CAN bus CTU FEE Projects
The list of CAN bus related projects at Faculty of Electrical Engineering at Czech Technical University in Prague
CTU CAN FD IP Core
The VHDL open-source CAN FD core project.
Project pages: https://gitlab.fel.cvut.cz/canbus/ctucanfd_ip_core
Documentation and testing:
- CTU CAN FD Core Datasheet Documentation
- CTU CAN FD Core System Architecture Documentation
- CTU CAN FD Driver Documentation (Linux mainline)
- The Core coverage by included test framework
- Results of automatic test against test framework
- 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 Cyclone V 5CSEMA4U23C6 based DE0-Nano-SoC Terasic board - https://gitlab.fel.cvut.cz/canbus/intel-soc-ctucanfd
Articles and Presentations
-
Ille, O.; Novák, J.; Píša, P.; Vasilevski, M.: CAN FD open-source IP core, In: CAN Newsletter 3/2022, PDF, CAN in Automation, 2022
-
CTU CAN FD presented at Workshop CAN in Satellites, CAN in Automation, 2023, slides 35 to 49
OpenCores SJA-1000 FD Tol
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
CAN Bus Channels Mutual Latency Testing
Project done in cooperation with Voklswagen Research and SocketCAN Author Oliver Hartkopp.
Description of the project boards, hardware and VHDL desig.
CAN/CAN FD Latency Tester utility
Daily Test Results with current mainline Linux kernel and linux-rt-devel (for-kbuild-bot/current-stable) RT varinat on MZ_APO configured with CTU CAN FD IP core.
Articles and Presentations
-
Píša, P.; Hronek, P.: CAN Bus in Control, Automotive and Satellites, RedHat DevConf CZ 2023, Brno, 2023, (Video)
-
Píša, P.; Hronek, P.; Vasilevski, M.; Novák, J.: Continuous CAN Bus Subsystem Latency Evaluation and Stress Testing on GNU/Linux-Based Systems, In: embedded world Conference 2024. Haar: WEKA FACHMEDIEN GmbH, 2024. p. 77-82. ISBN 978-3-645-50199-6. (Slides)
CAN/CAN FD Subsystem and Drivers for RTEMS
- RTEMS CAN FD Project Sources (in RTEMS mainline)
- RTEMS CAN FD Documentation - Manual (in RTEMS mainline)
- RTEMS CAN FD Source Documentation
- RTEMS Real Time Operating System
Articles and Presentations
-
Lenc, M.; Píša, P.: Scheduling of CAN frame transmission when multiple FIFOs with assigned priorities are used in RTOS drivers, international CAN Conference, CAN in Automation, 2024. (Slides)
-
Lenc, M.: CAN FD Support for Space Grade Real-Time RTEMS Executive, Master's Thesis, CTU, 2024
List of more CTU FEE CAN projects
- LinCAN driver (PDF document)
- OCERA CANOpen framework - OCERA CANopen User Guide
- OrtCAN - Open/OCERA real-time CAN components - offshoot of original OCERA project. Project related notices by PavelPisa
- Benchmarks of LinCAN and Socketcan drivers
- Benchmarks of SocketCAN-based gateway
- SocketCAN and queueing disciplnes (technical report, PDF)
- LIN-bus support and tools for Linux and SocketCAN (sllin, etc.) GitHub repository
- CAN hardware emulation in QEMU, CAN for QEMU presentation and related GitLab repository integrated into mainline DOC
- Simulink Blocks for CAN bus Support under Linux
- Performance evaluation of Linux CAN-related system calls (example code)
- Linux-Based CAN-Ethernet Gateway
- Diploma and other theses related to CAN bus at CTU Faculty of Electrical Engineering
- Pavel Pičman: Mobile CAN bus analyzer, 2005 (PDF CZ)
- Miroslav Černý: Communication CAN in vehicle, 2005 (PDF CZ)
- Stanislav Marek: Embedded Device with CANopen Communication Protocol, 2006 (PDF CZ)
- Jan Benda: CANOpen Communication for a Mobile Robot, 2008 (PDF CZ)
- Martin Petera: LinCAN driver for Renesas HCAN2, 2007 (PDF CZ)
- Martin Petera: Implementation of the LinCAN Driver for the PowerPC Platform and LinCAN-SocketCAN Evaluation, 2010 (PDF CZ)
- Miloš Gajdoš: CAN bus communication protocol support and monitoring, 2008 (PDF EN)
- Marek Peca: Two-legged robot, 2008 (PDF CZ)
- Jan Kříž: Implementation of USB-CAN converter support for LinCAN driver, 2008 (PDF CZ) (Git)
- Jiří Zemánek: CAN board with Renesas H8S/2638 microcontroller, 2006 (PDF CZ) HW Zoo Board documentation
- Lukáš Hamáček: RTW target for Linux with CANOpen support, 2009 (PDF EN), part of Libor Waszniowski lead projects
- Tomáš Barák: Remote access to CAN bus over Ethernet, 2010 (PDF) (Git)
- Košarko Martin: CAN BUS analyzer with Ethernet interface, 2012 (PDF CZ)
- Semmler Ondřej: Firmware of USB/CAN Gateway, 2012 (PDF CZ)
- Jiří Vaněk: CAN Bus to USB Converter for GNU/Linux, 2012 (PDF) (LinCAN Devel Git, branch lpc17xx) (SocketCAN converter support, branch vanekjir)
- Fridrich Ivan: Tools for CANopen dictionaries and their integration into embedded systems, 2012 (PDF) (qCANalyzer) (qCANalyzer Git)
- Ondřej Kulatý: Message authentication for CAN bus and AUTOSAR software architecture, 2015 (PDF EN)
- Martin Jeřábek: FPGA Based CAN Bus Channels Mutual Latency Tester and Evaluation, 2016 (PDF EN) (CAN-BENCH_Schematics)
- Martin Prudek: Enhancing Raspberry Pi Target for Simulink to Meet Real-Time Latencies, 2017 (PDF EN)
- Fitz Karel: Extension of the Existing CAN Controller for FD Standard, 2017 (PDF CZ)
- Martin Hofman: Time-Triggered Scheduler Implementation in Distributed Safety-Critical Control System, 2017 (PDF CZ)
- Martin Jeřábek: Open-source and Open-hardware CAN FD Protocol Support, 2019 (PDF EN)
- Jan Charvát: Model of CAN FD Communication Controller for QEMU Emulator, 2020 (PDF EN)
- Jaroslav Beran: Firmware for Control Module of an Intelligent Vehicle, 2020 (PDF EN)
- Jan Charvát: NuttX RTOS CAN Bus Driver for Espressif ESP32C3, 2022 (PDF EN)
- Matěj Vasilevski: CAN Bus Latency Test Automation for Continuous Testing and Evaluation, 2022 (PDF EN)
- Pavel Hronek: CAN Bus Latency Test Automation for Continuous Testing and Evaluation, 2023 (PDF EN)
- Other related project realized at Department of Control Engineering