How to Enable

Features Supported

Controller Features:

• Compatible with the ISO 11898 -1, CAN 2.0A, and CAN 2.0B standards
• Standard (11-bit identifier) and extended (29-bit identifier) frames
• Flexible Bit rates up to 8 Mb/s
• Nominal Bit rates up to 1 Mb/s
• Transmit message FIFO (TxFIFO) with a depth of 64 messages
• Watermark interrupts for TxFIFO and RxFIFO
• Automatic re-transmission on errors or arbitration loss in normal mode
• Two 64-deep RX FIFOs with 32 ID Filter-Mask pairs
• Four Rx acceptance filters with enables, masks and IDs
• Loop back and snoop modes for diagnostic applications
• Mask able error and status interrupts
• 16-Bit time stamping for receive message
• Readable Rx/Tx error counters
• Message with lowest ID transmitted first

Driver Features:

• Supports Standard and extended frames
• Supports Config, Sleep, Normal and snoop modes
• Supports Acceptance filter configurations
• Supports Polled and interrupt modes
• Water mark interrupt support for both Tx and Rx FIFOs

Test cases

Canfd polled mode test

https://github.com/Xilinx/embeddedsw/blob/master/XilinxProcessorIPLib/drivers/canfd/examples/xcanfd_polled_example.c

Polled Mode test::
CANFD Polled Mode Example Test
Successfully ran XCanFd Polled Mode example

Canfd interrupt mode test

Interrupt Mode test:
CANFD Interrupt Example Test
Successfully ran XCanFd Interrupt Mode example

Known issues and Limitations

• None

Change Log

• 2019.1

  • Summary:
    • None
      
      

• 2019.2

  
  
  • Summary
    • canfd:Fixes incorrect mask values for CANFD2.0
  • Commits
    • e1d5650c canfd:Fixes incorrect mask values for CANFD2.0

• 2020.1

  • Summary:
    • canfd:Used correct macro to access RX FIFO1 buffer
    • canfd:Fixed missing RX can packets on CANFD2.0
    • canfd: Updated tcl file to support AXI CANFD and CANFD
    • canfd: Fix missing TX canfd packet in loopback
    • canfd: Added support for Protocol Exception and BusOff Event support.
    • canfd: Added PEE support and updated BusOff EventHandler.
    • canfd: Fix sending extra frames in XCanFd_Send_Queue.
    • canfd: Initialize IsPl of config structure
  • Commits:
    • 182ead82 :Used correct macro to access RX FIFO1 buffer
    • a750484d :Fixed missing RX can packets on CANFD2.0
    • d66e87bf :Updated tcl file to support AXI CANFD and CANFD
    • fa8441de :Fix missing TX canfd packet in loopback
    • dee69bb8 :Added support for Protocol Exception and BusOff Event support.
    • 0cff0aa1 :Added PEE support and updated BusOff EventHandler
    • 417e3677 :Fix sending extra frames in XCanFd_Send_Queue
    • 914c2bdf :Initialize IsPl of config structure

• 2020.2

  • Summary:
    • canfd: Update Makefile for parallel make execution
  • Commits
    • 59aa1f canfd: Update Makefile for parallel make execution

• 2021.1

  • https://github.com/Xilinx/embeddedsw/blob/xilinx_v2021.1/doc/ChangeLog#L1060