#570: Update CAN support with LiteX enjoy-digital/litex#2007.

litex_boards/platforms/digilent_arty.py

@@ -332,6 +332,16 @@ def numato_sdcard_pmod_io(pmod):
 ]
 _numato_sdcard_pmod_io = numato_sdcard_pmod_io("pmodd") # SDCARD PMOD on JD.
 
+def can_pmod_io(pmod, n):
+    return [
+        # SN65HVD230 based transceiver on PMOD, https://www.waveshare.com/sn65hvd230-can-board.htm.
+        ("can", n,
+            Subsignal("tx",  Pins(f"{pmod}:2")),
+            Subsignal("rx",  Pins(f"{pmod}:3")),
+            IOStandard("LVCMOS33"),
+        ),
+    ]
+
 # Platform -----------------------------------------------------------------------------------------
 
 class Platform(Xilinx7SeriesPlatform):

litex_boards/platforms/digilent_genesys2.py

@@ -141,27 +141,29 @@
 
 _connectors = [
     ("HPC", {
-        "DP0_C2M_P":     "Y2",
-        "DP0_C2M_N":     "Y1",
-        "DP0_M2C_P":     "AA4",
-        "DP0_M2C_N":     "AA3",
-        "GBTCLK0_M2C_P": "L8",
-        "GBTCLK0_M2C_N": "L7",
-        }
-    ),
-    ("pmodc", {
-        "pmodc1":     "AC26",
-        "pmodc2":     "AJ27",
-        "pmodc3":     "AH30",
-        "pmodc4":     "AK29",
-        "pmodc5":     "AD26",
-        "pmodc6":     "AG30",
-        "pmodc7":     "AK30",
-        "pmodc8":     "AK28",
+        "DP0_C2M_P"     : "Y2",
+        "DP0_C2M_N"     : "Y1",
+        "DP0_M2C_P"     : "AA4",
+        "DP0_M2C_N"     : "AA3",
+        "GBTCLK0_M2C_P" : "L8",
+        "GBTCLK0_M2C_N" : "L7",
         }
     ),
+    ("pmodc", "AC26 AJ27 AH30 AK29 AD26 AG30 AK30 AK28"),
 ]
 
+# PMODS --------------------------------------------------------------------------------------------
+
+def can_pmod_io(pmod, n):
+    return [
+        # SN65HVD230 based transceiver on PMOD, https://www.waveshare.com/sn65hvd230-can-board.htm.
+        ("can", n,
+            Subsignal("tx", Pins(f"{pmod}:2")),
+            Subsignal("rx", Pins(f"{pmod}:3")),
+            IOStandard("LVCMOS33"),
+        ),
+    ]
+
 # Platform -----------------------------------------------------------------------------------------
 
 class Platform(Xilinx7SeriesPlatform):

litex_boards/targets/digilent_arty.py

@@ -31,8 +31,6 @@
 from litedram.phy import s7ddrphy
 
 from liteeth.phy.mii import LiteEthPHYMII
-from litex.build.generic_platform import Subsignal, Pins, IOStandard
-from ctucan import CTUCAN, CTUCANWishboneWrapper
 
 # CRG ----------------------------------------------------------------------------------------------
 
@@ -85,6 +83,7 @@ def __init__(self, variant="a7-35", toolchain="vivado", sys_clk_freq=100e6,
         with_spi_flash  = False,
         with_buttons    = False,
         with_pmod_gpio  = False,
+        with_can        = False,
         **kwargs):
         platform = digilent_arty.Platform(variant=variant, toolchain=toolchain)
 
@@ -184,14 +183,14 @@ def __init__(self, variant="a7-35", toolchain="vivado", sys_clk_freq=100e6,
                 with_irq = self.irq.enabled
             )
 
-def can_io():
-    return [(
-        "can",
-        0,
-        Subsignal("rx", Pins("ck_io:ck_io0")),
-        Subsignal("tx", Pins("ck_io:ck_io1")),
-        IOStandard("LVCMOS33"),
-    )]
+        # CAN --------------------------------------------------------------------------------------
+        if with_can:
+            from litex.soc.cores.can.ctu_can_fd import CTUCANFD
+            self.platform.add_extension(digilent_arty.can_pmod_io("pmodc", 0))
+            self.can0 = CTUCANFD(platform, platform.request("can", 0))
+            self.bus.add_slave("can0", self.can0.bus, SoCRegion(origin=0xb0010000, size=0x10000, mode="rw", cached=False))
+            self.irq.add("can0")
+
 # Build --------------------------------------------------------------------------------------------
 
 def main():
@@ -214,7 +213,7 @@ def main():
     parser.add_target_argument("--sdcard-adapter",                            help="SDCard PMOD adapter (digilent or numato).")
     parser.add_target_argument("--with-spi-flash", action="store_true",       help="Enable SPI Flash (MMAPed).")
     parser.add_target_argument("--with-pmod-gpio", action="store_true",       help="Enable GPIOs through PMOD.") # FIXME: Temporary test.
-    parser.add_target_argument("--with-ctucan", action="store_true", help="Enable CTUCAN.")
+    parser.add_target_argument("--with-can",       action="store_true",       help="Enable CAN support (Through CTU-CAN-FD Core and SN65HVD230 'PMOD'.")
     args = parser.parse_args()
 
     assert not (args.with_etherbone and args.eth_dynamic_ip)
@@ -233,18 +232,10 @@ def main():
         with_usb       = args.with_usb,
         with_spi_flash = args.with_spi_flash,
         with_pmod_gpio = args.with_pmod_gpio,
-        with_ctucan = args.with_ctucan,
+        with_can       = args.with_can,
         **parser.soc_argdict
     )
 
-    if args.with_ctucan:
-        soc.platform.add_extension(can_io())
-        can_pads = soc.platform.request("can")
-        soc.submodules.can = CTUCAN(soc.platform, can_pads, "vhdl")
-        soc.add_memory_region("can", None, soc.can.wbwrapper.size, type=[])
-        soc.add_wb_slave(soc.bus.regions["can"].origin, soc.can.wbwrapper.bus)
-        soc.add_interrupt("can")
-
     if args.sdcard_adapter == "numato":
         soc.platform.add_extension(digilent_arty._numato_sdcard_pmod_io)
     else:

litex_boards/targets/digilent_genesys2.py

@@ -13,6 +13,7 @@
 from litex_boards.platforms import digilent_genesys2
 
 from litex.soc.cores.clock import *
+from litex.soc.integration.soc import SoCRegion
 from litex.soc.integration.soc_core import *
 from litex.soc.integration.builder import *
 from litex.soc.cores.led import LedChaser
@@ -21,11 +22,6 @@
 from litedram.phy import s7ddrphy
 
 from liteeth.phy.s7rgmii import LiteEthPHYRGMII
-from litex.build.generic_platform import Subsignal, Pins, IOStandard
-from ctucan import CTUCAN, CTUCANWishboneWrapper
-from litex.soc.integration.soc import SoCRegion
-
-
 
 # CRG ----------------------------------------------------------------------------------------------
 
@@ -55,6 +51,7 @@ def __init__(self, sys_clk_freq=100e6,
         with_ethernet   = False,
         with_etherbone  = False,
         with_led_chaser = True,
+        with_can        = False,
         **kwargs):
         platform = digilent_genesys2.Platform()
 
@@ -90,16 +87,17 @@ def __init__(self, sys_clk_freq=100e6,
         if with_led_chaser:
             self.leds = LedChaser(
                 pads         = platform.request_all("user_led"),
-                sys_clk_freq = sys_clk_freq)
+                sys_clk_freq = sys_clk_freq,
+            )
+
+        # CAN --------------------------------------------------------------------------------------
+        if with_can:
+            from litex.soc.cores.can.ctu_can_fd import CTUCANFD
+            self.platform.add_extension(digilent_genesys2.can_pmod_io("pmodc", 0))
+            self.can0 = CTUCANFD(platform, platform.request("can", 0))
+            self.bus.add_slave("can0", self.can0.bus, SoCRegion(origin=0xb0010000, size=0x10000, mode="rw", cached=False))
+            self.irq.add("can0")
 
-def can_io():
-    return [(
-        "can",
-        0,
-        Subsignal("rx", Pins("pmodc:pmodc1")),
-        Subsignal("tx", Pins("pmodc:pmodc2")),
-        IOStandard("LVCMOS33"),
-    )]
 # Build --------------------------------------------------------------------------------------------
 
 def main():
@@ -112,25 +110,17 @@ def main():
     sdopts = parser.target_group.add_mutually_exclusive_group()
     sdopts.add_argument("--with-spi-sdcard", action="store_true", help="Enable SPI-mode SDCard support.")
     sdopts.add_argument("--with-sdcard",     action="store_true", help="Enable SDCard support.")
-    parser.add_target_argument("--with-ctucan", action="store_true", help="Enable CTUCAN.")
+    parser.add_target_argument("--with-can", action="store_true", help="Enable CAN support (Through CTU-CAN-FD Core and SN65HVD230 'PMOD'.")
     args = parser.parse_args()
 
     soc = BaseSoC(
         sys_clk_freq   = args.sys_clk_freq,
         with_ethernet  = args.with_ethernet,
         with_etherbone = args.with_etherbone,
-        with_ctucan = args.with_ctucan,
+        with_can       = args.with_can,
         **parser.soc_argdict
     )
 
-    if args.with_ctucan:
-        soc.platform.add_extension(can_io())
-        can_pads = soc.platform.request("can")
-        soc.submodules.can = CTUCAN(soc.platform, can_pads, "vhdl")
-        can_region = SoCRegion(origin=soc.mem_map.get("can", None), size=soc.can.wbwrapper.size, cached=False)
-        soc.bus.add_slave(name="can", slave=soc.can.wbwrapper.bus, region=can_region)
-        soc.irq.add("can")
-
     if args.with_spi_sdcard:
         soc.add_spi_sdcard()
     if args.with_sdcard: