Create CAN wrapper module

`CSRStorage` for setting CAN filter ID and Mask
`CSRStatus` for received message ID and 8 data bytes

testCAN.py

@@ -0,0 +1,56 @@
+from migen import *
+
+from litex.soc.interconnect.csr import *
+from litex.soc.integration.doc import ModuleDoc
+
+# CAN Receiver Module ------------------------------------------------------------------------------
+
+class CanReceiver(Module, AutoCSR, ModuleDoc):
+    """
+    CAN Receiver Module
+
+    Interface for the Microchip ATA6561-GAQW-N CAN Transceiver
+    """
+    def __init__(self, platform, pads):
+        platform.add_source("rtl/can.sv")
+
+        self.pads = pads
+        self.can_id = CSRStorage(size = 11, reset = 0x123, description = "CAN ID to receive messages from")
+        self.id_mask = CSRStorage(size = 11, reset = 0x7FF, description = "Mask for CAN ID")
+
+        self.rcv_id = CSRStatus(size = 11, description = "Received message CAN ID")
+        self.rcv_data0 = CSRStatus(size = 8, description = "Received message data byte 0")
+        self.rcv_data1 = CSRStatus(size = 8, description = "Received message data byte 1")
+        self.rcv_data2 = CSRStatus(size = 8, description = "Received message data byte 2")
+        self.rcv_data3 = CSRStatus(size = 8, description = "Received message data byte 3")
+        self.rcv_data4 = CSRStatus(size = 8, description = "Received message data byte 4")
+        self.rcv_data5 = CSRStatus(size = 8, description = "Received message data byte 5")
+        self.rcv_data6 = CSRStatus(size = 8, description = "Received message data byte 6")
+        self.rcv_data7 = CSRStatus(size = 8, description = "Received message data byte 7")
+
+        # Pin Connections
+        self.can_rx = Signal()
+        self.can_tx = Signal()
+
+        # # #
+
+        self.specials += Instance("can",
+            i_i_clk   = ClockSignal(),
+            i_i_rst_n = ~ResetSignal(),
+            i_i_id    = self.can_id.storage,
+            i_i_mask  = self.id_mask.storage,
+            i_i_rx    = self.can_rx,
+            o_o_tx    = self.can_tx,
+            o_o_id    = self.rcv_id.status,
+            o_o_data0 = self.rcv_data0.status,
+            o_o_data1 = self.rcv_data1.status,
+            o_o_data2 = self.rcv_data2.status,
+            o_o_data3 = self.rcv_data3.status,
+            o_o_data4 = self.rcv_data4.status,
+            o_o_data5 = self.rcv_data5.status,
+            o_o_data6 = self.rcv_data6.status,
+            o_o_data7 = self.rcv_data7.status,
+        )
+
+        self.comb += self.can_rx.eq(self.pads.rx)
+        self.comb += self.pads.tx.eq(self.can_tx)