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CTU CAN FD IP Core
Commit e909c7eb authored by Ille, Ondrej, Ing.'s avatar Ille, Ondrej, Ing.
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Initial commit of separate CAN FD IP core repository

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Sources/Buffers_Message_Handling/messageFilter.vhd 0 → 100644
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Library ieee;
use IEEE.std_logic_1164.all;
use IEEE.numeric_std.ALL;
use ieee.std_logic_unsigned.All;
use work.CANconstants.all;
use work.ID_transfer.all;
-------------------------------------------------------------------------------------------------------------
--
-- CAN with Flexible Data-Rate IP Core
--
-- Copyright (C) 2015 Ondrej Ille <ondrej.ille@gmail.com>
--
-- This program is free software; you can redistribute it and/or
-- modify it under the terms of the GNU General Public License
-- as published by the Free Software Foundation; either version 2
-- of the License, or (at your option) any later version.
--
-- This program is distributed in the hope that it will be useful,
-- but WITHOUT ANY WARRANTY; without even the implied warranty of
-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-- GNU General Public License for more details.
--
-- The CAN protocol is developed by Robert Bosch GmbH and
-- protected by patents. Anybody who wants to implement this
-- IP core on silicon has to obtain a CAN protocol license
-- from Bosch.
--
--
-- Revision History:
--
-- July 2015 Created file
-- 17.1.2016 Added ID change from register value to decimal value for range filter comparison
-- 1.6.2016 Fixed wrong enable decoding from driving bus signals! Filters were disabled but
-- frame was anyway propagated to the output!
-------------------------------------------------------------------------------------------------------------------------------------------------------
-----------------------------------------------------------------------------------------------------------
-- Purpose:
-- Message filter for recieved data. Combinational circuit with valid data register at output of circuit.-
-- Filter identifier type, frame type are controlled by drv_bus from registers. 13 bit and 29 bit filters-
-- can be compared. If 13 bit filters are compared then MSB 16 bits in rec_ident_in has to be zeros. -
-- Also mask for the filter in case of 13-bit filter HAS to have 16 uppest bits equal to zero! It is set -
-- by drv_bus signals from control registers. Filters A,B,C,D are present. If input identifier matches -
-- at least one it is considered as valid. Frame type (CAN Basic, CAN Extended, CAN FD Basic) are also -
-- selectable for filtering. -
------------------------------------------------------------------------------------------------------------
entity messageFilter is
PORT(
----------
--INPUTS--
----------
--Clock an reset signals
signal clk_sys :in std_logic; --System clock
signal res_n :in std_logic; --Async reset
--Driving signals from CAN Core
signal rec_ident_in :in std_logic_vector(28 downto 0); --Receieved identifier
signal ident_type :in std_logic; --Input message identifier type
-- (0-BASE Format, 1-Extended Format);
signal frame_type :in std_logic; --Input frame type (0-Normal CAN, 1- CAN FD)
signal rec_ident_valid :in std_logic; --Identifier valid (active log 1)
--Driving bus from registers
signal drv_bus :in std_logic_vector(1023 downto 0);
-----------
--OUTPUTS--
-----------
signal out_ident_valid :out std_logic --Signal whenever identifier matches the filter identifiers
);
---------------------------
--INTERNAL SIGNAL aliases -
---------------------------
signal drv_filter_A_mask :std_logic_vector(28 downto 0); --Filter A bit mask
signal drv_filter_A_ctrl :std_logic_vector(3 downto 0); --Filter A control bits
signal drv_filter_A_bits :std_logic_vector(28 downto 0); --Filter A bits
signal int_filter_A_valid :std_logic; --Output of filter A is valid (internal signal)
signal drv_filter_B_mask :std_logic_vector(28 downto 0); --Filter B bit mask
signal drv_filter_B_ctrl :std_logic_vector(3 downto 0); --Filter B control bits
signal drv_filter_B_bits :std_logic_vector(28 downto 0); --Filter B bits
signal int_filter_B_valid :std_logic; --Output of filter B is valid (internal signal)
signal drv_filter_C_mask :std_logic_vector(28 downto 0); --Filter C bit mask
signal drv_filter_C_ctrl :std_logic_vector(3 downto 0); --Filter C control bits
signal drv_filter_C_bits :std_logic_vector(28 downto 0); --Filter C bits
signal int_filter_C_valid :std_logic; --Output of filter C is valid (internal signal)
signal drv_filter_ran_ctrl :std_logic_vector(3 downto 0); --Range filter control bits
signal drv_filter_ran_lo_th :std_logic_vector(28 downto 0); --Lower range filter trehsold
signal drv_filter_ran_hi_th :std_logic_vector(28 downto 0); --Upper range filter trehsold
signal int_filter_ran_valid :std_logic; --Output of range filter is valid
signal drv_filters_ena :std_logic;
--Internal aliases for input frame type
signal int_data_type :std_logic_vector(3 downto 0); --Frame type on input to be compared with driving signal
signal int_data_ctrl :std_logic_vector(1 downto 0); --Concat of types of data on input
signal rec_ident_dec :natural; --Actual decimal value of recieved
--Decimal values of identifiers
signal id_1_dec :natural;
signal id_2_dec :natural;
-------------
--REGISTERS--
-------------
signal valid_reg:std_logic; --Register for valid output value
end entity;
architecture rtl of messageFilter is
begin
--Driving signal aliases
drv_filter_A_mask <= drv_bus(DRV_FILTER_A_MASK_HIGH downto DRV_FILTER_A_MASK_LOW);
drv_filter_A_ctrl <= drv_bus(DRV_FILTER_A_CTRL_HIGH downto DRV_FILTER_A_CTRL_LOW);
drv_filter_A_bits <= drv_bus(DRV_FILTER_A_BITS_HIGH downto DRV_FILTER_A_BITS_LOW);
drv_filter_B_mask <= drv_bus(DRV_FILTER_B_MASK_HIGH downto DRV_FILTER_B_MASK_LOW);
drv_filter_B_ctrl <= drv_bus(DRV_FILTER_B_CTRL_HIGH downto DRV_FILTER_B_CTRL_LOW);
drv_filter_B_bits <= drv_bus(DRV_FILTER_B_BITS_HIGH downto DRV_FILTER_B_BITS_LOW);
drv_filter_C_mask <= drv_bus(DRV_FILTER_C_MASK_HIGH downto DRV_FILTER_C_MASK_LOW);
drv_filter_C_ctrl <= drv_bus(DRV_FILTER_C_CTRL_HIGH downto DRV_FILTER_C_CTRL_LOW);
drv_filter_C_bits <= drv_bus(DRV_FILTER_C_BITS_HIGH downto DRV_FILTER_C_BITS_LOW);
drv_filter_ran_ctrl <= drv_bus(DRV_FILTER_RAN_CTRL_HIGH downto DRV_FILTER_RAN_CTRL_LOW);
drv_filter_ran_lo_th <= drv_bus(DRV_FILTER_RAN_LO_TH_HIGH downto DRV_FILTER_RAN_LO_TH_LOW);
drv_filter_ran_hi_th <= drv_bus(DRV_FILTER_RAN_HI_TH_HIGH downto DRV_FILTER_RAN_HI_TH_LOW);
drv_filters_ena <= drv_bus(DRV_FILTERS_ENA_INDEX);
--Input frame type internal signal
int_data_ctrl <= frame_type&ident_type;
--Decoder frame_type&ident_type to one-hot
with int_data_ctrl select int_data_type <=
"0001" when "00", --CAN Basic
"0010" when "01", --CAN Extended
"0100" when "10", --CAN FD Basic
"1000" when "11", --CAN Fd Extended
"0000" when others;
--Filter A input frame type filtering
int_filter_A_valid <= '1' when ( ( --Identifier matches the bits and mask
(rec_ident_in AND drv_filter_A_mask) =
(drv_filter_A_bits AND drv_filter_A_mask)
)
AND
( --Frame type Matches defined frame type
not((drv_filter_A_ctrl AND int_data_type)="0000")
)
)
else '0';
--Filter B input frame type filtering
int_filter_B_valid <= '1' when ( ( --Identifier matches the bits and mask
(rec_ident_in AND drv_filter_B_mask) =
(drv_filter_B_bits AND drv_filter_B_mask)
)
AND
( --Frame type Matches defined frame type
not((drv_filter_B_ctrl AND int_data_type)="0000")
)
)
else '0';
--Filter C input frame type filtering
int_filter_C_valid <= '1' when ( ( --Identifier matches the bits and mask
(rec_ident_in AND drv_filter_C_mask) =
(drv_filter_C_bits AND drv_filter_C_mask)
)
AND
( --Frame type Matches defined frame type
not((drv_filter_C_ctrl AND int_data_type)="0000")
)
)
else '0';
--Range filter for identifiers
ID_reg_to_decimal(rec_ident_in,rec_ident_dec);
int_filter_ran_valid <= '1' when ( --Identifier matches the range set
( rec_ident_dec<=to_integer(unsigned(drv_filter_ran_hi_th)) )
AND
( rec_ident_dec>=to_integer(unsigned(drv_filter_ran_lo_th)) )
)
AND
( --Frame type Matches defined frame type
not((drv_filter_ran_ctrl AND int_data_type)="0000")
)
else '0';
--If received message is valid and at least one of
-- the filters is matching the message passed the
-- filter.
valid_reg <= rec_ident_valid AND
(
int_filter_A_valid OR
int_filter_B_valid OR
int_filter_C_valid OR
int_filter_ran_valid
) when drv_filters_ena='1'
else rec_ident_valid;
---------------------------------------------------
--To avoid long combinational paths, valid filter
-- output is pipelined. This is OK since received
-- frame is valid on input for many clock cycles!
---------------------------------------------------
valid_reg_proc:process(res_n,clk_sys)
begin
if(res_n=ACT_RESET)then
out_ident_valid <= '0';
elsif rising_edge(clk_sys) then
out_ident_valid <= valid_reg;
end if;
end process valid_reg_proc;
end architecture;
\ No newline at end of file
Sources/Buffers_Message_Handling/rxBuffer.vhd 0 → 100644
View file @ e909c7eb
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Sources/Buffers_Message_Handling/txArbitrator.vhd 0 → 100644
View file @ e909c7eb
Library ieee;
USE IEEE.std_logic_1164.all;
USE IEEE.numeric_std.ALL;
USE ieee.std_logic_unsigned.All;
use work.CANconstants.all;
use work.ID_transfer.all;
-------------------------------------------------------------------------------------------------------------
--
-- CAN with Flexible Data-Rate IP Core
--
-- Copyright (C) 2015 Ondrej Ille <ondrej.ille@gmail.com>
--
-- This program is free software; you can redistribute it and/or
-- modify it under the terms of the GNU General Public License
-- as published by the Free Software Foundation; either version 2
-- of the License, or (at your option) any later version.
--
-- This program is distributed in the hope that it will be useful,
-- but WITHOUT ANY WARRANTY; without even the implied warranty of
-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-- GNU General Public License for more details.
--
-- The CAN protocol is developed by Robert Bosch GmbH and
-- protected by patents. Anybody who wants to implement this
-- IP core on silicon has to obtain a CAN protocol license
-- from Bosch.
--
--
-- Revision History:
--
-- July 2015 Created file
-- 17.1.2016 Added ID change from register value to decimal value for case when identifier needs
-- to decide about priority message (Time stamps are equal)
-- 7.6.2016 Added "less_than" function for comparison of two 64 bit std_logic_vectors. Integer
-- does not support more than 64 bits. When timestamp higher than 32 bits was simulated
-- in unit test simulator was throwing out milions of warnings!
-- 23.6.2016 Added less or equal to the case when both timestamps and both identifiers are equal.
-- Thisway identifier from Buffer 1 instead of Buffer 2 is propagated!
--
-------------------------------------------------------------------------------------------------------------------------------------------------------
-----------------------------------------------------------------------------------------------------------
-- Purpose:
-- Circuit for selecting the valid message for CAN Core from two TXT buffer inputs. Circuit compares the
-- timestamp of the message with input timestamp(actual time) and allows the message to be propagated
-- for CAN Core when the time Stamp of message is higher than actual timestamp! This realises the func-
-- tionality of sending the message in exact time! When both timeStamp are equal and then message with
-- lower identifier is selected!
--
-- Both input buffers may be set to "not allowed" by driving bus.
-----------------------------------------------------------------------------------------------------------
entity txArbitrator is
port(
------------------------
--TX Buffers interface--
------------------------
--TXT Buffer 1
signal txt1_buffer_in :in std_logic_vector(639 downto 0); --Time TX1 buffer input
signal txt1_buffer_empty :in std_logic; --No message in Time TX Buffer
signal txt1_buffer_ack :out std_logic; --Time buffer acknowledge that
-- message can be erased
--TXT Buffer 2
signal txt2_buffer_in :in std_logic_vector(639 downto 0); --Time TX1 buffer input
signal txt2_buffer_empty :in std_logic; --No message in Time TX Buffer
signal txt2_buffer_ack :out std_logic; --Time buffer acknowledge that
-- message can be erased
-----------------------
--CAN Core Interface---
-----------------------
signal tran_data_out :out std_logic_vector(511 downto 0); --TX Message data
signal tran_ident_out :out std_logic_vector(28 downto 0); --TX Identifier
signal tran_dlc_out :out std_logic_vector(3 downto 0); --TX Data length code
signal tran_is_rtr :out std_logic; --TX is remote frame
signal tran_ident_type_out :out std_logic; --TX Identifier type (0-Basic,1-Extended);
signal tran_frame_type_out :out std_logic; --TX Frame type
signal tran_brs_out :out std_logic; --Bit rate shift for CAN FD frames
signal tran_frame_valid_out :out std_logic; --Signal for CAN Core that frame on the
-- output is valid and can be stored for transmitting
signal tran_data_ack :in std_logic; --Acknowledge from CAN core that acutal message was
-- stored into internal buffer for transmitting
---------------------
--Driving interface--
---------------------
signal drv_bus :in std_logic_vector(1023 downto 0); --Driving bus from registers
signal timestamp :in std_logic_vector(63 downto 0) --TimeStamp value
);
--------------------
--Internal signals--
--------------------
signal valid_join :std_logic_vector(1 downto 0); --Joined signal for valid signals from buffers
signal mess_src :std_logic; --Message source (0-normal buffer, 1-Time based buffer)
-------------------
--Internal aliases-
-------------------
signal mess_time1 :std_logic_vector(63 downto 0); --Time value for message from TXT1 buffer to be sent!
signal mess_time2 :std_logic_vector(63 downto 0); --Time value for message from TXT2 buffer to be sent!
signal ident1 :std_logic_vector(28 downto 0);
signal ident2 :std_logic_vector(28 downto 0);
signal ts_valid :std_logic_vector(1 downto 0); --Message time 1 or 2 is lower than timeStam
--Driving bus
signal drv_allow_txt1 :std_logic; --Allow transmit of messages from tx buffer
signal drv_allow_txt2 :std_logic; --Allow transmit of messages from txt buffer
--Decimal values of identifier
signal id_1_dec :natural;
signal id_2_dec :natural;
--Comparing procedure for two 64 bit std logic vectors
function less_than(
signal a : in std_logic_vector(63 downto 0);
signal b : in std_logic_vector(63 downto 0)
)return boolean is
begin
if (unsigned(a(63 downto 32)) < unsigned(b(63 downto 32))) or
((a(63 downto 32) = b(63 downto 32)) and (unsigned(a(31 downto 0)) < unsigned(b(31 downto 0))))then
return true;
else
return false;
end if;
end function;
--Message time 1 less than Messa time 2
signal mt1_lt_mt2 :boolean;
signal mt1_lt_ts :boolean;
signal mt2_lt_ts :boolean;
end entity;
architecture rtl of txArbitrator is
begin
--Driving bus aliases
drv_allow_txt1 <= drv_bus(DRV_ALLOW_TXT1_INDEX);
drv_allow_txt2 <= drv_bus(DRV_ALLOW_TXT2_INDEX);
--Joining valid signals into one vector value
valid_join <= ((not txt1_buffer_empty) and (drv_allow_txt1))&
((not txt2_buffer_empty) and (drv_allow_txt2));
--Transmit time of TXT Buffer messages (from both buffers)
mess_time1 <= txt1_buffer_in(TXT_TSUPP_HIGH downto TXT_TSLOW_LOW);
mess_time2 <= txt2_buffer_in(TXT_TSUPP_HIGH downto TXT_TSLOW_LOW);
--Transmit identifiers
ident1 <= txt1_buffer_in(TXT_IDW_HIGH-3 downto TXT_IDW_LOW);
ident2 <= txt2_buffer_in(TXT_IDW_HIGH-3 downto TXT_IDW_LOW);
--Comparator methods for 64 bit vectors
mt1_lt_mt2 <= less_than(mess_time1,mess_time2);
mt1_lt_ts <= less_than(mess_time1,timestamp);
mt2_lt_ts <= less_than(mess_time2,timestamp);
-------------------------------------------------------
--Message can be transmitted when transmitt timestamp--
--is lower than the actual timestamp value
-------------------------------------------------------
ts_valid(0) <= '1' when ( --Timestamp higher than transmitt time
( mt2_lt_ts=true )
and
( -- Message is available and buffer allowed
valid_join(0)='1'
)
)
else
'0';
--Buffer 1
ts_valid(1) <= '1' when ( --Timestamp higher than transmitt time
( mt1_lt_ts=true )
and
( -- Message is available and buffer allowed
valid_join(1)='1'
)
)
else
'0';
------------------------------------------------
--Determine the Buffer from which the frame
--should be stored.
--
-- Frame is considered from TXT Buffer 1 if:
-- 1. Only buffer 1 has valid frame to transmit
-- 2. Both buffers have valid frames but transmit
-- time of Buffer 1 Frame is lower.
-- 3. Both buffers have valid frames and the
-- time to transmitt is equal and Identifier
-- of buffer 1 frame is lower!
------------------------------------------------
ID_reg_to_decimal(ident1,id_1_dec);
ID_reg_to_decimal(ident2,id_2_dec);
mess_src <= '0' when ( --Only buffer 1 has frame
(ts_valid = "10")
or
( --Both have frame and message time 1 is lower
(ts_valid = "11")
and
( mt1_lt_mt2 = true )
)
or
( -- Both have frames, message time is equal, identifier decides
(ts_valid = "11")
and
(mess_time2 = mess_time1)
and
(id_1_dec <= id_2_dec)
)
)
else
'1';
----------------------------------------
--Frame on the output is valid if
--at least one of the frames is valid
----------------------------------------
tran_frame_valid_out <= '1' when (ts_valid="10" or ts_valid="01" or ts_valid="11") else
'0';
----------------------------------------------------------------------
----------------------------------------------------------------------
----Multiplexing data from buffers into message lines to CAN Core ----
----------------------------------------------------------------------
----------------------------------------------------------------------
---------------------
--Frame format word--
---------------------
--Data length Code
tran_dlc_out <= txt1_buffer_in(611 downto 608) when mess_src='0' else
txt2_buffer_in(611 downto 608);
--RTR Frame
tran_is_rtr <= txt1_buffer_in(613) when mess_src='0' else
txt2_buffer_in(613);
--Identifier Type
tran_ident_type_out <= txt1_buffer_in(614) when mess_src='0' else
txt2_buffer_in(614);
--Frame Type
tran_frame_type_out <= txt1_buffer_in(615) when mess_src='0' else
txt2_buffer_in(615);
--Bit rate shift
tran_brs_out <= txt1_buffer_in(617) when mess_src='0' else
txt2_buffer_in(617);
-----------------------------------------------------------------------
--NOTE: TimeStamp Words skipped since timeStamp prioritization is
-- already achieved by comparing actual and message timestamps
-- inside TxArbitrator.
-----------------------------------------------------------------------
----------------------------------
--Identifier word and data words--
----------------------------------
tran_ident_out <= txt1_buffer_in(540 downto 512) when mess_src='0' else
txt2_buffer_in(540 downto 512);
tran_data_out <= txt1_buffer_in(511 downto 0) when mess_src='0' else
txt2_buffer_in(511 downto 0);
-------------------------------------------------------------
--Confirmation for TX or TXT Buffer that message was stored--
-- the in CAN Core and it can be erased from TXT buffer --
-------------------------------------------------------------
txt1_buffer_ack <= '1' when ((tran_data_ack='1') AND (mess_src='0')) else
'0';
txt2_buffer_ack <= '1' when ((tran_data_ack='1') AND (mess_src='1')) else
'0';
end architecture;
\ No newline at end of file
Sources/Buffers_Message_Handling/txtBuffer.vhd 0 → 100644
View file @ e909c7eb
Library ieee;
USE IEEE.std_logic_1164.all;
USE IEEE.numeric_std.ALL;
USE ieee.std_logic_unsigned.All;
use work.CANconstants.all;
-------------------------------------------------------------------------------------------------------------
--
-- CAN with Flexible Data-Rate IP Core
--
-- Copyright (C) 2015 Ondrej Ille <ondrej.ille@gmail.com>
--
-- This program is free software; you can redistribute it and/or
-- modify it under the terms of the GNU General Public License
-- as published by the Free Software Foundation; either version 2
-- of the License, or (at your option) any later version.
--
-- This program is distributed in the hope that it will be useful,
-- but WITHOUT ANY WARRANTY; without even the implied warranty of
-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-- GNU General Public License for more details.
--
-- The CAN protocol is developed by Robert Bosch GmbH and
-- protected by patents. Anybody who wants to implement this
-- IP core on silicon has to obtain a CAN protocol license
-- from Bosch.
--
--
-- Revision History:
--
-- July 2015 Created file
--
-------------------------------------------------------------------------------------------------------------------------------------------------------
-----------------------------------------------------------------------------------------------------------
-- Purpose:
-- Transmit message buffer. RAM type memory. Storing by command on drv bus. All the data stored at once --
-- Erasing by activating signal txt_data_ack. Possible to store and erase at the same cycle without --