfilterreg->FR1)[*off & 0x01] == thisid ||
+                     *off >= 2 && ((rt_uint16_t*)&pfilterreg->FR2)[*off & 0x01] == thisid) {
+                      found = 1;
+                      break;
+                  }
+            }
+        }
+        break;
+      }
+      if(found) {
+          return i;
+      }
+      return -1;
+}
+extern int __rt_ffs(int value);
+static rt_err_t bxcanallocfilter(rt_uint32_t * pmask, rt_uint32_t * palocmask,
+                                 rt_uint32_t count, rt_int32_t* hdr)
+{
+      rt_int32_t i;
+      for(i = 0; i < count; i++) {
+        rt_enter_critical();
+        if((pmask[i] & ~palocmask[i]) != 0) {
+          *hdr = __rt_ffs(pmask[i] & ~palocmask[i]) - 1 + i * 32;
+          palocmask[i] |= 0x01 <<(*hdr % 0x1F);
+          rt_exit_critical();
+          return RT_EOK;
+        }
+        rt_exit_critical();
+      }
+      if(i >= count) {
+         return RT_ENOMEM;
+      }
+      return RT_EOK;
+}
+static rt_err_t bxcanallocnewfilter(struct stm_bxcan *pbxcan, rt_int32_t actived,
+                                    rt_int32_t type, rt_int32_t* hdr, rt_int32_t* base, rt_int32_t* off)
+{
+      rt_err_t res;
+      *hdr = -1;
+      switch(type) {
+      case 0x03:
+        res = bxcanallocfilter(pbxcan->filtermask.id32maskm,pbxcan->alocmask,
+                                BX_CAN_FILTER_MAX_ARRAY_SIZE,hdr);
+        break;
+      case 0x02:
+        res = bxcanallocfilter(pbxcan->filtermask.id32bitm,pbxcan->alocmask,
+                                BX_CAN_FILTER_MAX_ARRAY_SIZE,hdr);
+        break;
+      case 0x01:
+        res = bxcanallocfilter(pbxcan->filtermask.id16maskm,pbxcan->alocmask,
+                                BX_CAN_FILTER_MAX_ARRAY_SIZE,hdr);
+        break;
+      case 0x00:
+        res = bxcanallocfilter(pbxcan->filtermask.id16bitm,pbxcan->alocmask,
+                                BX_CAN_FILTER_MAX_ARRAY_SIZE,hdr);
+        break;
+      }  
+      if(res != RT_EOK  || *hdr < 0) {
+         return RT_ENOMEM; 
+      }
+      bxcancalcbaseoff(pbxcan,*hdr,base,off);
+      return RT_EOK;
+}
+static rt_err_t bxmodifyfilter(struct stm_bxcan *pbxcan, struct rt_can_filter_item* pitem, rt_uint32_t actived)
+{
+      rt_int32_t fcase;
+      rt_err_t res;
+      rt_int32_t hdr,fbase,foff;
+
+      fcase = (pitem->mode | (pitem->ide << 1));
+      hdr = bxcanfindfilter(pbxcan,pitem,fcase,&fbase,&foff);
+      if(hdr < 0) {
+            if(!actived) {
+                return RT_EOK;
+            } else if(pitem->hdr == -1) {
+                res = bxcanallocnewfilter(pbxcan,actived,fcase,&hdr,&fbase,&foff);
+                if(res != RT_EOK) {
+                  return res;
+                }
+            } else if(pitem->hdr >= 0) {
+                rt_enter_critical();
+                res = bxcancalcbaseoff(pbxcan,pitem->hdr,&fbase,&foff);
+                if(res != RT_EOK) {
+                  return res;
+                }
+                hdr = pitem->hdr;
+                if(actived) {
+                    pbxcan->alocmask[hdr >> 5] |= 0x01 <<(hdr % 0x1F);
+                }
+                rt_exit_critical();
+            }
+      } else {
+            if(!actived) {
+                pitem->hdr = hdr;
+            } else if(hdr >= 0 && (pitem->hdr >= 0 || pitem->hdr == -1)) {
+                pitem->hdr = hdr;
+                return RT_EBUSY;
+            }
+      }
+      rt_uint32_t ID[2];
+      rt_uint32_t shift;
+      rt_uint32_t thisid;
+      rt_uint32_t thismask;
+      CAN_FilterInitTypeDef  CAN_FilterInitStructure;
+
+      pitem->hdr =  hdr;
+      CAN_FilterRegister_TypeDef * pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[fbase];
+      ID[0] = pfilterreg->FR1;
+      ID[1] = pfilterreg->FR2;
+      CAN_FilterInitStructure.CAN_FilterNumber = (pfilterreg - &CAN1->sFilterRegister[0]);
+      if(pitem->mode) {
+           CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
+      } else {
+           CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdList;
+      }
+      if(pitem->ide) {
+           CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
+      } else {
+           CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_16bit;
+      }
+      switch(fcase) {
+      case 0x03:
+         if(actived) {
+             shift = 3;
+             thisid = (rt_uint32_t)pitem->id<<shift;
+             thismask = (rt_uint32_t)pitem->mask<<shift;
+             if(pitem->ide) {
+                   thisid |= CAN_ID_EXT;
+                   thismask |= CAN_ID_EXT;
+             }
+             if(pitem->rtr) {
+                 thisid |= CAN_RTR_REMOTE;
+                 thismask |= CAN_RTR_REMOTE;
+             }
+             ID[0] = thisid;
+             ID[1] = thismask;
+         } else {
+             ID[0] = 0xFFFFFFFF;
+             ID[1] = 0xFFFFFFFF;
+         }
+        break;
+      case 0x02:
+         if(actived) {
+             shift = 3;
+             thisid = (rt_uint32_t)pitem->id<<shift;
+             if(pitem->ide) {
+                   thisid |= CAN_ID_EXT;
+             }
+             if(pitem->rtr) {
+                 thisid |= CAN_RTR_REMOTE;
+             }
+             ID[foff] = thisid;
+          } else {
+             ID[foff] = 0xFFFFFFFF;
+          }
+        break;
+      case 0x01:
+         if(actived) {
+             shift = 5;
+             thisid = pitem->id << shift;
+             if(pitem->rtr) {
+                 thisid |= CAN_RTR_REMOTE << (shift - 2);
+             }
+             thismask = pitem->mask << shift;
+             if(pitem->rtr) {
+                 thismask |= CAN_RTR_REMOTE << (shift - 2);
+             }
+             ID[foff] = (thisid & 0x0000FFFF) | ((thismask & 0x0000FFFF) << 16);
+         } else {
+             ID[foff] = 0xFFFFFFFF;
+         }
+        break;
+      case 0x00:
+         if(actived) {
+             shift = 5;
+             thisid = pitem->id << shift;
+             if(pitem->rtr) {
+                 thisid |= CAN_RTR_REMOTE << (shift - 2);
+             }
+             ((rt_uint16_t*) ID)[foff] = thisid;
+         } else {
+             ((rt_uint16_t*) ID)[foff] = 0xFFFF;
+         }
+        break;
+      }
+      CAN_FilterInitStructure.CAN_FilterIdHigh = ((ID[1]) & 0x0000FFFF);
+      CAN_FilterInitStructure.CAN_FilterIdLow = ID[0] & 0x0000FFFF;
+      CAN_FilterInitStructure.CAN_FilterMaskIdHigh = (ID[1] & 0xFFFF0000) >> 16;
+      CAN_FilterInitStructure.CAN_FilterMaskIdLow = (ID[0] & 0xFFFF0000) >> 16;
+      if(fbase >= pbxcan->fifo1filteroff) {
+          CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 1;
+      } else {
+          CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
+      }
+      if(ID[0] != 0xFFFFFFFF || ID[1] != 0xFFFFFFFF) {
+          CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
+      } else {
+          CAN_FilterInitStructure.CAN_FilterActivation=DISABLE;
+      }
+      if(!actived) {
+            rt_enter_critical();
+            pbxcan->alocmask[hdr >> 5] &= ~(0x01 <<(hdr % 0x1F));
+            rt_exit_critical();
+      }
+      CAN_FilterInit(&CAN_FilterInitStructure);
+      return RT_EOK;
+}
+static rt_err_t setfilter(struct stm_bxcan *pbxcan,struct rt_can_filter_config *pconfig)
+{
+    struct rt_can_filter_item* pitem = pconfig->items;
+    rt_uint32_t count = pconfig->count;
+    rt_err_t res;
+    while(count) {
+      res = bxmodifyfilter(pbxcan,pitem,pconfig->actived);
+      if(res != RT_EOK) {
+        return res;
+      }
+      pitem++;
+      count--;
+    }
+    return RT_EOK;
+}
+static rt_err_t configure(struct rt_can_device *can, struct can_configure *cfg)
+{
+    CAN_TypeDef* pbxcan;
+
+    pbxcan = ((struct stm_bxcan *) can->parent.user_data)->reg;
+    assert_param(IS_CAN_ALL_PERIPH(pbxcan));
+    if(pbxcan == CAN1)
+    {
+        bxcan1_hw_init();
+        bxcan_init(pbxcan,cfg->baud_rate,can->config.mode);
+        bxcan1_filter_init(can);
+    } else {
+        bxcan2_hw_init();
+        bxcan_init(pbxcan,cfg->baud_rate,can->config.mode);
+        bxcan2_filter_init(can);
+    }
+    return RT_EOK;
+}
+static rt_err_t control(struct rt_can_device *can, int cmd, void *arg)
+{
+    struct stm_bxcan* pbxcan;
+    rt_uint32_t argval;
+    NVIC_InitTypeDef  NVIC_InitStructure;
+
+    pbxcan= (struct stm_bxcan *) can->parent.user_data;
+    assert_param(pbxcan != RT_NULL);
+
+    switch (cmd)
+    {
+    case RT_DEVICE_CTRL_CLR_INT:
+        argval = (rt_uint32_t) arg;
+        if(argval == RT_DEVICE_FLAG_INT_RX)
+        {
+          NVIC_DisableIRQ(pbxcan->rcvirq0);
+          NVIC_DisableIRQ(pbxcan->rcvirq1);
+          CAN_ITConfig(pbxcan->reg,CAN_IT_FMP0 ,DISABLE);
+          CAN_ITConfig(pbxcan->reg,CAN_IT_FF0 ,DISABLE);
+          CAN_ITConfig(pbxcan->reg,CAN_IT_FOV0 ,DISABLE);
+          CAN_ITConfig(pbxcan->reg,CAN_IT_FMP1 ,DISABLE);
+          CAN_ITConfig(pbxcan->reg,CAN_IT_FF1 ,DISABLE);
+          CAN_ITConfig(pbxcan->reg,CAN_IT_FOV1 ,DISABLE);
+        } else if(argval == RT_DEVICE_FLAG_INT_TX)
+        {
+          NVIC_DisableIRQ(pbxcan->sndirq);
+          CAN_ITConfig(pbxcan->reg,CAN_IT_TME,DISABLE);
+        } else if(argval == RT_DEVICE_CAN_INT_ERR) {
+          CAN_ITConfig(pbxcan->reg,CAN_IT_BOF ,DISABLE);
+          CAN_ITConfig(pbxcan->reg,CAN_IT_LEC ,DISABLE);
+          CAN_ITConfig(pbxcan->reg,CAN_IT_ERR ,DISABLE);
+          NVIC_DisableIRQ(pbxcan->errirq);
+        }
+        break;
+    case RT_DEVICE_CTRL_SET_INT:
+        argval = (rt_uint32_t) arg;
+        if(argval == RT_DEVICE_FLAG_INT_RX)
+        {
+          CAN_ITConfig(pbxcan->reg,CAN_IT_FMP0 ,ENABLE);
+          CAN_ITConfig(pbxcan->reg,CAN_IT_FF0 ,ENABLE);
+          CAN_ITConfig(pbxcan->reg,CAN_IT_FOV0 ,ENABLE);
+          CAN_ITConfig(pbxcan->reg,CAN_IT_FMP1 ,ENABLE);
+          CAN_ITConfig(pbxcan->reg,CAN_IT_FF1 ,ENABLE);
+          CAN_ITConfig(pbxcan->reg,CAN_IT_FOV1 ,ENABLE);
+          NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1;
+          NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
+          NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; 
+          NVIC_InitStructure.NVIC_IRQChannel = pbxcan->rcvirq0;
+          NVIC_Init(&NVIC_InitStructure);
+          NVIC_InitStructure.NVIC_IRQChannel = pbxcan->rcvirq1;
+          NVIC_Init(&NVIC_InitStructure);
+        } else if(argval == RT_DEVICE_FLAG_INT_TX)
+        {
+          CAN_ITConfig(pbxcan->reg,CAN_IT_TME,ENABLE);
+          NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1;
+          NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
+          NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; 
+          NVIC_InitStructure.NVIC_IRQChannel = pbxcan->sndirq;
+          NVIC_Init(&NVIC_InitStructure);
+        } else if(argval == RT_DEVICE_CAN_INT_ERR) {
+          CAN_ITConfig(pbxcan->reg,CAN_IT_BOF ,ENABLE);
+          CAN_ITConfig(pbxcan->reg,CAN_IT_LEC ,ENABLE);
+          CAN_ITConfig(pbxcan->reg,CAN_IT_ERR ,ENABLE);
+          NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1;
+          NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
+          NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; 
+          NVIC_InitStructure.NVIC_IRQChannel = pbxcan->errirq;
+          NVIC_Init(&NVIC_InitStructure);
+        }
+        break;
+    case RT_CAN_CMD_SET_FILTER:
+         return setfilter(pbxcan, (struct rt_can_filter_config*) arg);
+        break;
+      case RT_CAN_CMD_SET_MODE:
+        argval = (rt_uint32_t) arg;
+        if(argval != RT_CAN_MODE_NORMAL ||
+           argval != RT_CAN_MODE_LISEN ||
+           argval != RT_CAN_MODE_LOOPBACK ||
+           argval != RT_CAN_MODE_LOOPBACKANLISEN ) {
+              return RT_ERROR; 
+         }
+         if(argval != can->config.mode)
+         {
+           can->config.mode = argval;
+           return bxcan_set_mode(pbxcan->reg, argval);
+         }
+        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->config.baud_rate)
+         {
+           can->config.baud_rate = argval;
+           return bxcan_set_baud_rate(pbxcan->reg, argval);
+         }
+        break;
+      case RT_CAN_CMD_SET_PRIV:
+        argval = (rt_uint32_t) arg;
+        if(argval != RT_CAN_MODE_PRIV ||
+           argval != RT_CAN_MODE_NOPRIV) {
+              return RT_ERROR; 
+         }
+         if(argval != can->config.privmode)
+         {
+           can->config.privmode = argval;
+           return bxcan_set_privmode(pbxcan->reg, argval);
+         }
+        break;
+      case RT_CAN_CMD_GET_STATUS:
+        {
+          rt_uint32_t errtype;
+          errtype = pbxcan->reg->ESR;
+          can->status.rcverrcnt = errtype >> 24;
+          can->status.snderrcnt = (errtype >> 16 & 0xFF);
+          can->status.errcode = errtype & 0x07;
+          if(arg != &can->status) {
+              rt_memcpy(arg,&can->status,sizeof(can->status));
+          }
+        }
+        break;
+    }
+
+    return RT_EOK;
+}
+static int sendmsg(struct rt_can_device *can, const void* buf, rt_uint32_t boxno)
+{
+    CAN_TypeDef* pbxcan;
+    struct rt_can_msg* pmsg = (struct rt_can_msg*) buf;
+
+    pbxcan= ((struct stm_bxcan *) can->parent.user_data)->reg;
+    assert_param(IS_CAN_ALL_PERIPH(pbxcan));
+
+    pbxcan->sTxMailBox[boxno].TIR &= TMIDxR_TXRQ;
+    if (pmsg->ide == RT_CAN_STDID)
+    {
+      assert_param(IS_CAN_STDID(pmsg->id));
+      pbxcan->sTxMailBox[boxno].TIR |= ((pmsg->id << 21) | \
+                                                  pmsg->rtr);
+    }
+    else
+    {
+      assert_param(IS_CAN_EXTID(pmsg->id));
+      pbxcan->sTxMailBox[boxno].TIR |= ((pmsg->id << 3) | \
+                                                  pmsg->ide <<2 | \
+                                                  pmsg->rtr);
+    }
+
+    pmsg->len &= (uint8_t)0x0000000F;
+    pbxcan->sTxMailBox[boxno].TDTR &= (uint32_t)0xFFFFFFF0;
+    pbxcan->sTxMailBox[boxno].TDTR |= pmsg->len;
+
+    pbxcan->sTxMailBox[boxno].TDLR = (((uint32_t)pmsg->data[3] << 24) |
+                                             ((uint32_t)pmsg->data[2] << 16) |
+                                             ((uint32_t)pmsg->data[1] << 8) |
+                                             ((uint32_t)pmsg->data[0]));
+    if(pmsg->len > 4) {
+      pbxcan->sTxMailBox[boxno].TDHR = (((uint32_t)pmsg->data[7] << 24) |
+                                               ((uint32_t)pmsg->data[6] << 16) |
+                                               ((uint32_t)pmsg->data[5] << 8) |
+                                               ((uint32_t)pmsg->data[4]));
+    }
+    pbxcan->sTxMailBox[boxno].TIR |= TMIDxR_TXRQ;
+
+    return RT_EOK;
+}
+static int recvmsg(struct rt_can_device *can, void* buf, rt_uint32_t boxno)
+{
+    CAN_TypeDef* pbxcan;
+    struct rt_can_msg* pmsg = (struct rt_can_msg*) buf;
+
+    pbxcan= ((struct stm_bxcan *) can->parent.user_data)->reg;
+    assert_param(IS_CAN_ALL_PERIPH(pbxcan));
+    assert_param(IS_CAN_FIFO(boxno));
+    pmsg->ide = ((uint8_t)0x04 & pbxcan->sFIFOMailBox[boxno].RIR)>>2;
+    if (pmsg->ide == CAN_Id_Standard)
+    {
+      pmsg->id = (uint32_t)0x000007FF & (pbxcan->sFIFOMailBox[boxno].RIR >> 21);
+    }
+    else
+    {
+      pmsg->id = (uint32_t)0x1FFFFFFF & (pbxcan->sFIFOMailBox[boxno].RIR >> 3);
+    }
+
+    pmsg->rtr = (uint8_t)0x02 & pbxcan->sFIFOMailBox[boxno].RIR;
+    pmsg->len = (uint8_t)0x0F & pbxcan->sFIFOMailBox[boxno].RDTR;
+    pmsg->data[0] = (uint8_t)0xFF & pbxcan->sFIFOMailBox[boxno].RDLR;
+    pmsg->data[1] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDLR >> 8);
+    pmsg->data[2] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDLR >> 16);
+    pmsg->data[3] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDLR >> 24);
+    if(pmsg->len > 4) {
+      pmsg->data[4] = (uint8_t)0xFF & pbxcan->sFIFOMailBox[boxno].RDHR;
+      pmsg->data[5] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDHR >> 8);
+      pmsg->data[6] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDHR >> 16);
+      pmsg->data[7] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDHR >> 24);
+    }
+    pmsg->hdr = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDTR >> 8);
+    if(boxno) pmsg->hdr += ((struct stm_bxcan *) can->parent.user_data)->fifo1filteroff * 4;
+    return RT_EOK;
+}
+
+static const struct rt_can_ops canops =
+{
+    configure,
+    control,
+    sendmsg,
+    recvmsg,
+};
+#ifdef USING_BXCAN1
+#ifdef RT_CAN_USING_LED
+static struct  rt_can_led can1rcvled =
+{
+        CANRT1,PIN_MODE_OUTPUT_OD,1,
+};
+static struct  rt_can_led can1errled =
+{
+        CANERR1,PIN_MODE_OUTPUT_OD,1,
+};
+#endif
+static struct stm_bxcan bxcan1data =
+{
+    .reg = CAN1,
+    .mfrbase = (void*)&CAN1->sFilterRegister[0],
+    .sndirq = CAN1_TX_IRQn,
+    .rcvirq0 = CAN1_RX0_IRQn,
+    .rcvirq1 = CAN1_RX1_IRQn,
+    .errirq =  CAN1_SCE_IRQn,
+    .alocmask = {0,0},
+    .filtercnt = BX_CAN2_FMRSTART,
+    .fifo1filteroff = 7,
+    .filtermap = {
+      [0] = {
+        .id32mask_cnt = 0,
+        .id32bit_cnt = 0,
+        .id16mask_cnt = 2,
+        .id16bit_cnt =24,
+      },
+      [1] = {
+        .id32mask_cnt = 0,
+        .id32bit_cnt = 0,
+        .id16mask_cnt = 2,
+        .id16bit_cnt =24,
+      },
+    },
+};
+struct rt_can_device bxcan1;
+void CAN1_RX0_IRQHandler(void)
+{
+    while(CAN1->RF0R & 0x11)
+    {
+      if ((CAN1->RF0R & CAN_RF0R_FOVR0) != 0)
+      {
+          CAN1->RF0R = CAN_RF0R_FOVR0;
+          rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_RXOF_IND | 0<<8);  
+      } else {
+          rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_RX_IND | 0<<8);   
+      }
+      CAN1->RF0R |= CAN_RF0R_RFOM0;
+    }
+}
+void CAN1_RX1_IRQHandler(void)
+{
+    while(CAN1->RF1R & 0x11)
+    {
+      if ((CAN1->RF1R & CAN_RF1R_FOVR1) != 0)
+      {
+          CAN1->RF1R = CAN_RF1R_FOVR1;
+          rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_RXOF_IND | 1<<8);  
+      } else {
+          rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_RX_IND | 1<<8);   
+      }
+      CAN1->RF1R |= CAN_RF1R_RFOM1;
+    }
+}
+void CAN1_TX_IRQHandler(void)
+{
+    rt_uint32_t state;
+    if(CAN1->TSR &  (CAN_TSR_RQCP0))
+    {
+        state =  CAN1->TSR &  (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0);
+        CAN1->TSR |= CAN_TSR_RQCP0;
+        if(state == (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0))
+        {
+              rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_TX_DONE | 0<<8);
+        } else {
+              rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_TX_FAIL | 0<<8);
+        }
+    }
+    if(CAN1->TSR &  (CAN_TSR_RQCP1)) {
+         state =  CAN1->TSR &  (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1);
+         CAN1->TSR |= CAN_TSR_RQCP1;
+        if(state == (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1))
+        {
+              rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_TX_DONE | 1<<8);
+        } else {
+              rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_TX_FAIL | 1<<8);
+        }
+    }
+    if(CAN1->TSR &  (CAN_TSR_RQCP2)) {
+         state =  CAN1->TSR &  (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2);
+         CAN1->TSR |= CAN_TSR_RQCP2;
+        if(state == (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2))
+        {
+              rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_TX_DONE | 2<<8);
+        } else {
+              rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_TX_FAIL | 2<<8);
+        }
+    }
+}
+void CAN1_SCE_IRQHandler(void)
+{
+  rt_uint32_t errtype;
+  errtype = CAN1->ESR;
+  if(errtype & 0x70 && bxcan1.status.lasterrtype == (errtype & 0x70)) {
+      switch((errtype & 0x70)>>4) {
+      case RT_CAN_BUS_BIT_PAD_ERR:
+        bxcan1.status.bitpaderrcnt++;
+        break;
+      case RT_CAN_BUS_FORMAT_ERR:
+        bxcan1.status.formaterrcnt++;
+        break;
+      case RT_CAN_BUS_ACK_ERR:
+        bxcan1.status.ackerrcnt++;
+        break;
+      case RT_CAN_BUS_IMPLICIT_BIT_ERR:
+      case RT_CAN_BUS_EXPLICIT_BIT_ERR:
+        bxcan1.status.biterrcnt++;
+        break;
+      case RT_CAN_BUS_CRC_ERR:
+        bxcan1.status.crcerrcnt++;
+        break;
+      }
+      bxcan1.status.lasterrtype = errtype & 0x70;
+      CAN1->ESR &= ~0x70;
+  }
+  bxcan1.status.rcverrcnt = errtype >> 24;
+  bxcan1.status.snderrcnt = (errtype >> 16 & 0xFF);
+  bxcan1.status.errcode = errtype & 0x07;
+  CAN1->MSR |= CAN_MSR_ERRI;
+}
+#endif /*USING_BXCAN1*/
+
+#ifdef USING_BXCAN2
+#ifdef RT_CAN_USING_LED
+static struct  rt_can_led can2rcvled =
+{
+        CANRT2,PIN_MODE_OUTPUT_OD,1,
+};
+static struct  rt_can_led can2errled =
+{
+        CANERR2,PIN_MODE_OUTPUT_OD,1,
+};
+#endif
+static struct stm_bxcan bxcan2data =
+{
+    .reg = CAN2,
+    .mfrbase = (void*)&CAN1->sFilterRegister[BX_CAN2_FMRSTART],
+    .sndirq = CAN2_TX_IRQn,
+    .rcvirq0 = CAN2_RX0_IRQn,
+    .rcvirq1 = CAN2_RX1_IRQn,
+    .errirq =  CAN2_SCE_IRQn,
+    .alocmask = {0,0},
+    .filtercnt = BX_CAN_FMRNUMBER - BX_CAN2_FMRSTART,
+    .fifo1filteroff = 7,
+    .filtermap = {
+      [0] = {
+        .id32mask_cnt = 0,
+        .id32bit_cnt = 0,
+        .id16mask_cnt = 2,
+        .id16bit_cnt =24,
+      },
+      [1] = {
+        .id32mask_cnt = 0,
+        .id32bit_cnt = 0,
+        .id16mask_cnt = 2,
+        .id16bit_cnt =24,
+      },
+    },
+};
+
+struct rt_can_device bxcan2;
+void CAN2_RX0_IRQHandler(void)
+{
+    while(CAN2->RF0R & 0x11)
+    {
+      if ((CAN2->RF0R & CAN_RF0R_FOVR0) != 0)
+      {
+          CAN2->RF0R = CAN_RF0R_FOVR0;
+          rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_RXOF_IND | 0<<8);  
+      } else {
+          rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_RX_IND | 0<<8);   
+      }
+      CAN2->RF0R |= CAN_RF0R_RFOM0;
+    }
+}
+void CAN2_RX1_IRQHandler(void)
+{
+    while(CAN2->RF1R & 0x11)
+    {
+      if ((CAN2->RF1R & CAN_RF1R_FOVR1) != 0)
+      {
+          CAN2->RF1R = CAN_RF1R_FOVR1;
+          rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_RXOF_IND | 1<<8);  
+      } else {
+          rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_RX_IND | 1<<8);   
+      }
+      CAN2->RF1R |= CAN_RF1R_RFOM1;
+    }
+}
+void CAN2_TX_IRQHandler(void)
+{
+    rt_uint32_t state;
+    if(CAN2->TSR &  (CAN_TSR_RQCP0))
+    {
+        state =  CAN2->TSR &  (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0);
+        CAN2->TSR |= CAN_TSR_RQCP0;
+        if(state == (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0))
+        {
+              rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_TX_DONE | 0<<8);
+        } else {
+              rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_TX_FAIL | 0<<8);
+        }
+    }
+    if(CAN2->TSR &  (CAN_TSR_RQCP1)) {
+         state =  CAN2->TSR &  (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1);
+         CAN2->TSR |= CAN_TSR_RQCP1;
+        if(state == (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1))
+        {
+              rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_TX_DONE | 1<<8);
+        } else {
+              rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_TX_FAIL | 1<<8);
+        }
+    }
+    if(CAN2->TSR &  (CAN_TSR_RQCP2)) {
+         state =  CAN2->TSR &  (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2);
+         CAN2->TSR |= CAN_TSR_RQCP2;
+        if(state == (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2))
+        {
+              rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_TX_DONE | 2<<8);
+        } else {
+              rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_TX_FAIL | 2<<8);
+        }
+    }
+}
+void CAN2_SCE_IRQHandler(void)
+{
+    rt_uint32_t errtype;
+    errtype = CAN2->ESR;
+    if(errtype & 0x70 && bxcan2.status.lasterrtype == (errtype & 0x70)) {
+        switch((errtype & 0x70)>>4) {
+        case RT_CAN_BUS_BIT_PAD_ERR:
+          bxcan2.status.bitpaderrcnt++;
+          break;
+        case RT_CAN_BUS_FORMAT_ERR:
+          bxcan2.status.formaterrcnt++;
+          break;
+        case RT_CAN_BUS_ACK_ERR:
+          bxcan2.status.ackerrcnt++;
+          break;
+        case RT_CAN_BUS_IMPLICIT_BIT_ERR:
+        case RT_CAN_BUS_EXPLICIT_BIT_ERR:
+          bxcan2.status.biterrcnt++;
+          break;
+        case RT_CAN_BUS_CRC_ERR:
+          bxcan2.status.crcerrcnt++;
+          break;
+        }
+        bxcan2.status.lasterrtype = errtype & 0x70;
+        CAN2->ESR &= ~0x70;
+    }
+    bxcan2.status.rcverrcnt = errtype >> 24;
+    bxcan2.status.snderrcnt = (errtype >> 16 & 0xFF);
+    bxcan2.status.errcode = errtype & 0x07;
+    CAN2->MSR |= CAN_MSR_ERRI;
+}
+#endif /*USING_BXCAN2*/
+
+int stm32_bxcan_init(void)
+{
+
+#ifdef USING_BXCAN1
+      bxcan1.config.baud_rate=CAN1MBaud;
+      bxcan1.config.msgboxsz=16;
+      bxcan1.config.sndboxnumber=3;
+      bxcan1.config.mode=RT_CAN_MODE_NORMAL;
+      bxcan1.config.privmode=0;
+      #ifdef RT_CAN_USING_LED
+      bxcan1.config.rcvled = &can1rcvled;
+      bxcan1.config.sndled = RT_NULL;
+      bxcan1.config.errled = &can1errled;
+      #endif
+      bxcan1.config.ticks = 50;
+#ifdef RT_CAN_USING_HDR
+      bxcan1.config.maxhdr = BX_CAN2_FMRSTART * 4;
+#endif
+      rt_hw_can_register(&bxcan1, "bxcan1", &canops, &bxcan1data);
+#endif
+
+#ifdef USING_BXCAN2
+      bxcan2.config.baud_rate=CAN1MBaud;
+      bxcan2.config.msgboxsz=16;
+      bxcan2.config.sndboxnumber=3;
+      bxcan2.config.mode=RT_CAN_MODE_NORMAL;
+      bxcan2.config.privmode=0;
+      #ifdef RT_CAN_USING_LED
+      bxcan2.config.rcvled = &can2rcvled;
+      bxcan2.config.sndled = RT_NULL;
+      bxcan2.config.errled = &can2errled;
+      #endif
+      bxcan2.config.ticks = 50;
+#ifdef RT_CAN_USING_HDR
+      bxcan2.config.maxhdr = (BX_CAN_FMRNUMBER - BX_CAN2_FMRSTART) * 4;
+#endif
+      rt_hw_can_register(&bxcan2, "bxcan2", &canops, &bxcan2data);
+#endif
+      return RT_EOK;
+}
+INIT_BOARD_EXPORT(stm32_bxcan_init);
+
+#endif /*RT_USING_CAN2*/

bsp/stm32f10x/drivers/bxcan.h

@@ -0,0 +1,16 @@
+/*
+ * File      : bxcan.h
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2015, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ */
+
+#ifndef BXCAN_H_
+#define BXCAN_H_
+#endif /*BXCAN_H_*/

components/drivers/can/can.c

@@ -0,0 +1,906 @@
+/*
+ * File      : can.c
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2015, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ */
+#include <rthw.h>
+#include <rtthread.h>
+#include <rtdevice.h>
+
+static rt_err_t rt_can_init(struct rt_device *dev)
+{
+    rt_err_t result = RT_EOK;
+    struct rt_can_device *can;
+
+    RT_ASSERT(dev != RT_NULL);
+    can = (struct rt_can_device *)dev;
+
+    /* initialize rx/tx */
+    can->can_rx = RT_NULL;
+    can->can_tx = RT_NULL;
+
+    /* apply configuration */
+    if (can->ops->configure)
+        result = can->ops->configure(can, &can->config);
+
+    return result;
+}
+/*
+ * can interrupt routines
+ */
+rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, int msgs)
+{
+    int size;
+    struct rt_can_rx_fifo* rx_fifo;
+
+    RT_ASSERT(can != RT_NULL);
+    size = msgs; 
+    
+    rx_fifo = (struct rt_can_rx_fifo*) can->can_rx;
+    RT_ASSERT(rx_fifo != RT_NULL);
+
+    /* read from software FIFO */
+    while (msgs)
+    {
+        rt_base_t level;
+        struct rt_can_msg_list *listmsg=RT_NULL;
+        /* disable interrupt */
+        level = rt_hw_interrupt_disable();
+#ifdef RT_CAN_USING_HDR
+        rt_int32_t hdr = data->hdr;
+        if (hdr >=0 && can->hdr && hdr < can->config.maxhdr && !rt_list_isempty(&can->hdr[hdr].list))
+        {
+             listmsg=rt_list_entry(can->hdr[hdr].list.next, struct rt_can_msg_list, hdrlist);
+             rt_list_remove(&listmsg->list);
+             rt_list_remove(&listmsg->hdrlist);
+             if(can->hdr[hdr].msgs) {
+               can->hdr[hdr].msgs--;                     
+             }
+             listmsg->owner = RT_NULL;
+        } else
+#endif /*RT_CAN_USING_HDR*/
+        if (!rt_list_isempty(&rx_fifo->uselist))
+        {
+             listmsg=rt_list_entry(rx_fifo->uselist.next, struct rt_can_msg_list, list);
+             rt_list_remove(&listmsg->list);
+#ifdef RT_CAN_USING_HDR
+             rt_list_remove(&listmsg->hdrlist);
+             if(listmsg->owner != RT_NULL && listmsg->owner->msgs) {
+                listmsg->owner->msgs--;                     
+              }
+              listmsg->owner = RT_NULL;
+#endif
+        }
+        else
+        {
+            /* no data, enable interrupt and break out */
+            rt_hw_interrupt_enable(level);
+            break;
+        }
+
+        /* enable interrupt */
+        rt_hw_interrupt_enable(level);
+        if(listmsg!=RT_NULL)
+        {
+            rt_memcpy(data,&listmsg->data,sizeof(struct rt_can_msg));
+            level = rt_hw_interrupt_disable();
+            rt_list_insert_before(&rx_fifo->freelist,&listmsg->list);
+            rx_fifo->freenumbers++;
+            RT_ASSERT(rx_fifo->freenumbers <= can->config.msgboxsz);
+            rt_hw_interrupt_enable(level);
+            listmsg = RT_NULL;
+        }
+        data ++; msgs -= sizeof(struct rt_can_msg);
+    }
+
+    return (size - msgs);
+}
+
+rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *data, int msgs)
+{
+    int size;
+    struct rt_can_tx_fifo *tx_fifo;
+    
+    RT_ASSERT(can != RT_NULL);
+
+    size = msgs;
+    tx_fifo = (struct rt_can_tx_fifo*) can->can_tx;
+    RT_ASSERT(tx_fifo != RT_NULL);
+
+    while (msgs)
+    {      
+        rt_base_t level;
+        rt_uint32_t no;
+        struct rt_can_sndbxinx_list* tx_tosnd = RT_NULL;
+        level = rt_hw_interrupt_disable();
+        if(!rt_list_isempty(&tx_fifo->freelist))
+        {
+            tx_tosnd = rt_list_entry(tx_fifo->freelist.next, struct rt_can_sndbxinx_list, list);
+            RT_ASSERT(tx_tosnd != RT_NULL);
+            rt_list_remove(&tx_tosnd->list);
+        } else {
+            rt_hw_interrupt_enable(level);
+            rt_completion_wait(&(tx_fifo->completion), RT_WAITING_FOREVER);
+            continue;
+        }
+        rt_hw_interrupt_enable(level);
+        no=((rt_uint32_t)tx_tosnd-(rt_uint32_t)tx_fifo->buffer)/sizeof(struct rt_can_sndbxinx_list);
+        tx_tosnd->result = RT_CAN__SND_RESUTL_WAIT;
+        if (can->ops->sendmsg(can, data ,no))
+        {
+            level = rt_hw_interrupt_disable();
+            rt_list_insert_after(&tx_fifo->freelist,&tx_tosnd->list);
+            rt_hw_interrupt_enable(level);
+            continue;
+        }
+        can->status.sndchange = 1;
+        rt_completion_wait(&(tx_tosnd->completion), RT_WAITING_FOREVER);
+        level = rt_hw_interrupt_disable();
+        rt_uint32_t result = tx_tosnd->result;
+        if(!rt_list_isempty(&tx_tosnd->list)) {
+                rt_list_remove(&tx_tosnd->list);
+        }
+        rt_list_insert_before(&tx_fifo->freelist,&tx_tosnd->list);
+        rt_hw_interrupt_enable(level);
+        
+        if(result == RT_CAN__SND_RESUTL_OK)
+        {
+            level = rt_hw_interrupt_disable();
+            can->status.sndpkg++;
+            rt_hw_interrupt_enable(level);
+            data ++; msgs -= sizeof(struct rt_can_msg);
+            if(!msgs) break;
+        }
+        else
+        {
+            level = rt_hw_interrupt_disable();
+            can->status.dropedsndpkg++;
+            rt_hw_interrupt_enable(level);
+            break;
+        }
+
+        level = rt_hw_interrupt_disable();
+        if(rt_list_isempty(&tx_fifo->freelist))
+        {
+              rt_hw_interrupt_enable(level);
+              rt_completion_done(&(tx_fifo->completion));
+        }
+        else
+        {
+              rt_hw_interrupt_enable(level);
+        }
+    }
+
+    return (size - msgs);
+}
+rt_inline int _can_int_tx_priv(struct rt_can_device *can, const struct rt_can_msg *data, int msgs)
+{
+    int size;
+    struct rt_can_tx_fifo *tx_fifo;
+    
+    RT_ASSERT(can != RT_NULL);
+
+    size = msgs;
+    tx_fifo = (struct rt_can_tx_fifo*) can->can_tx;
+    RT_ASSERT(tx_fifo != RT_NULL);
+
+    rt_base_t level;
+    rt_uint32_t no;
+    rt_uint32_t result;
+    while (msgs)
+    {      
+        no = data->priv;
+        if(no >= can->config.sndboxnumber) {
+           break;
+        }
+        level = rt_hw_interrupt_disable();
+        if((tx_fifo->buffer[no].result != RT_CAN__SND_RESUTL_OK)) {
+           rt_hw_interrupt_enable(level);
+           rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
+           continue;
+        }
+        tx_fifo->buffer[no].result = RT_CAN__SND_RESUTL_WAIT;
+        rt_hw_interrupt_enable(level);
+        if (can->ops->sendmsg(can, data ,no) != RT_EOK)
+        {
+            continue;
+        }
+        can->status.sndchange = 1;
+        rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
+        result = tx_fifo->buffer[no].result;
+        if(result == RT_CAN__SND_RESUTL_OK)
+        {
+            level = rt_hw_interrupt_disable();
+            can->status.sndpkg++;
+            rt_hw_interrupt_enable(level);
+            data ++; msgs -= sizeof(struct rt_can_msg);
+            if(!msgs) break;
+        }
+        else
+        {
+            level = rt_hw_interrupt_disable();
+            can->status.dropedsndpkg++;
+            rt_hw_interrupt_enable(level);
+            break;
+        }
+    }
+
+    return (size - msgs);
+}
+static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
+{
+    struct rt_can_device *can;
+
+    RT_ASSERT(dev != RT_NULL);
+    can = (struct rt_can_device *)dev;
+
+    /* get open flags */
+    dev->open_flag = oflag & 0xff;
+    rt_enter_critical();
+    if (can->can_rx == RT_NULL)
+    {
+        if (oflag & RT_DEVICE_FLAG_INT_RX)
+        {
+            struct rt_can_rx_fifo* rx_fifo;
+
+            rx_fifo = (struct rt_can_rx_fifo*) rt_malloc (sizeof(struct rt_can_rx_fifo) + 
+                can->config.msgboxsz * sizeof(struct rt_can_msg_list));
+            RT_ASSERT(rx_fifo != RT_NULL);
+            rx_fifo->buffer = (struct rt_can_msg_list*) (rx_fifo + 1);
+            rt_memset(rx_fifo->buffer, 0, can->config.msgboxsz * sizeof(struct rt_can_msg_list));
+            rt_list_init(&rx_fifo->freelist);
+            rt_list_init(&rx_fifo->uselist);
+            rx_fifo->freenumbers=can->config.msgboxsz;
+            int i = 0;
+            for(i = 0;  i< can->config.msgboxsz; i++)
+            {
+                  rt_list_insert_before(&rx_fifo->freelist,&rx_fifo->buffer[i].list);
+#ifdef RT_CAN_USING_HDR
+                  rt_list_init(&rx_fifo->buffer[i].hdrlist);
+                  rx_fifo->buffer[i].owner = RT_NULL;
+#endif
+            }
+            can->can_rx = rx_fifo;
+            rt_exit_critical();
+            dev->open_flag |= RT_DEVICE_FLAG_INT_RX;
+            /* configure low level device */
+            can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_FLAG_INT_RX);
+        }
+        else
+        {
+            can->can_rx = RT_NULL;
+            rt_exit_critical();
+        }
+    } else {
+        rt_exit_critical();
+    }
+    rt_enter_critical();
+    if (can->can_tx == RT_NULL)
+    {
+        if (oflag & RT_DEVICE_FLAG_INT_TX)
+        {
+            struct rt_can_tx_fifo *tx_fifo;
+
+            tx_fifo = (struct rt_can_tx_fifo*) rt_malloc(sizeof(struct rt_can_tx_fifo)+
+                                can->config.sndboxnumber*sizeof(struct rt_can_sndbxinx_list));
+            RT_ASSERT(tx_fifo != RT_NULL);
+            tx_fifo->buffer = (struct rt_can_sndbxinx_list *) (tx_fifo + 1);
+            rt_memset(tx_fifo->buffer, 0, 
+                      can->config.sndboxnumber*sizeof(struct rt_can_sndbxinx_list));
+            rt_list_init(&tx_fifo->freelist);
+            int i = 0;
+            for(i = 0;  i< can->config.sndboxnumber; i++)
+            {
+                  rt_list_insert_before(&tx_fifo->freelist,&tx_fifo->buffer[i].list);
+                  rt_completion_init(&(tx_fifo->buffer[i].completion));
+                  tx_fifo->buffer[i].result = RT_CAN__SND_RESUTL_OK;
+            }
+            rt_completion_init(&(tx_fifo->completion));
+            can->can_tx = tx_fifo;
+            rt_exit_critical();
+            dev->open_flag |= RT_DEVICE_FLAG_INT_TX;
+            /* configure low level device */
+            can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_FLAG_INT_TX);
+        }
+        else
+        {
+            can->can_tx = RT_NULL;
+            rt_exit_critical();
+        }
+    } else {
+        rt_exit_critical();
+    }
+    can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_CAN_INT_ERR);
+#ifdef RT_CAN_USING_HDR
+    rt_enter_critical();
+    if(can->hdr == RT_NULL) {
+        struct rt_can_hdr * phdr;
+        phdr = (struct rt_can_hdr *) rt_malloc(can->config.maxhdr*sizeof(struct rt_can_hdr));
+        RT_ASSERT(phdr != RT_NULL);
+        rt_memset(phdr, 0,can->config.maxhdr*sizeof(struct rt_can_hdr));
+        int i = 0;
+        for(i = 0;  i< can->config.maxhdr; i++)
+        {
+              rt_list_init(&phdr[i].list);
+        }
+        can->hdr = phdr;
+        rt_exit_critical();
+    } else {
+        rt_exit_critical();
+    }
+#endif
+    rt_enter_critical();
+    if(!can->timerinitflag) {
+        can->timerinitflag = 1;
+        rt_exit_critical();
+        #ifdef RT_CAN_USING_LED
+        if(can->config.rcvled != RT_NULL) {
+            rt_pin_mode(can->config.rcvled->pin,can->config.rcvled->mode);
+            rt_pin_write(can->config.rcvled->pin,can->config.rcvled->init);
+        }
+        if(can->config.sndled != RT_NULL) {
+            rt_pin_mode(can->config.sndled->pin,can->config.sndled->mode);
+            rt_pin_write(can->config.sndled->pin,can->config.sndled->init);
+        }
+        if(can->config.errled != RT_NULL) {
+            rt_pin_mode(can->config.errled->pin,can->config.errled->mode);
+            rt_pin_write(can->config.errled->pin,can->config.errled->init);
+        }
+        #endif
+        rt_timer_start(&can->timer);
+    } else {
+        rt_exit_critical();
+    }
+    return RT_EOK;
+}
+
+static rt_err_t rt_can_close(struct rt_device *dev)
+{
+    struct rt_can_device *can;
+
+    RT_ASSERT(dev != RT_NULL);
+    can = (struct rt_can_device *)dev;
+
+    /* this device has more reference count */
+    if (dev->ref_count > 1) return RT_EOK;
+    rt_enter_critical();
+    if(can->timerinitflag) {
+        can->timerinitflag = 0;
+        rt_exit_critical();
+        rt_timer_stop(&can->timer);
+        #ifdef RT_CAN_USING_LED
+        rt_pin_write(can->config.rcvled->pin,can->config.rcvled->init);
+        rt_pin_write(can->config.rcvled->pin,can->config.sndled->init);
+        rt_pin_write(can->config.rcvled->pin,can->config.errled->init);
+        #endif
+    } else {
+        rt_exit_critical();
+    }
+    rt_enter_critical();
+    can->status_indicate.ind = RT_NULL;
+    can->status_indicate.args = RT_NULL;
+    rt_exit_critical();
+#ifdef RT_CAN_USING_HDR
+    rt_enter_critical();
+    if(can->hdr != RT_NULL) {
+        rt_free(can->hdr);
+        can->hdr = RT_NULL;
+        rt_exit_critical();
+    } else {
+        rt_exit_critical();
+    }
+#endif
+    if (dev->open_flag & RT_DEVICE_FLAG_INT_RX)
+    {
+        struct rt_can_rx_fifo* rx_fifo;
+
+        rx_fifo = (struct rt_can_rx_fifo*)can->can_rx;
+        RT_ASSERT(rx_fifo != RT_NULL);
+
+        rt_free(rx_fifo);
+        dev->open_flag &= ~RT_DEVICE_FLAG_INT_RX;
+        /* configure low level device */
+        can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void*)RT_DEVICE_FLAG_INT_TX);
+    }
+    if (dev->open_flag & RT_DEVICE_FLAG_INT_TX)
+    {
+        struct rt_can_tx_fifo* tx_fifo;
+
+        tx_fifo = (struct rt_can_tx_fifo*)can->can_rx;
+        RT_ASSERT(tx_fifo != RT_NULL);
+
+        rt_free(tx_fifo);
+        dev->open_flag &= ~RT_DEVICE_FLAG_INT_TX;
+        /* configure low level device */
+        can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void*)RT_DEVICE_FLAG_INT_TX);
+    }
+    can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_CAN_INT_ERR);
+    return RT_EOK;
+}
+
+static rt_size_t rt_can_read(struct rt_device *dev,
+                                rt_off_t          pos,
+                                void             *buffer,
+                                rt_size_t         size)
+{
+    struct rt_can_device *can;
+
+    RT_ASSERT(dev != RT_NULL);
+    if (size == 0) return 0;
+
+    can = (struct rt_can_device *)dev;
+
+    if (dev->open_flag & RT_DEVICE_FLAG_INT_RX)
+    {
+          return _can_int_rx(can, buffer, size);
+    }
+    return 0;
+}
+
+static rt_size_t rt_can_write(struct rt_device *dev,
+                                 rt_off_t          pos,
+                                 const void       *buffer,
+                                 rt_size_t         size)
+{
+    struct rt_can_device *can;
+
+    RT_ASSERT(dev != RT_NULL);
+    if (size == 0) return 0;
+
+    can = (struct rt_can_device *)dev;
+
+    if (dev->open_flag & RT_DEVICE_FLAG_INT_TX)
+    {
+      if(can->config.privmode) {
+         return _can_int_tx_priv(can, buffer, size);
+      } else {
+         return _can_int_tx(can, buffer, size);
+      }
+    }
+    return 0;
+}
+
+static rt_err_t rt_can_control(struct rt_device *dev,
+                                  rt_uint8_t        cmd,
+                                  void             *args)
+{
+    struct rt_can_device *can;
+    rt_err_t res;
+
+    RT_ASSERT(dev != RT_NULL);
+    can = (struct rt_can_device *)dev;
+
+    switch (cmd)
+    {
+        case RT_DEVICE_CTRL_SUSPEND:
+            /* suspend device */
+            dev->flag |= RT_DEVICE_FLAG_SUSPENDED;
+            break;
+
+        case RT_DEVICE_CTRL_RESUME:
+            /* resume device */
+            dev->flag &= ~RT_DEVICE_FLAG_SUSPENDED;
+            break;
+
+        case RT_DEVICE_CTRL_CONFIG:
+            /* configure device */
+            can->ops->configure(can, (struct can_configure *)args);
+            break;
+        case RT_CAN_CMD_SET_PRIV:
+            /* configure device */
+            if((rt_uint32_t)args != can->config.privmode) {
+              if(res = can->ops->control(can, cmd, args) != RT_EOK) {
+                return res;
+              }
+              struct rt_can_tx_fifo* tx_fifo;
+              tx_fifo = (struct rt_can_tx_fifo*) can->can_tx;
+              int i;
+              rt_base_t level; 
+              if(can->config.privmode) {
+                  rt_completion_done(&(tx_fifo->completion));
+                  level = rt_hw_interrupt_disable();
+                   for(i = 0;  i< can->config.sndboxnumber; i++)
+                   {
+                       rt_list_remove(&tx_fifo->buffer[i].list);
+                   }
+                   rt_hw_interrupt_enable(level);
+              } else {
+                    for(i = 0;  i< can->config.sndboxnumber; i++)
+                    {
+                        rt_base_t level;
+                        level = rt_hw_interrupt_disable();
+                        if(tx_fifo->buffer[i].result == RT_CAN__SND_RESUTL_OK) {
+                            rt_list_insert_before(&tx_fifo->freelist,&tx_fifo->buffer[i].list);
+                        }
+                        rt_hw_interrupt_enable(level);
+                    }
+              }
+              return RT_EOK;
+            }
+            break;
+      case RT_CAN_CMD_SET_STATUS_IND:
+            can->status_indicate.ind = ((rt_can_status_ind_type_t)args)->ind;
+            can->status_indicate.args = ((rt_can_status_ind_type_t)args)->args;
+      break;
+#ifdef RT_CAN_USING_HDR
+        case RT_CAN_CMD_SET_FILTER:
+            res = can->ops->control(can, cmd, args);
+            if(res != RT_EOK || can->hdr == RT_NULL) {
+              return res;
+            }
+            {
+                  struct rt_can_filter_config* pfilter;
+                  struct rt_can_filter_item* pitem;
+                  rt_uint32_t count;
+                  rt_base_t level; 
+                  pfilter = (struct rt_can_filter_config*)args;
+                  count = pfilter->count;
+                  pitem = pfilter->items;
+                  if(pfilter->actived) {
+                        while(count) {
+                          if(pitem->hdr >= can->config.maxhdr || pitem->hdr < 0) {
+                            count--;
+                            pitem++;
+                            continue;
+                          }
+                          level = rt_hw_interrupt_disable();
+                          if(!can->hdr[pitem->hdr].connected) {
+                              rt_memcpy(&can->hdr[pitem->hdr].filter,pitem,
+                                        sizeof(struct rt_can_filter_item));
+                              can->hdr[pitem->hdr].connected = 1;
+                              can->hdr[pitem->hdr].msgs = 0;
+                              rt_list_init(&can->hdr[pitem->hdr].list);
+                          }
+                          rt_hw_interrupt_enable(level);
+                          count--;
+                          pitem++;
+                        }
+                  } else {
+                       while(count) {
+                          if(pitem->hdr >= can->config.maxhdr || pitem->hdr < 0) {
+                            count--;
+                            pitem++;
+                            continue;
+                          }
+                          level = rt_hw_interrupt_disable();
+                          if(can->hdr[pitem->hdr].connected) {
+                              rt_memset(&can->hdr[pitem->hdr].filter,0,
+                                        sizeof(struct rt_can_filter_item));
+                              can->hdr[pitem->hdr].connected = 0;
+                              can->hdr[pitem->hdr].msgs = 0;
+                              if(!rt_list_isempty(&can->hdr[pitem->hdr].list))
+                              {
+                                  rt_list_remove(can->hdr[pitem->hdr].list.next);
+                              }
+                          }
+                          rt_hw_interrupt_enable(level);
+                          count--;
+                          pitem++;
+                        }
+                  }
+            }
+            break;
+#endif /*RT_CAN_USING_HDR*/
+        default :
+            /* control device */
+            if(can->ops->control != RT_NULL)
+            {
+                can->ops->control(can, cmd, args);
+            }
+            break;
+    }
+
+    return RT_EOK;
+}
+/*
+ * can timer
+ */
+static void cantimeout(void* arg)
+{
+     rt_uint32_t ledonflag = 0;
+     rt_can_t can = (rt_can_t)arg;
+     rt_device_control((rt_device_t)can,RT_CAN_CMD_GET_STATUS,(void* )&can->status);
+     if(can->timerinitflag == 1) {
+         ledonflag = 1;
+         can->timerinitflag = 0xFF;
+     }
+     #ifdef RT_CAN_USING_LED
+     if(can->config.rcvled != RT_NULL && can->config.sndled == RT_NULL) {
+         if(ledonflag == 1) {
+              rt_pin_write(can->config.rcvled->pin,can->config.rcvled->init?0:1);
+         } else {
+             if(can->status.rcvchange == 1 || can->status.sndchange == 1)
+             {
+                 can->status.rcvchange = 0;
+                 can->status.sndchange = 0;
+                 rt_pin_write(can->config.rcvled->pin,rt_pin_read(can->config.rcvled->pin)?0:1);
+             } else {
+                 rt_pin_write(can->config.rcvled->pin,can->config.rcvled->init);
+             }
+         }
+     } else if(can->config.rcvled != RT_NULL && can->config.sndled != RT_NULL) {
+         if(ledonflag == 1) {
+               rt_pin_write(can->config.rcvled->pin,can->config.rcvled->init?0:1);
+               rt_pin_write(can->config.sndled->pin,can->config.sndled->init?0:1);
+         } else {
+               if(can->status.rcvchange == 1)
+               {
+                   can->status.rcvchange = 0;
+                   rt_pin_write(can->config.rcvled->pin,rt_pin_read(can->config.rcvled->pin)?0:1);
+               } else {
+                   rt_pin_write(can->config.rcvled->pin,can->config.rcvled->init);
+               }
+               if(can->status.sndchange == 1)
+               {
+                   can->status.sndchange = 0;
+                   rt_pin_write(can->config.sndled->pin,rt_pin_read(can->config.sndled->pin)?0:1);
+               } else {
+                   rt_pin_write(can->config.sndled->pin,can->config.sndled->init);
+               }
+         }
+     } else if(can->config.rcvled == RT_NULL && can->config.sndled != RT_NULL) {
+         if(ledonflag == 1) {
+               rt_pin_write(can->config.sndled->pin,can->config.sndled->init?0:1);
+         } else {
+               if(can->status.rcvchange == 1 || can->status.sndchange == 1)
+               {
+                   can->status.rcvchange = 0;
+                   can->status.sndchange = 0;
+                   rt_pin_write(can->config.sndled->pin,rt_pin_read(can->config.sndled->pin)?0:1);
+               } else {
+                   rt_pin_write(can->config.sndled->pin,can->config.sndled->init);
+               }
+         }
+     }
+     if(ledonflag == 1) {
+           rt_pin_write(can->config.errled->pin,can->config.errled->init?0:1);
+     } else {
+           if(can->status.errcode) {
+               rt_pin_write(can->config.errled->pin,can->config.errled->init?0:1);
+           } else {
+               rt_pin_write(can->config.errled->pin,can->config.errled->init);
+           }
+     }
+     #endif
+     if(can->status_indicate.ind != RT_NULL)
+     {
+         can->status_indicate.ind(can,can->status_indicate.args);
+     }
+}
+
+/*
+ * can register
+ */
+rt_err_t rt_hw_can_register(struct rt_can_device *can,
+                               const char              *name,
+                               const struct rt_can_ops *ops,
+                               void                    *data)
+{
+    struct rt_device *device;
+    RT_ASSERT(can != RT_NULL);
+
+    device = &(can->parent);
+
+    device->type        = RT_Device_Class_CAN;
+    device->rx_indicate = RT_NULL;
+    device->tx_complete = RT_NULL;
+#ifdef RT_CAN_USING_HDR
+    can->hdr            = RT_NULL;
+#endif
+    can->can_rx         = RT_NULL;
+    can->can_tx         = RT_NULL;
+    device->init        = rt_can_init;
+    device->open        = rt_can_open;
+    device->close       = rt_can_close;
+    device->read        = rt_can_read;
+    device->write       = rt_can_write;
+    device->control     = rt_can_control;
+    can->ops            = ops;
+
+    can->status_indicate.ind  = RT_NULL;
+    can->status_indicate.args = RT_NULL;
+    rt_memset(&can->status,0,sizeof(can->status));
+
+    device->user_data   = data;
+    can->timerinitflag = 0;
+    if(can->config.rcvled != RT_NULL ||
+       can->config.sndled != RT_NULL ||
+       can->config.errled != RT_NULL)
+    {
+        rt_timer_init(&can->timer,
+                  name,
+                  cantimeout,
+                  (void*)can,
+                  can->config.ticks,
+                  RT_TIMER_FLAG_PERIODIC);
+    }
+    /* register a character device */
+    return rt_device_register(device, name, RT_DEVICE_FLAG_RDWR);
+}
+
+/* ISR for can interrupt */
+void rt_hw_can_isr(struct rt_can_device *can, int event)
+{
+    switch (event & 0xff)
+    {
+        case RT_CAN_EVENT_RXOF_IND:
+        {
+            rt_base_t level; 
+            level = rt_hw_interrupt_disable();
+            can->status.dropedrcvpkg++;
+            rt_hw_interrupt_enable(level);
+        }
+        case RT_CAN_EVENT_RX_IND:
+        {
+            struct rt_can_msg tmpmsg;
+            struct rt_can_rx_fifo* rx_fifo;
+            struct rt_can_msg_list* listmsg=RT_NULL;
+#ifdef RT_CAN_USING_HDR
+            rt_int32_t hdr;
+#endif
+            int ch = -1;
+            rt_base_t level; 
+            rx_fifo = (struct rt_can_rx_fifo*)can->can_rx;
+            RT_ASSERT(rx_fifo != RT_NULL);
+            /* interrupt mode receive */
+            RT_ASSERT(can->parent.open_flag & RT_DEVICE_FLAG_INT_RX);
+            
+            rt_uint32_t no;
+            no = event >> 8;
+            ch = can->ops->recvmsg(can,&tmpmsg,no);
+            if (ch == -1) break;
+            /* disable interrupt */
+            level = rt_hw_interrupt_disable();
+            can->status.rcvpkg++;
+            can->status.rcvchange = 1;
+            if(!rt_list_isempty(&rx_fifo->freelist))
+            {
+                   listmsg = rt_list_entry(rx_fifo->freelist.next, struct rt_can_msg_list, list);
+                   rt_list_remove(&listmsg->list);
+#ifdef RT_CAN_USING_HDR
+                   rt_list_remove(&listmsg->hdrlist);
+                   if(listmsg->owner != RT_NULL && listmsg->owner->msgs) {
+                     listmsg->owner->msgs--;                     
+                   }
+                   listmsg->owner = RT_NULL;
+#endif /*RT_CAN_USING_HDR*/
+                   RT_ASSERT(rx_fifo->freenumbers >0);
+                   rx_fifo->freenumbers--;
+            } else if(!rt_list_isempty(&rx_fifo->uselist)) {
+                   listmsg = rt_list_entry(rx_fifo->uselist.next, struct rt_can_msg_list, list);
+                   can->status.dropedrcvpkg++;
+                   rt_list_remove(&listmsg->list);
+#ifdef RT_CAN_USING_HDR
+                   rt_list_remove(&listmsg->hdrlist);
+                   if(listmsg->owner != RT_NULL && listmsg->owner->msgs) {
+                     listmsg->owner->msgs--;                     
+                   }
+                   listmsg->owner = RT_NULL;
+#endif
+            }                  
+            /* enable interrupt */
+            rt_hw_interrupt_enable(level);
+            if(listmsg != RT_NULL) {
+                  rt_memcpy(&listmsg->data,&tmpmsg,sizeof(struct rt_can_msg));
+                  level = rt_hw_interrupt_disable();
+                  rt_list_insert_before(&rx_fifo->uselist,&listmsg->list);
+#ifdef RT_CAN_USING_HDR
+                  hdr = tmpmsg.hdr;
+                  if(can->hdr != RT_NULL) {
+                        RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
+                        if(can->hdr[hdr].connected) {
+                            rt_list_insert_before(&can->hdr[hdr].list,&listmsg->hdrlist);
+                            listmsg->owner = &can->hdr[hdr];
+                            can->hdr[hdr].msgs++;
+                        }
+                        
+                  }
+#endif
+                  rt_hw_interrupt_enable(level);
+            }
+            
+            /* invoke callback */
+#ifdef RT_CAN_USING_HDR
+            if(can->hdr != RT_NULL && can->hdr[hdr].connected && can->hdr[hdr].filter.ind) {
+                  RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
+                  rt_size_t rx_length;
+                  level = rt_hw_interrupt_disable();
+                  rx_length = can->hdr[hdr].msgs * sizeof(struct rt_can_msg);
+                  rt_hw_interrupt_enable(level);
+                  can->hdr[hdr].filter.ind(&can->parent, can->hdr[hdr].filter.args, hdr, rx_length);
+                  
+            } else
+#endif
+              if (can->parent.rx_indicate != RT_NULL) {
+                rt_size_t rx_length;
+                /* get rx length */
+                level = rt_hw_interrupt_disable();
+                rx_length = rx_fifo->freenumbers*sizeof(struct rt_can_msg);
+                rt_hw_interrupt_enable(level);
+
+                can->parent.rx_indicate(&can->parent, rx_length);
+            }
+            break;
+        }
+        case RT_CAN_EVENT_TX_DONE:
+        case RT_CAN_EVENT_TX_FAIL:
+        {
+            struct rt_can_tx_fifo* tx_fifo;
+            rt_uint32_t no;
+            no = event >> 8;
+            tx_fifo = (struct rt_can_tx_fifo*) can->can_tx;
+            RT_ASSERT(tx_fifo != RT_NULL);
+            if((event & 0xff) == RT_CAN_EVENT_TX_DONE) {
+                tx_fifo->buffer[no].result = RT_CAN__SND_RESUTL_OK;
+            } else {
+                tx_fifo->buffer[no].result = RT_CAN__SND_RESUTL_ERR;
+            }
+            rt_completion_done(&(tx_fifo->buffer[no].completion));
+            break;
+        }
+    }
+}
+#ifdef RT_USING_FINSH
+#include <finsh.h>
+int cmd_canstat(int argc,void** argv)
+{
+    static const char* ErrCode[] = {
+      "No Error!",
+      "Warning !",
+      "Passive !",
+      "Bus Off !"
+    };
+    if(argc >= 2) {
+        rt_device_t candev = rt_device_find(argv[1]);
+        if(!candev) {
+            rt_kprintf(" Can't find can device %s\n",argv[1]);
+            return -1;
+        }
+        rt_kprintf(" Finded can device: %s...",argv[1]);
+        struct rt_can_status status;
+        rt_device_control(candev,RT_CAN_CMD_GET_STATUS,&status);
+        rt_kprintf("\n Receive...error..count: %010ld. Send.....error....count: %010ld.",
+                   status.rcverrcnt,status.snderrcnt);
+        rt_kprintf("\n Bit..pad..error..count: %010ld. Format...error....count: %010ld",
+                   status.bitpaderrcnt,status.formaterrcnt);
+        rt_kprintf("\n Ack.......error..count: %010ld. Bit......error....count: %010ld.",
+                   status.ackerrcnt,status.biterrcnt);
+        rt_kprintf("\n CRC.......error..count: %010ld. Error.code.[%010ld]: ",
+                   status.crcerrcnt,status.errcode);
+        switch(status.errcode) {
+        case 0:
+            rt_kprintf("%s.",ErrCode[0]);
+        break;
+        case 1:
+            rt_kprintf("%s.",ErrCode[1]);
+        break;
+        case 2:
+        case 3:
+            rt_kprintf("%s.",ErrCode[2]);
+        break;
+        case 4:
+        case 5:
+        case 6:
+        case 7:
+            rt_kprintf("%s.",ErrCode[3]);
+        break;
+        }
+        rt_kprintf("\n Total.receive.packages: %010ld. Droped.receive.packages: %010ld.",
+                   status.rcvpkg,status.dropedrcvpkg);
+        rt_kprintf("\n Total..send...packages: %010ld. Droped...send..packages: %010ld.\n",
+           status.sndpkg + status.dropedsndpkg,status.dropedsndpkg);
+    } else {
+        rt_kprintf(" Invalid Call %s\n",argv[0]);
+        rt_kprintf(" Please using %s cannamex .Here canname is driver name and x is candrive number.\n",argv[0]);
+    }
+    return 0;
+}
+FINSH_FUNCTION_EXPORT_ALIAS(cmd_canstat, __cmd_canstat, Stat Can Device Status.);
+#endif

components/drivers/include/drivers/can.h

@@ -0,0 +1,292 @@
+/*
+ * File      : can.h
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2015, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ */
+#ifndef CAN_H_
+#define CAN_H_
+
+#ifndef RT_CANMSG_BOX_SZ
+#define RT_CANMSG_BOX_SZ 16
+#endif
+#ifndef RT_CANSND_BOX_NUM
+#define RT_CANSND_BOX_NUM 1
+#endif
+
+enum CANBAUD
+{
+        CAN1MBaud=0,    // 1 MBit/sec
+        CAN800kBaud,    // 800 kBit/sec
+        CAN500kBaud,    // 500 kBit/sec
+        CAN250kBaud,    // 250 kBit/sec
+        CAN125kBaud,    // 125 kBit/sec
+        CAN100kBaud,    // 100 kBit/sec
+        CAN50kBaud,     // 50 kBit/sec
+        CAN20kBaud,     // 20 kBit/sec
+        CAN10kBaud      // 10 kBit/sec
+};
+#define RT_CAN_MODE_NORMAL 0
+#define RT_CAN_MODE_LISEN 1
+#define RT_CAN_MODE_LOOPBACK 2
+#define RT_CAN_MODE_LOOPBACKANLISEN 3
+
+#define RT_CAN_MODE_PRIV 0x01
+#define RT_CAN_MODE_NOPRIV 0x00
+
+#ifdef RT_CAN_USING_LED
+struct  rt_can_led
+{
+        rt_uint32_t pin,mode,init;
+        struct rt_timer* timer;
+        const char* timer_name;
+};
+#endif /*RT_CAN_USING_LED*/
+
+struct rt_can_filter_item
+{
+        rt_uint32_t id  :29;
+        rt_uint32_t ide :1;
+        rt_uint32_t rtr :1;
+        rt_uint32_t mode :1;
+        rt_uint32_t mask;
+        rt_int32_t hdr;
+        rt_err_t  (*ind)(rt_device_t dev, void* args ,rt_int32_t hdr, rt_size_t size);
+        void* args;
+};
+#ifdef RT_CAN_USING_HDR
+#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,ind,args) \
+     {\
+         id,\
+         ide,\
+         rtr,\
+         mode,\
+         mask,\
+         -1,\
+         ind,\
+         args,\
+     }
+#define RT_CAN_FILTER_STD_INIT(id,ind,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,ind,args)
+#define RT_CAN_FILTER_EXT_INIT(id,ind,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,1,0,0,0xFFFFFFFF,ind,args)
+#define RT_CAN_STD_RMT_FILTER_INIT(id,ind,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,0,1,0,0xFFFFFFFF,ind,args)
+#define RT_CAN_EXT_RMT_FILTER_INIT(id,ind,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,1,1,0,0xFFFFFFFF,ind,args)
+#define RT_CAN_STD_RMT_DATA_FILTER_INIT(id,ind,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,0,0,1,0xFFFFFFFF,ind,args)
+#define RT_CAN_EXT_RMT_DATA_FILTER_INIT(id,ind,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF,ind,args)
+#else
+#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,args) \
+     {\
+         id,\
+         ide,\
+         rtr,\
+         mode,\
+         mask,\
+         -1,\
+         args,\
+     }
+#define RT_CAN_FILTER_STD_INIT(id,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,args)
+#define RT_CAN_FILTER_EXT_INIT(id,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,1,0,0,0xFFFFFFFF,args)
+#define RT_CAN_STD_RMT_FILTER_INIT(id,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,0,1,0,0xFFFFFFFF,args)
+#define RT_CAN_EXT_RMT_FILTER_INIT(id,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,1,1,0,0xFFFFFFFF,args)
+#define RT_CAN_STD_RMT_DATA_FILTER_INIT(id,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,0,0,1,0xFFFFFFFF,args)
+#define RT_CAN_EXT_RMT_DATA_FILTER_INIT(id,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF,args)
+#endif
+
+struct rt_can_filter_config
+{
+        rt_uint32_t count;
+        rt_uint32_t actived;
+        struct rt_can_filter_item* items;
+};
+struct can_configure
+{
+        rt_uint32_t baud_rate;
+        rt_uint32_t msgboxsz;
+        rt_uint32_t sndboxnumber;
+        rt_uint32_t mode      :8;
+        rt_uint32_t privmode  :8;
+        rt_uint32_t reserved  :16;
+        #ifdef RT_CAN_USING_LED
+        const struct rt_can_led* rcvled;
+        const struct rt_can_led* sndled;
+        const struct rt_can_led* errled;
+        #endif  /*RT_CAN_USING_LED*/
+        rt_uint32_t ticks;
+#ifdef RT_CAN_USING_HDR
+        rt_uint32_t maxhdr;
+#endif
+};
+
+#define CANDEFAULTCONFIG \
+{\
+        CAN1MBaud,\
+        RT_CANMSG_BOX_SZ,\
+        RT_CANSND_BOX_NUM,\
+        RT_CAN_MODE_NORMAL,\
+};
+
+struct rt_can_ops;
+#define RT_CAN_CMD_SET_FILTER      0x13
+#define RT_CAN_CMD_SET_BAUD        0x14
+#define RT_CAN_CMD_SET_MODE        0x15
+#define RT_CAN_CMD_SET_PRIV        0x16
+#define RT_CAN_CMD_GET_STATUS      0x17
+#define RT_CAN_CMD_SET_STATUS_IND  0x18
+
+#define RT_DEVICE_CAN_INT_ERR  0x1000
+
+enum RT_CAN_STATUS_MODE
+{
+        NORMAL = 0,
+        ERRWARNING = 1,
+        ERRPASSIVE = 2,
+        BUSOFF = 4,
+};
+enum RT_CAN_BUS_ERR
+{
+        RT_CAN_BUS_NO_ERR = 0,
+        RT_CAN_BUS_BIT_PAD_ERR = 1,
+        RT_CAN_BUS_FORMAT_ERR = 2,
+        RT_CAN_BUS_ACK_ERR = 3,
+        RT_CAN_BUS_IMPLICIT_BIT_ERR = 4,
+        RT_CAN_BUS_EXPLICIT_BIT_ERR = 5,
+        RT_CAN_BUS_CRC_ERR = 6,
+};
+struct rt_can_status
+{
+        rt_uint32_t rcverrcnt;
+        rt_uint32_t snderrcnt;
+        rt_uint32_t errcode;
+        rt_uint32_t rcvpkg;
+        rt_uint32_t dropedrcvpkg;
+        rt_uint32_t sndpkg;
+        rt_uint32_t dropedsndpkg;
+        rt_uint32_t bitpaderrcnt;
+        rt_uint32_t formaterrcnt;
+        rt_uint32_t ackerrcnt;
+        rt_uint32_t biterrcnt;
+        rt_uint32_t crcerrcnt;
+        rt_uint32_t rcvchange;
+        rt_uint32_t sndchange;
+        rt_uint32_t lasterrtype;
+};
+#ifdef RT_CAN_USING_HDR
+struct rt_can_hdr {
+        rt_uint32_t connected;
+        rt_uint32_t msgs;
+        struct rt_can_filter_item filter;
+        struct rt_list_node list;
+};
+#endif
+struct rt_can_device;
+typedef rt_err_t (*rt_canstatus_ind)(struct rt_can_device*, void*);
+typedef struct rt_can_status_ind_type
+{
+    rt_canstatus_ind ind;
+    void* args;
+} *rt_can_status_ind_type_t;
+struct rt_can_device
+{
+        struct rt_device          parent;
+
+        const struct rt_can_ops *ops;
+        struct can_configure   config;
+        struct rt_can_status   status;
+        rt_uint32_t timerinitflag;
+        struct rt_timer timer;
+        struct rt_can_status_ind_type status_indicate;
+#ifdef RT_CAN_USING_HDR
+        struct rt_can_hdr* hdr;
+#endif
+        void *can_rx;
+	void *can_tx;
+};
+typedef struct rt_can_device *rt_can_t;
+
+#define RT_CAN_STDID 0
+#define RT_CAN_EXTID 1
+#define RT_CAN_DTR   0
+#define RT_CAN_RTR   1
+
+typedef struct rt_can_status * rt_can_status_t;
+struct rt_can_msg
+{
+        rt_uint32_t id  :29;
+        rt_uint32_t ide :1;
+        rt_uint32_t rtr :1;
+        rt_uint32_t rsv :1;
+        rt_uint32_t len :8;
+        rt_uint32_t priv :8;
+        rt_uint32_t hdr :8;
+        rt_uint32_t reserved :8;
+        rt_uint8_t data[8];
+};
+typedef struct rt_can_msg* rt_can_msg_t;
+struct rt_can_msg_list {
+        struct rt_list_node list;
+#ifdef RT_CAN_USING_HDR
+        struct rt_list_node hdrlist;
+        struct rt_can_hdr* owner;
+#endif
+        struct rt_can_msg data;
+};
+struct rt_can_rx_fifo
+{
+	/* software fifo */
+	struct rt_can_msg_list *buffer;
+        rt_uint32_t freenumbers;
+        struct rt_list_node freelist;
+        struct rt_list_node uselist;
+};
+
+#define RT_CAN__SND_RESUTL_OK 0
+#define RT_CAN__SND_RESUTL_ERR 1
+#define RT_CAN__SND_RESUTL_WAIT 2
+
+#define RT_CAN_EVENT_RX_IND          0x01    /* Rx indication */
+#define RT_CAN_EVENT_TX_DONE         0x02    /* Tx complete   */
+#define RT_CAN_EVENT_TX_FAIL         0x03    /* Tx complete   */
+#define RT_CAN_EVENT_RX_TIMEOUT      0x05    /* Rx timeout    */
+#define RT_CAN_EVENT_RXOF_IND        0x06    /* Rx overflow */
+
+struct rt_can_sndbxinx_list {
+        struct rt_list_node list;
+        struct rt_completion completion;
+        rt_uint32_t result;
+};
+struct rt_can_tx_fifo
+{
+  	struct rt_can_sndbxinx_list *buffer;
+	struct rt_completion completion;
+        struct rt_list_node freelist;
+};
+struct rt_can_ops
+{
+        rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
+        rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
+        int (*sendmsg)(struct rt_can_device *can, const void* buf, rt_uint32_t boxno);
+        int (*recvmsg)(struct rt_can_device *can,void* buf, rt_uint32_t boxno);
+};
+rt_err_t rt_hw_can_register(struct rt_can_device *can,
+                               const char              *name,
+                               const struct rt_can_ops *ops,
+                               void                    *data);
+void rt_hw_can_isr(struct rt_can_device *can, int event);
+#endif /*_CAN_H*/

components/drivers/include/rtdevice.h

@@ -366,6 +366,10 @@ rt_inline void rt_work_init(struct rt_work* work, void (*work_func)(struct rt_wo
 #include "drivers/pin.h"
 #endif
 
+#ifdef RT_USING_CAN
+#include "drivers/can.h"
+#endif
+
 #ifdef __cplusplus
 }
 #endif