CTU - Czech Technical University in Prague

There are many CAN bus related project implemented at the Faculty of Electrical Engineering of the Czech Technical University in Prague

CTU CAN FD is a soft IP core whose development started at Czech Technical University. The core is usable in FPGA and ASIC implementations. It supports ISO and NON-ISO versions of CAN FD protocol and it is compliant with ISO 11898-1 2015. The core is open-source, see the licensing conditions on project page.

HW Features:

• 2 - 8 TX buffers
• FIFO-like RX buffer with configurable size
• HW filtering of RX frames
• Time-stamping (RX) and Time-triggered transmission (TX)
• Variety of interrupts
• Listen only mode, Restricted operation mode, Self test mode, Test Mode,
• Support of ASIC manufacturing testability (DFT and memory testing)

Project pages:

• https://gitlab.fel.cvut.cz/canbus/ctucanfd_ip_core

Documentation and testing:

• Datasheet
• System Architecture
• Testbench documentation
• Results of regression tests (includes ISO 16845 compliance tests)
• Results of automatic build by Xilinx Vivado and tests on Zynq-7000 MicroZed board

Integration with FPGA SoCs and boards:

• Integration with Zynq-7000 system

https://gitlab.fel.cvut.cz/canbus/zynq/zynq-can-sja1000-top

• Integration with Intel EP4CGX15 based DB4CGX15 PCIe board

https://gitlab.fel.cvut.cz/canbus/pcie-ctu_can_fd

• Integration with Intel Cyclone V 5CSEMA4U23C6 based DE0-Nano-SoC Terasic board.

https://gitlab.fel.cvut.cz/canbus/intel-soc-ctucanfd

Apart from the core itself, there are several related projects:

• Emulation in mainline QEMU source tree. See QEMU CAN documentation.
• Socket CAN Linux driver is available from mainline. See Linux kernel CTU CAN FD documentation page.
• RTEMS RTOS CAN/CAN FD subsystem has been developed by CTU team and it includes CTU CAN FD support. See RTEMS CAN/CAN FD subsystem documentation.
• NuttX RTOS includes initial CTU CAN FD support working with QEMU emulated PCI card.
• The list of more CTU FEE CAN/CAN FD related projects

Usage:

• The core has been used in several industry projects realized at: Department of measurement
• The core has been used in space missions and well as it is integrated into mas produced MCUs

OpenCores SJA-1000 controller modified to ignore CAN FD frames which allows it to coexists and send frames on network with CAN FD traffic. The core is packed as a Xilinx Vivado component.

Project pages: https://gitlab.fel.cvut.cz/canbus/zynq/sja1000-fdtol