CANFD Driver

Introduction

This page gives an overview of canfd driver which is available as part of the Xilinx Vivado and Vitis Core Development Kit distribution.


How to Enable

Source path for the driver:
https://github.com/Xilinx/embeddedsw/tree/master/XilinxProcessorIPLib/drivers/canfd

Driver source code is organized into different folders. Below diagram shows the canfd driver source organization

canfd
|
-- Doc - Provides the API and data structure details
|
- Examples - Reference application to show how to use the driver APIs and calling sequence
|
- Source - Driver source files

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


It configures the CANFD controller in loop back mode with no interrupt enabled and verifies the data received with data sent

Canfd interrupt mode test

https://github.com/Xilinx/embeddedsw/blob/master/XilinxProcessorIPLib/drivers/canfd/examples/xcanfd_intr_example.c
It configures the CANFD controller in loop back mode with interrupts enabled and verifies the data received with data sent

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.
      • canfdFix 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

Related Links