diff --git a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h
index b4720e93f0ef1361fabea46a567870a755ae00fe..54c18d5f3a278b25997e83373bf7a605674471db 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h
@@ -35,7 +35,7 @@
 #define HAL_MODULE_ENABLED  
   /*#define HAL_ADC_MODULE_ENABLED   */
 /*#define HAL_CRYP_MODULE_ENABLED   */
-/*#define HAL_CAN_MODULE_ENABLED   */
+#define HAL_CAN_MODULE_ENABLED   
 /*#define HAL_CAN_LEGACY_MODULE_ENABLED   */
 /*#define HAL_CEC_MODULE_ENABLED   */
 /*#define HAL_CORTEX_MODULE_ENABLED   */
diff --git a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c
index 26c9270e6b749643b44fed54257dd8aaca8bc387..5a7f5eedf6afdda52a26cc14de041a3b514334a8 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c
@@ -294,6 +294,73 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
   }
 
 }
+/**
+* @brief CAN MSP Initialization
+* This function configures the hardware resources used in this example
+* @param hcan: CAN handle pointer
+* @retval None
+*/
+void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(hcan->Instance==CAN1)
+  {
+  /* USER CODE BEGIN CAN1_MspInit 0 */
+
+  /* USER CODE END CAN1_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_CAN1_CLK_ENABLE();
+  
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**CAN GPIO Configuration    
+    PA11     ------> CAN_RX
+    PA12     ------> CAN_TX 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_11;
+    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_12;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN CAN1_MspInit 1 */
+
+  /* USER CODE END CAN1_MspInit 1 */
+  }
+
+}
+/**
+* @brief CAN MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param hcan: CAN handle pointer
+* @retval None
+*/
+void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
+{
+  if(hcan->Instance==CAN1)
+  {
+  /* USER CODE BEGIN CAN1_MspDeInit 0 */
+
+  /* USER CODE END CAN1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_CAN1_CLK_DISABLE();
+  
+    /**CAN GPIO Configuration    
+    PA11     ------> CAN_RX
+    PA12     ------> CAN_TX 
+    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
+
+  /* USER CODE BEGIN CAN1_MspDeInit 1 */
+
+  /* USER CODE END CAN1_MspDeInit 1 */
+  }
+
+}
+
 
 static uint32_t FSMC_Initialized = 0;
 
diff --git a/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig b/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig
index 80ef1ab3a6cd7f96e68dcc6da94520a2fea3942e..d55f0f721bc4f5cbb4941cfc13496cd37b5cc9a1 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig
@@ -188,7 +188,18 @@ menu "On-chip Peripheral Drivers"
                 bool "Enable ADC1"
                 default n
         endif
-
+    menuconfig BSP_USING_CAN
+        bool "Enable CAN"
+        default n
+        select RT_USING_CAN
+        if BSP_USING_CAN
+            config BSP_USING_CAN1
+                bool "Enable CAN1"
+                default n
+            config BSP_USING_CAN2
+                bool "Enable CAN2"
+                default n
+        endif
     config BSP_USING_ON_CHIP_FLASH
         bool "Enable on-chip FLASH"
         default n 
diff --git a/tools/rtthread.mk b/tools/rtthread.mk
index fdc96d4156a35b0b136081412a4d4e69bd31b10c..7cf018cb52193a502173265558eec06c19036e2e 100644
--- a/tools/rtthread.mk
+++ b/tools/rtthread.mk
@@ -55,6 +55,20 @@ $(if $(strip $(LOCALS)),$(eval $(LOCALS): $(S_SRC)
 	@$(CROSS_COMPILE)gcc $$(AFLAGS) -c $$< -o $$@))
 endef
 
+define add_s_file
+$(eval S_SRC := $(1:$(BSP_ROOT)/%=%)) \
+$(eval S_SRC := $(S_SRC:$(RTT_ROOT)/%=%)) \
+$(eval SOBJ := $(1:%.s=%.o)) \
+$(eval SOBJ := $(SOBJ:$(BSP_ROOT)/%=$(BSP_BUILD_DIR)/%)) \
+$(eval SOBJ := $(SOBJ:$(RTT_ROOT)/%=$(RTT_BUILD_DIR)/%)) \
+$(eval LOCALS := $(addprefix $(BUILD_DIR)/,$(SOBJ))) \
+$(eval OBJS += $(LOCALS)) \
+$(if $(strip $(LOCALS)),$(eval $(LOCALS): $(S_SRC)
+	@if [ ! -d $$(@D) ]; then mkdir -p $$(@D); fi
+	@echo cc $$<
+	@$(CROSS_COMPILE)gcc $$(AFLAGS) -c $$< -o $$@))
+endef
+
 add_flg = $(eval CFLAGS += $1) \
           $(eval AFLAGS += $1) \
           $(eval CXXFLAGS += $1)
@@ -89,6 +103,9 @@ $(if $(SRCS),$(foreach f,$(SRCS),$(call add_cxx_file,$(f))))
 SRCS := $(strip $(filter %.S,$(SRC_FILES)))
 $(if $(SRCS),$(foreach f,$(SRCS),$(call add_S_file,$(f))))
 
+SRCS := $(strip $(filter %.s,$(SRC_FILES)))
+$(if $(SRCS),$(foreach f,$(SRCS),$(call add_s_file,$(f))))
+
 CFLAGS += $(CPPPATHS)
 CXXFLAGS += $(CPPPATHS)
 AFLAGS += $(CPPPATHS)