Merge branch 'RT-Thread:master' into master

Author: MuChenger

.github/ALL_BSP_COMPILE.json

@@ -491,15 +491,15 @@
       "RTT_BSP": "xuantie",
       "RTT_TOOL_CHAIN": "sourcery-Xuantie-900-gcc-elf-newlib",
       "SUB_RTT_BSP": [
-        "xuantie/smartl/e901",
+        "xuantie/smartl/e901plus",
         "xuantie/smartl/e902",
         "xuantie/smartl/e906",
         "xuantie/smartl/e907",
         "xuantie/xiaohui/c906",
         "xuantie/xiaohui/c907",
         "xuantie/xiaohui/c908",
         "xuantie/xiaohui/c908x",
-        "xuantie/xiaohui/c910",
+        "xuantie/xiaohui/c920",
         "xuantie/xiaohui/r908",
         "xuantie/xiaohui/r910",
         "xuantie/xiaohui/r920"

.github/workflows/pr_clang_format.yml

@@ -52,37 +52,55 @@ jobs:
           echo "📋 Checking supported features..."
           clang-format --help | grep -i "align\|consecutive" || echo "No align/consecutive options found"
 
-      - name: Get changed files from PR
-        id: get-pr-files
+      - name: Get PR info (files and author)
+        id: get-pr-info
         run: |
           max_retries=3
           retry_count=0
           changed_files=""
           api_response=""
-          
+
           # 获取PR编号（workflow_dispatch时需要手动输入）
           PR_NUMBER="${{ github.event.inputs.pr_number }}"
-          
+
           if [ -z "$PR_NUMBER" ]; then
             echo "Error: PR number is required"
             exit 1
           fi
-          
+
+          echo "Fetching PR info for #$PR_NUMBER..."
+
+          # 获取PR的详细信息（包括作者）
+          pr_response=$(curl -s \
+            -H "Authorization: Bearer ${{ secrets.GITHUB_TOKEN }}" \
+            -H "Accept: application/vnd.github.v3+json" \
+            "https://api.github.com/repos/RT-Thread/rt-thread/pulls/$PR_NUMBER")
+
+          # 获取PR作者的GitHub用户名
+          PR_AUTHOR=$(jq -r '.user.login' <<<"$pr_response")
+          echo "PR Author: $PR_AUTHOR"
+
+          # 使用GitHub noreply邮箱格式
+          PR_AUTHOR_EMAIL="${PR_AUTHOR}+github[bot]@noreply.github.com"
+
+          echo "pr_author=$PR_AUTHOR" >> $GITHUB_OUTPUT
+          echo "pr_author_email=$PR_AUTHOR_EMAIL" >> $GITHUB_OUTPUT
+
           echo "Fetching changed files for PR #$PR_NUMBER..."
-          
+
           while [ $retry_count -lt $max_retries ]; do
             # 使用一个curl调用同时获取响应内容和状态码
             api_response=$(curl -s -w "\n%{http_code}" \
               -H "Authorization: Bearer ${{ secrets.GITHUB_TOKEN }}" \
               -H "Accept: application/vnd.github.v3+json" \
               "https://api.github.com/repos/RT-Thread/rt-thread/pulls/$PR_NUMBER/files")
-            
+
             # 分离HTTP状态码和响应内容
             http_status=$(echo "$api_response" | tail -1)
             api_response=$(echo "$api_response" | sed '$d')
-            
+
             echo "HTTP Status: $http_status"
-            
+
             # 检查HTTP状态码
             if [ "$http_status" -ne 200 ]; then
               echo "Retry $((retry_count+1)): HTTP $http_status - API response error"
@@ -91,7 +109,7 @@ jobs:
               ((retry_count++))
               continue
             fi
-            
+
             # 验证响应是否为有效JSON且包含文件数组
             if jq -e 'if type=="array" then .[0].filename else empty end' <<<"$api_response" >/dev/null 2>&1; then
               changed_files=$(jq -r '.[].filename' <<<"$api_response")
@@ -103,18 +121,18 @@ jobs:
               ((retry_count++))
             fi
           done
-          
+
           if [ -z "$changed_files" ]; then
             echo "Error: Failed to get changed files after $max_retries attempts"
             echo "Final API Response: $api_response"
             exit 1
           fi
-          
+
           # 将文件列表转换为逗号分隔格式
           changed_files_comma=$(echo "$changed_files" | tr '\n' ',' | sed 's/,$//')
-          
+
           echo "Successfully fetched $(echo "$changed_files" | wc -l) changed files"
-          
+
           # 设置输出
           echo "all_changed_files=$changed_files_comma" >> $GITHUB_OUTPUT
           echo "changed_files_count=$(echo "$changed_files" | wc -l)" >> $GITHUB_OUTPUT
@@ -123,7 +141,7 @@ jobs:
         id: find-files
         run: |
           # 获取PR中修改的文件
-          CHANGED_FILES="${{ steps.get-pr-files.outputs.all_changed_files }}"
+          CHANGED_FILES="${{ steps.get-pr-info.outputs.all_changed_files }}"
           
           # 将逗号分隔的文件列表转换为换行分隔
           CHANGED_FILES_LINES=$(echo "$CHANGED_FILES" | tr ',' '\n')
@@ -250,13 +268,22 @@ jobs:
       - name: Commit and push changes
         if: steps.check-changes.outputs.has_changes == 'true'
         run: |
-          git config --local user.email "github-actions[bot]@users.noreply.github.com"
-          git config --local user.name "github-actions[bot]"
-          
+          # 使用PR作者作为commit author，避免CLA检查失败
+          # CLA检查只识别PR作者（已签署CLA），而不识别github-actions[bot]
+          PR_AUTHOR="${{ steps.get-pr-info.outputs.pr_author }}"
+          PR_AUTHOR_EMAIL="${{ steps.get-pr-info.outputs.pr_author_email }}"
+
+          git config --local user.email "$PR_AUTHOR_EMAIL"
+          git config --local user.name "$PR_AUTHOR"
+
+          # 使用GIT_AUTHOR环境变量让commit以贡献者名义提交
+          export GIT_AUTHOR_NAME="$PR_AUTHOR"
+          export GIT_AUTHOR_EMAIL="$PR_AUTHOR_EMAIL"
+
           git add -A
           git commit -m "style: format code with clang-format [skip ci]"
           git push origin HEAD:${{ github.event.inputs.branch }}
-          
+
           echo "✅ 代码格式化完成并已推送到分支 ${{ github.event.inputs.branch }}"
           
       - name: Summary

.github/workflows/pr_format_bot.yml

@@ -20,33 +20,38 @@ jobs:
       - name: Check if first commit and add comment
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          PR_HEAD_REF: ${{ github.event.pull_request.head.ref }}
+          PR_HEAD_REPO: ${{ github.event.pull_request.head.repo.full_name }}
+          PR_NUMBER: ${{ github.event.pull_request.number }}
+          PR_ACTION: ${{ github.event.action }}
+          REPO_FULL_NAME: ${{ github.repository }}
         run: |
-          echo "Event action: ${{ github.event.action }}"
+          echo "Event action: $PR_ACTION"
           
           # 获取 PR 的提交信息
           commits=$(curl -s \
             -H "Accept: application/vnd.github.v3+json" \
             -H "Authorization: Bearer $GITHUB_TOKEN" \
-            "https://api.github.com/repos/${{ github.repository }}/pulls/${{ github.event.pull_request.number }}/commits")
+            "https://api.github.com/repos/${REPO_FULL_NAME}/pulls/${PR_NUMBER}/commits")
 
           # 检查 API 响应是否为数组
           if echo "$commits" | jq -e 'type == "array"' > /dev/null; then
             commit_count=$(echo "$commits" | jq '. | length')
             echo "PR commit count: $commit_count"
 
             should_comment=false
-            if [ "${{ github.event.action }}" = "opened" ]; then
+            if [ "$PR_ACTION" = "opened" ]; then
               should_comment=true
-            elif [ "${{ github.event.action }}" = "synchronize" ] && [ "$commit_count" -eq 1 ]; then
+            elif [ "$PR_ACTION" = "synchronize" ] && [ "$commit_count" -eq 1 ]; then
               should_comment=true
             fi
 
             if [ "$should_comment" = true ]; then
               echo "Adding format notification comment..."
               
               # 构建工作流链接
-              branch="${{ github.event.pull_request.head.ref }}"
-              fork_repo="${{ github.event.pull_request.head.repo.full_name }}"
+              branch="$PR_HEAD_REF"
+              fork_repo="$PR_HEAD_REPO"
               workflow_url="https://github.com/${fork_repo}/actions/workflows/pr_clang_format.yml"
               direct_link="${workflow_url}?branch=${branch}"
 
@@ -69,7 +74,7 @@ jobs:
                 "- 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：**\`${branch}\`**"
-                "- 设置PR number为 \ Set the PR number to：**\`${{ github.event.pull_request.number }}\`**"
+                "- 设置PR number为 \ Set the PR number to：**\`${PR_NUMBER}\`**"
                 ""
                 "3. **等待工作流完成 | Wait for the workflow to complete**"
                 "格式化后的代码将自动推送至你的分支。"
@@ -92,7 +97,7 @@ jobs:
               existing_comment=$(curl -s \
                 -H "Accept: application/vnd.github.v3+json" \
                 -H "Authorization: Bearer $GITHUB_TOKEN" \
-                "https://api.github.com/repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments" | \
+                "https://api.github.com/repos/${REPO_FULL_NAME}/issues/${PR_NUMBER}/comments" | \
                 jq -r '.[] | select(.user.login == "github-actions[bot]" and (.body | contains("<!-- PR Format Notification Comment -->"))) | {id: .id, body: .body} | @base64')
 
               # 使用 jq 安全地构建 JSON 负载
@@ -107,7 +112,7 @@ jobs:
                   -H "Accept: application/vnd.github.v3+json" \
                   -H "Authorization: Bearer $GITHUB_TOKEN" \
                   -d "$json_payload" \
-                  "https://api.github.com/repos/${{ github.repository }}/issues/comments/$comment_id")
+                  "https://api.github.com/repos/${REPO_FULL_NAME}/issues/comments/$comment_id")
               else
                 # 创建新评论
                 echo "Creating new comment"
@@ -116,7 +121,7 @@ jobs:
                   -H "Accept: application/vnd.github.v3+json" \
                   -H "Authorization: Bearer $GITHUB_TOKEN" \
                   -d "$json_payload" \
-                  "https://api.github.com/repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments")
+                  "https://api.github.com/repos/${REPO_FULL_NAME}/issues/${PR_NUMBER}/comments")
               fi
 
               # 提取 HTTP 状态码和响应体

bsp/README.md

@@ -773,14 +773,15 @@ This document is based on the RT-Thread mainline repository and categorizes the
 
 | BSP Name | GPIO | UART | ADC | I2C | SPI | WDT |
 |----------|------|------|-----|-----|-----|-----|
-| [e901](xuantie/smartl/e901) | - | ✅ | - | - | - | - |
+| [e901plus](xuantie/smartl/e901plus) | - | ✅ | - | - | - | - |
 | [e902](xuantie/smartl/e902) | - | ✅ | - | - | - | - |
 | [e906](xuantie/smartl/e906) | - | ✅ | - | - | - | - |
 | [e907](xuantie/smartl/e907) | - | ✅ | - | - | - | - |
 | [c906 (RT-Smart)](xuantie/virt64/c906) | - | ✅ | - | - | - | - |
 | [c907](xuantie/xiaohui/c907) | - | ✅ | - | - | - | - |
 | [c908](xuantie/xiaohui/c908) | - | ✅ | - | - | - | - |
-| [c910](xuantie/xiaohui/c910) | - | ✅ | - | - | - | - |
+| [c908x](xuantie/xiaohui/c908x) | - | ✅ | - | - | - | - |
+| [c920](xuantie/xiaohui/c920) | - | ✅ | - | - | - | - |
 | [r908](xuantie/xiaohui/r908) | - | ✅ | - | - | - | - |
 | [r910](xuantie/xiaohui/r910) | - | ✅ | - | - | - | - |
 | [r920](xuantie/xiaohui/r920) | - | ✅ | - | - | - | - |

bsp/stm32/libraries/HAL_Drivers/drivers/drv_fdcan.c

@@ -8,6 +8,7 @@
  * 2020-02-24     heyuan       the first version
  * 2020-08-17     malongwei    Fix something
  * 2025-10-27     pandafeng    Fix some bugs
+ * 2026-03-16     sayaZhao     Fix some bugs
  */
 
 #include "drv_fdcan.h"
@@ -54,12 +55,30 @@ static const stm32_fdcan_timing_t st_FDCAN_ArbTiming[] =
 static const stm32_fdcan_timing_t st_FDCAN_DataTiming[] =
 {
     {CAN1MBaud * 8, {1, 3, 1, 1, 0}},   /* 8Mbps */
+    {CAN1MBaud * 5,  {1, 5, 2, 1, 0}},  /* 5Mbps */
     {CAN500kBaud *8,  {1, 7, 2, 1, 0}},   /* 4Mbps */
     {CAN250kBaud * 8,  {4, 3, 1, 1, 0}},  /* 2Mbps */
     {CAN125kBaud *8,  {1, 31, 8, 1, 0}},  /* 1Mkbps */
     {CAN100kBaud*8,  {2, 19, 5, 1, 0}},  /* 800kbps */
     {CAN50kBaud *8,   {5, 15, 4, 1, 0}},   /* 400kbps */
 };
+
+/**
+ * @brief  Convert CAN-FD DLC (Data Length Code) back to actual frame length
+ * @param  dlc  DLC code (0~15)
+ * @return      Actual length in bytes (0~64)
+ */
+static uint8_t dlc_to_length(uint32_t dlc)
+{
+    const uint8_t dlc_to_len_table[16] = {
+        0,  1,  2,  3,  4,  5,  6,  7,
+        8, 12, 16, 20, 24, 32, 48, 64
+    };
+
+    if (dlc > 15) return 8;
+    return dlc_to_len_table[dlc];
+}
+
 /**
  * @brief  Convert CAN-FD frame length to DLC (Data Length Code)
  *
@@ -208,8 +227,18 @@ static rt_err_t _inline_can_config(struct rt_can_device *can, struct can_configu
     {
         return -RT_ERROR;
     }
+/* Transceiver Delay Compensation */
+#ifdef RT_CAN_USING_CANFD
+    if (cfg->enable_canfd)
+    {
+        HAL_FDCAN_ConfigTxDelayCompensation(&pdrv_can->fdcanHandle, 0x0C, 0x00);
+        HAL_FDCAN_EnableTxDelayCompensation(&pdrv_can->fdcanHandle);
+    }
+#endif
     /* default filter config */
     HAL_FDCAN_ConfigFilter(&pdrv_can->fdcanHandle , &pdrv_can->FilterConfig);
+    /* FIFO RX INT */
+    HAL_FDCAN_ActivateNotification(&pdrv_can->fdcanHandle, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
     /*init fdcan tx header*/
     pdrv_can->TxHeader.Identifier = 0x000000;
     pdrv_can->TxHeader.IdType = FDCAN_EXTENDED_ID;
@@ -352,7 +381,7 @@ static rt_err_t _inline_can_control(struct rt_can_device *can, int cmd, void *ar
             argval = (rt_uint32_t) arg;
             uint32_t arb_idx = _inline_get_ArbBaudIndex(argval);
             if (arb_idx == (uint32_t) -1) {
-                return -RT_ERROR; 
+                return -RT_ERROR;
             }
             if (argval != pdrv_can->device.config.baud_rate) {
                 pdrv_can->device.config.baud_rate = argval;
@@ -452,6 +481,12 @@ static int _inline_can_sendmsg(struct rt_can_device *can, const void *buf, rt_ui
         pdrv_can->TxHeader.FDFormat = FDCAN_CLASSIC_CAN;
     }
 
+    if (pmsg->brs == 1) {
+        pdrv_can->TxHeader.BitRateSwitch = FDCAN_BRS_ON;
+    } else {
+        pdrv_can->TxHeader.BitRateSwitch = FDCAN_BRS_OFF;
+    }
+
     if(HAL_FDCAN_AddMessageToTxBuffer(&pdrv_can->fdcanHandle, &pdrv_can->TxHeader, pmsg->data, FDCAN_TX_BUFFER0 + box_num) != HAL_OK)
     {
         return -RT_ERROR;
@@ -499,13 +534,14 @@ static int _inline_can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t
         }
         pmsg->id = pdrv_can->RxHeader.Identifier;
 
-        pmsg->len = pdrv_can->RxHeader.DataLength;
-        pmsg->hdr_index = pdrv_can->RxHeader.FilterIndex;
+        uint32_t actual_dlc = pdrv_can->RxHeader.DataLength;
+        pmsg->len = dlc_to_length(actual_dlc);
 
-        #ifdef RT_CAN_USING_CANFD
+        pmsg->hdr_index = pdrv_can->RxHeader.FilterIndex;
+#ifdef RT_CAN_USING_CANFD
         pmsg->fd_frame =  (pdrv_can->RxHeader.FDFormat >> 16) && 0x20;
         pmsg->brs = (pdrv_can->RxHeader.BitRateSwitch >> 16) && 0x10;
-        #endif
+#endif
 
         return sizeof(struct rt_can_msg);
     }

bsp/xuantie/libraries/xuantie_libraries/SConscript

@@ -7,6 +7,14 @@ cwd = GetCurrentDir()
 objs = []
 list = os.listdir(cwd)
 
+# Include source files in current directory
+src = []
+if GetDepend(['RT_USING_SMP']):
+    src += ['smp_demo.c']
+if src:
+    objs = objs + DefineGroup('xuantie_libraries', src, depend=[''])
+
+# Include subdirectories with SConscript
 for d in list:
     path = os.path.join(cwd, d)
     if os.path.isfile(os.path.join(path, 'SConscript')):