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Driver Implementation
For a full list of features supported by this IP, please refer Chapter 66: Can Controller in Versal Trm
Features Supported
Features
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
Example Applications
Refer to the driver examples directory for various example applications that exercise the different features of the driver. Each application is linked in the table below. The following sections describe the usage and expected output of the various applications. These example applications can be imported into the Vitis IDE from the Board Support Package settings tab.Links to Examples
Examples Path:
https://github.com/Xilinx/embeddedsw/tree/master/XilinxProcessorIPLib/drivers/canfd/examples
| Test Name | Source | Description |
|---|---|---|
| Polled | xcanfd_polled_example.c | It configures the CANFD controller in loop back mode with no interrupt enabled and verifies the data received with data sent |
| Interrupt | xcanfd_intr_example.c | It configures the CANFD controller in loop back mode with interrupts enabled and verifies the data received with data sent |
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