Building TSN Ethernet networks with CAST IP is now easier with a new multi-port capability on our Switch IP core and recent webinar videos with design tips for achieving ultra-low latency TSN networks.
May 10, 2021
Silicon IP Cores
CAN-CTRL
CAN 2.0, CAN FD, and CAN XL Bus Controller
Implements a CAN bus controller that performs serial communication according to the CAN 2.0, CAN FD, and CAN XL specifications. It supports the original Bosch protocol and ISO specifications as defined in ISO 11898—including time-triggered operation (TTCAN) as specified in ISO 19898-4—and is also optimized to support the popular AUTOSAR and SAE J1939 specifications.
The CAN protocol uses a multi-master bus configuration for the transfer of frames between nodes of the network and manages error handling with no burden on the host processor. The core enables the user to set up economic and reliable links between various components. It appears as a memory-mapped I/O device to the host processor, which accesses the CAN core to control the transmission or reception of frames.
The CAN-CTRL core is easy to use and integrate, featuring programmable interrupts, data and baud rates; a configurable number of independently programmable acceptance filters; and a generic 32-bit or 8-bit processor interface or optionally a 32-bit AMBA APB, AHB-Lite, Wishbone, or Avalon-MM interface. It implements a flexible buffering scheme, allowing fine-tuning of the core size to satisfy the requirements of each specific application.
The number of receive buffers is synthesis-time configurable. Two types of transmit buffers are implemented: a high-priority primary transmit buffer (PTB) and a lower-priority secondary transmit buffer (STB). The PTB can store one message, while the number of included buffer slots for the STB is synthesis-time configurable. The transmit buffer can operate in FIFO or priority mode.
The core implements functionality similar to the Philips SJA1000 working with its PeliCAN mode extensions, providing error analysis, diagnosis, system maintenance, and optimization features.
The CAN-CTRL is extensively verified, proven in several plugfests and a large number of production designs.
The CAN bus controller comes in three variants: 2.0, FD, and XL. The 2.0 variant supports only the CAN 2.0 specification, the FD variant adds support for CAN FD, and the XL variant supports the CAN 2.0, CAN FD, and CAN XL standards.
Each of the three core variants is available in two versions: Standard and Safety-Enhanced. The Safety-Enhanced version implements ECC for SRAMs protection and uses spatial redundancy for protecting the inner logic of the core. The Safety-Enhanced versions are certified as ISO-26262 ASIL-D Ready.
Verification
The core has been rigorously verified and has been production-proven multiple times.
It has been verified through extensive synthesis, place and route, simulation runs, Verification IP, and PlugFests. It has been embedded in several shipping customer products and is proven in both ASIC and FPGA technologies.
Support
The core as delivered is warranted against defects for ninety days from purchase. Thirty days of phone and email technical support are included, starting with the first interaction. Additional maintenance and support options are available.
Deliverables
The core includes everything required for successful implementation:
- VHDL or Verilog RTL source code
- Post-synthesis netlist
- Testbenches
- Behavioral tests
- Post-synthesis verification
- Simulation scripts
- Synthesis scripts
- Linux driver
- Documentation, and RUVM register descriptions
- The optional safety-enhanced package includes the Safety Manual (SAM), a Failure Modes, Effects and Diagnostics Analysis (FMEDA) and the ASIL-D Ready certificate, issued by SGS-TÜV Saar GmbH.
The CAN-CTRL can be mapped to any ASIC technology or FPGA device (provided sufficient silicon resources are available). The following are sample results for the core configured with three receive buffers, three transmit buffers, and three acceptance filters (does not include priority mode, TTCAN and CiA603 timestamping).
| Configuration | Technology | Cell Area (eq. Gates) |
Memory Bits |
|---|---|---|---|
| CAN 2.0 | TSMC 40nm G | 10,800 | 1,088 |
| CAN 2.0 | TSMC 28nm HPC | 8,600 | 1,088 |
| CAN FD | TSMC 40nm G | 14,000 | 4,224 |
| CAN FD | TSMC 28nm HPC | 10.441 | 4,224 |
| CAN XL | TSMC 28nm HPC | 13,250 | 133,000 |
The next table provides sample results for the core config-ured with sixteen receive buffers, sixteen transmit buffers, sixteen acceptance filters, TTCAN, and 64-bit CiA603 timestamps,
| Configuration | Technology | Cell Area (eq. Gates) |
Memory Bits |
|---|---|---|---|
| CAN 2.0 | TTSMC 28nm HPC | 8,700 | 5,920 |
| CAN 2.0 Safe | TTSMC 28nm HPC | 14,626 | 7,215 |
| CAN FD | TTSMC 28nm HPC | 16,214 | 21,152 |
| CAN FD Safe | TTSMC 28nm HPC | 39,714 | 25,779 |
Please contact CAST to get characterization data for your target configuration and technology.
The CAN-CTRL can be mapped to any Intel FPGA device (provided sufficient silicon resources are available). The following are sample results for the core configured with three receive buffers, three transmit buffers, and three acceptance filters (does not include priority mode, TTCAN and CiA603 timestamping).
| Family Device | CAN 2.0 | CAN-FD | ||
|---|---|---|---|---|
| Logic | Memory | Logic | Memory | |
| Max 10 10M50 |
2,343 LEs 0 MULTs |
1,088 bits 3 RAM Blocks |
2,806 LEs 0 MULTs |
4,224 bits 3 RAM Blocks |
| Cyclone V 5CEFA7 |
1,094 ALMs 1 DSP |
1,325 ALMs 1 DSP |
||
| Cyclone 10 LP 10CL120 |
2,331 LEs 0 MULTs |
2,808 LEs 0 MULTs |
||
| Cyclone 10 GX 10AX115 |
1,072 ALMs 1 DSP |
1,317 ALMs 1 DSP |
||
| Arria V GX 5AGXBB3 |
1,092 ALMs 1 DSP |
1,217 ALMs 1 DSP |
||
| Arria 10 GX 10AX115 |
1,117 ALMs 1 DSP |
1,333 ALMs 1 DSP |
||
Note: Host and CAN clock constrained to 80MHz
When CAN XL support is added, the CAN-CTRL core occupies approximately 1,750 ALMs and requires 133k of memory bits.
Please contact CAST to get characterization data for your target configuration and technology.
The CAN-CTRL can be mapped to any Lattice Device (provided sufficient silicon resources are available) and optimized to suit the particular project’s requirements.. The following are sample results for the core configured with three receive buffers, three transmit buffers, and three acceptance filters (does not include TTCAN, or CAN-XL).
| Family & Device | CAN-FD Support | Logic | Block RAMs | Host Clock (MHz) | CAN Clock (MHz) |
|---|---|---|---|---|---|
| ICE 40U/P5k |
Yes | 3,883 LCs 544 PLBs |
6 | 42 | 25 |
| ICE 40U/P5k |
No | 2,932 LCs 452 PLBs |
6 | 45 | 25 |
| MachXO2 7000HC |
Yes | 1,530 Slices 3,025 LUT4s |
4 | 59 | 23 |
| MachXO2 7000HC |
No | 1,248 Slices 2,466 LUT4s |
0 | 62 | 29 |
| ECP5 LFE5U-85F |
Yes | 1,810 Slices 2,752 LUTs |
2 | 80 | 80 |
| ECP5 LFE5U-85F |
No | 1,444 Slices 2,135 LUTs |
2 | 80 | 80 |
CAN-CTRL reference designs have been evaluated in a variety of technologies. The following are sample results optimized for area with three receive buffers, three transmit buffers, and three acceptance filters (standard version, no TTCAN).
| Family | Variant | Logic Resources |
Memory Resources |
Freq. (MHz) |
|---|---|---|---|---|
| Igloo2 M2GL150-STD |
CAN 2.0 | 2,774 4LUT | 2 RAM1K18 | 60 |
| Igloo2 M2GL150-STD |
CAN FD | 3,330 4LUT | 2 RAM1K18 | 60 |
| PolarFire MPF500T-STD |
CAN 2.0 | 2,759 4LUT | 2 LSRAM | 100 |
| PolarFire MPF500T-STD |
CAN FD | 3,375 4LUT | 2 LSRAM | 100 |
| RTG4 RT4G150-STD |
CAN 2.0 | 2,711 4LUT | 2 RAM1K18 | 60 |
| RTG4 RT4G150-STD |
CAN FD | 3,416 4LUT | 2 RAM1K18 | 60 |
| SmartFusion2 M2S150-STD |
CAN 2.0 | 2,774 4LUT | 2 RAM1K18 | 60 |
| SmartFusion2 M2S150-STD |
CAN FD | 3,330 4LUT | 2 RAM1K18 | 60 |
The CAN-CTRL can be mapped to any Xilinx FPGA device (provided sufficient silicon resources are available). The following are sample results for the core configured with three receive buffers, three transmit buffers, and three acceptance filters (does not include priority mode, TTCAN, and CiA603 timestamping).
| Family Device | CAN 2.0 | CAN-FD | ||
|---|---|---|---|---|
| Logic | Memory | Logic | Memory | |
| Artix-7 XC7A15T |
1,616 LUTs 511 Slices |
1,088 bits 1 RAMB36 |
1,952 LUTs 652 Slices |
4,224 bits 1 RAMB36 |
| Virtex-7 XCVX300T |
1,612 LUTs 522 Slices |
1,942 LUs 646 Slices |
||
| Kintex UltraScale XCKU060 |
1,595 LUTs 240 CLBs |
1,937 LUTs 296 CLBs |
||
| Kintex UltraScale+ XKU15P |
1590 LUTs 264 CLBs |
1,941 LUTs 337 CLBs |
||
Note: Host and CAN clock constrained to 80MHz
When CAN XL support is added, the CAN-CTRL core occupies approximately 3,000 LUTs and 6.5 BRAM Tiles.
Please contact CAST to get characterization data for your target configuration and technology.
This product is sourced from Technology Partner Fraunhofer IPMS.
Features List
CAN Specifications Support
- CAN 2.0 & CAN FD (ISO 11898-1.2015, plus earlier ISO and Bosch specifications)
- CAN XL (CiA 610-1 specification)
- TTCAN (ISO 11898-4 level 1)
- Optimized for AUTOSAR and SAE J1939
Enhanced Functionality
- Error Analysis features enabling diagnostics, system maintenance, and system optimization:
- Last error type
- Arbitration lost position
- Error Warning Limit
- Listen-Only Mode enables CAN bus traffic analysis and automatic bit-rate detection
- Loop back mode for self-testing
- Time-stamping support, compliant to CiA's 603 specification
Flexible Message Buffering and Filtering
- Configurable number of:
- Receive buffers
- Lower-priority transmit buffers
- Independently programmable acceptance filters, 1 to 16
- One high-priority transmit buffer
- FIFO or priority mode for transmit buffers
Easy to Use and Integrate
- Programmable data rate up to 1 Mbit/s with CAN 2.0 and several Mbit/s with CAN FD or CAN XL option
- Programmable baud rate prescaler: 1 up to 1/256
- Single Shot Transmission Mode for lower software overhead and fast reloading of transmit buffer
- Programmable interrupt sources
- Generic 32-bit or 8-bit host-controller interface and optional 32-bit AMBA-APB, 32-bit AHB-Lite, 32-bit Wishbone, or 32-bit Avalon-MM
- A single host can control multiple CAN bus nodes via an optional Multi-CAN wrapper
Safety Enhanced Version (optional)
- ISO-26262 ASIL-D Ready
- Implements ECC for SRAM and spatial redundancy for inner logic protection
Zero Risk
- Compatible with any CAN2.0 transceiver (PHY) that supports ISO-11898, and various CAN-FD PHYs from NXP, MicroChip, OnSemi, Infineon, etc.
- Multiple times production-proven
Efficient and Portable Design
- Available in RTL, and portable to ASIC and FPGA technologies
Verification IP
Available for this core: CAN-VIP
Resources
Resources
- CAN Bit Time Calculator
- CAN in Automation (CiA) Knowledge Pages
- CiA CAN-XL SiG Page
- CAN entry at Wikipedia
- CAN FD entry in Wikipedia
- NMEA 2000 entry at Wikipedia
- DeviceNet entry at Wikipedia
- CANaerospace standard documents
- CANaeropsace entry in Wikipedia
- CAN Wiki
- The CANbus USA website of the ESAcademy
- SAE J1939 Standards collection
- AUTOSAR official web site
- Vector Informatik's CAN Pages
Articles
- "CAN FD: Anything But Automotive Only" By Bernd Westhoff at EE|Times