This page gives an overview of the bare-metal driver support for the PS and Soft CANFD IP.

1 Table of Contents
2 Introduction
3 Driver Sources
4 Driver Implementation
5 Features
- 5.1 Controller Features:
- 5.2 Driver Features:
6 Example Applications
- 6.1 Links to Examples
- 6.2 Example Application Usage
  - 6.2.1 Canfd polled mode test
  - 6.2.2 Canfd interrupt mode test
7 Change Log
- 7.1 2025.1
- 7.2 2024.2
- 7.3 2024.1
- 7.4 2023.2
- 7.5 2023.1
8 Related Links

Introduction

This page gives an overview of canfd driver which is available as part of the Xilinx Vivado and Vitis Core Development Kit distribution.
For more information, please refer Chapter 66: Can Controller in Versal Trm which includes links to the official documentation and resource utilization.

Driver Sources

The source code for the driver is included with the Vitis Unified Software Platform installation, as well as being available in the Xilinx Github repository.

Driver name	Path in Vitis	Path in GitHub

Driver name	Path in Vitis	Path in GitHub
canfd	<Vitis Install Directory>/data/embedded/XilinxProcessorIPLib/drivers/canfd	https://github.com/Xilinx/embeddedsw/tree/master/XilinxProcessorIPLib/drivers/canfd

Note: To view the sources for a particular release, use the rel-version tag in github. For example, for the 2020.1 release, the proper version of the code is: https://github.com/Xilinx/embeddedsw/tree/master/XilinxProcessorIPLib/drivers/canfd

The driver source code is organized into different folders. The table below shows the canfd driver source organization.

Directory	Description

Directory	Description
data	Driver .tcl, .yaml and .mdd file
doc	Provides the API and data structure details
examples	Example applications that show how to use the driver features
src	Driver source files, make and cmakelists file

Note: AMD Xilinx embeddedsw build flow is changed from 2023.2 release to adapt to the new system device tree based flow. For further information, refer to the wiki page Porting embeddedsw components to system device tree (SDT) based flow - Xilinx Wiki - Confluence (atlassian.net).

The .yaml(in data folder) and CMakeLists.txt(in src folder) files are needed for the System Device Tree based flow. The Driver .tcl and .mdd files are for the older build flow which will be deprecated in the future.

Driver Implementation

For a full list of features supported by this IP, please refer Chapter 66: Can Controller in Versal Trm

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

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

Example Application Usage

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

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

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

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

Change Log

2025.1

https://github.com/Xilinx/embeddedsw/blob/xlnx_rel_v2025.1/doc/ChangeLog#L6

2024.2

None

2024.1

https://github.com/Xilinx/embeddedsw/blob/xilinx_v2024.1/doc/ChangeLog#L176

2023.2

https://github.com/Xilinx/embeddedsw/blob/xilinx_v2023.2/doc/ChangeLog#L682

2023.1

None

CANFD Driver

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