CAN Driver
This page gives an overview of the bare-metal driver support for the Xilinx® LogiCORE™ Controller Area Network (CAN) soft IP.
Table of Contents
- 1 Introduction
- 2 Driver Sources
- 3 Driver Implementation
- 4 Example Applications
- 4.1 Links to Examples
- 4.2 Example Application Usage
- 4.2.1 CAN examples
- 4.2.2 Expected Output
- 4.2.3 xcan_polled_example.c
- 4.2.4 xcan_intr_example.c
- 5 Example Design Architecture
- 6 Known Issues and Limitations
- 7 Change Log
- 8 Related Links
Introduction
This page gives an overview of can driver which is available as part of the Xilinx Vivado and SDK distribution.
For more information, please refer CAN_Doc 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 Git Hub |
---|---|---|
can | <Vitis Install Directory>/data/embedded/XilinxProcessorIPLib/drivers/can | https://github.com/Xilinx/embeddedsw/tree/master/XilinxProcessorIPLib/drivers/can/ |
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/can/
The driver source code is organized into different folders. The table below shows the CAN driver source organization.
Directory | Description |
---|---|
src | Driver source files, make and cmakelists file |
examples | Example applications that show how to use the driver features |
doc | Provides the API and data structure details |
data | Driver .tcl, .yaml and .mdd 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 CAN_Doc
Features
Controller Features:
Industrial (I, –40 to +100°C junction temperature) and automotive/defense Q-Grade (Q, –40 to +125°C junction temperature) device support.
Supports both standard (11-bit identifier) and extended (29-bit identifier) frames
Supports bit rates up to 1 Mb/s • 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 wake up
Loopback mode for diagnostic applications
Maskable error and status interrupts
Readable error counters
Driver Supported Features
The CAN Standalone driver support the below things.
All controller features supported.
Known Issues and Limitations
None.
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/can/examples