International Journal of Engineering and Technical Research (IJETR)

ISSN: 2321-0869, Volume-3, Issue-2, February 2015

Design and Implementation of Sensor Communication

Model in Vehicle through ARM & CAN Networking
Sunita Pokharkar , Prof. Hajiali Sayyed
Abstract The Automobile Industry has hither to witnessed
the advent of various electronic control system that have been
developed in pursuit of safety ,comfort ,pollution prevention and
low cost .This paper presents development and Implementation
of Efficient Sensor Communication system for digital driving of
semi autonomous vehicle with combination of ARM and CAN
Networking. The proposed System solves the problems of
automotive system applications. It takes feedback of Vehicle
conditions like whether seat belt is engaged or not , Engine temp,
existence of combustible gas ,vehicle speed etc.
Index Terms CAN ( controller area network) , ARM (
Advanced RISC Machine), Digital driving, semi-autonomous.
I. INTRODUCTION
For the sake of automation and safety ,various sensors are
being used in vehicles. As sensors are having their own
standards and own data rates. So more number of sensors,
more complex city and less reliability .Traditional control
units uses point to point communication approach which
introduces Pet cabling problem ,increased wire harness[2]
,therefore need arose for reducing number of wire harness
,transfer of large amount of data at high speed ,Reduced
complexity ,weight and cost. Therefore this system fulfills
these requirements with unified management .This leads to
easy Data sharing and interoperatability between different
control units
digital driving behavior for more safety ,comfort and low
cost .
II. LITERATURE SURVEY
CAN Bus is message based protocol designed specially for
automotive application but now also used in other areas such
as industrial automation and medical equipment. First , it was
introduced by Robert Bosch in 1983. Douglas w. Gage
discusses the History of Developments made in control of
unmanned ground vehicles in 1995 .
The Basic idea of digital driving system and How to
formulate digital driving system architecture have been
discussed by Wuhang wang(2002) ,C.Little(1998), Gerd
krammer(2001) ,fei-yue wang et al(2002) ,Julian kolodko etc
al(2003) . Luis Manuel et al(2002 )and Richard Bishop(2000)
have dealt with the various feature that can be included to
improve the driving experience in a digital driving
system.Tatsuya yoshida et al(2004) discusses the concept of
adaptive driving systems. U Franke et al(1999) discusses
various approaches to develop autonomous vehicles .The
issues in developing a CAN based embedded Network system
have been dealt by Robert Boys (2004) ,steve Corrigan
(2002) and John Rinaldi et al (2003)

Figure1- typical CAN bus architecture

. Now a days CAN have gained wide spread use and is
used in industrial automation, mobiles as well as in
automotives[2,4] .The CAN protocol is implemented in
silicon. This makes it possible to combine the error handling
and fault confinement facilities of CAN with High
transmission speed[5] . This experience is improved by using
ARM7 ,as it general purpose ,32 bit processor designed for
low budget and it is well suitable for High volume
applications with memory restrictions . This paper discuss
Figure3 CAN ECU architecture
development of such control framework for vehicle called
Fig 3 shows proposed CAN ECU architecture in automotive
Manuscript received February 11, 2015. system .here we an observe can bus interface is used for
sending and receiving data instead of direct contact of all

134 www.erpublication.org
 Design and Implementation of Sensor Communication Model in Vehicle through ARM & CAN Networking
participants. here CAN buses of different speed can be
connected.
III. HARDWARE STRUCTURE
Fig 4- block diagram
Hardware consists of CAN Bus ,CAN controllers ,ARM as
main processors ,sensors
A. CAN BUS
CAN is contention based communication media where each
ECU uses CSMA/CD (carrier sense multiple access ,collision
detector). CAN bus is multichannel system .All subsystem
access with each other through CAN Bus . These CAN buses
uses data of different speed rate .All units connected to bus
can send message. If two or more units starts sending
message at the same time ,the unit who has highest priority is
granted the rights to send and other units perform a receive
operation .
B. CAN BUS SYSTEM FOR DRIVE SYSTEM
A modern drive system consists more than 70 ECUs for
various subsystems. Typically biggest processor is Engine
control unit and other for transmission fuel injection system
,antilock braking system(ABS), airbag system etc .The main
requirement of all these unit is they should meet to real time
as they are sensitive to time and reliability. For completion of
this demand it is necessary to achieve implementation of
public data sharing ,such as engine speed ,wheel speed,
throttle pedal location etc. The electronic control unit
controls the time interval of two jet 6 ms which injection
duration of 30 degree crank angle(1 ms) ,which will provided
in remaining 5 ms .The contents include completion of speed
measurement, fuel measurement ,A/D conversion ,calculation
. sake of safety &it is almost compulsory in airlines, vehicles.
That means sending and receiving data in 1 ms must be
completed within electrical control of gasoline in order to
achieve real time requirements. Therefore data exchange
N/W must be priority based competitive mode.
135
C. CAN BUS FOR VEHICLE SYSTEM
CAN Bus for vehicle system is main control network which
connects several objects like central controller ,4-gate
controller ,memory modules and other components like
locker, windows ,locker ,mirrors and interior dome light
IV. EMBEDDED SYSTEM BASED ON ARM
A. ARM ARCHITECTURE
ARM stands for advanced RISC Machine. firstly,ARM
started as ACORN computer . now designing chips of
APPLEs iPod .ARM Architecture is based on RISC principle
(Reduced instruction set computer). It is first RISC
microprocessor designed for low budget Market .ARM7
TDMI-S stands for ARM Advanced RISC Machine
7 - Version
T- Thumb
D- Debug
M- Multiplier enhanced 32*8 Multiplier
I Interface- Embedded ICE macrocell
S- Synthesizer distributed as RTL rather than
hardened layout
It has low power consumption thats why it is well suited for
portable devices like mobile, Laptop .Hence it is dominant in
embedded and mobile market.ARM7 TDMI-S uses unique
THUMB strategy which makes it ideally suitable for High
volume applications with memory restriction hence used in
variety areas such as embedded control ,multimedia, DSP and
multimedia application. The LPC2148 microcontrollers are
based on 32/16 bit ARM7 TDMI-S CPU with real time
emulation and Embedded trace support that combines
Microcontroller with embedded High speed flash memory
ranging from 32 kb to 512 kb. A 128 bit wide memory
interface and unique accelerator architecture enables 32 bit
code execution at Max clock rate. For Critical code size
applications, the alternative 16 bit Thumb mode reduces code
by more than30 %with minimal performance penalty. Due to
their tiny LQFP64 package , it is ideal for applications where
miniaturation is key aspect. A blend of serial communication
interfaces ranging from a USB 2.0 full speed device ,multiple
UARTs ,SPI,SSP to I2C and on chip SRAM of 8 kb upto 40
kb makes for suitable for communication gateways and
protocol converters ,soft modems, voice recognition and now
end imaging providing both large buffer size and high
processing power ,various 32 bit timers, single or dual 10 bit
ADC(s) ,10 bit DAC ,PWM channels and 45 fast GPIO lines
with up to 9 edge or level sensitive external interrupt pin make
these microcontrollers practically suitable for industrial
control and Medical systems
B. SENSORS AND ACCESORRIES
1) SEAT BELT SENSOR (MEDER)
For we are well known importance to fasten seat belts for a
here we are using MEDER Reed switch seat belt sensor
showing Reliable way to detect whether seat belt is
disengaged or not. Whenever seat belt is engaged it isolates
the magnetic field of Receiver buckle and when seat belt is
www.erpublication.org
 International Journal of Engineering and Technical Research (IJETR)
ISSN: 2321-0869, Volume-3, Issue-2, February 2015
disengaged it shows sensing on front panel of vehicle with After writing and compiling program ,it is burned to ARM
symbol .It is Hermetically sealed ,Dynamically tested and other chips using Flashmagic software
contacts .It can withstand in dirty environment as well as it
can handle high shocks.

2) GAS SENSOR
MQ 6 gas sensor has High sensitivity to propane, butane, LPG
and Natural gas .This sensor could be used to detect different
combustible gas specially methane. It is with low cost. Here
sensitive material of MQ6 is sno2with lower conductivity in
clean air, when target combustible gas exists , the sensors
conductivity more higher along with gas concentration rising

3) .MEMS (Microelectromechanical system

MMA7260QT)
it is low cost capacitive Micromachined accelerometer
features signal conditioning low pass filter ,temp
compensation and g-select which allows for selection among VI. CIRCUITS AND WORKING MODEL
4 sensitivities, Here with increased acceleration, capacitance +5V
C1
also increases .So with the measurement of capacitance R1
100n

R2

acceleration can be measured out directly . 330E 330E

D1 D2
CTX CRX
R3 R4
U1 1K 120E

2
4) TEMPATURE SENSOR(LM35) 8

VCC

GND
RS
R5 JP1
1 7 CAN-H
10K TXD CANH 1
LM-35 calibrates Temperature Directly in centigrade .It is 4
RXD CANL

VREF
6

5
CAN-L
2
3
J1

PBT-3PIN CAN_RST 1

Linear +10mv/ c scale factor 0.5 c ensured accuracy (at 25 MCP2551/PCA82C250 CAN_CS
CAN_INT
MISO
2
3
4
MOSI 5
c) rated for full -55 c to +150 c range.LM-35 is suitable for +5V SCK 6
7
8

Remote applications. It is low cost Due to wafer level C2

100n R6 R7
+5V
GND
9
10

1K 1K
Trimming. It operates from 4 to 30 v and less than 60 A 1
2
U2
TXCAN VDD
RXCAN RESET
18
17 CAN_RST
HEADER 10

3 16 CAN_CS

current drain. it has low self heating 0.08 c in still air and low 4
5
6
CLKOUT
TX0RTS
TX1RTS
CS
SO
SI
15
14
13
MISO
MOSI
SCK

impedance output,0.1 for 1 mA load .It shows low level and

Y1 TX2RTS SCK CAN_INT
7 12
8 OSC2 INT 11
9 OSC1 RX0BF 10
C3 C4 VSS RX1BF
16MHz
high level temp measurement and automotive ignition level 22pf 22pf
MCP2510/MCP2515

gas exhausting ,over heat when engine /motor speed was

increased gradually . Fig 5-CAN Interface Board
VCC 3.3v
U3

16
LCD
U2
10 14

VCC
11 TXD0 T1OUT 7
GND
VDD

VCC
VSS

VEE

D10
D11
D12
D13
D14

TXD1 T2OUT
RW
RS

EN

D7
D8
D9

Again it have LCD display , buzzer ,DC Motor. It 12

9 R1OUT R1IN
13
8 P1
1
2
3

4
5
6

14
15
16
17
18
19
20
21

R2OUT R2IN
1 5
C1+

consists of one node as master and other slave node .ARM is

MAX232

C3 9
C1 6 4
V- 8
100n 100n
3 3
C1- C4 7

main controller which controls the sensor and slave is used to 4

C2+ V+
2 2
6
12
13

53
51
43
23

100n
7

C2 1
6 100nf
D+

P0.27
P0.28
P0.29
P0.30
P0.31

P0.16
P0.17
P0.18
P0.19
P0.20
P0.21
P0.22
P0.23
D-

VDDA
VREF
VDD
VDD
VDD

18 VSS P0.8 5

receive input of vehicle. The communication between sensor

GND

25 VSS P0.9 C2- UART0

42 VSS P0.10
50 VSS P0.11 P2
max232
15

59 VSS P0.12
VSS P0.13 5

is done with CAN controller, slave receivers the input of 49

57 VBAT
RESET
P0.14
P0.15

P0.0
9
4
8
3

sensor like seat belt engaged, Temperature ,gas ,acceleration

P0.1 7
P0.2 2
P0.3 6
P0.4 1
P0.5

etc. send to master with High speed .Master controls the status P0.6
P0.7 UART1
XTAL2

XTAL2

P1.16
P1.17
P1.18
P1.19
P1.20
P1.21
P1.22
P1.23

P1.24
P1.25
P1.26
P1.27
P1.28
P1.29
P1.30
P1.31

and sends feedback to operator panel through LCD display Y1

61

62

20

and buzzer with digital information 20pf

C5
12MHz
C6
20pf
LS1

VCC_BAR 5
3
4 MG1 VCC_BAR
1

1
2 R2 LS2

V. SOFTWARE STRUCTURE R1

1k
Q1
BC547
RELAY SPDT
1k
Q2
BC547
1

Here system is programmed using Embedded C and

2

MOTOR DC BUZZER

Debugged Keil software Fig 6- node 1

VCC 3.3v
16

U2
10 14
VCC

11 TXD0 T1OUT 7
TXD1 T2OUT
12 13
9 R1OUT R1IN 8 P1
R2OUT R2IN
1 5
C1+ MAX232

C3 9
VCC_BAR C1 6 4
V- 8
100n 100n
3 3
C1- C4 7
4 2 2
C2+ V+ 6
12
13

53
51
43
23

100n
7

C2 1
6 100nf
D+

VDDA

P0.27
P0.28
P0.29
P0.30
P0.31

P0.16
P0.17
P0.18
P0.19
P0.20
P0.21
P0.22
P0.23
D-

VREF
VDD
VDD
VDD

18 VSS P0.8 5
GND

25 VSS P0.9 C2- UART0

42 VSS P0.10
50 VSS P0.11 P2
max232
15

59 VSS P0.12
VSS P0.13 5
P0.14 9
49 P0.15 4
57 VBAT 8
VCC 5v J11 RESET P0.0 3
P0.1 7
1 P0.2 2
2 P0.3 6
3 P0.4 1
P0.5
P0.6
LM35 P0.7 UART1
XTAL2

XTAL2

P1.16
P1.17
P1.18
P1.19
P1.20
P1.21
P1.22
P1.23

P1.24
P1.25
P1.26
P1.27
P1.28
P1.29
P1.30
P1.31

VCC_BAR
J12 Y1
61

62

20

1
2
3 C5 C6
20pf 12MHz 20pf
MEMS
VCC 5v J13
1
VCC 5v J8 2
3
1
2
3 SEAT BELT

GAS

Fig 7- node 2

136 www.erpublication.org
 Design and Implementation of Sensor Communication Model in Vehicle through ARM & CAN Networking

VII. WORKING MODEL ACKOWLEDGEMENT

I wish to thank my institution , Shivaji college of
engineering and Mangement studies for giving me the
opportunity to write a research paper. A special thanks to
ETC Department Head ,prof sayyed for encouraging me
and guiding me throughout without whom ,this work would
have not been possible.
Last but not the least ,I would like to thank the authors
of the various research papers that I have reffered to, for the
completion of this work

REFERENCES
[1] Kumar, M. A.Verma, and A. Srividya, Response-Time Modeling of
Controller Area Network (CAN). Distributed Computing and
Networking, Lecture Notes in Computer Science Volume 5408, p
163-174, 2009.
[2] Tindell, K., A. Burns, and A.J. Wellings, Calculating controller area
VIII. RESULTS network (CAN) message response times. Control Engineering Practice,
3(8): p. 1163-1169, 2005.
[3] Li, M., Design of Embedded Remote Temperature Monitoring System
based on Advanced RISC Machine. Electrotechnics Electric, 06, p. 273,
2009.
[4] Prodanov, W., M. Valle, and R. Buzas, A controller area network bus
transceiver behavioral model for network design and simulation. IEEE
Transactions on Industrial Electronics, 56(9): p. 3762-377, 2009.
[5] ISO (1993). Road Vehicles: Interchange of Digital Information:
Controller Area Network (CAN) for High Speed Communication. ISO
11898:1993.
[6] B.Gmbh, CAN specification vol 1 Version 2.0, 1991.
[7] Pazul, Controller Area Network (CAN) Basics, Microchip technology
Inc., AN713, May 1999.
[8] Wilfried Voss, A comprehensive guide to controller area network,
Copperhill Media Corporation, 2005-2008.
[9] Benjamin C Kuo, M. Farid Golnaraghi, Automatic Control systems,
Eight edition, John wiley & sons., Inc 2003.

IX. CONCLUSION
Better the technology , more user friendly it becomes .
With Rapid development in the field of Embedded technology
, High performance embedded processor have become
Dominant because of low cost ,high reliability ,low power
consumption which makes it ideal for modern automobile
industry .This proposed system shows efficient sensor
communication to improve experience of Digital driving.
This paper shows combination of embedded system with
CAN Networking. It makes full use of ARM , high speed
reduction CAN communication network to achieve full
sharing of Data between nodes and enhance their
collaborative work.

137 www.erpublication.org