Controller Area Network

CAN Fundamentals CAN Physical Layer

User benefits
Message Coding
How it all began
Synchronization
Overview
Basic Concepts Bit Timing / Bit Construction
CAN Data Link Layer CAN Bus Lines
Bus Access Arbitration CAN Implementations
Frame Formats
Typical Implementations
CAN
ErrorisDetection
low cost
Error Handling Basic Implementations
Fast serial bus with two wires: good price/performance ratio
Protocol Versions Full Implementations
Low cost protocol devices (controllers, transceivers) available mainly driven
(Standard
by high/Extended)
volume production in the automotive market Building Large CAN
CAN is reliable Networks
Sophisticated error detection and error handling mechanisms results in high
reliability transmission
Example: 500 kbit/s, 25% bus load, 2000 hours per year:
One undetected error every 1000 years
Erroneous messages are detected and repeated
System-wide data consistency (every bus node is informed about an error)
Faulty nodes automatically withdraw from bus communication
High immunity to Electromagnetic Interference

CAN means real-time

maximum data rate is 1 MBit/s @ 40m bus length
(still about 40 kBit/s @ 1000m bus length)
Short message length (0 to 8 data bytes / message)
(Larger data can be split up into several messages)
Low latency between transmission request and actual start of transmission
Bus access handled via CSMA/CD w/ AMP method (message with the
highest priority wins arbitration without losing any time)
CAN is flexible
CAN allows Multi-Master Operation
(every CAN node is able to access the bus individually)
CAN Nodes can easily be connected / disconnected
(i.e. plug & play)
Number of nodes not limited by the protocol
 CAN means Multicast / Broadcast Capability
CAN is not node-oriented but message-oriented
Message identifier specifies contents & priority of the message
Messages can be easily sent to multiple / all nodes simultaneously
All nodes simultaneously receive and work on common data
CAN is standardized
ISO-11898 (high speed applications)
ISO-11519-2 (low speed applications)

Air
Lighting Con-
Engine Anti-
Control Lock Power
Brakes Locks

Dash-
board
Airbag

Power
Trans- Active Seats
mission Suspen-
Control sion Power
Win-
Air
Lighting Con-
Engine Anti-
Control Lock CAN Power
Brakes Locks
CAN CAN CAN
CAN
High Speed Low Speed
Dash-
CAN
CAN Airbag
CAN CAN
CAN
Power
Trans- Active
Power
mission Suspen-
Win-
 dows
Control sion

Overview
Industrial
Specified by Robert Bosch
CAN GmbH, Germany Automotive
Spec
ISO/OSI
SAE
Distributed Controls

7 Application Layer CAL, CANopen (CiA),

DeviceNet (ODVA),
SDS (Honeywell)

2 Data Link Layer

1 CAN
Physical Layer

n Multimaster n Easy
CAN
Concept connection/
Nodes
n Number of disconnection
Node A Node n of nodes
nodes
not limited by n Broadcast/
protocol e.g. e.g. Multicast
n No node
ABS EMS
addressing,
CAN-Bus
Message
(logical)
identifier
specifies

Node A Node n

n Sophisti-

cated Error
Detection /
 Handling
n NRZ Code
+ Bit Stuffing
for
Synchroni-
zation
n Bus access
via
CSMA/CD
w/ AMP
e.g. ABS e.g. EMS
Application

e.g.
Host-Controller e.g.
80C166
C167CR
or C515C

81C9x
http://microcontroller.com/learn-embedded/CAN1_sie/CAN1big.htmCAN-Controller
CAN

CAN-Transceiver
UDiff

CAN_H
120 120
Ohm Ohm

CAN-Bus

EMI 40m / 130 ft

CAN_L
@ 1 Mbps