path: root/bsps/arm/imxrt/mcux-sdk/drivers/flexcan/fsl_flexcan.c

/*
 * Copyright (c) 2015, Freescale Semiconductor, Inc.
 * Copyright 2016-2023 NXP
 * All rights reserved.
 *
 * SPDX-License-Identifier: BSD-3-Clause
 */

#include "fsl_flexcan.h"

/*******************************************************************************
 * Definitions
 ******************************************************************************/

/* Component ID definition, used by tools. */
#ifndef FSL_COMPONENT_ID
#define FSL_COMPONENT_ID "platform.drivers.flexcan"
#endif

#if (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_6032) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_6032)
#define RXINTERMISSION (CAN_DBG1_CFSM(0x2f))
#define TXINTERMISSION (CAN_DBG1_CFSM(0x14))
#define BUSIDLE        (CAN_DBG1_CFSM(0x02))
#define CBN_VALUE3     (CAN_DBG1_CBN(0x03))
#define DELAY_BUSIDLE  (200)
#endif

/* According to CiA doc 1301 v1.0.0, specified data/nominal phase sample point postion for CAN FD at 80 MHz. */
#define IDEAL_DATA_SP_1  (800U)
#define IDEAL_DATA_SP_2  (750U)
#define IDEAL_DATA_SP_3  (700U)
#define IDEAL_DATA_SP_4  (625U)
#define IDEAL_NOMINAL_SP (800U)

/* According to CiA doc 301 v4.2.0 and previous version. */
#define IDEAL_SP_LOW  (750U)
#define IDEAL_SP_MID  (800U)
#define IDEAL_SP_HIGH (875U)

#define IDEAL_SP_FACTOR (1000U)

/* Define the max value of bit timing segments when use different timing register. */
#define MAX_PROPSEG           (CAN_CTRL1_PROPSEG_MASK >> CAN_CTRL1_PROPSEG_SHIFT)
#define MAX_PSEG1             (CAN_CTRL1_PSEG1_MASK >> CAN_CTRL1_PSEG1_SHIFT)
#define MAX_PSEG2             (CAN_CTRL1_PSEG2_MASK >> CAN_CTRL1_PSEG2_SHIFT)
#define MAX_RJW               (CAN_CTRL1_RJW_MASK >> CAN_CTRL1_RJW_SHIFT)
#define MAX_PRESDIV           (CAN_CTRL1_PRESDIV_MASK >> CAN_CTRL1_PRESDIV_SHIFT)
#define CTRL1_MAX_TIME_QUANTA (1U + MAX_PROPSEG + 1U + MAX_PSEG1 + 1U + MAX_PSEG2 + 1U)
#define CTRL1_MIN_TIME_QUANTA (8U)

#define MAX_EPROPSEG        (CAN_CBT_EPROPSEG_MASK >> CAN_CBT_EPROPSEG_SHIFT)
#define MAX_EPSEG1          (CAN_CBT_EPSEG1_MASK >> CAN_CBT_EPSEG1_SHIFT)
#define MAX_EPSEG2          (CAN_CBT_EPSEG2_MASK >> CAN_CBT_EPSEG2_SHIFT)
#define MAX_ERJW            (CAN_CBT_ERJW_MASK >> CAN_CBT_ERJW_SHIFT)
#define MAX_EPRESDIV        (CAN_CBT_EPRESDIV_MASK >> CAN_CBT_EPRESDIV_SHIFT)
#define CBT_MAX_TIME_QUANTA (1U + MAX_EPROPSEG + 1U + MAX_EPSEG1 + 1U + MAX_EPSEG2 + 1U)
#define CBT_MIN_TIME_QUANTA (8U)

#define MAX_FPROPSEG          (CAN_FDCBT_FPROPSEG_MASK >> CAN_FDCBT_FPROPSEG_SHIFT)
#define MAX_FPSEG1            (CAN_FDCBT_FPSEG1_MASK >> CAN_FDCBT_FPSEG1_SHIFT)
#define MAX_FPSEG2            (CAN_FDCBT_FPSEG2_MASK >> CAN_FDCBT_FPSEG2_SHIFT)
#define MAX_FRJW              (CAN_FDCBT_FRJW_MASK >> CAN_FDCBT_FRJW_SHIFT)
#define MAX_FPRESDIV          (CAN_FDCBT_FPRESDIV_MASK >> CAN_FDCBT_FPRESDIV_SHIFT)
#define FDCBT_MAX_TIME_QUANTA (1U + MAX_FPROPSEG + 0U + MAX_FPSEG1 + 1U + MAX_FPSEG2 + 1U)
#define FDCBT_MIN_TIME_QUANTA (5U)

#define MAX_TDCOFF ((uint32_t)CAN_FDCTRL_TDCOFF_MASK >> CAN_FDCTRL_TDCOFF_SHIFT)

#define MAX_NTSEG1            (CAN_ENCBT_NTSEG1_MASK >> CAN_ENCBT_NTSEG1_SHIFT)
#define MAX_NTSEG2            (CAN_ENCBT_NTSEG2_MASK >> CAN_ENCBT_NTSEG2_SHIFT)
#define MAX_NRJW              (CAN_ENCBT_NRJW_MASK >> CAN_ENCBT_NRJW_SHIFT)
#define MAX_ENPRESDIV         (CAN_EPRS_ENPRESDIV_MASK >> CAN_EPRS_ENPRESDIV_SHIFT)
#define ENCBT_MAX_TIME_QUANTA (1U + MAX_NTSEG1 + 1U + MAX_NTSEG2 + 1U)
#define ENCBT_MIN_TIME_QUANTA (8U)

#define MAX_DTSEG1            (CAN_EDCBT_DTSEG1_MASK >> CAN_EDCBT_DTSEG1_SHIFT)
#define MAX_DTSEG2            (CAN_EDCBT_DTSEG2_MASK >> CAN_EDCBT_DTSEG2_SHIFT)
#define MAX_DRJW              (CAN_EDCBT_DRJW_MASK >> CAN_EDCBT_DRJW_SHIFT)
#define MAX_EDPRESDIV         (CAN_EPRS_EDPRESDIV_MASK >> CAN_EPRS_EDPRESDIV_SHIFT)
#define EDCBT_MAX_TIME_QUANTA (1U + MAX_DTSEG1 + 1U + MAX_DTSEG2 + 1U)
#define EDCBT_MIN_TIME_QUANTA (5U)

#define MAX_ETDCOFF ((uint32_t)CAN_ETDC_ETDCOFF_MASK >> CAN_ETDC_ETDCOFF_SHIFT)

/* TSEG1 corresponds to the sum of xPROPSEG and xPSEG1, TSEG2 corresponds to the xPSEG2 value. */
#define MIN_TIME_SEGMENT1 (2U)
#define MIN_TIME_SEGMENT2 (2U)

/* Define maximum CAN and CAN FD bit rate supported by FLEXCAN. */
#define MAX_CANFD_BITRATE (8000000U)
#define MAX_CAN_BITRATE   (1000000U)

#if (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_9595) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_9595)
#define CAN_ESR1_FLTCONF_BUSOFF CAN_ESR1_FLTCONF(2U)
#endif

/* Define the range of memory that needs to be initialized when the device has memory error detection feature. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL)
#define CAN_INIT_RXFIR         ((uintptr_t)base + 0x4Cu)
#define CAN_INIT_MEMORY_BASE_1 (uint32_t *)((uintptr_t)base + (uintptr_t)FSL_FEATURE_FLEXCAN_INIT_MEMORY_BASE_1)
#define CAN_INIT_MEMORY_SIZE_1 FSL_FEATURE_FLEXCAN_INIT_MEMORY_SIZE_1
#define CAN_INIT_MEMORY_BASE_2 (uint32_t *)((uintptr_t)base + (uintptr_t)FSL_FEATURE_FLEXCAN_INIT_MEMORY_BASE_2)
#define CAN_INIT_MEMORY_SIZE_2 FSL_FEATURE_FLEXCAN_INIT_MEMORY_SIZE_2
#endif

#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL)
#ifndef CAN_CLOCK_CHECK_NO_AFFECTS
/* If no define such MACRO, it mean that the CAN in current device have no clock affect issue. */
#define CAN_CLOCK_CHECK_NO_AFFECTS (true)
#endif /* CAN_CLOCK_CHECK_NO_AFFECTS */
#endif /* FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL */

/*! @brief FlexCAN Internal State. */
enum _flexcan_state
{
    kFLEXCAN_StateIdle     = 0x0, /*!< MB/RxFIFO idle.*/
    kFLEXCAN_StateRxData   = 0x1, /*!< MB receiving.*/
    kFLEXCAN_StateRxRemote = 0x2, /*!< MB receiving remote reply.*/
    kFLEXCAN_StateTxData   = 0x3, /*!< MB transmitting.*/
    kFLEXCAN_StateTxRemote = 0x4, /*!< MB transmitting remote request.*/
    kFLEXCAN_StateRxFifo   = 0x5, /*!< RxFIFO receiving.*/
};

/*! @brief FlexCAN message buffer CODE for Rx buffers. */
enum _flexcan_mb_code_rx
{
    kFLEXCAN_RxMbInactive = 0x0, /*!< MB is not active.*/
    kFLEXCAN_RxMbFull     = 0x2, /*!< MB is full.*/
    kFLEXCAN_RxMbEmpty    = 0x4, /*!< MB is active and empty.*/
    kFLEXCAN_RxMbOverrun  = 0x6, /*!< MB is overwritten into a full buffer.*/
    kFLEXCAN_RxMbBusy     = 0x8, /*!< FlexCAN is updating the contents of the MB, The CPU must not access the MB.*/
    kFLEXCAN_RxMbRanswer  = 0xA, /*!< A frame was configured to recognize a Remote Request Frame and transmit a
                                      Response Frame in return.*/
    kFLEXCAN_RxMbNotUsed = 0xF,  /*!< Not used.*/
};

/*! @brief FlexCAN message buffer CODE FOR Tx buffers. */
enum _flexcan_mb_code_tx
{
    kFLEXCAN_TxMbInactive     = 0x8, /*!< MB is not active.*/
    kFLEXCAN_TxMbAbort        = 0x9, /*!< MB is aborted.*/
    kFLEXCAN_TxMbDataOrRemote = 0xC, /*!< MB is a TX Data Frame(when MB RTR = 0) or MB is a TX Remote Request
                                          Frame (when MB RTR = 1).*/
    kFLEXCAN_TxMbTanswer = 0xE,      /*!< MB is a TX Response Request Frame from an incoming Remote Request Frame.*/
    kFLEXCAN_TxMbNotUsed = 0xF,      /*!< Not used.*/
};

/* Typedef for interrupt handler. */
typedef void (*flexcan_isr_t)(CAN_Type *base, flexcan_handle_t *handle);

/*******************************************************************************
 * Prototypes
 ******************************************************************************/

#if !defined(NDEBUG)
/*!
 * @brief Check if Message Buffer is occupied by Rx FIFO.
 *
 * This function check if Message Buffer is occupied by Rx FIFO.
 *
 * @param base FlexCAN peripheral base address.
 * @param mbIdx The FlexCAN Message Buffer index.
 * @return TRUE if the index MB is occupied by Rx FIFO, FALSE if the index MB not occupied by Rx FIFO.
 */
static bool FLEXCAN_IsMbOccupied(CAN_Type *base, uint8_t mbIdx);
#endif

#if ((defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) || \
     (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829))
/*!
 * @brief Get the first valid Message buffer ID of give FlexCAN instance.
 *
 * This function is a helper function for Errata 5641 workaround.
 *
 * @param base FlexCAN peripheral base address.
 * @return The first valid Message Buffer Number.
 */
static uint8_t FLEXCAN_GetFirstValidMb(CAN_Type *base);
#endif

/*!
 * @brief Reset the FlexCAN Instance.
 *
 * Restores the FlexCAN module to reset state, notice that this function
 * will set all the registers to reset state so the FlexCAN module can not work
 * after calling this API.
 *
 * @param base FlexCAN peripheral base address.
 */
static void FLEXCAN_Reset(CAN_Type *base);

/*!
 * @brief Calculates the segment values for a single bit time for classical CAN.
 *
 * This function use to calculates the Classical CAN segment values which will be set in CTRL1/CBT/ENCBT register.
 *
 * @param base FlexCAN peripheral base address.
 * @param tqNum Number of time quantas per bit, range in 8 ~ 25 when use CTRL1, range in 8 ~ 129 when use CBT, range in
 *             8 ~ 385 when use ENCBT. param pTimingConfig Pointer to the FlexCAN timing configuration structure.
 */
static void FLEXCAN_GetSegments(CAN_Type *base,
                                uint32_t bitRate,
                                uint32_t tqNum,
                                flexcan_timing_config_t *pTimingConfig);

#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*!
 * @brief Get Mailbox offset number by dword.
 *
 * This function gets the offset number of the specified mailbox.
 * Mailbox is not consecutive between memory regions when payload is not 8 bytes
 * so need to calculate the specified mailbox address.
 * For example, in the first memory region, MB[0].CS address is 0x4002_4080. For 32 bytes
 * payload frame, the second mailbox is ((1/12)*512 + 1%12*40)/4 = 10, meaning 10 dword
 * after the 0x4002_4080, which is actually the address of mailbox MB[1].CS.
 *
 * @param base FlexCAN peripheral base address.
 * @param mbIdx Mailbox index.
 */
static uint32_t FLEXCAN_GetFDMailboxOffset(CAN_Type *base, uint8_t mbIdx);

/*!
 * @brief Calculates the segment values for a single bit time for CAN FD data phase.
 *
 * This function use to calculates the CAN FD data phase segment values which will be set in CFDCBT/EDCBT
 * register.
 *
 * @param bitRateFD Data phase bit rate
 * @param tqNum Number of time quanta per bit
 * @param pTimingConfig Pointer to the FlexCAN timing configuration structure.
 */
static void FLEXCAN_FDGetSegments(uint32_t bitRateFD, uint32_t tqNum, flexcan_timing_config_t *pTimingConfig);

/*!
 * @brief Calculates the improved timing values by specific bit rate for CAN FD nominal phase.
 *
 * This function use to calculates the CAN FD nominal phase timing values according to the given nominal phase bit rate.
 * The Calculated timing values will be set in CBT/ENCBT registers. The calculation is based on the recommendation of
 * the CiA 1301 v1.0.0 document.
 *
 * @param bitRate  The CAN FD nominal phase speed in bps defined by user, should be less than or equal to 1Mbps.
 * @param sourceClock_Hz The Source clock frequency in Hz.
 * @param pTimingConfig Pointer to the FlexCAN timing configuration structure.
 *
 * @return TRUE if timing configuration found, FALSE if failed to find configuration.
 */
static bool FLEXCAN_CalculateImprovedNominalTimingValues(uint32_t bitRate,
                                                         uint32_t sourceClock_Hz,
                                                         flexcan_timing_config_t *pTimingConfig);

#endif

/*!
 * @brief Check unhandle interrupt events
 *
 * @param base FlexCAN peripheral base address.
 * @return TRUE if unhandled interrupt action exist, FALSE if no unhandlered interrupt action exist.
 */
static bool FLEXCAN_CheckUnhandleInterruptEvents(CAN_Type *base);

/*!
 * @brief Sub Handler Data Trasfered Events
 *
 * @param base FlexCAN peripheral base address.
 * @param handle FlexCAN handle pointer.
 * @param pResult Pointer to the Handle result.
 *
 * @return the status after handle each data transfered event.
 */
static status_t FLEXCAN_SubHandlerForDataTransfered(CAN_Type *base, flexcan_handle_t *handle, uint32_t *pResult);

#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO)
/*!
 * @brief Sub Handler Ehanced Rx FIFO event
 *
 * @param base FlexCAN peripheral base address.
 * @param handle FlexCAN handle pointer.
 * @param flags FlexCAN interrupt flags.
 *
 * @return the status after handle Ehanced Rx FIFO event.
 */
static status_t FLEXCAN_SubHandlerForEhancedRxFifo(CAN_Type *base, flexcan_handle_t *handle, uint64_t flags);
#endif

/*******************************************************************************
 * Variables
 ******************************************************************************/

/* Array of FlexCAN peripheral base address. */
static CAN_Type *const s_flexcanBases[] = CAN_BASE_PTRS;

/* Array of FlexCAN IRQ number. */
static const IRQn_Type s_flexcanRxWarningIRQ[] = CAN_Rx_Warning_IRQS;
static const IRQn_Type s_flexcanTxWarningIRQ[] = CAN_Tx_Warning_IRQS;
static const IRQn_Type s_flexcanWakeUpIRQ[]    = CAN_Wake_Up_IRQS;
static const IRQn_Type s_flexcanErrorIRQ[]     = CAN_Error_IRQS;
static const IRQn_Type s_flexcanBusOffIRQ[]    = CAN_Bus_Off_IRQS;
static const IRQn_Type s_flexcanMbIRQ[]        = CAN_ORed_Message_buffer_IRQS;

/* Array of FlexCAN handle. */
static flexcan_handle_t *s_flexcanHandle[ARRAY_SIZE(s_flexcanBases)];

#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL)
/* Array of FlexCAN clock name. */
static const clock_ip_name_t s_flexcanClock[] = FLEXCAN_CLOCKS;
#if defined(FLEXCAN_PERIPH_CLOCKS)
/* Array of FlexCAN serial clock name. */
static const clock_ip_name_t s_flexcanPeriphClock[] = FLEXCAN_PERIPH_CLOCKS;
#endif /* FLEXCAN_PERIPH_CLOCKS */
#endif /* FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL */

/* FlexCAN ISR for transactional APIs. */
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
static flexcan_isr_t s_flexcanIsr = (flexcan_isr_t)DefaultISR;
#else
static flexcan_isr_t s_flexcanIsr;
#endif

/*******************************************************************************
 * Implementation of 32-bit memset
 ******************************************************************************/

static void flexcan_memset(void *s, uint32_t c, size_t n)
{
    size_t m;
    uint32_t *ptr = s;

    m = n / sizeof(*ptr);

    while ((m--) != (size_t)0)
    {
        *ptr++ = c;
    }
}

/*******************************************************************************
 * Code
 ******************************************************************************/
/*!
 * brief Get the FlexCAN instance from peripheral base address.
 *
 * param base FlexCAN peripheral base address.
 * return FlexCAN instance.
 */
uint32_t FLEXCAN_GetInstance(CAN_Type *base)
{
    uint32_t instance;

    /* Find the instance index from base address mappings. */
    for (instance = 0; instance < ARRAY_SIZE(s_flexcanBases); instance++)
    {
        if (s_flexcanBases[instance] == base)
        {
            break;
        }
    }

    assert(instance < ARRAY_SIZE(s_flexcanBases));

    return instance;
}

/*!
 * brief Enter FlexCAN Freeze Mode.
 *
 * This function makes the FlexCAN work under Freeze Mode.
 *
 * param base FlexCAN peripheral base address.
 */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_9595) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_9595)
void FLEXCAN_EnterFreezeMode(CAN_Type *base)
{
    uint32_t u32TimeoutCount = 0U;
    uint32_t u32TempMCR      = 0U;
    uint32_t u32TempIMASK1   = 0U;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
    uint32_t u32TempIMASK2 = 0U;
#endif

    /* Step1: set FRZ enable in MCR. */
    base->MCR |= CAN_MCR_FRZ_MASK;

    /* Step2: to check if MDIS bit set in MCR. if yes, clear it. */
    if (0U != (base->MCR & CAN_MCR_MDIS_MASK))
    {
        base->MCR &= ~CAN_MCR_MDIS_MASK;
    }

    /* Step3: polling LPMACK. */
    u32TimeoutCount = (uint32_t)FLEXCAN_WAIT_TIMEOUT;
    while ((0U == (base->MCR & CAN_MCR_LPMACK_MASK)) && (u32TimeoutCount > 0U))
    {
        u32TimeoutCount--;
    }

    /* Step4: to check FLTCONF in ESR1 register */
    if (0U == (base->ESR1 & CAN_ESR1_FLTCONF_BUSOFF))
    {
        /* Step5B: Set Halt bits. */
        base->MCR |= CAN_MCR_HALT_MASK;

        /* Step6B: Poll the MCR register until the Freeze Acknowledge (FRZACK) bit is set, timeout need more than 178
         * CAN bit length, so 20 multiply timeout is enough. */
        u32TimeoutCount = (uint32_t)FLEXCAN_WAIT_TIMEOUT * 20U;
        while ((0U == (base->MCR & CAN_MCR_FRZACK_MASK)) && (u32TimeoutCount > 0U))
        {
            u32TimeoutCount--;
        }
    }
    else
    {
        /* backup MCR and IMASK register. Errata document not descript it, but we need backup for step 8A and 9A. */
        u32TempMCR    = base->MCR;
        u32TempIMASK1 = base->IMASK1;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
        u32TempIMASK2 = base->IMASK2;
#endif

        /* Step5A: Set the Soft Reset bit ((SOFTRST) in the MCR.*/
        base->MCR |= CAN_MCR_SOFTRST_MASK;

        /* Step6A: Poll the MCR register until the Soft Reset (SOFTRST) bit is cleared. */
        u32TimeoutCount = (uint32_t)FLEXCAN_WAIT_TIMEOUT;
        while ((CAN_MCR_SOFTRST_MASK == (base->MCR & CAN_MCR_SOFTRST_MASK)) && (u32TimeoutCount > 0U))
        {
            u32TimeoutCount--;
        }

        /* Step7A: Poll the MCR register until the Freeze Acknowledge (FRZACK) bit is set. */
        u32TimeoutCount = (uint32_t)FLEXCAN_WAIT_TIMEOUT;
        while ((0U == (base->MCR & CAN_MCR_FRZACK_MASK)) && (u32TimeoutCount > 0U))
        {
            u32TimeoutCount--;
        }

        /* Step8A: reconfig MCR. */
        base->MCR = u32TempMCR;

        /* Step9A: reconfig IMASK. */
        base->IMASK1 = u32TempIMASK1;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
        base->IMASK2 = u32TempIMASK2;
#endif
    }
}
#elif (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_8341) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_8341)
void FLEXCAN_EnterFreezeMode(CAN_Type *base)
{
    uint32_t u32TimeoutCount = 0U;
    uint32_t u32TempMCR      = 0U;
    uint32_t u32TempIMASK1   = 0U;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
    uint32_t u32TempIMASK2   = 0U;
#endif

    /* Step1: set FRZ and HALT bit enable in MCR. */
    base->MCR |= CAN_MCR_FRZ_MASK;
    base->MCR |= CAN_MCR_HALT_MASK;

    /* Step2: to check if MDIS bit set in MCR. if yes, clear it. */
    if (0U != (base->MCR & CAN_MCR_MDIS_MASK))
    {
        base->MCR &= ~CAN_MCR_MDIS_MASK;
    }

    /* Step3: Poll the MCR register until the Freeze Acknowledge (FRZACK) bit is set. */
    u32TimeoutCount = (uint32_t)FLEXCAN_WAIT_TIMEOUT * 100U;
    while ((0U == (base->MCR & CAN_MCR_FRZACK_MASK)) && (u32TimeoutCount > 0U))
    {
        u32TimeoutCount--;
    }

    /* Step4: check whether the timeout reached. if no skip step5 to step8. */
    if (0U == u32TimeoutCount)
    {
        /* backup MCR and IMASK register. Errata document not descript it, but we need backup for step 8A and 9A. */
        u32TempMCR    = base->MCR;
        u32TempIMASK1 = base->IMASK1;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
        u32TempIMASK2 = base->IMASK2;
#endif
        /* Step5: Set the Soft Reset bit ((SOFTRST) in the MCR.*/
        base->MCR |= CAN_MCR_SOFTRST_MASK;

        /* Step6: Poll the MCR register until the Soft Reset (SOFTRST) bit is cleared. */
        while (CAN_MCR_SOFTRST_MASK == (base->MCR & CAN_MCR_SOFTRST_MASK))
        {
        }

        /* Step7: reconfig MCR. */
        base->MCR = u32TempMCR;

        /* Step8: reconfig IMASK. */
        base->IMASK1 = u32TempIMASK1;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
        base->IMASK2 = u32TempIMASK2;
#endif
    }
}
#else
void FLEXCAN_EnterFreezeMode(CAN_Type *base)
{
    /* Set Freeze, Halt bits. */
    base->MCR |= CAN_MCR_FRZ_MASK;
    base->MCR |= CAN_MCR_HALT_MASK;
    while (0U == (base->MCR & CAN_MCR_FRZACK_MASK))
    {
    }
}
#endif

/*!
 * brief Exit FlexCAN Freeze Mode.
 *
 * This function makes the FlexCAN leave Freeze Mode.
 *
 * param base FlexCAN peripheral base address.
 */
void FLEXCAN_ExitFreezeMode(CAN_Type *base)
{
#if (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL)
    /* Clean FlexCAN Access With Non-Correctable Error Interrupt Flag to avoid be put in freeze mode. */
    FLEXCAN_ClearStatusFlags(base, (uint64_t)kFLEXCAN_FlexCanAccessNonCorrectableErrorIntFlag |
                                       (uint64_t)kFLEXCAN_FlexCanAccessNonCorrectableErrorOverrunFlag);
#endif

    /* Clear Freeze, Halt bits. */
    base->MCR &= ~CAN_MCR_HALT_MASK;
    base->MCR &= ~CAN_MCR_FRZ_MASK;

    /* Wait until the FlexCAN Module exit freeze mode. */
    while (0U != (base->MCR & CAN_MCR_FRZACK_MASK))
    {
    }
}

#if !defined(NDEBUG)
/*!
 * brief Check if Message Buffer is occupied by Rx FIFO.
 *
 * This function check if Message Buffer is occupied by Rx FIFO.
 *
 * param base FlexCAN peripheral base address.
 * param mbIdx The FlexCAN Message Buffer index.
 * return TRUE if the index MB is occupied by Rx FIFO, FALSE if the index MB not occupied by Rx FIFO.
 */
static bool FLEXCAN_IsMbOccupied(CAN_Type *base, uint8_t mbIdx)
{
    uint8_t lastOccupiedMb;
    bool fgRet;

    /* Is Rx FIFO enabled? */
    if (0U != (base->MCR & CAN_MCR_RFEN_MASK))
    {
        /* Get RFFN value. */
        lastOccupiedMb = (uint8_t)((base->CTRL2 & CAN_CTRL2_RFFN_MASK) >> CAN_CTRL2_RFFN_SHIFT);
        /* Calculate the number of last Message Buffer occupied by Rx FIFO. */
        lastOccupiedMb = ((lastOccupiedMb + 1U) * 2U) + 5U;

#if ((defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) || \
     (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829))
        /* the first valid MB should be occupied by ERRATA 5461 or 5829. */
        lastOccupiedMb += 1U;
#endif
        fgRet = (mbIdx <= lastOccupiedMb);
    }
    else
    {
#if ((defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) || \
     (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829))
        if (0U == mbIdx)
        {
            fgRet = true;
        }
        else
#endif
        {
            fgRet = false;
        }
    }

    return fgRet;
}
#endif

#if ((defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) || \
     (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829))
/*!
 * brief Get the first valid Message buffer ID of give FlexCAN instance.
 *
 * This function is a helper function for Errata 5641 workaround.
 *
 * param base FlexCAN peripheral base address.
 * return The first valid Message Buffer Number.
 */
static uint8_t FLEXCAN_GetFirstValidMb(CAN_Type *base)
{
    uint8_t firstValidMbNum;

    if (0U != (base->MCR & CAN_MCR_RFEN_MASK))
    {
        firstValidMbNum = (uint8_t)((base->CTRL2 & CAN_CTRL2_RFFN_MASK) >> CAN_CTRL2_RFFN_SHIFT);
        firstValidMbNum = ((firstValidMbNum + 1U) * 2U) + 6U;
    }
    else
    {
        firstValidMbNum = 0U;
    }

    return firstValidMbNum;
}
#endif

/*!
 * brief Reset the FlexCAN Instance.
 *
 * Restores the FlexCAN module to reset state, notice that this function
 * will set all the registers to reset state so the FlexCAN module can not work
 * after calling this API.
 *
 * param base FlexCAN peripheral base address.
 */
static void FLEXCAN_Reset(CAN_Type *base)
{
    /* The module must should be first exit from low power
     * mode, and then soft reset can be applied.
     */
    assert(0U == (base->MCR & CAN_MCR_MDIS_MASK));

    uint8_t i;

#if (defined(FSL_FEATURE_FLEXCAN_HAS_DOZE_MODE_SUPPORT) && FSL_FEATURE_FLEXCAN_HAS_DOZE_MODE_SUPPORT)
    if (0 != (FSL_FEATURE_FLEXCAN_INSTANCE_HAS_DOZE_MODE_SUPPORTn(base)))
    {
        /* De-assert DOZE Enable Bit. */
        base->MCR &= ~CAN_MCR_DOZE_MASK;
    }
#endif

    /* Wait until FlexCAN exit from any Low Power Mode. */
    while (0U != (base->MCR & CAN_MCR_LPMACK_MASK))
    {
    }

    /* Assert Soft Reset Signal. */
    base->MCR |= CAN_MCR_SOFTRST_MASK;
    /* Wait until FlexCAN reset completes. */
    while (0U != (base->MCR & CAN_MCR_SOFTRST_MASK))
    {
    }

/* Reset MCR register. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_GLITCH_FILTER) && FSL_FEATURE_FLEXCAN_HAS_GLITCH_FILTER)
    base->MCR |= CAN_MCR_WRNEN_MASK | CAN_MCR_WAKSRC_MASK |
                 CAN_MCR_MAXMB((uint32_t)FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base) - 1U);
#else
    base->MCR |=
        CAN_MCR_WRNEN_MASK | CAN_MCR_MAXMB((uint32_t)FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base) - 1U);
#endif

    /* Reset CTRL1 and CTRL2 register, default to eanble SMP feature which enable three sample point to determine the
     * received bit's value of the. */
    base->CTRL1 = CAN_CTRL1_SMP_MASK;
    base->CTRL2 = CAN_CTRL2_TASD(0x16) | CAN_CTRL2_RRS_MASK | CAN_CTRL2_EACEN_MASK;

#if (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL)
    /* Enable unrestricted write access to FlexCAN memory. */
    base->CTRL2 |= CAN_CTRL2_WRMFRZ_MASK;
    /* Do memory initialization for all FlexCAN RAM in order to have the parity bits in memory properly
       updated. */
    *(volatile uint32_t *)CAN_INIT_RXFIR = 0x0U;
    flexcan_memset(CAN_INIT_MEMORY_BASE_1, 0, CAN_INIT_MEMORY_SIZE_1);
    flexcan_memset(CAN_INIT_MEMORY_BASE_2, 0, CAN_INIT_MEMORY_SIZE_2);
    /* Disable unrestricted write access to FlexCAN memory. */
    base->CTRL2 &= ~CAN_CTRL2_WRMFRZ_MASK;

    /* Clean all memory error flags. */
    FLEXCAN_ClearStatusFlags(base, (uint64_t)kFLEXCAN_AllMemoryErrorFlag);
#else
    /* Only need clean all Message Buffer memory. */
    flexcan_memset((void *)&base->MB[0], 0, sizeof(base->MB));
#endif

    /* Clean all individual Rx Mask of Message Buffers. */
    for (i = 0; i < (uint32_t)FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base); i++)
    {
        base->RXIMR[i] = 0x3FFFFFFF;
    }

    /* Clean Global Mask of Message Buffers. */
    base->RXMGMASK = 0x3FFFFFFF;
    /* Clean Global Mask of Message Buffer 14. */
    base->RX14MASK = 0x3FFFFFFF;
    /* Clean Global Mask of Message Buffer 15. */
    base->RX15MASK = 0x3FFFFFFF;
    /* Clean Global Mask of Rx FIFO. */
    base->RXFGMASK = 0x3FFFFFFF;
}

/*!
 * brief Set bit rate of FlexCAN classical CAN frame or CAN FD frame nominal phase.
 *
 * This function set the bit rate of classical CAN frame or CAN FD frame nominal phase base on
 * FLEXCAN_CalculateImprovedTimingValues() API calculated timing values.
 *
 * note Calling FLEXCAN_SetBitRate() overrides the bit rate set in FLEXCAN_Init().
 *
 * param base FlexCAN peripheral base address.
 * param sourceClock_Hz Source Clock in Hz.
 * param bitRate_Bps Bit rate in Bps.
 * return kStatus_Success - Set CAN baud rate (only Nominal phase) successfully.
 */
status_t FLEXCAN_SetBitRate(CAN_Type *base, uint32_t sourceClock_Hz, uint32_t bitRate_Bps)
{
    flexcan_timing_config_t timingCfg;
    status_t result = kStatus_Fail;

    if (FLEXCAN_CalculateImprovedTimingValues(base, bitRate_Bps, sourceClock_Hz, &timingCfg))
    {
        FLEXCAN_SetTimingConfig(base, &timingCfg);
        result = kStatus_Success;
    }

    return result;
}

#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*!
 * @brief Set bit rate of FlexCAN FD frame.
 *
 * This function set the baud rate of FLEXCAN FD base on FLEXCAN_FDCalculateImprovedTimingValues() API calculated timing
 * values.
 *
 * @param base FlexCAN peripheral base address.
 * @param sourceClock_Hz Source Clock in Hz.
 * @param bitRateN_Bps Nominal bit Rate in Bps.
 * @param bitRateD_Bps Data bit Rate in Bps.
 * @return kStatus_Success - Set CAN FD bit rate (include Nominal and Data phase) successfully.
 */
status_t FLEXCAN_SetFDBitRate(CAN_Type *base, uint32_t sourceClock_Hz, uint32_t bitRateN_Bps, uint32_t bitRateD_Bps)
{
    flexcan_timing_config_t timingCfg;
    status_t result = kStatus_Fail;

    if (FLEXCAN_FDCalculateImprovedTimingValues(base, bitRateN_Bps, bitRateD_Bps, sourceClock_Hz, &timingCfg))
    {
        FLEXCAN_SetFDTimingConfig(base, &timingCfg);
        result = kStatus_Success;
    }

    return result;
}
#endif

/*!
 * brief Initializes a FlexCAN instance.
 *
 * This function initializes the FlexCAN module with user-defined settings.
 * This example shows how to set up the flexcan_config_t parameters and how
 * to call the FLEXCAN_Init function by passing in these parameters.
 *  code
 *   flexcan_config_t flexcanConfig;
 *   flexcanConfig.clkSrc               = kFLEXCAN_ClkSrc0;
 *   flexcanConfig.bitRate              = 1000000U;
 *   flexcanConfig.maxMbNum             = 16;
 *   flexcanConfig.enableLoopBack       = false;
 *   flexcanConfig.enableSelfWakeup     = false;
 *   flexcanConfig.enableIndividMask    = false;
 *   flexcanConfig.disableSelfReception = false;
 *   flexcanConfig.enableListenOnlyMode = false;
 *   flexcanConfig.enableDoze           = false;
 *   flexcanConfig.timingConfig         = timingConfig;
 *   FLEXCAN_Init(CAN0, &flexcanConfig, 40000000UL);
 *   endcode
 *
 * param base FlexCAN peripheral base address.
 * param pConfig Pointer to the user-defined configuration structure.
 * param sourceClock_Hz FlexCAN Protocol Engine clock source frequency in Hz.
 */
void FLEXCAN_Init(CAN_Type *base, const flexcan_config_t *pConfig, uint32_t sourceClock_Hz)
{
    /* Assertion. */
    assert(NULL != pConfig);
    assert((pConfig->maxMbNum > 0U) &&
           (pConfig->maxMbNum <= (uint8_t)FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base)));

    uint32_t mcrTemp;
    uint32_t ctrl1Temp;
#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL)
    uint32_t instance;
#endif
    flexcan_timing_config_t timingCfg = pConfig->timingConfig;
    /* FlexCAN classical CAN frame or CAN FD frame nominal phase timing setting formula:
     * quantum = 1 + (phaseSeg1 + 1) + (phaseSeg2 + 1) + (propSeg + 1);
     */
    uint32_t quantum = (1U + ((uint32_t)timingCfg.phaseSeg1 + 1U) + ((uint32_t)timingCfg.phaseSeg2 + 1U) +
                        ((uint32_t)timingCfg.propSeg + 1U));
    uint32_t tqFre   = pConfig->bitRate * quantum;
    uint16_t maxDivider;

    /* Assertion: Check bit rate value. */
    assert((pConfig->bitRate != 0U) && (pConfig->bitRate <= 1000000U) && (tqFre <= sourceClock_Hz));
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
    if (0 != FSL_FEATURE_FLEXCAN_INSTANCE_HAS_FLEXIBLE_DATA_RATEn(base))
    {
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG)
        assert((tqFre * MAX_ENPRESDIV) >= sourceClock_Hz);
        maxDivider = MAX_ENPRESDIV;
#else
        assert((tqFre * MAX_EPRESDIV) >= sourceClock_Hz);
        maxDivider = MAX_EPRESDIV;
#endif
    }
    else
    {
        assert((tqFre * MAX_PRESDIV) >= sourceClock_Hz);
        maxDivider = MAX_PRESDIV;
    }
#else
    assert((tqFre * MAX_PRESDIV) >= sourceClock_Hz);
    maxDivider                       = MAX_PRESDIV;
#endif

#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL)
    instance = FLEXCAN_GetInstance(base);
    /* Enable FlexCAN clock. */
    (void)CLOCK_EnableClock(s_flexcanClock[instance]);
    /*
     * Check the CAN clock in this device whether affected by Other clock gate
     * If it affected, we'd better to change other clock source,
     * If user insist on using that clock source, user need open these gate at same time,
     * In this scene, User need to care the power consumption.
     */
    assert(CAN_CLOCK_CHECK_NO_AFFECTS);
#if defined(FLEXCAN_PERIPH_CLOCKS)
    /* Enable FlexCAN serial clock. */
    (void)CLOCK_EnableClock(s_flexcanPeriphClock[instance]);
#endif /* FLEXCAN_PERIPH_CLOCKS */
#endif /* FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL */

#if defined(CAN_CTRL1_CLKSRC_MASK)
#if (defined(FSL_FEATURE_FLEXCAN_SUPPORT_ENGINE_CLK_SEL_REMOVE) && FSL_FEATURE_FLEXCAN_SUPPORT_ENGINE_CLK_SEL_REMOVE)
    if (0 == FSL_FEATURE_FLEXCAN_INSTANCE_SUPPORT_ENGINE_CLK_SEL_REMOVEn(base))
#endif /* FSL_FEATURE_FLEXCAN_SUPPORT_ENGINE_CLK_SEL_REMOVE */
    {
        /* Disable FlexCAN Module. */
        FLEXCAN_Enable(base, false);

        /* Protocol-Engine clock source selection, This bit must be set
         * when FlexCAN Module in Disable Mode.
         */
        base->CTRL1 = (kFLEXCAN_ClkSrc0 == pConfig->clkSrc) ? (base->CTRL1 & ~CAN_CTRL1_CLKSRC_MASK) :
                                                              (base->CTRL1 | CAN_CTRL1_CLKSRC_MASK);
    }
#endif /* CAN_CTRL1_CLKSRC_MASK */

    /* Enable FlexCAN Module for configuration. */
    FLEXCAN_Enable(base, true);

    /* Reset to known status. */
    FLEXCAN_Reset(base);

#if (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL)
    /* Enable to update in MCER. */
    base->CTRL2 |= CAN_CTRL2_ECRWRE_MASK;
    base->MECR &= ~CAN_MECR_ECRWRDIS_MASK;

    /* Enable/Disable Memory Error Detection and Correction.*/
    base->MECR = (pConfig->enableMemoryErrorControl) ? (base->MECR & ~CAN_MECR_ECCDIS_MASK) :
                                                       (base->MECR | CAN_MECR_ECCDIS_MASK);

    /* Enable/Disable Non-Correctable Errors In FlexCAN Access Put Device In Freeze Mode. */
    base->MECR = (pConfig->enableNonCorrectableErrorEnterFreeze) ? (base->MECR | CAN_MECR_NCEFAFRZ_MASK) :
                                                                   (base->MECR & ~CAN_MECR_NCEFAFRZ_MASK);
    /* Lock MCER register. */
    base->CTRL2 &= ~CAN_CTRL2_ECRWRE_MASK;
#endif

    /* Save current CTRL1 value and enable to enter Freeze mode(enabled by default). */
    ctrl1Temp = base->CTRL1;

    /* Save current MCR value and enable to enter Freeze mode(enabled by default). */
    mcrTemp = base->MCR;

    /* Enable Loop Back Mode? */
    ctrl1Temp = (pConfig->enableLoopBack) ? (ctrl1Temp | CAN_CTRL1_LPB_MASK) : (ctrl1Temp & ~CAN_CTRL1_LPB_MASK);

    /* Enable Timer Sync? */
    ctrl1Temp = (pConfig->enableTimerSync) ? (ctrl1Temp | CAN_CTRL1_TSYN_MASK) : (ctrl1Temp & ~CAN_CTRL1_TSYN_MASK);

    /* Enable Listen Only Mode? */
    ctrl1Temp = (pConfig->enableListenOnlyMode) ? ctrl1Temp | CAN_CTRL1_LOM_MASK : ctrl1Temp & ~CAN_CTRL1_LOM_MASK;

#if !(defined(FSL_FEATURE_FLEXCAN_HAS_NO_SUPV_SUPPORT) && FSL_FEATURE_FLEXCAN_HAS_NO_SUPV_SUPPORT)
    /* Enable Supervisor Mode? */
    mcrTemp = (pConfig->enableSupervisorMode) ? mcrTemp | CAN_MCR_SUPV_MASK : mcrTemp & ~CAN_MCR_SUPV_MASK;
#endif

    /* Set the maximum number of Message Buffers */
    mcrTemp = (mcrTemp & ~CAN_MCR_MAXMB_MASK) | CAN_MCR_MAXMB((uint32_t)pConfig->maxMbNum - 1U);

    /* Enable Self Wake Up Mode and configure the wake up source. */
    mcrTemp = (pConfig->enableSelfWakeup) ? (mcrTemp | CAN_MCR_SLFWAK_MASK) : (mcrTemp & ~CAN_MCR_SLFWAK_MASK);
    mcrTemp = (kFLEXCAN_WakeupSrcFiltered == pConfig->wakeupSrc) ? (mcrTemp | CAN_MCR_WAKSRC_MASK) :
                                                                   (mcrTemp & ~CAN_MCR_WAKSRC_MASK);
#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE)
    /* Enable Pretended Networking Mode? When Pretended Networking mode is set, Self Wake Up feature must be disabled.*/
    mcrTemp = (pConfig->enablePretendedeNetworking) ? ((mcrTemp & ~CAN_MCR_SLFWAK_MASK) | CAN_MCR_PNET_EN_MASK) :
                                                      (mcrTemp & ~CAN_MCR_PNET_EN_MASK);
#endif

    /* Enable Individual Rx Masking and Queue feature? */
    mcrTemp = (pConfig->enableIndividMask) ? (mcrTemp | CAN_MCR_IRMQ_MASK) : (mcrTemp & ~CAN_MCR_IRMQ_MASK);

    /* Disable Self Reception? */
    mcrTemp = (pConfig->disableSelfReception) ? mcrTemp | CAN_MCR_SRXDIS_MASK : mcrTemp & ~CAN_MCR_SRXDIS_MASK;

#if (defined(FSL_FEATURE_FLEXCAN_HAS_DOZE_MODE_SUPPORT) && FSL_FEATURE_FLEXCAN_HAS_DOZE_MODE_SUPPORT)
    if (0 != FSL_FEATURE_FLEXCAN_INSTANCE_HAS_DOZE_MODE_SUPPORTn(base))
    {
        /* Enable Doze Mode? */
        mcrTemp = (pConfig->enableDoze) ? (mcrTemp | CAN_MCR_DOZE_MASK) : (mcrTemp & ~CAN_MCR_DOZE_MASK);
    }
#endif

    /* Write back CTRL1 Configuration to register. */
    base->CTRL1 = ctrl1Temp;

    /* Write back MCR Configuration to register. */
    base->MCR = mcrTemp;

    /* Check whether Nominal Bit Rate Prescaler is overflow. */
    if ((sourceClock_Hz / tqFre - 1U) > maxDivider)
    {
        timingCfg.preDivider = maxDivider;
    }
    else
    {
        timingCfg.preDivider = (uint16_t)(sourceClock_Hz / tqFre) - 1U;
    }

    /* Update actual timing characteristic. */
    FLEXCAN_SetTimingConfig(base, &timingCfg);
}

#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*!
 * brief Initializes a FlexCAN instance.
 *
 * This function initializes the FlexCAN module with user-defined settings.
 * This example shows how to set up the flexcan_config_t parameters and how
 * to call the FLEXCAN_FDInit function by passing in these parameters.
 *  code
 *   flexcan_config_t flexcanConfig;
 *   flexcanConfig.clkSrc               = kFLEXCAN_ClkSrc0;
 *   flexcanConfig.bitRate              = 1000000U;
 *   flexcanConfig.bitRateFD            = 2000000U;
 *   flexcanConfig.maxMbNum             = 16;
 *   flexcanConfig.enableLoopBack       = false;
 *   flexcanConfig.enableSelfWakeup     = false;
 *   flexcanConfig.enableIndividMask    = false;
 *   flexcanConfig.disableSelfReception = false;
 *   flexcanConfig.enableListenOnlyMode = false;
 *   flexcanConfig.enableDoze           = false;
 *   flexcanConfig.timingConfig         = timingConfig;
 *   FLEXCAN_FDInit(CAN0, &flexcanConfig, 80000000UL, kFLEXCAN_16BperMB, true);
 *   endcode
 *
 * param base FlexCAN peripheral base address.
 * param pConfig Pointer to the user-defined configuration structure.
 * param sourceClock_Hz FlexCAN Protocol Engine clock source frequency in Hz.
 * param dataSize FlexCAN Message Buffer payload size. The actual transmitted or received CAN FD frame data size needs
 *                to be less than or equal to this value.
 * param brs True if bit rate switch is enabled in FD mode.
 */
void FLEXCAN_FDInit(
    CAN_Type *base, const flexcan_config_t *pConfig, uint32_t sourceClock_Hz, flexcan_mb_size_t dataSize, bool brs)
{
    assert((uint32_t)dataSize <= 3U);
    assert(((pConfig->bitRate < pConfig->bitRateFD) && brs) || ((pConfig->bitRate == pConfig->bitRateFD) && (!brs)));

    uint32_t fdctrl                   = 0U;
    flexcan_timing_config_t timingCfg = pConfig->timingConfig;
    /* FlexCAN FD frame data phase timing setting formula:
     * quantum = 1 + (fphaseSeg1 + 1) + (fphaseSeg2 + 1) + fpropSeg;
     */
    uint32_t quantum = (1U + ((uint32_t)timingCfg.fphaseSeg1 + 1U) + ((uint32_t)timingCfg.fphaseSeg2 + 1U) +
                        (uint32_t)timingCfg.fpropSeg);
    uint32_t tqFre   = pConfig->bitRateFD * quantum;
    uint16_t maxDivider;

    /* Check bit rate value. */
    assert((pConfig->bitRateFD <= 8000000U) && (tqFre <= sourceClock_Hz));
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG)
    assert((tqFre * MAX_EDPRESDIV) >= sourceClock_Hz);
    maxDivider = MAX_EDPRESDIV;
#else
    assert((tqFre * MAX_FPRESDIV) >= sourceClock_Hz);
    maxDivider = MAX_FPRESDIV;
#endif

    /* Initialization of classical CAN. */
    FLEXCAN_Init(base, pConfig, sourceClock_Hz);

    /* Check whether Data Bit Rate Prescaler is overflow. */
    if ((sourceClock_Hz / tqFre - 1U) > maxDivider)
    {
        timingCfg.fpreDivider = maxDivider;
    }
    else
    {
        timingCfg.fpreDivider = (uint16_t)(sourceClock_Hz / tqFre) - 1U;
    }

    /* Update actual timing characteristic. */
    FLEXCAN_SetFDTimingConfig(base, &timingCfg);

    /* read FDCTRL register. */
    fdctrl = base->FDCTRL;

    /* Enable FD operation and set bit rate switch. */
    if (brs)
    {
        fdctrl |= CAN_FDCTRL_FDRATE_MASK;
    }
    else
    {
        fdctrl &= ~CAN_FDCTRL_FDRATE_MASK;
    }

    /* Before use "|=" operation for multi-bits field, CPU should clean previous Setting. */
    fdctrl = (fdctrl & ~CAN_FDCTRL_MBDSR0_MASK) | CAN_FDCTRL_MBDSR0(dataSize);
#if defined(CAN_FDCTRL_MBDSR1_MASK)
    fdctrl = (fdctrl & ~CAN_FDCTRL_MBDSR1_MASK) | CAN_FDCTRL_MBDSR1(dataSize);
#endif
#if defined(CAN_FDCTRL_MBDSR2_MASK)
    fdctrl = (fdctrl & ~CAN_FDCTRL_MBDSR2_MASK) | CAN_FDCTRL_MBDSR2(dataSize);
#endif
#if defined(CAN_FDCTRL_MBDSR3_MASK)
    fdctrl = (fdctrl & ~CAN_FDCTRL_MBDSR3_MASK) | CAN_FDCTRL_MBDSR3(dataSize);
#endif

    /* Enter Freeze Mode. */
    FLEXCAN_EnterFreezeMode(base);
    /* Enable CAN FD operation. */
    base->MCR |= CAN_MCR_FDEN_MASK;
    /* Clear SMP bit when CAN FD is enabled (CAN FD only can use one regular sample point plus one optional secondary
     * sampling point). */
    base->CTRL1 &= ~CAN_CTRL1_SMP_MASK;

    if (brs && !(pConfig->enableLoopBack))
    {
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG)
        /* The TDC offset should be configured as shown in this equation : offset = DTSEG1 + 2 */
        if (((uint32_t)pConfig->timingConfig.fphaseSeg1 + pConfig->timingConfig.fpropSeg + 2U) *
                (pConfig->timingConfig.fpreDivider + 1U) <
            MAX_ETDCOFF)
        {
            base->ETDC =
                CAN_ETDC_ETDCEN_MASK | CAN_ETDC_TDMDIS(!pConfig->enableTransceiverDelayMeasure) |
                CAN_ETDC_ETDCOFF(((uint32_t)pConfig->timingConfig.fphaseSeg1 + pConfig->timingConfig.fpropSeg + 2U) *
                                 (pConfig->timingConfig.fpreDivider + 1U));
        }
        else
        {
            /* Enable the Transceiver Delay Compensation */
            base->ETDC = CAN_ETDC_ETDCEN_MASK | CAN_ETDC_TDMDIS(!pConfig->enableTransceiverDelayMeasure) |
                         CAN_ETDC_ETDCOFF(MAX_ETDCOFF);
        }
#else
        /* The TDC offset should be configured as shown in this equation : offset = PSEG1 + PROPSEG + 2 */
        if (((uint32_t)pConfig->timingConfig.fphaseSeg1 + pConfig->timingConfig.fpropSeg + 2U) *
                (pConfig->timingConfig.fpreDivider + 1U) <
            MAX_TDCOFF)
        {
            fdctrl =
                (fdctrl & ~CAN_FDCTRL_TDCOFF_MASK) |
                CAN_FDCTRL_TDCOFF(((uint32_t)pConfig->timingConfig.fphaseSeg1 + pConfig->timingConfig.fpropSeg + 2U) *
                                  (pConfig->timingConfig.fpreDivider + 1U));
        }
        else
        {
            fdctrl = (fdctrl & ~CAN_FDCTRL_TDCOFF_MASK) | CAN_FDCTRL_TDCOFF(MAX_TDCOFF);
        }
        /* Enable the Transceiver Delay Compensation */
        fdctrl = (fdctrl & ~CAN_FDCTRL_TDCEN_MASK) | CAN_FDCTRL_TDCEN_MASK;
#endif
    }

    /* update the FDCTL register. */
    base->FDCTRL = fdctrl;

    /* Enable CAN FD ISO mode by default. */
    base->CTRL2 |= CAN_CTRL2_ISOCANFDEN_MASK;

    /* Exit Freeze Mode. */
    FLEXCAN_ExitFreezeMode(base);
}
#endif

/*!
 * brief De-initializes a FlexCAN instance.
 *
 * This function disables the FlexCAN module clock and sets all register values
 * to the reset value.
 *
 * param base FlexCAN peripheral base address.
 */
void FLEXCAN_Deinit(CAN_Type *base)
{
#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL)
    uint32_t instance;
#endif
    /* Reset all Register Contents. */
    FLEXCAN_Reset(base);

    /* Disable FlexCAN module. */
    FLEXCAN_Enable(base, false);

#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL)
    instance = FLEXCAN_GetInstance(base);
#if defined(FLEXCAN_PERIPH_CLOCKS)
    /* Disable FlexCAN serial clock. */
    (void)CLOCK_DisableClock(s_flexcanPeriphClock[instance]);
#endif /* FLEXCAN_PERIPH_CLOCKS */
    /* Disable FlexCAN clock. */
    (void)CLOCK_DisableClock(s_flexcanClock[instance]);
#endif /* FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL */
}

/*!
 * brief Gets the default configuration structure.
 *
 * This function initializes the FlexCAN configuration structure to default values. The default
 * values are as follows.
 *   flexcanConfig->clkSrc                               = kFLEXCAN_ClkSrc0;
 *   flexcanConfig->bitRate                              = 1000000U;
 *   flexcanConfig->bitRateFD                            = 2000000U;
 *   flexcanConfig->maxMbNum                             = 16;
 *   flexcanConfig->enableLoopBack                       = false;
 *   flexcanConfig->enableSelfWakeup                     = false;
 *   flexcanConfig->enableIndividMask                    = false;
 *   flexcanConfig->disableSelfReception                 = false;
 *   flexcanConfig->enableListenOnlyMode                 = false;
 *   flexcanConfig->enableDoze                           = false;
 *   flexcanConfig->enablePretendedeNetworking           = false;
 *   flexcanConfig->enableMemoryErrorControl             = true;
 *   flexcanConfig->enableNonCorrectableErrorEnterFreeze = true;
 *   flexcanConfig->enableTransceiverDelayMeasure        = true;
 *   flexcanConfig.timingConfig                          = timingConfig;
 *
 * param pConfig Pointer to the FlexCAN configuration structure.
 */
void FLEXCAN_GetDefaultConfig(flexcan_config_t *pConfig)
{
    /* Assertion. */
    assert(NULL != pConfig);

    /* Initializes the configure structure to zero. */
    (void)memset(pConfig, 0, sizeof(*pConfig));

    /* Initialize FlexCAN Module config struct with default value. */
    pConfig->clkSrc  = kFLEXCAN_ClkSrc0;
    pConfig->bitRate = 1000000U;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
    pConfig->bitRateFD = 2000000U;
#endif
    pConfig->maxMbNum             = 16;
    pConfig->enableLoopBack       = false;
    pConfig->enableTimerSync      = true;
    pConfig->enableSelfWakeup     = false;
    pConfig->wakeupSrc            = kFLEXCAN_WakeupSrcUnfiltered;
    pConfig->enableIndividMask    = false;
    pConfig->disableSelfReception = false;
    pConfig->enableListenOnlyMode = false;
#if !(defined(FSL_FEATURE_FLEXCAN_HAS_NO_SUPV_SUPPORT) && FSL_FEATURE_FLEXCAN_HAS_NO_SUPV_SUPPORT)
    pConfig->enableSupervisorMode = true;
#endif
#if (defined(FSL_FEATURE_FLEXCAN_HAS_DOZE_MODE_SUPPORT) && FSL_FEATURE_FLEXCAN_HAS_DOZE_MODE_SUPPORT)
    pConfig->enableDoze = false;
#endif
#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE)
    pConfig->enablePretendedeNetworking = false;
#endif
#if (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL)
    pConfig->enableMemoryErrorControl             = true;
    pConfig->enableNonCorrectableErrorEnterFreeze = true;
#endif
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG)
    pConfig->enableTransceiverDelayMeasure = true;
#endif

    /* Default protocol timing configuration, nominal bit time quantum is 10 (80% SP), data bit time quantum is 5
     * (60%). Suggest use FLEXCAN_CalculateImprovedTimingValues/FLEXCAN_FDCalculateImprovedTimingValues to get the
     * improved timing configuration.*/
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
    pConfig->timingConfig.phaseSeg1   = 1;
    pConfig->timingConfig.phaseSeg2   = 1;
    pConfig->timingConfig.propSeg     = 4;
    pConfig->timingConfig.rJumpwidth  = 1;
    pConfig->timingConfig.fphaseSeg1  = 1;
    pConfig->timingConfig.fphaseSeg2  = 1;
    pConfig->timingConfig.fpropSeg    = 0;
    pConfig->timingConfig.frJumpwidth = 1;
#else
    pConfig->timingConfig.phaseSeg1  = 1;
    pConfig->timingConfig.phaseSeg2  = 1;
    pConfig->timingConfig.propSeg    = 4;
    pConfig->timingConfig.rJumpwidth = 1;
#endif
}

#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE)
/*!
 * brief Configures the FlexCAN Pretended Networking mode.
 *
 * This function configures the FlexCAN Pretended Networking mode with given configuration.
 *
 * param base FlexCAN peripheral base address.
 * param pConfig Pointer to the FlexCAN Rx FIFO configuration structure.
 */
void FLEXCAN_SetPNConfig(CAN_Type *base, const flexcan_pn_config_t *pConfig)
{
    /* Assertion. */
    assert(NULL != pConfig);
    assert(0U != pConfig->matchNum);
    uint32_t pnctrl;
    /* Enter Freeze Mode. */
    FLEXCAN_EnterFreezeMode(base);
    pnctrl = (pConfig->matchNum > 1U) ? CAN_CTRL1_PN_FCS(0x2U | (uint32_t)pConfig->matchSrc) :
                                        CAN_CTRL1_PN_FCS(pConfig->matchSrc);
    pnctrl |= (pConfig->enableMatch) ? (CAN_CTRL1_PN_WUMF_MSK_MASK) : 0U;
    pnctrl |= (pConfig->enableTimeout) ? (CAN_CTRL1_PN_WTOF_MSK_MASK) : 0U;
    pnctrl |= CAN_CTRL1_PN_NMATCH(pConfig->matchNum) | CAN_CTRL1_PN_IDFS(pConfig->idMatchMode) |
              CAN_CTRL1_PN_PLFS(pConfig->dataMatchMode);
    base->CTRL1_PN       = pnctrl;
    base->CTRL2_PN       = CAN_CTRL2_PN_MATCHTO(pConfig->timeoutValue);
    base->FLT_ID1        = pConfig->idLower;
    base->FLT_ID2_IDMASK = pConfig->idUpper;
    base->FLT_DLC        = CAN_FLT_DLC_FLT_DLC_LO(pConfig->lengthLower) | CAN_FLT_DLC_FLT_DLC_HI(pConfig->lengthUpper);
    base->PL1_LO         = pConfig->lowerWord0;
    base->PL1_HI         = pConfig->lowerWord1;
    base->PL2_PLMASK_LO  = pConfig->upperWord0;
    base->PL2_PLMASK_HI  = pConfig->upperWord1;

    FLEXCAN_ClearStatusFlags(base, (uint64_t)kFLEXCAN_PNMatchIntFlag | (uint64_t)kFLEXCAN_PNTimeoutIntFlag);

    /* Exit Freeze Mode. */
    FLEXCAN_ExitFreezeMode(base);
}

/*!
 * brief Reads a FlexCAN Message from Wake Up MB.
 *
 * This function reads a CAN message from the FlexCAN Wake up Message Buffers. There are four Wake up Message Buffers
 * (WMBs) used to store incoming messages in Pretended Networking mode. The WMB index indicates the arrival order. The
 * last message is stored in WMB3.
 *
 * param base FlexCAN peripheral base address.
 * param pRxFrame Pointer to CAN message frame structure for reception.
 * param mbIdx The FlexCAN Wake up Message Buffer index. Range in 0x0 ~ 0x3.
 * retval kStatus_Success - Read Message from Wake up Message Buffer successfully.
 * retval kStatus_Fail    - Wake up Message Buffer has no valid content.
 */
status_t FLEXCAN_ReadPNWakeUpMB(CAN_Type *base, uint8_t mbIdx, flexcan_frame_t *pRxFrame)
{
    /* Assertion. */
    assert(NULL != pRxFrame);
    assert(mbIdx <= 0x3U);

    uint32_t cs_temp;
    status_t status;

    /* Check if Wake Up MB has valid content. */
    if (CAN_WU_MTC_MCOUNTER(mbIdx) < (base->WU_MTC & CAN_WU_MTC_MCOUNTER_MASK))
    {
        /* Read CS field of wake up Message Buffer. */
        cs_temp = base->WMB[mbIdx].CS;

        /* Store Message ID. */
        pRxFrame->id = base->WMB[mbIdx].ID & (CAN_ID_EXT_MASK | CAN_ID_STD_MASK);

        /* Get the message ID and format. */
        pRxFrame->format = (cs_temp & CAN_CS_IDE_MASK) != 0U ? (uint8_t)kFLEXCAN_FrameFormatExtend :
                                                               (uint8_t)kFLEXCAN_FrameFormatStandard;

        /* Get the message type. */
        pRxFrame->type =
            (cs_temp & CAN_CS_RTR_MASK) != 0U ? (uint8_t)kFLEXCAN_FrameTypeRemote : (uint8_t)kFLEXCAN_FrameTypeData;

        /* Get the message length. */
        pRxFrame->length = (uint8_t)((cs_temp & CAN_CS_DLC_MASK) >> CAN_CS_DLC_SHIFT);

        /* Messages received during Pretended Networking mode don't have time stamps, and the respective field in the
           WMB structure must be ignored. */
        pRxFrame->timestamp = 0x0;

        /* Store Message Payload. */
        pRxFrame->dataWord0 = base->WMB[mbIdx].D03;
        pRxFrame->dataWord1 = base->WMB[mbIdx].D47;

        status = kStatus_Success;
    }
    else
    {
        status = kStatus_Fail;
    }

    return status;
}
#endif

/*!
 * brief Sets the FlexCAN classical protocol timing characteristic.
 *
 * This function gives user settings to classical CAN or CAN FD nominal phase timing characteristic.
 * The function is for an experienced user. For less experienced users, call the FLEXCAN_GetDefaultConfig()
 * and get the default timing characteristicsthe, then call FLEXCAN_Init() and fill the
 * bit rate field.
 *
 * note Calling FLEXCAN_SetTimingConfig() overrides the bit rate set
 * in FLEXCAN_Init().
 *
 * param base FlexCAN peripheral base address.
 * param pConfig Pointer to the timing configuration structure.
 */
void FLEXCAN_SetTimingConfig(CAN_Type *base, const flexcan_timing_config_t *pConfig)
{
    /* Assertion. */
    assert(NULL != pConfig);

    /* Enter Freeze Mode. */
    FLEXCAN_EnterFreezeMode(base);

#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
    if (0 != FSL_FEATURE_FLEXCAN_INSTANCE_HAS_FLEXIBLE_DATA_RATEn(base))
    {
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG)
        /* Enable extended Bit Timing register ENCBT. */
        base->CTRL2 |= CAN_CTRL2_BTE_MASK;

        /* Updating Timing Setting according to configuration structure. */
        base->EPRS  = (base->EPRS & (~CAN_EPRS_ENPRESDIV_MASK)) | CAN_EPRS_ENPRESDIV(pConfig->preDivider);
        base->ENCBT = CAN_ENCBT_NRJW(pConfig->rJumpwidth) |
                      CAN_ENCBT_NTSEG1((uint32_t)pConfig->phaseSeg1 + pConfig->propSeg + 1U) |
                      CAN_ENCBT_NTSEG2(pConfig->phaseSeg2);
#else
        /* On RT106x devices, a single write may be ignored, so it is necessary to read back the register value to
         * determine whether the value is written successfully. */

        do
        {
            /* Enable Bit Timing register CBT, updating Timing Setting according to configuration structure. */
            base->CBT = CAN_CBT_BTF_MASK | CAN_CBT_EPRESDIV(pConfig->preDivider) | CAN_CBT_ERJW(pConfig->rJumpwidth) |
                        CAN_CBT_EPSEG1(pConfig->phaseSeg1) | CAN_CBT_EPSEG2(pConfig->phaseSeg2) |
                        CAN_CBT_EPROPSEG(pConfig->propSeg);

        } while ((CAN_CBT_EPRESDIV(pConfig->preDivider) | CAN_CBT_ERJW(pConfig->rJumpwidth) |
                  CAN_CBT_EPSEG1(pConfig->phaseSeg1) | CAN_CBT_EPSEG2(pConfig->phaseSeg2) |
                  CAN_CBT_EPROPSEG(pConfig->propSeg)) !=
                 (base->CBT & (CAN_CBT_EPRESDIV_MASK | CAN_CBT_ERJW_MASK | CAN_CBT_EPSEG1_MASK | CAN_CBT_EPSEG2_MASK |
                               CAN_CBT_EPROPSEG_MASK)));
#endif
    }
    else
    {
        /* Cleaning previous Timing Setting. */
        base->CTRL1 &= ~(CAN_CTRL1_PRESDIV_MASK | CAN_CTRL1_RJW_MASK | CAN_CTRL1_PSEG1_MASK | CAN_CTRL1_PSEG2_MASK |
                         CAN_CTRL1_PROPSEG_MASK);

        /* Updating Timing Setting according to configuration structure. */
        base->CTRL1 |= (CAN_CTRL1_PRESDIV(pConfig->preDivider) | CAN_CTRL1_RJW(pConfig->rJumpwidth) |
                        CAN_CTRL1_PSEG1(pConfig->phaseSeg1) | CAN_CTRL1_PSEG2(pConfig->phaseSeg2) |
                        CAN_CTRL1_PROPSEG(pConfig->propSeg));
    }
#else
    /* Cleaning previous Timing Setting. */
    base->CTRL1 &= ~(CAN_CTRL1_PRESDIV_MASK | CAN_CTRL1_RJW_MASK | CAN_CTRL1_PSEG1_MASK | CAN_CTRL1_PSEG2_MASK |
                     CAN_CTRL1_PROPSEG_MASK);

    /* Updating Timing Setting according to configuration structure. */
    base->CTRL1 |= (CAN_CTRL1_PRESDIV(pConfig->preDivider) | CAN_CTRL1_RJW(pConfig->rJumpwidth) |
                    CAN_CTRL1_PSEG1(pConfig->phaseSeg1) | CAN_CTRL1_PSEG2(pConfig->phaseSeg2) |
                    CAN_CTRL1_PROPSEG(pConfig->propSeg));
#endif

    /* Exit Freeze Mode. */
    FLEXCAN_ExitFreezeMode(base);
}

#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*!
 * brief Sets the FlexCAN FD data phase timing characteristic.
 *
 * This function gives user settings to CAN FD data phase timing characteristic.
 * The function is for an experienced user. For less experienced users, call the FLEXCAN_GetDefaultConfig()
 * and get the default timing characteristicsthe, then call FLEXCAN_FDInit() and fill the
 * data phase bit rate field.
 *
 * note Calling FLEXCAN_SetFDTimingConfig() overrides the bit rate set
 * in FLEXCAN_FDInit().
 *
 * param base FlexCAN peripheral base address.
 * param pConfig Pointer to the timing configuration structure.
 */
void FLEXCAN_SetFDTimingConfig(CAN_Type *base, const flexcan_timing_config_t *pConfig)
{
    /* Assertion. */
    assert(NULL != pConfig);

    /* Enter Freeze Mode. */
    FLEXCAN_EnterFreezeMode(base);

#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG)
    /* Enable extended Bit Timing register EDCBT. */
    base->CTRL2 |= CAN_CTRL2_BTE_MASK;

    base->EPRS  = (base->EPRS & (~CAN_EPRS_EDPRESDIV_MASK)) | CAN_EPRS_EDPRESDIV(pConfig->fpreDivider);
    base->EDCBT = CAN_EDCBT_DRJW(pConfig->frJumpwidth) | CAN_EDCBT_DTSEG2(pConfig->fphaseSeg2) |
                  CAN_EDCBT_DTSEG1((uint32_t)pConfig->fphaseSeg1 + pConfig->fpropSeg);
#else
    /* Enable Bit Timing register FDCBT,*/
    base->CBT |= CAN_CBT_BTF_MASK;

    /* On RT106x devices, a single write may be ignored, so it is necessary to read back the register value to determine
     * whether the value is written successfully. */
    do
    {
        /* Updating Timing Setting according to configuration structure. */
        base->FDCBT = (CAN_FDCBT_FPRESDIV(pConfig->fpreDivider) | CAN_FDCBT_FRJW(pConfig->frJumpwidth) |
                       CAN_FDCBT_FPSEG1(pConfig->fphaseSeg1) | CAN_FDCBT_FPSEG2(pConfig->fphaseSeg2) |
                       CAN_FDCBT_FPROPSEG(pConfig->fpropSeg));
    } while ((CAN_FDCBT_FPRESDIV(pConfig->fpreDivider) | CAN_FDCBT_FRJW(pConfig->frJumpwidth) |
              CAN_FDCBT_FPSEG1(pConfig->fphaseSeg1) | CAN_FDCBT_FPSEG2(pConfig->fphaseSeg2) |
              CAN_FDCBT_FPROPSEG(pConfig->fpropSeg)) !=
             (base->FDCBT & (CAN_FDCBT_FPRESDIV_MASK | CAN_FDCBT_FRJW_MASK | CAN_FDCBT_FPSEG1_MASK |
                             CAN_FDCBT_FPSEG2_MASK | CAN_FDCBT_FPROPSEG_MASK)));
#endif
    /* Exit Freeze Mode. */
    FLEXCAN_ExitFreezeMode(base);
}
#endif

/*!
 * brief Sets the FlexCAN receive message buffer global mask.
 *
 * This function sets the global mask for the FlexCAN message buffer in a matching process.
 * The configuration is only effective when the Rx individual mask is disabled in the FLEXCAN_Init().
 *
 * param base FlexCAN peripheral base address.
 * param mask Rx Message Buffer Global Mask value.
 */
void FLEXCAN_SetRxMbGlobalMask(CAN_Type *base, uint32_t mask)
{
    /* Enter Freeze Mode. */
    FLEXCAN_EnterFreezeMode(base);

    /* Setting Rx Message Buffer Global Mask value. */
    base->RXMGMASK = mask;
    base->RX14MASK = mask;
    base->RX15MASK = mask;

    /* Exit Freeze Mode. */
    FLEXCAN_ExitFreezeMode(base);
}

/*!
 * brief Sets the FlexCAN receive FIFO global mask.
 *
 * This function sets the global mask for FlexCAN FIFO in a matching process.
 *
 * param base FlexCAN peripheral base address.
 * param mask Rx Fifo Global Mask value.
 */
void FLEXCAN_SetRxFifoGlobalMask(CAN_Type *base, uint32_t mask)
{
    /* Enter Freeze Mode. */
    FLEXCAN_EnterFreezeMode(base);

    /* Setting Rx FIFO Global Mask value. */
    base->RXFGMASK = mask;

    /* Exit Freeze Mode. */
    FLEXCAN_ExitFreezeMode(base);
}

/*!
 * brief Sets the FlexCAN receive individual mask.
 *
 * This function sets the individual mask for the FlexCAN matching process.
 * The configuration is only effective when the Rx individual mask is enabled in the FLEXCAN_Init().
 * If the Rx FIFO is disabled, the individual mask is applied to the corresponding Message Buffer.
 * If the Rx FIFO is enabled, the individual mask for Rx FIFO occupied Message Buffer is applied to
 * the Rx Filter with the same index. Note that only the first 32
 * individual masks can be used as the Rx FIFO filter mask.
 *
 * param base FlexCAN peripheral base address.
 * param maskIdx The Index of individual Mask.
 * param mask Rx Individual Mask value.
 */
void FLEXCAN_SetRxIndividualMask(CAN_Type *base, uint8_t maskIdx, uint32_t mask)
{
    assert(maskIdx <= (base->MCR & CAN_MCR_MAXMB_MASK));

    /* Enter Freeze Mode. */
    FLEXCAN_EnterFreezeMode(base);

    /* Setting Rx Individual Mask value. */
    base->RXIMR[maskIdx] = mask;

    /* Exit Freeze Mode. */
    FLEXCAN_ExitFreezeMode(base);
}

/*!
 * brief Configures a FlexCAN transmit message buffer.
 *
 * This function aborts the previous transmission, cleans the Message Buffer, and
 * configures it as a Transmit Message Buffer.
 *
 * param base FlexCAN peripheral base address.
 * param mbIdx The Message Buffer index.
 * param enable Enable/disable Tx Message Buffer.
 *               - true: Enable Tx Message Buffer.
 *               - false: Disable Tx Message Buffer.
 */
void FLEXCAN_SetTxMbConfig(CAN_Type *base, uint8_t mbIdx, bool enable)
{
    /* Assertion. */
    assert(mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK));
#if !defined(NDEBUG)
    assert(!FLEXCAN_IsMbOccupied(base, mbIdx));
#endif

    /* Inactivate Message Buffer. */
    if (enable)
    {
        base->MB[mbIdx].CS = CAN_CS_CODE(kFLEXCAN_TxMbInactive);
    }
    else
    {
        base->MB[mbIdx].CS = 0;
    }

    /* Clean Message Buffer content. */
    base->MB[mbIdx].ID    = 0x0;
    base->MB[mbIdx].WORD0 = 0x0;
    base->MB[mbIdx].WORD1 = 0x0;
}

/*!
 * brief Calculates the segment values for a single bit time for classical CAN.
 *
 * This function use to calculates the Classical CAN segment values which will be set in CTRL1/CBT/ENCBT register.
 *
 * param bitRate The classical CAN bit rate in bps.
 * param base FlexCAN peripheral base address.
 * param tqNum Number of time quantas per bit, range in 8 ~ 25 when use CTRL1, range in 8 ~ 129 when use CBT, range in
 *             8 ~ 385 when use ENCBT. param pTimingConfig Pointer to the FlexCAN timing configuration structure.
 */
static void FLEXCAN_GetSegments(CAN_Type *base,
                                uint32_t bitRate,
                                uint32_t tqNum,
                                flexcan_timing_config_t *pTimingConfig)
{
    uint32_t ideal_sp;
    uint32_t seg1Max, proSegMax;
    uint32_t seg1Temp;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
    if (0 != FSL_FEATURE_FLEXCAN_INSTANCE_HAS_FLEXIBLE_DATA_RATEn(base))
    {
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG)
        /* Maximum value allowed in ENCBT register. */
        seg1Max   = MAX_NTSEG2 + 1U;
        proSegMax = MAX_NTSEG1 - MAX_NTSEG2;
#else
        /* Maximum value allowed in CBT register. */
        seg1Max = MAX_EPSEG1 + 1U;
        proSegMax = MAX_EPROPSEG + 1U;
#endif
    }
    else
    {
        /* Maximum value allowed in CTRL1 register. */
        seg1Max   = MAX_PSEG1 + 1U;
        proSegMax = MAX_PROPSEG + 1U;
    }
#else
    /* Maximum value allowed in CTRL1 register. */
    seg1Max   = MAX_PSEG1 + 1U;
    proSegMax = MAX_PROPSEG + 1U;
#endif

    /* Try to find the ideal sample point, according to CiA 301 doc.*/
    if (bitRate == 1000000U)
    {
        ideal_sp = IDEAL_SP_LOW;
    }
    else if (bitRate >= 800000U)
    {
        ideal_sp = IDEAL_SP_MID;
    }
    else
    {
        ideal_sp = IDEAL_SP_HIGH;
    }
    /* Calculates phaseSeg2. */
    pTimingConfig->phaseSeg2 = (uint8_t)(tqNum - (tqNum * ideal_sp) / (uint32_t)IDEAL_SP_FACTOR);
    if (pTimingConfig->phaseSeg2 < MIN_TIME_SEGMENT2)
    {
        pTimingConfig->phaseSeg2 = MIN_TIME_SEGMENT2;
    }

#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
    if (0 != FSL_FEATURE_FLEXCAN_INSTANCE_HAS_FLEXIBLE_DATA_RATEn(base))
    {
#if !(defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG)
        if (pTimingConfig->phaseSeg2 > (uint8_t)(MAX_EPSEG2 + 1U))
        {
            pTimingConfig->phaseSeg2 = (uint8_t)(MAX_EPSEG2 + 1U);
        }
#endif
    }
#endif

    /* Calculates phaseSeg1 and propSeg and try to make phaseSeg1 equal to phaseSeg2. */
    if ((tqNum - pTimingConfig->phaseSeg2 - 1U) > (seg1Max + proSegMax))
    {
        seg1Temp                 = seg1Max + proSegMax;
        pTimingConfig->phaseSeg2 = (uint8_t)(tqNum - 1U - seg1Temp);
    }
    else
    {
        seg1Temp = tqNum - pTimingConfig->phaseSeg2 - 1U;
    }
    if (seg1Temp > (pTimingConfig->phaseSeg2 + proSegMax))
    {
        pTimingConfig->propSeg   = (uint8_t)proSegMax;
        pTimingConfig->phaseSeg1 = (uint8_t)(seg1Temp - proSegMax);
    }
    else
    {
        pTimingConfig->propSeg   = (uint8_t)(seg1Temp - pTimingConfig->phaseSeg2);
        pTimingConfig->phaseSeg1 = pTimingConfig->phaseSeg2;
    }

    /* rJumpwidth (sjw) is the minimum value of phaseSeg1 and phaseSeg2. */
    pTimingConfig->rJumpwidth =
        (pTimingConfig->phaseSeg1 > pTimingConfig->phaseSeg2) ? pTimingConfig->phaseSeg2 : pTimingConfig->phaseSeg1;
#if !(defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
    if (pTimingConfig->rJumpwidth > (MAX_RJW + 1U))
    {
        pTimingConfig->rJumpwidth = (uint8_t)(MAX_RJW + 1U);
    }
#else
    if (0 == FSL_FEATURE_FLEXCAN_INSTANCE_HAS_FLEXIBLE_DATA_RATEn(base))
    {
        if (pTimingConfig->rJumpwidth > (MAX_RJW + 1U))
        {
            pTimingConfig->rJumpwidth = (uint8_t)(MAX_RJW + 1U);
        }
    }
#endif

    pTimingConfig->phaseSeg1 -= 1U;
    pTimingConfig->phaseSeg2 -= 1U;
    pTimingConfig->propSeg -= 1U;
    pTimingConfig->rJumpwidth -= 1U;
}

/*!
 * brief Calculates the improved timing values by specific bit Rates for classical CAN.
 *
 * This function use to calculates the Classical CAN timing values according to the given bit rate. The Calculated
 * timing values will be set in CTRL1/CBT/ENCBT register. The calculation is based on the recommendation of the CiA 301
 * v4.2.0 and previous version document.
 *
 * param base FlexCAN peripheral base address.
 * param bitRate  The classical CAN speed in bps defined by user, should be less than or equal to 1Mbps.
 * param sourceClock_Hz The Source clock frequency in Hz.
 * param pTimingConfig Pointer to the FlexCAN timing configuration structure.
 *
 * return TRUE if timing configuration found, FALSE if failed to find configuration.
 */
bool FLEXCAN_CalculateImprovedTimingValues(CAN_Type *base,
                                           uint32_t bitRate,
                                           uint32_t sourceClock_Hz,
                                           flexcan_timing_config_t *pTimingConfig)
{
    /* Observe bit rate maximums. */
    assert(bitRate <= MAX_CAN_BITRATE);

    uint32_t clk;
    uint32_t tqNum, tqMin, pdivMAX;
    uint32_t spTemp                    = 1000U;
    flexcan_timing_config_t configTemp = {0};
    bool fgRet                         = false;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
    if (0 != FSL_FEATURE_FLEXCAN_INSTANCE_HAS_FLEXIBLE_DATA_RATEn(base))
    {
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG)
        /*  Auto Improved Protocal timing for ENCBT. */
        tqNum   = ENCBT_MAX_TIME_QUANTA;
        tqMin   = ENCBT_MIN_TIME_QUANTA;
        pdivMAX = MAX_ENPRESDIV;
#else
        /*  Auto Improved Protocal timing for CBT. */
        tqNum = CBT_MAX_TIME_QUANTA;
        tqMin = CBT_MIN_TIME_QUANTA;
        pdivMAX = MAX_PRESDIV;
#endif
    }
    else
    {
        /*  Auto Improved Protocal timing for CTRL1. */
        tqNum   = CTRL1_MAX_TIME_QUANTA;
        tqMin   = CTRL1_MIN_TIME_QUANTA;
        pdivMAX = MAX_PRESDIV;
    }
#else
    /*  Auto Improved Protocal timing for CTRL1. */
    tqNum   = CTRL1_MAX_TIME_QUANTA;
    tqMin   = CTRL1_MIN_TIME_QUANTA;
    pdivMAX = MAX_PRESDIV;
#endif
    do
    {
        clk = bitRate * tqNum;
        if (clk > sourceClock_Hz)
        {
            continue; /* tqNum too large, clk has been exceed sourceClock_Hz. */
        }

        if ((sourceClock_Hz / clk * clk) != sourceClock_Hz)
        {
            continue; /* Non-supporting: the frequency of clock source is not divisible by target bit rate, the user
                      should change a divisible bit rate. */
        }

        configTemp.preDivider = (uint16_t)(sourceClock_Hz / clk) - 1U;
        if (configTemp.preDivider > pdivMAX)
        {
            break; /* The frequency of source clock is too large or the bit rate is too small, the pre-divider could
                      not handle it. */
        }

        /* Calculates the best timing configuration under current tqNum. */
        FLEXCAN_GetSegments(base, bitRate, tqNum, &configTemp);
        /* Determine whether the calculated timing configuration can get the optimal sampling point. */
        if (((((uint32_t)configTemp.phaseSeg2 + 1U) * 1000U) / tqNum) < spTemp)
        {
            spTemp                    = (((uint32_t)configTemp.phaseSeg2 + 1U) * 1000U) / tqNum;
            pTimingConfig->preDivider = configTemp.preDivider;
            pTimingConfig->rJumpwidth = configTemp.rJumpwidth;
            pTimingConfig->phaseSeg1  = configTemp.phaseSeg1;
            pTimingConfig->phaseSeg2  = configTemp.phaseSeg2;
            pTimingConfig->propSeg    = configTemp.propSeg;
        }
        fgRet = true;
    } while (--tqNum >= tqMin);

    return fgRet;
}

#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*!
 * brief Get Mailbox offset number by dword.
 *
 * This function gets the offset number of the specified mailbox.
 * Mailbox is not consecutive between memory regions when payload is not 8 bytes
 * so need to calculate the specified mailbox address.
 * For example, in the first memory region, MB[0].CS address is 0x4002_4080. For 32 bytes
 * payload frame, the second mailbox is ((1/12)*512 + 1%12*40)/4 = 10, meaning 10 dword
 * after the 0x4002_4080, which is actually the address of mailbox MB[1].CS.
 *
 * param base FlexCAN peripheral base address.
 * param mbIdx Mailbox index.
 */
static uint32_t FLEXCAN_GetFDMailboxOffset(CAN_Type *base, uint8_t mbIdx)
{
    uint32_t offset   = 0;
    uint32_t dataSize = (base->FDCTRL & CAN_FDCTRL_MBDSR0_MASK) >> CAN_FDCTRL_MBDSR0_SHIFT;
    if (dataSize == (uint32_t)kFLEXCAN_8BperMB)
    {
        offset = (((uint32_t)mbIdx / 32U) * 512U + ((uint32_t)mbIdx % 32U) * 16U);
    }
    else if (dataSize == (uint32_t)kFLEXCAN_16BperMB)
    {
        offset = (((uint32_t)mbIdx / 21U) * 512U + ((uint32_t)mbIdx % 21U) * 24U);
    }
    else if (dataSize == (uint32_t)kFLEXCAN_32BperMB)
    {
        offset = (((uint32_t)mbIdx / 12U) * 512U + ((uint32_t)mbIdx % 12U) * 40U);
    }
    else
    {
        offset = (((uint32_t)mbIdx / 7U) * 512U + ((uint32_t)mbIdx % 7U) * 72U);
    }

    /* To get the dword aligned offset, need to divide by 4. */
    offset = offset / 4U;
    return offset;
}

/*!
 * brief Calculates the segment values for a single bit time for CAN FD data phase.
 *
 * This function use to calculates the CAN FD data phase segment values which will be set in CFDCBT/EDCBT
 * register.
 *
 * param bitRateFD CAN FD data phase bit rate.
 * param tqNum Number of time quanta per bit
 * param pTimingConfig Pointer to the FlexCAN timing configuration structure.
 */
static void FLEXCAN_FDGetSegments(uint32_t bitRateFD, uint32_t tqNum, flexcan_timing_config_t *pTimingConfig)
{
    uint32_t ideal_sp;
    uint32_t seg1Max, proSegMax, seg2Max;
    uint32_t seg1Temp;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG)
    /* Maximum value allowed in EDCBT register. */
    seg1Max   = MAX_DTSEG2 + 1U;
    proSegMax = MAX_DTSEG1 - MAX_DTSEG2;
    seg2Max   = MAX_DTSEG2 + 1U;
#else
    /* Maximum value allowed in FDCBT register. */
    seg1Max = MAX_FPSEG1 + 1U;
    proSegMax = MAX_FPROPSEG;
    seg2Max = MAX_FPSEG2 + 1U;
#endif

    /* According to CiA doc 1301 v1.0.0, which specified data phase sample point postion for CAN FD at 80 MHz. */
    if (bitRateFD <= 1000000U)
    {
        ideal_sp = IDEAL_DATA_SP_1;
    }
    else if (bitRateFD <= 2000000U)
    {
        ideal_sp = IDEAL_DATA_SP_2;
    }
    else if (bitRateFD <= 4000000U)
    {
        ideal_sp = IDEAL_DATA_SP_3;
    }
    else
    {
        ideal_sp = IDEAL_DATA_SP_4;
    }

    /* Calculates fphaseSeg2. */
    pTimingConfig->fphaseSeg2 = (uint8_t)(tqNum - (tqNum * ideal_sp) / (uint32_t)IDEAL_SP_FACTOR);
    if (pTimingConfig->fphaseSeg2 < MIN_TIME_SEGMENT2)
    {
        pTimingConfig->fphaseSeg2 = MIN_TIME_SEGMENT2;
    }
    else if (pTimingConfig->fphaseSeg2 > seg2Max)
    {
        pTimingConfig->fphaseSeg2 = (uint8_t)seg2Max;
    }
    else
    {
        ; /* Intentional empty */
    }

    /* Calculates fphaseSeg1 and fpropSeg and try to make phaseSeg1 equal to phaseSeg2 */
    if ((tqNum - pTimingConfig->fphaseSeg2 - 1U) > (seg1Max + proSegMax))
    {
        seg1Temp                  = seg1Max + proSegMax;
        pTimingConfig->fphaseSeg2 = (uint8_t)(tqNum - 1U - seg1Temp);
    }
    else
    {
        seg1Temp = tqNum - pTimingConfig->fphaseSeg2 - 1U;
    }
    if (seg1Temp > (pTimingConfig->fphaseSeg2 + proSegMax))
    {
        pTimingConfig->fpropSeg   = (uint8_t)proSegMax;
        pTimingConfig->fphaseSeg1 = (uint8_t)(seg1Temp - proSegMax);
    }
    else if (seg1Temp > pTimingConfig->fphaseSeg2)
    {
        pTimingConfig->fpropSeg   = (uint8_t)(seg1Temp - pTimingConfig->fphaseSeg2);
        pTimingConfig->fphaseSeg1 = pTimingConfig->fphaseSeg2;
    }
    else
    {
        pTimingConfig->fpropSeg   = 0U;
        pTimingConfig->fphaseSeg1 = (uint8_t)seg1Temp;
    }

    /* rJumpwidth (sjw) is the minimum value of phaseSeg1 and phaseSeg2. */
    pTimingConfig->frJumpwidth =
        (pTimingConfig->fphaseSeg1 > pTimingConfig->fphaseSeg2) ? pTimingConfig->fphaseSeg2 : pTimingConfig->fphaseSeg1;

    pTimingConfig->fphaseSeg1 -= 1U;
    pTimingConfig->fphaseSeg2 -= 1U;
    pTimingConfig->frJumpwidth -= 1U;
}

/*!
 * brief Calculates the improved timing values by specific bit rate for CAN FD nominal phase.
 *
 * This function use to calculates the CAN FD nominal phase timing values according to the given nominal phase bit rate.
 * The Calculated timing values will be set in CBT/ENCBT registers. The calculation is based on the recommendation of
 * the CiA 1301 v1.0.0 document.
 *
 * param bitRate  The CAN FD nominal phase speed in bps defined by user, should be less than or equal to 1Mbps.
 * param sourceClock_Hz The Source clock frequency in Hz.
 * param pTimingConfig Pointer to the FlexCAN timing configuration structure.
 *
 * return TRUE if timing configuration found, FALSE if failed to find configuration.
 */
static bool FLEXCAN_CalculateImprovedNominalTimingValues(uint32_t bitRate,
                                                         uint32_t sourceClock_Hz,
                                                         flexcan_timing_config_t *pTimingConfig)
{
    /* Observe bit rate maximums. */
    assert(bitRate <= MAX_CAN_BITRATE);

    uint32_t clk;
    uint32_t tqNum, tqMin, pdivMAX, seg1Max, proSegMax, seg1Temp;
    uint32_t spTemp                    = 1000U;
    flexcan_timing_config_t configTemp = {0};
    bool fgRet                         = false;

#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG)
    /*  Auto Improved Protocal timing for ENCBT. */
    tqNum     = ENCBT_MAX_TIME_QUANTA;
    tqMin     = ENCBT_MIN_TIME_QUANTA;
    pdivMAX   = MAX_ENPRESDIV;
    seg1Max   = MAX_NTSEG2 + 1U;
    proSegMax = MAX_NTSEG1 - MAX_NTSEG2;
#else
    /*  Auto Improved Protocal timing for CBT. */
    tqNum = CBT_MAX_TIME_QUANTA;
    tqMin = CBT_MIN_TIME_QUANTA;
    pdivMAX = MAX_PRESDIV;
    seg1Max = MAX_EPSEG1 + 1U;
    proSegMax = MAX_EPROPSEG + 1U;
#endif

    do
    {
        clk = bitRate * tqNum;
        if (clk > sourceClock_Hz)
        {
            continue; /* tqNum too large, clk has been exceed sourceClock_Hz. */
        }

        if ((sourceClock_Hz / clk * clk) != sourceClock_Hz)
        {
            continue; /* Non-supporting: the frequency of clock source is not divisible by target bit rate, the user
                      should change a divisible bit rate. */
        }

        configTemp.preDivider = (uint16_t)(sourceClock_Hz / clk) - 1U;
        if (configTemp.preDivider > pdivMAX)
        {
            break; /* The frequency of source clock is too large or the bit rate is too small, the pre-divider could
                      not handle it. */
        }

        /* Calculates the best timing configuration under current tqNum. */
        configTemp.phaseSeg2 = (uint8_t)(tqNum - (tqNum * IDEAL_NOMINAL_SP) / (uint32_t)IDEAL_SP_FACTOR);

        /* Calculates phaseSeg1 and propSeg and try to make phaseSeg1 equal to phaseSeg2. */
        if ((tqNum - configTemp.phaseSeg2 - 1U) > (seg1Max + proSegMax))
        {
            seg1Temp             = seg1Max + proSegMax;
            configTemp.phaseSeg2 = (uint8_t)(tqNum - 1U - seg1Temp);
        }
        else
        {
            seg1Temp = tqNum - configTemp.phaseSeg2 - 1U;
        }
        if (seg1Temp > (configTemp.phaseSeg2 + proSegMax))
        {
            configTemp.propSeg   = (uint8_t)proSegMax;
            configTemp.phaseSeg1 = (uint8_t)(seg1Temp - proSegMax);
        }
        else
        {
            configTemp.propSeg   = (uint8_t)(seg1Temp - configTemp.phaseSeg2);
            configTemp.phaseSeg1 = configTemp.phaseSeg2;
        }

        /* rJumpwidth (sjw) is the minimum value of phaseSeg1 and phaseSeg2. */
        configTemp.rJumpwidth =
            (configTemp.phaseSeg1 > configTemp.phaseSeg2) ? configTemp.phaseSeg2 : configTemp.phaseSeg1;
        configTemp.phaseSeg1 -= 1U;
        configTemp.phaseSeg2 -= 1U;
        configTemp.propSeg -= 1U;
        configTemp.rJumpwidth -= 1U;

        if (((((uint32_t)configTemp.phaseSeg2 + 1U) * 1000U) / tqNum) < spTemp)
        {
            spTemp                    = (((uint32_t)configTemp.phaseSeg2 + 1U) * 1000U) / tqNum;
            pTimingConfig->preDivider = configTemp.preDivider;
            pTimingConfig->rJumpwidth = configTemp.rJumpwidth;
            pTimingConfig->phaseSeg1  = configTemp.phaseSeg1;
            pTimingConfig->phaseSeg2  = configTemp.phaseSeg2;
            pTimingConfig->propSeg    = configTemp.propSeg;
        }
        fgRet = true;
    } while (--tqNum >= tqMin);

    return fgRet;
}

/*!
 * brief Calculates the improved timing values by specific bit rates for CAN FD.
 *
 * This function use to calculates the CAN FD timing values according to the given nominal phase bit rate and data phase
 * bit rate. The Calculated timing values will be set in CBT/ENCBT and FDCBT/EDCBT registers. The calculation is based
 * on the recommendation of the CiA 1301 v1.0.0 document.
 *
 * param bitRate  The CAN FD nominal phase speed in bps defined by user.
 * param bitRateFD  The CAN FD data phase speed in bps defined by user. Equal to bitRate means disable bit rate
 * switching. param sourceClock_Hz The Source clock frequency in Hz. param pTimingConfig Pointer to the FlexCAN timing
 * configuration structure.
 *
 * return TRUE if timing configuration found, FALSE if failed to find configuration
 */
bool FLEXCAN_FDCalculateImprovedTimingValues(CAN_Type *base,
                                             uint32_t bitRate,
                                             uint32_t bitRateFD,
                                             uint32_t sourceClock_Hz,
                                             flexcan_timing_config_t *pTimingConfig)
{
    /* Observe bit rate maximums */
    assert(bitRate <= MAX_CANFD_BITRATE);
    assert(bitRateFD <= MAX_CANFD_BITRATE);
    /* Data phase bit rate need greater or equal to nominal phase bit rate. */
    assert(bitRate <= bitRateFD);

    uint32_t clk;
    uint32_t tqMin, pdivMAX, tqTemp;
    bool fgRet = false;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG)
    /*  Auto Improved Protocal timing for EDCBT. */
    tqTemp  = EDCBT_MAX_TIME_QUANTA;
    tqMin   = EDCBT_MIN_TIME_QUANTA;
    pdivMAX = MAX_EDPRESDIV;
#else
    /*  Auto Improved Protocal timing for FDCBT. */
    tqTemp = FDCBT_MAX_TIME_QUANTA;
    tqMin = FDCBT_MIN_TIME_QUANTA;
    pdivMAX = MAX_FPRESDIV;
#endif

    if (bitRate != bitRateFD)
    {
        /* To minimize errors when processing FD frames, try to get the same bit rate prescaler value for nominal phase
           and data phase. */
        do
        {
            clk = bitRateFD * tqTemp;
            if (clk > sourceClock_Hz)
            {
                continue; /* tqTemp too large, clk x tqTemp has been exceed sourceClock_Hz. */
            }

            if ((sourceClock_Hz / clk * clk) != sourceClock_Hz)
            {
                continue; /*  the frequency of clock source is not divisible by target bit rate. */
            }

            pTimingConfig->fpreDivider = (uint16_t)(sourceClock_Hz / clk) - 1U;

            if (pTimingConfig->fpreDivider > pdivMAX)
            {
                break; /* The frequency of source clock is too large or the bit rate is too small, the pre-divider
                          could not handle it. */
            }

            /* Calculates the best data phase timing configuration. */
            FLEXCAN_FDGetSegments(bitRateFD, tqTemp, pTimingConfig);

            if (FLEXCAN_CalculateImprovedNominalTimingValues(
                    bitRate, sourceClock_Hz / ((uint32_t)pTimingConfig->fpreDivider + 1U), pTimingConfig))
            {
                fgRet = true;
                if (pTimingConfig->preDivider == 0U)
                {
                    pTimingConfig->preDivider = pTimingConfig->fpreDivider;
                    break;
                }
                else
                {
                    pTimingConfig->preDivider =
                        (pTimingConfig->preDivider + 1U) * (pTimingConfig->fpreDivider + 1U) - 1U;
                    continue;
                }
            }
        } while (--tqTemp >= tqMin);
    }
    else
    {
        if (FLEXCAN_CalculateImprovedNominalTimingValues(bitRate, sourceClock_Hz, pTimingConfig))
        {
            /* No need data phase timing configuration, data phase rate equal to nominal phase rate, user don't use Brs
               feature. */
            pTimingConfig->fpreDivider = 0U;
            pTimingConfig->frJumpwidth = 0U;
            pTimingConfig->fphaseSeg1  = 0U;
            pTimingConfig->fphaseSeg2  = 0U;
            pTimingConfig->fpropSeg    = 0U;
            fgRet                      = true;
        }
    }
    return fgRet;
}

/*!
 * brief Configures a FlexCAN transmit message buffer.
 *
 * This function aborts the previous transmission, cleans the Message Buffer, and
 * configures it as a Transmit Message Buffer.
 *
 * param base FlexCAN peripheral base address.
 * param mbIdx The Message Buffer index.
 * param enable Enable/disable Tx Message Buffer.
 *               - true: Enable Tx Message Buffer.
 *               - false: Disable Tx Message Buffer.
 */
void FLEXCAN_SetFDTxMbConfig(CAN_Type *base, uint8_t mbIdx, bool enable)
{
    /* Assertion. */
    assert(mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK));
#if !defined(NDEBUG)
    assert(!FLEXCAN_IsMbOccupied(base, mbIdx));
#endif

    uint8_t cnt           = 0;
    uint8_t payload_dword = 1;
    uint32_t dataSize;
    dataSize                  = (base->FDCTRL & CAN_FDCTRL_MBDSR0_MASK) >> CAN_FDCTRL_MBDSR0_SHIFT;
    volatile uint32_t *mbAddr = &(base->MB[0].CS);
    uint32_t offset           = FLEXCAN_GetFDMailboxOffset(base, mbIdx);
#if ((defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) || \
     (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829))
    uint32_t availoffset = FLEXCAN_GetFDMailboxOffset(base, FLEXCAN_GetFirstValidMb(base));
#endif

    /* Inactivate Message Buffer. */
    if (enable)
    {
        /* Inactivate by writing CS. */
        mbAddr[offset] = CAN_CS_CODE(kFLEXCAN_TxMbInactive);
    }
    else
    {
        mbAddr[offset] = 0x0;
    }

    /* Calculate the DWORD number, dataSize 0/1/2/3 corresponds to 8/16/32/64
       Bytes payload. */
    for (cnt = 0; cnt < (dataSize + 1U); cnt++)
    {
        payload_dword *= 2U;
    }

    /* Clean ID. */
    mbAddr[offset + 1U] = 0x0U;
    /* Clean Message Buffer content, DWORD by DWORD. */
    for (cnt = 0; cnt < payload_dword; cnt++)
    {
        mbAddr[offset + 2U + cnt] = 0x0U;
    }

#if ((defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) || \
     (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829))
    mbAddr[availoffset] = CAN_CS_CODE(kFLEXCAN_TxMbInactive);
#endif
}
#endif /* FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE */

/*!
 * brief Configures a FlexCAN Receive Message Buffer.
 *
 * This function cleans a FlexCAN build-in Message Buffer and configures it
 * as a Receive Message Buffer.
 *
 * param base FlexCAN peripheral base address.
 * param mbIdx The Message Buffer index.
 * param pRxMbConfig Pointer to the FlexCAN Message Buffer configuration structure.
 * param enable Enable/disable Rx Message Buffer.
 *               - true: Enable Rx Message Buffer.
 *               - false: Disable Rx Message Buffer.
 */
void FLEXCAN_SetRxMbConfig(CAN_Type *base, uint8_t mbIdx, const flexcan_rx_mb_config_t *pRxMbConfig, bool enable)
{
    /* Assertion. */
    assert(mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK));
    assert(((NULL != pRxMbConfig) || (false == enable)));
#if !defined(NDEBUG)
    assert(!FLEXCAN_IsMbOccupied(base, mbIdx));
#endif

    uint32_t cs_temp = 0;

    /* Inactivate Message Buffer. */
    base->MB[mbIdx].CS = 0;

    /* Clean Message Buffer content. */
    base->MB[mbIdx].ID    = 0x0;
    base->MB[mbIdx].WORD0 = 0x0;
    base->MB[mbIdx].WORD1 = 0x0;

    if (enable)
    {
        /* Setup Message Buffer ID. */
        base->MB[mbIdx].ID = pRxMbConfig->id;

        /* Setup Message Buffer format. */
        if (kFLEXCAN_FrameFormatExtend == pRxMbConfig->format)
        {
            cs_temp |= CAN_CS_IDE_MASK;
        }

        /* Setup Message Buffer type. */
        if (kFLEXCAN_FrameTypeRemote == pRxMbConfig->type)
        {
            cs_temp |= CAN_CS_RTR_MASK;
        }

        /* Activate Rx Message Buffer. */
        cs_temp |= CAN_CS_CODE(kFLEXCAN_RxMbEmpty);
        base->MB[mbIdx].CS = cs_temp;
    }
}

#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*!
 * brief Configures a FlexCAN Receive Message Buffer.
 *
 * This function cleans a FlexCAN build-in Message Buffer and configures it
 * as a Receive Message Buffer.
 *
 * param base FlexCAN peripheral base address.
 * param mbIdx The Message Buffer index.
 * param pRxMbConfig Pointer to the FlexCAN Message Buffer configuration structure.
 * param enable Enable/disable Rx Message Buffer.
 *               - true: Enable Rx Message Buffer.
 *               - false: Disable Rx Message Buffer.
 */
void FLEXCAN_SetFDRxMbConfig(CAN_Type *base, uint8_t mbIdx, const flexcan_rx_mb_config_t *pRxMbConfig, bool enable)
{
    /* Assertion. */
    assert(mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK));
    assert(((NULL != pRxMbConfig) || (false == enable)));
#if !defined(NDEBUG)
    assert(!FLEXCAN_IsMbOccupied(base, mbIdx));
#endif

    uint32_t cs_temp          = 0;
    uint8_t cnt               = 0;
    volatile uint32_t *mbAddr = &(base->MB[0].CS);
    uint32_t offset           = FLEXCAN_GetFDMailboxOffset(base, mbIdx);
    uint8_t payload_dword;
    uint32_t dataSize = (base->FDCTRL & CAN_FDCTRL_MBDSR0_MASK) >> CAN_FDCTRL_MBDSR0_SHIFT;

    /* Inactivate Message Buffer. */
    mbAddr[offset] = 0U;

    /* Clean Message Buffer content. */
    mbAddr[offset + 1U] = 0U;
    /* Calculate the DWORD number, dataSize 0/1/2/3 corresponds to 8/16/32/64
       Bytes payload. */
    payload_dword = (2U << dataSize);
    for (cnt = 0; cnt < payload_dword; cnt++)
    {
        mbAddr[offset + 2U + cnt] = 0x0;
    }

    if (enable)
    {
        /* Setup Message Buffer ID. */
        mbAddr[offset + 1U] = pRxMbConfig->id;

        /* Setup Message Buffer format. */
        if (kFLEXCAN_FrameFormatExtend == pRxMbConfig->format)
        {
            cs_temp |= CAN_CS_IDE_MASK;
        }

        /* Setup Message Buffer type. */
        if (kFLEXCAN_FrameTypeRemote == pRxMbConfig->type)
        {
            cs_temp |= CAN_CS_RTR_MASK;
        }

        /* Activate Rx Message Buffer. */
        cs_temp |= CAN_CS_CODE(kFLEXCAN_RxMbEmpty);
        mbAddr[offset] = cs_temp;
    }
}
#endif

/*!
 * brief Configures the FlexCAN Legacy Rx FIFO.
 *
 * This function configures the FlexCAN Rx FIFO with given configuration.
 * note Legacy Rx FIFO only can receive classic CAN message.
 *
 * param base FlexCAN peripheral base address.
 * param pRxFifoConfig Pointer to the FlexCAN Legacy Rx FIFO configuration structure. Can be NULL when enable parameter
 *                      is false.
 * param enable Enable/disable Legacy Rx FIFO.
 *              - true: Enable Legacy Rx FIFO.
 *              - false: Disable Legacy Rx FIFO.
 */
void FLEXCAN_SetRxFifoConfig(CAN_Type *base, const flexcan_rx_fifo_config_t *pRxFifoConfig, bool enable)
{
    /* Assertion. */
    assert((NULL != pRxFifoConfig) || (false == enable));

    volatile uint32_t *mbAddr;
    uint8_t i, j, k, rffn = 0, numMbOccupy;
    uint32_t setup_mb = 0;

    /* Enter Freeze Mode. */
    FLEXCAN_EnterFreezeMode(base);

    if (enable)
    {
        assert(pRxFifoConfig->idFilterNum <= 128U);
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO)
        /* Legacy Rx FIFO and Enhanced Rx FIFO cannot be enabled at the same time. */
        assert((base->ERFCR & CAN_ERFCR_ERFEN_MASK) == 0U);
#endif

        /* Get the setup_mb value. */
        setup_mb = (uint8_t)((base->MCR & CAN_MCR_MAXMB_MASK) >> CAN_MCR_MAXMB_SHIFT);
        setup_mb = (setup_mb < (uint32_t)FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base)) ?
                       setup_mb :
                       (uint32_t)FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base);

        /* Determine RFFN value. */
        for (i = 0; i <= 0xFU; i++)
        {
            if ((8U * (i + 1U)) >= pRxFifoConfig->idFilterNum)
            {
                rffn = i;
                assert(((setup_mb - 8U) - (2U * rffn)) > 0U);

                base->CTRL2 = (base->CTRL2 & ~CAN_CTRL2_RFFN_MASK) | CAN_CTRL2_RFFN(rffn);
                break;
            }
        }

        /* caculate the Number of Mailboxes occupied by RX Legacy FIFO and the filter. */
        numMbOccupy = 6U + (rffn + 1U) * 2U;

        /* Copy ID filter table to Message Buffer Region (Fix MISRA_C-2012 Rule 18.1). */
        j = 0U;
        for (i = 6U; i < numMbOccupy; i++)
        {
            /* Get address for current mail box.  */
            mbAddr = &(base->MB[i].CS);

            /* One Mail box contain 4U DWORD registers. */
            for (k = 0; k < 4U; k++)
            {
                /* Fill all valid filter in the mail box occupied by filter.
                 * Disable unused Rx FIFO Filter, the other rest of register in the last Mail box occupied by fiter set
                 * as 0xffffffff.
                 */
                mbAddr[k] = (j < pRxFifoConfig->idFilterNum) ? (pRxFifoConfig->idFilterTable[j]) : 0xFFFFFFFFU;

                /* Try to fill next filter in current Mail Box.  */
                j++;
            }
        }

        /* Setup ID Fitlter Type. */
        switch (pRxFifoConfig->idFilterType)
        {
            case kFLEXCAN_RxFifoFilterTypeA:
                base->MCR = (base->MCR & ~CAN_MCR_IDAM_MASK) | CAN_MCR_IDAM(0x0);
                break;
            case kFLEXCAN_RxFifoFilterTypeB:
                base->MCR = (base->MCR & ~CAN_MCR_IDAM_MASK) | CAN_MCR_IDAM(0x1);
                break;
            case kFLEXCAN_RxFifoFilterTypeC:
                base->MCR = (base->MCR & ~CAN_MCR_IDAM_MASK) | CAN_MCR_IDAM(0x2);
                break;
            case kFLEXCAN_RxFifoFilterTypeD:
                /* All frames rejected. */
                base->MCR = (base->MCR & ~CAN_MCR_IDAM_MASK) | CAN_MCR_IDAM(0x3);
                break;
            default:
                /* All the cases have been listed above, the default clause should not be reached. */
                assert(false);
                break;
        }

        /* Setting Message Reception Priority. */
        base->CTRL2 = (pRxFifoConfig->priority == kFLEXCAN_RxFifoPrioHigh) ? (base->CTRL2 & ~CAN_CTRL2_MRP_MASK) :
                                                                             (base->CTRL2 | CAN_CTRL2_MRP_MASK);

        /* Enable Rx Message FIFO. */
        base->MCR |= CAN_MCR_RFEN_MASK;
    }
    else
    {
        rffn = (uint8_t)((base->CTRL2 & CAN_CTRL2_RFFN_MASK) >> CAN_CTRL2_RFFN_SHIFT);
        /* caculate the Number of Mailboxes occupied by RX Legacy FIFO and the filter. */
        numMbOccupy = 6U + (rffn + 1U) * 2U;

        /* Disable Rx Message FIFO. */
        base->MCR &= ~CAN_MCR_RFEN_MASK;

        /* Clean MB0 ~ MB5 and all MB occupied by ID filters (Fix MISRA_C-2012 Rule 18.1). */

        for (i = 0; i < numMbOccupy; i++)
        {
            FLEXCAN_SetRxMbConfig(base, i, NULL, false);
        }
    }

    /* Exit Freeze Mode. */
    FLEXCAN_ExitFreezeMode(base);
}

#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO)
/*!
 * brief Configures the FlexCAN Enhanced Rx FIFO.
 *
 * This function configures the Enhanced Rx FIFO with given configuration.
 * note  Enhanced Rx FIFO support receive classic CAN or CAN FD messages, Legacy Rx FIFO and Enhanced Rx FIFO
 *       cannot be enabled at the same time.
 *
 * param base    FlexCAN peripheral base address.
 * param pConfig Pointer to the FlexCAN Enhanced Rx FIFO configuration structure. Can be NULL when enable parameter
 *               is false.
 * param enable  Enable/disable Enhanced Rx FIFO.
 *               - true: Enable Enhanced Rx FIFO.
 *               - false: Disable Enhanced Rx FIFO.
 */
void FLEXCAN_SetEnhancedRxFifoConfig(CAN_Type *base, const flexcan_enhanced_rx_fifo_config_t *pConfig, bool enable)
{
    /* Assertion. */
    assert((NULL != pConfig) || (false == enable));
    uint32_t i;
    /* Enter Freeze Mode. */
    FLEXCAN_EnterFreezeMode(base);

    if (enable)
    {
        /* Each pair of filter elements occupies 2 words and can consist of one extended ID filter element or two
         * standard ID filter elements. */
        assert((((uint32_t)pConfig->idFilterPairNum * 2UL) <
                (uint32_t)FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO_FILTER_MAX_NUMBER) &&
               (pConfig->extendIdFilterNum <= pConfig->idFilterPairNum) && (0UL != pConfig->idFilterPairNum));

        /* The Enhanced Rx FIFO Watermark cannot be greater than the enhanced Rx FIFO size. */
        assert(pConfig->fifoWatermark < (uint32_t)FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO_SIZE);

        /* Legacy Rx FIFO and Enhanced Rx FIFO cannot be enabled at the same time. */
        assert((base->MCR & CAN_MCR_RFEN_MASK) == 0U);

        /* Reset Enhanced Rx FIFO engine and clear flags. */
        base->ERFSR |= CAN_ERFSR_ERFCLR_MASK | CAN_ERFSR_ERFUFW_MASK | CAN_ERFSR_ERFOVF_MASK | CAN_ERFSR_ERFWMI_MASK |
                       CAN_ERFSR_ERFDA_MASK;
        /* Setting Enhanced Rx FIFO. */
        base->ERFCR = CAN_ERFCR_DMALW(pConfig->dmaPerReadLength) | CAN_ERFCR_NEXIF(pConfig->extendIdFilterNum) |
                      CAN_ERFCR_NFE((uint32_t)pConfig->idFilterPairNum - 1UL) | CAN_ERFCR_ERFWM(pConfig->fifoWatermark);
        /* Copy ID filter table to Enhanced Rx FIFO Filter Element registers. */
        for (i = 0; i < (uint32_t)FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO_FILTER_MAX_NUMBER; i++)
        {
            base->ERFFEL[i] = (i < ((uint32_t)pConfig->idFilterPairNum * 2U)) ? pConfig->idFilterTable[i] : 0xFFFFFFFFU;
        }

        /* Setting Message Reception Priority. */
        base->CTRL2 = (pConfig->priority == kFLEXCAN_RxFifoPrioHigh) ? (base->CTRL2 & ~CAN_CTRL2_MRP_MASK) :
                                                                       (base->CTRL2 | CAN_CTRL2_MRP_MASK);
        /* Enable Enhanced Rx FIFO. */
        base->ERFCR |= CAN_ERFCR_ERFEN_MASK;
    }
    else
    {
        /* Disable Enhanced Rx FIFO. */
        base->ERFCR = 0U;
        /* Reset Enhanced Rx FIFO engine and clear flags. */
        base->ERFSR |= CAN_ERFSR_ERFCLR_MASK | CAN_ERFSR_ERFUFW_MASK | CAN_ERFSR_ERFOVF_MASK | CAN_ERFSR_ERFWMI_MASK |
                       CAN_ERFSR_ERFDA_MASK;
        /* Clean all Enhanced Rx FIFO Filter Element registers. */
        for (i = 0; i < (uint32_t)FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO_FILTER_MAX_NUMBER; i++)
        {
            base->ERFFEL[i] = 0xFFFFFFFFU;
        }
    }

    /* Exit Freeze Mode. */
    FLEXCAN_ExitFreezeMode(base);
}
#endif

#if (defined(FSL_FEATURE_FLEXCAN_HAS_RX_FIFO_DMA) && FSL_FEATURE_FLEXCAN_HAS_RX_FIFO_DMA)
/*!
 * brief Enables or disables the FlexCAN Legacy/Enhanced Rx FIFO DMA request.
 *
 * This function enables or disables the DMA feature of FlexCAN build-in Rx FIFO.
 *
 * param base FlexCAN peripheral base address.
 * param enable true to enable, false to disable.
 */
void FLEXCAN_EnableRxFifoDMA(CAN_Type *base, bool enable)
{
    if (enable)
    {
        /* Enter Freeze Mode. */
        FLEXCAN_EnterFreezeMode(base);

        /* Enable FlexCAN DMA. */
        base->MCR |= CAN_MCR_DMA_MASK;

        /* Exit Freeze Mode. */
        FLEXCAN_ExitFreezeMode(base);
    }
    else
    {
        /* Enter Freeze Mode. */
        FLEXCAN_EnterFreezeMode(base);

        /* Disable FlexCAN DMA. */
        base->MCR &= ~CAN_MCR_DMA_MASK;

        /* Exit Freeze Mode. */
        FLEXCAN_ExitFreezeMode(base);
    }
}
#endif /* FSL_FEATURE_FLEXCAN_HAS_RX_FIFO_DMA */

#if (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL)
/*!
 * brief Gets the FlexCAN Memory Error Report registers status.
 *
 * This function gets the FlexCAN Memory Error Report registers status.
 *
 * param base FlexCAN peripheral base address.
 * param errorStatus Pointer to FlexCAN Memory Error Report registers status structure.
 */
void FLEXCAN_GetMemoryErrorReportStatus(CAN_Type *base, flexcan_memory_error_report_status_t *errorStatus)
{
    uint32_t temp;
    /*  Disable updates of the error report registers. */
    base->MECR |= CAN_MECR_RERRDIS_MASK;

    errorStatus->accessAddress = (uint16_t)(base->RERRAR & CAN_RERRAR_ERRADDR_MASK);
    errorStatus->errorData     = base->RERRDR;
    errorStatus->errorType =
        (base->RERRAR & CAN_RERRAR_NCE_MASK) == 0U ? kFLEXCAN_CorrectableError : kFLEXCAN_NonCorrectableError;

    temp = (base->RERRAR & CAN_RERRAR_SAID_MASK) >> CAN_RERRAR_SAID_SHIFT;
    switch (temp)
    {
        case (uint32_t)kFLEXCAN_MoveOutFlexCanAccess:
        case (uint32_t)kFLEXCAN_MoveInAccess:
        case (uint32_t)kFLEXCAN_TxArbitrationAccess:
        case (uint32_t)kFLEXCAN_RxMatchingAccess:
        case (uint32_t)kFLEXCAN_MoveOutHostAccess:
            errorStatus->accessType = (flexcan_memory_access_type_t)temp;
            break;
        default:
            assert(false);
            break;
    }

    for (uint32_t i = 0; i < 4U; i++)
    {
        temp = (base->RERRSYNR & ((uint32_t)CAN_RERRSYNR_SYND0_MASK << (i * 8U))) >> (i * 8U);
        errorStatus->byteStatus[i].byteIsRead = (base->RERRSYNR & ((uint32_t)CAN_RERRSYNR_BE0_MASK << (i * 8U))) != 0U;
        switch (temp)
        {
            case CAN_RERRSYNR_SYND0(kFLEXCAN_NoError):
            case CAN_RERRSYNR_SYND0(kFLEXCAN_ParityBits0Error):
            case CAN_RERRSYNR_SYND0(kFLEXCAN_ParityBits1Error):
            case CAN_RERRSYNR_SYND0(kFLEXCAN_ParityBits2Error):
            case CAN_RERRSYNR_SYND0(kFLEXCAN_ParityBits3Error):
            case CAN_RERRSYNR_SYND0(kFLEXCAN_ParityBits4Error):
            case CAN_RERRSYNR_SYND0(kFLEXCAN_DataBits0Error):
            case CAN_RERRSYNR_SYND0(kFLEXCAN_DataBits1Error):
            case CAN_RERRSYNR_SYND0(kFLEXCAN_DataBits2Error):
            case CAN_RERRSYNR_SYND0(kFLEXCAN_DataBits3Error):
            case CAN_RERRSYNR_SYND0(kFLEXCAN_DataBits4Error):
            case CAN_RERRSYNR_SYND0(kFLEXCAN_DataBits5Error):
            case CAN_RERRSYNR_SYND0(kFLEXCAN_DataBits6Error):
            case CAN_RERRSYNR_SYND0(kFLEXCAN_DataBits7Error):
            case CAN_RERRSYNR_SYND0(kFLEXCAN_AllZeroError):
            case CAN_RERRSYNR_SYND0(kFLEXCAN_AllOneError):
                errorStatus->byteStatus[i].bitAffected = (flexcan_byte_error_syndrome_t)temp;
                break;
            default:
                errorStatus->byteStatus[i].bitAffected = kFLEXCAN_NonCorrectableErrors;
                break;
        }
    }

    /*  Re-enable updates of the error report registers. */
    base->MECR &= CAN_MECR_RERRDIS_MASK;
}
#endif

#if (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_6032) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_6032)
/*!
 * FlexCAN: A frame with wrong ID or payload is transmitted into
 * the CAN bus when the Message Buffer under transmission is
 * either aborted or deactivated while the CAN bus is in the Bus Idle state
 *
 * This function to do workaround for ERR006032
 *
 * param base FlexCAN peripheral base address.
 * param mbIdx The FlexCAN Message Buffer index.
 */
static void FLEXCAN_ERRATA_6032(CAN_Type *base, volatile uint32_t *mbCSAddr)
{
    uint32_t dbg_temp   = 0U;
    uint32_t u32TempCS  = 0U;
    uint32_t u32Timeout = DELAY_BUSIDLE;
    /*disable ALL interrupts to prevent any context switching*/
    uint32_t irqMask = DisableGlobalIRQ();
    dbg_temp         = (uint32_t)(base->DBG1);
    switch (dbg_temp & CAN_DBG1_CFSM_MASK)
    {
        case RXINTERMISSION:
            if (CBN_VALUE3 == (dbg_temp & CAN_DBG1_CBN_MASK))
            {
                /*wait until CFSM is different from RXINTERMISSION */
                while (RXINTERMISSION == (base->DBG1 & CAN_DBG1_CFSM_MASK))
                {
                    __NOP();
                }
            }
            break;
        case TXINTERMISSION:
            if (CBN_VALUE3 == (dbg_temp & CAN_DBG1_CBN_MASK))
            {
                /*wait until CFSM is different from TXINTERMISSION*/
                while (TXINTERMISSION == (base->DBG1 & CAN_DBG1_CFSM_MASK))
                {
                    __NOP();
                }
            }
            break;
        default:
            /* To avoid MISRA-C 2012 rule 16.4 issue. */
            break;
    }
    /*Anyway, BUSIDLE need to delay*/
    if (BUSIDLE == (base->DBG1 & CAN_DBG1_CFSM_MASK))
    {
        while (u32Timeout-- > 0U)
        {
            __NOP();
        }

        /*Write 0x0 into Code field of CS word.*/
        u32TempCS = (uint32_t)(*mbCSAddr);
        u32TempCS &= ~CAN_CS_CODE_MASK;
        *mbCSAddr = u32TempCS;
    }
    /*restore interruption*/
    EnableGlobalIRQ(irqMask);
}
#endif

/*!
 * brief Writes a FlexCAN Message to the Transmit Message Buffer.
 *
 * This function writes a CAN Message to the specified Transmit Message Buffer
 * and changes the Message Buffer state to start CAN Message transmit. After
 * that the function returns immediately.
 *
 * param base FlexCAN peripheral base address.
 * param mbIdx The FlexCAN Message Buffer index.
 * param pTxFrame Pointer to CAN message frame to be sent.
 * retval kStatus_Success - Write Tx Message Buffer Successfully.
 * retval kStatus_Fail    - Tx Message Buffer is currently in use.
 */
status_t FLEXCAN_WriteTxMb(CAN_Type *base, uint8_t mbIdx, const flexcan_frame_t *pTxFrame)
{
    /* Assertion. */
    assert(mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK));
    assert(NULL != pTxFrame);
    assert(pTxFrame->length <= 8U);
#if !defined(NDEBUG)
    assert(!FLEXCAN_IsMbOccupied(base, mbIdx));
#endif

    uint32_t cs_temp = 0;
    status_t status;

    /* Check if Message Buffer is available. */
    if (CAN_CS_CODE(kFLEXCAN_TxMbDataOrRemote) != (base->MB[mbIdx].CS & CAN_CS_CODE_MASK))
    {
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_6032) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_6032)
        FLEXCAN_ERRATA_6032(base, &(base->MB[mbIdx].CS));
#endif
        /* Inactive Tx Message Buffer. */
        base->MB[mbIdx].CS = (base->MB[mbIdx].CS & ~CAN_CS_CODE_MASK) | CAN_CS_CODE(kFLEXCAN_TxMbInactive);

        /* Fill Message ID field. */
        base->MB[mbIdx].ID = pTxFrame->id;

        /* Fill Message Format field. */
        if ((uint32_t)kFLEXCAN_FrameFormatExtend == pTxFrame->format)
        {
            cs_temp |= CAN_CS_SRR_MASK | CAN_CS_IDE_MASK;
        }

        /* Fill Message Type field. */
        if ((uint32_t)kFLEXCAN_FrameTypeRemote == pTxFrame->type)
        {
            cs_temp |= CAN_CS_RTR_MASK;
        }

        cs_temp |= CAN_CS_CODE(kFLEXCAN_TxMbDataOrRemote) | CAN_CS_DLC(pTxFrame->length);

        /* Load Message Payload. */
        base->MB[mbIdx].WORD0 = pTxFrame->dataWord0;
        base->MB[mbIdx].WORD1 = pTxFrame->dataWord1;

        /* Activate Tx Message Buffer. */
        base->MB[mbIdx].CS = cs_temp;

#if ((defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) || \
     (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829))
        base->MB[FLEXCAN_GetFirstValidMb(base)].CS = CAN_CS_CODE(kFLEXCAN_TxMbInactive);
        base->MB[FLEXCAN_GetFirstValidMb(base)].CS = CAN_CS_CODE(kFLEXCAN_TxMbInactive);
#endif

        status = kStatus_Success;
    }
    else
    {
        /* Tx Message Buffer is activated, return immediately. */
        status = kStatus_Fail;
    }

    return status;
}

#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*!
 * brief Writes a FlexCAN FD Message to the Transmit Message Buffer.
 *
 * This function writes a CAN FD Message to the specified Transmit Message Buffer
 * and changes the Message Buffer state to start CAN FD Message transmit. After
 * that the function returns immediately.
 *
 * param base FlexCAN peripheral base address.
 * param mbIdx The FlexCAN FD Message Buffer index.
 * param pTxFrame Pointer to CAN FD message frame to be sent.
 * retval kStatus_Success - Write Tx Message Buffer Successfully.
 * retval kStatus_Fail    - Tx Message Buffer is currently in use.
 */
status_t FLEXCAN_WriteFDTxMb(CAN_Type *base, uint8_t mbIdx, const flexcan_fd_frame_t *pTxFrame)
{
    /* Assertion. */
    assert(mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK));
    assert(NULL != pTxFrame);
#if !defined(NDEBUG)
    assert(!FLEXCAN_IsMbOccupied(base, mbIdx));
#endif

    status_t status;
    uint32_t cs_temp      = 0;
    uint8_t cnt           = 0;
    uint32_t can_cs       = 0;
    uint8_t payload_dword = 1;
    uint32_t dataSize     = (base->FDCTRL & CAN_FDCTRL_MBDSR0_MASK) >> CAN_FDCTRL_MBDSR0_SHIFT;
#if ((defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) || \
     (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829))
    uint32_t availoffset = FLEXCAN_GetFDMailboxOffset(base, FLEXCAN_GetFirstValidMb(base));
#endif
    volatile uint32_t *mbAddr = &(base->MB[0].CS);
    uint32_t offset           = FLEXCAN_GetFDMailboxOffset(base, mbIdx);

    can_cs = mbAddr[offset];
    /* Check if Message Buffer is available. */
    if (CAN_CS_CODE(kFLEXCAN_TxMbDataOrRemote) != (can_cs & CAN_CS_CODE_MASK))
    {
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_6032) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_6032)
        FLEXCAN_ERRATA_6032(base, &(mbAddr[offset]));
#endif
        /* Inactive Tx Message Buffer and Fill Message ID field. */
        mbAddr[offset]      = (can_cs & ~CAN_CS_CODE_MASK) | CAN_CS_CODE(kFLEXCAN_TxMbInactive);
        mbAddr[offset + 1U] = pTxFrame->id;

        /* Fill Message Format field. */
        if ((uint32_t)kFLEXCAN_FrameFormatExtend == pTxFrame->format)
        {
            cs_temp |= CAN_CS_SRR_MASK | CAN_CS_IDE_MASK;
        }

        /* Fill Message Type field. */
        if ((uint32_t)kFLEXCAN_FrameTypeRemote == pTxFrame->type)
        {
            cs_temp |= CAN_CS_RTR_MASK;
        }

        cs_temp |= CAN_CS_CODE(kFLEXCAN_TxMbDataOrRemote) | CAN_CS_DLC(pTxFrame->length) | CAN_CS_EDL(1) |
                   CAN_CS_BRS(pTxFrame->brs);

        /* Calculate the DWORD number, dataSize 0/1/2/3 corresponds to 8/16/32/64
           Bytes payload. */
        for (cnt = 0; cnt < (dataSize + 1U); cnt++)
        {
            payload_dword *= 2U;
        }

        /* Load Message Payload and Activate Tx Message Buffer. */
        for (cnt = 0; cnt < payload_dword; cnt++)
        {
            mbAddr[offset + 2U + cnt] = pTxFrame->dataWord[cnt];
        }
        mbAddr[offset] = cs_temp;

#if ((defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) || \
     (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829))
        mbAddr[availoffset] = CAN_CS_CODE(kFLEXCAN_TxMbInactive);
        mbAddr[availoffset] = CAN_CS_CODE(kFLEXCAN_TxMbInactive);
#endif

        status = kStatus_Success;
    }
    else
    {
        /* Tx Message Buffer is activated, return immediately. */
        status = kStatus_Fail;
    }

    return status;
}
#endif

/*!
 * brief Reads a FlexCAN Message from Receive Message Buffer.
 *
 * This function reads a CAN message from a specified Receive Message Buffer.
 * The function fills a receive CAN message frame structure with
 * just received data and activates the Message Buffer again.
 * The function returns immediately.
 *
 * param base FlexCAN peripheral base address.
 * param mbIdx The FlexCAN Message Buffer index.
 * param pRxFrame Pointer to CAN message frame structure for reception.
 * retval kStatus_Success            - Rx Message Buffer is full and has been read successfully.
 * retval kStatus_FLEXCAN_RxOverflow - Rx Message Buffer is already overflowed and has been read successfully.
 * retval kStatus_Fail               - Rx Message Buffer is empty.
 */
status_t FLEXCAN_ReadRxMb(CAN_Type *base, uint8_t mbIdx, flexcan_frame_t *pRxFrame)
{
    /* Assertion. */
    assert(mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK));
    assert(NULL != pRxFrame);
#if !defined(NDEBUG)
    assert(!FLEXCAN_IsMbOccupied(base, mbIdx));
#endif

    uint32_t cs_temp;
    uint32_t rx_code;
    status_t status;

    /* Read CS field of Rx Message Buffer to lock Message Buffer. */
    cs_temp = base->MB[mbIdx].CS;
    /* Get Rx Message Buffer Code field. */
    rx_code = (cs_temp & CAN_CS_CODE_MASK) >> CAN_CS_CODE_SHIFT;

    /* Check to see if Rx Message Buffer is full. */
    if (((uint32_t)kFLEXCAN_RxMbFull == rx_code) || ((uint32_t)kFLEXCAN_RxMbOverrun == rx_code))
    {
        /* Store Message ID. */
        pRxFrame->id = base->MB[mbIdx].ID & (CAN_ID_EXT_MASK | CAN_ID_STD_MASK);

        /* Get the message ID and format. */
        pRxFrame->format = (cs_temp & CAN_CS_IDE_MASK) != 0U ? (uint8_t)kFLEXCAN_FrameFormatExtend :
                                                               (uint8_t)kFLEXCAN_FrameFormatStandard;

        /* Get the message type. */
        pRxFrame->type =
            (cs_temp & CAN_CS_RTR_MASK) != 0U ? (uint8_t)kFLEXCAN_FrameTypeRemote : (uint8_t)kFLEXCAN_FrameTypeData;

        /* Get the message length. */
        pRxFrame->length = (uint8_t)((cs_temp & CAN_CS_DLC_MASK) >> CAN_CS_DLC_SHIFT);

        /* Get the time stamp. */
        pRxFrame->timestamp = (uint16_t)((cs_temp & CAN_CS_TIME_STAMP_MASK) >> CAN_CS_TIME_STAMP_SHIFT);

        /* Store Message Payload. */
        pRxFrame->dataWord0 = base->MB[mbIdx].WORD0;
        pRxFrame->dataWord1 = base->MB[mbIdx].WORD1;

        /* Read free-running timer to unlock Rx Message Buffer. */
        (void)base->TIMER;

        if ((uint32_t)kFLEXCAN_RxMbFull == rx_code)
        {
            status = kStatus_Success;
        }
        else
        {
            status = kStatus_FLEXCAN_RxOverflow;
        }
    }
    else
    {
        /* Read free-running timer to unlock Rx Message Buffer. */
        (void)base->TIMER;

        status = kStatus_Fail;
    }

    return status;
}

#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*!
 * brief Reads a FlexCAN FD Message from Receive Message Buffer.
 *
 * This function reads a CAN FD message from a specified Receive Message Buffer.
 * The function fills a receive CAN FD message frame structure with
 * just received data and activates the Message Buffer again.
 * The function returns immediately.
 *
 * param base FlexCAN peripheral base address.
 * param mbIdx The FlexCAN FD Message Buffer index.
 * param pRxFrame Pointer to CAN FD message frame structure for reception.
 * retval kStatus_Success            - Rx Message Buffer is full and has been read successfully.
 * retval kStatus_FLEXCAN_RxOverflow - Rx Message Buffer is already overflowed and has been read successfully.
 * retval kStatus_Fail               - Rx Message Buffer is empty.
 */
status_t FLEXCAN_ReadFDRxMb(CAN_Type *base, uint8_t mbIdx, flexcan_fd_frame_t *pRxFrame)
{
    /* Assertion. */
    assert(mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK));
    assert(NULL != pRxFrame);
#if !defined(NDEBUG)
    assert(!FLEXCAN_IsMbOccupied(base, mbIdx));
#endif

    status_t status;
    uint32_t cs_temp;
    uint8_t rx_code;
    uint8_t cnt     = 0;
    uint32_t can_id = 0;
    uint32_t dataSize;
    dataSize                  = (base->FDCTRL & CAN_FDCTRL_MBDSR0_MASK) >> CAN_FDCTRL_MBDSR0_SHIFT;
    uint8_t payload_dword     = 1;
    volatile uint32_t *mbAddr = &(base->MB[0].CS);
    uint32_t offset           = FLEXCAN_GetFDMailboxOffset(base, mbIdx);

    /* Read CS field of Rx Message Buffer to lock Message Buffer. */
    cs_temp = mbAddr[offset];
    can_id  = mbAddr[offset + 1U];

    /* Get Rx Message Buffer Code field. */
    rx_code = (uint8_t)((cs_temp & CAN_CS_CODE_MASK) >> CAN_CS_CODE_SHIFT);

    /* Check to see if Rx Message Buffer is full. */
    if (((uint8_t)kFLEXCAN_RxMbFull == rx_code) || ((uint8_t)kFLEXCAN_RxMbOverrun == rx_code))
    {
        /* Store Message ID. */
        pRxFrame->id = can_id & (CAN_ID_EXT_MASK | CAN_ID_STD_MASK);

        /* Get the message ID and format. */
        pRxFrame->format = (cs_temp & CAN_CS_IDE_MASK) != 0U ? (uint8_t)kFLEXCAN_FrameFormatExtend :
                                                               (uint8_t)kFLEXCAN_FrameFormatStandard;

        /* Get the message type. */
        pRxFrame->type =
            (cs_temp & CAN_CS_RTR_MASK) != 0U ? (uint8_t)kFLEXCAN_FrameTypeRemote : (uint8_t)kFLEXCAN_FrameTypeData;

        /* Get the message length. */
        pRxFrame->length = (uint8_t)((cs_temp & CAN_CS_DLC_MASK) >> CAN_CS_DLC_SHIFT);

        /* Get the time stamp. */
        pRxFrame->timestamp = (uint16_t)((cs_temp & CAN_CS_TIME_STAMP_MASK) >> CAN_CS_TIME_STAMP_SHIFT);

        /* Calculate the DWORD number, dataSize 0/1/2/3 corresponds to 8/16/32/64
           Bytes payload. */
        for (cnt = 0; cnt < (dataSize + 1U); cnt++)
        {
            payload_dword *= 2U;
        }

        /* Store Message Payload. */
        for (cnt = 0; cnt < payload_dword; cnt++)
        {
            pRxFrame->dataWord[cnt] = mbAddr[offset + 2U + cnt];
        }

        /* Read free-running timer to unlock Rx Message Buffer. */
        (void)base->TIMER;

        if ((uint32_t)kFLEXCAN_RxMbFull == rx_code)
        {
            status = kStatus_Success;
        }
        else
        {
            status = kStatus_FLEXCAN_RxOverflow;
        }
    }
    else
    {
        /* Read free-running timer to unlock Rx Message Buffer. */
        (void)base->TIMER;

        status = kStatus_Fail;
    }

    return status;
}
#endif

/*!
 * brief Reads a FlexCAN Message from Legacy Rx FIFO.
 *
 * This function reads a CAN message from the FlexCAN Legacy Rx FIFO.
 *
 * param base FlexCAN peripheral base address.
 * param pRxFrame Pointer to CAN message frame structure for reception.
 * retval kStatus_Success - Read Message from Rx FIFO successfully.
 * retval kStatus_Fail    - Rx FIFO is not enabled.
 */
status_t FLEXCAN_ReadRxFifo(CAN_Type *base, flexcan_frame_t *pRxFrame)
{
    /* Assertion. */
    assert(NULL != pRxFrame);

    uint32_t cs_temp;
    status_t status;

    /* Check if Legacy Rx FIFO is Enabled. */
    if (0U != (base->MCR & CAN_MCR_RFEN_MASK))
    {
        /* Read CS field of Rx Message Buffer to lock Message Buffer. */
        cs_temp = base->MB[0].CS;

        /* Read data from Rx FIFO output port. */
        /* Store Message ID. */
        pRxFrame->id = base->MB[0].ID & (CAN_ID_EXT_MASK | CAN_ID_STD_MASK);

        /* Get the message ID and format. */
        pRxFrame->format = (cs_temp & CAN_CS_IDE_MASK) != 0U ? (uint8_t)kFLEXCAN_FrameFormatExtend :
                                                               (uint8_t)kFLEXCAN_FrameFormatStandard;

        /* Get the message type. */
        pRxFrame->type =
            (cs_temp & CAN_CS_RTR_MASK) != 0U ? (uint8_t)kFLEXCAN_FrameTypeRemote : (uint8_t)kFLEXCAN_FrameTypeData;

        /* Get the message length. */
        pRxFrame->length = (uint8_t)((cs_temp & CAN_CS_DLC_MASK) >> CAN_CS_DLC_SHIFT);

        /* Get the time stamp. */
        pRxFrame->timestamp = (uint16_t)((cs_temp & CAN_CS_TIME_STAMP_MASK) >> CAN_CS_TIME_STAMP_SHIFT);

        /* Store Message Payload. */
        pRxFrame->dataWord0 = base->MB[0].WORD0;
        pRxFrame->dataWord1 = base->MB[0].WORD1;

        /* Store ID Filter Hit Index. */
        pRxFrame->idhit = (uint16_t)(base->RXFIR & CAN_RXFIR_IDHIT_MASK);

        /* Read free-running timer to unlock Rx Message Buffer. */
        (void)base->TIMER;

        status = kStatus_Success;
    }
    else
    {
        status = kStatus_Fail;
    }

    return status;
}

#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO)
/*!
 * brief Reads a FlexCAN Message from Enhanced Rx FIFO.
 *
 * This function reads a CAN or CAN FD message from the FlexCAN Enhanced Rx FIFO.
 *
 * param base FlexCAN peripheral base address.
 * param pRxFrame Pointer to CAN FD message frame structure for reception.
 * retval kStatus_Success - Read Message from Rx FIFO successfully.
 * retval kStatus_Fail    - Rx FIFO is not enabled.
 */
status_t FLEXCAN_ReadEnhancedRxFifo(CAN_Type *base, flexcan_fd_frame_t *pRxFrame)
{
    /* Assertion. */
    assert(NULL != pRxFrame);

    status_t status;
    uint32_t idHitOff;

    /* Check if Enhanced Rx FIFO is Enabled. */
    if (0U != (base->ERFCR & CAN_ERFCR_ERFEN_MASK))
    {
        /* Enhanced Rx FIFO ID HIT offset is changed dynamically according to data length code (DLC) . */
        idHitOff = (DLC_LENGTH_DECODE(((flexcan_fd_frame_t *)E_RX_FIFO(base))->length) + 3U) / 4U + 3U;
        /* Copy CAN FD Message from Enhanced Rx FIFO, should use the DLC value to identify the bytes that belong to the
         * message which is being read. */
        (void)memcpy((void *)pRxFrame, (void *)(uint32_t *)E_RX_FIFO(base), sizeof(uint32_t) * idHitOff);
        pRxFrame->idhit = pRxFrame->dataWord[idHitOff - 3U];
        /* Clear the unused frame data. */
        for (uint32_t i = (idHitOff - 3U); i < 16U; i++)
        {
            pRxFrame->dataWord[i] = 0x0;
        }

        /* Clear data available flag to let FlexCAN know one frame has been read from the Enhanced Rx FIFO. */
        base->ERFSR = CAN_ERFSR_ERFDA_MASK;
        status      = kStatus_Success;
    }
    else
    {
        status = kStatus_Fail;
    }

    return status;
}
#endif

/*!
 * brief Performs a polling send transaction on the CAN bus.
 *
 * note  A transfer handle does not need to be created  before calling this API.
 *
 * param base FlexCAN peripheral base pointer.
 * param mbIdx The FlexCAN Message Buffer index.
 * param pTxFrame Pointer to CAN message frame to be sent.
 * retval kStatus_Success - Write Tx Message Buffer Successfully.
 * retval kStatus_Fail    - Tx Message Buffer is currently in use.
 */
status_t FLEXCAN_TransferSendBlocking(CAN_Type *base, uint8_t mbIdx, flexcan_frame_t *pTxFrame)
{
    status_t status;

    /* Write Tx Message Buffer to initiate a data sending. */
    if (kStatus_Success == FLEXCAN_WriteTxMb(base, mbIdx, (const flexcan_frame_t *)(uintptr_t)pTxFrame))
    {
/* Wait until CAN Message send out. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
        uint64_t u64flag = 1;
        while (0U == FLEXCAN_GetMbStatusFlags(base, u64flag << mbIdx))
#else
        uint32_t u32flag = 1;
        while (0U == FLEXCAN_GetMbStatusFlags(base, u32flag << mbIdx))
#endif
        {
        }

/* Clean Tx Message Buffer Flag. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
        FLEXCAN_ClearMbStatusFlags(base, u64flag << mbIdx);
#else
        FLEXCAN_ClearMbStatusFlags(base, u32flag << mbIdx);
#endif
        /*After TX MB tranfered success, update the Timestamp from MB[mbIdx].CS register*/
        pTxFrame->timestamp = (uint16_t)((base->MB[mbIdx].CS & CAN_CS_TIME_STAMP_MASK) >> CAN_CS_TIME_STAMP_SHIFT);

        status = kStatus_Success;
    }
    else
    {
        status = kStatus_Fail;
    }

    return status;
}

/*!
 * brief Performs a polling receive transaction on the CAN bus.
 *
 * note  A transfer handle does not need to be created  before calling this API.
 *
 * param base FlexCAN peripheral base pointer.
 * param mbIdx The FlexCAN Message Buffer index.
 * param pRxFrame Pointer to CAN message frame structure for reception.
 * retval kStatus_Success            - Rx Message Buffer is full and has been read successfully.
 * retval kStatus_FLEXCAN_RxOverflow - Rx Message Buffer is already overflowed and has been read successfully.
 * retval kStatus_Fail               - Rx Message Buffer is empty.
 */
status_t FLEXCAN_TransferReceiveBlocking(CAN_Type *base, uint8_t mbIdx, flexcan_frame_t *pRxFrame)
{
/* Wait until Rx Message Buffer non-empty. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
    uint64_t u64flag = 1;
    while (0U == FLEXCAN_GetMbStatusFlags(base, u64flag << mbIdx))
#else
    uint32_t u32flag = 1;
    while (0U == FLEXCAN_GetMbStatusFlags(base, u32flag << mbIdx))
#endif
    {
    }

/* Clean Rx Message Buffer Flag. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
    FLEXCAN_ClearMbStatusFlags(base, u64flag << mbIdx);
#else
    FLEXCAN_ClearMbStatusFlags(base, u32flag << mbIdx);
#endif

    /* Read Received CAN Message. */
    return FLEXCAN_ReadRxMb(base, mbIdx, pRxFrame);
}

#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*!
 * brief Performs a polling send transaction on the CAN bus.
 *
 * note  A transfer handle does not need to be created before calling this API.
 *
 * param base FlexCAN peripheral base pointer.
 * param mbIdx The FlexCAN FD Message Buffer index.
 * param pTxFrame Pointer to CAN FD message frame to be sent.
 * retval kStatus_Success - Write Tx Message Buffer Successfully.
 * retval kStatus_Fail    - Tx Message Buffer is currently in use.
 */
status_t FLEXCAN_TransferFDSendBlocking(CAN_Type *base, uint8_t mbIdx, flexcan_fd_frame_t *pTxFrame)
{
    status_t status;

    /* Write Tx Message Buffer to initiate a data sending. */
    if (kStatus_Success == FLEXCAN_WriteFDTxMb(base, mbIdx, (const flexcan_fd_frame_t *)(uintptr_t)pTxFrame))
    {
/* Wait until CAN Message send out. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
        uint64_t u64flag = 1;
        while (0U == FLEXCAN_GetMbStatusFlags(base, u64flag << mbIdx))
#else
        uint32_t u32flag = 1;
        while (0U == FLEXCAN_GetMbStatusFlags(base, u32flag << mbIdx))
#endif
        {
        }

/* Clean Tx Message Buffer Flag. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
        FLEXCAN_ClearMbStatusFlags(base, u64flag << mbIdx);
#else
        FLEXCAN_ClearMbStatusFlags(base, u32flag << mbIdx);
#endif
        /*After TX MB tranfered success, update the Timestamp from base->MB[offset for CAN FD].CS register*/
        volatile uint32_t *mbAddr = &(base->MB[0].CS);
        uint32_t offset           = FLEXCAN_GetFDMailboxOffset(base, mbIdx);
        pTxFrame->timestamp       = (uint16_t)((mbAddr[offset] & CAN_CS_TIME_STAMP_MASK) >> CAN_CS_TIME_STAMP_SHIFT);

        status = kStatus_Success;
    }
    else
    {
        status = kStatus_Fail;
    }

    return status;
}

/*!
 * brief Performs a polling receive transaction on the CAN bus.
 *
 * note  A transfer handle does not need to be created before calling this API.
 *
 * param base FlexCAN peripheral base pointer.
 * param mbIdx The FlexCAN FD Message Buffer index.
 * param pRxFrame Pointer to CAN FD message frame structure for reception.
 * retval kStatus_Success            - Rx Message Buffer is full and has been read successfully.
 * retval kStatus_FLEXCAN_RxOverflow - Rx Message Buffer is already overflowed and has been read successfully.
 * retval kStatus_Fail               - Rx Message Buffer is empty.
 */
status_t FLEXCAN_TransferFDReceiveBlocking(CAN_Type *base, uint8_t mbIdx, flexcan_fd_frame_t *pRxFrame)
{
/* Wait until Rx Message Buffer non-empty. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
    uint64_t u64flag = 1;
    while (0U == FLEXCAN_GetMbStatusFlags(base, u64flag << mbIdx))
#else
    uint32_t u32flag = 1;
    while (0U == FLEXCAN_GetMbStatusFlags(base, u32flag << mbIdx))
#endif
    {
    }

/* Clean Rx Message Buffer Flag. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
    FLEXCAN_ClearMbStatusFlags(base, u64flag << mbIdx);
#else
    FLEXCAN_ClearMbStatusFlags(base, u32flag << mbIdx);
#endif

    /* Read Received CAN Message. */
    return FLEXCAN_ReadFDRxMb(base, mbIdx, pRxFrame);
}
#endif

/*!
 * brief Performs a polling receive transaction from Legacy Rx FIFO on the CAN bus.
 *
 * note  A transfer handle does not need to be created before calling this API.
 *
 * param base FlexCAN peripheral base pointer.
 * param pRxFrame Pointer to CAN message frame structure for reception.
 * retval kStatus_Success - Read Message from Rx FIFO successfully.
 * retval kStatus_Fail    - Rx FIFO is not enabled.
 */
status_t FLEXCAN_TransferReceiveFifoBlocking(CAN_Type *base, flexcan_frame_t *pRxFrame)
{
    status_t rxFifoStatus;

    /* Wait until Legacy Rx FIFO non-empty. */
    while (0U == FLEXCAN_GetMbStatusFlags(base, (uint32_t)kFLEXCAN_RxFifoFrameAvlFlag))
    {
    }

    /* Read data from Legacy Rx FIFO. */
    rxFifoStatus = FLEXCAN_ReadRxFifo(base, pRxFrame);

    /* Clean Rx Fifo available flag. */
    FLEXCAN_ClearMbStatusFlags(base, (uint32_t)kFLEXCAN_RxFifoFrameAvlFlag);

    return rxFifoStatus;
}

#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO)
/*!
 * brief Performs a polling receive transaction from Enhanced Rx FIFO on the CAN bus.
 *
 * note  A transfer handle does not need to be created before calling this API.
 *
 * param base FlexCAN peripheral base pointer.
 * param pRxFrame Pointer to CAN FD message frame structure for reception.
 * retval kStatus_Success - Read Message from Rx FIFO successfully.
 * retval kStatus_Fail    - Rx FIFO is not enabled.
 */
status_t FLEXCAN_TransferReceiveEnhancedFifoBlocking(CAN_Type *base, flexcan_fd_frame_t *pRxFrame)
{
    status_t rxFifoStatus;

    /* Wait until Enhanced Rx FIFO non-empty. */
    while (0U == (FLEXCAN_GetStatusFlags(base) & (uint64_t)kFLEXCAN_ERxFifoDataAvlIntFlag))
    {
    }

    /* Read data from Enhanced Rx FIFO */
    rxFifoStatus = FLEXCAN_ReadEnhancedRxFifo(base, pRxFrame);

    return rxFifoStatus;
}
#endif

/*!
 * brief Initializes the FlexCAN handle.
 *
 * This function initializes the FlexCAN handle, which can be used for other FlexCAN
 * transactional APIs. Usually, for a specified FlexCAN instance,
 * call this API once to get the initialized handle.
 *
 * param base FlexCAN peripheral base address.
 * param handle FlexCAN handle pointer.
 * param callback The callback function.
 * param userData The parameter of the callback function.
 */
void FLEXCAN_TransferCreateHandle(CAN_Type *base,
                                  flexcan_handle_t *handle,
                                  flexcan_transfer_callback_t callback,
                                  void *userData)
{
    assert(NULL != handle);

    uint8_t instance;

    /* Clean FlexCAN transfer handle. */
    (void)memset(handle, 0, sizeof(*handle));

    /* Get instance from peripheral base address. */
    instance = (uint8_t)FLEXCAN_GetInstance(base);

    /* Save the context in global variables to support the double weak mechanism. */
    s_flexcanHandle[instance] = handle;

    /* Register Callback function. */
    handle->callback = callback;
    handle->userData = userData;

    s_flexcanIsr = FLEXCAN_TransferHandleIRQ;

    /* We Enable Error & Status interrupt here, because this interrupt just
     * report current status of FlexCAN module through Callback function.
     * It is insignificance without a available callback function.
     */
    if (handle->callback != NULL)
    {
        FLEXCAN_EnableInterrupts(
            base, (uint32_t)kFLEXCAN_BusOffInterruptEnable | (uint32_t)kFLEXCAN_ErrorInterruptEnable |
                      (uint32_t)kFLEXCAN_RxWarningInterruptEnable | (uint32_t)kFLEXCAN_TxWarningInterruptEnable |
                      (uint32_t)kFLEXCAN_WakeUpInterruptEnable
#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE)
                      | (uint64_t)kFLEXCAN_PNMatchWakeUpInterruptEnable |
                      (uint64_t)kFLEXCAN_PNTimeoutWakeUpInterruptEnable
#endif
#if (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL)
                      | (uint64_t)kFLEXCAN_HostAccessNCErrorInterruptEnable |
                      (uint64_t)kFLEXCAN_FlexCanAccessNCErrorInterruptEnable |
                      (uint64_t)kFLEXCAN_HostOrFlexCanCErrorInterruptEnable
#endif
        );
    }
    else
    {
        FLEXCAN_DisableInterrupts(
            base, (uint32_t)kFLEXCAN_BusOffInterruptEnable | (uint32_t)kFLEXCAN_ErrorInterruptEnable |
                      (uint32_t)kFLEXCAN_RxWarningInterruptEnable | (uint32_t)kFLEXCAN_TxWarningInterruptEnable |
                      (uint32_t)kFLEXCAN_WakeUpInterruptEnable
#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE)
                      | (uint64_t)kFLEXCAN_PNMatchWakeUpInterruptEnable |
                      (uint64_t)kFLEXCAN_PNTimeoutWakeUpInterruptEnable
#endif
#if (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL)
                      | (uint64_t)kFLEXCAN_HostAccessNCErrorInterruptEnable |
                      (uint64_t)kFLEXCAN_FlexCanAccessNCErrorInterruptEnable |
                      (uint64_t)kFLEXCAN_HostOrFlexCanCErrorInterruptEnable
#endif
        );
    }

    /* Enable interrupts in NVIC. */
    (void)EnableIRQ((IRQn_Type)(s_flexcanRxWarningIRQ[instance]));
    (void)EnableIRQ((IRQn_Type)(s_flexcanTxWarningIRQ[instance]));
    (void)EnableIRQ((IRQn_Type)(s_flexcanWakeUpIRQ[instance]));
    (void)EnableIRQ((IRQn_Type)(s_flexcanErrorIRQ[instance]));
    (void)EnableIRQ((IRQn_Type)(s_flexcanBusOffIRQ[instance]));
    (void)EnableIRQ((IRQn_Type)(s_flexcanMbIRQ[instance]));
}

/*!
 * brief Sends a message using IRQ.
 *
 * This function sends a message using IRQ. This is a non-blocking function, which returns
 * right away. When messages have been sent out, the send callback function is called.
 *
 * param base FlexCAN peripheral base address.
 * param handle FlexCAN handle pointer.
 * param pMbXfer FlexCAN Message Buffer transfer structure. See the #flexcan_mb_transfer_t.
 * retval kStatus_Success        Start Tx Message Buffer sending process successfully.
 * retval kStatus_Fail           Write Tx Message Buffer failed.
 * retval kStatus_FLEXCAN_TxBusy Tx Message Buffer is in use.
 */
status_t FLEXCAN_TransferSendNonBlocking(CAN_Type *base, flexcan_handle_t *handle, flexcan_mb_transfer_t *pMbXfer)
{
    /* Assertion. */
    assert(NULL != handle);
    assert(NULL != pMbXfer);
    assert(pMbXfer->mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK));
#if !defined(NDEBUG)
    assert(!FLEXCAN_IsMbOccupied(base, pMbXfer->mbIdx));
#endif

    status_t status;

    /* Check if Message Buffer is idle. */
    if ((uint8_t)kFLEXCAN_StateIdle == handle->mbState[pMbXfer->mbIdx])
    {
        /* Distinguish transmit type. */
        if ((uint32_t)kFLEXCAN_FrameTypeRemote == pMbXfer->frame->type)
        {
            handle->mbState[pMbXfer->mbIdx] = (uint8_t)kFLEXCAN_StateTxRemote;
        }
        else
        {
            handle->mbState[pMbXfer->mbIdx] = (uint8_t)kFLEXCAN_StateTxData;
        }

        if (kStatus_Success ==
            FLEXCAN_WriteTxMb(base, pMbXfer->mbIdx, (const flexcan_frame_t *)(uintptr_t)pMbXfer->frame))
        {
/* Enable Message Buffer Interrupt. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
            uint64_t u64mask = 1;
            FLEXCAN_EnableMbInterrupts(base, u64mask << pMbXfer->mbIdx);
#else
            uint32_t u32mask = 1;
            FLEXCAN_EnableMbInterrupts(base, u32mask << pMbXfer->mbIdx);
#endif
            status = kStatus_Success;
        }
        else
        {
            handle->mbState[pMbXfer->mbIdx] = (uint8_t)kFLEXCAN_StateIdle;
            status                          = kStatus_Fail;
        }
    }
    else
    {
        status = kStatus_FLEXCAN_TxBusy;
    }

    return status;
}

/*!
 * brief Receives a message using IRQ.
 *
 * This function receives a message using IRQ. This is non-blocking function, which returns
 * right away. When the message has been received, the receive callback function is called.
 *
 * param base FlexCAN peripheral base address.
 * param handle FlexCAN handle pointer.
 * param pMbXfer FlexCAN Message Buffer transfer structure. See the #flexcan_mb_transfer_t.
 * retval kStatus_Success        - Start Rx Message Buffer receiving process successfully.
 * retval kStatus_FLEXCAN_RxBusy - Rx Message Buffer is in use.
 */
status_t FLEXCAN_TransferReceiveNonBlocking(CAN_Type *base, flexcan_handle_t *handle, flexcan_mb_transfer_t *pMbXfer)
{
    status_t status;

    /* Assertion. */
    assert(NULL != handle);
    assert(NULL != pMbXfer);
    assert(pMbXfer->mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK));
#if !defined(NDEBUG)
    assert(!FLEXCAN_IsMbOccupied(base, pMbXfer->mbIdx));
#endif

    /* Check if Message Buffer is idle. */
    if ((uint8_t)kFLEXCAN_StateIdle == handle->mbState[pMbXfer->mbIdx])
    {
        handle->mbState[pMbXfer->mbIdx] = (uint8_t)kFLEXCAN_StateRxData;

        /* Register Message Buffer. */
        handle->mbFrameBuf[pMbXfer->mbIdx] = pMbXfer->frame;

/* Enable Message Buffer Interrupt. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
        uint64_t u64mask = 1;
        FLEXCAN_EnableMbInterrupts(base, u64mask << pMbXfer->mbIdx);
#else
        uint32_t u32mask = 1;
        FLEXCAN_EnableMbInterrupts(base, u32mask << pMbXfer->mbIdx);
#endif

        status = kStatus_Success;
    }
    else
    {
        status = kStatus_FLEXCAN_RxBusy;
    }

    return status;
}

#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*!
 * brief Sends a message using IRQ.
 *
 * This function sends a message using IRQ. This is a non-blocking function, which returns
 * right away. When messages have been sent out, the send callback function is called.
 *
 * param base FlexCAN peripheral base address.
 * param handle FlexCAN handle pointer.
 * param pMbXfer FlexCAN FD Message Buffer transfer structure. See the #flexcan_mb_transfer_t.
 * retval kStatus_Success        Start Tx Message Buffer sending process successfully.
 * retval kStatus_Fail           Write Tx Message Buffer failed.
 * retval kStatus_FLEXCAN_TxBusy Tx Message Buffer is in use.
 */
status_t FLEXCAN_TransferFDSendNonBlocking(CAN_Type *base, flexcan_handle_t *handle, flexcan_mb_transfer_t *pMbXfer)
{
    /* Assertion. */
    assert(NULL != handle);
    assert(NULL != pMbXfer);
    assert(pMbXfer->mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK));
#if !defined(NDEBUG)
    assert(!FLEXCAN_IsMbOccupied(base, pMbXfer->mbIdx));
#endif

    status_t status;

    /* Check if Message Buffer is idle. */
    if ((uint8_t)kFLEXCAN_StateIdle == handle->mbState[pMbXfer->mbIdx])
    {
        /* Distinguish transmit type. */
        if ((uint32_t)kFLEXCAN_FrameTypeRemote == pMbXfer->framefd->type)
        {
            handle->mbState[pMbXfer->mbIdx] = (uint8_t)kFLEXCAN_StateTxRemote;
        }
        else
        {
            handle->mbState[pMbXfer->mbIdx] = (uint8_t)kFLEXCAN_StateTxData;
        }

        if (kStatus_Success ==
            FLEXCAN_WriteFDTxMb(base, pMbXfer->mbIdx, (const flexcan_fd_frame_t *)(uintptr_t)pMbXfer->framefd))
        {
/* Enable Message Buffer Interrupt. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
            uint64_t u64mask = 1;
            FLEXCAN_EnableMbInterrupts(base, u64mask << pMbXfer->mbIdx);
#else
            uint32_t u32mask = 1;
            FLEXCAN_EnableMbInterrupts(base, u32mask << pMbXfer->mbIdx);
#endif

            status = kStatus_Success;
        }
        else
        {
            handle->mbState[pMbXfer->mbIdx] = (uint8_t)kFLEXCAN_StateIdle;
            status                          = kStatus_Fail;
        }
    }
    else
    {
        status = kStatus_FLEXCAN_TxBusy;
    }

    return status;
}

/*!
 * brief Receives a message using IRQ.
 *
 * This function receives a message using IRQ. This is non-blocking function, which returns
 * right away. When the message has been received, the receive callback function is called.
 *
 * param base FlexCAN peripheral base address.
 * param handle FlexCAN handle pointer.
 * param pMbXfer FlexCAN FD Message Buffer transfer structure. See the #flexcan_mb_transfer_t.
 * retval kStatus_Success        - Start Rx Message Buffer receiving process successfully.
 * retval kStatus_FLEXCAN_RxBusy - Rx Message Buffer is in use.
 */
status_t FLEXCAN_TransferFDReceiveNonBlocking(CAN_Type *base, flexcan_handle_t *handle, flexcan_mb_transfer_t *pMbXfer)
{
    /* Assertion. */
    assert(NULL != handle);
    assert(NULL != pMbXfer);
    assert(pMbXfer->mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK));
#if !defined(NDEBUG)
    assert(!FLEXCAN_IsMbOccupied(base, pMbXfer->mbIdx));
#endif

    status_t status;

    /* Check if Message Buffer is idle. */
    if ((uint8_t)kFLEXCAN_StateIdle == handle->mbState[pMbXfer->mbIdx])
    {
        handle->mbState[pMbXfer->mbIdx] = (uint8_t)kFLEXCAN_StateRxData;

        /* Register Message Buffer. */
        handle->mbFDFrameBuf[pMbXfer->mbIdx] = pMbXfer->framefd;

/* Enable Message Buffer Interrupt. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
        uint64_t u64mask = 1;
        FLEXCAN_EnableMbInterrupts(base, u64mask << pMbXfer->mbIdx);
#else
        uint32_t u32mask = 1;
        FLEXCAN_EnableMbInterrupts(base, u32mask << pMbXfer->mbIdx);
#endif

        status = kStatus_Success;
    }
    else
    {
        status = kStatus_FLEXCAN_RxBusy;
    }

    return status;
}
#endif

/*!
 * brief Receives a message from Legacy Rx FIFO using IRQ.
 *
 * This function receives a message using IRQ. This is a non-blocking function, which returns
 * right away. When all messages have been received, the receive callback function is called.
 *
 * param base FlexCAN peripheral base address.
 * param handle FlexCAN handle pointer.
 * param pFifoXfer FlexCAN Rx FIFO transfer structure. See the ref flexcan_fifo_transfer_t.
 * retval kStatus_Success            - Start Rx FIFO receiving process successfully.
 * retval kStatus_FLEXCAN_RxFifoBusy - Rx FIFO is currently in use.
 */
status_t FLEXCAN_TransferReceiveFifoNonBlocking(CAN_Type *base,
                                                flexcan_handle_t *handle,
                                                flexcan_fifo_transfer_t *pFifoXfer)
{
    /* Assertion. */
    assert(NULL != handle);
    assert(NULL != pFifoXfer);

    status_t status;
    uint32_t irqMask = (uint32_t)kFLEXCAN_RxFifoOverflowFlag | (uint32_t)kFLEXCAN_RxFifoWarningFlag;

    /* Check if Message Buffer is idle. */
    if ((uint8_t)kFLEXCAN_StateIdle == handle->rxFifoState)
    {
        handle->rxFifoState = (uint8_t)kFLEXCAN_StateRxFifo;

        /* Register Message Buffer. */
        handle->rxFifoFrameBuf         = pFifoXfer->frame;
        handle->rxFifoFrameNum         = pFifoXfer->frameNum;
        handle->rxFifoTransferTotalNum = pFifoXfer->frameNum;

        if (handle->rxFifoTransferTotalNum < 5U)
        {
            /* Enable data available interrupt. */
            irqMask |= (uint32_t)kFLEXCAN_RxFifoFrameAvlFlag;
        }

        /* Enable Message Buffer Interrupt. */
        FLEXCAN_EnableMbInterrupts(base, irqMask);

        status = kStatus_Success;
    }
    else
    {
        status = kStatus_FLEXCAN_RxFifoBusy;
    }

    return status;
}

/*!
 * brief Gets the Legacy Rx Fifo transfer status during a interrupt non-blocking receive.
 *
 * param base FlexCAN peripheral base address.
 * param handle FlexCAN handle pointer.
 * param count Number of CAN messages receive so far by the non-blocking transaction.
 * retval kStatus_InvalidArgument count is Invalid.
 * retval kStatus_Success Successfully return the count.
 */

status_t FLEXCAN_TransferGetReceiveFifoCount(CAN_Type *base, flexcan_handle_t *handle, size_t *count)
{
    assert(NULL != handle);

    status_t result = kStatus_Success;

    if (handle->rxFifoState == (uint32_t)kFLEXCAN_StateIdle)
    {
        result = kStatus_NoTransferInProgress;
    }
    else
    {
        *count = handle->rxFifoTransferTotalNum - handle->rxFifoFrameNum;
    }

    return result;
}

#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO)
/*!
 * brief Receives a message from Enhanced Rx FIFO using IRQ.
 *
 * This function receives a message using IRQ. This is a non-blocking function, which returns
 * right away. When all messages have been received, the receive callback function is called.
 *
 * param base FlexCAN peripheral base address.
 * param handle FlexCAN handle pointer.
 * param pFifoXfer FlexCAN Rx FIFO transfer structure. See the ref flexcan_fifo_transfer_t.
 * retval kStatus_Success            - Start Rx FIFO receiving process successfully.
 * retval kStatus_FLEXCAN_RxFifoBusy - Rx FIFO is currently in use.
 */
status_t FLEXCAN_TransferReceiveEnhancedFifoNonBlocking(CAN_Type *base,
                                                        flexcan_handle_t *handle,
                                                        flexcan_fifo_transfer_t *pFifoXfer)
{
    /* Assertion. */
    assert(NULL != handle);
    assert(NULL != pFifoXfer);

    status_t status;
    uint32_t watermark = ((base->ERFCR & CAN_ERFCR_ERFWM_MASK) >> CAN_ERFCR_ERFWM_SHIFT) + 1U;
    uint64_t irqMask =
        (uint64_t)kFLEXCAN_ERxFifoUnderflowInterruptEnable | (uint64_t)kFLEXCAN_ERxFifoOverflowInterruptEnable;

    /* Check if Enhanced Rx FIFO is idle. */
    if ((uint8_t)kFLEXCAN_StateIdle == handle->rxFifoState)
    {
        handle->rxFifoState = (uint8_t)kFLEXCAN_StateRxFifo;

        /* Register Message Buffer. */
        handle->rxFifoFDFrameBuf       = pFifoXfer->framefd;
        handle->rxFifoFrameNum         = pFifoXfer->frameNum;
        handle->rxFifoTransferTotalNum = pFifoXfer->frameNum;

        if (handle->rxFifoTransferTotalNum >= watermark)
        {
            /* Enable watermark interrupt. */
            irqMask |= (uint64_t)kFLEXCAN_ERxFifoWatermarkInterruptEnable;
        }
        else
        {
            /* Enable data available interrupt. */
            irqMask |= (uint64_t)kFLEXCAN_ERxFifoDataAvlInterruptEnable;
        }
        /* Enable Enhanced Rx FIFO Interrupt. */
        FLEXCAN_EnableInterrupts(base, irqMask);

        status = kStatus_Success;
    }
    else
    {
        status = kStatus_FLEXCAN_RxFifoBusy;
    }

    return status;
}
#endif

/*!
 * brief Aborts the interrupt driven message send process.
 *
 * This function aborts the interrupt driven message send process.
 *
 * param base FlexCAN peripheral base address.
 * param handle FlexCAN handle pointer.
 * param mbIdx The FlexCAN Message Buffer index.
 */
void FLEXCAN_TransferAbortSend(CAN_Type *base, flexcan_handle_t *handle, uint8_t mbIdx)
{
    uint16_t timestamp;

    /* Assertion. */
    assert(NULL != handle);
    assert(mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK));
#if !defined(NDEBUG)
    assert(!FLEXCAN_IsMbOccupied(base, mbIdx));
#endif

/* Disable Message Buffer Interrupt. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
    uint64_t u64mask = 1;
    FLEXCAN_DisableMbInterrupts(base, u64mask << mbIdx);
#else
    uint32_t u32mask = 1;
    FLEXCAN_DisableMbInterrupts(base, u32mask << mbIdx);
#endif

    /* Update the TX frame 's time stamp by MB[mbIdx].cs. */
    timestamp                = (uint16_t)((base->MB[mbIdx].CS & CAN_CS_TIME_STAMP_MASK) >> CAN_CS_TIME_STAMP_SHIFT);
    handle->timestamp[mbIdx] = timestamp;

    /* Clean Message Buffer. */
    FLEXCAN_SetTxMbConfig(base, mbIdx, true);

    handle->mbState[mbIdx] = (uint8_t)kFLEXCAN_StateIdle;
}

#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
/*!
 * brief Aborts the interrupt driven message send process.
 *
 * This function aborts the interrupt driven message send process.
 *
 * param base FlexCAN peripheral base address.
 * param handle FlexCAN handle pointer.
 * param mbIdx The FlexCAN FD Message Buffer index.
 */
void FLEXCAN_TransferFDAbortSend(CAN_Type *base, flexcan_handle_t *handle, uint8_t mbIdx)
{
    volatile uint32_t *mbAddr;
    uint32_t offset;
    uint16_t timestamp;

    /* Assertion. */
    assert(NULL != handle);
    assert(mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK));
#if !defined(NDEBUG)
    assert(!FLEXCAN_IsMbOccupied(base, mbIdx));
#endif

/* Disable Message Buffer Interrupt. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
    uint64_t u64mask = 1;
    FLEXCAN_DisableMbInterrupts(base, u64mask << mbIdx);
#else
    uint32_t u32mask = 1;
    FLEXCAN_DisableMbInterrupts(base, u32mask << mbIdx);
#endif

    /* Update the TX frame 's time stamp by base->MB[offset for CAN FD].CS. */
    mbAddr                   = &(base->MB[0].CS);
    offset                   = FLEXCAN_GetFDMailboxOffset(base, mbIdx);
    timestamp                = (uint16_t)((mbAddr[offset] & CAN_CS_TIME_STAMP_MASK) >> CAN_CS_TIME_STAMP_SHIFT);
    handle->timestamp[mbIdx] = timestamp;

    /* Clean Message Buffer. */
    FLEXCAN_SetFDTxMbConfig(base, mbIdx, true);

    handle->mbState[mbIdx] = (uint8_t)kFLEXCAN_StateIdle;
}

/*!
 * brief Aborts the interrupt driven message receive process.
 *
 * This function aborts the interrupt driven message receive process.
 *
 * param base FlexCAN peripheral base address.
 * param handle FlexCAN handle pointer.
 * param mbIdx The FlexCAN FD Message Buffer index.
 */
void FLEXCAN_TransferFDAbortReceive(CAN_Type *base, flexcan_handle_t *handle, uint8_t mbIdx)
{
    /* Assertion. */
    assert(NULL != handle);
    assert(mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK));
#if !defined(NDEBUG)
    assert(!FLEXCAN_IsMbOccupied(base, mbIdx));
#endif

/* Disable Message Buffer Interrupt. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
    uint64_t u64mask = 1;
    FLEXCAN_DisableMbInterrupts(base, u64mask << mbIdx);
#else
    uint32_t u32mask = 1;
    FLEXCAN_DisableMbInterrupts(base, u32mask << mbIdx);
#endif

    /* Un-register handle. */
    handle->mbFDFrameBuf[mbIdx] = NULL;
    handle->mbState[mbIdx]      = (uint8_t)kFLEXCAN_StateIdle;
}
#endif

/*!
 * brief Aborts the interrupt driven message receive process.
 *
 * This function aborts the interrupt driven message receive process.
 *
 * param base FlexCAN peripheral base address.
 * param handle FlexCAN handle pointer.
 * param mbIdx The FlexCAN Message Buffer index.
 */
void FLEXCAN_TransferAbortReceive(CAN_Type *base, flexcan_handle_t *handle, uint8_t mbIdx)
{
    /* Assertion. */
    assert(NULL != handle);
    assert(mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK));
#if !defined(NDEBUG)
    assert(!FLEXCAN_IsMbOccupied(base, mbIdx));
#endif

/* Disable Message Buffer Interrupt. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
    uint64_t u64mask = 1;
    FLEXCAN_DisableMbInterrupts(base, (u64mask << mbIdx));
#else
    uint32_t u32mask = 1;
    FLEXCAN_DisableMbInterrupts(base, (u32mask << mbIdx));
#endif

    /* Un-register handle. */
    handle->mbFrameBuf[mbIdx] = NULL;
    handle->mbState[mbIdx]    = (uint8_t)kFLEXCAN_StateIdle;
}

/*!
 * brief Aborts the interrupt driven message receive from Legacy Rx FIFO process.
 *
 * This function aborts the interrupt driven message receive from Legacy Rx FIFO process.
 *
 * param base FlexCAN peripheral base address.
 * param handle FlexCAN handle pointer.
 */
void FLEXCAN_TransferAbortReceiveFifo(CAN_Type *base, flexcan_handle_t *handle)
{
    /* Assertion. */
    assert(NULL != handle);

    /* Check if Rx FIFO is enabled. */
    if (0U != (base->MCR & CAN_MCR_RFEN_MASK))
    {
        /* Disable Rx Message FIFO Interrupts. */
        FLEXCAN_DisableMbInterrupts(base, (uint32_t)kFLEXCAN_RxFifoOverflowFlag | (uint32_t)kFLEXCAN_RxFifoWarningFlag |
                                              (uint32_t)kFLEXCAN_RxFifoFrameAvlFlag);

        /* Un-register handle. */
        handle->rxFifoFrameBuf = NULL;
        /* Clear transfer count. */
        handle->rxFifoFrameNum         = 0U;
        handle->rxFifoTransferTotalNum = 0U;
    }

    handle->rxFifoState = (uint8_t)kFLEXCAN_StateIdle;
}

#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO)
/*!
 * brief Aborts the interrupt driven message receive from Enhanced Rx FIFO process.
 *
 * This function aborts the interrupt driven message receive from Rx FIFO process.
 *
 * param base FlexCAN peripheral base address.
 * param handle FlexCAN handle pointer.
 */
void FLEXCAN_TransferAbortReceiveEnhancedFifo(CAN_Type *base, flexcan_handle_t *handle)
{
    /* Assertion. */
    assert(NULL != handle);

    /* Check if Enhanced Rx FIFO is enabled. */
    if (0U != (base->ERFCR & CAN_ERFCR_ERFEN_MASK))
    {
        /* Disable all Rx Message FIFO interrupts. */
        FLEXCAN_DisableInterrupts(base, (uint64_t)kFLEXCAN_ERxFifoUnderflowInterruptEnable |
                                            (uint64_t)kFLEXCAN_ERxFifoOverflowInterruptEnable |
                                            (uint64_t)kFLEXCAN_ERxFifoWatermarkInterruptEnable |
                                            (uint64_t)kFLEXCAN_ERxFifoDataAvlInterruptEnable);

        /* Un-register handle. */
        handle->rxFifoFDFrameBuf = NULL;
        /* Clear transfer count. */
        handle->rxFifoFrameNum         = 0U;
        handle->rxFifoTransferTotalNum = 0U;
    }

    handle->rxFifoState = (uint8_t)kFLEXCAN_StateIdle;
}
#endif

/*!
 * brief Gets the detail index of Mailbox's Timestamp by handle.
 *
 * Then function can only be used when calling non-blocking Data transfer (TX/RX) API,
 * After TX/RX data transfer done (User can get the status by handler's callback function),
 * we can get the detail index of Mailbox's timestamp by handle,
 * Detail non-blocking data transfer API (TX/RX) contain.
 *   -FLEXCAN_TransferSendNonBlocking
 *   -FLEXCAN_TransferFDSendNonBlocking
 *   -FLEXCAN_TransferReceiveNonBlocking
 *   -FLEXCAN_TransferFDReceiveNonBlocking
 *   -FLEXCAN_TransferReceiveFifoNonBlocking
 *
 * param handle FlexCAN handle pointer.
 * param mbIdx The FlexCAN FD Message Buffer index.
 * return the index of mailbox 's timestamp stored in the handle.
 *
 */
uint32_t FLEXCAN_GetTimeStamp(flexcan_handle_t *handle, uint8_t mbIdx)
{
    /* Assertion. */
    assert(NULL != handle);

    return (uint32_t)(handle->timestamp[mbIdx]);
}

/*!
 * brief Check unhandle interrupt events
 *
 * param base FlexCAN peripheral base address.
 * return TRUE if unhandled interrupt action exist, FALSE if no unhandlered interrupt action exist.
 */
static bool FLEXCAN_CheckUnhandleInterruptEvents(CAN_Type *base)
{
    uint64_t tempmask;
    uint64_t tempflag;
    bool fgRet = false;

    if (0U == (FLEXCAN_GetStatusFlags(base) &
               (FLEXCAN_ERROR_AND_STATUS_INIT_FLAG | FLEXCAN_WAKE_UP_FLAG | FLEXCAN_MEMORY_ENHANCED_RX_FIFO_INIT_FLAG)))
    {
        /* If no error, wake_up or enhanced RX FIFO status, Checking whether exist MB interrupt status and legacy RX
         * FIFO interrupt status */
        tempmask = (uint64_t)base->IMASK1;
        tempflag = (uint64_t)base->IFLAG1;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
        tempmask |= ((uint64_t)base->IMASK2) << 32;
        tempflag |= ((uint64_t)base->IFLAG2) << 32;
#endif
        fgRet = (0U != (tempmask & tempflag));
    }
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO)
    else if (0U != (FLEXCAN_GetStatusFlags(base) & FLEXCAN_MEMORY_ENHANCED_RX_FIFO_INIT_FLAG))
    {
        /* Checking whether exist enhanced RX FIFO interrupt status. */
        tempmask = (uint64_t)base->ERFIER;
        tempflag = (uint64_t)base->ERFSR;
        fgRet    = (0U != (tempmask & tempflag));
    }
#endif
    else
    {
        /* Exist error or wake up flag. */
        fgRet = true;
    }

    return fgRet;
}

/*!
 * brief Sub Handler Data Trasfered Events
 *
 * param base FlexCAN peripheral base address.
 * param handle FlexCAN handle pointer.
 * param pResult Pointer to the Handle result.
 *
 * return the status after handle each data transfered event.
 */
static status_t FLEXCAN_SubHandlerForDataTransfered(CAN_Type *base, flexcan_handle_t *handle, uint32_t *pResult)
{
    status_t status = kStatus_FLEXCAN_UnHandled;
    uint32_t result = 0xFFU;

#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
    uint64_t intflag = (((uint64_t)base->IMASK2 & base->IFLAG2) << 32UL) | (base->IMASK1 & base->IFLAG1);
#else
    uint32_t intflag = base->IMASK1 & base->IFLAG1;
#endif
    /* For this implementation, we solve the Message with lowest MB index first. */
    for (result = 0U; result < (uint32_t)FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base); result++)
    {
        /* Find the lowest unhandled Message Buffer */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
        if (0UL != (intflag & ((uint64_t)1UL << result)))
#else
        if (0UL != (intflag & ((uint32_t)1UL << result)))
#endif
        {
            break;
        }
    }

    /* find Message to deal with. */
    if (result < (uint32_t)FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base))
    {
        /* Solve Legacy Rx FIFO interrupt. */
        if (((uint8_t)kFLEXCAN_StateIdle != handle->rxFifoState) && (result <= (uint32_t)CAN_IFLAG1_BUF7I_SHIFT) &&
            ((base->MCR & CAN_MCR_RFEN_MASK) != 0U))
        {
            uint32_t u32mask = 1;
            switch (u32mask << result)
            {
                case kFLEXCAN_RxFifoOverflowFlag:
                    status = kStatus_FLEXCAN_RxFifoOverflow;
                    break;

                case kFLEXCAN_RxFifoWarningFlag:
                    if ((handle->rxFifoFrameNum > 5U) && (0U != (base->IFLAG1 & (uint32_t)kFLEXCAN_RxFifoFrameAvlFlag)))
                    {
                        for (uint32_t i = 0; i < 5UL; i++)
                        {
                            status = FLEXCAN_ReadRxFifo(base, handle->rxFifoFrameBuf);

                            if (kStatus_Success == status)
                            {
                                /* Align the current rxfifo timestamp to the timestamp array by handle. */
                                handle->timestamp[i] = handle->rxFifoFrameBuf->timestamp;
                                handle->rxFifoFrameBuf++;
                                handle->rxFifoFrameNum--;
                                /* Clean Rx Fifo available flag to discard the frame that has been read. */
                                FLEXCAN_ClearMbStatusFlags(base, (uint32_t)kFLEXCAN_RxFifoFrameAvlFlag);
                            }
                            else
                            {
                                return kStatus_FLEXCAN_RxFifoDisabled;
                            }
                        }
                        if (handle->rxFifoFrameNum < 5UL)
                        {
                            /* Enable data avaliable interrupt. */
                            FLEXCAN_EnableMbInterrupts(base, (uint32_t)kFLEXCAN_RxFifoFrameAvlFlag);
                        }
                        status = kStatus_FLEXCAN_RxFifoBusy;
                    }
                    else
                    {
                        /* Should enter case kFLEXCAN_RxFifoFrameAvlFlag but not, means previous transfer may have
                         * overflow*/
                        status = kStatus_FLEXCAN_RxFifoWarning;
                    }
                    break;

                case kFLEXCAN_RxFifoFrameAvlFlag:
                    /* Whether still has CAN messages remaining to be received. */
                    if (handle->rxFifoFrameNum > 0U)
                    {
                        status = FLEXCAN_ReadRxFifo(base, handle->rxFifoFrameBuf);
                        if (kStatus_Success == status)
                        {
                            /* Align the current (index 0) rxfifo timestamp to the timestamp array by handle. */
                            handle->timestamp[0] = handle->rxFifoFrameBuf->timestamp;
                            handle->rxFifoFrameBuf++;
                            handle->rxFifoFrameNum--;
                        }
                        else
                        {
                            return kStatus_FLEXCAN_RxFifoDisabled;
                        }
                    }
                    if (handle->rxFifoFrameNum == 0U)
                    {
                        /* Stop receiving Ehanced Rx FIFO when the transmission is over. */
                        FLEXCAN_TransferAbortReceiveFifo(base, handle);
                        status = kStatus_FLEXCAN_RxFifoIdle;
                    }
                    else
                    {
                        /* Continue use data avaliable interrupt. */
                        status = kStatus_FLEXCAN_RxFifoBusy;
                    }
                    break;

                default:
                    status = kStatus_FLEXCAN_UnHandled;
                    break;
            }
        }
        else
        {
            /* Get current State of Message Buffer. */
            switch (handle->mbState[result])
            {
                /* Solve Rx Data Frame. */
                case (uint8_t)kFLEXCAN_StateRxData:
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
                    if (0U != (base->MCR & CAN_MCR_FDEN_MASK))
                    {
                        status = FLEXCAN_ReadFDRxMb(base, (uint8_t)result, handle->mbFDFrameBuf[result]);
                        if (kStatus_Success == status)
                        {
                            /* Align the current index of RX MB timestamp to the timestamp array by handle. */
                            handle->timestamp[result] = handle->mbFDFrameBuf[result]->timestamp;
                            status                    = kStatus_FLEXCAN_RxIdle;
                        }
                    }
                    else
#endif
                    {
                        status = FLEXCAN_ReadRxMb(base, (uint8_t)result, handle->mbFrameBuf[result]);
                        if (kStatus_Success == status)
                        {
                            /* Align the current index of RX MB timestamp to the timestamp array by handle. */
                            handle->timestamp[result] = handle->mbFrameBuf[result]->timestamp;
                            status                    = kStatus_FLEXCAN_RxIdle;
                        }
                    }
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
                    if (0U != (base->MCR & CAN_MCR_FDEN_MASK))
                    {
                        FLEXCAN_TransferFDAbortReceive(base, handle, (uint8_t)result);
                    }
                    else
#endif
                    {
                        FLEXCAN_TransferAbortReceive(base, handle, (uint8_t)result);
                    }
                    break;

                /* Sove Rx Remote Frame.  User need to Read the frame in Mail box in time by Read from MB API. */
                case (uint8_t)kFLEXCAN_StateRxRemote:
                    status = kStatus_FLEXCAN_RxRemote;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
                    if (0U != (base->MCR & CAN_MCR_FDEN_MASK))
                    {
                        FLEXCAN_TransferFDAbortReceive(base, handle, (uint8_t)result);
                    }
                    else
#endif
                    {
                        FLEXCAN_TransferAbortReceive(base, handle, (uint8_t)result);
                    }
                    break;

                /* Solve Tx Data Frame. */
                case (uint8_t)kFLEXCAN_StateTxData:
                    status = kStatus_FLEXCAN_TxIdle;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE) && FSL_FEATURE_FLEXCAN_HAS_FLEXIBLE_DATA_RATE)
                    if (0U != (base->MCR & CAN_MCR_FDEN_MASK))
                    {
                        FLEXCAN_TransferFDAbortSend(base, handle, (uint8_t)result);
                    }
                    else
#endif
                    {
                        FLEXCAN_TransferAbortSend(base, handle, (uint8_t)result);
                    }
                    break;

                /* Solve Tx Remote Frame. */
                case (uint8_t)kFLEXCAN_StateTxRemote:
                    handle->mbState[result] = (uint8_t)kFLEXCAN_StateRxRemote;
                    status                  = kStatus_FLEXCAN_TxSwitchToRx;
                    break;

                default:
                    status = kStatus_FLEXCAN_UnHandled;
                    break;
            }
        }

        /* Clear resolved Message Buffer IRQ. */
#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0)
        uint64_t u64flag = 1;
        FLEXCAN_ClearMbStatusFlags(base, u64flag << result);
#else
        uint32_t u32flag = 1;
        FLEXCAN_ClearMbStatusFlags(base, u32flag << result);
#endif
    }

    *pResult = result;

    return status;
}

#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO)
/*!
 * brief Sub Handler Ehanced Rx FIFO event
 *
 * param base FlexCAN peripheral base address.
 * param handle FlexCAN handle pointer.
 * param flags FlexCAN interrupt flags.
 *
 * return the status after handle Ehanced Rx FIFO event.
 */
static status_t FLEXCAN_SubHandlerForEhancedRxFifo(CAN_Type *base, flexcan_handle_t *handle, uint64_t flags)
{
    uint32_t watermark = ((base->ERFCR & CAN_ERFCR_ERFWM_MASK) >> CAN_ERFCR_ERFWM_SHIFT) + 1U;
    uint32_t transferFrames;

    status_t status;
    /* Solve Ehanced Rx FIFO interrupt. */
    if ((0u != (flags & (uint64_t)kFLEXCAN_ERxFifoUnderflowIntFlag)) &&
        (0u != (base->ERFIER & CAN_ERFIER_ERFUFWIE_MASK)))
    {
        status = kStatus_FLEXCAN_RxFifoUnderflow;
        FLEXCAN_ClearStatusFlags(base, (uint64_t)kFLEXCAN_ERxFifoUnderflowIntFlag);
    }
    else if ((0u != (flags & (uint64_t)kFLEXCAN_ERxFifoOverflowIntFlag)) &&
             (0u != (base->ERFIER & CAN_ERFIER_ERFOVFIE_MASK)))
    {
        status = kStatus_FLEXCAN_RxFifoOverflow;
        FLEXCAN_ClearStatusFlags(base, (uint64_t)kFLEXCAN_ERxFifoOverflowIntFlag);
    }
    else if ((0u != (flags & (uint64_t)kFLEXCAN_ERxFifoWatermarkIntFlag)) &&
             (0u != (base->ERFIER & CAN_ERFIER_ERFWMIIE_MASK)))
    {
        /* Whether the number of CAN messages remaining to be received is greater than the watermark. */
        transferFrames = (handle->rxFifoFrameNum > watermark) ? watermark : handle->rxFifoFrameNum;

        for (uint32_t i = 0; i < transferFrames; i++)
        {
            status = FLEXCAN_ReadEnhancedRxFifo(base, handle->rxFifoFDFrameBuf);

            if (kStatus_Success == status)
            {
                handle->rxFifoFDFrameBuf++;
                handle->rxFifoFrameNum--;
                /* Clear data Watermark flag due to has read back one frame. */
                base->ERFSR = CAN_ERFSR_ERFWMI_MASK;
            }
            else
            {
                return kStatus_FLEXCAN_RxFifoDisabled;
            }
        }
        if (handle->rxFifoFrameNum == 0U)
        {
            /* Stop receiving Ehanced Rx FIFO when the transmission is over. */
            FLEXCAN_TransferAbortReceiveEnhancedFifo(base, handle);
            status = kStatus_FLEXCAN_RxFifoIdle;
        }
        else if (handle->rxFifoFrameNum < watermark)
        {
            /* Disable watermark interrupt and enable data avaliable interrupt. */
            FLEXCAN_DisableInterrupts(base, (uint64_t)kFLEXCAN_ERxFifoWatermarkInterruptEnable);
            FLEXCAN_EnableInterrupts(base, (uint64_t)kFLEXCAN_ERxFifoDataAvlInterruptEnable);
            status = kStatus_FLEXCAN_RxFifoBusy;
        }
        else
        {
            /* Continue use watermark interrupt. */
            status = kStatus_FLEXCAN_RxFifoBusy;
        }
    }
    else
    {
        /* Data available status, check Whether still has CAN messages remaining to be received. */
        if (handle->rxFifoFrameNum > 0U)
        {
            status = FLEXCAN_ReadEnhancedRxFifo(base, handle->rxFifoFDFrameBuf);

            if (kStatus_Success == status)
            {
                handle->rxFifoFDFrameBuf++;
                handle->rxFifoFrameNum--;
            }
            else
            {
                return kStatus_FLEXCAN_RxFifoDisabled;
            }
        }
        if (handle->rxFifoFrameNum == 0U)
        {
            /* Stop receiving Ehanced Rx FIFO when the transmission is over. */
            FLEXCAN_TransferAbortReceiveEnhancedFifo(base, handle);
            status = kStatus_FLEXCAN_RxFifoIdle;
        }
        else
        {
            /* Continue use data avaliable interrupt. */
            status = kStatus_FLEXCAN_RxFifoBusy;
        }
    }
    return status;
}
#endif

/*!
 * brief FlexCAN IRQ handle function.
 *
 * This function handles the FlexCAN Error, the Message Buffer, and the Rx FIFO IRQ request.
 *
 * param base FlexCAN peripheral base address.
 * param handle FlexCAN handle pointer.
 */
void FLEXCAN_TransferHandleIRQ(CAN_Type *base, flexcan_handle_t *handle)
{
    /* Assertion. */
    assert(NULL != handle);

    status_t status;
    uint32_t mbNum = 0xFFU;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_PN_MODE) && FSL_FEATURE_FLEXCAN_HAS_PN_MODE) ||                   \
    (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) || \
    (defined(FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL) && FSL_FEATURE_FLEXCAN_HAS_MEMORY_ERROR_CONTROL)
    uint64_t result = 0U;
#else
    uint32_t result = 0U;
#endif
    do
    {
        /* Get Current FlexCAN Module Error and Status. */
        result = FLEXCAN_GetStatusFlags(base);

        /* To handle FlexCAN Error and Status Interrupt first. */
        if (0U != (result & FLEXCAN_ERROR_AND_STATUS_INIT_FLAG))
        {
            status = kStatus_FLEXCAN_ErrorStatus;
            /* Clear FlexCAN Error and Status Interrupt. */
            FLEXCAN_ClearStatusFlags(base, FLEXCAN_ERROR_AND_STATUS_INIT_FLAG);
        }
        else if (0U != (result & FLEXCAN_WAKE_UP_FLAG))
        {
            status = kStatus_FLEXCAN_WakeUp;
            FLEXCAN_ClearStatusFlags(base, FLEXCAN_WAKE_UP_FLAG);
        }
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO) && FSL_FEATURE_FLEXCAN_HAS_ENHANCED_RX_FIFO)
        else if (0U != (FLEXCAN_EFIFO_STATUS_UNMASK(result & FLEXCAN_MEMORY_ENHANCED_RX_FIFO_INIT_FLAG) & base->ERFIER))
        {
            status = FLEXCAN_SubHandlerForEhancedRxFifo(base, handle, result);
        }
#endif
        else
        {
            /* To handle Message Buffer or Legacy Rx FIFO transfer. */
            status = FLEXCAN_SubHandlerForDataTransfered(base, handle, &mbNum);
            result = mbNum;
        }

        /* Calling Callback Function if has one. */
        if (handle->callback != NULL)
        {
            handle->callback(base, handle, status, result, handle->userData);
        }
    } while (FLEXCAN_CheckUnhandleInterruptEvents(base));
}

#if defined(CAN0)
void CAN0_DriverIRQHandler(void);
void CAN0_DriverIRQHandler(void)
{
    assert(NULL != s_flexcanHandle[0]);

    s_flexcanIsr(CAN0, s_flexcanHandle[0]);
    SDK_ISR_EXIT_BARRIER;
}
#endif

#if defined(CAN1)
void CAN1_DriverIRQHandler(void);
void CAN1_DriverIRQHandler(void)
{
    assert(NULL != s_flexcanHandle[1]);

    s_flexcanIsr(CAN1, s_flexcanHandle[1]);
    SDK_ISR_EXIT_BARRIER;
}
#endif

#if defined(CAN2)
void CAN2_DriverIRQHandler(void);
void CAN2_DriverIRQHandler(void)
{
    assert(NULL != s_flexcanHandle[2]);

    s_flexcanIsr(CAN2, s_flexcanHandle[2]);
    SDK_ISR_EXIT_BARRIER;
}
#endif

#if defined(CAN3)
void CAN3_DriverIRQHandler(void);
void CAN3_DriverIRQHandler(void)
{
    assert(NULL != s_flexcanHandle[3]);

    s_flexcanIsr(CAN3, s_flexcanHandle[3]);
    SDK_ISR_EXIT_BARRIER;
}
#endif

#if defined(CAN4)
void CAN4_DriverIRQHandler(void);
void CAN4_DriverIRQHandler(void)
{
    assert(NULL != s_flexcanHandle[4]);

    s_flexcanIsr(CAN4, s_flexcanHandle[4]);
    SDK_ISR_EXIT_BARRIER;
}
#endif

#if defined(DMA__CAN0)
void DMA_FLEXCAN0_INT_DriverIRQHandler(void);
void DMA_FLEXCAN0_INT_DriverIRQHandler(void)
{
    assert(NULL != s_flexcanHandle[FLEXCAN_GetInstance(DMA__CAN0)]);

    s_flexcanIsr(DMA__CAN0, s_flexcanHandle[FLEXCAN_GetInstance(DMA__CAN0)]);
    SDK_ISR_EXIT_BARRIER;
}
#endif

#if defined(DMA__CAN1)
void DMA_FLEXCAN1_INT_DriverIRQHandler(void);
void DMA_FLEXCAN1_INT_DriverIRQHandler(void)
{
    assert(NULL != s_flexcanHandle[FLEXCAN_GetInstance(DMA__CAN1)]);

    s_flexcanIsr(DMA__CAN1, s_flexcanHandle[FLEXCAN_GetInstance(DMA__CAN1)]);
    SDK_ISR_EXIT_BARRIER;
}
#endif

#if defined(DMA__CAN2)
void DMA_FLEXCAN2_INT_DriverIRQHandler(void);
void DMA_FLEXCAN2_INT_DriverIRQHandler(void)
{
    assert(NULL != s_flexcanHandle[FLEXCAN_GetInstance(DMA__CAN2)]);

    s_flexcanIsr(DMA__CAN2, s_flexcanHandle[FLEXCAN_GetInstance(DMA__CAN2)]);
    SDK_ISR_EXIT_BARRIER;
}
#endif

#if defined(ADMA__CAN0)
void ADMA_FLEXCAN0_INT_DriverIRQHandler(void);
void ADMA_FLEXCAN0_INT_DriverIRQHandler(void)
{
    assert(NULL != s_flexcanHandle[FLEXCAN_GetInstance(ADMA__CAN0)]);

    s_flexcanIsr(ADMA__CAN0, s_flexcanHandle[FLEXCAN_GetInstance(ADMA__CAN0)]);
    SDK_ISR_EXIT_BARRIER;
}
#endif

#if defined(ADMA__CAN1)
void ADMA_FLEXCAN1_INT_DriverIRQHandler(void);
void ADMA_FLEXCAN1_INT_DriverIRQHandler(void)
{
    assert(NULL != s_flexcanHandle[FLEXCAN_GetInstance(ADMA__CAN1)]);

    s_flexcanIsr(ADMA__CAN1, s_flexcanHandle[FLEXCAN_GetInstance(ADMA__CAN1)]);
    SDK_ISR_EXIT_BARRIER;
}
#endif

#if defined(ADMA__CAN2)
void ADMA_FLEXCAN2_INT_DriverIRQHandler(void);
void ADMA_FLEXCAN2_INT_DriverIRQHandler(void)
{
    assert(NULL != s_flexcanHandle[FLEXCAN_GetInstance(ADMA__CAN2)]);

    s_flexcanIsr(ADMA__CAN2, s_flexcanHandle[FLEXCAN_GetInstance(ADMA__CAN2)]);
    SDK_ISR_EXIT_BARRIER;
}
#endif

#if defined(FLEXCAN1)
void CAN_FD1_DriverIRQHandler(void)
{
    assert(NULL != s_flexcanHandle[1]);

    s_flexcanIsr(FLEXCAN1, s_flexcanHandle[1]);
    SDK_ISR_EXIT_BARRIER;
}
#endif

#if defined(FLEXCAN2)
void CAN_FD2_DriverIRQHandler(void)
{
    assert(NULL != s_flexcanHandle[2]);

    s_flexcanIsr(FLEXCAN2, s_flexcanHandle[2]);
    SDK_ISR_EXIT_BARRIER;
}
#endif