embeddedsw/XilinxProcessorIPLib/drivers/canfd/examples/xcanfd_intr_example.c

/******************************************************************************
*
* Copyright (C)  2015 Xilinx, Inc.  All rights reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* Use of the Software is limited solely to applications:
* (a) running on a Xilinx device, or
* (b) that interact with a Xilinx device through a bus or interconnect.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
* XILINX  BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
* OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* Except as contained in this notice, the name of the Xilinx shall not be used
* in advertising or otherwise to promote the sale, use or other dealings in
* this Software without prior written authorization from Xilinx.
*
******************************************************************************/
/****************************************************************************/
/**
*
* @file xcan_intr_example.c
*
* Contains an example of how to use the XCan driver directly.  The example here
* shows using the driver/device in interrupt mode.
*
* @note
*
* This code assumes that Xilinx interrupt controller (XIntc) is used in the
* system to forward the CAN device interrupt output to the processor and no
* operating system is being used.
*
* The Baud Rate Prescaler Register (BRPR) and Bit Timing Register (BTR)
* are setup such that CAN baud rate equals 40Kbps, assuming that the
* the CAN clock is 24MHz. The user needs to modify these values based on
* the desired baud rate and the CAN clock frequency. For more information
* see the CAN 2.0A, CAN 2.0B, ISO 11898-1 specifications.
*
* <pre>
* MODIFICATION HISTORY:
*
* Ver   Who	Date	 Changes
* ----- -----  -------- -----------------------------------------------
* 1.0   nsk    06/04/15 First release
*
* </pre>
*
******************************************************************************/

/***************************** Include Files *********************************/

#include "xcanfd.h"
#include "xparameters.h"
#include "xstatus.h"
#include "xil_exception.h"

#ifdef XPAR_INTC_0_DEVICE_ID
#include "xintc.h"
#include <stdio.h>
#else  /* SCU GIC */
#include "xscugic.h"
#include "xil_printf.h"
#endif

/************************** Constant Definitions *****************************/

/*
 * The following constants map to the XPAR parameters created in the
 * xparameters.h file. They are defined here such that a user can easily
 * change all the needed parameters in one place.
 */
#define CANFD_DEVICE_ID		XPAR_CANFD_0_DEVICE_ID
#define CAN_INTR_VEC_ID		XPAR_INTC_0_CANFD_0_VEC_ID

#ifdef XPAR_INTC_0_DEVICE_ID
 #define INTC_DEVICE_ID		XPAR_INTC_0_DEVICE_ID
#else
 #define INTC_DEVICE_ID		XPAR_SCUGIC_SINGLE_DEVICE_ID
#endif /* XPAR_INTC_0_DEVICE_ID */

/* Maximum CAN frame length in Bytes */
#define XCANFD_MAX_FRAME_SIZE_IN_BYTES 72

/* Frame Data field length */
#define FRAME_DATA_LENGTH	64

/* Message Id Constant */
#define TEST_MESSAGE_ID		2650

/* Data length code */
#define TEST_CANFD_DLC 15

/* Mail Box Mask */
#define TEST_MAILBOX_MASK 0xFFFFFFFF

/*
 * The Baud Rate Prescaler Register (BRPR) and Bit Timing Register (BTR)
 * are setup such that CANFD baud rate equals 40Kbps, assuming that the
 * the CAN clock is 24MHz. The user needs to modify these values based on
 * the desired baud rate and the CAN clock frequency. For more information
 * see the CAN 2.0A, CAN 2.0B, ISO 11898-1 specifications.
 */
#define TEST_BRPR_BAUD_PRESCALAR	29

#define TEST_BTR_SYNCJUMPWIDTH		3
#define TEST_BTR_SECOND_TIMESEGMENT	2
#define TEST_BTR_FIRST_TIMESEGMENT	15

#define TEST_FBRPR_BAUD_PRESCALAR	29

#define TEST_FBTR_SYNCJUMPWIDTH		3
#define TEST_FBTR_SECOND_TIMESEGMENT	2
#define TEST_FBTR_FIRST_TIMESEGMENT	15

#ifdef XPAR_INTC_0_DEVICE_ID
#define INTC		XIntc
#define INTC_HANDLER	XIntc_InterruptHandler
#else
#define INTC		XScuGic
#define INTC_HANDLER	XScuGic_InterruptHandler
#endif /* XPAR_INTC_0_DEVICE_ID */


/**************************** Type Definitions *******************************/


/***************** Macros (Inline Functions) Definitions *********************/


/************************** Function Prototypes ******************************/

static int XCanFdIntrExample(u16 DeviceId);
static void Config(XCanFd  *InstancePtr);
void Create_CanFD_Frame();
static int SendFrame(XCanFd  *InstancePtr);

static void SendHandler(void *CallBackRef);
static void RecvHandler(void *CallBackRef);
static void ErrorHandler(void *CallBackRef, u32 ErrorMask);
static void EventHandler(void *CallBackRef, u32 Mask);

static int SetupInterruptSystem(XCanFd  *InstancePtr);

/************************** Variable Definitions *****************************/
/* Allocate an instance of the XCan driver */
static XCanFd  CanFd;

/*
 * Buffers to hold frames to send and receive. These are declared as global so
 * that they are not on the stack.
 * These buffers need to be 32-bit aligned
 */
static u32 TxFrame[XCANFD_MAX_FRAME_SIZE_IN_BYTES];
static u32 RxFrame[XCANFD_MAX_FRAME_SIZE_IN_BYTES];

/* Asynchronous error occurred */
volatile static int LoopbackError;
/* Received a frame */
volatile static int RecvDone;
/* Frame was sent successfully */
volatile static int SendDone;

/*****************************************************************************/
/**
*
* This function is the main function of the Can interrupt example.
*
* @param	None.
*
* @return	- XST_SUCCESS if the example has completed successfully.
*		- XST_FAILURE if the example has failed.
*
* @note		None.
*
*****************************************************************************/
int main()
{
	/* Run the Can interrupt example */
	if (XCanFdIntrExample(CANFD_DEVICE_ID)) {
		xil_printf("XCanFd Interrupt Mode example Failed\n\r");
		return XST_FAILURE;
	}
	xil_printf("XCanFd Interrupt Mode example Passed\n\r");
	return XST_SUCCESS;
}

/*****************************************************************************/
/**
*
* The main entry point for showing the XCan driver in interrupt mode.
* The example configures the device for internal loopback mode, then
* sends a CAN frame and receives the same CAN frame.
*
* @param	DeviceId contains the CAN device ID.
*
* @return	XST_SUCCESS if successful, otherwise driver-specific error code.
*
* @note 	If the device is not working correctly, this function may enter
*		an infinite loop and will never return to the caller.
*
******************************************************************************/
static int XCanFdIntrExample(u16 DeviceId)
{
	int Status;
	XCanFd *CanFdInstPtr = &CanFd;
	XCanFd_Config *ConfigPtr;

	/* Initialize the XCan driver */
	ConfigPtr = XCanFd_LookupConfig(DeviceId);
	if (CanFdInstPtr == NULL) {
		return XST_FAILURE;
	}
	Status = XCanFd_CfgInitialize(CanFdInstPtr,
				ConfigPtr,ConfigPtr->BaseAddress);
	if (Status != XST_SUCCESS) {
		return XST_FAILURE;
	}
	/*
	 * Run self-test on the device, which verifies basic sanity of the
	 * device and the driver.
	 */
	Status = XCanFd_SelfTest(CanFdInstPtr);
	if (Status != XST_SUCCESS) {
		return XST_FAILURE;
	}

	/* Configure the CAN device */
	Config(CanFdInstPtr);

	XCanFd_SetHandler(CanFdInstPtr, XCANFD_HANDLER_SEND,
			(void *)SendHandler, (void *)CanFdInstPtr);
	XCanFd_SetHandler(CanFdInstPtr, XCANFD_HANDLER_RECV,
			(void *)RecvHandler, (void *)CanFdInstPtr);
	XCanFd_SetHandler(CanFdInstPtr, XCANFD_HANDLER_ERROR,
			(void *)ErrorHandler, (void *)CanFdInstPtr);
	XCanFd_SetHandler(CanFdInstPtr, XCANFD_HANDLER_EVENT,
			(void *)EventHandler, (void *)CanFdInstPtr);

	/* Initialize flags */
	SendDone = FALSE;
	RecvDone = FALSE;
	LoopbackError = FALSE;

	/* Connect to the interrupt controller */
	Status = SetupInterruptSystem(CanFdInstPtr);
	if (Status != XST_SUCCESS) {
		return XST_FAILURE;
	}

	/* Enable all interrupts in CAN device */
	XCanFd_InterruptEnable(CanFdInstPtr, XCANFD_IXR_ALL);

	/* Set the CAN Mode to LOOP Back */
	XCanFd_EnterMode(CanFdInstPtr, XCANFD_MODE_LOOPBACK);
	while (XCanFd_GetMode(CanFdInstPtr) != XCANFD_MODE_LOOPBACK);

	Status = SendFrame(CanFdInstPtr);
	if (Status != XST_SUCCESS)
		return Status;

	while ((SendDone != TRUE) || (RecvDone != TRUE));

	/* Check for errors found in the callbacks */
	if (LoopbackError == TRUE) {
		return XST_LOOPBACK_ERROR;
	}

	return XST_SUCCESS;
}

/*****************************************************************************/
/**
*
* This function configures CAN device.
*
* @param	InstancePtr is a pointer to the driver instance
*
* @return	None.
*
* @note		If the CAN device is not working correctly, this function may
*		enter an infinite loop and will never return to the caller.
*		basically this configures BRPR,BTR in both Arbitration and
*		Data phase. also configures Acceptance filters(in SequentialMode)
*		or RxBuffers(in Mailbox).
*
******************************************************************************/
static void Config(XCanFd *InstancePtr)
{
	u32 RxBuffer;
	u32 IdValue;
	u8 RxBuffers;

	XCanFd_EnterMode(InstancePtr, XCANFD_MODE_CONFIG);
	while (XCanFd_GetMode(InstancePtr) != XCANFD_MODE_CONFIG);

	/* Configure the Baud Rate Prescalar in Arbitration Phase */
	XCanFd_SetBaudRatePrescaler(InstancePtr, TEST_BRPR_BAUD_PRESCALAR);

	/* Configure the Bit Timing Values in Arbitration Phase */
	XCanFd_SetBitTiming(InstancePtr, TEST_BTR_SYNCJUMPWIDTH,\
			TEST_BTR_SECOND_TIMESEGMENT,TEST_BTR_FIRST_TIMESEGMENT);

	/* Configure the Baud Rate Prescalar in Data Phase */
	XCanFd_SetFBaudRatePrescaler(InstancePtr, TEST_FBRPR_BAUD_PRESCALAR);

	/* Configure the Bit Timing Values in Data Phase */
	XCanFd_SetFBitTiming(InstancePtr,TEST_FBTR_SYNCJUMPWIDTH,\
			TEST_FBTR_SECOND_TIMESEGMENT,TEST_FBTR_FIRST_TIMESEGMENT);

	/*
	 * Disable the Global BRS Disable so that at the time of sending the can
	 * frame we will choose whether we need Bit Rate Switch or not.
	 */
	XCanFd_SetBitRateSwitch_DisableNominal(InstancePtr);

	/* Configure Acceptance Filter/Mail box depends on design */
	if (XCANFD_GET_RX_MODE(InstancePtr) == 0) {
		XCanFd_AcceptFilterDisable(InstancePtr,XCANFD_AFR_UAF_ALL_MASK);
		XCanFd_AcceptFilterEnable(InstancePtr,XCANFD_AFR_UAF_ALL_MASK);
	}
	else {
		RxBuffers = XCanFd_Get_RxBuffers(InstancePtr);
		IdValue = XCanFd_CreateIdValue(TEST_MESSAGE_ID, 0, 0, 0, 0);
		for (RxBuffer = 0;RxBuffer < RxBuffers;RxBuffer++) {
			XCanFd_RxBuff_MailBox_DeActive(InstancePtr,RxBuffer);
			XCanFd_Set_MailBox_IdMask(InstancePtr,RxBuffer,\
					TEST_MAILBOX_MASK,IdValue);
			XCanFd_RxBuff_MailBox_Active(InstancePtr,RxBuffer);
		}
	}
	 /* Configure the CAN Device to Enter Loop Back Mode */
	 XCanFd_EnterMode(InstancePtr, XCANFD_MODE_LOOPBACK);
	 while (XCanFd_GetMode(InstancePtr) != XCANFD_MODE_LOOPBACK);
}

/*****************************************************************************/
/**
*
* Send a CAN frame.
*
* @param	InstancePtr is a pointer to the driver instance.
*
* @return	None.
*
* @note		None.
*
******************************************************************************/
static int SendFrame(XCanFd *InstancePtr)
{
	int Status;
	u32 TxBufferNumber;
	u8 *FramePtr;
	u32 Index;
	int NofBytes;

	/*
	 * Create correct values for Identifier and Data Length Code Register.
	 * Here Data Length Code value is 8
	 * but CAN FD Can support upto DLC 15(64Bytes).
	 */
	TxFrame[0] = XCanFd_CreateIdValue(TEST_MESSAGE_ID, 0, 0, 0, 0);
	TxFrame[1] = XCanFd_Create_CanFD_Dlc_BrsValue(TEST_CANFD_DLC);
	NofBytes = XCanFd_GetDlc2len(TxFrame[1] & XCANFD_DLCR_DLC_MASK);
	/*
	 * Now fill in the data field with known values so we can verify them
	 * on receive.
	 */
	FramePtr = (u8 *)(&TxFrame[2]);
	for (Index = 0; Index < NofBytes; Index++) {
		*FramePtr++ = (u8)Index;
	}

	/* Now send the frame */
	Status = XCanFd_Send(InstancePtr, TxFrame,&TxBufferNumber);
	if (Status == XST_FIFO_NO_ROOM)
		return Status;

	if (Status != XST_SUCCESS) {
		/* The frame could not be sent successfully */
		LoopbackError = TRUE;
		SendDone = TRUE;
		RecvDone = TRUE;
	}

	return Status;
}


/*****************************************************************************/
/**
*
* Callback function (called from interrupt handler) to handle confirmation of
* transmit events when in interrupt mode.
*
* @param	CallBackRef is the callback reference passed from the interrupt
*		handler, which in our case is a pointer to the driver instance.
*
* @return	None.
*
* @note		This function is called by the driver within interrupt context.
*
******************************************************************************/
static void SendHandler(void *CallBackRef)
{
	/* The frame was sent successfully. Notify the task context */
	SendDone = TRUE;
}


/*****************************************************************************/
/**
*
* Callback function (called from interrupt handler) to handle frames received in
* interrupt mode.  This function is called once per frame received.
* The driver's receive function is called to read the frame from RX FIFO.
*
* @param	CallBackRef is the callback reference passed from the interrupt
*		handler, which in our case is a pointer to the device instance.
*
* @return	None.
*
* @note		This function is called by the driver within interrupt context.
*
******************************************************************************/
static void RecvHandler(void *CallBackRef)
{
	XCanFd *CanPtr = (XCanFd *)CallBackRef;
	int Status;
	int Index;
	u8 *FramePtr;
	u32 Dlc;

	/* Check for the design 1 - MailBox 0 - Sequential */
	if (XCANFD_GET_RX_MODE(CanPtr) == 1) {
		Status = XCanFd_Recv_Mailbox(CanPtr, RxFrame);
	}
	else {
		Status = XCanFd_Recv_Sequential(CanPtr, RxFrame);
	}

	/* Get the Dlc inthe form of bytes */
	Dlc = XCanFd_GetDlc2len(RxFrame[1] & XCANFD_DLCR_DLC_MASK);
	if (Status != XST_SUCCESS) {
		LoopbackError = TRUE;
		RecvDone = TRUE;
		return;
	}

	/* Verify Identifier and Data Length Code */
	if (RxFrame[0] != XCanFd_CreateIdValue(TEST_MESSAGE_ID, 0, 0, 0, 0)) {
		LoopbackError = TRUE;
		RecvDone = TRUE;
		return;
	}

	if (TEST_CANFD_DLC != XCanFd_GetLen2Dlc(Dlc)) {
		LoopbackError = TRUE;
		RecvDone = TRUE;
		return;
	}

	/* Verify Data field contents */
	FramePtr = (u8 *)(&RxFrame[2]);
	for (Index = 0; Index < Dlc; Index++) {
		if (*FramePtr++ != (u8)Index) {
			LoopbackError = TRUE;
			break;
		}
	}
	RecvDone = TRUE;
}


/*****************************************************************************/
/**
*
* Callback function (called from interrupt handler) to handle error interrupt.
* Error code read from Error Status register is passed into this function
*
* @param	CallBackRef is the callback reference passed from the interrupt
*		handler, which in our case is a pointer to the driver instance.
* @param	ErrorMask is a bit mask indicating the cause of the error. Its
*		value equals 'OR'ing one or more XCANFD_ESR_* defined in
*		xcanfd_l.h
*
* @return	None.
*
* @note		This function is called by the driver within interrupt context.
*
******************************************************************************/
static void ErrorHandler(void *CallBackRef, u32 ErrorMask)
{
	XCanFd *CanPtr = (XCanFd *)CallBackRef;

	if (ErrorMask & XCANFD_ESR_ACKER_MASK) {

		 /* ACK Error handling code should be put here */

	}

	if (ErrorMask & XCANFD_ESR_BERR_MASK) {

		 /* Bit Error handling code should be put here */
	}

	if (ErrorMask & XCANFD_ESR_STER_MASK) {

		/* Stuff Error handling code should be put here */
	}

	if (ErrorMask & XCANFD_ESR_FMER_MASK) {

		/* Form Error handling code should be put here */
	}

	if (ErrorMask & XCANFD_ESR_CRCER_MASK) {

		/* CRC Error handling code should be put here */
	}

	if (ErrorMask & XCANFD_ESR_F_BERR_MASK) {

		/* Bit Error handling code should be put here */
	}

	if (ErrorMask & XCANFD_ESR_F_STER_MASK) {

		/* Stuff Error handling code should be put here */
	}

	if (ErrorMask & XCANFD_ESR_F_FMER_MASK) {

		/* Form Error handling code should be put here */
	}

	if (ErrorMask & XCANFD_ESR_CRCER_MASK) {

		/* CRC Error handling code should be put here */
	}

	/* Set the shared variables */
	LoopbackError = TRUE;
	RecvDone = TRUE;
	SendDone = TRUE;
}



/*****************************************************************************/
/**
*
* Callback function (called from interrupt handler) to handle the following
* interrupts:
*   - XCANFD_IXR_BSOFF_MASK:  Bus Off Interrupt
*   - XCANFD_IXR_RXOFLW_MASK: RX FIFO Overflow Interrupt
*   - XCANFD_IXR_RXUFLW_MASK: RX FIFO Underflow Interrupt
*   - XCANFD_IXR_TXBFLL_MASK: TX High Priority Buffer Full Interrupt
*   - XCANFD_IXR_TXFLL_MASK:  TX FIFO Full Interrupt
*   - XCANFD_IXR_WKUP_MASK:   Wake up Interrupt
*   - XCANFD_IXR_SLP_MASK:    Sleep Interrupt
*   - XCANFD_IXR_ARBLST_MASK: Arbitration Lost Interrupt
*
* Please feel free to change this function to meet specific application needs.
*
* @param	CallBackRef is the callback reference passed from the interrupt
*		handler, which in our case is a pointer to the driver instance.
* @param	IntrMask is a bit mask indicating pending interrupts. Its value
*		equals 'OR'ing one or more of the XCANFD_IXR_*_MASK value(s)
*		mentioned above.
*
* @return	None.
*
* @note		This function is called by the driver within interrupt context.
*
******************************************************************************/
static void EventHandler(void *CallBackRef, u32 IntrMask)
{
	XCanFd *CanPtr = (XCanFd *)CallBackRef;

	if (IntrMask & XCANFD_IXR_BSOFF_MASK) {
		/*
		 * Entering Bus off status interrupt requires the CAN device be
		 * reset  and re-configurated.
		 */
		XCanFd_Reset(CanPtr);
		Config(CanPtr);
		return;
	}

	if (IntrMask & XCANFD_IXR_RXFOFLW_MASK) {
		/*
		 * Code to handle RX FIFO Overflow Interrupt should be put here
		 */
	}
	if (IntrMask & XCANFD_IXR_RXMNF_MASK) {
		/*
		 * Code to handle RX Match Not Finished Interrupt should be put
		 *   here
		 */
	}
	if (IntrMask & XCANFD_IXR_RXBOFLW_MASK) {
		/*
		 * Code to handle RX Buffer Overflow Interrupt should be put
		 * here
		 */
	}
	if (IntrMask & XCANFD_IXR_RXRBF_MASK) {
		/*
		 * Code to handle RX Buffer Full Interrupt should be put here
		 */
	}
	if (IntrMask & XCANFD_IXR_TXCRS_MASK) {
		/*
		 * Code to handle Tx Cancelation Request Served Interrupt
		 * should be put here.
		 */
	}
	if (IntrMask & XCANFD_IXR_TXRRS_MASK) {
		/*
		 * Code to handle Tx Ready Request Served Interrupt should be
		 * put here
		 */
	}
	if (IntrMask & XCANFD_IXR_WKUP_MASK) {
		/*
		 * Code to handle Wake up from sleep mode Interrupt should be
		 *  put here.
		 */
	}

	if (IntrMask & XCANFD_IXR_SLP_MASK) {
		/*
		 * Code to handle Enter sleep mode Interrupt should be put here
		 */
	}

	if (IntrMask & XCANFD_IXR_ARBLST_MASK) {
		/*
		 * Code to handle Lost bus arbitration Interrupt should be put
		 *  here.
		 */
	}
}

/*****************************************************************************/
/**
*
* This function sets up the interrupt system so interrupts can occur for the
* CAN. This function is application-specific since the actual system may or
* may not have an interrupt controller.  The CAN could be directly connected
* to a processor without an interrupt controller.  The user should modify this
* function to fit the application.
*
* @para		InstancePtr is a pointer to the instance of the CAN
*		which is going to be connected to the interrupt controller.
*
* @return	XST_SUCCESS if successful, otherwise XST_FAILURE.
*
* @note		None.
*
****************************************************************************/
static int SetupInterruptSystem(XCanFd *InstancePtr)
{
	static INTC InterruptController;
	int Status;

#ifdef XPAR_INTC_0_DEVICE_ID
	/*
	 * Initialize the interrupt controller driver so that it's ready to use.
	 * INTC_DEVICE_ID specifies the XINTC device ID that is generated in
	 * xparameters.h.
	 */
	Status = XIntc_Initialize(&InterruptController, INTC_DEVICE_ID);
	if (Status != XST_SUCCESS) {
		return XST_FAILURE;
	}

	/*
	 * Connect the device driver handler that will be called when an
	 * interrupt for the device occurs, the device driver handler performs
	 * the specific interrupt processing for the device.
	 */
	Status = XIntc_Connect(&InterruptController,
				CAN_INTR_VEC_ID,
				(XInterruptHandler)XCanFd_IntrHandler,
				InstancePtr);
	if (Status != XST_SUCCESS) {
		return XST_FAILURE;
	}

	/*
	 * Start the interrupt controller so interrupts are enabled for all
	 * devices that cause interrupts. Specify real mode so that the CAN
	 * can cause interrupts through the interrupt controller.
	 */
	Status = XIntc_Start(&InterruptController, XIN_REAL_MODE);
	if (Status != XST_SUCCESS) {
		return XST_FAILURE;
	}

	/* Enable the interrupt for the CAN. */
	XIntc_Enable(&InterruptController, CAN_INTR_VEC_ID);
#else /* SCUGIC */


	XScuGic_Config *IntcConfig;

	/*
	 * Initialize the interrupt controller driver so that it is ready to
	 * use.
	 */
	IntcConfig = XScuGic_LookupConfig(INTC_DEVICE_ID);
	if (NULL == IntcConfig) {
		return XST_FAILURE;
	}

	Status = XScuGic_CfgInitialize(&InterruptController, IntcConfig,
					IntcConfig->CpuBaseAddress);
	if (Status != XST_SUCCESS) {
		return XST_FAILURE;
	}


	XScuGic_SetPriorityTriggerType(&InterruptController, CAN_INTR_VEC_ID,
					0xA0, 0x3);

	/*
	 * Connect the interrupt handler that will be called when an
	 * interrupt occurs for the device.
	 */
	Status = XScuGic_Connect(&InterruptController, CAN_INTR_VEC_ID,
				 (Xil_ExceptionHandler)XCanFd_IntrHandler,
				 InstancePtr);
	if (Status != XST_SUCCESS) {
		return Status;
	}

	/* Enable the interrupt for the Can device */
	XScuGic_Enable(&InterruptController, CAN_INTR_VEC_ID);

#endif

	/* Initialize the exception table */
	Xil_ExceptionInit();

	/*
	 * Register the interrupt controller handler with the exception table.
	 */
	Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_INT,
			 (Xil_ExceptionHandler)INTC_HANDLER,
			 &InterruptController);

	/* Enable exceptions */
	Xil_ExceptionEnable();

	return XST_SUCCESS;
}