MCU工程更新CANFD：

	1. CANFD驱动的波特率参数数组由原来按仲裁域和数据域分为的两组（canfd_baud_param_tab和can_baud_param_tab）改为共用一组（canfd_baud_param_tab）。
	2. CANFD驱动更正TDC寄存器的sspoff参数的有效位数。
	3. 由于CANFD硬件不支持TTCAN，去掉之前驱动中TTCAN的相关程序。
	4. CANFD驱动将每次进入接收中断只读取一个can包的做法改为每次读取所有已收到的包。
	5. 解决CANFD在FD模式下发送数据长度需4字节对齐，未对齐部分数据不写入的问题。
	6. CANFD 过滤器数组（CanFilterInitValue）大小改为：CAN驱动器数量（CAN_NUM） * 每个驱动器的过滤器总数（CAN_FILTER_MAX），用于在can_reinit函数中重新初始化配置。

amt630hv160-mcu/amt630hv160-mcu-iram/src/App/can_demo.c

@@ -321,12 +321,11 @@ int can_ecu_demo(void)
 		return -1;
 	}
 
-	CanTimInit.Bps = CAN500kBaud;
+	CanTimInit.Bps = CANFD500kBaud;
 	CanTimInit.DatBps = CANFD1MBaud;
 	CanTimInit.tdc_en = 0;
 	CanTimInit.sspoff = 0;
-	CanTimInit.t_presc = 0;
-	vCanInit(cap, &CanTimInit, CAN_MODE_NORMAL, 0);
+	vCanInit(cap, &CanTimInit, CAN_MODE_NORMAL);
 
 	CAN_FilterInitTypeDef canfilter;
 	canfilter.IDE_M = STD_OR_EXT;
@@ -358,12 +357,11 @@ int can_host_demo(void)
 		return -1;
 	}
 
-	CanTimInit.Bps = CAN500kBaud;
+	CanTimInit.Bps = CANFD500kBaud;
 	CanTimInit.DatBps = CANFD1MBaud;
 	CanTimInit.tdc_en = 0;
 	CanTimInit.sspoff = 0;
-	CanTimInit.t_presc = 0;
-	vCanInit(cap, &CanTimInit, CAN_MODE_NORMAL, 0);
+	vCanInit(cap, &CanTimInit, CAN_MODE_NORMAL);
 
 	CAN_FilterInitTypeDef canfilter;
 	canfilter.IDE_M = STD_OR_EXT;

amt630hv160-mcu/amt630hv160-mcu-iram/src/ArkmicroFiles/libcpu-amt630hv160/include/amt630hv160_canfd.h

@@ -21,19 +21,7 @@ typedef enum {
 	CAN_NUM,
 } eCanID;
 
-typedef enum
-{
-	CAN1MBaud = 0,	// 1 MBit/sec
-	CAN800kBaud,    // 800 kBit/sec
-	CAN500kBaud,    // 500 kBit/sec
-	CAN250kBaud,    // 250 kBit/sec
-	CAN125kBaud,    // 125 kBit/sec
-	CAN100kBaud,    // 100 kBit/sec
-	CAN50kBaud,     // 50 kBit/sec
-	CAN40kBaud,     // 40 kBit/sec
-
-	CANBaudSelMax,
-} CanBPS_t;
+
 
 typedef enum
 {
@@ -71,16 +59,18 @@ typedef enum{
 
 
 typedef enum{
-	// XMIT_FULL = 0,
-	XMIT_STB_FIFO,	/* 低优先级buff，可存多帧数据，逐帧发送，
+	XMIT_STB_FIFO,	/* 低优先级buff，可存多帧数据，逐帧按FIFO方式发送，
 					   当PTB传输时STB传输停止，待PTB传输完成后，
-					   STB继续传输剩余数据 */
-	XMIT_SEP_PRIO,
+					   STB继续传输剩余数据. */
+	XMIT_STB_PRIO,	/* 低优先级buff，可存多帧数据，逐帧按ID优先级发送，优先级高的先发，
+					   当PTB传输时STB传输停止，待PTB传输完成后，
+					   STB继续传输剩余数据. */
 	XMIT_PTB_MODE,	/* 高优先级buff，只能存一帧数据，
 					   当PTB传输时STB传输停止，待PTB传输完成后，
 					   STB继续传输剩余数据 */
 }CAN_TX_Mode;
 
+
 typedef enum {
 	CAN_DL_0B = 0,
 	CAN_DL_1B,
@@ -147,15 +137,13 @@ typedef struct {
 	List_t txFreeList;
 	List_t StbtxSendList;
 	List_t StbtxFreeList;
-	u8 ttcan;
 } CanPort_t;
 
 typedef struct {
 	CanFDDatBPS_t DatBps;
-	CanBPS_t Bps;
+	CanFDDatBPS_t Bps;
 	u8  tdc_en;
 	u8  sspoff;
-	u8  t_presc; // ttcan use
 }CanTimInit_t;
 
 CanPort_t *xCanOpen(u32 id);
@@ -164,10 +152,7 @@ void vCanSetFilter(CanPort_t *cap,     CAN_FilterInitTypeDef CAN_FilterInitStruc
 int iCanWrite(CanPort_t *cap, CanMsg* messages, int nmsgs, TickType_t xBlockTime);
 int iCanRead(CanPort_t *cap, CanMsg* messages, int nmsgs, TickType_t xBlockTime);
 
-/*
- * ttcan: no support
- */
-void vCanInit(CanPort_t *cap,  CanTimInit_t *TimInit, CanMode_t mode, u8 ttcan);
+void vCanInit(CanPort_t *cap,  CanTimInit_t *TimInit, CanMode_t mode);
 int iCanGetReceiveErrorCount(CanPort_t *cap);
 int iCanGetTransmitErrorCount(CanPort_t *cap);
 

amt630hv160-mcu/amt630hv160-mcu-iram/src/ArkmicroFiles/libcpu-amt630hv160/source/amt630hv160_canfd.c

@@ -5,8 +5,9 @@
 
 #define CAN_FILTER_MAX							16
 
-#define PDEBUG(fmt,args...) 	//printf("[DEG] " fmt, ##args)
-#define PERROR(fmt,args...) 	printf("[ERR] " fmt, ##args)
+#define PDEBUG(fmt,args...)		//printf("[DEG] " fmt, ##args)
+#define PWARN(fmt,args...)		//printf("[WRN] " fmt, ##args)
+#define PERROR(fmt,args...)		printf("[ERR] " fmt, ##args)
 
 #define CAN_CALC_MAX_ERROR 50
 
@@ -79,6 +80,17 @@
 #define RSTAT_FULL								(3 << 0) /*!< full (stays set in case of overflow – for overflow signaling see ROV) */
 #define RSTAT_NO_EMPTY_MASK						(3 << 0)
 
+/**************************** 总线错误类型 *********************************/
+#define CAN_BE_BITOFF							(5U)
+#define CAN_BE_TYPE_MASK						(7U << CAN_BE_BITOFF)
+
+#define CAN_BE_TYPE_NO_ERROR					(0U << CAN_BE_BITOFF) /*!< no error */
+#define CAN_BE_TYPE_BIT_ERROR					(1U << CAN_BE_BITOFF) /*!< bit error */
+#define CAN_BE_TYPE_FORM_ERROR					(2U << CAN_BE_BITOFF) /*!< form error */
+#define CAN_BE_TYPE_STUFF_ERROR					(3U << CAN_BE_BITOFF) /*!< stuff error */
+#define CAN_BE_TYPE_ACKNOWLEDGEMENT_ERROR		(4U << CAN_BE_BITOFF) /*!< acknowledgement error */
+#define CAN_BE_TYPE_CRC_ERROR					(5U << CAN_BE_BITOFF) /*!< crc error */
+#define CAN_BE_TYPE_OTHER_ERROR					(6U << CAN_BE_BITOFF) /*!< other error */
 
 /************************* TTCFG 寄存器位定义 ******************************/
 #define CAN_TTCFG_TTEN							(1 << 0)
@@ -104,27 +116,18 @@ struct can_bittiming{
 	u8 	brp;
 };
 
-struct can_databittiming{
-	u8 	prop_seg;
-	u8 	phase_seg1;
-	u8 	phase_seg2;
-	u8 	sjw;
-	u8 	brp;
-};
-
-
 typedef struct {
 	u32 id;
 	u32 ctl;
-	u32 dat32[72/4 - 2];
+	u32 dat32[16];
 }CAN_TBuf_t;
 
 typedef struct {
 	u32 id;
 	u32 ctl;
 	union{
-		u32 dat32[80/4 - 2];
-		uint8_t  dat8[80 - 8];
+		u32 dat32[16];
+		uint8_t dat8[64];
 	};
 }CAN_RBuf_t;
 
@@ -133,16 +136,13 @@ typedef struct
 {
 	CanMode_t Mode;
 	struct	can_bittiming BitTiming;
-	struct	can_databittiming DataBitTiming; // FD
+	struct	can_bittiming DataBitTiming;
 	u8  tdc_en;
 	u8  sspoff;
 	u8  FD_En;
-	u8  ttcan;
-	u8  t_presc; // ttcan use
 } CAN_InitTypeDef;
 
 
-
 #define CAN_RX_BUF_NUM	16
 #define CAN_PTB_TX_BUF_NUM	16
 #define CAN_STB_TX_BUF_NUM	16
@@ -156,12 +156,17 @@ ListItem_t canStbTxListItem[CAN_NUM][CAN_STB_TX_BUF_NUM];
 
 static CanPort_t *pxCanPort[CAN_NUM] = {NULL};
 static CAN_InitTypeDef CanInitValue[CAN_NUM];
-static CAN_FilterInitTypeDef CanFilterInitValue[CAN_NUM];
-static int nCanFilterEnable[CAN_NUM];
-
-/********** can src clock 40M **********/
-const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
-	/*********** 10M ************/
+static CAN_FilterInitTypeDef CanFilterInitValue[CAN_NUM][CAN_FILTER_MAX];
+static u8 nCanFilterEnable[CAN_NUM][CAN_FILTER_MAX];
+
+/**
+ * can src clock 40M
+ *
+ * baud = can_src_clk / brp / (1 + prop_seg + phase_seg1 + phase_seg2)
+ * sampling point = (1 + prop_seg + phase_seg1) / (1 + prop_seg + phase_seg1 + phase_seg2)
+ */
+const static struct can_bittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
+	/*********** 10M 75% ************/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 1,
@@ -169,7 +174,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 1,
 		.brp = 1,
 	},
-	/*********** 8M ************/
+	/*********** 8M 80% ************/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 2,
@@ -177,7 +182,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 1,
 		.brp = 1,
 	},
-	/*********** 5M ************/
+	/*********** 5M 75% ************/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 4,
@@ -185,7 +190,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 2,
 		.brp = 1,
 	},
-	/*********** 4M ***********/
+	/*********** 4M 80% ***********/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 6,
@@ -193,7 +198,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 2,
 		.brp = 1,
 	},
-	/*********** 2M ***********/
+	/*********** 2M 80% ***********/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 14,
@@ -201,7 +206,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 4,
 		.brp = 1,
 	},
-	/*********** 1M ***********/
+	/*********** 1M 80% ***********/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 30,
@@ -209,7 +214,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 8,
 		.brp = 1,
 	},
-	/*********** 800K ************/
+	/*********** 800K 80% ************/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 18,
@@ -217,7 +222,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 5,
 		.brp = 2,
 	},
-	/*********** 500K ************/
+	/*********** 500K 80% ************/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 62,
@@ -225,7 +230,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 16,
 		.brp = 1,
 	},
-	/*********** 250K ************/
+	/*********** 250K 80% ************/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 62,
@@ -233,7 +238,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 16,
 		.brp = 2,
 	},
-	/*********** 125K ************/
+	/*********** 125K 80% ************/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 62,
@@ -241,7 +246,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 16,
 		.brp = 4,
 	},
-	/*********** 100K ************/
+	/*********** 100K 80% ************/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 62,
@@ -249,7 +254,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 16,
 		.brp = 5,
 	},
-	/*********** 50K ************/
+	/*********** 50K 80% ************/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 62,
@@ -257,85 +262,16 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 16,
 		.brp = 10,
 	},
-	/*********** 40K ************/
+	/*********** 40K 80% ************/
 	{
 		.prop_seg = 1,
-		.phase_seg1 = 32,
-		.phase_seg2 = 16,
+		.phase_seg1 = 38,
+		.phase_seg2 = 10,
 		.sjw = 16,
 		.brp = 20,
 	},
 };
 
-
-/********** can src clock 40M **********/
-const static struct can_bittiming can_baud_param_tab[CANBaudSelMax] = {
-	/*********** 1M ************/
-	{
-		.prop_seg = 5,
-		.phase_seg1 = 9,
-		.phase_seg2 = 5,
-		.sjw = 1,
-		.brp = 2,
-	},
-	/*********** 800K ************/
-	{
-		.prop_seg = 9,
-		.phase_seg1 = 10,
-		.phase_seg2 = 5,
-		.sjw = 1,
-		.brp = 2,
-	},
-	/*********** 500K ************/
-	{
-		.prop_seg = 5,
-		.phase_seg1 = 9,
-		.phase_seg2 = 5,
-		.sjw = 1,
-		.brp = 4,
-	},
-	/*********** 250K ************/
-	{
-		.prop_seg = 5,
-		.phase_seg1 = 9,
-		.phase_seg2 = 5,
-		.sjw = 1,
-		.brp = 8,
-	},
-	/*********** 125K ************/
-	{
-		.prop_seg = 5,
-		.phase_seg1 = 9,
-		.phase_seg2 = 5,
-		.sjw = 1,
-		.brp = 16,
-	},
-	/*********** 100K ************/
-	{
-		.prop_seg = 5,
-		.phase_seg1 = 9,
-		.phase_seg2 = 5,
-		.sjw = 1,
-		.brp = 20,
-	},
-	/*********** 50K ************/
-	{
-		.prop_seg = 5,
-		.phase_seg1 = 9,
-		.phase_seg2 = 5,
-		.sjw = 1,
-		.brp = 40,
-	},
-	/*********** 40K ************/
-	{
-		.prop_seg = 5,
-		.phase_seg1 = 9,
-		.phase_seg2 = 5,
-		.sjw = 1,
-		.brp = 50,
-	},
-};
-
 /* map the sanitized data length to an appropriate data length code */
 static u8 can_len2dlc(u8 len)
 {
@@ -385,7 +321,7 @@ u8 can_set_reset_mode(CANFD_TypeDef* CANx)
 
 static int canfd_device_driver_bittime_configuration(CANFD_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct){
 	struct can_bittiming *bt = &CAN_InitStruct->BitTiming;
-	struct can_databittiming *dbt = &CAN_InitStruct->DataBitTiming;
+	struct can_bittiming *dbt = &CAN_InitStruct->DataBitTiming;
 
 	if(!(CANx->CFG_STAT & CAN_CFG_STAT_RESET)){
 		//netdev_alert(ndev, "Not in reset mode, cannot set bit timing\n");
@@ -398,10 +334,6 @@ static int canfd_device_driver_bittime_configuration(CANFD_TypeDef* CANx, CAN_In
 		return -EINVAL;
 	}
 
-	if(CAN_InitStruct->ttcan){
-		CANx->TTCFG |= (CAN_InitStruct->t_presc & 0x3) << 1;
-	}
-
 	CANx->S_SEG_1 = (bt->phase_seg1+bt->prop_seg-1);
 	CANx->S_SEG_2 = (bt->phase_seg2-1);
 	CANx->S_SJW = (bt->sjw-1);
@@ -412,7 +344,7 @@ static int canfd_device_driver_bittime_configuration(CANFD_TypeDef* CANx, CAN_In
 			PERROR("fast bittime configuration is incorrect\n");
 			return -EINVAL;
 		}
-		CANx->TDC = CAN_InitStruct->sspoff & 0x3f;
+		CANx->TDC = CAN_InitStruct->sspoff & 0x7f;
 		if(CAN_InitStruct->tdc_en){
 			CANx->TDC |= (1<<7);
 		}
@@ -427,7 +359,7 @@ static int canfd_device_driver_bittime_configuration(CANFD_TypeDef* CANx, CAN_In
 }
 
 
-u8 CAN_Init(CANFD_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
+static u8 CAN_Init(CANFD_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
 {
 	u8 InitStatus = CAN_InitStatus_Success;
 
@@ -452,13 +384,13 @@ u8 CAN_Init(CANFD_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
 
 	canfd_device_driver_bittime_configuration(CANx, CAN_InitStruct);/*set S_seg_1 S_Seg_2 S_SJW S_PRESC */
 
+	CANx->LIMIT = 0;
+
 	/*set Almost Full Warning Limit*/
-	CANx->LIMIT |= 0x40;
+	CANx->LIMIT |= 0x80;	// 3*8 = 24
 
 	/*Programmable Error Warning Limit = (EWL+1)*8. Set EWL=11->Error Warning=96 */
 	CANx->LIMIT |= 0X0B;
-	/*the start state*/
-	//priv->can.state=CAN_STATE_ERROR_ACTIVE;
 	/*interrupts enable*/
 	CANx->RTIE = CAN_IER_ALL;
 	/*Error Interrupts enable(Error Passive and Bus Error)*/
@@ -486,10 +418,6 @@ u8 CAN_Init(CANFD_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
 		break;
 	}
 
-	if(CAN_InitStruct->ttcan){
-		CANx->TTCFG |= CAN_TTCFG_TTEN;
-	}
-
 	return InitStatus;
 }
 
@@ -497,20 +425,13 @@ u8 CAN_Init(CANFD_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
 /*This part could also be removed, when only one mode is used*/
 static int set_canfd_xmit_mode(CANFD_TypeDef* CANx, CAN_TX_Mode tx_mode){
 	switch(tx_mode){
-		/*
-		case XMIT_FULL:
-			//CANx->TCTRL |= CAN_TCTRL_TTTBM;
-			PDEBUG( "Full can mode\n");
-			break;
-		*/
-
 		case XMIT_STB_FIFO:
 			CANx->TCTRL &= ~CAN_TCTRL_TTTBM;
 			CANx->TCTRL &= ~CAN_TCTRL_TSMODE;
 			CANx->TCMD 	|= CAN_TCMD_TBSEL;
 			PDEBUG( "FIFO mode\n");
 			break;
-		case XMIT_SEP_PRIO:
+		case XMIT_STB_PRIO:
 			CANx->TCTRL &= ~CAN_TCTRL_TTTBM;
 			CANx->TCTRL |= CAN_TCTRL_TSMODE;
 			CANx->TCMD  |= CAN_TCMD_TBSEL;
@@ -552,7 +473,7 @@ static int CAN_PTB_Tran(CANFD_TypeDef* CANx, CanMsg* TxMessage)
 		if (TxMessage->BRS)		/*CANFD_BRS=0x01*/
 			ctl |= CAN_FD_SET_BRS_MASK;
 
-		for(i=0; i<TxMessage->DLC/4; i++){
+		for (i = 0; i < (TxMessage->DLC + 3) / 4; i++) {
 			pTbuf->dat32[i] = *((u32 *)(TxMessage->Data + i*4));
 		}
 		PDEBUG( "TCMD is 0x%02x after writing data into resiger\n",CANx->TCMD);
@@ -627,7 +548,7 @@ static int CAN_STB_FIFO_Tran(CANFD_TypeDef* CANx, CanMsg* TxMessage)
 		if (TxMessage->BRS)		/*CANFD_BRS=0x01*/
 			ctl |= CAN_FD_SET_BRS_MASK;
 
-		for(i=0; i<TxMessage->DLC/4; i++){
+		for (i = 0; i < (TxMessage->DLC + 3) / 4; i++) {
 			pTbuf->dat32[i] = *((u32 *)(TxMessage->Data + i*4));
 		}
 		PDEBUG( "TCMD is 0x%02x after writing data into resiger\n",CANx->TCMD);
@@ -681,20 +602,10 @@ static int CAN_STB_FIFO_Tran(CANFD_TypeDef* CANx, CanMsg* TxMessage)
 	return ret;
 }
 
-static int CAN_TTCAN_Tran(CANFD_TypeDef* CANx, CanMsg* TxMessage)
-{
-	int ret = 0;
-
-	CANx->TCTRL |= CAN_TCTRL_TTTBM;
-
-
-
-	return ret;
-}
-
-
 static void can_reinit(CanPort_t *cap)
 {
+	int i;
+
 	if (cap->id == CAN_ID0){
 		MCU_SYSCTRL->V6_RST_CTL &= ~(1 << 0);
 		TIMER_Udelay(10);
@@ -709,8 +620,10 @@ static void can_reinit(CanPort_t *cap)
 
 	CAN_Init(cap->pcan, &CanInitValue[cap->id]);
 
-	if (nCanFilterEnable[cap->id]) {
-		vCanSetFilter(cap, CanFilterInitValue[cap->id]);
+	for (i = 0; i < CAN_FILTER_MAX; i++) {
+		if (nCanFilterEnable[cap->id][i]) {
+			vCanSetFilter(cap, CanFilterInitValue[cap->id][i]);
+		}
 	}
 }
 
@@ -839,36 +752,46 @@ static int can_rx(CANFD_TypeDef *CANx, CanMsg *RxMessage){
 	return 0;
 }
 
-
-static int CAN_RX(CANFD_TypeDef *CANx, CanMsg *RxMessage)
+static int CAN_RX(CanPort_t *pCanPort)
 {
-	u8 rx_status=0,control=0;
-	CAN_RBuf_t *pRBuf = (CAN_RBuf_t *)(CANx->RBUF_RTS);
-	control = pRBuf->ctl & 0xff;
-	rx_status = CANx->RCTRL;
-	while((rx_status & RSTAT_NO_EMPTY_MASK)){
-		( control & CAN_FD_SET_EDL_MASK) ? (canfd_rx(CANx, RxMessage)) : (can_rx(CANx, RxMessage));
-		rx_status = CANx->RCTRL;
-		PDEBUG( "rx-status is 0x%02x\n",rx_status);
-		PDEBUG( "rx-status is 0x%08x\n",*((u32 *) CANx->CFG_STAT));
-
+	CanMsg RxMessage;
+	CAN_RBuf_t *pRBuf;
+	u8 control=0;
+	int msg_cnt = 0;
+	CANFD_TypeDef *CANx = pCanPort->pcan;
+
+	while (CANx->RCTRL & RSTAT_NO_EMPTY_MASK) {
+		memset(&RxMessage, 0, sizeof(CanMsg));
+		pRBuf = (CAN_RBuf_t *)(CANx->RBUF_RTS);
+		control = pRBuf->ctl & 0xff;
+		(control & CAN_FD_SET_EDL_MASK) ? (canfd_rx(CANx, &RxMessage)) : (can_rx(CANx, &RxMessage));
+		if (!listLIST_IS_EMPTY(&pCanPort->rxFreeList)) {
+			ListItem_t *item = listGET_HEAD_ENTRY(&pCanPort->rxFreeList);
+			memcpy((void*)listGET_LIST_ITEM_VALUE(item), &RxMessage, sizeof(CanMsg));
+			uxListRemove(item);
+			vListInsertEnd(&pCanPort->rxRevList, item);
+			xSemaphoreGiveFromISR(pCanPort->xRev, 0);
+		} else {
+			PWARN("rl full!\n");
+		}
+		msg_cnt++;
 	}
-	return 0;
+
+	return msg_cnt;
 }
 
-void CAN0_IRQHandler(void)
+static int CAN_IRQHandler(CanPort_t *pCanPort)
 {
 	uint8_t isr=0,errint=0;
-	CanPort_t *pCanPort = pxCanPort[CAN_ID0];
 	CANFD_TypeDef *CANx = NULL;
-	CanMsg RxMessage = {0};
-
-	// printf("CAN0_IRQHandler \r\n");
+	int rx_msg_num = 0;
 
+	// printf("CAN%d_IRQHandler \r\n", pCanPort->id);
 	if(pCanPort){
 		CANx = pCanPort->pcan;
 		isr = CANx->RTIF;
 		errint= CANx->ERRINT;
+
 		if(isr & CAN_IFR_TPIF){
 			xQueueSendFromISR(pCanPort->tx_done, NULL, 0);
 		}
@@ -876,33 +799,24 @@ void CAN0_IRQHandler(void)
 			xQueueSendFromISR(pCanPort->Stb_tx_done, NULL, 0);
 		}
 		if(isr & CAN_IFR_ROIF){
-			PERROR("CAN0 ROIF! \r\n");
+			PERROR("CAN%d ROIF! \r\n", pCanPort->id);
 			//can_reinit(pCanPort);
 		}
 		if(isr & CAN_IFR_EIF){
-			PERROR("CAN0 EIF! \r\n");
+			PERROR("CAN%d EIF! \r\n", pCanPort->id);
 			//can_reinit(pCanPort);
 		}
 
 		if(isr & (CAN_IFR_RF | CAN_IFR_RFIF | CAN_IFR_RAFIF)){
-			CAN_RX(CANx, &RxMessage);
-			if (!listLIST_IS_EMPTY(&pCanPort->rxFreeList)) {
-			  ListItem_t *item = listGET_HEAD_ENTRY(&pCanPort->rxFreeList);
-			  memcpy((void*)listGET_LIST_ITEM_VALUE(item), &RxMessage, sizeof(CanMsg));
-			  uxListRemove(item);
-			  vListInsertEnd(&pCanPort->rxRevList, item);
-			  xSemaphoreGiveFromISR(pCanPort->xRev, 0);
-			} else {
-
-			}
+			rx_msg_num = CAN_RX(pCanPort);
 		}
 
-		if(CANx->CFG_STAT & 0x01){
-		  PERROR("BUSOFF!\n");
+		if(CANx->CFG_STAT & 0x01) {
+			PERROR("************************ BUSOFF! **************************\n");
 		}
 
 		if(errint & CAN_EIFR_EWARN){	// 错误计数器值超过EWL时会产生该中断
-		  PERROR("CAN_EIFR_EWARN! TECNT:0x%x RECNT:0x%x \r\n",CANx->TECNT, CANx->RECNT);
+			PERROR("CAN_EIFR_EWARN! TECNT:0x%x RECNT:0x%x \r\n",CANx->TECNT, CANx->RECNT);
 		}
 		if(errint & CAN_EIFR_EPASS){	// 错误被动模式激活,即错误计数 >127 此位为1
 			PERROR("CAN_EIFR_EPASS! \r\n");
@@ -910,84 +824,42 @@ void CAN0_IRQHandler(void)
 		if(errint & CAN_EIFR_EPIF){		// 错误计数器向上或向下越过127都会产生该中断
 			PERROR("CAN_EIFR_EPIF! \r\n");
 		}
-		if(errint & CAN_EIFR_ALIF){
+		if(errint & CAN_EIFR_ALIF){		// 仲裁失败
 			PERROR("CAN_EIFR_ALIF! \r\n");
 		}
 		if(errint & CAN_EIFR_BEIF){		// 总线错误
-			PERROR("CAN_EIFR_BEIF! \r\n");
+			PERROR("CAN_EIFR_BEIF! ECODE=0x%x\r\n", CANx->EALCAP);
+			switch (CANx->EALCAP & CAN_BE_TYPE_MASK) {
+			case CAN_BE_TYPE_BIT_ERROR:
+				break;
+			case CAN_BE_TYPE_FORM_ERROR:
+				break;
+			case CAN_BE_TYPE_STUFF_ERROR:
+				break;
+			case CAN_BE_TYPE_ACKNOWLEDGEMENT_ERROR:
+				break;
+			case CAN_BE_TYPE_CRC_ERROR:
+				break;
+			case CAN_BE_TYPE_OTHER_ERROR:
+				break;
+			}
 		}
 
 		CANx->RTIF = isr;
 		CANx->ERRINT = errint;
 	}
+
+	return rx_msg_num;
 }
 
-void CAN1_IRQHandler(void)
+void CAN0_IRQHandler(void)
 {
-	uint8_t isr=0,errint=0;
-	CanPort_t *pCanPort = pxCanPort[CAN_ID1];
-	CANFD_TypeDef *CANx = NULL;
-	CanMsg RxMessage = {0};
-
-	// printf("CAN1_IRQHandler \r\n");
-
-	if(pCanPort){
-		CANx = pCanPort->pcan;
-		isr = CANx->RTIF;
-		errint= CANx->ERRINT;
-		if(isr & CAN_IFR_TPIF){
-			//printf("CAN1 TPIF\n");
-			xQueueSendFromISR(pCanPort->tx_done, NULL, 0);
-		}
-		if(isr & CAN_IFR_TSIF){
-			//printf("CAN1 TPIF\n");
-			xQueueSendFromISR(pCanPort->Stb_tx_done, NULL, 0);
-		}
-		if(isr & CAN_IFR_ROIF){
-			PERROR("CAN1 ROIF! \r\n");
-			//can_reinit(pCanPort);
-		}
-		if(isr & CAN_IFR_EIF){
-			PERROR("CAN1 EIF! \r\n");
-			//can_reinit(pCanPort);
-		}
-
-		if(isr & (CAN_IFR_RF | CAN_IFR_RFIF | CAN_IFR_RAFIF)){
-			CAN_RX(CANx, &RxMessage);
-			if (!listLIST_IS_EMPTY(&pCanPort->rxFreeList)) {
-			  ListItem_t *item = listGET_HEAD_ENTRY(&pCanPort->rxFreeList);
-			  memcpy((void*)listGET_LIST_ITEM_VALUE(item), &RxMessage, sizeof(CanMsg));
-			  uxListRemove(item);
-			  vListInsertEnd(&pCanPort->rxRevList, item);
-			  xSemaphoreGiveFromISR(pCanPort->xRev, 0);
-			} else {
-
-			}
-		}
-
-		if(CANx->CFG_STAT & 0x01){
-		  PERROR("BUSOFF!\n");
-		}
-
-		if(errint & CAN_EIFR_EWARN){	// 错误计数器值超过EWL时会产生该中断
-		  PERROR("CAN_EIFR_EWARN! TECNT:0x%x RECNT:0x%x \r\n",CANx->TECNT, CANx->RECNT);
-		}
-		if(errint & CAN_EIFR_EPASS){	// 错误被动模式激活,即错误计数 >127 此位为1
-			PERROR("CAN_EIFR_EPASS! \r\n");
-		}
-		if(errint & CAN_EIFR_EPIF){		// 错误计数器向上或向下越过127都会产生该中断
-			PERROR("CAN_EIFR_EPIF! \r\n");
-		}
-		if(errint & CAN_EIFR_ALIF){
-			PERROR("CAN_EIFR_ALIF! \r\n");
-		}
-		if(errint & CAN_EIFR_BEIF){		// 总线错误
-			PERROR("CAN_EIFR_BEIF! \r\n");
-		}
+	CAN_IRQHandler(pxCanPort[CAN_ID0]);
+}
 
-		CANx->RTIF = isr;
-		CANx->ERRINT = errint;
-	}
+void CAN1_IRQHandler(void)
+{
+	CAN_IRQHandler(pxCanPort[CAN_ID1]);
 }
 
 static void can_ptb_transmit_thread(void *param)
@@ -1011,6 +883,7 @@ static void can_ptb_transmit_thread(void *param)
 			CAN_PTB_Tran(cap->pcan, msgs);
 			xSemaphoreGive(cap->xTBSELMutex);
 			if (xQueueReceive(cap->tx_done, NULL, pdMS_TO_TICKS(1000)) != pdTRUE) {
+				PWARN("can tx timeout!\n");
 				/* transmit timeout, reset can */
 				can_reinit(cap);
 			}
@@ -1038,16 +911,14 @@ static void can_stb_transmit_thread(void *param)
 			vListInsertEnd(&cap->StbtxFreeList, item);
 			portEXIT_CRITICAL();
 			xQueueReset(cap->Stb_tx_done);
-			if(cap->ttcan){
-				CAN_TTCAN_Tran(cap->pcan, msgs);
-			}else{
+			{
 				xSemaphoreTake(cap->xTBSELMutex, portMAX_DELAY);
 				stb_nfull = CAN_STB_FIFO_Tran(cap->pcan, msgs);
 				xSemaphoreGive(cap->xTBSELMutex);
 				if(stb_nfull){
 
 				}else if (xQueueReceive(cap->Stb_tx_done, NULL, pdMS_TO_TICKS(1000)) != pdTRUE) {
-					printf("can tx timeout!\n");
+					PWARN("can tx timeout!\n");
 					/* transmit timeout, reset can */
 					can_reinit(cap);
 				}
@@ -1058,7 +929,6 @@ static void can_stb_transmit_thread(void *param)
 	}
 }
 
-
 CanPort_t *xCanOpen(u32 id)
 {
 	int i;
@@ -1149,7 +1019,7 @@ CanPort_t *xCanOpen(u32 id)
 	/* Create a task to transmit can msg */
 	if (xTaskCreate(can_ptb_transmit_thread, "can_ptb_trm", configMINIMAL_STACK_SIZE, cap,
 		(configMAX_PRIORITIES / 3 + 2) | portPRIVILEGE_BIT, &cap->xTxThread) != pdPASS) {
-		printf("create can transmit task fail.\n");
+		PERROR("create can transmit task fail.\n");
 		vCanClose(cap);
 		return NULL;
 	}
@@ -1157,7 +1027,7 @@ CanPort_t *xCanOpen(u32 id)
 	/* Create a task to transmit can msg */
 	if (xTaskCreate(can_stb_transmit_thread, "can_stb_trm", configMINIMAL_STACK_SIZE, cap,
 		(configMAX_PRIORITIES / 3 + 2) | portPRIVILEGE_BIT, &cap->xStbTxThread) != pdPASS) {
-		printf("create can transmit task fail.\n");
+		PERROR("create can transmit task fail.\n");
 		vCanClose(cap);
 		return NULL;
 	}
@@ -1203,23 +1073,18 @@ static void can_pad_cfg(CanPort_t *cap)
  *@param:
  *	fd_baud: 在发送FD帧且BRS=1时数据段的波特率(仅在FD=1,BRS=1时有效).
  *	baud: 在BRS=0发送时为全帧的波特率, 在发送FD帧且BRS=1时为仲裁段波特率.
- *@note TTCAN 不支持
+ *@note
  */
-void vCanInit(CanPort_t *cap,  CanTimInit_t *TimInit, CanMode_t mode, u8 ttcan)
+void vCanInit(CanPort_t *cap,  CanTimInit_t *TimInit, CanMode_t mode)
 {
 	CAN_InitTypeDef CAN_InitStructure;
 
-	ttcan = 0; // TTCAN NO SUPPORT
-
-	CAN_InitStructure.BitTiming = can_baud_param_tab[TimInit->Bps];
+	CAN_InitStructure.BitTiming = canfd_baud_param_tab[TimInit->Bps];
 	CAN_InitStructure.DataBitTiming = canfd_baud_param_tab[TimInit->DatBps];
 	CAN_InitStructure.tdc_en = TimInit->tdc_en;
 	CAN_InitStructure.sspoff = TimInit->sspoff;
 	CAN_InitStructure.FD_En = 1;
 	CAN_InitStructure.Mode = mode;
-	CAN_InitStructure.ttcan = ttcan;
-	CAN_InitStructure.t_presc = TimInit->t_presc;
-	cap->ttcan = ttcan;
 
 	CanInitValue[cap->id] = CAN_InitStructure;
 	if (cap->id == CAN_ID0){
@@ -1310,8 +1175,20 @@ void vCanSetFilter(CanPort_t *cap,     CAN_FilterInitTypeDef CAN_FilterInitStruc
 		CANx->ACF_EN_1 |= (1 << (CAN_FilterInitStruct.FILTERx - 8));
 	}
 
-	CanFilterInitValue[cap->id] = CAN_FilterInitStruct;
-	nCanFilterEnable[cap->id] = 1;
+	CanFilterInitValue[cap->id][CAN_FilterInitStruct.FILTERx] = CAN_FilterInitStruct;
+	if ((CAN_FilterInitStruct.IDE_M == STD_OR_EXT) || (CAN_FilterInitStruct.IDE_M == EXT_ONLY)) {
+		if (CAN_FilterInitStruct.IDMASK & 0x1FFFFFFF == 0x1FFFFFFF) {
+			nCanFilterEnable[cap->id][CAN_FilterInitStruct.FILTERx] = 0;
+		} else {
+			nCanFilterEnable[cap->id][CAN_FilterInitStruct.FILTERx] = 1;
+		}
+	} else {
+		if (CAN_FilterInitStruct.IDMASK & 0x7ff == 0x7ff) {
+			nCanFilterEnable[cap->id][CAN_FilterInitStruct.FILTERx] = 0;
+		} else {
+			nCanFilterEnable[cap->id][CAN_FilterInitStruct.FILTERx] = 1;
+		}
+	}
 
 	CAN_Init(cap->pcan, &(CanInitValue[cap->id]));
 }
@@ -1327,12 +1204,7 @@ int iCanWrite(CanPort_t *cap, CanMsg* messages, int nmsgs, TickType_t xBlockTime
 	List_t *txFreeList = NULL;
 	List_t *txSendList = NULL;
 
-	if(cap->ttcan){
-		TxMutex = cap->xStbTxMutex;
-		xSend = cap->xStbSend;
-		txFreeList = &cap->StbtxFreeList;
-		txSendList = &cap->StbtxSendList;
-	}else{
+	{
 		switch(msgs->TxMode){
 		case XMIT_PTB_MODE:
 			TxMutex = cap->xTxMutex;
@@ -1341,7 +1213,7 @@ int iCanWrite(CanPort_t *cap, CanMsg* messages, int nmsgs, TickType_t xBlockTime
 			txSendList = &cap->txSendList;
 			break;
 		case XMIT_STB_FIFO:
-		case XMIT_SEP_PRIO:
+		case XMIT_STB_PRIO:
 			TxMutex = cap->xStbTxMutex;
 			xSend = cap->xStbSend;
 			txFreeList = &cap->StbtxFreeList;
@@ -1366,11 +1238,13 @@ int iCanWrite(CanPort_t *cap, CanMsg* messages, int nmsgs, TickType_t xBlockTime
 			xSemaphoreGive(xSend);
 		} else {
 			portEXIT_CRITICAL();
-			if (xTaskGetTickCount() - starttime > xBlockTime){
-				printf("can write timeout!\n");
-				break;
+			{
+				if (xTaskGetTickCount() - starttime > xBlockTime) {
+					PWARN("can write timeout!\n");
+					break;
+				}
+				vTaskDelay(1);
 			}
-			vTaskDelay(1);
 		}
 
 		if (xBlockTime && xTaskGetTickCount() - starttime > xBlockTime)

amt630hv160-mcu/amt630hv160-mcu-sram-nos/src/App/can_demo.c

@@ -27,12 +27,11 @@ void can_ecu_demo(void)
 			return;
 		}
 
-		CanTimInit.Bps = CAN500kBaud;
+		CanTimInit.Bps = CANFD500kBaud;
 		CanTimInit.DatBps = CANFD1MBaud;
 		CanTimInit.tdc_en = 0;
 		CanTimInit.sspoff = 0;
-		CanTimInit.t_presc = 0;
-		vCanInit(cap, &CanTimInit, CAN_MODE_NORMAL, 0);
+		vCanInit(cap, &CanTimInit, CAN_MODE_NORMAL);
 
 		CAN_FilterInitTypeDef canfilter;
 		canfilter.IDE_M = STD_OR_EXT;
@@ -83,12 +82,11 @@ void can_host_demo(void)
 			return;
 		}
 
-		CanTimInit.Bps = CAN500kBaud;
+		CanTimInit.Bps = CANFD500kBaud;
 		CanTimInit.DatBps = CANFD1MBaud;
 		CanTimInit.tdc_en = 0;
 		CanTimInit.sspoff = 0;
-		CanTimInit.t_presc = 0;
-		vCanInit(cap, &CanTimInit, CAN_MODE_NORMAL, 0);
+		vCanInit(cap, &CanTimInit, CAN_MODE_NORMAL);
 
 		CAN_FilterInitTypeDef canfilter;
 		canfilter.IDE_M = STD_OR_EXT;

amt630hv160-mcu/amt630hv160-mcu-sram-nos/src/ArkmicroFiles/libcpu-amt630hv160/include/amt630hv160_canfd.h

@@ -22,19 +22,7 @@ typedef enum {
 	CAN_NUM,
 } eCanID;
 
-typedef enum
-{
-	CAN1MBaud = 0,	// 1 MBit/sec
-	CAN800kBaud,    // 800 kBit/sec
-	CAN500kBaud,    // 500 kBit/sec
-	CAN250kBaud,    // 250 kBit/sec
-	CAN125kBaud,    // 125 kBit/sec
-	CAN100kBaud,    // 100 kBit/sec
-	CAN50kBaud,     // 50 kBit/sec
-	CAN40kBaud,     // 40 kBit/sec
-
-	CANBaudSelMax,
-} CanBPS_t;
+
 
 typedef enum
 {
@@ -72,16 +60,18 @@ typedef enum{
 
 
 typedef enum{
-	// XMIT_FULL = 0,
-	XMIT_STB_FIFO,	/* 低优先级buff，可存多帧数据，逐帧发送，
+	XMIT_STB_FIFO,	/* 低优先级buff，可存多帧数据，逐帧按FIFO方式发送，
 					   当PTB传输时STB传输停止，待PTB传输完成后，
-					   STB继续传输剩余数据 */
-	XMIT_SEP_PRIO,
+					   STB继续传输剩余数据. */
+	XMIT_STB_PRIO,	/* 低优先级buff，可存多帧数据，逐帧按ID优先级发送，优先级高的先发，
+					   当PTB传输时STB传输停止，待PTB传输完成后，
+					   STB继续传输剩余数据. */
 	XMIT_PTB_MODE,	/* 高优先级buff，只能存一帧数据，
 					   当PTB传输时STB传输停止，待PTB传输完成后，
 					   STB继续传输剩余数据 */
 }CAN_TX_Mode;
 
+
 typedef enum {
 	CAN_DL_0B = 0,
 	CAN_DL_1B,
@@ -140,10 +130,9 @@ typedef struct {
 
 typedef struct {
 	CanFDDatBPS_t DatBps;
-	CanBPS_t Bps;
+	CanFDDatBPS_t Bps;
 	u8  tdc_en;
 	u8  sspoff;
-	u8  t_presc; // ttcan use
 }CanTimInit_t;
 
 CanPort_t *xCanOpen(u32 id);
@@ -152,10 +141,7 @@ void vCanSetFilter(CanPort_t *cap,     CAN_FilterInitTypeDef CAN_FilterInitStruc
 int iCanWrite(CanPort_t *cap, CanMsg* messages, int nmsgs, TickType_t xBlockTime);
 int iCanRead(CanPort_t *cap, CanMsg* messages, int nmsgs, TickType_t xBlockTime);
 
-/*
- * ttcan: no support
- */
-void vCanInit(CanPort_t *cap,  CanTimInit_t *TimInit, CanMode_t mode, u8 ttcan);
+void vCanInit(CanPort_t *cap,  CanTimInit_t *TimInit, CanMode_t mode);
 int iCanGetReceiveErrorCount(CanPort_t *cap);
 int iCanGetTransmitErrorCount(CanPort_t *cap);
 

amt630hv160-mcu/amt630hv160-mcu-sram-nos/src/ArkmicroFiles/libcpu-amt630hv160/source/amt630hv160_canfd.c

@@ -7,6 +7,7 @@
 #define CAN_FILTER_MAX							16
 
 #define PDEBUG(fmt,args...) 	//printf("[DEG] " fmt, ##args)
+#define PWARN(fmt,args...)		//printf("[WRN] " fmt, ##args)
 #define PERROR(fmt,args...) 	printf("[ERR] " fmt, ##args)
 
 #define CAN_CALC_MAX_ERROR 50
@@ -80,6 +81,17 @@
 #define RSTAT_FULL								(3 << 0) /*!< full (stays set in case of overflow – for overflow signaling see ROV) */
 #define RSTAT_NO_EMPTY_MASK						(3 << 0)
 
+/**************************** 总线错误类型 *********************************/
+#define CAN_BE_BITOFF							(5U)
+#define CAN_BE_TYPE_MASK						(7U << CAN_BE_BITOFF)
+
+#define CAN_BE_TYPE_NO_ERROR					(0U << CAN_BE_BITOFF) /*!< no error */
+#define CAN_BE_TYPE_BIT_ERROR					(1U << CAN_BE_BITOFF) /*!< bit error */
+#define CAN_BE_TYPE_FORM_ERROR					(2U << CAN_BE_BITOFF) /*!< form error */
+#define CAN_BE_TYPE_STUFF_ERROR					(3U << CAN_BE_BITOFF) /*!< stuff error */
+#define CAN_BE_TYPE_ACKNOWLEDGEMENT_ERROR		(4U << CAN_BE_BITOFF) /*!< acknowledgement error */
+#define CAN_BE_TYPE_CRC_ERROR					(5U << CAN_BE_BITOFF) /*!< crc error */
+#define CAN_BE_TYPE_OTHER_ERROR					(6U << CAN_BE_BITOFF) /*!< other error */
 
 /************************* TTCFG 寄存器位定义 ******************************/
 #define CAN_TTCFG_TTEN							(1 << 0)
@@ -105,27 +117,18 @@ struct can_bittiming{
 	u8 	brp;
 };
 
-struct can_databittiming{
-	u8 	prop_seg;
-	u8 	phase_seg1;
-	u8 	phase_seg2;
-	u8 	sjw;
-	u8 	brp;
-};
-
-
 typedef struct {
 	u32 id;
 	u32 ctl;
-	u32 dat32[72/4 - 2];
+	u32 dat32[16];
 }CAN_TBuf_t;
 
 typedef struct {
 	u32 id;
 	u32 ctl;
 	union{
-		u32 dat32[80/4 - 2];
-		uint8_t  dat8[80 - 8];
+		u32 dat32[16];
+		uint8_t dat8[64];
 	};
 }CAN_RBuf_t;
 
@@ -134,16 +137,13 @@ typedef struct
 {
 	CanMode_t Mode;
 	struct	can_bittiming BitTiming;
-	struct	can_databittiming DataBitTiming; // FD
+	struct	can_bittiming DataBitTiming;
 	u8  tdc_en;
 	u8  sspoff;
 	u8  FD_En;
-	u8  ttcan;
-	u8  t_presc; // ttcan use
 } CAN_InitTypeDef;
 
 
-
 #define CAN_RX_BUF_NUM	16
 #define CAN_PTB_TX_BUF_NUM	16
 #define CAN_STB_TX_BUF_NUM	16
@@ -157,12 +157,17 @@ ListItem_t canStbTxListItem[CAN_NUM][CAN_STB_TX_BUF_NUM];
 
 static CanPort_t *pxCanPort[CAN_NUM] = {NULL};
 static CAN_InitTypeDef CanInitValue[CAN_NUM];
-static CAN_FilterInitTypeDef CanFilterInitValue[CAN_NUM];
-static int nCanFilterEnable[CAN_NUM];
-
-/********** can src clock 40M **********/
-const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
-	/*********** 10M ************/
+static CAN_FilterInitTypeDef CanFilterInitValue[CAN_NUM][CAN_FILTER_MAX];
+static u8 nCanFilterEnable[CAN_NUM][CAN_FILTER_MAX];
+
+/**
+ * can src clock 40M
+ *
+ * baud = can_src_clk / brp / (1 + prop_seg + phase_seg1 + phase_seg2)
+ * sampling point = (1 + prop_seg + phase_seg1) / (1 + prop_seg + phase_seg1 + phase_seg2)
+ */
+const static struct can_bittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
+	/*********** 10M 75% ************/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 1,
@@ -170,7 +175,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 1,
 		.brp = 1,
 	},
-	/*********** 8M ************/
+	/*********** 8M 80% ************/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 2,
@@ -178,7 +183,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 1,
 		.brp = 1,
 	},
-	/*********** 5M ************/
+	/*********** 5M 75% ************/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 4,
@@ -186,7 +191,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 2,
 		.brp = 1,
 	},
-	/*********** 4M ***********/
+	/*********** 4M 80% ***********/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 6,
@@ -194,7 +199,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 2,
 		.brp = 1,
 	},
-	/*********** 2M ***********/
+	/*********** 2M 80% ***********/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 14,
@@ -202,7 +207,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 4,
 		.brp = 1,
 	},
-	/*********** 1M ***********/
+	/*********** 1M 80% ***********/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 30,
@@ -210,7 +215,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 8,
 		.brp = 1,
 	},
-	/*********** 800K ************/
+	/*********** 800K 80% ************/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 18,
@@ -218,7 +223,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 5,
 		.brp = 2,
 	},
-	/*********** 500K ************/
+	/*********** 500K 80% ************/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 62,
@@ -226,7 +231,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 16,
 		.brp = 1,
 	},
-	/*********** 250K ************/
+	/*********** 250K 80% ************/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 62,
@@ -234,7 +239,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 16,
 		.brp = 2,
 	},
-	/*********** 125K ************/
+	/*********** 125K 80% ************/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 62,
@@ -242,7 +247,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 16,
 		.brp = 4,
 	},
-	/*********** 100K ************/
+	/*********** 100K 80% ************/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 62,
@@ -250,7 +255,7 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 16,
 		.brp = 5,
 	},
-	/*********** 50K ************/
+	/*********** 50K 80% ************/
 	{
 		.prop_seg = 1,
 		.phase_seg1 = 62,
@@ -258,85 +263,16 @@ const static struct can_databittiming canfd_baud_param_tab[CANFDBaudSelMax] = {
 		.sjw = 16,
 		.brp = 10,
 	},
-	/*********** 40K ************/
+	/*********** 40K 80% ************/
 	{
 		.prop_seg = 1,
-		.phase_seg1 = 32,
-		.phase_seg2 = 16,
+		.phase_seg1 = 38,
+		.phase_seg2 = 10,
 		.sjw = 16,
 		.brp = 20,
 	},
 };
 
-
-/********** can src clock 40M **********/
-const static struct can_bittiming can_baud_param_tab[CANBaudSelMax] = {
-	/*********** 1M ************/
-	{
-		.prop_seg = 5,
-		.phase_seg1 = 9,
-		.phase_seg2 = 5,
-		.sjw = 1,
-		.brp = 2,
-	},
-	/*********** 800K ************/
-	{
-		.prop_seg = 9,
-		.phase_seg1 = 10,
-		.phase_seg2 = 5,
-		.sjw = 1,
-		.brp = 2,
-	},
-	/*********** 500K ************/
-	{
-		.prop_seg = 5,
-		.phase_seg1 = 9,
-		.phase_seg2 = 5,
-		.sjw = 1,
-		.brp = 4,
-	},
-	/*********** 250K ************/
-	{
-		.prop_seg = 5,
-		.phase_seg1 = 9,
-		.phase_seg2 = 5,
-		.sjw = 1,
-		.brp = 8,
-	},
-	/*********** 125K ************/
-	{
-		.prop_seg = 5,
-		.phase_seg1 = 9,
-		.phase_seg2 = 5,
-		.sjw = 1,
-		.brp = 16,
-	},
-	/*********** 100K ************/
-	{
-		.prop_seg = 5,
-		.phase_seg1 = 9,
-		.phase_seg2 = 5,
-		.sjw = 1,
-		.brp = 20,
-	},
-	/*********** 50K ************/
-	{
-		.prop_seg = 5,
-		.phase_seg1 = 9,
-		.phase_seg2 = 5,
-		.sjw = 1,
-		.brp = 40,
-	},
-	/*********** 40K ************/
-	{
-		.prop_seg = 5,
-		.phase_seg1 = 9,
-		.phase_seg2 = 5,
-		.sjw = 1,
-		.brp = 50,
-	},
-};
-
 /* map the sanitized data length to an appropriate data length code */
 static u8 can_len2dlc(u8 len)
 {
@@ -386,7 +322,7 @@ u8 can_set_reset_mode(CANFD_TypeDef* CANx)
 
 static int canfd_device_driver_bittime_configuration(CANFD_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct){
 	struct can_bittiming *bt = &CAN_InitStruct->BitTiming;
-	struct can_databittiming *dbt = &CAN_InitStruct->DataBitTiming;
+	struct can_bittiming *dbt = &CAN_InitStruct->DataBitTiming;
 
 	if(!(CANx->CFG_STAT & CAN_CFG_STAT_RESET)){
 		//netdev_alert(ndev, "Not in reset mode, cannot set bit timing\n");
@@ -399,10 +335,6 @@ static int canfd_device_driver_bittime_configuration(CANFD_TypeDef* CANx, CAN_In
 		return -EINVAL;
 	}
 
-	if(CAN_InitStruct->ttcan){
-		CANx->TTCFG |= (CAN_InitStruct->t_presc & 0x3) << 1;
-	}
-
 	CANx->S_SEG_1 = (bt->phase_seg1+bt->prop_seg-1);
 	CANx->S_SEG_2 = (bt->phase_seg2-1);
 	CANx->S_SJW = (bt->sjw-1);
@@ -413,7 +345,7 @@ static int canfd_device_driver_bittime_configuration(CANFD_TypeDef* CANx, CAN_In
 			PERROR("fast bittime configuration is incorrect\n");
 			return -EINVAL;
 		}
-		CANx->TDC = CAN_InitStruct->sspoff & 0x3f;
+		CANx->TDC = CAN_InitStruct->sspoff & 0x7f;
 		if(CAN_InitStruct->tdc_en){
 			CANx->TDC |= (1<<7);
 		}
@@ -428,7 +360,7 @@ static int canfd_device_driver_bittime_configuration(CANFD_TypeDef* CANx, CAN_In
 }
 
 
-u8 CAN_Init(CANFD_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
+static u8 CAN_Init(CANFD_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
 {
 	u8 InitStatus = CAN_InitStatus_Success;
 
@@ -453,13 +385,13 @@ u8 CAN_Init(CANFD_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
 
 	canfd_device_driver_bittime_configuration(CANx, CAN_InitStruct);/*set S_seg_1 S_Seg_2 S_SJW S_PRESC */
 
+	CANx->LIMIT = 0;
+
 	/*set Almost Full Warning Limit*/
-	CANx->LIMIT |= 0x40;
+	CANx->LIMIT |= 0x80;	// 3*8 = 24
 
 	/*Programmable Error Warning Limit = (EWL+1)*8. Set EWL=11->Error Warning=96 */
 	CANx->LIMIT |= 0X0B;
-	/*the start state*/
-	//priv->can.state=CAN_STATE_ERROR_ACTIVE;
 	/*interrupts enable*/
 	CANx->RTIE = CAN_IER_ALL;
 	/*Error Interrupts enable(Error Passive and Bus Error)*/
@@ -487,10 +419,6 @@ u8 CAN_Init(CANFD_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
 		break;
 	}
 
-	if(CAN_InitStruct->ttcan){
-		CANx->TTCFG |= CAN_TTCFG_TTEN;
-	}
-
 	return InitStatus;
 }
 
@@ -498,20 +426,13 @@ u8 CAN_Init(CANFD_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
 /*This part could also be removed, when only one mode is used*/
 static int set_canfd_xmit_mode(CANFD_TypeDef* CANx, CAN_TX_Mode tx_mode){
 	switch(tx_mode){
-		/*
-		case XMIT_FULL:
-			//CANx->TCTRL |= CAN_TCTRL_TTTBM;
-			PDEBUG( "Full can mode\n");
-			break;
-		*/
-
 		case XMIT_STB_FIFO:
 			CANx->TCTRL &= ~CAN_TCTRL_TTTBM;
 			CANx->TCTRL &= ~CAN_TCTRL_TSMODE;
 			CANx->TCMD 	|= CAN_TCMD_TBSEL;
 			PDEBUG( "FIFO mode\n");
 			break;
-		case XMIT_SEP_PRIO:
+		case XMIT_STB_PRIO:
 			CANx->TCTRL &= ~CAN_TCTRL_TTTBM;
 			CANx->TCTRL |= CAN_TCTRL_TSMODE;
 			CANx->TCMD  |= CAN_TCMD_TBSEL;
@@ -553,7 +474,7 @@ static int CAN_PTB_Tran(CANFD_TypeDef* CANx, CanMsg* TxMessage)
 		if (TxMessage->BRS)		/*CANFD_BRS=0x01*/
 			ctl |= CAN_FD_SET_BRS_MASK;
 
-		for(i=0; i<TxMessage->DLC/4; i++){
+		for (i = 0; i < (TxMessage->DLC + 3) / 4; i++) {
 			pTbuf->dat32[i] = *((u32 *)(TxMessage->Data + i*4));
 		}
 		PDEBUG( "TCMD is 0x%02x after writing data into resiger\n",CANx->TCMD);
@@ -628,7 +549,7 @@ static int CAN_STB_FIFO_Tran(CANFD_TypeDef* CANx, CanMsg* TxMessage)
 		if (TxMessage->BRS)		/*CANFD_BRS=0x01*/
 			ctl |= CAN_FD_SET_BRS_MASK;
 
-		for(i=0; i<TxMessage->DLC/4; i++){
+		for (i = 0; i < (TxMessage->DLC + 3) / 4; i++) {
 			pTbuf->dat32[i] = *((u32 *)(TxMessage->Data + i*4));
 		}
 		PDEBUG( "TCMD is 0x%02x after writing data into resiger\n",CANx->TCMD);
@@ -682,14 +603,10 @@ static int CAN_STB_FIFO_Tran(CANFD_TypeDef* CANx, CanMsg* TxMessage)
 	return ret;
 }
 
-//static int CAN_TTCAN_Tran(CANFD_TypeDef* CANx, CanMsg* TxMessage)
-//{
-//	int ret = 0;
-//	CANx->TCTRL |= CAN_TCTRL_TTTBM;
-//	return ret;
-//}
 static void can_reinit(CanPort_t *cap)
 {
+	int i;
+
 	if (cap->id == CAN_ID0){
 		MCU_SYSCTRL->V6_RST_CTL &= ~(1 << 0);
 		TIMER_Udelay(10);
@@ -704,8 +621,10 @@ static void can_reinit(CanPort_t *cap)
 
 	CAN_Init(cap->pcan, &CanInitValue[cap->id]);
 
-	if (nCanFilterEnable[cap->id]) {
-		vCanSetFilter(cap, CanFilterInitValue[cap->id]);
+	for (i = 0; i < CAN_FILTER_MAX; i++) {
+		if (nCanFilterEnable[cap->id][i]) {
+			vCanSetFilter(cap, CanFilterInitValue[cap->id][i]);
+		}
 	}
 }
 
@@ -834,36 +753,46 @@ static int can_rx(CANFD_TypeDef *CANx, CanMsg *RxMessage){
 	return 0;
 }
 
-
-static int CAN_RX(CANFD_TypeDef *CANx, CanMsg *RxMessage)
+static int CAN_RX(CanPort_t *pCanPort)
 {
-	u8 rx_status=0,control=0;
-	CAN_RBuf_t *pRBuf = (CAN_RBuf_t *)(CANx->RBUF_RTS);
-	control = pRBuf->ctl & 0xff;
-	rx_status = CANx->RCTRL;
-	while((rx_status & RSTAT_NO_EMPTY_MASK)){
-		( control & CAN_FD_SET_EDL_MASK) ? (canfd_rx(CANx, RxMessage)) : (can_rx(CANx, RxMessage));
-		rx_status = CANx->RCTRL;
-		PDEBUG( "rx-status is 0x%02x\n",rx_status);
-		PDEBUG( "rx-status is 0x%08x\n",*((u32 *) CANx->CFG_STAT));
-
+	CanMsg RxMessage;
+	CAN_RBuf_t *pRBuf;
+	u8 control=0;
+	int msg_cnt = 0;
+	CANFD_TypeDef *CANx = pCanPort->pcan;
+
+	while (CANx->RCTRL & RSTAT_NO_EMPTY_MASK) {
+		memset(&RxMessage, 0, sizeof(CanMsg));
+		pRBuf = (CAN_RBuf_t *)(CANx->RBUF_RTS);
+		control = pRBuf->ctl & 0xff;
+		(control & CAN_FD_SET_EDL_MASK) ? (canfd_rx(CANx, &RxMessage)) : (can_rx(CANx, &RxMessage));
+		if (!listLIST_IS_EMPTY(&pCanPort->rxFreeList)) {
+			ListItem_t *item = listGET_HEAD_ENTRY(&pCanPort->rxFreeList);
+			memcpy((void*)listGET_LIST_ITEM_VALUE(item), &RxMessage, sizeof(CanMsg));
+			uxListRemove(item);
+			vListInsertEnd(&pCanPort->rxRevList, item);
+			pCanPort->xRev_done = 1;
+		} else {
+			PWARN("rl full!\n");
+		}
+		msg_cnt++;
 	}
-	return 0;
+
+	return msg_cnt;
 }
 
-void CAN0_IRQHandler(void)
+static int CAN_IRQHandler(CanPort_t *pCanPort)
 {
 	uint8_t isr=0,errint=0;
-	CanPort_t *pCanPort = pxCanPort[CAN_ID0];
 	CANFD_TypeDef *CANx = NULL;
-	CanMsg RxMessage = {0};
-
-	// printf("CAN0_IRQHandler \r\n");
+	int rx_msg_num = 0;
 
+	// printf("CAN%d_IRQHandler \r\n", pCanPort->id);
 	if(pCanPort){
 		CANx = pCanPort->pcan;
 		isr = CANx->RTIF;
 		errint= CANx->ERRINT;
+
 		if(isr & CAN_IFR_TPIF){
 			pCanPort->tx_done = 1;
 		}
@@ -871,33 +800,24 @@ void CAN0_IRQHandler(void)
 			pCanPort->tx_done = 1;
 		}
 		if(isr & CAN_IFR_ROIF){
-			PERROR("CAN0 ROIF! \r\n");
+			PERROR("CAN%d ROIF! \r\n", pCanPort->id);
 			//can_reinit(pCanPort);
 		}
 		if(isr & CAN_IFR_EIF){
-			PERROR("CAN0 EIF! \r\n");
+			PERROR("CAN%d EIF! \r\n", pCanPort->id);
 			//can_reinit(pCanPort);
 		}
 
 		if(isr & (CAN_IFR_RF | CAN_IFR_RFIF | CAN_IFR_RAFIF)){
-			CAN_RX(CANx, &RxMessage);
-			if (!listLIST_IS_EMPTY(&pCanPort->rxFreeList)) {
-			  ListItem_t *item = listGET_HEAD_ENTRY(&pCanPort->rxFreeList);
-			  memcpy((void*)listGET_LIST_ITEM_VALUE(item), &RxMessage, sizeof(CanMsg));
-			  uxListRemove(item);
-			  vListInsertEnd(&pCanPort->rxRevList, item);
-			  pCanPort->xRev_done = 1;
-			} else {
-
-			}
+			rx_msg_num = CAN_RX(pCanPort);
 		}
 
-		if(CANx->CFG_STAT & 0x01){
-		  PERROR("BUSOFF!\n");
+		if(CANx->CFG_STAT & 0x01) {
+			PERROR("************************ BUSOFF! **************************\n");
 		}
 
 		if(errint & CAN_EIFR_EWARN){	// 错误计数器值超过EWL时会产生该中断
-		  PERROR("CAN_EIFR_EWARN! TECNT:0x%x RECNT:0x%x \r\n",CANx->TECNT, CANx->RECNT);
+			PERROR("CAN_EIFR_EWARN! TECNT:0x%x RECNT:0x%x \r\n",CANx->TECNT, CANx->RECNT);
 		}
 		if(errint & CAN_EIFR_EPASS){	// 错误被动模式激活,即错误计数 >127 此位为1
 			PERROR("CAN_EIFR_EPASS! \r\n");
@@ -905,84 +825,42 @@ void CAN0_IRQHandler(void)
 		if(errint & CAN_EIFR_EPIF){		// 错误计数器向上或向下越过127都会产生该中断
 			PERROR("CAN_EIFR_EPIF! \r\n");
 		}
-		if(errint & CAN_EIFR_ALIF){
+		if(errint & CAN_EIFR_ALIF){		// 仲裁失败
 			PERROR("CAN_EIFR_ALIF! \r\n");
 		}
 		if(errint & CAN_EIFR_BEIF){		// 总线错误
-			PERROR("CAN_EIFR_BEIF! \r\n");
+			PERROR("CAN_EIFR_BEIF! ECODE=0x%x\r\n", CANx->EALCAP);
+			switch (CANx->EALCAP & CAN_BE_TYPE_MASK) {
+			case CAN_BE_TYPE_BIT_ERROR:
+				break;
+			case CAN_BE_TYPE_FORM_ERROR:
+				break;
+			case CAN_BE_TYPE_STUFF_ERROR:
+				break;
+			case CAN_BE_TYPE_ACKNOWLEDGEMENT_ERROR:
+				break;
+			case CAN_BE_TYPE_CRC_ERROR:
+				break;
+			case CAN_BE_TYPE_OTHER_ERROR:
+				break;
+			}
 		}
 
 		CANx->RTIF = isr;
 		CANx->ERRINT = errint;
 	}
+
+	return rx_msg_num;
 }
 
-void CAN1_IRQHandler(void)
+void CAN0_IRQHandler(void)
 {
-	uint8_t isr=0,errint=0;
-	CanPort_t *pCanPort = pxCanPort[CAN_ID1];
-	CANFD_TypeDef *CANx = NULL;
-	CanMsg RxMessage = {0};
-
-	// printf("CAN1_IRQHandler \r\n");
-
-	if(pCanPort){
-		CANx = pCanPort->pcan;
-		isr = CANx->RTIF;
-		errint= CANx->ERRINT;
-		if(isr & CAN_IFR_TPIF){
-			//printf("CAN1 TPIF\n");
-			pCanPort->tx_done = 1;
-		}
-		if(isr & CAN_IFR_TSIF){
-			//printf("CAN1 TPIF\n");
-			pCanPort->tx_done = 1;
-		}
-		if(isr & CAN_IFR_ROIF){
-			PERROR("CAN1 ROIF! \r\n");
-			//can_reinit(pCanPort);
-		}
-		if(isr & CAN_IFR_EIF){
-			PERROR("CAN1 EIF! \r\n");
-			//can_reinit(pCanPort);
-		}
-
-		if(isr & (CAN_IFR_RF | CAN_IFR_RFIF | CAN_IFR_RAFIF)){
-			CAN_RX(CANx, &RxMessage);
-			if (!listLIST_IS_EMPTY(&pCanPort->rxFreeList)) {
-			  ListItem_t *item = listGET_HEAD_ENTRY(&pCanPort->rxFreeList);
-			  memcpy((void*)listGET_LIST_ITEM_VALUE(item), &RxMessage, sizeof(CanMsg));
-			  uxListRemove(item);
-			  vListInsertEnd(&pCanPort->rxRevList, item);
-			  pCanPort->xRev_done = 1;
-			} else {
-
-			}
-		}
-
-		if(CANx->CFG_STAT & 0x01){
-		  PERROR("BUSOFF!\n");
-		}
-
-		if(errint & CAN_EIFR_EWARN){	// 错误计数器值超过EWL时会产生该中断
-		  PERROR("CAN_EIFR_EWARN! TECNT:0x%x RECNT:0x%x \r\n",CANx->TECNT, CANx->RECNT);
-		}
-		if(errint & CAN_EIFR_EPASS){	// 错误被动模式激活,即错误计数 >127 此位为1
-			PERROR("CAN_EIFR_EPASS! \r\n");
-		}
-		if(errint & CAN_EIFR_EPIF){		// 错误计数器向上或向下越过127都会产生该中断
-			PERROR("CAN_EIFR_EPIF! \r\n");
-		}
-		if(errint & CAN_EIFR_ALIF){
-			PERROR("CAN_EIFR_ALIF! \r\n");
-		}
-		if(errint & CAN_EIFR_BEIF){		// 总线错误
-			PERROR("CAN_EIFR_BEIF! \r\n");
-		}
+	CAN_IRQHandler(pxCanPort[CAN_ID0]);
+}
 
-		CANx->RTIF = isr;
-		CANx->ERRINT = errint;
-	}
+void CAN1_IRQHandler(void)
+{
+	CAN_IRQHandler(pxCanPort[CAN_ID1]);
 }
 
 CanPort_t *xCanOpen(u32 id)
@@ -1069,22 +947,18 @@ static void can_pad_cfg(CanPort_t *cap)
  *@param:
  *	fd_baud: 在发送FD帧且BRS=1时数据段的波特率(仅在FD=1,BRS=1时有效).
  *	baud: 在BRS=0发送时为全帧的波特率, 在发送FD帧且BRS=1时为仲裁段波特率.
- *@note TTCAN 不支持
+ *@note
  */
-void vCanInit(CanPort_t *cap,  CanTimInit_t *TimInit, CanMode_t mode, u8 ttcan)
+void vCanInit(CanPort_t *cap,  CanTimInit_t *TimInit, CanMode_t mode)
 {
 	CAN_InitTypeDef CAN_InitStructure;
 
-	ttcan = 0; // TTCAN NO SUPPORT
-
-	CAN_InitStructure.BitTiming = can_baud_param_tab[TimInit->Bps];
+	CAN_InitStructure.BitTiming = canfd_baud_param_tab[TimInit->Bps];
 	CAN_InitStructure.DataBitTiming = canfd_baud_param_tab[TimInit->DatBps];
 	CAN_InitStructure.tdc_en = TimInit->tdc_en;
 	CAN_InitStructure.sspoff = TimInit->sspoff;
 	CAN_InitStructure.FD_En = 1;
 	CAN_InitStructure.Mode = mode;
-	CAN_InitStructure.ttcan = ttcan;
-	CAN_InitStructure.t_presc = TimInit->t_presc;
 
 	CanInitValue[cap->id] = CAN_InitStructure;
 	if (cap->id == CAN_ID0){
@@ -1159,8 +1033,20 @@ void vCanSetFilter(CanPort_t *cap,     CAN_FilterInitTypeDef CAN_FilterInitStruc
 		CANx->ACF_EN_1 |= (1 << (CAN_FilterInitStruct.FILTERx - 8));
 	}
 
-	CanFilterInitValue[cap->id] = CAN_FilterInitStruct;
-	nCanFilterEnable[cap->id] = 1;
+	CanFilterInitValue[cap->id][CAN_FilterInitStruct.FILTERx] = CAN_FilterInitStruct;
+	if ((CAN_FilterInitStruct.IDE_M == STD_OR_EXT) || (CAN_FilterInitStruct.IDE_M == EXT_ONLY)) {
+		if (CAN_FilterInitStruct.IDMASK & 0x1FFFFFFF == 0x1FFFFFFF) {
+			nCanFilterEnable[cap->id][CAN_FilterInitStruct.FILTERx] = 0;
+		} else {
+			nCanFilterEnable[cap->id][CAN_FilterInitStruct.FILTERx] = 1;
+		}
+	} else {
+		if (CAN_FilterInitStruct.IDMASK & 0x7ff == 0x7ff) {
+			nCanFilterEnable[cap->id][CAN_FilterInitStruct.FILTERx] = 0;
+		} else {
+			nCanFilterEnable[cap->id][CAN_FilterInitStruct.FILTERx] = 1;
+		}
+	}
 
 	CAN_Init(cap->pcan, &(CanInitValue[cap->id]));
 }
@@ -1180,7 +1066,7 @@ int iCanWrite(CanPort_t *cap, CanMsg* messages, int nmsgs, TickType_t xBlockTime
 				/* transmit timeout, reset can */
 				can_reinit(cap);
 			}
-		} else if (msgs->TxMode == XMIT_STB_FIFO || msgs->TxMode == XMIT_SEP_PRIO) {
+		} else if (msgs->TxMode == XMIT_STB_FIFO || msgs->TxMode == XMIT_STB_PRIO) {
 			  stb_nfull = CAN_STB_FIFO_Tran(cap->pcan, msgs);
 			  if (!stb_nfull) {
 				  cap->tx_done = 0;