[CAN]update struct can_filter_item and rt_can_msg (#6556)

* 修改ry命令，已便于自定义保存路径

* modified:   components/utilities/ymodem/ry_sy.c

* 修复从被动错误恢复后发送返回异常

* 修复在自动重传模式下,ACK异常阻塞线程
- 删除TX中断函数else分支。仅当RQCP位 置一才进入该中断
- 添加SCE中断函数中关于ACK_ERR的else判断。自动重传模式下会进入该判断,打断自动重传释放完成量。

* 增加对于CAN1与CAN2的SCE中断和TX中断的公共处理函数

* formatting格式化代码

* update struct can_filter_item and rt_can_msg
1. 对过滤器号和索引号结构体定义中同一名称hdr进行重命名hdr_bank和hdr_index,
以便准确区分.采用宏定义兼容以前变量名.
2. 添加接收标识rxfifo,已指明是哪个RXFIFO.

* 更正42M下的波特率

* 修复接收获取索引号错误

* 添加接收标识

* 更新注释

* 取消CANFD限制

* update struct can_filter_item and rt_can_msg

bsp/wch/risc-v/Libraries/ch32_drivers/drv_can.c

@@ -441,14 +441,14 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
             /* get default filter */
             for (int i = 0; i < filter_cfg->count; i++)
             {
-                if (filter_cfg->items[i].hdr == -1)
+                if (filter_cfg->items[i].hdr_bank == -1)
                 {
                     drv_can_obj->can_filter_init.CAN_FilterNumber = i;
                 }
                 else
                 {
                     /* use user-defined filter bank settings */
-                    drv_can_obj->can_filter_init.CAN_FilterNumber = filter_cfg->items[i].hdr;
+                    drv_can_obj->can_filter_init.CAN_FilterNumber = filter_cfg->items[i].hdr_bank;
                 }
 
                 if (filter_cfg->items[i].mode == 0x00)  //CAN_FILTERMODE_IDMASK
@@ -725,14 +725,14 @@ static int _can_recv_rtmsg(CAN_TypeDef *can_base, struct rt_can_msg *pmsg, uint3
         pmsg->rtr = RT_CAN_RTR;
     }
 
-    /* get hdr */
+    /* get hdr_index */
     if (can_base == CAN1)
     {
-        pmsg->hdr = (RxMessage->FMI + 1) >> 1;
+        pmsg->hdr_index = (RxMessage->FMI + 1) >> 1;
     }
     else if (can_base == CAN2)
     {
-        pmsg->hdr = (RxMessage->FMI >> 1) + 14;
+        pmsg->hdr_index = (RxMessage->FMI >> 1) + 14;
     }
     /* Release FIFO */
     CAN_FIFORelease(can_base,FIFONum);