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[fix] gd32: can: add IRQ aliases and init fixes for legacy series #11145

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[fix] gd32: can: add IRQ aliases and init fixes for legacy series #11145

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66 changes: 47 additions & 19 deletions bsp/gd32/arm/libraries/gd32_drivers/drv_can.c
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,20 @@
#define LOG_TAG "can_drv"
#include <drv_log.h>

#if (defined(SOC_SERIES_GD32F10x) && !defined(GD32F10X_CL)) || \
(defined(SOC_SERIES_GD32F30x) && !defined(GD32F30X_CL)) || \
(defined(SOC_SERIES_GD32E50x) && defined(GD32E50X_HD))
#define CAN0_TX_IRQn_ALIAS USBD_HP_CAN0_TX_IRQn
#define CAN0_RX0_IRQn_ALIAS USBD_LP_CAN0_RX0_IRQn
#define CAN0_TX_ISR_HANDLER USBD_HP_CAN0_TX_IRQHandler
#define CAN0_RX0_ISR_HANDLER USBD_LP_CAN0_RX0_IRQHandler
#else
#define CAN0_TX_IRQn_ALIAS CAN0_TX_IRQn
#define CAN0_RX0_IRQn_ALIAS CAN0_RX0_IRQn
#define CAN0_TX_ISR_HANDLER CAN0_TX_IRQHandler
#define CAN0_RX0_ISR_HANDLER CAN0_RX0_IRQHandler
#endif

#if defined(GD32F405) || defined(GD32F407) /* 42MHz(max) */
static const struct gd32_baudrate_tbl can_baudrate_tbl[] =
{
Expand All @@ -45,7 +59,7 @@ static const struct gd32_baudrate_tbl can_baudrate_tbl[] =
{CAN20kBaud, CAN_BT_SJW_1TQ, CAN_BT_BS1_8TQ, CAN_BT_BS2_1TQ, 250},
{CAN10kBaud, CAN_BT_SJW_1TQ, CAN_BT_BS1_8TQ, CAN_BT_BS2_1TQ, 500},
};
#elif defined(GD32F470) /* 60MHz(max) */
#elif defined(GD32F470) || defined(SOC_SERIES_GD32F30x) /* 60MHz(max) */
static const struct gd32_baudrate_tbl can_baudrate_tbl[] =
{
{CAN1MBaud, CAN_BT_SJW_1TQ, CAN_BT_BS1_12TQ, CAN_BT_BS2_2TQ, 4},
Expand All @@ -63,19 +77,11 @@ static const struct gd32_baudrate_tbl can_baudrate_tbl[] =
#endif

#ifdef BSP_USING_CAN0
static struct gd32_can_device dev_can0 =
{
.name = "can0",
.can_x = CAN0,
};
static struct gd32_can_device dev_can0;
#endif

#ifdef BSP_USING_CAN1
static struct gd32_can_device dev_can1 =
{
"can1",
.can_x = CAN1,
};
static struct gd32_can_device dev_can1;
#endif

static const struct gd32_can gd32_can_gpio[] =
Expand Down Expand Up @@ -167,7 +173,7 @@ static void gd32_can_gpio_init(void)
gpio_mode_set(PIN_GDPORT(gd32_can_gpio[i].rx_pin), GPIO_MODE_AF, GPIO_PUPD_NONE, PIN_GDPIN(gd32_can_gpio[i].rx_pin));
#else
gpio_init(PIN_GDPORT(gd32_can_gpio[i].tx_pin), GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, PIN_GDPIN(gd32_can_gpio[i].tx_pin));
gpio_init(PIN_GDPORT(gd32_can_gpio[i].rx_pin), GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, PIN_GDPIN(gd32_can_gpio[i].rx_pin));
gpio_init(PIN_GDPORT(gd32_can_gpio[i].rx_pin), GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, PIN_GDPIN(gd32_can_gpio[i].rx_pin));
#endif
}
}
Expand Down Expand Up @@ -201,7 +207,11 @@ static rt_err_t _can_config(struct rt_can_device *can, struct can_configure *cfg
can_init_struct.time_triggered = DISABLE;
can_init_struct.auto_bus_off_recovery = ENABLE;
can_init_struct.auto_wake_up = ENABLE;
#if defined(SOC_SERIES_GD32F10x) || defined(SOC_SERIES_GD32F20x) || defined(SOC_SERIES_GD32F30x)
can_init_struct.no_auto_retrans = ENABLE;
#else
can_init_struct.auto_retrans = DISABLE;
#endif
can_init_struct.rec_fifo_overwrite = DISABLE;
can_init_struct.trans_fifo_order = DISABLE;

Expand Down Expand Up @@ -254,15 +264,17 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
#ifdef CAN0
if (CAN0 == can_dev->can_x)
{
nvic_irq_disable(CAN0_RX0_IRQn);
nvic_irq_disable(CAN0_RX0_IRQn_ALIAS);
nvic_irq_disable(CAN0_RX1_IRQn);
}
#endif
#ifdef CAN1
if (CAN1 == can_dev->can_x)
{
#if defined(CAN1_RX0_IRQn)
nvic_irq_disable(CAN1_RX0_IRQn);
nvic_irq_disable(CAN1_RX1_IRQn);
#endif
}
#endif
can_interrupt_disable(can_dev->can_x, CAN_INT_RFNE0);
Expand All @@ -277,13 +289,15 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
#ifdef CAN0
if (CAN0 == can_dev->can_x)
{
nvic_irq_disable(CAN0_TX_IRQn);
nvic_irq_disable(CAN0_TX_IRQn_ALIAS);
}
#endif
#ifdef CAN1
if (CAN1 == can_dev->can_x)
{
#if defined(CAN1_TX_IRQn)
nvic_irq_disable(CAN1_TX_IRQn);
#endif
}
#endif
can_interrupt_disable(can_dev->can_x, CAN_INT_TME);
Expand All @@ -299,7 +313,9 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
#ifdef CAN1
if (CAN1 == can_dev->can_x)
{
#if defined(CAN1_EWMC_IRQn)
nvic_irq_disable(CAN1_EWMC_IRQn);
#endif
}
#endif
can_interrupt_disable(can_dev->can_x, CAN_INT_WERR);
Expand All @@ -322,15 +338,17 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
#ifdef CAN0
if (CAN0 == can_dev->can_x)
{
nvic_irq_enable(CAN0_RX0_IRQn, 1, 0);
nvic_irq_enable(CAN0_RX0_IRQn_ALIAS, 1, 0);
nvic_irq_enable(CAN0_RX1_IRQn, 1, 0);
}
#endif
#ifdef CAN1
if (CAN1 == can_dev->can_x)
{
#if defined(CAN1_RX0_IRQn)
nvic_irq_enable(CAN1_RX0_IRQn, 1, 0);
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@Rbb666 Rbb666 Jan 21, 2026

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我看上面的CAN0修改成了 CAN0_RX0_IRQn_ALIAS，CAN1的这块是否也需要修正？
还是说这个MCU只有一路CAN？

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@illustriousness illustriousness Jan 21, 2026

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我看上面的CAN0修改成了 CAN0_RX0_IRQn_ALIAS，CAN1的这块是否也需要修正？ 还是说这个MCU只有一路CAN？

can1 基本在CL型 中才有 我看pkg下 can1的中断名字都是这个
这个mcu中 只有一路can 不过库中有定义can1
更完善一下的话 可以把上面的ifdef CAN1 直接改成下面的#if defined(CAN1_RX0_IRQn)

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@illustriousness illustriousness Jan 21, 2026

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我看上面的CAN0修改成了 ，CAN1的这块是否也需要修正？还是说这个MCU只有一路CAN？CAN0_RX0_IRQn_ALIAS

can1 基本在CL型 中才有 我看pkg下 can1的中断名字都是这个 这个mcu中 只有一路can 不过库中有定义can1 更完善一下的话 可以把上面的ifdef CAN1 直接改成下面的#if defid（CAN1_RX0_IRQn）

纠正一下 GDH7XX 的can1不符合CAN1_RX0_IRQn这样
image

nvic_irq_enable(CAN1_RX1_IRQn, 1, 0);
#endif
}
#endif
}
Expand All @@ -340,13 +358,15 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
#ifdef CAN0
if (CAN0 == can_dev->can_x)
{
nvic_irq_enable(CAN0_TX_IRQn, 1, 0);
nvic_irq_enable(CAN0_TX_IRQn_ALIAS, 1, 0);
}
#endif
#ifdef CAN1
if (CAN1 == can_dev->can_x)
{
#if defined(CAN1_TX_IRQn)
nvic_irq_enable(CAN1_TX_IRQn, 1, 0);
#endif
}
#endif
}
Expand All @@ -366,7 +386,9 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
#ifdef CAN1
if (CAN1 == can_dev->can_x)
{
#if defined(CAN1_EWMC_IRQn)
nvic_irq_enable(CAN1_EWMC_IRQn, 1, 0);
#endif
}
#endif
}
Expand Down Expand Up @@ -906,7 +928,7 @@ static void _can_tx_isr(struct rt_can_device *can)
/**
* @brief This function handles CAN0 TX interrupts. transmit fifo0/1/2 is empty can trigger this interrupt
*/
void CAN0_TX_IRQHandler(void)
void CAN0_TX_ISR_HANDLER(void)
{
rt_interrupt_enter();
_can_tx_isr(&dev_can0.device);
Expand All @@ -916,7 +938,7 @@ void CAN0_TX_IRQHandler(void)
/**
* @brief This function handles CAN0 RX0 interrupts.
*/
void CAN0_RX0_IRQHandler(void)
void CAN0_RX0_ISR_HANDLER(void)
{
rt_interrupt_enter();
_can_rx_isr(&dev_can0.device, CAN_RX_FIFO0);
Expand Down Expand Up @@ -1009,7 +1031,7 @@ int rt_hw_can_init(void)
config.ticks = 50;
#ifdef RT_CAN_USING_HDR
config.maxhdr = 14;
#ifdef CAN1
#ifdef CAN1_EWMC_IRQn
config.maxhdr = 28;
#endif
#endif
Expand All @@ -1033,6 +1055,9 @@ int rt_hw_can_init(void)
#ifdef BSP_USING_CAN0
filter_config.filter_number = 0;

dev_can0.name = "can0";
dev_can0.can_x = CAN0;

dev_can0.filter_config = filter_config;
dev_can0.device.config = config;
/* register CAN1 device */
Expand All @@ -1045,6 +1070,9 @@ int rt_hw_can_init(void)
#ifdef BSP_USING_CAN1
filter_config.filter_number = 14;

dev_can1.name = "can1";
dev_can1.can_x = CAN1;

dev_can1.filter_config = filter_config;
dev_can1.device.config = config;
/* register CAN2 device */
Expand Down