由于采用ramdisk文件系统，自带的ip工具版本太旧无法配置can，需要自行编译ip，具体参见参考文献2
1.vivado配置ps
2.设备树增加can0，一般开发板均已提供此配置
can@e0008000 {
compatible = "xlnx,zynq-can-1.0";
status = "okay";
clocks = <0x1 0x13 0x1 0x24>;
clock-names = "can_clk", "pclk";
reg = <0xe0008000 0x1000>;
interrupts = <0x0 0x1c 0x4>;
interrupt-parent = <0x3>;
tx-fifo-depth = <0x40>;
rx-fifo-depth = <0x40>;
};
3.kernel配置，一般已配好，具体参见参考文献1
4.测试
# ifconfig -a can0 Link encap:UNSPEC HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 NOARP MTU:16 Metric:1 RX packets:0 errors:0 dropped:0 overruns:0 frame:0 TX packets:0 errors:0 dropped:0 overruns:0 carrier:0 collisions:0 txqueuelen:10 RX bytes:0 (0.0 B) TX bytes:0 (0.0 B) Interrupt:22 eth0 Link encap:Ethernet HWaddr 00:0A:35:00:01:22 inet addr:192.168.0.120 Bcast:192.168.0.255 Mask:255.255.255.0 UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1 RX packets:397 errors:0 dropped:0 overruns:0 frame:0 TX packets:242 errors:0 dropped:0 overruns:0 carrier:0 collisions:0 txqueuelen:1000 RX bytes:476490 (465.3 KiB) TX bytes:18536 (18.1 KiB) Interrupt:148 Base address:0xb000 lo Link encap:Local Loopback LOOPBACK MTU:65536 Metric:1 RX packets:0 errors:0 dropped:0 overruns:0 frame:0 TX packets:0 errors:0 dropped:0 overruns:0 carrier:0 collisions:0 txqueuelen:0 RX bytes:0 (0.0 B) TX bytes:0 (0.0 B)
设置can0的波特率，这里设置的是100k
#./ip link set can0 type can bitrate100000
启用can0
#./ip link set can0 up
显示can0状态信息
#./ip -d -s link show can0
Z-turn# ./ip link set can0 type can bitrate 100000 xilinx_can e0008000.can can0: bitrate error 0.0% Z-turn#./ip link set can0 up Z-turn#./ip -d -s link show can0 2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN mode DEFAULT group default qlen 10 link/can promiscuity 0 can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0 bitrate 99999 sample-point 0.750 tq 2500 prop-seg 1 phase-seg1 1 phase-seg2 1 sjw 1 xilinx_can: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..256 brp-inc 1 clock 99999999 re-started bus-errors arbit-lost error-warn error-pass bus-off 0 0 0 0 0 0 numtxqueues 1 numrxqueues 1 RX: bytes packets errors dropped overrun mcast 0 0 0 0 0 0 TX: bytes packets errors dropped carrier collsns 0 0 0 0 0 0
未完待续。。。
参考文献：
1.http://xilinx.eetrend.com/blog/12062
2.http://www.cnblogs.com/hujianhua/p/8446291.html
