[bsp] [stm32] fix drv_can.c

bsp/stm32/libraries/HAL_Drivers/drv_can.h

@@ -11,40 +11,49 @@
  * 2019-02-19     YLZ          port to BSP [stm32]
  * 2019-06-17     YLZ          modify struct stm32_drv_can.
  */
+
 #ifndef __DRV_CAN_H__
 #define __DRV_CAN_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #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 )
+#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
+struct stm32_baud_rate_tab
 {
     rt_uint32_t baud_rate;
-    rt_uint32_t confdata;
+    rt_uint32_t config_data;
 };
+#define BAUD_DATA(TYPE,NO)       ((can_baud_rate_tab[NO].config_data & TYPE##MASK))
 
-/* STM32 can driver */
-struct stm32_drv_can
+/* stm32 can device */
+struct stm32_can
 {
+    char *name;
     CAN_HandleTypeDef CanHandle;
     CAN_FilterTypeDef FilterConfig;
+    struct rt_can_device device;     /* inherit from can device */
 };
 
-#ifdef __cplusplus
- extern "C" {
-#endif
 int rt_hw_can_init(void);
+
 #ifdef __cplusplus
- }
+}
 #endif
+
 #endif /*__DRV_CAN_H__ */
+
+/************************** end of file ******************/

bsp/stm32/libraries/STM32H7xx_HAL/SConscript

@@ -29,9 +29,9 @@ STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c
 ''')
  
 if GetDepend(['RT_USING_SERIAL']):
-	src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c']
-	src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_usart.c']
-	src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c']
+    src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c']
+    src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_usart.c']
+    src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c']
 
 if GetDepend(['RT_USING_I2C']):
     src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c']
@@ -49,7 +49,7 @@ if GetDepend(['RT_USING_USB_HOST']) or GetDepend(['RT_USING_USB_DEVICE']):
     src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usb.c']
 
 if GetDepend(['RT_USING_CAN']):
-    src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_can.c']
+    src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c']
 
 if GetDepend(['RT_USING_HWTIMER']) or GetDepend(['RT_USING_PWM']):
     src += ['STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c']

components/drivers/include/drivers/can.h

@@ -221,7 +221,7 @@ struct rt_can_msg
     rt_uint32_t rsv : 1;
     rt_uint32_t len : 8;
     rt_uint32_t priv : 8;
-    rt_uint32_t hdr : 8;
+    rt_int32_t hdr : 8;
     rt_uint32_t reserved : 8;
     rt_uint8_t data[8];
 };
@@ -252,7 +252,7 @@ struct rt_can_rx_fifo
 
 #define RT_CAN_EVENT_RX_IND         0x01    /* Rx indication */
 #define RT_CAN_EVENT_TX_DONE        0x02    /* Tx complete   */
-#define RT_CAN_EVENT_TX_FAIL        0x03    /* Tx complete   */
+#define RT_CAN_EVENT_TX_FAIL        0x03    /* Tx fail   */
 #define RT_CAN_EVENT_RX_TIMEOUT     0x05    /* Rx timeout    */
 #define RT_CAN_EVENT_RXOF_IND       0x06    /* Rx overflow */
 
@@ -278,7 +278,7 @@ struct rt_can_ops
     int (*recvmsg)(struct rt_can_device *can, void *buf, rt_uint32_t boxno);
 };
 
-rt_err_t rt_hw_can_register(struct rt_can_device *can,
+rt_err_t rt_hw_can_register(struct rt_can_device    *can,
                             const char              *name,
                             const struct rt_can_ops *ops,
                             void                    *data);

components/finsh/cmd.c

@@ -847,7 +847,7 @@ long list_device(void)
                         device->parent.name,
                         (device->type <= RT_Device_Class_Unknown) ?
                         device_type_str[device->type] :
-                        device_type_str[RT_Device_Class_Unknown],
+                        device_type_str[RT_Device_Class_Unknown - 1],
                         device->ref_count);
 
             }