Merge pull request #2352 from ylz0923/master

[bsp][stm32] add can driver.

bsp/stm32/libraries/HAL_Drivers/SConscript

@@ -38,6 +38,9 @@ if GetDepend('RT_USING_LWIP'):
 if GetDepend(['RT_USING_ADC']):
     src += Glob('drv_adc.c')
 
+if GetDepend(['RT_USING_CAN']):
+    src += ['drv_can.c']
+
 if GetDepend('BSP_USING_SDRAM'):
     src += ['drv_sdram.c']
 

bsp/stm32/libraries/HAL_Drivers/drv_can.h

+/*
+ * Copyright (c) 2006-2018, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2018-08-05     Xeon Xu      the first version
+ * 2019-01-22     YLZ          port from stm324xx-HAL to bsp stm3210x-HAL
+ * 2019-01-26     YLZ          redefine `struct stm32_drv_can` add member `Rx1Message`
+ * 2019-02-19     YLZ          port to BSP [stm32]
+ */
+#ifndef __DRV_CAN_H__
+#define __DRV_CAN_H__
+#include "board.h"
+#include <rtdevice.h>
+#include <rthw.h>
+#include <rtthread.h>
+
+#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 )
+
+struct stm_baud_rate_tab
+{
+    rt_uint32_t baud_rate;
+    rt_uint32_t confdata;
+};
+
+/* STM32 can driver */
+struct stm32_drv_can
+{
+    CAN_HandleTypeDef CanHandle;
+    CanTxMsgTypeDef TxMessage;
+    CanRxMsgTypeDef RxMessage;
+    CanRxMsgTypeDef Rx1Message;
+    CAN_FilterConfTypeDef FilterConfig;
+};
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+extern int rt_hw_can_init(void);
+#ifdef __cplusplus
+ }
+#endif
+#endif /*__DRV_CAN_H__ */

bsp/stm32/libraries/STM32F1xx_HAL/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_can.h

@@ -374,7 +374,7 @@ typedef struct
 #define CAN_FLAG_RQCP2             ((uint32_t)((TSR_REGISTER_INDEX << 8U) | CAN_TSR_RQCP2_BIT_POSITION))  /*!< Request MailBox2 flag         */
 #define CAN_FLAG_TXOK0             ((uint32_t)((TSR_REGISTER_INDEX << 8U) | CAN_TSR_TXOK0_BIT_POSITION))  /*!< Transmission OK MailBox0 flag */
 #define CAN_FLAG_TXOK1             ((uint32_t)((TSR_REGISTER_INDEX << 8U) | CAN_TSR_TXOK1_BIT_POSITION))  /*!< Transmission OK MailBox1 flag */
-#define CAN_FLAG_TXOK2             ((uint32_t)((TSR_REGISTER_INDEX << 8U) | CAN_TSR_RQCP0_BIT_POSITION))  /*!< Transmission OK MailBox2 flag */
+#define CAN_FLAG_TXOK2             ((uint32_t)((TSR_REGISTER_INDEX << 8U) | CAN_TSR_TXOK2_BIT_POSITION))  /*!< Transmission OK MailBox2 flag */
 #define CAN_FLAG_TME0              ((uint32_t)((TSR_REGISTER_INDEX << 8U) | CAN_TSR_TME0_BIT_POSITION))   /*!< Transmit mailbox 0 empty flag */
 #define CAN_FLAG_TME1              ((uint32_t)((TSR_REGISTER_INDEX << 8U) | CAN_TSR_TME1_BIT_POSITION))   /*!< Transmit mailbox 0 empty flag */
 #define CAN_FLAG_TME2              ((uint32_t)((TSR_REGISTER_INDEX << 8U) | CAN_TSR_TME2_BIT_POSITION))   /*!< Transmit mailbox 0 empty flag */

bsp/stm32/stm32f103-fire-arbitrary/README.md

@@ -45,7 +45,7 @@
 | 以太网       |     支持     | W5500                                 |
 | 电位器       |     支持     | 使用 ADC1                              |
 | SD卡         |   即将支持   |                                       |
-| CAN          |   即将支持   |                                       |
+| CAN          |     支持     |                                       |
 | SDRAM        |   即将支持   |                                       |
 | WIFI ESP8266 |   即将支持   |                                       |
 | **片上外设** | **支持情况** | **备注**                              |

bsp/stm32/stm32f103-fire-arbitrary/board/CubeMX_Config/.mxproject

 [PreviousGenFiles]
-HeaderPath=D:/BspFramework/rt-thread/bsp/stm32/stm32f103-fire-arbitrary/board/CubeMX_Config/Inc
+HeaderPath=E:/RTT_ROOT/rt-thread/bsp/stm32/stm32f103-fire-arbitrary/board/CubeMX_Config/Inc
 HeaderFiles=stm32f1xx_it.h;stm32f1xx_hal_conf.h;main.h;
-SourcePath=D:/BspFramework/rt-thread/bsp/stm32/stm32f103-fire-arbitrary/board/CubeMX_Config/Src
+SourcePath=E:/RTT_ROOT/rt-thread/bsp/stm32/stm32f103-fire-arbitrary/board/CubeMX_Config/Src
 SourceFiles=stm32f1xx_it.c;stm32f1xx_hal_msp.c;main.c;
 
 [PreviousLibFiles]
-LibFiles=Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_iwdg.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rtc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rtc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_sdmmc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_sd.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h;Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_iwdg.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_sdmmc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_sd.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_spi.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_spi_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_iwdg.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rtc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rtc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_sdmmc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_sd.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h;Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xe.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h;Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/system_stm32f1xx.c;Drivers/CMSIS/Include/arm_common_tables.h;Drivers/CMSIS/Include/arm_const_structs.h;Drivers/CMSIS/Include/arm_math.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armcc_V6.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_cmFunc.h;Drivers/CMSIS/Include/core_cmInstr.h;Drivers/CMSIS/Include/core_cmSimd.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;
+LibFiles=Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_can.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_iwdg.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rtc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rtc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_sdmmc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_sd.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h;Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_iwdg.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_sdmmc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_sd.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_spi.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_spi_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_can.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_iwdg.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rtc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rtc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_sdmmc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_sd.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h;Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xe.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h;Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/system_stm32f1xx.c;Drivers/CMSIS/Include/arm_common_tables.h;Drivers/CMSIS/Include/arm_const_structs.h;Drivers/CMSIS/Include/arm_math.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armcc_V6.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_cmFunc.h;Drivers/CMSIS/Include/core_cmInstr.h;Drivers/CMSIS/Include/core_cmSimd.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;
 
 [PreviousUsedKeilFiles]
-SourceFiles=..\Src\main.c;..\Src\stm32f1xx_it.c;..\Src\stm32f1xx_hal_msp.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_iwdg.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_sdmmc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_sd.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_spi.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_spi_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;../\Src/system_stm32f1xx.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_iwdg.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_sdmmc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_sd.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_spi.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_spi_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;../\Src/system_stm32f1xx.c;../Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/system_stm32f1xx.c;null;
+SourceFiles=..\Src\main.c;..\Src\stm32f1xx_it.c;..\Src\stm32f1xx_hal_msp.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_iwdg.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_sdmmc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_sd.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_spi.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_spi_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;../\Src/system_stm32f1xx.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_iwdg.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_sdmmc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_sd.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_spi.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_spi_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;../\Src/system_stm32f1xx.c;../Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/system_stm32f1xx.c;null;
 HeaderPath=..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include;..\Inc;
 

bsp/stm32/stm32f103-fire-arbitrary/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h

@@ -5,7 +5,7 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
+  * <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
   *
   * Redistribution and use in source and binary forms, with or without modification,
   * are permitted provided that the following conditions are met:
@@ -51,7 +51,7 @@
 #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_CEC_MODULE_ENABLED   */
 /*#define HAL_CORTEX_MODULE_ENABLED   */
 /*#define HAL_CRC_MODULE_ENABLED   */

bsp/stm32/stm32f103-fire-arbitrary/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c

@@ -166,6 +166,79 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
 
 }
 
+/**
+* @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_GPIOB_CLK_ENABLE();
+    /**CAN GPIO Configuration    
+    PB8     ------> CAN_RX
+    PB9     ------> CAN_TX 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_8;
+    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_9;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+    __HAL_AFIO_REMAP_CAN1_2();
+
+  /* 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    
+    PB8     ------> CAN_RX
+    PB9     ------> CAN_TX 
+    */
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);
+
+  /* USER CODE BEGIN CAN1_MspDeInit 1 */
+
+  /* USER CODE END CAN1_MspDeInit 1 */
+  }
+
+}
+
 /**
 * @brief RTC MSP Initialization
 * This function configures the hardware resources used in this example

bsp/stm32/stm32f103-fire-arbitrary/board/CubeMX_Config/stm32f103zet6.ioc

@@ -5,26 +5,30 @@ ADC1.NbrOfConversionFlag=1
 ADC1.Rank-0\#ChannelRegularConversion=1
 ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_1CYCLE_5
 ADC1.master=1
+CAN.CalculateTimeBit=1333
+CAN.CalculateTimeQuantum=444.44444444444446
+CAN.IPParameters=CalculateTimeQuantum,CalculateTimeBit
 File.Version=6
 KeepUserPlacement=false
 Mcu.Family=STM32F1
 Mcu.IP0=ADC1
-Mcu.IP1=IWDG
-Mcu.IP10=TIM3
-Mcu.IP11=TIM4
-Mcu.IP12=TIM5
-Mcu.IP13=USART1
-Mcu.IP14=USART2
-Mcu.IP15=USART3
-Mcu.IP2=NVIC
-Mcu.IP3=RCC
-Mcu.IP4=RTC
-Mcu.IP5=SDIO
-Mcu.IP6=SPI1
-Mcu.IP7=SPI2
-Mcu.IP8=SYS
-Mcu.IP9=TIM2
-Mcu.IPNb=16
+Mcu.IP1=CAN
+Mcu.IP10=TIM2
+Mcu.IP11=TIM3
+Mcu.IP12=TIM4
+Mcu.IP13=TIM5
+Mcu.IP14=USART1
+Mcu.IP15=USART2
+Mcu.IP16=USART3
+Mcu.IP2=IWDG
+Mcu.IP3=NVIC
+Mcu.IP4=RCC
+Mcu.IP5=RTC
+Mcu.IP6=SDIO
+Mcu.IP7=SPI1
+Mcu.IP8=SPI2
+Mcu.IP9=SYS
+Mcu.IPNb=17
 Mcu.Name=STM32F103Z(C-D-E)Tx
 Mcu.Package=LQFP144
 Mcu.Pin0=PC14-OSC32_IN
@@ -48,26 +52,28 @@ Mcu.Pin24=PC11
 Mcu.Pin25=PC12
 Mcu.Pin26=PD2
 Mcu.Pin27=PB5
-Mcu.Pin28=VP_IWDG_VS_IWDG
-Mcu.Pin29=VP_RTC_VS_RTC_Activate
+Mcu.Pin28=PB8
+Mcu.Pin29=PB9
 Mcu.Pin3=OSC_OUT
-Mcu.Pin30=VP_SYS_VS_Systick
-Mcu.Pin31=VP_TIM2_VS_ClockSourceINT
-Mcu.Pin32=VP_TIM3_VS_ClockSourceINT
-Mcu.Pin33=VP_TIM4_VS_ClockSourceINT
-Mcu.Pin34=VP_TIM5_VS_ClockSourceINT
+Mcu.Pin30=VP_IWDG_VS_IWDG
+Mcu.Pin31=VP_RTC_VS_RTC_Activate
+Mcu.Pin32=VP_SYS_VS_Systick
+Mcu.Pin33=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin34=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin35=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin36=VP_TIM5_VS_ClockSourceINT
 Mcu.Pin4=PC1
 Mcu.Pin5=PA2
 Mcu.Pin6=PA3
 Mcu.Pin7=PA5
 Mcu.Pin8=PA6
 Mcu.Pin9=PA7
-Mcu.PinsNb=35
+Mcu.PinsNb=37
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F103ZETx
-MxCube.Version=5.0.0
-MxDb.Version=DB.5.0.0
+MxCube.Version=5.0.1
+MxDb.Version=DB.5.0.1
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false
@@ -114,6 +120,12 @@ PB14.Signal=SPI2_MISO
 PB15.Mode=Full_Duplex_Master
 PB15.Signal=SPI2_MOSI
 PB5.Signal=S_TIM3_CH2
+PB8.Locked=true
+PB8.Mode=Master
+PB8.Signal=CAN_RX
+PB9.Locked=true
+PB9.Mode=Master
+PB9.Signal=CAN_TX
 PC1.Locked=true
 PC1.Signal=ADCx_IN11
 PC10.Mode=SD_4_bits_Wide_bus
@@ -167,7 +179,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=MDK-ARM V5
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_SPI2_Init-SPI2-false-HAL-true,5-MX_USART2_UART_Init-USART2-false-HAL-true,6-MX_SPI1_Init-SPI1-false-HAL-true,7-MX_USART3_UART_Init-USART3-false-HAL-true,8-MX_ADC1_Init-ADC1-false-HAL-true,9-MX_RTC_Init-RTC-false-HAL-true,10-MX_IWDG_Init-IWDG-false-HAL-true,11-MX_TIM2_Init-TIM2-false-HAL-true,12-MX_TIM3_Init-TIM3-false-HAL-true,13-MX_TIM4_Init-TIM4-false-HAL-true,14-MX_TIM5_Init-TIM5-false-HAL-true,15-MX_SDIO_SD_Init-SDIO-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_SPI2_Init-SPI2-false-HAL-true,5-MX_USART2_UART_Init-USART2-false-HAL-true,6-MX_SPI1_Init-SPI1-false-HAL-true,7-MX_USART3_UART_Init-USART3-false-HAL-true,8-MX_ADC1_Init-ADC1-false-HAL-true,9-MX_RTC_Init-RTC-false-HAL-true,10-MX_IWDG_Init-IWDG-false-HAL-true,11-MX_TIM2_Init-TIM2-false-HAL-true,12-MX_TIM3_Init-TIM3-false-HAL-true,13-MX_TIM4_Init-TIM4-false-HAL-true,14-MX_TIM5_Init-TIM5-false-HAL-true,15-MX_SDIO_SD_Init-SDIO-false-HAL-true,16-MX_CAN_Init-CAN-false-HAL-true
 RCC.ADCFreqValue=12000000
 RCC.ADCPresc=RCC_ADCPCLK2_DIV6
 RCC.AHBFreq_Value=72000000

bsp/stm32/stm32f103-fire-arbitrary/board/Kconfig

@@ -266,6 +266,16 @@ menu "On-chip Peripheral Drivers"
         select RT_USING_SDIO
         select RT_USING_DFS
         default n
+	
+	menuconfig BSP_USING_CAN
+        bool "Enable CAN"
+        default n
+        select RT_USING_CAN
+        if BSP_USING_CAN
+            config BSP_USING_CAN1
+                bool "using CAN1"
+                default n
+        endif
 
 endmenu
 

components/drivers/can/can.c

@@ -53,7 +53,7 @@ rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, in
     {
         rt_base_t level;
 #ifdef RT_CAN_USING_HDR
-        rt_int32_t hdr;
+        rt_int8_t hdr;
 #endif /*RT_CAN_USING_HDR*/
         struct rt_can_msg_list *listmsg = RT_NULL;
 
@@ -760,7 +760,7 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
         struct rt_can_rx_fifo *rx_fifo;
         struct rt_can_msg_list *listmsg = RT_NULL;
 #ifdef RT_CAN_USING_HDR
-        rt_int32_t hdr;
+        rt_int8_t hdr;
 #endif
         int ch = -1;
         rt_base_t level;