rt-thread/bsp/essemi/es32f369x/drivers/drv_can.c

/*
 * Copyright (C) 2018 Shanghai Eastsoft Microelectronics Co., Ltd.
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Licensed under the Apache License, Version 2.0 (the License); you may
 * not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an AS IS BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 * Change Logs:
 * Date           Author        Notes
 * 2020-01-14     wangyq        the first version
 * 2021-04-20     liuhy         the second version
 */

#include "drv_can.h"

#ifdef RT_USING_CAN

static struct es32f3_can can;


static rt_uint32_t get_can_baud_index(rt_uint32_t baud,can_init_t * init)
{
/* attention !!! baud calculation example: Pclk / ((1 + seg1 + seg2) * psc)       Pclk=48 / ((1 + seg1=3 + seg2=2) * 8) = 1MHz */
    double target,temp,min;
    uint32_t i,j,j_max,near = 0;
    target = (double)(ald_cmu_get_pclk1_clock());
    target/= baud;                               /*计算误差1*/

    min = 0xFFFFFFFF;

    for(i = 1 + 16 + 8 ;i > 2;i--)     /*SYNC_SEG + SEG1 + SEG2*/
    {
        j_max = target/i/(0.98) + 1;                          /*缩小范围*/
        j_max = (j_max > 1024) ? (1024) : (j_max);

        for(j = target/i/1.02 ;j < j_max;j++)
        {
            temp = target/i/j;                      /*计算误差2*/
            temp = (temp > 1) ? (temp - 1) : (1 - temp);
            temp+= ((1.0 * i * j) / 0xFFFFFFFF) ;

            if(temp < min)
            {
                if(temp > 0.000001)
                {
                     near = (i<<16) + j;
                     min = temp;
                }
                else
                {
                     init->seg1 = (can_seg1_t)((i - 1)*2/3-1);
                     init->seg2 = (can_seg2_t)(i - init->seg1 - 1 - 1 - 1);
                     init->psc = j;

                     return 0;
                 }
             }
         }
    }

    if(min < 0.01)
    {
        i = near>>16;
        j = near % (1<<16);
        init->seg1 = (can_seg1_t)((i - 1)*2/3-1);
        init->seg2 = (can_seg2_t)(i - init->seg1 - 1 - 1 - 1);
        init->psc = j;

        return 0;
    }
    else
    {
        return 1;
    }
}


static rt_err_t _can_config(struct rt_can_device *can_device, struct can_configure *cfg)
{
    struct es32f3_can *drv_can;

    RT_ASSERT(can_device);
    RT_ASSERT(cfg);
    drv_can = (struct es32f3_can *)can_device->parent.user_data;
    RT_ASSERT(drv_can);

    drv_can->CanHandle.perh = CAN0;
    drv_can->CanHandle.init.ttcm = DISABLE;
    drv_can->CanHandle.init.abom = ENABLE;
    drv_can->CanHandle.init.awk = DISABLE;
    drv_can->CanHandle.init.artx = (type_func_t)ES_CAN0_AUTO_BAN_RE_T;
    drv_can->CanHandle.init.rfom   = DISABLE;
    drv_can->CanHandle.init.txmp   = ENABLE;

    switch (cfg->mode)
    {
    case RT_CAN_MODE_NORMAL:
        drv_can->CanHandle.init.mode = CAN_MODE_NORMAL;
        break;
    case RT_CAN_MODE_LISTEN:
        drv_can->CanHandle.init.mode = CAN_MODE_SILENT;
        break;
    case RT_CAN_MODE_LOOPBACK:
        drv_can->CanHandle.init.mode = CAN_MODE_LOOPBACK;
        break;
    case RT_CAN_MODE_LOOPBACKANLISTEN:
        drv_can->CanHandle.init.mode = CAN_MODE_SILENT_LOOPBACK;
        break;
    }
    /*配置参数*/
    if(get_can_baud_index(cfg->baud_rate,&(drv_can->CanHandle.init)))
    {
        return -RT_ERROR;
    }
    drv_can->CanHandle.init.sjw = (can_sjw_t)(cfg->reserved);

    /* init can */
    if (ald_can_init(&drv_can->CanHandle) != OK)
    {
        return -RT_ERROR;
    }
    /* default filter config */
    ald_can_filter_config(&drv_can->CanHandle, &drv_can->FilterConfig);

    return RT_EOK;
}

static rt_err_t _can_control(struct rt_can_device *can_device, int cmd, void *arg)
{
    rt_uint32_t argval;

    struct es32f3_can *drv_can;

#ifdef RT_CAN_USING_HDR
    struct rt_can_filter_config *filter_cfg;
#endif

    RT_ASSERT(can_device != RT_NULL);
    drv_can = (struct es32f3_can *)can_device->parent.user_data;
    RT_ASSERT(drv_can != RT_NULL);

    switch (cmd)
    {
    case RT_DEVICE_CTRL_CLR_INT:
        argval = (rt_uint32_t) arg;
        if (argval == RT_DEVICE_FLAG_INT_RX)
        {
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FP0, DISABLE);
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FF0, DISABLE);
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FOV0, DISABLE);
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FP1, DISABLE);
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FF1, DISABLE);
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FOV1, DISABLE);
        }
        else if (argval == RT_DEVICE_FLAG_INT_TX)
        {
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_TXM, DISABLE);
        }
        else if (argval == RT_DEVICE_CAN_INT_ERR)
        {
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_WARN, DISABLE);
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_PERR, DISABLE);
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_BOF, DISABLE);
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_PRERR, DISABLE);
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_ERR, DISABLE);
        }
        break;
    case RT_DEVICE_CTRL_SET_INT:
        argval = (rt_uint32_t) arg;
        if (argval == RT_DEVICE_FLAG_INT_RX)
        {
            NVIC_SetPriority(CAN0_RX0_IRQn, 1);
            NVIC_EnableIRQ(CAN0_RX0_IRQn);

            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FP0, ENABLE);
//            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FF0, ENABLE);
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FOV0, ENABLE);
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FP1, ENABLE);
//            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FF1, ENABLE);
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FOV1, ENABLE);

        }
        else if (argval == RT_DEVICE_FLAG_INT_TX)
        {
            NVIC_SetPriority(CAN0_TX_IRQn, 1);
            NVIC_EnableIRQ(CAN0_TX_IRQn);

            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_TXM, ENABLE);
        }
        else if (argval == RT_DEVICE_CAN_INT_ERR)
        {
            NVIC_SetPriority(CAN0_EXCEPTION_IRQn, 1);
            NVIC_EnableIRQ(CAN0_EXCEPTION_IRQn);

            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_WARN, ENABLE);
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_PERR, ENABLE);
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_BOF, ENABLE);
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_PRERR, ENABLE);
            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_ERR, ENABLE);

        }
        break;
#ifdef RT_CAN_USING_HDR
    case RT_CAN_CMD_SET_FILTER:
        if (RT_NULL == arg)
        {
            /* default filter config */
            ald_can_filter_config(&drv_can->CanHandle, &drv_can->FilterConfig);
        }
        else
        {
            filter_cfg = (struct rt_can_filter_config *)arg;
            /* get default filter */
            for (int i = 0; i < filter_cfg->count; i++)
            {

                /*默认过滤表判断*/
                if(filter_cfg->items[i].hdr_bank < drv_can->device.config.maxhdr)
                    drv_can->FilterConfig.number = filter_cfg->items[i].hdr_bank;
                else
                    drv_can->FilterConfig.number = ES_C_CAN_DEFAULT_FILTER_NUMBER;

               if(filter_cfg->items[i].mode)
               {
                    /*标识符列表模式： 类型匹配 ，id匹配为：接收的id = 配置的id
                                                                或者 = 配置的mask ，通过*/
                    /*扩展帧*/
                    if(filter_cfg->items[i].ide)
                    {
//                         filter_cfg->items[i].id =  filter_cfg->items[i].id ;    /*id 29 位*/
                         filter_cfg->items[i].mask = ((filter_cfg->items[i].mask << 3) |
                                                    (filter_cfg->items[i].ide << 2) |
                                                    (filter_cfg->items[i].rtr << 1));
                    }
                    else  /*标准帧*/
                    {
                         filter_cfg->items[i].id = (filter_cfg->items[i].id << 18);
                         filter_cfg->items[i].mask = ((filter_cfg->items[i].mask << 21) |
                                                    (filter_cfg->items[i].ide << 2) |
                                                    (filter_cfg->items[i].rtr << 1));
                    }
                }
                else
                {
                    /*标识符掩码模式*/
                    /*扩展帧*/
                    if(filter_cfg->items[i].ide)
                    {
                         filter_cfg->items[i].mask = (filter_cfg->items[i].mask)<<3;
                    }
                    else  /*标准帧*/
                    {
                         filter_cfg->items[i].id = (filter_cfg->items[i].id)<<18;
                         filter_cfg->items[i].mask = (filter_cfg->items[i].mask)<<21;
                    }

#if   ES_C_CAN_FILTER_FRAME_TYPE
                    /*匹配类型*/
                    filter_cfg->items[i].mask |= 0x6;
#endif

                }

                drv_can->FilterConfig.id_high = (filter_cfg->items[i].id >> 13) & 0xFFFF;
                drv_can->FilterConfig.id_low = ((filter_cfg->items[i].id << 3) |
                                                (filter_cfg->items[i].ide << 2) |
                                                (filter_cfg->items[i].rtr << 1)) & 0xFFFF;
                drv_can->FilterConfig.mask_id_high = (filter_cfg->items[i].mask >> 16) & 0xFFFF;
                drv_can->FilterConfig.mask_id_low = filter_cfg->items[i].mask & 0xFFFF;

                drv_can->FilterConfig.mode = (can_filter_mode_t)filter_cfg->items[i].mode;
                /* Filter conf */
                ald_can_filter_config(&drv_can->CanHandle, &drv_can->FilterConfig);
            }
        }
        break;

#endif
    case RT_CAN_CMD_SET_MODE:
        argval = (rt_uint32_t) arg;
        if (argval != RT_CAN_MODE_NORMAL &&
                argval != RT_CAN_MODE_LISTEN &&
                argval != RT_CAN_MODE_LOOPBACK &&
                argval != RT_CAN_MODE_LOOPBACKANLISTEN)
        {
            return -RT_ERROR;
        }
        if (argval != drv_can->device.config.mode)
        {
            drv_can->device.config.mode = argval;
            return _can_config(&drv_can->device, &drv_can->device.config);
        }
        break;
    case RT_CAN_CMD_SET_BAUD:
        argval = (rt_uint32_t) arg;

        if (argval != drv_can->device.config.baud_rate)
        {
            drv_can->device.config.baud_rate = argval;
            return _can_config(&drv_can->device, &drv_can->device.config);
        }
        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 != drv_can->device.config.privmode)
        {
            drv_can->device.config.privmode = argval;
            return _can_config(&drv_can->device, &drv_can->device.config);
        }
        break;
    case RT_CAN_CMD_GET_STATUS:
    {
        rt_uint32_t errtype;
        errtype = drv_can->CanHandle.perh->ERRSTAT;
        drv_can->device.status.rcverrcnt = errtype >> 24;
        drv_can->device.status.snderrcnt = (errtype >> 16 & 0xFF);
        drv_can->device.status.lasterrtype = errtype & 0x70;
        drv_can->device.status.errcode = errtype & 0x07;

        rt_memcpy(arg, &drv_can->device.status, sizeof(drv_can->device.status));
    }
    break;
    }

    return RT_EOK;
}

static int _can_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t box_num)
{
    can_handle_t *h_can;
    h_can = &((struct es32f3_can *) can->parent.user_data)->CanHandle;
    struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
    can_tx_msg_t txheader = {0};
    can_state_t state = h_can->state;

    /* Check the parameters */
    RT_ASSERT(IS_CAN_DATA_LEN(pmsg->len));

    if ((state == CAN_STATE_READY) ||
            (state == CAN_STATE_BUSY_RX0))
    {
        /*check select mailbox  is empty */
        switch (1 << box_num)
        {
        case CAN_TX_MAILBOX_0:
            if (ald_can_get_flag_status(h_can, CAN_FLAG_TXM0) != SET)
            {
                /* Change CAN state */
                h_can->state = CAN_STATE_ERROR;
                /* Return function status */
                return -RT_ERROR;
            }
            break;
        case CAN_TX_MAILBOX_1:
            if (ald_can_get_flag_status(h_can, CAN_FLAG_TXM1) != SET)
            {
                /* Change CAN state */
                h_can->state = CAN_STATE_ERROR;
                /* Return function status */
                return -RT_ERROR;
            }
            break;
        case CAN_TX_MAILBOX_2:
            if (ald_can_get_flag_status(h_can, CAN_FLAG_TXM2) != SET)
            {
                /* Change CAN state */
                h_can->state = CAN_STATE_ERROR;
                /* Return function status */
                return -RT_ERROR;
            }
            break;
        default:
            RT_ASSERT(0);
            break;
        }

        if (RT_CAN_STDID == pmsg->ide)
        {
            txheader.type = CAN_ID_STD;
            RT_ASSERT(IS_CAN_STDID(pmsg->id));
            txheader.std = pmsg->id;
        }
        else
        {
            txheader.type = CAN_ID_EXT;
            RT_ASSERT(IS_CAN_EXTID(pmsg->id));
            txheader.ext = pmsg->id;
        }

        if (RT_CAN_DTR == pmsg->rtr)
        {
            txheader.rtr = CAN_RTR_DATA;
        }
        else
        {
            txheader.rtr = CAN_RTR_REMOTE;
        }
        /* clear TIR */
        h_can->perh->TxMailBox[box_num].TXID &= CAN_TXID0_TXMREQ_MSK;

        /* Set up the Id */
        if (RT_CAN_STDID == pmsg->ide)
        {
            h_can->perh->TxMailBox[box_num].TXID |= (txheader.std << CAN_TXID0_STDID_POSS) | (txheader.rtr << CAN_TXID0_RTR_POS);
        }
        else
        {
            h_can->perh->TxMailBox[box_num].TXID |= (txheader.ext << CAN_TXID0_EXID_POSS) | (txheader.type << CAN_TXID0_IDE_POS) | (txheader.rtr << CAN_TXID0_RTR_POS);
        }
        /* Set up the DLC */
        h_can->perh->TxMailBox[box_num].TXFCON = pmsg->len & 0x0FU;
        /* Set up the data field */
        WRITE_REG(h_can->perh->TxMailBox[box_num].TXDH,
                  ((uint32_t)pmsg->data[7] << CAN_TXDH0_BYTE7_POSS) |
                  ((uint32_t)pmsg->data[6] << CAN_TXDH0_BYTE6_POSS) |
                  ((uint32_t)pmsg->data[5] << CAN_TXDH0_BYTE5_POSS) |
                  ((uint32_t)pmsg->data[4] << CAN_TXDH0_BYTE4_POSS));
        WRITE_REG(h_can->perh->TxMailBox[box_num].TXDL,
                  ((uint32_t)pmsg->data[3] << CAN_TXDL0_BYTE3_POSS) |
                  ((uint32_t)pmsg->data[2] << CAN_TXDL0_BYTE2_POSS) |
                  ((uint32_t)pmsg->data[1] << CAN_TXDL0_BYTE1_POSS) |
                  ((uint32_t)pmsg->data[0] << CAN_TXDL0_BYTE0_POSS));
        /* Request transmission */
        SET_BIT(h_can->perh->TxMailBox[box_num].TXID, CAN_TXID0_TXMREQ_MSK);

        return RT_EOK;
    }
    else
    {
        /* Update error code */
        h_can->err |= 0x00040000U;

        return -RT_ERROR;
    }


}

static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
{
    can_handle_t *h_can;
    struct rt_can_msg *pmsg;
    can_rx_msg_t rxheader = {0};

    RT_ASSERT(can);

    h_can = &((struct es32f3_can *)can->parent.user_data)->CanHandle;
    pmsg = (struct rt_can_msg *) buf;

    /* get data */
    if (ald_can_recv(h_can, (can_rx_fifo_t)fifo, &rxheader, 0xFFFF) != OK)
        return -RT_ERROR;
    pmsg->data[0] = rxheader.data[0];
    pmsg->data[1] = rxheader.data[1];
    pmsg->data[2] = rxheader.data[2];
    pmsg->data[3] = rxheader.data[3];
    pmsg->data[4] = rxheader.data[4];
    pmsg->data[5] = rxheader.data[5];
    pmsg->data[6] = rxheader.data[6];
    pmsg->data[7] = rxheader.data[7];

    /* get id */
    if (CAN_ID_STD == rxheader.type)
    {
        pmsg->ide = RT_CAN_STDID;
        pmsg->id = rxheader.std;
    }
    else
    {
        pmsg->ide = RT_CAN_EXTID;
        pmsg->id = rxheader.ext;
    }
    /* get type */
    if (CAN_RTR_DATA == rxheader.rtr)
    {
        pmsg->rtr = RT_CAN_DTR;
    }
    else
    {
        pmsg->rtr = RT_CAN_RTR;
    }
    /* get len */
    pmsg->len = rxheader.len;
    /* get hdr_index */
    pmsg->hdr_index = (rxheader.fmi + 1) >> 1;

    return RT_EOK;
}


static const struct rt_can_ops _can_ops =
{
    _can_config,
    _can_control,
    _can_sendmsg,
    _can_recvmsg,
};

static void _can_rx_isr(struct rt_can_device *can, rt_uint32_t fifo)
{
    can_handle_t *h_can;
    RT_ASSERT(can);
    h_can = &((struct es32f3_can *) can->parent.user_data)->CanHandle;

    switch (fifo)
    {
    case CAN_RX_FIFO0:
        /* Check Overrun flag for FIFO0 */
        if (ald_can_get_flag_status(h_can, CAN_FLAG_FOV0) && ald_can_get_it_status(h_can, CAN_IT_FOV0))
        {
            /* Clear FIFO0 Overrun Flag */
            ald_can_clear_flag_status(h_can, CAN_FLAG_FOV0);
            rt_hw_can_isr(can, RT_CAN_EVENT_RXOF_IND | fifo << 8);
        }
        /* RX interrupt */
        else
        {
           if(CAN_RX_MSG_PENDING(h_can, CAN_RX_FIFO0) != 0)
            {
            /* save to user list */
            rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8);
            }

            /* Clear FIFO0 rx Flag */
            SET_BIT(h_can->perh->RXF0, CAN_RXF0_FREE_MSK);
        }
        break;
    case CAN_RX_FIFO1:
        /* Check Overrun flag for FIFO1 */
        if (ald_can_get_flag_status(h_can, CAN_FLAG_FOV1) && ald_can_get_it_status(h_can, CAN_IT_FOV1))
        {
            /* Clear FIFO1 Overrun Flag */
            ald_can_clear_flag_status(h_can, CAN_FLAG_FOV1);
            rt_hw_can_isr(can, RT_CAN_EVENT_RXOF_IND | fifo << 8);
        }
        /* RX interrupt */
        else
        {
            if(CAN_RX_MSG_PENDING(h_can, CAN_RX_FIFO1) != 0)
            {
            /* save to user list */
            rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8);
            }

            /* Clear FIFO0 rx Flag */
            SET_BIT(h_can->perh->RXF1, CAN_RXF1_FREE_MSK);
        }
        break;
    }
}

/**
 * @brief This function handles CAN0 TX interrupts. transmit fifo0/1/2 is empty can trigger this interrupt
 */
void CAN0_TX_Handler(void)
{
    rt_interrupt_enter();
    can_handle_t *h_can;
    h_can = &can.CanHandle;

    /* TX interrupt. transmit fifo0/1/2 is empty can trigger this interrupt */
    if (ald_can_get_flag_status(h_can, CAN_FLAG_M0REQC) && ald_can_get_it_status(h_can, CAN_IT_TXM))
    {
        if (ald_can_get_flag_status(h_can, CAN_FLAG_M0TXC))
        {
            rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_DONE | 0 << 8);
        }
        else
        {
            rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
        }
        /* Clear transmission status flag M0REQC */
        ald_can_clear_flag_status(h_can, CAN_FLAG_M0REQC);
    }
    else if (ald_can_get_flag_status(h_can, CAN_FLAG_M1REQC) && ald_can_get_it_status(h_can, CAN_IT_TXM))
    {
        if (ald_can_get_flag_status(h_can, CAN_FLAG_M1TXC))
        {
            rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_DONE | 1 << 8);
        }
        else
        {
            rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
        }
        ald_can_clear_flag_status(h_can, CAN_FLAG_M1REQC);
    }
    else if (ald_can_get_flag_status(h_can, CAN_FLAG_M2REQC) && ald_can_get_it_status(h_can, CAN_IT_TXM))
    {
        if (ald_can_get_flag_status(h_can, CAN_FLAG_M2REQC))
        {
            rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_DONE | 2 << 8);
        }
        else
        {
            rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
        }
        ald_can_clear_flag_status(h_can, CAN_FLAG_M2REQC);
    }

    rt_interrupt_leave();
}

/**
 * @brief This function handles CAN0 RX0 interrupts.
 */
void CAN0_RX0_Handler(void)
{
    rt_interrupt_enter();
    _can_rx_isr(&can.device, CAN_RX_FIFO0);
    rt_interrupt_leave();
}

/**
 * @brief This function handles CAN0 RX1 interrupts.
 */
void CAN0_RX1_Handler(void)
{
    rt_interrupt_enter();
    _can_rx_isr(&can.device, CAN_RX_FIFO1);
    rt_interrupt_leave();
}

/**
 * @brief This function handles CAN interrupts.
 */
void CAN0_EXCEPTION_Handler(void)
{
    rt_interrupt_enter();

    rt_uint32_t errtype;
    can_handle_t *h_can;

    h_can = &can.CanHandle;
    errtype = h_can->perh->ERRSTAT;

    switch ((errtype & 0x70) >> 4)
    {
    case RT_CAN_BUS_BIT_PAD_ERR:
        can.device.status.bitpaderrcnt++;
        break;
    case RT_CAN_BUS_FORMAT_ERR:
        can.device.status.formaterrcnt++;
        break;
    case RT_CAN_BUS_ACK_ERR:/* attention !!! test ack err's unit is transmit unit */
        can.device.status.ackerrcnt++;
        if (!READ_BIT(can.CanHandle.perh->TXSTAT, CAN_FLAG_M0TXC))
            rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
        else if (!READ_BIT(can.CanHandle.perh->TXSTAT, CAN_FLAG_M0TXC))
            rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
        else if (!READ_BIT(can.CanHandle.perh->TXSTAT, CAN_FLAG_M0TXC))
            rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
        break;
    case RT_CAN_BUS_IMPLICIT_BIT_ERR:
    case RT_CAN_BUS_EXPLICIT_BIT_ERR:
        can.device.status.biterrcnt++;
        break;
    case RT_CAN_BUS_CRC_ERR:
        can.device.status.crcerrcnt++;
        break;
    }

    can.device.status.lasterrtype = errtype & 0x70;
    can.device.status.rcverrcnt = errtype >> 24;
    can.device.status.snderrcnt = (errtype >> 16 & 0xFF);
    can.device.status.errcode = errtype & 0x07;
    h_can->perh->IFC |= CAN_IFC_ERRIFC_MSK;

    rt_interrupt_leave();
}

int rt_hw_can_init(void)
{
    gpio_init_t h_gpio;

    /* Initialize can common pin */
    h_gpio.odos = GPIO_PUSH_PULL;
    h_gpio.pupd = GPIO_PUSH_UP;
    h_gpio.podrv = GPIO_OUT_DRIVE_6;
    h_gpio.nodrv = GPIO_OUT_DRIVE_6;
    h_gpio.flt  = GPIO_FILTER_DISABLE;
    h_gpio.type = GPIO_TYPE_TTL;

#if  defined(ES_CAN0_RX_GPIO_FUNC)&&defined(ES_CAN0_RX_GPIO_PORT)&&defined(ES_CAN0_RX_GPIO_PIN)
    /* Initialize can rx pin */
    h_gpio.mode = GPIO_MODE_INPUT;
    h_gpio.func = ES_CAN0_RX_GPIO_FUNC;
    ald_gpio_init(ES_CAN0_RX_GPIO_PORT, ES_CAN0_RX_GPIO_PIN, &h_gpio);
#endif


#if  defined(ES_CAN0_TX_GPIO_FUNC)&&defined(ES_CAN0_TX_GPIO_PORT)&&defined(ES_CAN0_TX_GPIO_PIN)
    /* Initialize can tx pin */
    h_gpio.mode = GPIO_MODE_OUTPUT;
    h_gpio.func = ES_CAN0_TX_GPIO_FUNC;
    ald_gpio_init(ES_CAN0_TX_GPIO_PORT, ES_CAN0_TX_GPIO_PIN, &h_gpio);
#endif


    /* config default filter */
    can_filter_t filter = {0};
    filter.id_high = 0x0000;
    filter.id_low = 0x0000;
    filter.mask_id_high = 0x0000;
    filter.mask_id_low = 0x0000;
    filter.fifo = CAN_FILTER_FIFO0;
    filter.number = ES_C_CAN_DEFAULT_FILTER_NUMBER;
    filter.mode = CAN_FILTER_MODE_MASK;
    filter.scale = CAN_FILTER_SCALE_32;
    filter.active = ENABLE;

    can.FilterConfig = filter;
    can.device.config = (struct can_configure)ES_CAN0_CONFIG;
#ifdef RT_CAN_USING_HDR
    can.device.config.maxhdr = 14;
#endif
    can.device.config.privmode = RT_CAN_MODE_NOPRIV;
    can.device.config.ticks = 50;
    can.device.config.reserved = ES_CAN0_SJW;
    /* register CAN1 device */
    rt_hw_can_register(&can.device, ES_DEVICE_NAME_CAN0, &_can_ops, &can);

    return 0;
}
INIT_BOARD_EXPORT(rt_hw_can_init);

#endif /* BSP_USING_CAN */