{"type":"doc","content":[{"type":"extension","attrs":{"layout":"default","extensionType":"com.atlassian.confluence.macro.core","extensionKey":"toc","parameters":{"macroParams":{"_parentId":{"value":"18842496"}},"macroMetadata":{"macroId":{"value":"1697aaea-4d40-4dec-8492-172d91c795c5"},"schemaVersion":{"value":"1"},"title":"Table of Contents"}},"localId":"3c382c9b-5b4c-4fc3-843b-7f90e59efff4"}},{"type":"heading","attrs":{"level":1},"content":[{"text":"Introduction","type":"text"}]},{"type":"paragraph","content":[{"text":"This page gives an overview of Axi Can/ CANPS/ Axi CAN FD/ CANFD PS driver which is available as part of the xilinx Linux distribution or Open source linux as","type":"text"},{"type":"hardBreak"},{"text":"drivers/net/can/xilinx_can.c","type":"text"},{"type":"hardBreak"},{"type":"hardBreak"},{"text":"This information corresponds to the CAN driver that is the main branch of the Git tree.","type":"text"},{"type":"hardBreak"},{"text":"This driver supports both ZYNQ CANPS IP and Soft IP axi_can and axi_canfd.","type":"text"}]},{"type":"paragraph","content":[{"text":"This driver supports both ZYNQMP CANPS IP and Soft IP axi_can and axi_canfd.","type":"text"}]},{"type":"paragraph","content":[{"text":"This driver supports both Versal, Versal Gen 2 CANFD PS IP and Soft IP axi_can and axi_canfd.","type":"text"},{"type":"hardBreak"},{"text":"This driver defines the architecture and features of the Xilinx CAN controller core.","type":"text"},{"type":"hardBreak"},{"type":"hardBreak"}]},{"type":"heading","attrs":{"level":1},"content":[{"text":"HW/IP Features","type":"text"}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"CAN","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Conforms to the ISO 11898 -1, CAN 2.0A, and CAN2.0B standards","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Supports Industrial (I) and Extended TemperatureRange (Q) grade device support","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Supports both standard (11-bit identifier) andextended (29-bit identifier) frames","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Supports up to 1 Mbps","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Transmit message FIFO with a user-configurable depth of up to 64 messages","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Transmit prioritization through one High-Priority Transmit buffer","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Automatic re-transmission on errors or arbitration loss","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Receive message FIFO with a user- configurable depth of up to 64 messages","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Acceptance filtering (through a user-configurable number) of up to four acceptance filters","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Sleep Mode with automatic walk-up","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Loop Back Mode for diagnostic applications","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Maskable Error and Status Interrupts","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Readable Error Counters","type":"text"}]}]}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"CANFD","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Designed to ISO 11898-1/2015 specification","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Supports both CAN and CAN FD frames","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Supports the CAN FD frame format specified in the ISO 11898:2015 specification","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Supports up to 64 byte CAN FD frames","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Supports flexible data rates up to 8 Mb/s","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Supports nominal data rates up to 1 Mb/s","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Up to three data bit transmitter delay compensation","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"TX and RX mailbox buffers with configurable depth","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Two 64-deep RX FIFOs with 32 ID Filter-Mask pairs","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Message with lowest ID transmitted first","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Supports TX message cancellation","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Separate error logging for fast data rate","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Timestamp for transmitted and received messages","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Supports transmit event FIFO","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Supports the following modes:","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Disable Auto-Retransmission (DAR) mode","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Snoop (Bus Monitoring) mode","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Sleep mode with Wake-Up Interrupt","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Internal Loopback mode","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Bus-Off Recovery mode - Auto-Recovery - User intervention for Auto-Recovery","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Disable Protocol Exception Event mode","type":"text"}]}]}]}]}]},{"type":"paragraph","content":[{"type":"hardBreak"}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"Features supported in driver","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Conforms to the ISO 11898 -1, CAN 2.0A, and CAN2.0B standards","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Supports Industrial (I) and Extended TemperatureRange (Q) grade device support","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Supports both standard (11-bit identifier) andextended (29-bit identifier) frames","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Supports normal bit rates up to 1 Mbps and flexible bit rates up to 8Mbps","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Transmit message FIFO with a user-configurable depth of up to 64 messages","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Transmit prioritization through one High-Priority Transmit buffer","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Automatic re-transmission on errors or arbitration loss","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Receive message FIFO with a user- configurable depth of up to 64 messages","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Loop Back Mode for diagnostic applications","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Maskable Error and Status Interrupts","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Readable Error Counters","type":"text"}]}]}]},{"type":"paragraph","content":[{"type":"hardBreak"}]},{"type":"heading","attrs":{"level":1},"content":[{"text":"Missing features, Known Issues and Limitations","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Frame work won't support Acceptance filters","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Frame work won't support water marking","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Frame work won't support Multiple RX buffers","type":"text"}]}]}]},{"type":"paragraph","content":[{"type":"hardBreak"}]},{"type":"heading","attrs":{"level":1},"content":[{"text":"Kernel Configuration","type":"text"}]},{"type":"paragraph","content":[{"text":"Xilinx CAN drivers is not enabled in the current default kernel configuration. The following steps may be used to enable the driver in the kernel configuration.","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"type":"inlineExtension","attrs":{"extensionType":"com.atlassian.confluence.migration","extensionKey":"inline-media-image","parameters":{"width":"","id":"80563013-d486-46a6-8b80-4256c73f5087","collection":"contentId-18842496","height":""}}},{"type":"hardBreak"},{"type":"hardBreak"},{"text":"The driver is available at,","type":"text"},{"type":"hardBreak"},{"text":"https://github.com/Xilinx/linux-xlnx/blob/master/drivers/net/can/xilinx_can.c","type":"text","marks":[{"type":"underline"},{"type":"textColor","attrs":{"color":"#0066cc"}},{"type":"link","attrs":{"href":"https://github.com/Xilinx/linux-xlnx/blob/master/drivers/net/can/xilinx_can.c"}}]},{"type":"hardBreak"}]},{"type":"heading","attrs":{"level":1},"content":[{"text":"Device Tree","type":"text"}]},{"type":"paragraph","content":[{"text":"For More details about the device tree bindings doc please refer to the Documentation/devicetree/bindings/net/can/xilinx_can.txt file","type":"text"},{"type":"hardBreak"}]},{"type":"codeBlock","content":[{"text":"For Zynq CANPS Dts file:\n zynq_can_0: can@e0008000 {\n compatible = \"xlnx,zynq-can-1.0\";\n clocks = <&clkc 19>, <&clkc 36>;\n clock-names = \"can_clk\", \"pclk\";\n reg = <0xe0008000 0x1000>;\n interrupts = <0 28 4>;\n interrupt-parent = <&intc>;\n tx-fifo-depth = <0x40>;\n rx-fifo-depth = <0x40>;\n };\nFor Axi CAN Dts file:\n axi_can_0: axi-can@40000000 {\n compatible = \"xlnx,axi-can-1.00.a\";\n clocks = <&clkc 0>, <&clkc 1>;\n clock-names = \"can_clk\",\"s_axi_aclk\" ;\n reg = <0x40000000 0x10000>;\n interrupt-parent = <&intc>;\n interrupts = <0 59 1>;\n tx-fifo-depth = <0x40>;\n rx-fifo-depth = <0x40>;\n };\nFor CAN FD 1.0:\n axi_can_0: axi-can@40000000 {\n compatible = \"xlnx-canfd-1.0\";\n clocks = <&clkc 0>, <&clkc 1>;\n clock-names = \"can_clk\",\"s_axi_aclk\" ;\n reg = <0x40000000 0x10000>;\n interrupt-parent = <&intc>;\n interrupts = <0 59 1>;\n tx-fifo-depth = <0x40>;\n rx-fifo-depth = <0x40>;\n };\nFor CAN FD 2.0:\n axi_can_0: canfd@80000000 {\n\t\t\tclock-names \"can_clk\", \"can_clk_x2\", \"s_axi_aclk\";\n\t\t\tclocks <0x18 0x19 0x0 0x3 0x47>;\n\t\t\tcompatible \"xlnx,canfd-2.0\";\n\t\t\tinterrupt-names \"ip2bus_intrevent\";\n\t\t\tinterrupt-parent <0x4>;\n\t\t\tinterrupts <0x0 0x59 0x4>;\n\t\t\treg <0x0 0x80000000 0x0 0x10000>;\n\t\t\trx-fifo-depth <0x20>;\n\t\t\ttx-mailbox-count <0x20>;\n\t\t};\n\nNote: There is no software difference between AXI CANFD and CANFD PS. So compatible \"xlnx,canfd-2.0\" will work for both.","type":"text"}]},{"type":"heading","attrs":{"level":1},"content":[{"text":"Test Procedure","type":"text"}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"CAN Driver Testing from user space","type":"text"}]},{"type":"paragraph","content":[{"text":"In order to test Xilinx CAN driver there is user space utilities called can-utils available for the user and user need to cross compile those utilities in order to test","type":"text"},{"type":"hardBreak"},{"text":"the this driver.","type":"text"},{"type":"hardBreak"},{"type":"hardBreak"},{"text":"CAN:","type":"text","marks":[{"type":"underline"},{"type":"strong"}]},{"type":"hardBreak"},{"text":"Attached the Cross compiled can-utils for the Microblaze and ARM(Cortexa9) architectures.","type":"text"},{"type":"hardBreak"},{"text":"Microblaze Cross compiled CAN utils:","type":"text"},{"type":"hardBreak"},{"type":"hardBreak"}]},{"type":"mediaGroup","content":[{"type":"media","attrs":{"__fileSize":217927,"__fileMimeType":"application/octet-stream","id":"d996f40c-de48-41f8-bce2-b0a88397e30a","collection":"contentId-18842496","type":"file","__fileName":"microblaze_canutils.rar"}}]},{"type":"paragraph","content":[{"type":"hardBreak"},{"type":"hardBreak"},{"text":"ARM(ZYNQ) cortexa9 Cross compiled CAN utils:","type":"text"},{"type":"hardBreak"},{"type":"hardBreak"}]},{"type":"mediaGroup","content":[{"type":"media","attrs":{"__fileSize":70224,"__fileMimeType":"application/octet-stream","id":"1e1de8cd-86fd-4c8a-a2c1-3b489b1cee04","collection":"contentId-18842496","type":"file","__fileName":"zynq_canutils.rar"}}]},{"type":"paragraph","content":[{"type":"hardBreak"},{"text":"A53 Cross compiled CAN utils:","type":"text"},{"type":"hardBreak"}]},{"type":"mediaGroup","content":[{"type":"media","attrs":{"__fileSize":395850,"__fileMimeType":"application/octet-stream","id":"ef6292b9-1523-4c07-94bd-44775d9d850a","collection":"contentId-18842496","type":"file","__fileName":"canutils_a53.rar"}}]},{"type":"paragraph","content":[{"type":"hardBreak"},{"type":"hardBreak"},{"text":"CANFD:","type":"text","marks":[{"type":"underline"},{"type":"strong"}]},{"type":"hardBreak"},{"text":"Xilinx CANFD hw supports this. The same linux can driver support this can fd feature","type":"text"},{"type":"hardBreak"},{"text":"But to test this CANFD Support need to download canutils","type":"text"},{"type":"hardBreak"},{"text":"from ","type":"text"},{"text":"https://github.com/linux-can/can-utils","type":"text","marks":[{"type":"link","attrs":{"href":"https://github.com/linux-can/can-utils"}}]},{"type":"hardBreak"},{"type":"hardBreak"},{"text":"Microblaze Cross compiled CANUtils","type":"text"},{"type":"hardBreak"},{"type":"hardBreak"}]},{"type":"mediaGroup","content":[{"type":"media","attrs":{"__fileSize":210899,"__fileMimeType":"application/zip","id":"ab68e5de-6675-46ef-977d-9314aacdf4a9","collection":"contentId-18842496","type":"file","__fileName":"Microblaze_canutils.zip"}}]},{"type":"paragraph","content":[{"type":"hardBreak"},{"type":"hardBreak"},{"text":"ARM(ZYNQ) cortexa9 Cross compiled CAN utils:","type":"text"},{"type":"hardBreak"},{"type":"hardBreak"}]},{"type":"mediaGroup","content":[{"type":"media","attrs":{"__fileSize":895443,"__fileMimeType":"application/zip","id":"4263ba09-39dc-4b9e-a747-443d4a792823","collection":"contentId-18842496","type":"file","__fileName":"zynq_canutils.zip"}}]},{"type":"paragraph","content":[{"type":"hardBreak"},{"type":"hardBreak"},{"type":"hardBreak"},{"text":"To run CAN, use the below command:","type":"text"},{"type":"hardBreak"},{"text":"1. Set bit-timing","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" Can supports bitrates upto 1Mb/s. Xilinx CAN h/w and driver supports these bit rates","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":"Note: Triple sampling is not supported by Xilinx CAN H/W. ","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./ip link set can0 type can bitrate 200000","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" or","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./canconfig can0 bitrate 200000","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" 2. Bring up the device","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./ip link set can0 up","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" or","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./canconfig can0 start","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":"3. Bring down the device","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./ip link set can0 down","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" or","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./canconfig can0 stop","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" 4. Transmit and receive packets with standard id number","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./cansend can0 -i 0x14 ","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./candump can0","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":"5. Transmit and receive packets with extended id number (--loop argument here)","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./cansend can0 -i 0x333 ","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./candump can0","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":"6. Loopback mode","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./canconfig can0 ctrlmode loopback on ","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":"7. Checking link state (checking bitrate/errors/packets)","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./ip -d -s link show can0","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":"8. Checking net device state","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ifconfig can0","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":"9. Getting statistics via proc","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ cat /proc/net/can/stats","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":"10. Socket CAN core uses several filter lists to deliver received CAN frames to CAN protocol modules. These","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" receive lists, their filters and the count of filter matches can be checked in the appropriate receive list. All entries contain the","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" device and a protocol module identifier:","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ cat /proc/net/can/rcvlist_all","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" rcvlist_all - list for unfiltered entries (no filter operations)","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" rcvlist_eff - list for single extended frame (EFF) entries","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" rcvlist_err - list for error message frames masks","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" rcvlist_fil - list for mask/value filters","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" rcvlist_inv - list for mask/value filters (inverse semantic)","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" rcvlist_sff - list for single standard frame (SFF) entries","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"type":"hardBreak"},{"text":"To run CANFD, use the below command:","type":"text"},{"type":"hardBreak"},{"text":"1. Set bit-timing","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" Canfd supports two bitrates, one for Arbitration phase and other for Data phase. Xilinx CANFD h/w and driver supports these bit rates","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./ip link set can0 type can bitrate 125000 dbitrate 8000000 fd on ","type":"text","marks":[{"type":"textColor","attrs":{"color":"#000000"}}]},{"type":"hardBreak"},{"text":"2. Bring up the device","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./ip link set can0 up","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":"3. Bring down the device","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./ip link set can0 down","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":"4. Transmit and receive canfd packets with standard id number","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./cansend can0 213##","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./candump can0","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":"5. Transmit and receive can packets with same controller, since canfd supports backward can also","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./cansend can0 123#","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./candump can0","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":"6. Loopback mode","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./ip link set can0 type can bitrate 125000 dbitrate 8000000 fd on looopback on","type":"text","marks":[{"type":"textColor","attrs":{"color":"#000000"}}]},{"type":"hardBreak"},{"text":"7. Checking link state (checking bitrate/errors/packets)","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ./ip -d link show can0","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":"8. Checking net device state","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" $ ifconfig can0","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"type":"hardBreak"},{"text":"Binding Tests:","type":"text"},{"type":"hardBreak"},{"text":"Microblaze:","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" a. correct binding with","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" XILINX_CAN e0008000.ps7-can: phy mem:0xe0008000..0xe0008fff","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" XILINX_CAN e0008000.ps7-can: reg_base=0xf0062000 irq=60 clock=23809523, tx fifo depth:64 ","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":"b. Incorrect binding - tests suppose to fail","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" I. missing clocks","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" II. missing clock-names","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" III. missing register","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" IV. missing interrupt parent","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" V. missing interrupts number","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"type":"hardBreak"},{"text":"Zynq:","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" a. correct binding with","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" b. Incorrect binding - tests suppose to fail (done on dummy nodes)","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" I. missing clocks","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" II. missing clock-names","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" III. missing register","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" IV. missing interrupt parent","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"text":" V. missing interrupts number","type":"text","marks":[{"type":"backgroundColor","attrs":{"color":"#ffffff"}}]},{"type":"hardBreak"},{"type":"hardBreak"}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"Expected Output","type":"text"}]},{"type":"codeBlock","content":[{"text":"root@Xilinx-ZC702-2013:~# canconfig can3 ctrlmode loopback on\ncan3 ctrlmode: loopback[ON], listen-only[OFF], tripple-sampling[OFF],one-shot[OFF], berr-reporting[OFF]\nroot@Xilinx-ZC702-2013:~# cancon\nroot@Xilinx-ZC702-2013:~# canconfig can3 bitrate 500000\nXILINX_CAN e0008000.ps7-can can3: bitrate error 0.7%\ncan3 bitrate: 496031, sample-point: 0.666\nroot@Xilinx-ZC702-2013:~# canconfig can3 start\ncan3 state: ERROR-ACTIVE\nroot@Xilinx-ZC702-2013:~# cansend can3 -i 0x77 0x33 0x88 0x33 0x88 0x33 0x88 0x33\ninterface = can3, family = 29, type = 3, proto = 1\nroot@Xilinx-ZC702-2013:~# ip -d -s link show can3\n5: can3: mtu 16 qdisc pfifo_fast state UNKNOWN mode DEFAULT qlen 10\n link/can promiscuity 0\n can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0\n bitrate 496031 sample-point 0.666\n tq 672 prop-seg 0 phase-seg1 1 phase-seg2 1 sjw 1\n XILINX_CAN: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..256 brp-inc 1\n clock 23809523\n re-started bus-errors arbit-lost error-warn error-pass bus-off\n 0 0 0 0 0 0\n RX: bytes packets errors dropped overrun mcast\n 7 1 0 0 0 0\n TX: bytes packets errors dropped carrier collsns\n 7 1 0 0 0 0\nroot@Xilinx-ZC702-2013:~# cansend can3 -i 0x33 0x88 0x33 0x88 0x33 0x99 0x33 0x88 0x88\ninterface = can3, family = 29, type = 3, proto = 1\nroot@Xilinx-ZC702-2013:~# ip -d -s link show can3\n5: can3: mtu 16 qdisc pfifo_fast state UNKNOWN mode DEFAULT qlen 10\n link/can promiscuity 0\n can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0\n bitrate 496031 sample-point 0.666\n tq 672 prop-seg 0 phase-seg1 1 phase-seg2 1 sjw 1\n XILINX_CAN: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..256 brp-inc 1\n clock 23809523\n re-started bus-errors arbit-lost error-warn error-pass bus-off\n 0 0 0 0 0 0\n RX: bytes packets errors dropped overrun mcast\n 15 2 0 0 0 0\n TX: bytes packets errors dropped carrier collsns\n 15 2 0 0 0 0\nroot@Xilinx-ZC702-2013:~# cansen\nroot@Xilinx-ZC702-2013:~# cansend can3 -i 0x88 0x33 0x88 0x33 0x88 x0x33 0x88 0x33 0x88 --loop=10\ninterface = can3, family = 29, type = 3, proto = 1\nroot@Xilinx-ZC702-2013:~# ip -d -s link show can3\n5: can3: mtu 16 qdisc pfifo_fast state UNKNOWN mode DEFAULT qlen 10\n link/can promiscuity 0\n can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0\n bitrate 496031 sample-point 0.666\n tq 672 prop-seg 0 phase-seg1 1 phase-seg2 1 sjw 1\n XILINX_CAN: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..256 brp-inc 1\n clock 23809523\n re-started bus-errors arbit-lost error-warn error-pass bus-off\n 0 0 0 0 0 0\n RX: bytes packets errors dropped overrun mcast\n 95 12 0 0 0 0\n TX: bytes packets errors dropped carrier collsns\n 95 12 0 0 0 0\n \nroot@Xilinx-ZC702-2013:~#","type":"text"}]},{"type":"heading","attrs":{"level":1},"content":[{"text":"Mainline status","type":"text"}]},{"type":"paragraph","content":[{"text":"This driver is currently in sync with mainline kernel driver.","type":"text","marks":[{"type":"textColor","attrs":{"color":"#172b4d"}}]}]},{"type":"heading","attrs":{"level":1},"content":[{"text":"Change Log","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"2025.1","type":"text","marks":[{"type":"textColor","attrs":{"color":"#97a0af"}},{"type":"strong"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Summary","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"can: Switch back to struct platform_driver::remove()","type":"text"}]}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Commits","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"221013a","type":"text","marks":[{"type":"link","attrs":{"href":"https://github.com/Xilinx/linux-xlnx/commit/221013afb459e5deb8bd08e29b37050af5586d1c"}}]}]}]}]}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"2024.2","type":"text","marks":[{"type":"textColor","attrs":{"color":"#707070"}},{"type":"strong"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Summary","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"can: xilinx_can: Document driver description to list all supported IPs","type":"text","marks":[{"type":"textColor","attrs":{"color":"#1f2328"}}]}]}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Commits","type":"text","marks":[{"type":"textColor","attrs":{"color":"#1f2328"}}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"deb2aeb","type":"text","marks":[{"type":"link","attrs":{"href":"https://github.com/Xilinx/linux-xlnx/commit/deb2aeb0fbf56170b16b6aa564f22811077bc69d"}}]}]}]}]}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"2024.1","type":"text","marks":[{"type":"textColor","attrs":{"color":"#707070"}},{"type":"strong"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Summary","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"can: xilinx_can: Add ethtool stats interface for ECC errors","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"can: xilinx_can: Add ECC support","type":"text"}]}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Commits","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"f17ed6b","type":"text","marks":[{"type":"link","attrs":{"href":"https://github.com/Xilinx/linux-xlnx/commit/f17ed6b5da61a0326421893770baad881ed6db81"}}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"a6fccd5","type":"text","marks":[{"type":"textColor","attrs":{"color":"#1f2328"}},{"type":"link","attrs":{"href":"https://github.com/Xilinx/linux-xlnx/commit/a6fccd596a18cdfb08c9c6a1ad51282cab6e72bb"}}]}]}]}]}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"2023.2","type":"text","marks":[{"type":"textColor","attrs":{"color":"#707070"}},{"type":"strong"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Summary","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"can: xilinx_can: Add support for controller reset","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"can: dev: add transceiver capabilities to xilinx_can","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"can: xilinx_can: Add missing kernel-doc rstc description","type":"text"}]}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Commits","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"5ff4894","type":"text","marks":[{"type":"link","attrs":{"href":"https://github.com/Xilinx/linux-xlnx/commit/5ff4894358ada0b9cfc9555d35b1e20734c8f8cb"}}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"93e2793","type":"text","marks":[{"type":"link","attrs":{"href":"https://github.com/Xilinx/linux-xlnx/commit/93e2793a7df104b9d665e125a0b5028322bf3c40"}}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"a289a3e","type":"text","marks":[{"type":"link","attrs":{"href":"https://github.com/Xilinx/linux-xlnx/commit/a289a3e20adb0cbc086653a58c66c18cebaca75b"}}]}]}]}]}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"2023.1","type":"text","marks":[{"type":"textColor","attrs":{"color":"#707070"}},{"type":"strong"}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Summary","type":"text","marks":[{"type":"textColor","attrs":{"color":"#24292f"}}]}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"can: xilinx_can: ","type":"text","marks":[{"type":"textColor","attrs":{"color":"#24292f"}}]},{"text":"Revert \"can: xilinx_can: Limit CANFD brp to 2\"","type":"text","marks":[{"type":"textColor","attrs":{"color":"#1f2328"}}]}]}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Commits","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"c6da4590","type":"text","marks":[{"type":"link","attrs":{"href":"https://github.com/Xilinx/linux-xlnx/commit/c6da4590fe819dfe28a4f8037a8dc1e056542fb4"}}]}]}]}]}]}]}]}]},{"type":"heading","attrs":{"level":1},"content":[{"text":"Related Links","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Linux-Drivers","type":"text","marks":[{"type":"link","attrs":{"href":"https://xilinx-wiki.atlassian.net/wiki/display/A/Linux+Drivers"}}]}]}]}]}],"version":1}