MCX/A366 CANFD BSP driver support by yuplus · Pull Request #11609 · RT-Thread/rt-thread

yuplus · 2026-07-11T06:46:48Z

拉取/合并请求描述：(PR description)

[

为什么提交这份PR (why to submit this PR)

FRDM-MCXA366（MCXA366）板载 FlexCAN0/1 与 TJA1057 收发器，但当前 MCXA BSP 的 CAN 驱动仅覆盖经典 CAN 基础能力，存在以下缺口：

不支持 CAN-FD：无法使用 RT_CAN_USING_CANFD、FD 帧收发及 Loopback 验证。
双路 CAN 不可用：drv_can.c 缺少 CAN1 完整初始化、错误恢复与 Normal 模式收发逻辑；pin_mux.c 未配置 CAN1 引脚（P1_17 TX / P1_12 RX），can1 无法在硬件上工作。
外总线可靠性不足：Normal 模式下 TX 易因无 ACK 长时间阻塞；缺少 busoff 恢复、ESR1 诊断及 TX 后重启 RX，双节点互测不稳定。
Keil 链接配置不足：MCXA366_flash.scf 默认堆仅 1KB，双路 CAN 开启 RT_CAN_USING_HDR 时 rt_can_open() 易因堆不足触发断言；GCC 侧 rtconfig.py 已为 32KB，Keil 需对齐。

本 PR 补齐 MCXA 共用 CAN 驱动与 FRDM-MCXA366 板级支持，使社区用户可在该板上进行 CAN-FD 片内回环及 CAN0↔CAN1 外总线互测。

你的解决方案是什么 (what is your solution)

1. 驱动层（`bsp/nxp/mcx/mcxa/Libraries/drivers/drv_can.c`）

增加 CAN-FD 支持：FLEXCAN_FDInit、FD 帧编解码、Loopback / Normal / Listen 模式。
支持 CAN0 + CAN1 双控制器注册与独立 IRQ 处理。
Normal 模式改进：
- TX 前 _can_recover_bus()，TX 后 _can_start_rx() 保证双向通信；
- enableIndividMask = false + 全局 RX 掩码 0，接受标准帧；
- TX 2s 超时 + _can_dump_err() 输出 ESR1/ACKERR，避免无应答时死等。
Loopback 模式：关闭 Individual Mask，配置全局滤波，支持 8/16 字节 FD 回环自测。
显式使能 FlexCAN 时钟门控，修复 MDIS 断言问题。

2. 板级引脚（`frdm-mcxa366/board/MCUX_Config/board/pin_mux.c`）

在 #ifdef BSP_USING_CAN1 下增加 CAN1 引脚复用，与 NXP SDK BOARD_InitCANPins 一致：

信号	引脚
CAN1_TXD	PORT1_17
CAN1_RXD	PORT1_12

3. Keil 链接脚本（`board/linker_scripts/MCXA366_flash.scf`）

将默认堆由 0x0400（1KB）调整为 0x8000（32KB），与 GCC rtconfig.py 中 __heap_size__=0x8000 一致，满足双路 CAN 设备打开时的动态内存需求。

4. 使用方式（需在 menuconfig 中启用）

RT_USING_CAN
RT_CAN_USING_CANFD
RT_CAN_USING_HDR
BSP_USING_CAN
BSP_USING_CAN0
BSP_USING_CAN1

修改 .config 后执行：

scons --pyconfig-silent

5. 建议验证步骤

步骤	命令	条件
片内回环	`canfd_loopback_test`	无需外接线
双路诊断	`canfd_dual_diag`	确认 can0/can1 注册
双路互测	`canfd_dual_test`	JP7 短接；J16↔J17 短接 CAN_H/CAN_L/GND

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

BSP: bsp/nxp/mcx/mcxa/frdm-mcxa366

.config:

CONFIG_RT_USING_CAN=y
CONFIG_RT_CAN_USING_HDR=y
CONFIG_RT_CAN_USING_CANFD=y
CONFIG_RT_CANMSG_BOX_SZ=16
CONFIG_RT_CANSND_BOX_NUM=1
CONFIG_RT_CANSND_MSG_TIMEOUT=100
CONFIG_RT_CAN_NB_TX_FIFO_SIZE=1024
# CONFIG_RT_CAN_MALLOC_NB_TX_BUFFER is not set

CONFIG_BSP_USING_CAN=y
CONFIG_BSP_USING_CAN0=y
CONFIG_BSP_USING_CAN1=y

action: https://github.com/yuplus/rt-thread/actions/runs/29143467316

验证截图

CAN0与CAN1直接短接

CAN0	CAN1
PIN-1	PIN-1
PIN-2	PIN-2
PIN-4	PIN-4

PIN-3是电源，不用接。

FDCAN0 环回测试

经典CAN 8字节通信

FDCAN0 <---> FDCAN1

]

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

github-actions · 2026-07-11T06:46:58Z

👋 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

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

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 "/")
将目标分支设置为 \ Set the target branch to：feature/dual_canfd
设置PR number为 \ Set the PR number to：11609

等待工作流完成 | Wait for the workflow to complete
格式化后的代码将自动推送至你的分支。
The formatted code will be automatically pushed to your branch.

完成后，提交将自动更新至 feature/dual_canfd 分支，关联的 Pull Request 也会同步更新。
Once completed, commits will be pushed to the feature/dual_canfd 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 · 2026-07-11T06:47:00Z

📌 Code Review Assignment

🏷️ Tag: bsp_mcxa

Reviewers: @hywing

Changed Files (Click to expand)

bsp/nxp/mcx/mcxa/Libraries/drivers/drv_can.c
bsp/nxp/mcx/mcxa/frdm-mcxa366/.ci/attachconfig/ci.attachconfig.yml
bsp/nxp/mcx/mcxa/frdm-mcxa366/board/MCUX_Config/board/pin_mux.c

📊 Current Review Status (Last Updated: 2026-07-16 14:54 CST)

⌛ @hywing Pending Review

📝 Review Instructions

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

CLAassistant · 2026-07-11T06:49:13Z

All committers have signed the CLA.

CYFS3 · 2026-07-16T01:57:24Z

测试用例不需要提交了，在你的测评文章体现就好了，然后mdk工程不需要提交

CYFS3 · 2026-07-16T02:25:09Z

另外可以加个ci看护起来，ci-attach
教程：https://club.rt-thread.org/ask/article/d273bbcd1f8779bc.html

yuplus · 2026-07-16T05:31:17Z

测试用例不需要提交了，在你的测评文章体现就好了，然后mdk工程不需要提交

已移除用例程序
已移除针对mdk工程的修改

CYFS3 · 2026-07-16T05:32:37Z

测试用例不需要提交了，在你的测评文章体现就好了，然后mdk工程不需要提交

已移除用例程序

已移除针对mdk工程的修改

麻烦这个处理一下

yuplus · 2026-07-16T05:48:02Z

另外可以加个ci看护起来，ci-attach 教程：https://club.rt-thread.org/ask/article/d273bbcd1f8779bc.html

已添加

Peripheral.canfd:
    kconfig:
      - CONFIG_BSP_USING_CAN=y
      - CONFIG_BSP_USING_CAN0=y
      - CONFIG_BSP_USING_CAN1=y
      - CONFIG_RT_USING_CAN=y
      - CONFIG_RT_CAN_USING_HDR=y
      - CONFIG_RT_CAN_USING_CANFD=y
      - CONFIG_RT_CANMSG_BOX_SZ=16
      - CONFIG_RT_CANSND_BOX_NUM=1
      - CONFIG_RT_CANSND_MSG_TIMEOUT=100
      - CONFIG_RT_CAN_NB_TX_FIFO_SIZE=1024

CYFS3 · 2026-07-16T05:53:11Z

测试用例不需要提交了，在你的测评文章体现就好了，然后mdk工程不需要提交

已移除用例程序

已移除针对mdk工程的修改

麻烦这个处理一下

另外可以加个ci看护起来，ci-attach 教程：https://club.rt-thread.org/ask/article/d273bbcd1f8779bc.html

已添加
Peripheral.canfd:
    kconfig:
      - CONFIG_BSP_USING_CAN=y
      - CONFIG_BSP_USING_CAN0=y
      - CONFIG_BSP_USING_CAN1=y

这个处理一下，然后drv_can还是没有处理

yuplus · 2026-07-16T06:14:07Z

这个处理一下，然后drv_can还是没有处理

已处理

yuplus · 2026-07-16T06:29:01Z

测试用例不需要提交了，在你的测评文章体现就好了，然后mdk工程不需要提交

已移除用例程序

已移除针对mdk工程的修改

麻烦这个处理一下

已处理

yuplus · 2026-07-16T06:31:51Z

lgtm

CYFS3

LGTM

yuplus · 2026-07-16T09:53:30Z

@Rbb666 LGTM from reviewers, awaiting your approval. Thanks!

yuplus requested a review from Rbb666 as a code owner July 11, 2026 06:46

github-actions Bot added BSP: NXP Code related with NXP BSP labels Jul 11, 2026

yuplus force-pushed the feature/dual_canfd branch from b484fbd to cebea70 Compare July 11, 2026 06:52

yuplus changed the title ~~CANFD BSP driver support and examples~~ MCX/A366 CANFD BSP driver support and examples Jul 11, 2026

waldenice mentioned this pull request Jul 11, 2026

bsp: add CAN-FD and loopback support #11579

Closed

9 tasks

yuplus force-pushed the feature/dual_canfd branch from a5c14a1 to 8421004 Compare July 16, 2026 05:29

yuplus changed the title ~~MCX/A366 CANFD BSP driver support and examples~~ MCX/A366 CANFD BSP driver support Jul 16, 2026

yuplus force-pushed the feature/dual_canfd branch from fdc8a41 to f1f97c9 Compare July 16, 2026 05:51

yuplus force-pushed the feature/dual_canfd branch from f1f97c9 to ff229da Compare July 16, 2026 05:57

yuplus force-pushed the feature/dual_canfd branch from ff229da to 5013be8 Compare July 16, 2026 06:28

CANFD BSP driver support and ci.attach support

c2cd520

yuplus force-pushed the feature/dual_canfd branch from f4f6f43 to c2cd520 Compare July 16, 2026 06:53

CYFS3 approved these changes Jul 16, 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)

你的解决方案是什么 (what is your solution)

1. 驱动层（bsp/nxp/mcx/mcxa/Libraries/drivers/drv_can.c）

2. 板级引脚（frdm-mcxa366/board/MCUX_Config/board/pin_mux.c）

3. Keil 链接脚本（board/linker_scripts/MCXA366_flash.scf）

4. 使用方式（需在 menuconfig 中启用）

5. 建议验证步骤

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

验证截图

当前拉取/合并请求的状态 Intent for your PR

代码质量 Code Quality：

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github-actions Bot commented Jul 11, 2026

🛠 操作步骤 | Steps

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📌 Code Review Assignment

🏷️ Tag: bsp_mcxa

📊 Current Review Status (Last Updated: 2026-07-16 14:54 CST)

📝 Review Instructions

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yuplus commented Jul 11, 2026 •

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1. 驱动层（`bsp/nxp/mcx/mcxa/Libraries/drivers/drv_can.c`）

2. 板级引脚（`frdm-mcxa366/board/MCUX_Config/board/pin_mux.c`）

3. Keil 链接脚本（`board/linker_scripts/MCXA366_flash.scf`）

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yuplus commented Jul 16, 2026 •

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