Controller Area Network

CAN Fundamentals
User benefts
How it all began
Overview
Basic Concepts
CAN Data Lin La!er
Bus Access Arbitration
Frame Formats
"rror Detection
"rror Handling
#rotocol $ersions
%&tandard '"(tended)
CAN #*!sical La!er
+essage Coding
&!nc*roni,ation
Bit -iming ' Bit Construction
CAN Bus Lines
CAN .mplementations
-!pical .mplementations
Basic .mplementations
Full .mplementations
Building Large CAN Networs
CAN User Benefts
CAN is low cost
Fast serial bus wit* two wires/ good price'per0ormance ratio
Low cost protocol devices %controllers1 transceivers) available mainl! driven b! *ig* volume
production in t*e automotive maret
CAN is reliable
&op*isticated error detection and error *andling mec*anisms results in *ig* reliabilit!
transmission
"(ample/ 233 bit's1 425 bus load1 4333 *ours per !ear/
One undetected error ever! 6333 !ears
"rroneous messages are detected and repeated
&!stem7wide data consistenc! %ever! bus node is in0ormed about an error)
Fault! nodes automaticall! wit*draw 0rom bus communication
Hig* immunit! to "lectromagnetic .nter0erence
CAN means real7time
ma(imum data rate is 6 +Bit's 8 93m bus lengt*
%still about 93 Bit's 8 6333m bus lengt*)
&*ort message lengt* %3 to : data b!tes ' message)
%Larger data can be split up into several messages)
Low latenc! between transmission re;uest and actual start o0 transmission
Bus access *andled via C&+A'CD w' A+# met*od %message wit* t*e *ig*est priorit! wins
arbitration wit*out losing an! time)
CAN is <e(ible
CAN allows +ulti7+aster Operation
%ever! CAN node is able to access t*e bus individuall!)
CAN Nodes can easil! be connected ' disconnected
%i=e= plug > pla!)
Number o0 nodes not limited b! t*e protocol
CAN means +ulticast ' Broadcast Capabilit!
CAN is not node7oriented but message7oriented
+essage identifer specifes contents > priorit! o0 t*e message
+essages can be easil! sent to multiple ' all nodes simultaneousl!
All nodes simultaneousl! receive and wor on common data
CAN is standardi,ed
.&O766:?: %*ig* speed applications)
.&O76626?74 %low speed applications)
How it all began
@-*e development o0 CAN began w*en more and more electronic devices were implemented into modern motor
ve*icles= "(amples o0 suc* devices include engine management s!stems1 active suspension1 AB&1 gear control1
lig*ting control1 air conditioning1 airbags and central locing= All t*is means more sa0et! and more com0ort 0or
t*e driver and o0 course a reduction o0 0uel consumption and e(*aust emissions=
@-o improve t*e be*avior o0 t*e ve*icle even 0urt*er1 it was necessar! 0or t*e diAerent control s!stems %and
t*eir sensors) to e(c*ange in0ormation= -*is was usuall! done b! discrete interconnection o0 t*e diAerent
s!stems %i=e= point to point wiring)= -*e re;uirement 0or in0ormation e(c*ange *as t*en grown to suc* an e(tent
t*at a cable networ wit* a lengt* o0 up to several miles and man! connectors was re;uired= -*is produced
growing problems concerning material cost1 production time and reliabilit!=
@-*e solution to t*is problem was t*e connection o0 t*e control s!stems via a serial bus s!stem= -*is bus *ad to
0ulfll some special re;uirements due to its usage in a ve*icle=
@Bit* t*e use o0 CAN1 point7to7point wiring is replaced b! one serial bus connecting all control s!stems= -*is is
accomplis*ed b! adding some CAN7specifc *ardware to eac* control unit t*at provides t*e CrulesC or t*e
protocol 0or transmitting and receiving in0ormation via t*e bus=
Overview
@CAN or Controller Area Networ is an advanced serial bus s!stem t*at eDcientl! supports distributed control
s!stems= .t was initiall! developed 0or t*e use in motor ve*icles b! Eobert Bosc* FmbH1 Ferman!1 in t*e late
6?:3s1 also *olding t*e CAN license=
@CAN is internationall! standardi,ed b! t*e .nternational &tandardi,ation Organi,ation %.&O) and t*e &ociet! o0
Automotive "ngineers %&A")=
@-*e CAN protocol uses t*e Data Lin La!er and t*e #*!sical La!er in t*e .&O 7 O&. model= -*ere are also a
number o0 *ig*er level protocols available 0or CAN=
@CAN is most widel! used in t*e automotive and industrial maret segments= -!pical applications 0or CAN are
motor ve*icles1 utilit! ve*icles1 and industrial automation= Ot*er applications 0or CAN are trains1 medical
e;uipment1 building automation1 *ouse*old appliances1 and oDce automation= Due to t*e *ig* volume
production in t*e automotive and industrial marets1 low cost protocol devices are available=
@-*ere are about 43 million CAN nodes in use worldwide= B! t*e !ear 4333 t*e number o0 nodes is estimated to
be 693 million=
@"(amples o0 ve*icle bus s!stems1 ot*er t*an CAN1 are A7BU& 0rom $olswagen1 $AN or $e*icle Area Networ1
0rom #eugeot and Eenault1 and G6:23 0rom C*r!sler1 Feneral +otors and Ford=
@CAN is clearl! t*e leading ve*icle bus protocol in "urope=
Basic Concepts
@CAN is a multi7master bus wit* an open1 linear structure wit* one logic bus line and e;ual nodes= -*e number
o0 nodes is not limited b! t*e protocol=
@.n t*e CAN protocol1 t*e bus nodes do not *ave a specifc address= .nstead1 t*e address in0ormation is
contained in t*e identifers o0 t*e transmitted messages1 indicating t*e message content and t*e priorit! o0 t*e
message=
@-*e number o0 nodes ma! be c*anged d!namicall! wit*out disturbing t*e communication o0 t*e ot*er nodes=
@+ulticasting and Broadcasting is supported b! CAN=
@CAN provides sop*isticated error7detection and error *andling mec*anisms suc* as CEC c*ec1 and *ig*
immunit! against electromagnetic inter0erence= "rroneous messages are automaticall! retransmitted=
-emporar! errors are recovered= #ermanent errors are 0ollowed b! automatic switc*7oA o0 de0ective nodes=
-*ere is guaranteed s!stem7wide data consistenc!=
@-*e CAN protocol uses Non7Eeturn7to7Hero%NEH) bit coding= For s!nc*roni,ation purposes1 Bit &tuDng is used=
@-*ere is a *ig* data trans0er rate o0 6333 ilobits per second at a ma(imum bus lengt* o0 93 meters or 6I3
0eet w*en using a twisted wire pair w*ic* is t*e most common bus medium used 0or CAN= +essage lengt* is
s*ort wit* a ma(imum o0 : data b!tes per message and t*ere is a low latenc! between transmission re;uest
and start o0 transmission=
@-*e bus access is *andled via t*e advanced serial communications protocol Carrier Sense Multiple
Access/Collision Detection with NonDestructive Arbitration= -*is means t*at collision o0 messages is
avoided b! bitwise arbitration wit*out loss o0 time=
Basic Concepts
CAN Bus Characteristics !ire"AND
@-*ere are two bus states1 called CdominantC and CrecessiveC=
@-*e bus logic uses a CBired7ANDC mec*anism1 t*at is1 Cdominant bitsC %e;uivalent to t*e logic level CHeroC)
overwrite t*e CrecessiveC bits %e;uivalent to t*e logic level COneC)=
@Onl! i0 all nodes transmit recessive bits %ones)1 t*e Bus is in t*e recessive state=
@As soon as one node transmits a dominant bit %,ero)1 t*e bus is in t*e dominant state=
Bus Access an" Arbitration# CSMA/CD w/ AM$
@-*e CAN protocol *andles bus accesses according to t*e concept called JCarrier &ense +ultiple Access wit*
Arbitration on +essage #riorit!K= -*is arbitration concept avoids collisions o0 messages w*ose transmission was
started b! more t*an one node simultaneousl! and maes sure t*e most important message is sent frst
wit*out time loss= .n t*e picture above !ou see t*e trace o0 t*e transmit pins o0 t*ree bus nodes called A1 B and
C1 and t*e resulting bus state according to t*e wired7AND principle=
@.0 two or more bus nodes start t*eir transmission at t*e same time a0ter *aving 0ound t*e bus to be idle1
collision o0 t*e messages is avoided b! bitwise arbitration= "ac* node sends t*e bits o0 its message identifer
and monitors t*e bus level=
@At a certain time nodes A and C send a dominant identifer bit= Node B sends a recessive identifer bit but
reads bac a dominant one= Node B loses bus arbitration and switc*es to receive mode= &ome bits later node C
loses arbitration against node A= -*is means t*at t*e message identifer o0 node A *as a lower binar! value and
t*ere0ore a *ig*er priorit! t*an t*e messages o0 nodes B and C= .n t*is wa!1 t*e bus node wit* t*e *ig*est
priorit! message wins arbitration wit*out losing time b! *aving to repeat t*e message=
@Nodes B and C automaticall! tr! to repeat t*eir transmission once t*e bus returns to t*e idle state= Node B
loses against node C1 so t*e message o0 node C is transmitted ne(t1 0ollowed b! node BLs message=
@.t is not permitted 0or diAerent nodes to send messages wit* t*e same identifer as arbitration could 0ail
leading to collisions and errors=
%ra&e %or&ats ' Overview
@-*ese are t*e e(isting Frame 0ormats w*ic* are now discussed in t*e 0ollowing slides=
%ra&e %or&ats Data %ra&e
@A CData FrameC is generated b! a CAN node w*en t*e node wis*es to transmit data= -*e &tandard CAN Data
Frame is s*own above= -*e 0rame begins wit* a dominant &tart O0 Frame bit 0or *ard s!nc*roni,ation o0 all
nodes=
@-*e &tart o0 Frame bit is 0ollowed b! t*e Arbitration Field consisting o0 64 bits/ -*e 667bit .dentifer1 w*ic*
re<ects t*e contents and priorit! o0 t*e message1 and t*e Eemote -ransmission Ee;uest bit= -*e Eemote
transmission re;uest bit is used to distinguis* a Data Frame %E-E M dominant) 0rom a Eemote Frame %E-E M
recessive)=
@(he ne)t fel" is the Control %iel"* consisting o+ , bits= -*e frst bit o0 t*is feld is called t*e .D" bit
%.dentifer "(tension) and is at dominant state to speci0! t*at t*e 0rame is a &tandard Frame= -*e 0ollowing bit is
reserved and defned as a dominant bit= -*e remaining 9 bits o0 t*e Control Field are t*e Data Lengt* Code
%DLC) and speci0! t*e number o0 b!tes o0 data contained in t*e message %3 7 : b!tes)=
@-*e data being sent 0ollows in t*e Data Field w*ic* is o0 t*e lengt* defned b! t*e DLC above %31 :1 6N1 ====1 2N
or N9 bits)=
@-*e C!clic Eedundanc! Field %CEC feld) 0ollows and is used to detect possible transmission errors= -*e CEC
Field consists o0 a 62 bit CEC se;uence1 completed b! t*e recessive CEC Delimiter bit=
@-*e ne(t feld is t*e Acnowledge Field= During t*e ACO &lot bit t*e transmitting node sends out a recessive
bit= An! node t*at *as received an error 0ree 0rame acnowledges t*e correct reception o0 t*e 0rame b! sending
bac a dominant bit %regardless o0 w*et*er t*e node is confgured to accept t*at specifc message or not)=
From t*is it can be seen t*at CAN belongs to t*e Cin7bit7responseC group o0 protocols= -*e recessive
Acnowledge Delimiter completes t*e Acnowledge &lot and ma! not be overwritten b! a dominant bit=
@&even recessive bits %"nd o0 Frame) end t*e Data Frame=
%ra&e %or&ats -e&ote %ra&e
@Fenerall! data transmission is per0ormed on an autonomous basis wit* t*e data source node %e=g= a sensor)
sending out a Data Frame= .t is also possible1 *owever1 0or a destination node to re;uest t*e data 0rom t*e
source b! sending a Eemote Frame=
@(here are . "i/erences between a Data %ra&e an" a -e&ote %ra&e0 %irstl1 the -(-bit is
trans&itte" as a "o&inant bit in the Data %ra&e an" secon"l1 in the -e&ote %ra&e there is no
Data %iel"0 2n the ver1 unlikel1 event o+ a Data %ra&e an" a -e&ote %ra&e with the sa&e i"entifer
being trans&itte" at the sa&e ti&e* the Data %ra&e wins arbitration "ue to the "o&inant -(- bit
+ollowing the i"entifer0 2n this wa1* the no"e that trans&itte" the -e&ote %ra&e receives the
"esire" "ata i&&e"iatel1=
@.0 a node wis*es to re;uest t*e data 0rom t*e source1 it sends a Eemote Frame wit* an identifer t*at matc*es
t*e identifer o0 t*e re;uired Data Frame= -*e appropriate data source node will t*en send a Data Frame as a
response to t*is remote re;uest=
%ra&e %or&ats 3rror %ra&e
@ An "rror Frame is generated b! an! node t*at detects a bus error= -*e "rror Frame consists o0 4 felds1 an
"rror Flag feld 0ollowed b! an "rror Delimiter feld= -*e "rror Delimiter consists o0 : recessive bits and
allows t*e bus nodes to restart bus communications cleanl! a0ter an error= -*ere are1 *owever1 two 0orms o0
"rror Flag felds= -*e 0orm o0 t*e "rror Flag feld depends on t*e Jerror statusK o0 t*e node t*at detects t*e
error=
@.0 an Jerror7activeK node detects a bus error t*en t*e node interrupts transmission o0 t*e current message b!
generating an Jactive error <agK= -*e Jactive error <agK is composed o0 si( consecutive dominant bits= -*is bit
se;uence activel! violates t*e bit stuDng rule= All ot*er stations recogni,e t*e resulting bit stuDng error and in
turn generate "rror Frames t*emselves= -*e "rror Flag feld t*ere0ore consists o0 between si( and twelve
consecutive dominant bits %generated b! one or more nodes)= -*e "rror Delimiter feld completes t*e "rror
Frame= A0ter completion o0 t*e "rror Frame bus activit! returns to normal and t*e interrupted node attempts to
resend t*e aborted message=
@.0 an Jerror passiveK node detects a bus error t*en t*e node transmits an Jpassive "rror FlagK 0ollowed1 again1
b! t*e "rror Delimiter feld= -*e Jpassive "rror FlagK consists o0 si( consecutive recessive bits1 and t*ere0ore t*e
"rror Frame %0or an Jerror passiveK node) consists o0 69 recessive bits %i=e= no dominant bits)= From t*is it 0ollows
t*at1 unless t*e bus error is detected b! t*e node t*at is actuall! transmitting %i=e= is t*e bus master)1 t*e
transmission o0 an "rror Frame b! an Jerror passiveK node will not aAect an! ot*er node on t*e networ= .0 t*e
bus master node generates an Jerror passive <agK t*en t*is ma! cause ot*er nodes to generate error 0rames
due to t*e resulting bit stuDng violation=
%ra&e %or&ats Overloa" %ra&e
@An Overload Frame *as t*e same 0ormat as an JactiveK "rror Frame= An Overload Frame1 *owever can onl! be
generated during .nter0rame &pace= -*is is t*e wa! t*en an Overload Frame can be diAerentiated 0rom an "rror
Frame %an "rror Frame is sent during t*e transmission o0 a message)= -*e Overload Frame consists o0 4 felds1
an Overload Flag 0ollowed b! an Overload Delimiter= -*e Overload Flag consists o0 si( dominant bits 0ollowed b!
Overload Flags generated b! ot*er nodes %as 0or Jactive error <agK1 again giving a ma(imum o0 twelve
dominant bits)= -*e Overload Delimiter consists o0 eig*t recessive bits= An Overload Frame can be generated b!
a node i0 due to internal conditions t*e node is not !et able to start reception o0 t*e ne(t message= A node ma!
generate a ma(imum o0 4 se;uential Overload Frames to dela! t*e start o0 t*e ne(t message=
%ra&e %or&ats 2nter+ra&e Space
@.nter0rame &pace separates a preceeding 0rame %o0 w*atever t!pe) 0rom a 0ollowing Data or Eemote Frame=
.nter0rame space is composed o0 at least I recessive bits1 t*ese bits are termed t*e .ntermission= -*is time is
provided to allow nodes time 0or internal processing be0ore t*e start o0 t*e ne(t message 0rame= A0ter t*e
.ntermission1 0or error active CAN nodes t*e bus line remains in t*e recessive state %Bus .dle) until t*e ne(t
transmission starts=
@-*e .nter0rame &pace *as a slig*tl! diAerent 0ormat 0or error passive CAN nodes w*ic* were t*e transmitter o0
t*e previous message= .n t*is case1 t*ese nodes *ave to wait anot*er eig*t recessive bits called &uspend
-ransmission be0ore t*e bus turns into bus idle 0or t*em a0ter .ntermission and t*e! are allowed to send again=
Due to t*is mec*anism error active nodes *ave t*e c*ance to transmit t*eir messages be0ore t*e error passive
nodes are allowed to start a transmission=
3rror Detection ' Overview
@-*e CAN protocol provides sop*isticated error detection mec*anisms discussed in t*e 0ollowing slides=
3rror Detection C1clic -e"un"anc1 Check
@Bit* t*e C!clic Eedundanc! C*ec1 t*e transmitter calculates a c*ec sum 0or t*e bit se;uence 0rom t*e start
o0 0rame bit until t*e end o0 t*e Data Field=
@-*is CEC se;uence is transmitted in t*e CEC Field o0 t*e CAN 0rame=
@-*e receiving node also calculates t*e CEC se;uence using t*e same 0ormula and per0orms a comparison to
t*e received se;uence=
@.0 node B detects a mismatc* between t*e calculated and t*e received CEC se;uence 1 t*en a CEC error *as
occurred=
@Node B discards t*e message and transmits an "rror Frame to re;uest retransmission o0 t*e garbled 0rame=
3rror Detection ' Acknowle"ge
@Bit* t*e Acnowledge C*ec t*e transmitter c*ecs in t*e Acnowledge Field o0 a message to determine i0 t*e
Acnowledge &lot1 w*ic* is sent out as a recessive bit1 contains a dominant bit=
@.0 t*is is t*e case1 at least one ot*er node1 %*ere node B) *as received t*e 0rame correctl!=
.0 not1 an Acnowledge "rror *as occured and t*e message *as to be repeated= No "rror Frame is generated1
t*oug*=
"rror Detection 7 Frame C*ec
@Anot*er error detection mec*anism is t*e Frame C*ec= .0 a transmitter detects a dominant bit in one o0 t*e
0our segments/
CEC Delimiter1
Acnowledge Delimiter1
"nd o0 Frame or
.nter0rame &pace
t*en a Form "rror *as occurred and an "rror Frame is generated= -*e message will t*en be repeated=
3rror Detection Bit Monitoring
@All nodes per0orm Bit +onitoring/ A Bit "rror occurs i0 a transmitter sends a dominant bit but detects a
recessive bit on t*e bus line or1 sends a recessive bit but detects a dominant bit on t*e bus line=
@An "rror Frame is generated and t*e message is repeated=
@B*en a dominant bit is detected instead o0 a recessive bit1 no error occurs during t*e Arbitration Field or t*e
Acnowledge &lot because t*ese felds must be able to be overwritten b! a dominant bit in order to ac*ieve
arbitration and acnowledge 0unctionalit!=
3rror Detection Bit Stu4ng Check
@.0 si( consecutive bits wit* t*e same polarit! are detected between &tart o0 Frame and t*e CEC Delimiter1 t*e
bit stuDng rule *as been violated=
@A stuA error occurs and an "rror Frame is generated= -*e message is t*en repeated=
3rror Han"ling
@Detected errors are made public to all ot*er nodes via "rror Frames=
@-*e transmission o0 t*e erroneous message is aborted and t*e 0rame is repeated as soon as possible=
@"ac* CAN node is in one o0 t*ree error states Cerror activeC1 Cerror passiveC or Cbus oAC according to t*e value
o0 t*eir internal error counters=
@-*e error7active state is t*e usual state a0ter reset= -*e bus node can t*en receive and transmit messages
and transmit active "rror Frames %made o0 dominant bits) wit*out an! restrictions= During CAN communication1
t*e error counters are updated according to ;uite comple( rules= For eac* error on reception or transmission1
t*e error counters are incremented b! a certain value= For eac* success0ul transaction1 t*e error counters are
decremented b! a certain value= -*e error active state is valid as long as bot* error counters are smaller t*an
or e;ual to 64P=
@.0 eit*er t*e receive or t*e transmit error counter *as reac*ed t*e value o0 64:1 t*e node switc*es to t*e error7
passive state= .n t*e error7passive state1 messages can still be received and transmitted1 alt*oug*1 a0ter
transmission o0 a message t*e node must suspend transmission= .t must wait : bit times longer t*an error7
active nodes be0ore it ma! transmit anot*er message= .n terms o0 error signaling1 onl! passive "rror Frames
%made o0 recessive bits) ma! be transmitted b! an error7passive node=
@.0 bot* error counters go below 64: again due to success0ul bus communication1 t*e node switc*es bac to t*e
error7active state=
@One 0eature o0 t*e CAN protocol is t*at 0ault! nodes wit*draw 0rom t*e bus automaticall!= -*e bus7oA state is
entered i0 t*e transmit error counter e(ceeds t*e value o0 422= All bus activities are stopped w*ic* maes it
temporaril! impossible 0or t*e station to participate in t*e bus communication= During t*is state1 messages can
be neit*er received nor transmitted= -o return to t*e error active state and to reset t*e error counter values1 t*e
CAN node *as to be reinitiali,ed=
Un"etecte" 3rrors an 3)a&ple
@-o understand t*e error detection capabilities o0 CAN1 imagine a ve*icle e;uipped wit* CAN running 4333
*ours per !ear at a CAN bus speed o0 233 bps wit* 425 bus load=
@-*is will result in 6 undetected error ever! 6333 !ears=
CAN $rotocol 5ersions
@-*e original CAN specifcations %$ersions 6=31 6=4 and 4=3A) speci0! an 66 bit message identifer= -*is is nown
as C&tandard CANC=
@-*ose Data Frames and Eemote Frames1 w*ic* contain an 667bit identifer are t*ere0ore called &tandard
Frames=
@However1 t*e 6N messages wit* t*e lowest priorit! %43I47439P) are reserved=
@&pecifcation $4=3A *as since been updated %to version 4=3B) to remove t*is possible message number
limitation and meet t*e &A" G6?I? standard 0or t*e use o0 CAN in trucs=
@$ersion 4=3B CAN is re0erred to as C"(tended CANC=
@"(tended Frames1 according to CAN specifcation $4=3 part B1 contain a 4?7bit identifer w*ic* allows 44? %over
2IN +illion) message identifers=
@-*e 4?7bit identifer is made up o0 t*e 667bit identifer %CBase .DC) and t*e 6:7bit "(tended .dentifer %C.D
"(tensionC)=
@CAN specifcation $ersion 4=3B still allows message identifer lengt*s o0 66 bits to be used=
@-*ere are t*ree diAerent t!pes o0 CAN modules available=
4=3A 7 Considers 4? bit .D as an error
4=3B #assive 7 .gnores 4? bit .D messages
4=3B Active 7 Handles bot* 66 and 4? bit .D +essages
@CAN modules specifed a0ter CAN $4=3 part A are onl! able to transmit and receive &tandard Frames according
to t*e &tandard CAN protocol=
@+essages using t*e 4?7bit identifer sent to a &tandard CAN module cause errors=
@.0 a device is specifed a0ter CAN $4=3 part B1 t*ereQs one more distinction= +odules named C$4=3B #assiveC can
onl! transmit and receive &tandard Frames but tolerate "(tended Frames wit*out generating "rror Frames=
@C$4=3B ActiveC devices are able to transmit and receive bot* &tandard and "(tended Frames=
@&iemens oAers $4=3B Active and $4=3B #assive devices=
Message Co"ing
@-*e CAN protocol uses Non7Eeturn7to7Hero or NEH bit coding= -*is means t*at t*e signal is constant 0or one
w*ole bit time and onl! one time segment is needed to represent one bit=
@Usually, but not always, a "zero" corresponds to a dominant bit, placing the bus in the dominant state, and a
"one" corresponds to a recessive bit, placing the bus in the recessive state.
Bit Stu4ng
@One c*aracteristic o0 Non7Eeturn7to7Hero code is t*at t*e signal provides no edges t*at can be used 0or
res!nc*roni,ation w*en transmitting a large number o0 consecutive bits wit* t*e same polarit!=
@-*ere0ore Bit stuDng is used to ensure s!nc*roni,ation o0 all bus nodes=
@-*is means t*at during t*e transmission o0 a message1 a ma(imum o0 fve consecutive bits ma! *ave t*e
same polarit!=
@B*enever fve consecutive bits o0 t*e same polarit! *ave been transmitted1 t*e transmitter will insert one
additional bit o0 t*e opposite polarit! into t*e bit stream be0ore transmitting 0urt*er bits=
@-*e receiver also c*ecs t*e number o0 bits wit* t*e same polarit! and removes t*e stuA bits again 0rom t*e
bit stream= -*is is called CdestuDngC=
Bit S1nchroni6ation
@.n contrast to man! ot*er feld buses1 CAN *andles message trans0ers s!nc*ronousl!=
@All nodes are s!nc*roni,ed at t*e beginning o0 eac* message wit* t*e frst 0alling edge o0 a 0rame w*ic*
belongs to t*e &tart O0 Frame bit=
@-*is is called Hard &!nc*roni,ation=
@-o ensure correct sampling up to t*e last bit1 t*e CAN nodes need to re7s!nc*roni,e t*roug*out t*e entire
0rame= -*is is done on eac* recessive to dominant edge=
Bit Construction
@One CAN bit time %or one *ig* or low pulse o0 t*e NEH code) is specifed as 0our non7overlapping time
segments=
@"ac* segment is constructed 0rom an integer multiple o0 t*e -ime Ruantum=
@-*e -ime Ruantum or -R is t*e smallest discrete timing resolution used b! a CAN node=
@.ts lengt* is generated b! a programmable divide o0 t*e CAN nodeQs oscillator 0re;uenc!=
@-*ere is a minimum o0 : and a ma(imum o0 42 -ime Ruanta per bit=
@-*e bit time1 and t*ere0ore t*e bit rate1 is selected b! programming t*e widt* o0 t*e -ime Ruantum and t*e
number o0 -ime Ruanta in t*e various segments=
S1nchroni6ation Seg&ent
@-*e frst segment wit*in a CAN bit is called t*e &!nc*roni,ation &egment and is used to s!nc*roni,e t*e
various bus nodes=
@On transmission1 at t*e start o0 t*is segment1 t*e current bit level is output=
@.0 t*ere is a bit state c*ange between t*e previous bit and t*e current bit1 t*en t*e bus state c*ange is
e(pected to occur wit*in t*is segment b! t*e receiving nodes=
@-*e lengt* o0 t*is segment is alwa!s 6 -ime Ruantum=
$ropagation Seg&ent
@-*e #ropagation -ime &egment is used to compensate 0or signal dela!s across t*e networ=
@-*is is necessar! to compensate 0or signal propagation dela!s on t*e bus line and t*roug* t*e electronic
inter0ace circuits o0 t*e bus nodes=
@-*is segment ma! be 6 to : -ime Ruanta long=
$hase Bu/er Seg&ent ' 7
@#*ase BuAer &egment 6 is used to compensate 0or edge p*ase errors= -*is segment ma! be between 6 to :
-ime Ruanta long and ma! be lengt*ened during res!nc*roni,ation=
$hase Bu/er Seg&ent ' .
@#*ase BuAer &egment 4 is also used to compensate 0or edge p*ase errors= -*is segment ma! be s*ortened
during res!nc*roni,ation=
Bit 8engthening
@As a result o0 res!nc*roni,ation1 #*ase BuAer &egment 6 ma! be lengt*ened or #*ase BuAer &egment 4 ma!
be s*ortened to compensate 0or oscillator tolerances wit*in t*e diAerent CAN nodes=
@.01 0or e(ample1 t*e transmitter oscillator is slower t*an t*e receiver oscillator1 t*e ne(t 0alling edge used 0or
res!nc*roni,ation ma! be dela!ed= &o #*ase BuAer &egment 6 is lengt*ened===
@ in order to adSust t*e sample point and t*e end o0 t*e bit time=
Bit Shortening
@.01 on t*e ot*er *and1 t*e transmitter oscillator is 0aster t*an t*e receiver oscillator1 t*e ne(t 0alling edge used
0or res!nc*roni,ation ma! be too earl!= &o #*ase BuAer &egment 4 in bit N is s*ortened===
@ in order to adSust t*e sample point 0or bit NT6 and t*e end o0 t*e bit time
S1nchroni6ation 9u&p !i"th
@-*e limit to t*e amount o0 lengt*ening or s*ortening o0 t*e p*ase buAer segments is set b! t*e
Ees!nc*roni,ation Gump Bidt*=
@-*e Ees!nc*roni,ation Gump Bidt* ma! be between 6 and 9 -ime Ruanta1 but it ma! not be longer t*an #*ase
BuAer &egment 4=
Bit (i&ing
@For man! CAN module implementations1 t*e #ropagation -ime &egment and #*ase BuAer &egment 6 are
combined1 0or ease o0 programming1 into one segment o0ten called -iming &egment 6=
@#*ase BuAer &egment 4 is t*en nown as -iming &egment 4=
!h1 $rogra& the Sa&ple $osition
@#rogramming o0 t*e sample point allows CtuningC o0 t*e c*aracteristics to suit t*e bus=
@"arl! sampling allows more -ime Ruanta in t*e #*ase BuAer &egment 4 so t*e &!nc*roni,ation Gump Bidt*
can be programmed to its ma(imum o0 9 -ime Ruanta=
@-*is ma(imum capacit! to s*orten or lengt*en t*e bit time decreases t*e sensitivit! to node oscillator
tolerances1 so t*at lower cost oscillators suc* as ceramic resonators ma! be used=
@Late sampling allows more -ime Ruanta in t*e #ropagation -ime &egment w*ic* allows a poorer bus topolog!
and ma(imum bus lengt*=
-elation Between Bau" -ate an" Bus 8ength
@-*e ma(imum CAN bus speed is 6 +Baud1 w*ic* can be ac*ieved wit* a bus lengt* o0 up to 93 meters w*en
using a twisted wire pair=
@For bus lengt*s longer t*an 93 meters t*e bus speed must be reduced=
@A 6333 meter bus can still be realised wit* a 23 OBaud bus speed=
@For a bus lengt* above 6333 meters special drivers s*ould be used=
CAN Bus 8ine Characteristics ' !ire" AND
@CAN is serial bus s!stem wit* one logical bus line= .t *as an open1 linear bus structure wit* e;ual bus nodes=
-*e number o0 nodes on t*e bus is not restricted b! t*e protocol and ma! be c*anged d!namicall! wit*out
disturbing t*e communication o0 ot*er nodes= -*is allows eas! connection and disconnection o0 bus nodes1 e=g=
0or addition o0 s!stem 0unction1 error recover! or bus monitoring=
@-*e CAN bus line *as two logic states/ a JrecessiveK state and a JdominantK state= -*e actual bus state is
Jwire7ANDK o0 all node states= -*is means1 t*at recessive bits %mostl!1 but not necessaril! e;uivalent to t*e
logic level C6C) are overwritten b! dominant bits %mostl! logic level C3C)= As long as no bus node is sending a
dominant bit1 t*e bus line is in t*e recessive state1 but a dominant bit 0rom an! bus node generates t*e
dominant bus state=
2SO $h1sical 8a1er
@-*ere0ore1 0or t*e CAN bus line1 a medium must be c*osen t*at is able to transmit t*e two possible bit states
JdominantK and JrecessiveK= One o0 t*e most common and c*eapest wa!s is to use a twisted wire pair= -*e bus
lines are t*en called CCANUHC and CCANULC= -*e two bus lines CANUH and CANUL are driven b! t*e nodes wit* a
diAerential signal= -*e twisted wire pair is terminated b! terminating resistors at eac* end o0 t*e bus line1
t!picall! 643 O*ms=
@But also an optical medium would be possible 0or CAN= .n t*is case1 t*e recessive state would be represented
b! t*e signal Jlig*t oAK1 t*e dominant state b! t*e signal Jlig*t onK=
CAN an" 3M2
@Due to t*e diAerential nature o0 transmission CAN is insensitive to electromagnetic inter0erence1 because bot*
bus lines are aAected in t*e same wa! w*ic* leaves t*e diAerential signal unaAected=
@-o reduce t*e sensitivit! against electromagnetic inter0erence even more1 t*e bus lines can additionall! be
s*ielded= -*is also reduces t*e electromagnetic emission o0 t*e bus itsel01 especiall! at *ig* baudrates=
Stan"er"i6ation 2ssues
@$e*icle bus s!stem applications can be separated in t*ree diAerent categories according to t*eir real7time
capabilities=
@Class A 0or a low speed bus wit* bit rates up to 63 bps1 e=g 0or bod! control applications1
@Class B 0or a low speed bus wit* bit rates 0rom 63 bps to 642 bps1 e=g= 0or das*board and diagnostics1
@Class C 0or a *ig* speed bus wit* bit rates 0rom 642 bps to 6 +bps 0or real time applications lie engine
management1 Fearbo(1 AB& etc=
@For t*e use o0 CAN in ve*icles two standards *ave been defned 0or t*e bus inter0ace/
@CAN Hig* &peed according to .&O7.& 66:?: 0or bit rates between 642 bps and 6 +bps
@CAN Low &peed according to .&O7.& 6626?74 0or bit rates up to 642 bps
$h1sical 8a1er Accor"ing to 2SO2S 77:;:
@-*is is t*e structure o0 a Controller Area Networ according to .&O7.& 66:?:= -*e bus lines ma! be up to 93 m
%6I3 0t) long at t*e ma(imum speed o0 6 +baud and are terminated b! termination resistors o0 643 O*ms= -*e
bus lines ma! be longer w*en decreasing t*e baud rate= Up to I3 nodes can be connected wit* CAN drivers
according to t*is standard= For t*e connection o0 more nodes1 stronger drivers or repeaters *ave to be used= -o
avoid re<e(ions t*e connection 0rom t*e bus lines to t*e nodes s*ould not e(ceed 3=I m %6 0t) at 6 +bps=
Bus 8evel accor"ing to 2SO2S 77:;:
@-*ese are t*e bus levels according to .&O7.& 66:?:= A recessive bit is represented b! bot* CAN bus lines
driven to a level o0 about 4=2 $ so t*at t*e diAerential voltage between CANUH and CANUL is around 3 $=
@A dominant bit is represented b! CANUH going to about I=2 $ and CANUL going to about 6=2 $= -*is results in a
diAerential voltage 0or a dominant bit o0 about 4$=
CAN Bus connectors accor"ing to CiADS 7<.7
@-o be able to use CAN as a industrial feld bus in an open s!stem t*e CAN in Automation userLs group CiA
created a standard called CiA D& 63476 w*ic* is based on t*e 66:?:7standard= One important issue in t*is
standard is t*e proposal to use a ?7pole &UB7D connector 0or t*e connection o0 nodes to t*e CAN bus lines=
@-*e bus signals CANUH and CANUL are available on pins P and 4= -*e ot*er pins serve as power or ground
wires or are reserved 0or 0uture e(tensions o0 t*e standard=
(1pical CAN 2&ple&entation
@A t!pical CAN node used to control a certain application consists o0 diAerent devices=
@-*e application itsel0 is controlled b! a microcontroller1 e=g= t*e &iemens &AB :3C6NN=
@-o be able to participate in t*e CAN communication1 t*e microcontroller *as to be connected to a CAN protocol
controller1 e=g= t*e &iemens stand7alone Full7CAN controller :6C?3'?6=
@-o meet t*e re;uirements o0 e=g= t*e .&O 66:?: CAN standard1 a CAN transceiver c*ip is used to connect t*e
node to t*e CAN bus lines=
@A more sop*isticated wa! is to use a microcontroller w*ic* alread! *as a CAN protocol controller on7c*ip1 e=g=
one o0 t*e &iemens :3267compatible :7bit microcontrollers 0rom t*e C233 0amil! lie t*e C232C or t*e C262C=
For applications w*ic* need *ig*er per0ormance1 one o0 t*e 6N7bit C6NN70amil! members wit* integrated CAN
module could be used1 e=g= t*e C6N9C. or t*e C6NPCE= -*is saves costs as t*e printed circuit board space is
used more eDcientl! and t*e user does not *ave to worr! about setting up t*e communication between t*e
microcontroller and t*e CAN controller=
Basic CAN Controller
@-*ere is one more CAN c*aracteristic concerning t*e inter0ace between t*e CAN protocol controller and t*e
*ost C#U1 dividing CAN c*ips into CBasic7CANC and CFull7CANC devices= -*is *as not*ing to do wit* t*e used
protocol $ersion t*oug*1 w*ic* maes it possible to use bot* Basic7CAN and Full7CAN devices in t*e same
networ=
@.n t*e Basic7CAN devices1 onl! basic 0unctions concerning t*e fltering and management o0 CAN messages are
implemented in *ardware= A Basic7CAN controller t!picall! provides one transmit buAer 0or outgoing messages
and one or two receive buAers 0or incoming messages= .n t*e receive pat*1 an acceptance fltering is available
w*ic* allows t*at onl! certain CAN identifers are stored in t*e receive buAer=
@Because t*ere are onl! two buAers 0or t*e reception o0 messages t*e *ost controller is ;uite bus! reading and
storing t*e incoming messages be0ore t*e! get overwritten b! t*e 0ollowing ones w*ic* results in a ;uite *ig*
C#U load= Also t*e answering o0 Eemote Frames wit* t*e corresponding Data Frame *as to be *andled b! t*e
*ost controller= -*ere0ore Basic7CAN devices s*ould onl! be used at low baudrates and low bus loads wit* onl! a
0ew diAerent messages=
%ull CAN Controller
@Full7CAN devices provide t*e w*ole *ardware 0or convenient acceptance fltering and message management=
For eac* message to be transmitted or received t*ese devices contain one so called message obSect in w*ic*
all in0ormation regarding t*e message %e=g= identifer1 data b!tes etc=) are stored= During t*e initialisation o0 t*e
device1 t*e *ost C#U defnes w*ic* messages are to be sent and w*ic* are to be received= Onl! i0 t*e CAN
controller receives a message w*ose identifer matc*es wit* one o0 t*e identifers o0 t*e programmed %receive7)
message obSects t*e message is stored and t*e *ost C#U is in0ormed b! interrupt= Anot*er advantage is t*at
incoming Eemote Frames can be answered automaticall! b! t*e Full7CAN controller wit* t*e corresponding Data
Frame= .n t*is wa!1 t*e C#U load is strongl! reduced compared to t*e Basic7CAN solution= Using Full CAN
devices1 *ig* baudrates and *ig* bus loads wit* man! messages can be *andled=
@+an! Full7CAN controller provide a CBasic7CAN7FeatureC/ One o0 t*eir message obSects be*aves lie a Basic7
CAN Eeceive BuAer1 i=e= it can be programmed in a wa! t*at ever! message is stored t*ere t*at does not matc*
wit* one o0 t*e ot*er message obSects= -*is can be ver! *elp0ul in applications w*ere t*e number o0 message
obSects is not enoug* to receive all desired messages=
Buil"ing 5er1 8arge CANs
S$O-AD2C %-AM3 in 82N
A sporadic 0rame is a signal7carr!ing 0rame similar to unconditional 0rames1 but onl! trans0erred in its 0rame slot
i0 one o0 its signals is updated b! t*e publis*er
353N( (-2==3-3D %-AM3 in 82N
An event triggered 0rame is used as a Jplace*olderK to allow multiple slave nodes to provide its response= -*is
is use0ul w*en t*e signals involved are c*anged in0re;uentl!
82N =8OSSA->
82N =lossar1
active
-*e nodes o0 t*e cluster communicate wit* eac* ot*er
as a cluster=
bus inter0ace
-*e logic %transceiver1 UAE-1 etc=) o0 a node t*at is
connected to t*e p*!sical bus wire in a cluster=
b!te feld
"ac* b!te on t*e L.N bus is sent in a b!te feldV t*e
b!tefeld includes t*e start bit and stop bit transmitted=
c*ecsum model
-wo c*ecsum models are defnedV classic c*ecsum
and en*anced c*ecsum1 en*anced includes t*e
protected identifer in t*e c*ecsum1 classic does not=
classic c*ecsum
-*e c*ecsum used in earlier L.N versions and 0or
diagnostic0rames/ .t is summed over t*e data b!tes
onl!=
cluster A cluster is t*e L.N bus wire plus all t*e nodes=
data
-*e response o0 a L.N 0rame carries one to eig*t b!tes
o0 data1 collectivel! called data=
data b!te One o0 t*e b!tes in t*e data=
diagnostic 0rame
-*e master re;uest 0rame and slave response 0rame
are called diagnostic 0rames
en*anced c*ecsum
A new c*ecsum wit* slig*tl! better per0ormance/ .t
includes t*e protected identifer in t*e sum1 not onl!
data b!tes= -*e en*anced c*ecsum is used 0or
communication wit* L.N 4=3 slave nodes=
event triggered 0rame
An event triggered 0rame is used as a Jplace*olderK to
allow multiple slave nodes to provide its response= -*is
is use0ul w*en t*e signals involved are c*anged
in0re;uentl!=
0rame
All in0ormation is sent paced as 0ramesV a 0rame
consist o0 t*e *eader and a response=
0rame slot
-*e time period reserved 0or t*e trans0er o0 a specifc
0rame on t*e L.N bus= Corresponds to one entr! in t*e
sc*edule table=
go7to7sleep7command
A special diagnostic 0rame issued to 0orce slave nodes
to sleep mode=
b!te feld
"ac* b!te on t*e L.N bus is sent in a b!te feldV t*e
b!te feld includes t*e start bit and stop bit
transmitted=
*eader
A *eader is t*e frst part o0 a 0rameV it is alwa!s sent b!
t*e master tas=
identifer -*e identit! o0 a 0rame in t*e range 3 to NI=
L.N Description File
-*e LDF fle is created in t*e s!stem defnition and
parsed in t*e s!stem generation or b! debugging tools=
L.N #roduct .dentifcation A uni;ue number 0or eac* L.N node=
master node
-*e master node not onl! contains a slave tas1 but
alsot*e master tas t*at is responsible 0or sending all
0rame *eaders on t*e bus1 i=e= it controls t*e timing and
sc*edule table 0or t*e bus=
master re;uest 0rame
-*e master re;uest 0rame *as identifer N3 and is used
0or diagnostic 0rames issued b! t*e master node=
master tas
-*e master tas is responsible 0or sending all 0rame
*eaders on t*e bus1 i=e= it controls t*e timing and
sc*edule table 0or t*e bus=
message identifer
"ac* 0rame in a slave node *as a uni;ue 6N bit
messagenumber= During node confguration t*is
number is associated wit* a protected identifer1 w*ic*
is t*en used in t*e normal communication wit* t*e
node=
NAD
Node Address 0or Diagnostic= Diagnostic 0rames are
broadcastedand t*e NAD specifes t*e addressed slave
node= -*e NAD is bot* t*e p*!sical address and t*e
logical address=
Node
Loosel! speaing1 a node is an "CU %electronic control
unit)= However1 a single "CU ma! be connected to
multiple L.N clustersV in t*e latter case t*e term node
s*ould be replaced wit* bus inter0ace=
Node Capabilit! File
A NCF fle describes a slave node as seen 0rom t*e L.N
bus= .t is used in t*e s!stem defnition=
protected identifer -*e identifer %N bit) toget*er wit* its two parit! bits=
#ublis*
A signal %or an unconditional 0rame) *ave e(actl! one
publis*erV t*e node t*at is t*e source o0 t*e
in0ormation1 compare wit* subscribe=
Ee;uest
-*e master node puts re;uest on t*e slave nodes in
node confguration and in t*e diagnostic transport
la!er=
reserved 0rame
Eeserved 0rames *ave an identifer t*at s*all not be
used/ NI %3(I0)=
response
%6) A L.N 0rame consists o0 a *eader and a response=
Also called a Frame response=
%4) -*e repl! message 0or an .&O re;uest is a response=
Also called a Diagnostic response=
sc*edule table
-*e sc*edule table determines t*e traDc on t*e L.N
bus=
slave node
A node t*at contains a slave tas onl!1 i=e= it does not
contain a master tas=
slave response 0rame
-*e slave response 0rame *as identifer N6 and is used
0or diagnostic 0rames issued b! one o0 t*e slave nodes=
slave tas -*e slave tas is responsible 0or listening to all 0rame
*eaders on t*e bus and react accordingl!1 i=e= eit*er
publis* a 0rame response or subscribe to it %or ignore
it)=
sleep mode No communication occurs in t*e cluster=
signal
A signal is a value transported in t*e L.N cluster using a
signal7carr!ing 0rame=
signal7carr!ing 0rame
A 0rame t*at carries signals s*all *ave an identifer in
t*e range 3 to 2? %3(Ib)= unconditional 0rames1
sporadic 0rames and event triggered 0rames are signal7
carr!ing 0rames=
sporadic 0rame
A sporadic 0rame is a signal7carr!ing 0rame similar to
unconditional 0rames1 but onl! trans0erred in its 0rame
slot i0 one o0 its signals is updated b! t*e publis*er=
subscribe
&ubscribe is t*e opposite o0 publis*1 i=e= to receive a
signal %or a signal7carr!ing 0rame)=
s!stem defnition -*e process o0 creating t*e L.N Description File=
s!stem generation
-*e process o0 targeting one %or multiple) o0 t*e nodes
in t*e cluster to t*e L.N Description File
unconditional 0rame
A signal7carr!ing 0rame t*at is alwa!s sent in its
allocated 0rame slot=
user7defned 0rame
A 0rame wit* identifer N4= .ts purpose or usage is not
part o0 t*e L.N specifcation