[drivers][bsp][reness] Add Etherkit bsp and RZ series driver compatibility adaptation

Author: kurisaW

.github/workflows/bsp_buildings.yml

@@ -248,6 +248,7 @@ jobs:
                 - "renesas/ra8d1-vision-board"
                 - "renesas/rzt2m_rsk"
                 - "renesas/rzn2l_rsk"
+                - "renesas/rzn2l_etherkit"
                 - "frdm-k64f"
                 - "xplorer4330/M4"
          -  RTT_BSP: "nuvoton" 

bsp/renesas/libraries/HAL_Drivers/SConscript

@@ -55,7 +55,7 @@ if GetDepend(['BSP_USING_TIM']):
 if GetDepend(['BSP_USING_ETH']):
     src += ['drv_eth.c']
 
-if GetDepend(['BSP_USING_CAN']):
+if GetDepend(['BSP_USING_CAN']) or GetDepend('BSP_USING_CANFD'):
     src += ['drv_can.c']
 
 if GetDepend(['BSP_USING_SDHI']):

bsp/renesas/libraries/HAL_Drivers/config/drv_config.h

@@ -1,13 +1,13 @@
 /*
- * Copyright (c) 2006-2023, RT-Thread Development Team
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Change Logs:
- * Date           Author            Notes
- * 2021-07-29     KyleChan          first version
- * 2022-12-7      Vandoul           ADD ra4m2
- */
+* Copyright (c) 2006-2023, RT-Thread Development Team
+*
+* SPDX-License-Identifier: Apache-2.0
+*
+* Change Logs:
+* Date           Author            Notes
+* 2021-07-29     KyleChan          first version
+* 2022-12-7      Vandoul           ADD ra4m2
+*/
 
 #ifndef __DRV_CONFIG_H__
 #define __DRV_CONFIG_H__
@@ -145,6 +145,10 @@ extern "C"
 #include "rzt/uart_config.h"
 #include "rzt/timer_config.h"
 
+#ifdef BSP_USING_CANFD
+#include "rzt/canfd_config.h"
+#endif
+
 #ifdef BSP_USING_PWM
 #include "rzt/pwm_config.h"
 #endif

bsp/renesas/libraries/HAL_Drivers/config/rzt/can_config.h

@@ -0,0 +1,85 @@
+/*
+* Copyright (c) 2006-2025, RT-Thread Development Team
+*
+* SPDX-License-Identifier: Apache-2.0
+*
+* Change Logs:
+* Date           Author            Notes
+* 2025-02-11     kurisaW           first version
+*/
+
+#ifndef __CAN_CONFIG_H__
+#define __CAN_CONFIG_H__
+
+#include <rtthread.h>
+#include "hal_data.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#if defined(BSP_USING_CAN0)
+#ifndef CANFD0_CONFIG
+#define CANFD0_CONFIG                 \
+    {                                 \
+        .name = "canfd0",             \
+        .num_of_mailboxs = 48,        \
+        .p_api_ctrl = &g_canfd0_ctrl, \
+        .p_cfg = &g_canfd0_cfg,       \
+    }
+#endif /* CAN0_CONFIG */
+#endif /* BSP_USING_CAN0 */
+
+#if defined(BSP_USING_CAN1)
+#ifndef CANFD1_CONFIG
+#define CANFD1_CONFIG                 \
+    {                                 \
+        .name = "canfd1",             \
+        .num_of_mailboxs = 48,        \
+        .p_api_ctrl = &g_canfd1_ctrl, \
+        .p_cfg = &g_canfd1_cfg,       \
+    }
+#endif /* CAN1_CONFIG */
+#endif /* BSP_USING_CAN1 */
+
+const canfd_afl_entry_t p_canfd0_afl[CANFD_CFG_AFL_CH0_RULE_NUM] =
+{
+    {
+        .id =
+        {
+            .id         = 0x00,
+            .frame_type = CAN_FRAME_TYPE_DATA,
+            .id_mode    = CAN_ID_MODE_STANDARD
+        },
+        .destination =
+        {
+            .minimum_dlc       = CANFD_MINIMUM_DLC_0,
+            .rx_buffer         = CANFD_RX_MB_NONE,
+            .fifo_select_flags = CANFD_RX_FIFO_0
+        }
+    },
+};
+
+const canfd_afl_entry_t p_canfd1_afl[CANFD_CFG_AFL_CH1_RULE_NUM] =
+{
+    {
+        .id =
+        {
+            .id         = 0x01,
+            .frame_type = CAN_FRAME_TYPE_DATA,
+            .id_mode    = CAN_ID_MODE_STANDARD
+        },
+        .destination =
+        {
+            .minimum_dlc       = CANFD_MINIMUM_DLC_1,
+            .rx_buffer         = CANFD_RX_MB_NONE,
+            .fifo_select_flags = CANFD_RX_FIFO_1
+        }
+    },
+};
+
+#ifdef __cplusplus
+}
+#endif
+#endif

bsp/renesas/libraries/HAL_Drivers/drv_can.c

@@ -6,6 +6,7 @@
  * Change Logs:
  * Date           Author            Notes
  * 2021-10-29     mazhiyuan         first version
+ * 2025-02-11     kurisaW           support can and canfd drivers for RZ family
  */
 
 #include "drv_can.h"
@@ -47,6 +48,18 @@ static const struct ra_baud_rate_tab can_baud_rate_tab[] =
     {CAN10kBaud, 4, 14, 5, 1 + 249}
 };
 
+#if defined(BSP_USING_CANFD)
+
+#define can_instance_ctrl_t         canfd_instance_ctrl_t
+
+#define R_CAN_Open                  R_CANFD_Open
+#define R_BSP_IrqStatusClear        R_BSP_IrqClearPending
+#define R_CAN_ModeTransition        R_CANFD_ModeTransition
+#define R_CAN_InfoGet               R_CANFD_InfoGet
+#define R_CAN_Write                 R_CANFD_Write
+
+#endif
+
 static rt_uint32_t get_can_baud_index(rt_uint32_t baud)
 {
     rt_uint32_t len, index;
@@ -66,13 +79,13 @@ static void ra_can_get_config(void)
     struct can_configure config = CANDEFAULTCONFIG;
 #ifdef BSP_USING_CAN0
     can_obj[CAN0_INDEX].can_dev.config = config;
-    can_obj[CAN0_INDEX].can_dev.config.msgboxsz = CAN_NO_OF_MAILBOXES_g_can0;
+    can_obj[CAN0_INDEX].can_dev.config.msgboxsz = 32;
     can_obj[CAN0_INDEX].can_dev.config.sndboxnumber = 1;
     can_obj[CAN0_INDEX].can_dev.config.ticks = 50;
 #endif
 #ifdef BSP_USING_CAN1
     can_obj[CAN1_INDEX].can_dev.config = config;
-    can_obj[CAN1_INDEX].can_dev.config.msgboxsz = CAN_NO_OF_MAILBOXES_g_can1;
+    can_obj[CAN1_INDEX].can_dev.config.msgboxsz = 32;
     can_obj[CAN1_INDEX].can_dev.config.sndboxnumber = 1;
     can_obj[CAN1_INDEX].can_dev.config.ticks = 50;
 #endif
@@ -168,7 +181,7 @@ rt_err_t ra_can_control(struct rt_can_device *can_dev, int cmd, void *arg)
     }
     return RT_EOK;
 }
-int ra_can_sendmsg(struct rt_can_device *can_dev, const void *buf, rt_uint32_t boxno)
+rt_ssize_t ra_can_sendmsg(struct rt_can_device *can_dev, const void *buf, rt_uint32_t boxno)
 {
     struct ra_can *can;
     can_frame_t g_can_tx_frame;
@@ -180,7 +193,13 @@ int ra_can_sendmsg(struct rt_can_device *can_dev, const void *buf, rt_uint32_t b
     g_can_tx_frame.id_mode = msg_rt->ide;
     g_can_tx_frame.type = msg_rt->rtr;
     g_can_tx_frame.data_length_code = msg_rt->len;
+#if defined(BSP_USING_CANFD) && defined(BSP_USING_CAN_RZ)
+    g_can_tx_frame.options = 0;
+#elif defined(BSP_USING_CANFD)
+    g_can_tx_frame.options = CANFD_FRAME_OPTION_FD | CANFD_FRAME_OPTION_BRS;
+#else
     g_can_tx_frame.options = 0;
+#endif
     memcpy(g_can_tx_frame.data, msg_rt->data, 8);
     can = rt_container_of(can_dev, struct ra_can, can_dev);
     RT_ASSERT(boxno < can->config->num_of_mailboxs);
@@ -193,7 +212,7 @@ int ra_can_sendmsg(struct rt_can_device *can_dev, const void *buf, rt_uint32_t b
     return RT_EOK;
 }
 
-int ra_can_recvmsg(struct rt_can_device *can_dev, void *buf, rt_uint32_t boxno)
+rt_ssize_t ra_can_recvmsg(struct rt_can_device *can_dev, void *buf, rt_uint32_t boxno)
 {
     struct rt_can_msg *msg_rt = (struct rt_can_msg *)buf;
     can_frame_t *msg_ra;
@@ -205,7 +224,11 @@ int ra_can_recvmsg(struct rt_can_device *can_dev, void *buf, rt_uint32_t boxno)
     RT_ASSERT(boxno < can->config->num_of_mailboxs);
     if (can->callback_args->mailbox != boxno)
         return 0;
+#if defined(BSP_USING_CANFD)
+    msg_ra = &can->callback_args->frame;
+#else
     msg_ra = can->callback_args->p_frame;
+#endif
 
     msg_rt->id = msg_ra->id;
     msg_rt->ide = msg_ra->id_mode;

bsp/renesas/libraries/HAL_Drivers/drv_common.c

@@ -36,7 +36,8 @@ static void SysTimerInterrupt(void);
 static void reboot(uint8_t argc, char **argv)
 {
 #ifdef SOC_SERIES_R9A07G0
-    return;
+    R_BSP_RegisterProtectDisable(BSP_REG_PROTECT_LPC_RESET);
+    R_BSP_SystemReset();
 #else
     NVIC_SystemReset();
 #endif