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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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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