import RT-Thread@9217865c without bsp, libcpu and components/net

components/drivers/can/can.c

@@ -0,0 +1,971 @@
+/*
+ * Copyright (c) 2006-2023, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author            Notes
+ * 2015-05-14     aubrcool@qq.com   first version
+ * 2015-07-06     Bernard           code cleanup and remove RT_CAN_USING_LED;
+ */
+
+#include <rthw.h>
+#include <rtthread.h>
+#include <rtdevice.h>
+
+#define CAN_LOCK(can)   rt_mutex_take(&(can->lock), RT_WAITING_FOREVER)
+#define CAN_UNLOCK(can) rt_mutex_release(&(can->lock))
+
+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;
+#ifdef RT_CAN_USING_HDR
+    can->hdr = RT_NULL;
+#endif
+
+    /* apply configuration */
+    if (can->ops->configure)
+        result = can->ops->configure(can, &can->config);
+    else
+        result = -RT_ENOSYS;
+
+    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;
+#ifdef RT_CAN_USING_HDR
+        rt_int8_t hdr;
+#endif /*RT_CAN_USING_HDR*/
+        struct rt_can_msg_list *listmsg = RT_NULL;
+
+        /* disable interrupt */
+        level = rt_hw_interrupt_disable();
+#ifdef RT_CAN_USING_HDR
+        hdr = data->hdr_index;
+
+        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 if (hdr == -1)
+#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 /*RT_CAN_USING_HDR*/
+            }
+            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;
+        }
+        else
+        {
+            break;
+        }
+        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;
+        rt_uint32_t result;
+        struct rt_can_sndbxinx_list *tx_tosnd = RT_NULL;
+
+        rt_sem_take(&(tx_fifo->sem), RT_WAITING_FOREVER);
+        level = rt_hw_interrupt_disable();
+        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);
+        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_RESULT_WAIT;
+        if (can->ops->sendmsg(can, data, no) != RT_EOK)
+        {
+            /* send failed. */
+            level = rt_hw_interrupt_disable();
+            rt_list_insert_before(&tx_fifo->freelist, &tx_tosnd->list);
+            rt_hw_interrupt_enable(level);
+            rt_sem_release(&(tx_fifo->sem));
+            goto err_ret;
+        }
+
+        can->status.sndchange = 1;
+        rt_completion_wait(&(tx_tosnd->completion), RT_WAITING_FOREVER);
+
+        level = rt_hw_interrupt_disable();
+        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);
+        rt_sem_release(&(tx_fifo->sem));
+
+        if (result == RT_CAN_SND_RESULT_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
+        {
+err_ret:
+            level = rt_hw_interrupt_disable();
+            can->status.dropedsndpkg++;
+            rt_hw_interrupt_enable(level);
+            break;
+        }
+    }
+
+    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;
+    rt_base_t level;
+    rt_uint32_t no, result;
+    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)
+    {
+        no = data->priv;
+        if (no >= can->config.sndboxnumber)
+        {
+            break;
+        }
+
+        level = rt_hw_interrupt_disable();
+        if ((tx_fifo->buffer[no].result != RT_CAN_SND_RESULT_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_RESULT_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_RESULT_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;
+    char tmpname[16];
+    RT_ASSERT(dev != RT_NULL);
+    can = (struct rt_can_device *)dev;
+
+    CAN_LOCK(can);
+
+    /* get open flags */
+    dev->open_flag = oflag & 0xff;
+    if (can->can_rx == RT_NULL)
+    {
+        if (oflag & RT_DEVICE_FLAG_INT_RX)
+        {
+            int i = 0;
+            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;
+            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;
+
+            dev->open_flag |= RT_DEVICE_FLAG_INT_RX;
+            /* open can rx interrupt */
+            can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_FLAG_INT_RX);
+        }
+    }
+
+    if (can->can_tx == RT_NULL)
+    {
+        if (oflag & RT_DEVICE_FLAG_INT_TX)
+        {
+            int i = 0;
+            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);
+            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_RESULT_OK;
+            }
+
+            rt_sprintf(tmpname, "%stl", dev->parent.name);
+            rt_sem_init(&(tx_fifo->sem), tmpname, can->config.sndboxnumber, RT_IPC_FLAG_FIFO);
+            can->can_tx = tx_fifo;
+
+            dev->open_flag |= RT_DEVICE_FLAG_INT_TX;
+            /* open can tx interrupt */
+            can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_FLAG_INT_TX);
+        }
+    }
+
+    can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_CAN_INT_ERR);
+
+#ifdef RT_CAN_USING_HDR
+    if (can->hdr == RT_NULL)
+    {
+        int i = 0;
+        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));
+        for (i = 0;  i < can->config.maxhdr; i++)
+        {
+            rt_list_init(&phdr[i].list);
+        }
+
+        can->hdr = phdr;
+    }
+#endif
+
+    if (!can->timerinitflag)
+    {
+        can->timerinitflag = 1;
+
+        rt_timer_start(&can->timer);
+    }
+
+    CAN_UNLOCK(can);
+
+    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;
+
+    CAN_LOCK(can);
+
+    /* this device has more reference count */
+    if (dev->ref_count > 1)
+    {
+        CAN_UNLOCK(can);
+        return RT_EOK;
+    }
+
+    if (can->timerinitflag)
+    {
+        can->timerinitflag = 0;
+
+        rt_timer_stop(&can->timer);
+    }
+
+    can->status_indicate.ind = RT_NULL;
+    can->status_indicate.args = RT_NULL;
+
+#ifdef RT_CAN_USING_HDR
+    if (can->hdr != RT_NULL)
+    {
+        rt_free(can->hdr);
+        can->hdr = RT_NULL;
+    }
+#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;
+        can->can_rx = RT_NULL;
+        /* clear can rx interrupt */
+        can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_FLAG_INT_RX);
+    }
+
+    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_tx;
+        RT_ASSERT(tx_fifo != RT_NULL);
+
+        rt_sem_detach(&(tx_fifo->sem));
+        rt_free(tx_fifo);
+        dev->open_flag &= ~RT_DEVICE_FLAG_INT_TX;
+        can->can_tx = RT_NULL;
+        /* clear can tx interrupt */
+        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);
+
+    CAN_UNLOCK(can);
+
+    return RT_EOK;
+}
+
+static rt_ssize_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) && (dev->ref_count > 0))
+    {
+        return _can_int_rx(can, buffer, size);
+    }
+
+    return 0;
+}
+
+static rt_ssize_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) && (dev->ref_count > 0))
+    {
+        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,
+                               int              cmd,
+                               void             *args)
+{
+    struct rt_can_device *can;
+    rt_err_t res;
+
+    res = RT_EOK;
+    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 */
+        res = 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)
+        {
+            int i;
+            rt_base_t level;
+            struct rt_can_tx_fifo *tx_fifo;
+
+            res = can->ops->control(can, cmd, args);
+            if (res != RT_EOK) return res;
+            tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
+            if (can->config.privmode)
+            {
+                for (i = 0;  i < can->config.sndboxnumber; i++)
+                {
+                    level = rt_hw_interrupt_disable();
+                    if(rt_list_isempty(&tx_fifo->buffer[i].list))
+                    {
+                        rt_sem_release(&(tx_fifo->sem));
+                    }
+                    else
+                    {
+                        rt_list_remove(&tx_fifo->buffer[i].list);
+                    }
+                    rt_hw_interrupt_enable(level);
+                }
+
+            }
+            else
+            {
+                for (i = 0;  i < can->config.sndboxnumber; i++)
+                {
+                    level = rt_hw_interrupt_disable();
+                    if (tx_fifo->buffer[i].result == RT_CAN_SND_RESULT_OK)
+                    {
+                        rt_list_insert_before(&tx_fifo->freelist, &tx_fifo->buffer[i].list);
+                    }
+                    rt_hw_interrupt_enable(level);
+                }
+            }
+        }
+        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;
+        RT_ASSERT(pfilter);
+        count = pfilter->count;
+        pitem = pfilter->items;
+        if (pfilter->actived)
+        {
+            while (count)
+            {
+                if (pitem->hdr_bank >= can->config.maxhdr || pitem->hdr_bank < 0)
+                {
+                    count--;
+                    pitem++;
+                    continue;
+                }
+
+                level = rt_hw_interrupt_disable();
+                if (!can->hdr[pitem->hdr_bank].connected)
+                {
+                    rt_hw_interrupt_enable(level);
+                    rt_memcpy(&can->hdr[pitem->hdr_bank].filter, pitem,
+                              sizeof(struct rt_can_filter_item));
+                    level = rt_hw_interrupt_disable();
+                    can->hdr[pitem->hdr_bank].connected = 1;
+                    can->hdr[pitem->hdr_bank].msgs = 0;
+                    rt_list_init(&can->hdr[pitem->hdr_bank].list);
+                }
+                rt_hw_interrupt_enable(level);
+
+                count--;
+                pitem++;
+            }
+        }
+        else
+        {
+            while (count)
+            {
+                if (pitem->hdr_bank >= can->config.maxhdr || pitem->hdr_bank < 0)
+                {
+                    count--;
+                    pitem++;
+                    continue;
+                }
+                level = rt_hw_interrupt_disable();
+
+                if (can->hdr[pitem->hdr_bank].connected)
+                {
+                    can->hdr[pitem->hdr_bank].connected = 0;
+                    can->hdr[pitem->hdr_bank].msgs = 0;
+                    if (!rt_list_isempty(&can->hdr[pitem->hdr_bank].list))
+                    {
+                        rt_list_remove(can->hdr[pitem->hdr_bank].list.next);
+                    }
+                    rt_hw_interrupt_enable(level);
+                    rt_memset(&can->hdr[pitem->hdr_bank].filter, 0,
+                              sizeof(struct rt_can_filter_item));
+                }
+                else
+                {
+                    rt_hw_interrupt_enable(level);
+                }
+                count--;
+                pitem++;
+            }
+        }
+        break;
+#endif /*RT_CAN_USING_HDR*/
+#ifdef RT_CAN_USING_BUS_HOOK
+    case RT_CAN_CMD_SET_BUS_HOOK:
+        can->bus_hook = (rt_can_bus_hook) args;
+        break;
+#endif /*RT_CAN_USING_BUS_HOOK*/
+    default :
+        /* control device */
+        if (can->ops->control != RT_NULL)
+        {
+            res = can->ops->control(can, cmd, args);
+        }
+        else
+        {
+            res = -RT_ENOSYS;
+        }
+        break;
+    }
+
+    return res;
+}
+
+/*
+ * can timer
+ */
+static void cantimeout(void *arg)
+{
+    rt_can_t can;
+
+    can = (rt_can_t)arg;
+    RT_ASSERT(can);
+    rt_device_control((rt_device_t)can, RT_CAN_CMD_GET_STATUS, (void *)&can->status);
+
+    if (can->status_indicate.ind != RT_NULL)
+    {
+        can->status_indicate.ind(can, can->status_indicate.args);
+    }
+#ifdef RT_CAN_USING_BUS_HOOK
+    if(can->bus_hook)
+    {
+        can->bus_hook(can);
+    }
+#endif /*RT_CAN_USING_BUS_HOOK*/
+    if (can->timerinitflag == 1)
+    {
+        can->timerinitflag = 0xFF;
+    }
+}
+
+#ifdef RT_USING_DEVICE_OPS
+const static struct rt_device_ops can_device_ops =
+{
+    rt_can_init,
+    rt_can_open,
+    rt_can_close,
+    rt_can_read,
+    rt_can_write,
+    rt_can_control
+};
+#endif
+
+/*
+ * 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;
+    rt_mutex_init(&(can->lock), "can", RT_IPC_FLAG_PRIO);
+#ifdef RT_CAN_USING_BUS_HOOK
+    can->bus_hook       = RT_NULL;
+#endif /*RT_CAN_USING_BUS_HOOK*/
+
+#ifdef RT_USING_DEVICE_OPS
+    device->ops         = &can_device_ops;
+#else
+    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;
+#endif
+    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;
+    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_int8_t hdr;
+#endif
+        int ch = -1;
+        rt_base_t level;
+        rt_uint32_t no;
+
+        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);
+
+        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_index;
+            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_size_t rx_length;
+            RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
+
+            level = rt_hw_interrupt_disable();
+            rx_length = can->hdr[hdr].msgs * sizeof(struct rt_can_msg);
+            rt_hw_interrupt_enable(level);
+            if (rx_length)
+            {
+                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;
+
+                level = rt_hw_interrupt_disable();
+                /* get rx length */
+                rx_length = rt_list_len(&rx_fifo->uselist)* sizeof(struct rt_can_msg);
+                rt_hw_interrupt_enable(level);
+
+                if (rx_length)
+                {
+                    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_RESULT_OK;
+        }
+        else
+        {
+            tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_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)
+    {
+        struct rt_can_status status;
+        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(" Found can device: %s...", argv[1]);
+
+        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. Dropped.receive.packages: %010ld.",
+                   status.rcvpkg, status.dropedrcvpkg);
+        rt_kprintf("\n Total..send...packages: %010ld. Dropped...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;
+}
+MSH_CMD_EXPORT_ALIAS(cmd_canstat, canstat, stat can device status);
+#endif