## Update bitstream and route CTU CAN FD controller output to the transceiver
On the [K13135 diskless install](https://support.dce.felk.cvut.cz/mediawiki/index.php/Diskless) log to the MZ_APO system and update design in Zynq PL/FPGA:
```
cd /opt/zynq/ctucanfd
./upbit
```
Insert CTU CAN FD driver and setup SJA1000 CAN FD tolerant controllers and CTU CAN FD controllers for desired bitrate (modify script if needed),
```
cd /opt/zynq/ctucanfd
./setup-can2345
```
All CAN controllers are routed to the CAN crossbar LINE1 (index 0) by default
and output to the external CAN transceiver is disabled. It can be enabled
by write to CAN crossbar control register
```
rdwrmem -b4 -s 0x43C10000 -l4 -F 0x01000000
```
This connect CAN corssbare LINE1 to the first external CAN bus transceiver which is connected to sntadard pins 2 and 7 on the DB-9 CAN connecter on MZ_APO. The second transceiver is connected to lines 1 and 8 on the same transceiver.
The CAN crosbar documentation can be found on page 45 (59) of the [Martin Jeřábek's diploma theses](https://dspace.cvut.cz/bitstream/handle/10467/80366/F3-DP-2019-Jerabek-Martin-Jerabek-thesis-2019-canfd.pdf).
