Title: Controller Area Network (CAN)
1Controller Area Network (CAN)
2??
3CAN ??
- ??BOSCH???1983?????,1986???SAE????,1993???ISO
11898???? - ????????
- ????
- ?????????
- ????????????????
- ??????,?????1 Mbps
- ??????,??????????
4CAN ????
http//www.ti.com/
5?????
6ISO/OSI Reference Model
http//www.ti.com/
7ISO 11898 Standards
- Part 1 Data link layer and physical signaling,
2003 - Part 2 High-speed medium access unit, 2003
- Part 3 Low-speed, fault-tolerant,
medium-dependent interface, 2006 - Part 4 Time-triggered communication, 2004
- Part 5 High-speed medium access unit with
low-power mode, 2007
8SAE J1939 set of profiles
- J1939/11 Physical layer (250 kbit/s, twisted
shielded pair) - J1939/13 Off-board diagnostic connector
- J1939/15 Reduced physical layer (250 kbit/s,
unshielded twisted pair) - J1939/21 Data link layer
- J1939/31 Network layer
- J1939/71 Vehicle application layer
- J1939/73 Application layer diagnostics
- J1939/74 (Draft) Application - Configurable
messaging - J1939/75 Application layer - Generator sets and
industrial - J1939/81 Network management
9ISO Standards (application layer)
- 11783-113/Isobus Tractors and machinery for
agriculture and forestry -- Serial control and
communications data network (20012009,?????) - 11992-14 Road vehicles -- Interchange of
digital information on electrical connections
between towing and towed vehicles
(20032008,?????) - 17356-16 Road vehicles -- Open interface for
embedded automotive applications (20052006)
10Application layers
- CANopen (http//www.can-cia.de/,CiA DS-301)
- CANaerospace (http//www.canaerospace.net/,??)
- ISObus/ISO 11783 (http//www.isobus.net/,???)
- DeviceNet (http//www.odva.org/)
- NMEA 2000 (http//www.nmea.org/,????)
- MilCAN (http//www.milcan.org/,????)
- SafetyBUS p (http//www.safetybus.de/,?????)
- CAN Kingdom (http//www.kvaser.se/)
11???????
- ??????????
- Electronic Control Unit (ECU)
- ??ABS?????????? ...
- ???????????????????? ...
- ??????????????? ...
- ????
- CONSULT
- OBD II (On Board Diagnostic II)
- CAN bus
12CAN bus ???
- ?????????????
- ????????????????
- ??????????
- ????????????
- ???????????????
- ?????????????
- ??????????????
- ...
13????????
- 1 ????
- 2 MK60E??????
- ???????
- 10 ????
- ???????
- 8 ????????
- 11 ???????
- 12 ?????
- 13 ?????
- 14 ???????
- 3 ??????????
- 4 Gateway data transmitter
- 5 ???????
- LIN (Local Interconnect Network)
- 6 ??????
- 7 ??????
- 9 ??????
http//www.aa1car.com/library/can_systems.htm
14?????????
http//www.infineon.com/
15???????
http//www.nmea.org/
16CAN ?????????
17??????
18????
19CAN ????
- Transfer rate 1 Mbps max.
- Max. message length 8 bytes
- Carrier Sense Multiple Access/Bitwise Arbitration
(CSMA/BA) - Fault tolerance 15 bits CRC ACK
- Media twisted pair
20Frame ??
21Non-Destructive Bitwise Arbitration
Stock Flight Systems
22Data rate vs. bus length
23Error detection and error confinement
- Frame level
- Cyclic Redundancy Checks (CRC)
- Frame check
- ACK error check
- Bit level
- Bit monitor
- Bit stuffing
24CAN-H ?? GND ??
25CAN-L ?? GND ??
26?????
27????
PCMCIA CAN interface
Encoder
Inclinometer (???)
???????????
???????
28Silicon Labs C8051F5xx
US99
29Infineon
- XC800 family (High performance 8bit 8051)
- C166/XC166/XE166/XC2000 family (16 bit)
- TriCore family (32 bit)
Starter kit XC888, EUR149 CPU clock 24 MHz 32
Kbyte Flash 1.75 Kbyte RAM USB, JTAG, CAN, LIN
Starter kit TC1767, EUR600 CPU clock 133 MHz 2
MByte program flash 92 Kbyte on-chip SRAM USB,
JTAG, CAN, FlexRay
Starter kit C167CS, EUR199 CPU clock 25 MHz 256
Kbyte Flash 6411 Kbyte RAM RS-232, CAN
30Atmel AVR-based Microcontroller
- AT90CAN32/64/128
- ATmega32/64M1, ATmega32/64C1
31Freescale
- 8-bit
- HC08
- 16-bit
- S12/S12X
- 68HC12
- 68HC16
- 56800 Digital Signal Controller
- 32-bit
- 68K/ColdFire
- ARM-based
- Power
32Microchip
- MCP2502x/5x
- MCP2510/15/51
33????
34Reference
- http//www.can-cia.de/
- http//www.mjschofield.com/
- http//www.aa1car.com/library/can_systems.htm
- http//www.aa1car.com/library/us796obd.htm
(Understanding Onboard Diagnostics OBDII Past,
Present Future)
35LIN (Local Interconnect Network)
- Single master, up to 16 slaves (i.e. no bus
arbitration). - Single wire communications up to 19,2 kbit/s _at_ 40
meter bus length. - Guaranteed latency times.
- Variable length of data frame (2, 4 and 8 byte).
- Configuration flexibility.
- Multi-cast reception with time synchronization,
without crystals or ceramic resonators. - Data checksum and error detection.
- Detection of defect nodes.
- Low cost silicon implementation based on standard
UART/SCI hardware. - Enabler for hierarchical networks.
- Operating Voltage of 12 V.
36FlexRay
- synchronization
- Synchronous and asynchronous data transmission
(scalable). - Support of a fault tolerant synchronized global
time base. - Scalable electric/electronic architectures to
support different platforms. - Single Channel gross data rate of 10 Mbit/sec
- protocol
- Deterministic data transmission, guaranteed
message latency and message jitter. - Support of redundant transmission channels.
- Fault tolerant and time triggered services
implemented in hardware. - Arbitration free transmission.
- flexible configuration - physical layer
- Support for bus and star topologies.
- Fast error detection and signaling.
- Support of wake-up/sleep functionality via bus.