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Controller Area Network (CAN)

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Title: Controller Area Network (CAN)


1
Controller Area Network (CAN)
  • ??????? ?????
  • ???

2
??
  • CAN ??
  • ?????
  • ????
  • ?????

3
CAN ??
  • ??BOSCH???1983?????,1986???SAE????,1993???ISO
    11898????
  • ????????
  • ????
  • ?????????
  • ????????????????
  • ??????,?????1 Mbps
  • ??????,??????????

4
CAN ????
http//www.ti.com/
5
?????
6
ISO/OSI Reference Model
http//www.ti.com/
7
ISO 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

8
SAE 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

9
ISO 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)

10
Application 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

12
CAN 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/
16
CAN ?????????
17
??????
18
????
19
CAN ????
  • 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

20
Frame ??
21
Non-Destructive Bitwise Arbitration
Stock Flight Systems
22
Data rate vs. bus length
23
Error detection and error confinement
  • Frame level
  • Cyclic Redundancy Checks (CRC)
  • Frame check
  • ACK error check
  • Bit level
  • Bit monitor
  • Bit stuffing

24
CAN-H ?? GND ??
25
CAN-L ?? GND ??
26
?????
27
????
PCMCIA CAN interface
Encoder
Inclinometer (???)
???????????
???????
28
Silicon Labs C8051F5xx
US99
29
Infineon
  • 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
30
Atmel AVR-based Microcontroller
  • AT90CAN32/64/128
  • ATmega32/64M1, ATmega32/64C1

31
Freescale
  • 8-bit
  • HC08
  • 16-bit
  • S12/S12X
  • 68HC12
  • 68HC16
  • 56800 Digital Signal Controller
  • 32-bit
  • 68K/ColdFire
  • ARM-based
  • Power

32
Microchip
  • MCP2502x/5x
  • MCP2510/15/51

33
????
34
Reference
  • 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)

35
LIN (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.

36
FlexRay
  • 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.
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