完善接口配置

Signed-off-by: a1012112796 <1012112796@qq.com>
2022-12-13 09:26:50 +08:00
parent 53c63690da
commit 65384e5c57
11 changed files with 1599 additions and 208 deletions
--- a/.config
+++ b/.config
@@ -127,7 +127,9 @@ CONFIG_RT_USING_SERIAL_V1=y
 # CONFIG_RT_USING_SERIAL_V2 is not set
 CONFIG_RT_SERIAL_USING_DMA=y
 CONFIG_RT_SERIAL_RB_BUFSZ=64
-# CONFIG_RT_USING_CAN is not set
+CONFIG_RT_USING_CAN=y
+# CONFIG_RT_CAN_USING_HDR is not set
+# CONFIG_RT_CAN_USING_CANFD is not set
 # CONFIG_RT_USING_HWTIMER is not set
 # CONFIG_RT_USING_CPUTIME is not set
 # CONFIG_RT_USING_I2C is not set
@@ -718,6 +720,9 @@ CONFIG_BSP_USING_UART2=y
 CONFIG_BSP_UART2_RX_USING_DMA=y
 CONFIG_BSP_UART2_TX_USING_DMA=y
 # CONFIG_BSP_USING_UART3 is not set
+CONFIG_BSP_USING_CAN=y
+CONFIG_BSP_USING_CAN1=y
+CONFIG_BSP_USING_CAN2=y
 # CONFIG_BSP_USING_SPI is not set
 # CONFIG_BSP_USING_I2C1 is not set
 # CONFIG_BSP_USING_TIM is not set
--- a/board/CubeMX_Config/.mxproject
+++ b/board/CubeMX_Config/.mxproject
--- a/board/CubeMX_Config/CubeMX_Config.ioc
+++ b/board/CubeMX_Config/CubeMX_Config.ioc
@@ -1,27 +1,121 @@
 #MicroXplorer Configuration settings - do not modify
+ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_4
+ADC1.IPParameters=Rank-0\#ChannelRegularConversion,master,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag
+ADC1.NbrOfConversionFlag=1
+ADC1.Rank-0\#ChannelRegularConversion=1
+ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
+ADC1.master=1
+CAN1.BS1=CAN_BS1_4TQ
+CAN1.CalculateBaudRate=520833
+CAN1.CalculateTimeBit=1920
+CAN1.CalculateTimeQuantum=320.0
+CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1
+CAN2.BS1=CAN_BS1_2TQ
+CAN2.CalculateBaudRate=781250
+CAN2.CalculateTimeBit=1280
+CAN2.CalculateTimeQuantum=320.0
+CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1
+CAN3.BS2=CAN_BS2_2TQ
+CAN3.CalculateBaudRate=781250
+CAN3.CalculateTimeBit=1280
+CAN3.CalculateTimeQuantum=320.0
+CAN3.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS2
 File.Version=6
 GPIO.groupedBy=
 KeepUserPlacement=false
 Mcu.CPN=STM32F413VGT6
 Mcu.Family=STM32F4
-Mcu.IP0=NVIC
-Mcu.IP1=RCC
-Mcu.IP2=SYS
-Mcu.IP3=USART1
-Mcu.IP4=USART2
-Mcu.IPNb=5
+Mcu.IP0=ADC1
+Mcu.IP1=CAN1
+Mcu.IP10=TIM1
+Mcu.IP11=TIM2
+Mcu.IP12=TIM3
+Mcu.IP13=TIM4
+Mcu.IP14=TIM12
+Mcu.IP15=UART4
+Mcu.IP16=UART5
+Mcu.IP17=UART7
+Mcu.IP18=UART8
+Mcu.IP19=UART9
+Mcu.IP2=CAN2
+Mcu.IP20=UART10
+Mcu.IP21=USART1
+Mcu.IP22=USART2
+Mcu.IP23=USART3
+Mcu.IP3=CAN3
+Mcu.IP4=I2C3
+Mcu.IP5=NVIC
+Mcu.IP6=RCC
+Mcu.IP7=SPI2
+Mcu.IP8=SPI4
+Mcu.IP9=SYS
+Mcu.IPNb=24
 Mcu.Name=STM32F413V(G-H)Tx
 Mcu.Package=LQFP100
-Mcu.Pin0=PH0 - OSC_IN
-Mcu.Pin1=PH1 - OSC_OUT
-Mcu.Pin2=PA2
-Mcu.Pin3=PA3
-Mcu.Pin4=PA9
-Mcu.Pin5=PA10
-Mcu.Pin6=PA13
-Mcu.Pin7=PA14
-Mcu.Pin8=VP_SYS_VS_Systick
-Mcu.PinsNb=9
+Mcu.Pin0=PE2
+Mcu.Pin1=PE3
+Mcu.Pin10=PC3
+Mcu.Pin11=PA0
+Mcu.Pin12=PA2
+Mcu.Pin13=PA3
+Mcu.Pin14=PA4
+Mcu.Pin15=PA5
+Mcu.Pin16=PA6
+Mcu.Pin17=PA7
+Mcu.Pin18=PC4
+Mcu.Pin19=PC5
+Mcu.Pin2=PE4
+Mcu.Pin20=PB0
+Mcu.Pin21=PB1
+Mcu.Pin22=PE7
+Mcu.Pin23=PE8
+Mcu.Pin24=PE9
+Mcu.Pin25=PE11
+Mcu.Pin26=PE12
+Mcu.Pin27=PE13
+Mcu.Pin28=PE14
+Mcu.Pin29=PB10
+Mcu.Pin3=PE5
+Mcu.Pin30=PB12
+Mcu.Pin31=PB13
+Mcu.Pin32=PB14
+Mcu.Pin33=PB15
+Mcu.Pin34=PD14
+Mcu.Pin35=PD15
+Mcu.Pin36=PC9
+Mcu.Pin37=PA8
+Mcu.Pin38=PA9
+Mcu.Pin39=PA10
+Mcu.Pin4=PE6
+Mcu.Pin40=PA11
+Mcu.Pin41=PA12
+Mcu.Pin42=PA13
+Mcu.Pin43=PA14
+Mcu.Pin44=PC10
+Mcu.Pin45=PC11
+Mcu.Pin46=PC12
+Mcu.Pin47=PD0
+Mcu.Pin48=PD2
+Mcu.Pin49=PD5
+Mcu.Pin5=PH0 - OSC_IN
+Mcu.Pin50=PD6
+Mcu.Pin51=PB3
+Mcu.Pin52=PB4
+Mcu.Pin53=PB6
+Mcu.Pin54=PB7
+Mcu.Pin55=PB8
+Mcu.Pin56=PB9
+Mcu.Pin57=PE0
+Mcu.Pin58=PE1
+Mcu.Pin59=VP_SYS_VS_Systick
+Mcu.Pin6=PH1 - OSC_OUT
+Mcu.Pin60=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin61=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin62=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin7=PC0
+Mcu.Pin8=PC1
+Mcu.Pin9=PC2
+Mcu.PinsNb=63
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F413VGTx
@@ -38,18 +132,106 @@ NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+PA0.Mode=Asynchronous
+PA0.Signal=UART4_TX
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
+PA11.Mode=Asynchronous
+PA11.Signal=UART4_RX
+PA12.Mode=CAN_Activate
+PA12.Signal=CAN1_TX
 PA13.Mode=Serial_Wire
 PA13.Signal=SYS_JTMS-SWDIO
 PA14.Mode=Serial_Wire
 PA14.Signal=SYS_JTCK-SWCLK
-PA2.Mode=Asynchronous
-PA2.Signal=USART2_TX
-PA3.Mode=Asynchronous
-PA3.Signal=USART2_RX
+PA2.Signal=S_TIM2_CH3
+PA3.Signal=S_TIM2_CH4
+PA4.Signal=ADCx_IN4
+PA5.Signal=ADCx_IN5
+PA6.Signal=S_TIM3_CH1
+PA7.Signal=S_TIM3_CH2
+PA8.Mode=I2C
+PA8.Signal=I2C3_SCL
 PA9.Mode=Asynchronous
 PA9.Signal=USART1_TX
+PB0.Signal=S_TIM3_CH3
+PB1.Signal=S_TIM3_CH4
+PB10.Mode=Full_Duplex_Master
+PB10.Signal=SPI2_SCK
+PB12.Mode=CAN_Activate
+PB12.Signal=CAN2_RX
+PB13.Mode=CAN_Activate
+PB13.Signal=CAN2_TX
+PB14.Signal=S_TIM12_CH1
+PB15.Signal=S_TIM12_CH2
+PB3.Locked=true
+PB3.Mode=CAN_Activate
+PB3.Signal=CAN3_RX
+PB4.Locked=true
+PB4.Mode=CAN_Activate
+PB4.Signal=CAN3_TX
+PB6.Locked=true
+PB6.Signal=S_TIM4_CH1
+PB7.Locked=true
+PB7.Signal=S_TIM4_CH2
+PB8.Signal=S_TIM4_CH3
+PB9.Signal=S_TIM4_CH4
+PC0.Signal=ADCx_IN10
+PC1.Signal=ADCx_IN11
+PC10.Locked=true
+PC10.Mode=Asynchronous
+PC10.Signal=USART3_TX
+PC11.Locked=true
+PC11.Mode=Asynchronous
+PC11.Signal=USART3_RX
+PC12.Mode=Asynchronous
+PC12.Signal=UART5_TX
+PC2.Mode=Full_Duplex_Master
+PC2.Signal=SPI2_MISO
+PC3.Mode=Full_Duplex_Master
+PC3.Signal=SPI2_MOSI
+PC4.Signal=ADCx_IN14
+PC5.Signal=ADCx_IN15
+PC9.Mode=I2C
+PC9.Signal=I2C3_SDA
+PD0.Mode=CAN_Activate
+PD0.Signal=CAN1_RX
+PD14.Mode=Asynchronous
+PD14.Signal=UART9_RX
+PD15.Mode=Asynchronous
+PD15.Signal=UART9_TX
+PD2.Mode=Asynchronous
+PD2.Signal=UART5_RX
+PD5.Locked=true
+PD5.Mode=Asynchronous
+PD5.Signal=USART2_TX
+PD6.Locked=true
+PD6.Mode=Asynchronous
+PD6.Signal=USART2_RX
+PE0.Mode=Asynchronous
+PE0.Signal=UART8_RX
+PE1.Mode=Asynchronous
+PE1.Signal=UART8_TX
+PE11.Signal=S_TIM1_CH2
+PE12.Mode=Full_Duplex_Master
+PE12.Signal=SPI4_SCK
+PE13.Signal=S_TIM1_CH3
+PE14.Signal=S_TIM1_CH4
+PE2.Mode=Asynchronous
+PE2.Signal=UART10_RX
+PE3.Mode=Asynchronous
+PE3.Signal=UART10_TX
+PE4.Mode=NSS_Signal_Hard_Output
+PE4.Signal=SPI4_NSS
+PE5.Mode=Full_Duplex_Master
+PE5.Signal=SPI4_MISO
+PE6.Mode=Full_Duplex_Master
+PE6.Signal=SPI4_MOSI
+PE7.Mode=Asynchronous
+PE7.Signal=UART7_RX
+PE8.Mode=Asynchronous
+PE8.Signal=UART7_TX
+PE9.Signal=S_TIM1_CH1
 PH0\ -\ OSC_IN.Mode=HSE-External-Oscillator
 PH0\ -\ OSC_IN.Signal=RCC_OSC_IN
 PH1\ -\ OSC_OUT.Mode=HSE-External-Oscillator
@@ -82,7 +264,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=MDK-ARM V5.32
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_USART1_UART_Init-USART1-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_USART2_UART_Init-USART2-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_ADC1_Init-ADC1-false-HAL-true,8-MX_CAN3_Init-CAN3-false-HAL-true,9-MX_I2C3_Init-I2C3-false-HAL-true,10-MX_SPI2_Init-SPI2-false-HAL-true,11-MX_SPI4_Init-SPI4-false-HAL-true,12-MX_TIM1_Init-TIM1-false-HAL-true,13-MX_TIM2_Init-TIM2-false-HAL-true,14-MX_TIM3_Init-TIM3-false-HAL-true,15-MX_TIM4_Init-TIM4-false-HAL-true,16-MX_TIM12_Init-TIM12-false-HAL-true,17-MX_UART4_Init-UART4-false-HAL-true,18-MX_UART5_Init-UART5-false-HAL-true,19-MX_UART7_Init-UART7-false-HAL-true,20-MX_UART8_Init-UART8-false-HAL-true,21-MX_UART9_Init-UART9-false-HAL-true,22-MX_UART10_Init-UART10-false-HAL-true,23-MX_USART3_UART_Init-USART3-false-HAL-true
 RCC.AHBFreq_Value=100000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
 RCC.APB1Freq_Value=50000000
@@ -127,10 +309,106 @@ RCC.VCOI2SInputFreq_Value=500000
 RCC.VCOI2SOutputFreq_Value=96000000
 RCC.VCOInputFreq_Value=1000000
 RCC.VCOOutputFreq_Value=200000000
+SH.ADCx_IN10.0=ADC1_IN10,IN10
+SH.ADCx_IN10.ConfNb=1
+SH.ADCx_IN11.0=ADC1_IN11,IN11
+SH.ADCx_IN11.ConfNb=1
+SH.ADCx_IN14.0=ADC1_IN14,IN14
+SH.ADCx_IN14.ConfNb=1
+SH.ADCx_IN15.0=ADC1_IN15,IN15
+SH.ADCx_IN15.ConfNb=1
+SH.ADCx_IN4.0=ADC1_IN4,IN4
+SH.ADCx_IN4.ConfNb=1
+SH.ADCx_IN5.0=ADC1_IN5,IN5
+SH.ADCx_IN5.ConfNb=1
+SH.S_TIM12_CH1.0=TIM12_CH1,Input_Capture1_from_TI1
+SH.S_TIM12_CH1.ConfNb=1
+SH.S_TIM12_CH2.0=TIM12_CH2,Input_Capture2_from_TI2
+SH.S_TIM12_CH2.ConfNb=1
+SH.S_TIM1_CH1.0=TIM1_CH1,Input_Capture1_from_TI1
+SH.S_TIM1_CH1.ConfNb=1
+SH.S_TIM1_CH2.0=TIM1_CH2,Input_Capture2_from_TI2
+SH.S_TIM1_CH2.ConfNb=1
+SH.S_TIM1_CH3.0=TIM1_CH3,Input_Capture3_from_TI3
+SH.S_TIM1_CH3.ConfNb=1
+SH.S_TIM1_CH4.0=TIM1_CH4,Input_Capture4_from_TI4
+SH.S_TIM1_CH4.ConfNb=1
+SH.S_TIM2_CH3.0=TIM2_CH3,Input_Capture3_from_TI3
+SH.S_TIM2_CH3.ConfNb=1
+SH.S_TIM2_CH4.0=TIM2_CH4,Input_Capture4_from_TI4
+SH.S_TIM2_CH4.ConfNb=1
+SH.S_TIM3_CH1.0=TIM3_CH1,PWM Generation1 CH1
+SH.S_TIM3_CH1.ConfNb=1
+SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2
+SH.S_TIM3_CH2.ConfNb=1
+SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3
+SH.S_TIM3_CH3.ConfNb=1
+SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
+SH.S_TIM3_CH4.ConfNb=1
+SH.S_TIM4_CH1.0=TIM4_CH1,PWM Generation1 CH1
+SH.S_TIM4_CH1.ConfNb=1
+SH.S_TIM4_CH2.0=TIM4_CH2,PWM Generation2 CH2
+SH.S_TIM4_CH2.ConfNb=1
+SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3
+SH.S_TIM4_CH3.ConfNb=1
+SH.S_TIM4_CH4.0=TIM4_CH4,Output Compare4 CH4
+SH.S_TIM4_CH4.ConfNb=1
+SPI2.CalculateBaudRate=25.0 MBits/s
+SPI2.Direction=SPI_DIRECTION_2LINES
+SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate
+SPI2.Mode=SPI_MODE_MASTER
+SPI2.VirtualType=VM_MASTER
+SPI4.CalculateBaudRate=50.0 MBits/s
+SPI4.Direction=SPI_DIRECTION_2LINES
+SPI4.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,VirtualNSS
+SPI4.Mode=SPI_MODE_MASTER
+SPI4.VirtualNSS=VM_NSSHARD
+SPI4.VirtualType=VM_MASTER
+TIM1.Channel-Input_Capture1_from_TI1=TIM_CHANNEL_1
+TIM1.Channel-Input_Capture2_from_TI2=TIM_CHANNEL_2
+TIM1.Channel-Input_Capture3_from_TI3=TIM_CHANNEL_3
+TIM1.Channel-Input_Capture4_from_TI4=TIM_CHANNEL_4
+TIM1.IPParameters=Channel-Input_Capture1_from_TI1,Channel-Input_Capture2_from_TI2,Channel-Input_Capture3_from_TI3,Channel-Input_Capture4_from_TI4
+TIM12.Channel-Input_Capture1_from_TI1=TIM_CHANNEL_1
+TIM12.Channel-Input_Capture2_from_TI2=TIM_CHANNEL_2
+TIM12.IPParameters=Channel-Input_Capture1_from_TI1,Channel-Input_Capture2_from_TI2
+TIM2.Channel-Input_Capture3_from_TI3=TIM_CHANNEL_3
+TIM2.Channel-Input_Capture4_from_TI4=TIM_CHANNEL_4
+TIM2.IPParameters=Channel-Input_Capture3_from_TI3,Channel-Input_Capture4_from_TI4
+TIM3.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM3.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
+TIM4.Channel-Output\ Compare4\ CH4=TIM_CHANNEL_4
+TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM4.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-Output Compare4 CH4
+UART10.IPParameters=VirtualMode
+UART10.VirtualMode=Asynchronous
+UART4.IPParameters=VirtualMode
+UART4.VirtualMode=Asynchronous
+UART5.IPParameters=VirtualMode
+UART5.VirtualMode=Asynchronous
+UART7.IPParameters=VirtualMode
+UART7.VirtualMode=Asynchronous
+UART8.IPParameters=VirtualMode
+UART8.VirtualMode=Asynchronous
+UART9.IPParameters=VirtualMode
+UART9.VirtualMode=Asynchronous
 USART1.IPParameters=VirtualMode
 USART1.VirtualMode=VM_ASYNC
 USART2.IPParameters=VirtualMode
 USART2.VirtualMode=VM_ASYNC
+USART3.IPParameters=VirtualMode
+USART3.VirtualMode=VM_ASYNC
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_TIM1_VS_ClockSourceINT.Mode=Internal
+VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
+VP_TIM3_VS_ClockSourceINT.Mode=Internal
+VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
+VP_TIM4_VS_ClockSourceINT.Mode=Internal
+VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
 board=custom
--- a/board/CubeMX_Config/Inc/main.h
+++ b/board/CubeMX_Config/Inc/main.h
@@ -49,6 +49,8 @@ extern "C" {

 /* USER CODE END EM */

+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
+
 /* Exported functions prototypes ---------------------------------------------*/
 void Error_Handler(void);

--- a/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
+++ b/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
@@ -37,9 +37,9 @@
  */
 #define HAL_MODULE_ENABLED

-  /* #define HAL_ADC_MODULE_ENABLED   */
+  #define HAL_ADC_MODULE_ENABLED
 /* #define HAL_CRYP_MODULE_ENABLED   */
-/* #define HAL_CAN_MODULE_ENABLED   */
+#define HAL_CAN_MODULE_ENABLED
 /* #define HAL_CRC_MODULE_ENABLED   */
 /* #define HAL_CAN_LEGACY_MODULE_ENABLED   */
 /* #define HAL_CRYP_MODULE_ENABLED   */
@@ -53,7 +53,7 @@
 /* #define HAL_SRAM_MODULE_ENABLED   */
 /* #define HAL_SDRAM_MODULE_ENABLED   */
 /* #define HAL_HASH_MODULE_ENABLED   */
-/* #define HAL_I2C_MODULE_ENABLED   */
+#define HAL_I2C_MODULE_ENABLED
 /* #define HAL_I2S_MODULE_ENABLED   */
 /* #define HAL_IWDG_MODULE_ENABLED   */
 /* #define HAL_LTDC_MODULE_ENABLED   */
@@ -62,8 +62,8 @@
 /* #define HAL_SAI_MODULE_ENABLED   */
 /* #define HAL_SD_MODULE_ENABLED   */
 /* #define HAL_MMC_MODULE_ENABLED   */
-/* #define HAL_SPI_MODULE_ENABLED   */
-/* #define HAL_TIM_MODULE_ENABLED   */
+#define HAL_SPI_MODULE_ENABLED
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED   */
 /* #define HAL_IRDA_MODULE_ENABLED   */
--- a/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
+++ b/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
--- a/board/Kconfig
+++ b/board/Kconfig
@@ -57,6 +57,19 @@ menu "On-chip Peripheral Drivers"
                depends on BSP_USING_UART3 && RT_SERIAL_USING_DMA
                default n
        endif
+    
+    menuconfig BSP_USING_CAN
+        bool "Enable CAN"
+        default n
+        select RT_USING_CAN
+        if BSP_USING_CAN
+            config BSP_USING_CAN1
+                bool "using CAN1"
+                default n
+            config BSP_USING_CAN2
+                bool "using CAN2"
+                default n
+        endif
        
    menuconfig BSP_USING_SPI
        bool "Enable SPI BUS"
--- a/iap/SConscript
+++ b/iap/SConscript
@@ -0,0 +1,9 @@
+from building import *
+
+cwd  = GetCurrentDir()
+src  = Glob('*.c')
+path = [cwd]
+
+group = DefineGroup('IAP', src, depend = [], CPPPATH = path)
+
+Return('group')
--- a/project.uvoptx
+++ b/project.uvoptx
@@ -303,20 +303,20 @@
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
-      <PathWithFileName>rt-thread\components\libc\cplusplus\cxx_Mutex.cpp</PathWithFileName>
-      <FilenameWithoutPath>cxx_Mutex.cpp</FilenameWithoutPath>
+      <PathWithFileName>rt-thread\components\libc\cplusplus\cxx_Semaphore.cpp</PathWithFileName>
+      <FilenameWithoutPath>cxx_Semaphore.cpp</FilenameWithoutPath>
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
    <File>
      <GroupNumber>2</GroupNumber>
      <FileNumber>10</FileNumber>
-      <FileType>1</FileType>
+      <FileType>8</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
-      <PathWithFileName>rt-thread\components\libc\cplusplus\cxx_crt_init.c</PathWithFileName>
-      <FilenameWithoutPath>cxx_crt_init.c</FilenameWithoutPath>
+      <PathWithFileName>rt-thread\components\libc\cplusplus\cxx_crt.cpp</PathWithFileName>
+      <FilenameWithoutPath>cxx_crt.cpp</FilenameWithoutPath>
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
@@ -327,20 +327,20 @@
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
-      <PathWithFileName>rt-thread\components\libc\cplusplus\cxx_Semaphore.cpp</PathWithFileName>
-      <FilenameWithoutPath>cxx_Semaphore.cpp</FilenameWithoutPath>
+      <PathWithFileName>rt-thread\components\libc\cplusplus\cxx_Mutex.cpp</PathWithFileName>
+      <FilenameWithoutPath>cxx_Mutex.cpp</FilenameWithoutPath>
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
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    <File>
      <GroupNumber>2</GroupNumber>
      <FileNumber>12</FileNumber>
-      <FileType>8</FileType>
+      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
-      <PathWithFileName>rt-thread\components\libc\cplusplus\cxx_crt.cpp</PathWithFileName>
-      <FilenameWithoutPath>cxx_crt.cpp</FilenameWithoutPath>
+      <PathWithFileName>rt-thread\components\libc\cplusplus\cxx_crt_init.c</PathWithFileName>
+      <FilenameWithoutPath>cxx_crt_init.c</FilenameWithoutPath>
      <RteFlg>0</RteFlg>
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    </File>
@@ -439,6 +439,18 @@
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
+      <PathWithFileName>rt-thread\components\drivers\can\can.c</PathWithFileName>
+      <FilenameWithoutPath>can.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>4</GroupNumber>
+      <FileNumber>20</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
      <PathWithFileName>rt-thread\components\drivers\ipc\completion.c</PathWithFileName>
      <FilenameWithoutPath>completion.c</FilenameWithoutPath>
      <RteFlg>0</RteFlg>
@@ -446,7 +458,7 @@
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    <File>
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-      <FileNumber>20</FileNumber>
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@@ -458,7 +470,7 @@
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    <File>
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-      <FileNumber>21</FileNumber>
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@@ -470,7 +482,7 @@
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    <File>
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@@ -482,7 +494,7 @@
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    <File>
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-      <FileNumber>23</FileNumber>
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@@ -494,7 +506,7 @@
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-      <FileNumber>24</FileNumber>
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@@ -506,7 +518,7 @@
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    <File>
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-      <FileNumber>25</FileNumber>
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@@ -518,7 +530,7 @@
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    <File>
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@@ -530,7 +542,7 @@
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@@ -542,7 +554,7 @@
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    <File>
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      <tvExpOptDlg>0</tvExpOptDlg>
@@ -556,13 +568,13 @@

  <Group>
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-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
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-      <FileNumber>29</FileNumber>
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@@ -574,7 +586,7 @@
    </File>
    <File>
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-      <FileNumber>30</FileNumber>
+      <FileNumber>31</FileNumber>
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@@ -586,7 +598,7 @@
    </File>
    <File>
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-      <FileNumber>31</FileNumber>
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@@ -598,7 +610,19 @@
    </File>
    <File>
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-      <FileNumber>32</FileNumber>
+      <FileNumber>33</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>libraries\HAL_Drivers\drv_can.c</PathWithFileName>
+      <FilenameWithoutPath>drv_can.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
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+      <FileNumber>34</FileNumber>
      <FileType>1</FileType>
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@@ -610,7 +634,7 @@
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    <File>
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@@ -622,7 +646,7 @@
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@@ -634,7 +658,7 @@
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    <File>
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@@ -654,19 +678,7 @@
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-      <bDave2>0</bDave2>
-      <PathWithFileName>rt-thread\components\fal\src\fal_flash.c</PathWithFileName>
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-      <bShared>0</bShared>
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-    <File>
-      <GroupNumber>6</GroupNumber>
-      <FileNumber>37</FileNumber>
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@@ -678,7 +690,19 @@
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    <File>
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-      <FileNumber>38</FileNumber>
+      <FileNumber>39</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>rt-thread\components\fal\src\fal_flash.c</PathWithFileName>
+      <FilenameWithoutPath>fal_flash.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
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@@ -690,7 +714,7 @@
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@@ -704,13 +728,13 @@

  <Group>
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@@ -722,7 +746,7 @@
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@@ -734,7 +758,7 @@
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@@ -746,7 +770,7 @@
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      <tvExpOptDlg>0</tvExpOptDlg>
@@ -758,6 +782,26 @@
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  </Group>

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+    <GroupName>IAP</GroupName>
+    <tvExp>1</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>0</RteFlg>
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+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>iap\iap.c</PathWithFileName>
+      <FilenameWithoutPath>iap.c</FilenameWithoutPath>
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+      <bShared>0</bShared>
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+
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@@ -777,8 +821,8 @@
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@@ -789,8 +833,8 @@
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@@ -801,8 +845,8 @@
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@@ -813,8 +857,8 @@
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@@ -825,8 +869,8 @@
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@@ -837,8 +881,8 @@
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@@ -861,8 +905,8 @@
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@@ -885,8 +929,8 @@
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@@ -897,8 +941,8 @@
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@@ -953,8 +997,8 @@
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@@ -977,8 +1021,8 @@
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@@ -989,8 +1033,8 @@
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@@ -1001,8 +1045,8 @@
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@@ -1037,8 +1081,8 @@
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+      <PathWithFileName>libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c</PathWithFileName>
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@@ -1121,8 +1177,8 @@
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@@ -1133,8 +1189,8 @@
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      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1145,8 +1201,8 @@
      <bShared>0</bShared>
    </File>
    <File>
-      <GroupNumber>9</GroupNumber>
-      <FileNumber>75</FileNumber>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>79</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1157,8 +1213,8 @@
      <bShared>0</bShared>
    </File>
    <File>
-      <GroupNumber>9</GroupNumber>
-      <FileNumber>76</FileNumber>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>80</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1169,8 +1225,8 @@
      <bShared>0</bShared>
    </File>
    <File>
-      <GroupNumber>9</GroupNumber>
-      <FileNumber>77</FileNumber>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>81</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1181,8 +1237,8 @@
      <bShared>0</bShared>
    </File>
    <File>
-      <GroupNumber>9</GroupNumber>
-      <FileNumber>78</FileNumber>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>82</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1196,13 +1252,13 @@

  <Group>
    <GroupName>Utilities</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
    <File>
-      <GroupNumber>10</GroupNumber>
-      <FileNumber>79</FileNumber>
+      <GroupNumber>11</GroupNumber>
+      <FileNumber>83</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1214,24 +1270,4 @@
    </File>
  </Group>

-  <Group>
-    <GroupName>iap</GroupName>
-    <tvExp>1</tvExp>
-    <tvExpOptDlg>0</tvExpOptDlg>
-    <cbSel>0</cbSel>
-    <RteFlg>0</RteFlg>
-    <File>
-      <GroupNumber>11</GroupNumber>
-      <FileNumber>80</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>.\iap\iap.c</PathWithFileName>
-      <FilenameWithoutPath>iap.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-  </Group>
-
 </ProjectOpt>
--- a/project.uvprojx
+++ b/project.uvprojx
@@ -16,7 +16,7 @@
        <TargetCommonOption>
          <Device>STM32F413VGTx</Device>
          <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
+          <PackID>Keil.STM32F4xx_DFP.2.16.0</PackID>
          <PackURL>http://www.keil.com/pack/</PackURL>
          <Cpu>IRAM(0x20000000,0x00050000) IROM(0x08000000,0x00100000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
          <FlashUtilSpec></FlashUtilSpec>
@@ -339,7 +339,7 @@
              <MiscControls></MiscControls>
              <Define>__STDC_LIMIT_MACROS, STM32F413xx, USE_HAL_DRIVER, RT_USING_LIBC, __CLK_TCK=RT_TICK_PER_SECOND, __RTTHREAD__, RT_USING_ARM_LIBC</Define>
              <Undefine></Undefine>
-              <IncludePath>rt-thread\components\drivers\include;rt-thread\components\libc\posix\io\poll;libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Inc;.;board\CubeMX_Config\Inc;rt-thread\components\libc\posix\ipc;libraries\HAL_Drivers\drv_flash;libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Include;rt-thread\components\libc\compilers\common\include;libraries\HAL_Drivers;rt-thread\components\drivers\include;rt-thread\components\libc\compilers\common\extension\fcntl\octal;board;rt-thread\components\libc\posix\io\stdio;rt-thread\libcpu\arm\common;rt-thread\components\drivers\include;rt-thread\include;rt-thread\components\fal\inc;rt-thread\components\utilities\ymodem;rt-thread\components\libc\compilers\common\extension;libraries\HAL_Drivers\config;rt-thread\components\finsh;rt-thread\libcpu\arm\cortex-m4;rt-thread\components\drivers\include;libraries\HAL_Drivers\CMSIS\Include;rt-thread\components\libc\cplusplus</IncludePath>
+              <IncludePath>rt-thread\components\drivers\include;rt-thread\components\libc\posix\io\poll;rt-thread\components\drivers\include;libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Inc;.;board\CubeMX_Config\Inc;rt-thread\components\libc\posix\ipc;libraries\HAL_Drivers\drv_flash;libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Include;rt-thread\components\libc\compilers\common\include;libraries\HAL_Drivers;rt-thread\components\drivers\include;rt-thread\components\libc\compilers\common\extension\fcntl\octal;board;rt-thread\components\libc\posix\io\stdio;rt-thread\libcpu\arm\common;rt-thread\components\drivers\include;rt-thread\include;iap;rt-thread\components\fal\inc;rt-thread\components\utilities\ymodem;rt-thread\components\libc\compilers\common\extension;libraries\HAL_Drivers\config;rt-thread\components\finsh;rt-thread\libcpu\arm\cortex-m4;rt-thread\components\drivers\include;libraries\HAL_Drivers\CMSIS\Include;rt-thread\components\libc\cplusplus</IncludePath>
            </VariousControls>
          </Cads>
          <Aads>
@@ -428,16 +428,6 @@
        <Group>
          <GroupName>CPlusPlus</GroupName>
          <Files>
-            <File>
-              <FileName>cxx_Mutex.cpp</FileName>
-              <FileType>8</FileType>
-              <FilePath>rt-thread\components\libc\cplusplus\cxx_Mutex.cpp</FilePath>
-            </File>
-            <File>
-              <FileName>cxx_crt_init.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>rt-thread\components\libc\cplusplus\cxx_crt_init.c</FilePath>
-            </File>
            <File>
              <FileName>cxx_Semaphore.cpp</FileName>
              <FileType>8</FileType>
@@ -448,6 +438,16 @@
              <FileType>8</FileType>
              <FilePath>rt-thread\components\libc\cplusplus\cxx_crt.cpp</FilePath>
            </File>
+            <File>
+              <FileName>cxx_Mutex.cpp</FileName>
+              <FileType>8</FileType>
+              <FilePath>rt-thread\components\libc\cplusplus\cxx_Mutex.cpp</FilePath>
+            </File>
+            <File>
+              <FileName>cxx_crt_init.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>rt-thread\components\libc\cplusplus\cxx_crt_init.c</FilePath>
+            </File>
            <File>
              <FileName>cxx_Thread.cpp</FileName>
              <FileType>8</FileType>
@@ -488,6 +488,11 @@
        <Group>
          <GroupName>DeviceDrivers</GroupName>
          <Files>
+            <File>
+              <FileName>can.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>rt-thread\components\drivers\can\can.c</FilePath>
+            </File>
            <File>
              <FileName>completion.c</FileName>
              <FileType>1</FileType>
@@ -558,6 +563,11 @@
              <FileType>2</FileType>
              <FilePath>libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f413xx.s</FilePath>
            </File>
+            <File>
+              <FileName>drv_can.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>libraries\HAL_Drivers\drv_can.c</FilePath>
+            </File>
            <File>
              <FileName>drv_common.c</FileName>
              <FileType>1</FileType>
@@ -583,16 +593,16 @@
        <Group>
          <GroupName>Fal</GroupName>
          <Files>
-            <File>
-              <FileName>fal_flash.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>rt-thread\components\fal\src\fal_flash.c</FilePath>
-            </File>
            <File>
              <FileName>fal_partition.c</FileName>
              <FileType>1</FileType>
              <FilePath>rt-thread\components\fal\src\fal_partition.c</FilePath>
            </File>
+            <File>
+              <FileName>fal_flash.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>rt-thread\components\fal\src\fal_flash.c</FilePath>
+            </File>
            <File>
              <FileName>fal_rtt.c</FileName>
              <FileType>1</FileType>
@@ -630,6 +640,16 @@
            </File>
          </Files>
        </Group>
+        <Group>
+          <GroupName>IAP</GroupName>
+          <Files>
+            <File>
+              <FileName>iap.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>iap\iap.c</FilePath>
+            </File>
+          </Files>
+        </Group>
        <Group>
          <GroupName>Kernel</GroupName>
          <Files>
@@ -778,6 +798,11 @@
              <FileType>1</FileType>
              <FilePath>libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c</FilePath>
            </File>
+            <File>
+              <FileName>stm32f4xx_hal_can.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c</FilePath>
+            </File>
            <File>
              <FileName>stm32f4xx_hal_cryp.c</FileName>
              <FileType>1</FileType>
@@ -825,16 +850,6 @@
            </File>
          </Files>
        </Group>
-        <Group>
-          <GroupName>iap</GroupName>
-          <Files>
-            <File>
-              <FileName>iap.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>.\iap\iap.c</FilePath>
-            </File>
-          </Files>
-        </Group>
      </Groups>
    </Target>
  </Targets>
@@ -848,7 +863,7 @@
  <LayerInfo>
    <Layers>
      <Layer>
-        <LayName>project</LayName>
+        <LayName>&lt;Project Info&gt;</LayName>
        <LayTarg>0</LayTarg>
        <LayPrjMark>1</LayPrjMark>
      </Layer>
--- a/rtconfig.h
+++ b/rtconfig.h
@@ -83,6 +83,7 @@
 #define RT_USING_SERIAL_V1
 #define RT_SERIAL_USING_DMA
 #define RT_SERIAL_RB_BUFSZ 64
+#define RT_USING_CAN
 #define RT_USING_PIN
 #define RT_USING_WDT

@@ -216,6 +217,9 @@
 #define BSP_USING_UART2
 #define BSP_UART2_RX_USING_DMA
 #define BSP_UART2_TX_USING_DMA
+#define BSP_USING_CAN
+#define BSP_USING_CAN1
+#define BSP_USING_CAN2
 #define BSP_USING_ON_CHIP_FLASH

 /* Board extended module Drivers */