[merge] Integrated 'feature/can-driver' branch

drivers/CMakeLists.txt

-# SPDX-License-Identifier: MIT
-
 cmake_minimum_required(VERSION 3.7 FATAL_ERROR)
 
 target_sources(
@@ -7,4 +5,5 @@ target_sources(
         #
         PRIVATE
             "${CMAKE_CURRENT_LIST_DIR}/uart.c"
+            "${CMAKE_CURRENT_LIST_DIR}/can.c"
 )

portZynqUltrascale.c

@@ -151,10 +151,13 @@ volatile uint32_t ulInterruptStatus;
 
 void vApplicationIRQHandler( uint32_t ulICCIAR )
 {
-extern const XScuGic_Config XScuGic_ConfigTable[];
-static const XScuGic_VectorTableEntry *pxVectorTable = XScuGic_ConfigTable[ XPAR_SCUGIC_SINGLE_DEVICE_ID ].HandlerTable;
-uint32_t ulInterruptID;
+const XScuGic_VectorTableEntry *pxVectorTable;
 const XScuGic_VectorTableEntry *pxVectorEntry;
+uint32_t ulInterruptID;
+
+	configASSERT( xInterruptController.Config );
+
+	pxVectorTable = xInterruptController.Config->HandlerTable;
 
 	/* Interrupts cannot be re-enabled until the source of the interrupt is
 	cleared. The ID of the interrupt is obtained by bitwise ANDing the ICCIAR