Xilinx CAN FD v2.0 Product Manual page 87

• Programs Partner to transmit two packets (one CAN and one CAN FD with extended
IDs).
• Enables respective bits in the TRR register in DUT and Partner. This demonstrates
arbitration on the CAN bus.
• Waits for Partner to receive two packets, and compares data for correct reception (DUT
packets are of higher priority than Partner).
• Waits for DUT to receive two packets.
• If DUT is configured in FIFO mode, the packets are read from sequential locations of
the RX buffers and the packet comparison is done.
• If DUT is configured in Mailbox mode, the packets are read from buffers enabled and
compared for correct reception.
CAN FD frames are transmitted with a dual bit rate.
Note:
CAN FD v2.0
PG223 December 5, 2018 www.xilinx.com
Chapter 5: Example Design
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