zynq 7000 sdk下裸机can（ps/pl） 调试

int CanPsPolledExample(u16 DeviceId)
{
  int Status;
  XCanPs *CanInstPtr = &Can;
  XCanPs_Config *ConfigPtr;
  /*
   * Initialize the Can device.
   */
  ConfigPtr = XCanPs_LookupConfig(DeviceId);
  if (CanInstPtr == NULL) {
    return XST_FAILURE;
  }
  Status = XCanPs_CfgInitialize(CanInstPtr,
          ConfigPtr,
          ConfigPtr->BaseAddr);
  if (Status != XST_SUCCESS) {
    return XST_FAILURE;
  }
  /*
   * Run self-test on the device, which verifies basic sanity of the
   * device and the driver.
   */
  Status = XCanPs_SelfTest(CanInstPtr);
  if (Status != XST_SUCCESS) {
    return XST_FAILURE;
  }
  xil_printf("SelfTest successfuly \r\n\r\n");
  /*
   * Enter Configuration Mode so we can setup Baud Rate Prescaler
   * Register (BRPR) and Bit Timing Register (BTR).
   */
  XCanPs_EnterMode(CanInstPtr, XCANPS_MODE_CONFIG);
  while(XCanPs_GetMode(CanInstPtr) != XCANPS_MODE_CONFIG);
  /*
   * Setup Baud Rate Prescaler Register (BRPR) and
   * Bit Timing Register (BTR). ps_can_clock = 100M .
   */
  XCanPs_SetBaudRatePrescaler(CanInstPtr, /*TEST_BRPR_BAUD_PRESCALAR*/ 49);
  XCanPs_SetBitTiming(CanInstPtr, TEST_BTR_SYNCJUMPWIDTH,
        TEST_BTR_SECOND_TIMESEGMENT,
        TEST_BTR_FIRST_TIMESEGMENT);
  /*
   * Enter Loop Back Mode.
   */
#define ps_can_clock 100000000  //100M
  XCanPs_EnterMode(CanInstPtr, XCANPS_MODE_SLEEP);
  while(XCanPs_GetMode(CanInstPtr) != XCANPS_MODE_SLEEP);
  xil_printf("ps can bitRate: %lu bps\r\n", ps_can_clock/((49+1)* (3+15+2)));
  /*
   * Send a frame, receive the frame via the loop back and verify its
   * contents.
   */
  Status = SendFrame(CanInstPtr);
  if (Status != XST_SUCCESS) {
    return Status;
  }
  xil_printf("recving ....... \r\n");
  while(1){
  Status = RecvFrame(CanInstPtr);
  }
  return Status;
}