Traditional TSN-CAN gateways based on application layer software have disadvantages such as software uncertainty. A method to implement TSN-CAN gateways through digital circuits on the data link layer is proposed, and a CAN controller and TSN-CAN conversion circuit are designed. The circuit is designed in Verilog language, and the predictable delay of conversion between TSN and CAN is guaranteed by hardware, which can realize protocol conversion and data forwarding in a very short time. The gateway eliminates the uncertainty at the software level and has the advantage of low latency. It also supports APB bus configuration and can be easily integrated into SoC chips to meet the needs of vehicle-mounted chips. Finally, the correctness of the design is verified by Xilinx FPGA.
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