Ubiquitous/RT-Thread_Fusion_XiUOS/:add can driver on xidatong arm and test.

Ubiquitous/RT-Thread_Fusion_XiUOS/aiit_board/xidatong-arm32/applications/main.c

@@ -110,5 +110,50 @@ void readwrite(const char* filename)
 }
 
 MSH_CMD_EXPORT(readwrite, usb host read write test);
-
+#endif
+
+#ifdef BSP_USING_CAN
+static rt_device_t can_dev;            /* CAN 设备句柄 */
+static void can2_test(void)
+{
+   
+    struct rt_can_msg msg = {0};
+    rt_err_t res;
+    rt_size_t  size;
+    rt_thread_t thread;
+    /* 查找 CAN 设备 */
+    can_dev = rt_device_find("can2");
+    if (!can_dev)
+    {
+        rt_kprintf("find can2 failed!\n");
+        return;
+    }
+
+    /* 以中断接收及发送方式打开 CAN 设备 */
+    res = rt_device_open(can_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
+    RT_ASSERT(res == RT_EOK);
+    /* 创建数据接收线程 */
+    msg.id = 0x78;              /* ID 为 0x78 */
+    msg.ide = RT_CAN_STDID;     /* 标准格式 */
+    msg.rtr = RT_CAN_DTR;       /* 数据帧 */
+    msg.len = 8;                /* 数据长度为 8 */
+    /* 待发送的 8 字节数据 */
+    msg.data[0] = 0x00;
+    msg.data[1] = 0x11;
+    msg.data[2] = 0x22;
+    msg.data[3] = 0x33;
+    msg.data[4] = 0x44;
+    msg.data[5] = 0x55;
+    msg.data[6] = 0x66;
+    msg.data[7] = 0x77;
+    /* 发送一帧 CAN 数据 */
+    size = rt_device_write(can_dev, 0, &msg, sizeof(msg));
+    if (size == 0)
+    {
+        rt_kprintf("can dev write data failed!\n");
+    }
+    rt_device_close(can_dev);
+   
+}
+MSH_CMD_EXPORT(can2_test, can2 test);
 #endif

Ubiquitous/RT-Thread_Fusion_XiUOS/aiit_board/xidatong-arm32/board/Kconfig

@@ -196,6 +196,9 @@ menu "On-chip Peripheral Drivers"
         if BSP_USING_CAN
             config BSP_USING_CAN1
                 bool "Enable CAN1"
+                default n
+            config BSP_USING_CAN2
+                bool "Enable CAN2"
                 default y
         endif
     

Ubiquitous/RT-Thread_Fusion_XiUOS/aiit_board/xidatong-arm32/board/board.c

@@ -1048,6 +1048,39 @@ void imxrt_sdio_pins_init(void)
 
 }
 #endif
+
+#ifdef BSP_USING_CAN2
+void imxrt_can2_pins_init(void)
+{
+    IOMUXC_SetPinMux(
+      IOMUXC_GPIO_AD_B0_14_FLEXCAN2_TX,       /* GPIO_AD_B0_14 is configured as FLEXCAN2_TX */
+      1U);                                    /* Software Input On Field: Force input path of pad GPIO_AD_B0_14 */
+    IOMUXC_SetPinMux(
+      IOMUXC_GPIO_AD_B0_15_FLEXCAN2_RX,       /* GPIO_AD_B0_15 is configured as FLEXCAN2_RX */
+      1U);                                    /* Software Input On Field: Force input path of pad GPIO_AD_B0_15 */
+    IOMUXC_SetPinConfig(
+      IOMUXC_GPIO_AD_B0_14_FLEXCAN2_TX,       /* GPIO_AD_B0_14 PAD functional properties : */
+      0x10B0u);                               /* Slew Rate Field: Slow Slew Rate
+                                                 Drive Strength Field: R0/6
+                                                 Speed Field: medium(100MHz)
+                                                 Open Drain Enable Field: Open Drain Disabled
+                                                 Pull / Keep Enable Field: Pull/Keeper Enabled
+                                                 Pull / Keep Select Field: Keeper
+                                                 Pull Up / Down Config. Field: 100K Ohm Pull Down
+                                                 Hyst. Enable Field: Hysteresis Disabled */
+  IOMUXC_SetPinConfig(
+      IOMUXC_GPIO_AD_B0_15_FLEXCAN2_RX,       /* GPIO_AD_B0_15 PAD functional properties : */
+      0x10B0u);                               /* Slew Rate Field: Slow Slew Rate
+                                                 Drive Strength Field: R0/6
+                                                 Speed Field: medium(100MHz)
+                                                 Open Drain Enable Field: Open Drain Disabled
+                                                 Pull / Keep Enable Field: Pull/Keeper Enabled
+                                                 Pull / Keep Select Field: Keeper
+                                                 Pull Up / Down Config. Field: 100K Ohm Pull Down
+                                                 Hyst. Enable Field: Hysteresis Disabled */
+}
+#endif
+
 void rt_hw_board_init()
 {
     BOARD_ConfigMPU();
@@ -1084,6 +1117,10 @@ void rt_hw_board_init()
     rt_components_board_init();
 #endif
 
+#ifdef BSP_USING_CAN2
+    imxrt_can2_pins_init();
+#endif
+
 #if defined(RT_USING_CONSOLE) && defined(RT_USING_DEVICE)
     rt_console_set_device(RT_CONSOLE_DEVICE_NAME);
 #endif