razvan ciobotariu traning canoe 07-apr-2016
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7/26/2019 Razvan Ciobotariu Traning CANoe 07-APR-2016
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Controller Area Network (CAN)
IIC Iasi
Drive and Enjoy Safety
6/20/16Rzvan-Alin CIOBOTARIIIC Ia!i - "# $evelo%er
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Confidential
&%a'e or &ener Inor*ation
Differential serial bus standard
The messages it sends are small (8 data bytes max) Bit rates u to ! "bit#s are ossible at net$or% lengths belo$ &' m
Dereasing the bit rate allo$s longer net$or% distanes (eg !*+ %bit#s at +'' m)
,rioriti-ation of messages
Configuration flexibility
"ultimaster
.igh immunity against eletromagneti interferene
Error detetion and error signalling
/utomati retransmission of orruted messages as soon as the bus is idle again
Distintion bet$een temorary errors and ermanent failures of nodes
S$ithing off of defet nodes
Bus nodes using the C/0 rotool don1t have a seifi address
The address data is loated in the identifier of eah message
This identifier also seifies the ontent and the riority of the message
0e$ nodes an be attahed to the bus dynamially2 $ithout disturbing the ommuniation
BA&IC CONC+,T&
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Network
3#*'#!3
Cristian ,aveliu 4 Continental /5
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The nominal voltage in the dominant state is 6+ 7 for the C/0. line and !+ 7 for the
C/09 line
No*inal B.s evels
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O%en &ste*s Inter'onne'tion *oel(O&I *oel)O%en &ste*s Inter'onne'tion *oel(O&I *oel)
not specified by the CAN Specification
Acceptance filtering, error management, de-/encryption, (de-)stuffing, arbitration, frame setup, acknowledgement
Encoding / decoding, bit timing, synchronization, wiring, connectors, bus, transceiver characteristics
I*%le*ente in "arware
CAN witin te I&O/O&I seven-laer *oel
Electronic Control Unit
Application Layer
Presentation Layer
Session Layer
Network Layer
Transport Layer
Data Link Layer
Physical Layer
66
33
44
22
11
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Frame: Envelope for transmission dataExact frame format is defined in CAN specification
Note:CAN Frame CAN Message!
A CANmessagecan be spread out over several CANframes
Four different frame types:Data Frame: Transmission of regular data
Remote Frame: Remote request for data transmission
Overload Frame: Indication of bus overload situations
Error Frame: Indication of transmission errors
5ra*es Overview
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Standard Format (CAN 2.0A): 11-bit Identifier
211= 2048 (in reality only 2032) identifiers possible
!!:bit ;dentifier '3& Bit Data !+:bit C
D9C ?:bit E=>;>S Bus ;dle
/rbitration field
!!:bit Base ;dBus ;dleS=>
S