Introduction

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
drivers/net/can/xilinx_can.c

This information corresponds to the CAN driver that is the main branch of the Git tree.
This driver supports both ZYNQ CANPS IP and Soft IP axi_can and axi_canfd.

This driver supports both ZYNQMP CANPS IP and Soft IP axi_can and axi_canfd.

This driver supports both Versal CANFD PS IP and Soft IP axi_can and axi_canfd.
This driver defines the architecture and features of the Xilinx CAN controller core.

HW/IP Features

CAN

Conforms to the ISO 11898 -1, CAN 2.0A, and CAN2.0B standards
Supports Industrial (I) and Extended TemperatureRange (Q) grade device support
Supports both standard (11-bit identifier) andextended (29-bit identifier) frames
Supports up to 1 Mbps
Transmit message FIFO with a user-configurable depth of up to 64 messages
Transmit prioritization through one High-Priority Transmit buffer
Automatic re-transmission on errors or arbitration loss
Receive message FIFO with a user- configurable depth of up to 64 messages
Acceptance filtering (through a user-configurable number) of up to four acceptance filters
Sleep Mode with automatic walk-up
Loop Back Mode for diagnostic applications
Maskable Error and Status Interrupts
Readable Error Counters

CANFD

Designed to ISO 11898-1/2015 specification
Supports both CAN and CAN FD frames
Supports the CAN FD frame format specified in the ISO 11898:2015 specification
Supports up to 64 byte CAN FD frames
Supports flexible data rates up to 8 Mb/s
Supports nominal data rates up to 1 Mb/s
Up to three data bit transmitter delay compensation
TX and RX mailbox buffers with configurable depth
Two 64-deep RX FIFOs with 32 ID Filter-Mask pairs
Message with lowest ID transmitted first
Supports TX message cancellation
Separate error logging for fast data rate
Timestamp for transmitted and received messages
Supports transmit event FIFO
Supports the following modes:
- Disable Auto-Retransmission (DAR) mode
- Snoop (Bus Monitoring) mode
- Sleep mode with Wake-Up Interrupt
- Internal Loopback mode
- Bus-Off Recovery mode - Auto-Recovery - User intervention for Auto-Recovery
- Disable Protocol Exception Event mode

Features supported in driver

Conforms to the ISO 11898 -1, CAN 2.0A, and CAN2.0B standards
Supports Industrial (I) and Extended TemperatureRange (Q) grade device support
Supports both standard (11-bit identifier) andextended (29-bit identifier) frames
Supports normal bit rates up to 1 Mbps and flexible bit rates up to 8Mbps
Transmit message FIFO with a user-configurable depth of up to 64 messages
Transmit prioritization through one High-Priority Transmit buffer
Automatic re-transmission on errors or arbitration loss
Receive message FIFO with a user- configurable depth of up to 64 messages
Loop Back Mode for diagnostic applications
Maskable Error and Status Interrupts
Readable Error Counters

Missing features, Known Issues and Limitations

Frame work won't support Acceptance filters
Frame work won't support water marking
Frame work won't support Multiple RX buffers

Kernel Configuration

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.

The driver is available at,
https://github.com/Xilinx/linux-xlnx/blob/master/drivers/net/can/xilinx_can.c

Device Tree

For More details about the device tree bindings doc please refer to the Documentation/devicetree/bindings/net/can/xilinx_can.txt file

For Zynq CANPS Dts file:
    zynq_can_0: can@e0008000 {
            compatible = "xlnx,zynq-can-1.0";
            clocks = <&clkc 19>, <&clkc 36>;
            clock-names = "can_clk", "pclk";
            reg = <0xe0008000 0x1000>;
            interrupts = <0 28 4>;
            interrupt-parent = <&intc>;
            tx-fifo-depth = <0x40>;
            rx-fifo-depth = <0x40>;
        };
For Axi CAN Dts file:
    axi_can_0: axi-can@40000000 {
            compatible = "xlnx,axi-can-1.00.a";
            clocks = <&clkc 0>, <&clkc 1>;
            clock-names = "can_clk","s_axi_aclk" ;
            reg = <0x40000000 0x10000>;
            interrupt-parent = <&intc>;
            interrupts = <0 59 1>;
            tx-fifo-depth = <0x40>;
            rx-fifo-depth = <0x40>;
        };
For CAN FD 1.0:
 axi_can_0: axi-can@40000000 {
            compatible = "xlnx-canfd-1.0";
            clocks = <&clkc 0>, <&clkc 1>;
            clock-names = "can_clk","s_axi_aclk" ;
            reg = <0x40000000 0x10000>;
            interrupt-parent = <&intc>;
            interrupts = <0 59 1>;
            tx-fifo-depth = <0x40>;
            rx-fifo-depth = <0x40>;
        };
For CAN FD 2.0:
 axi_can_0: canfd@80000000 {
			clock-names   "can_clk", "can_clk_x2", "s_axi_aclk";
			clocks   <0x18 0x19 0x0 0x3 0x47>;
			compatible   "xlnx,canfd-2.0";
			interrupt-names   "ip2bus_intrevent";
			interrupt-parent   <0x4>;
			interrupts   <0x0 0x59 0x4>;
			reg   <0x0 0x80000000 0x0 0x10000>;
			rx-fifo-depth   <0x20>;
			tx-mailbox-count   <0x20>;
		};

Note: There is no software difference between AXI CANFD and CANFD PS. So compatible "xlnx,canfd-2.0" will work for both.

Test Procedure

CAN Driver Testing from user space

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
the this driver.

CAN:
Attached the Cross compiled can-utils for the Microblaze and ARM(Cortexa9) architectures.
Microblaze Cross compiled CAN utils:

ARM(ZYNQ) cortexa9 Cross compiled CAN utils:

A53 Cross compiled CAN utils:

CANFD:
Xilinx CANFD hw supports this. The same linux can driver support this can fd feature
But to test this CANFD Support need to download canutils
from https://github.com/linux-can/can-utils

Microblaze Cross compiled CANUtils

ARM(ZYNQ) cortexa9 Cross compiled CAN utils:

To run CAN, use the below command:
1. Set bit-timing
Can supports bitrates upto 1Mb/s. Xilinx CAN h/w and driver supports these bit rates
Note: Triple sampling is not supported by Xilinx CAN H/W.
$ ./ip link set can0 type can bitrate 200000
or
$ ./canconfig can0 bitrate 200000
2. Bring up the device
$ ./ip link set can0 up
or
$ ./canconfig can0 start
3. Bring down the device
$ ./ip link set can0 down
or
$ ./canconfig can0 stop
4. Transmit and receive packets with standard id number
$ ./cansend can0 -i 0x14 <bytes>
$ ./candump can0
5. Transmit and receive packets with extended id number (--loop argument here)
$ ./cansend can0 -i 0x333 <bytes>
$ ./candump can0
6. Loopback mode
$ ./canconfig can0 ctrlmode loopback on
7. Checking link state (checking bitrate/errors/packets)
$ ./ip -d -s link show can0
8. Checking net device state
$ ifconfig can0
9. Getting statistics via proc
$ cat /proc/net/can/stats
10. Socket CAN core uses several filter lists to deliver received CAN frames to CAN protocol modules. These
receive lists, their filters and the count of filter matches can be checked in the appropriate receive list. All entries contain the
device and a protocol module identifier:
$ cat /proc/net/can/rcvlist_all
rcvlist_all - list for unfiltered entries (no filter operations)
rcvlist_eff - list for single extended frame (EFF) entries
rcvlist_err - list for error message frames masks
rcvlist_fil - list for mask/value filters
rcvlist_inv - list for mask/value filters (inverse semantic)
rcvlist_sff - list for single standard frame (SFF) entries

To run CANFD, use the below command:
1. Set bit-timing
Canfd supports two bitrates, one for Arbitration phase and other for Data phase. Xilinx CANFD h/w and driver supports these bit rates
$ ./ip link set can0 type can bitrate 125000 dbitrate 8000000 fd on
2. Bring up the device
$ ./ip link set can0 up
3. Bring down the device
$ ./ip link set can0 down
4. Transmit and receive canfd packets with standard id number
$ ./cansend can0 213##<bytes>
$ ./candump can0
5. Transmit and receive can packets with same controller, since canfd supports backward can also
$ ./cansend can0 123#<bytes>
$ ./candump can0
6. Loopback mode
$ ./ip link set can0 type can bitrate 125000 dbitrate 8000000 fd on looopback on
7. Checking link state (checking bitrate/errors/packets)
$ ./ip -d link show can0
8. Checking net device state
$ ifconfig can0

Binding Tests:
Microblaze:
a. correct binding with
XILINX_CAN e0008000.ps7-can: phy mem:0xe0008000..0xe0008fff
XILINX_CAN e0008000.ps7-can: reg_base=0xf0062000 irq=60 clock=23809523, tx fifo depth:64
b. Incorrect binding - tests suppose to fail
I. missing clocks
II. missing clock-names
III. missing register
IV. missing interrupt parent
V. missing interrupts number

Zynq:
a. correct binding with
b. Incorrect binding - tests suppose to fail (done on dummy nodes)
I. missing clocks
II. missing clock-names
III. missing register
IV. missing interrupt parent
V. missing interrupts number

Expected Output

root@Xilinx-ZC702-2013:~# canconfig can3 ctrlmode loopback on
can3 ctrlmode: loopback[ON], listen-only[OFF], tripple-sampling[OFF],one-shot[OFF], berr-reporting[OFF]
root@Xilinx-ZC702-2013:~# cancon
root@Xilinx-ZC702-2013:~# canconfig can3 bitrate 500000
XILINX_CAN e0008000.ps7-can can3: bitrate error 0.7%
can3 bitrate: 496031, sample-point: 0.666
root@Xilinx-ZC702-2013:~# canconfig can3 start
can3 state: ERROR-ACTIVE
root@Xilinx-ZC702-2013:~# cansend can3 -i 0x77 0x33 0x88 0x33 0x88 0x33 0x88 0x33
interface = can3, family = 29, type = 3, proto = 1
root@Xilinx-ZC702-2013:~# ip -d -s link show can3
5: can3: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN mode DEFAULT qlen 10
    link/can  promiscuity 0
    can <LOOPBACK> state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
    bitrate 496031 sample-point 0.666
    tq 672 prop-seg 0 phase-seg1 1 phase-seg2 1 sjw 1
    XILINX_CAN: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..256 brp-inc 1
    clock 23809523
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          0          0          0
    RX: bytes  packets  errors  dropped overrun mcast
    7          1        0       0       0       0
    TX: bytes  packets  errors  dropped carrier collsns
    7          1        0       0       0       0
root@Xilinx-ZC702-2013:~# cansend can3 -i 0x33 0x88 0x33 0x88 0x33 0x99 0x33 0x88 0x88
interface = can3, family = 29, type = 3, proto = 1
root@Xilinx-ZC702-2013:~# ip -d -s link show can3
5: can3: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN mode DEFAULT qlen 10
    link/can  promiscuity 0
    can <LOOPBACK> state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
    bitrate 496031 sample-point 0.666
    tq 672 prop-seg 0 phase-seg1 1 phase-seg2 1 sjw 1
    XILINX_CAN: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..256 brp-inc 1
    clock 23809523
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          0          0          0
    RX: bytes  packets  errors  dropped overrun mcast
    15         2        0       0       0       0
    TX: bytes  packets  errors  dropped carrier collsns
    15         2        0       0       0       0
root@Xilinx-ZC702-2013:~# cansen
root@Xilinx-ZC702-2013:~# cansend can3 -i 0x88 0x33 0x88 0x33 0x88 x0x33 0x88 0x33 0x88 --loop=10
interface = can3, family = 29, type = 3, proto = 1
root@Xilinx-ZC702-2013:~# ip -d -s link show can3
5: can3: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN mode DEFAULT qlen 10
    link/can  promiscuity 0
    can <LOOPBACK> state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
    bitrate 496031 sample-point 0.666
    tq 672 prop-seg 0 phase-seg1 1 phase-seg2 1 sjw 1
    XILINX_CAN: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..256 brp-inc 1
    clock 23809523
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          0          0          0
    RX: bytes  packets  errors  dropped overrun mcast
    95         12       0       0       0       0
    TX: bytes  packets  errors  dropped carrier collsns
    95         12       0       0       0       0
 
root@Xilinx-ZC702-2013:~#

Mainline status

This driver is currently in sync with mainline kernel driver.

Change Log

2024.2
- Summary
  - can: xilinx_can: Document driver description to list all supported IPs
- Commits
  - deb2aeb
2024.1
- Summary
  - can: xilinx_can: Add ethtool stats interface for ECC errors
  - can: xilinx_can: Add ECC support
- Commits
  - f17ed6b
  - a6fccd5
2023.2
- Summary
  - can: xilinx_can: Add support for controller reset
  - can: dev: add transceiver capabilities to xilinx_can
  - can: xilinx_can: Add missing kernel-doc rstc description
- Commits
2023.1
- Summary
  - can: xilinx_can: Revert "can: xilinx_can: Limit CANFD brp to 2"
- Commits
  - c6da4590

HW/IP Features

CAN

CANFD

Features supported in driver

Missing features, Known Issues and Limitations

Kernel Configuration

Device Tree

Test Procedure

CAN Driver Testing from user space

Expected Output

Mainline status

Change Log

2024.2

2024.1

2023.2

2023.1

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