重构bsp层，bsp层将和HAL的配置一致，修改CubeMX之后不需要修改bsp。重构bmi088。

bsp/can/bsp_can.h

@@ -0,0 +1,64 @@
+#ifndef BSP_CAN_H
+#define BSP_CAN_H
+
+#include <stdint.h>
+#include "can.h"
+
+#define MX_REGISTER_DEVICE_CNT 12  // maximum number of device can be registered to CAN service
+                                   // this number depends on the load of CAN bus.
+#define MX_CAN_FILTER_CNT (2 * 14) // temporarily useless
+#define DEVICE_CAN_CNT 2           // CAN1,CAN2
+
+/* can instance typedef, every module registered to CAN should have this variable */
+#pragma pack(1)
+typedef struct _
+{
+    CAN_HandleTypeDef *can_handle; // can句柄
+    CAN_TxHeaderTypeDef txconf;    // CAN报文发送配置
+    uint32_t tx_id;                // 发送id
+    uint32_t tx_mailbox;           // CAN消息填入的邮箱号
+    uint8_t tx_buff[8];            // 发送缓存,发送消息长度可以通过CANSetDLC()设定,最大为8
+    uint8_t rx_buff[8];            // 接收缓存,最大消息长度为8
+    uint32_t rx_id;                // 接收id
+    uint8_t rx_len;                // 接收长度,可能为0-8
+    // 接收的回调函数,用于解析接收到的数据
+    void (*can_module_callback)(struct _ *); // callback needs an instance to tell among registered ones
+    void* id; // 使用can外设的
+} CANInstance;
+#pragma pack()
+
+/* this structure is used for initialization */
+typedef struct
+{
+    CAN_HandleTypeDef *can_handle;
+    uint32_t tx_id;
+    uint32_t rx_id;
+    void (*can_module_callback)(CANInstance *);
+    void* id;
+} CAN_Init_Config_s;
+
+/**
+ * @brief 修改CAN发送报文的数据帧长度;注意最大长度为8,在没有进行修改的时候,默认长度为8
+ *
+ * @param _instance 要修改长度的can实例
+ * @param length    设定长度
+ */
+void CANSetDLC(CANInstance *_instance, uint8_t length);
+
+/**
+ * @brief transmit mesg through CAN device,通过can实例发送消息
+ *        发送前需要向CAN实例的tx_buff写入发送数据
+ *
+ * @param _instance* can instance owned by module
+ */
+void CANTransmit(CANInstance *_instance);
+
+/**
+ * @brief Register a module to CAN service,remember to call this before using a CAN device
+ *        注册(初始化)一个can实例,需要传入初始化配置的指针.
+ * @param config init config
+ * @return CANInstance* can instance owned by module
+ */
+CANInstance *CANRegister(CAN_Init_Config_s *config);
+
+#endif