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[bsp/renesas][drivers] Support configurable CAN FD operation - #11751

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CYFS3:fix/renesas-canfd-driver
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[bsp/renesas][drivers] Support configurable CAN FD operation#11751
CYFS3 wants to merge 1 commit into
RT-Thread:masterfrom
CYFS3:fix/renesas-canfd-driver

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@CYFS3

@CYFS3 CYFS3 commented Aug 25, 2026 •
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拉取/合并请求描述：(PR description)

[

为什么提交这份PR (why to submit this PR)

Renesas CAN/CAN FD 驱动未正确处理 RT-Thread 中断控制参数，可能访问无效 IRQ 并触发 HardFault；同时固定时序和帧长度处理导致 RA8 系列无法可靠切换仲裁波特率及收发 CAN FD/BRS 帧。

你的解决方案是什么 (what is your solution)

修正中断启停和共享 RX FIFO IRQ 管理，基于 CANFDCLK 动态计算仲裁及数据相位时序并在配置变化时重新初始化 FSP；补全 Classic CAN、CAN FD、BRS 帧属性及 DLC/字节长度转换，并加强回调和错误处理。已在 bsp/renesas/ra8p1-titan-board/m85 上完成 Classic CAN、CAN FD、BRS 及双路 CAN 实板验证，并通过 Keil 编译。

请提供验证的bsp和config (provide the config and bsp)

  • BSP:
  • .config:
  • action:

]

当前拉取/合并请求的状态 Intent for your PR

必须选择一项 Choose one (Mandatory):

  • 本拉取/合并请求是一个草稿版本 This PR is for a code-review and is intended to get feedback
  • 本拉取/合并请求是一个成熟版本 This PR is mature, and ready to be integrated into the repo

代码质量 Code Quality：

我在这个拉取/合并请求中已经考虑了 As part of this pull request, I've considered the following:

  • 已经仔细查看过代码改动的对比 Already check the difference between PR and old code
  • 代码风格正确，包括缩进空格，命名及其他风格 Style guide is adhered to, including spacing, naming and other styles
  • 没有垃圾代码，代码尽量精简，不包含#if 0代码，不包含已经被注释了的代码 All redundant code is removed and cleaned up
  • 所有变更均有原因及合理的，并且不会影响到其他软件组件代码或BSP All modifications are justified and not affect other components or BSP
  • 对难懂代码均提供对应的注释 I've commented appropriately where code is tricky
  • 代码是高质量的 Code in this PR is of high quality
  • 已经使用clang-format 源码格式化工具确保格式符合RT-Thread代码规范 This PR has been formatted with clang-format and complies with RT-Thread code specification
  • 如果是新增bsp, 已经添加ci检查到.github/ALL_BSP_COMPILE.json 详细请参考链接BSP自查

@CYFS3
CYFS3 requested review from Rbb666 and kurisaW as code owners August 25, 2026 07:40
@github-actions

github-actions Bot commented Aug 25, 2026

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👋 感谢您对 RT-Thread 的贡献！Thank you for your contribution to RT-Thread!

为确保代码符合 RT-Thread 的编码规范，请在你的仓库中执行以下步骤运行代码格式化工作流（如果格式化CI运行失败）。
To ensure your code complies with RT-Thread's coding style, please run the code formatting workflow by following the steps below (If the formatting of CI fails to run).

🛠 操作步骤 | Steps

  1. 前往 Actions 页面 | Go to the Actions page
    点击进入工作流 → | Click to open workflow →

  2. 点击 Run workflow | Click Run workflow

  • Use workflow from 保持默认分支（通常为 master）
    Keep the default branch (usually master) in Use workflow from
  • 在 branch 输入框填写 PR 分支 fix/renesas-canfd-driver
    Enter PR branch fix/renesas-canfd-driver in the branch field
  • 设置需排除的文件/目录（目录请以"/"结尾）
    Set files/directories to exclude (directories should end with "/")
  1. 等待工作流完成 | Wait for the workflow to complete
    格式化后的代码将作为独立提交推送至你的分支。
    The formatting changes will be pushed to your branch as a separate commit.

完成后，提交将自动更新至 fix/renesas-canfd-driver 分支，关联的 Pull Request 也会同步更新。
Once completed, commits will be pushed to the fix/renesas-canfd-driver branch automatically, and the related Pull Request will be updated.

如有问题欢迎联系我们，再次感谢您的贡献！💐
If you have any questions, feel free to reach out. Thanks again for your contribution!

@github-actions github-actions Bot added BSP BSP: Renesas BSP related with Renesas labels Aug 25, 2026
@github-actions

github-actions Bot commented Aug 25, 2026 •
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📌 Code Review Assignment

🏷️ Tag: bsp_renesas

Reviewers: @kurisaW

Changed Files (Click to expand)
  • bsp/renesas/libraries/HAL_Drivers/drivers/drv_can.c

📊 Current Review Status (Last Updated: 2026-08-26 11:09 CST)

📝 Review Instructions

  1. 维护者可以通过单击此处来刷新审查状态: 🔄 刷新状态
    Maintainers can refresh the review status by clicking here: 🔄 Refresh Status

  2. 确认审核通过后评论 LGTM/lgtm
    Comment LGTM/lgtm after confirming approval

  3. PR合并前需至少一位维护者确认
    PR must be confirmed by at least one maintainer before merging

ℹ️ 刷新CI状态操作需要具备仓库写入权限。
ℹ️ Refresh CI status operation requires repository Write permission.

@CYFS3

CYFS3 commented Aug 25, 2026

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image

@github-actions

github-actions Bot commented Aug 25, 2026 •
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MemBrowse Memory Report

No memory changes detected for:

@CYFS3

CYFS3 commented Aug 25, 2026

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v5.3.0

@Rbb666 Rbb666 added the 5.3.0 label Aug 25, 2026
Rbb666
Rbb666 reviewed Aug 26, 2026
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Comment thread bsp/renesas/libraries/HAL_Drivers/drivers/drv_can.c
g_can_tx_frame.data_length_code = msg_rt->len;
#if defined(BSP_USING_CANFD) && (defined(BSP_USING_CAN_RZ) || defined(BSP_USING_CAN_RA))
#endif
#if defined(BSP_USING_CANFD)

@Rbb666 Rbb666 Aug 26, 2026

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这块的BSP_USING_CANFD和下面的RT_CAN_USING_CANFD语义不可以统一成一个？

@CYFS3 CYFS3 Aug 26, 2026 •
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Done

@CYFS3
CYFS3 force-pushed the fix/renesas-canfd-driver branch from e1a43a7 to e08fa92 Compare August 26, 2026 03:06
kurisaW
kurisaW reviewed Aug 26, 2026
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Comment thread bsp/renesas/libraries/HAL_Drivers/drivers/drv_can.c
#ifdef RA_CAN_USING_DYNAMIC_CANFD_TIMING
static rt_uint32_t ra_canfd_clock_divisor_get(void)
{
#if BSP_CFG_CANFDCLK_DIV == BSP_CLOCKS_CANFD_CLOCK_DIV_1

@kurisaW kurisaW Aug 26, 2026

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这块确认下RA/RZ系列是否都支持该宏定义/有API命名差异

另外可以考虑补充RZ系列支持，可以用etherkit测试

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3 participants

@CYFS3 @Rbb666 @kurisaW