4.

7 CAN Nodes Allocation

ND1: Engine Control Unit (ECU)

Manages engine-related functions such as fuel injection, ignition timing, and

emission control.
Interfaces with sensors and actuators within the engine system.
Communicates with other ECUs in the vehicle network, such as the
Transmission Control Unit (TCU) and Body Control Module (BCM), to
coordinate vehicle operation.

ND2: Body Control Module (BCM)

Controls various electrical systems and components within the vehicle's

body or interior.
Manages functions such as lighting, power windows, door locks, climate
control, and security features.
Interfaces with switches, sensors, and actuators distributed throughout the
vehicle.

ND3: Transmission Control Unit (TCU)

Manages transmission-related functions such as gear shifting, torque

converter lockup, and shift timing.
Interfaces with sensors and actuators within the transmission system.
Communicates with other ECUs in the vehicle network, such as the Engine
Control Unit (ECU) and BCM, to optimize drivability and fuel efficiency.

ND4: Airbag Control Unit (ACU)

Monitors and controls the deployment of airbags and other supplemental

restraint systems (SRS) in the event of a collision.
Interfaces with crash sensors, occupant detection sensors, and seatbelt
pretensioners to determine the severity of a crash and deploy airbags
accordingly.
Communicates with other safety-related systems in the vehicle, such as the
BCM and Engine Control Unit (ECU), to ensure coordinated response during a
crash event.

These four nodes represent a common allocation of functions within a vehicle's network
architecture, covering essential systems related to engine management, body control,
transmission control, and safety restraint systems. Depending on the vehicle's complexity and
features, additional nodes may be allocated for functions such as infotainment, driver assistance
systems, chassis control, and more.

4.8 CAN Implementation Method

Microcontroller
1.1 Applications:
Engine Control: The microcontroller can be used to implement engine control functions,
such as fuel injection timing, ignition timing, and idle speed control.
Body Control: It can manage various body control functions, including lighting control, power
window operation, door lock/unlock, and climate control.
Transmission Control: The microcontroller can control transmission functions like gear
shifting, torque converter lockup, and shift timing in automatic transmissions.

1.2 Higher Layer Protocol:

Controller Area Network (CAN): A higher layer protocol commonly used in automotive
systems for communication between ECUs. CAN provides a robust and efficient means of
transmitting data between microcontrollers within the vehicle network.
LIN (Local Interconnect Network): Another protocol used for communication between
ECUs, particularly for less critical and lower-speed applications within the vehicle.

1.3 Additional Message Filtering:

Filtering Engine Control Messages: The microcontroller can implement message filtering to
process only relevant messages related to engine control functions, reducing processing
overhead and improving efficiency.
Filtering Body Control Messages: Similarly, the microcontroller can filter messages related to
body control functions, ensuring that only relevant commands are processed for tasks like
lighting control or door lock/unlock operations.
Filtering Transmission Control Messages: For transmission control, message filtering can be
used to prioritize messages related to critical functions like gear shifting and torque
converter lockup, enhancing responsiveness and reliability.

This implementation method using a microcontroller offers flexibility, scalability, and efficiency in
managing various automotive functions. By leveraging higher layer protocols like CAN or LIN and
implementing message filtering techniques, the microcontroller can effectively control and
coordinate different systems within the vehicle network while optimizing performance and
resource utilization.
4.9 CAN Controller
1. MCU Interface:
Description: This component serves as the interface between the Vehicle CAN controller
and the microcontroller unit (MCU) of the vehicle.
Functionality: It facilitates communication between the MCU and the CAN controller,
allowing the MCU to send commands, receive data, and configure the CAN controller's
operation.
Tasks: The MCU interface handles tasks such as initializing the CAN controller, setting up
message buffers, and transmitting/receiving data frames.

2. CAN Protocol Controller:

Description: The CAN protocol controller is responsible for implementing the CAN protocol
stack, including message framing, arbitration, error detection, and acknowledgement.
Functionality: It ensures adherence to the CAN protocol standards, manages message
transmission and reception, and handles error detection and recovery mechanisms.
Tasks: The CAN protocol controller interprets commands from the MCU, generates CAN data
frames according to the protocol, monitors the bus for incoming messages, and performs
error checking.

3. Message Acceptance Filter:

Description: This component filters incoming CAN messages based on predefined criteria to
determine whether they should be accepted or rejected.
Functionality: It evaluates the identifier (ID) of incoming messages and compares them
against a set of acceptance criteria configured by the MCU.
Tasks: The message acceptance filter selectively accepts messages that match the
configured criteria, allowing them to be processed further by the MCU or other ECUs.
Messages that do not meet the criteria are filtered out and discarded.

4. Message Memory:
Description: Message memory stores incoming and outgoing CAN messages temporarily,
allowing them to be buffered and processed by the MCU or CAN controller.
 Functionality: It provides storage space for message data, including identifiers, data
payloads, and control information.
Tasks: Message memory buffers incoming messages awaiting processing by the MCU, and
stores outgoing messages queued for transmission onto the CAN bus. It ensures efficient
handling of message traffic and prevents data loss or overflow.

The Vehicle CAN controller integrates these components to facilitate communication over the
CAN bus, enabling robust and reliable data exchange between different electronic control units
(ECUs) within the vehicle's network. It plays a crucial role in supporting various automotive
applications, including engine control, transmission control, body control, and more.

4.10 CAN Transceiver

CAN Transceiver

1. Bus Management Failure:

Bus Fault Detection: The CAN transceiver monitors the bus for faults such as short circuits,
open circuits, or bus-off conditions.
Fault Reporting: Upon detecting a bus fault, the transceiver signals the controller or MCU by
setting specific status flags or generating interrupt signals.
Bus Recovery: In case of a bus-off condition, where the controller is unable to communicate
on the bus, the transceiver may initiate automatic recovery procedures or enter a low-power
mode to minimize power consumption until the fault is resolved.
Fault Isolation: The transceiver may include features to isolate faulty segments of the bus,
such as disconnecting them from the rest of the network to prevent disruptions to other
nodes.

2. Signaling:
Signal Conditioning: The transceiver ensures proper signal conditioning to transmit and
receive CAN messages reliably over the bus.
Voltage Level Shifting: It may include voltage level shifting circuits to interface with the
controller or MCU and adapt to different voltage levels used in the CAN network.
Driver Strength Control: The transceiver controls the strength of the transmitted signals to
meet CAN specifications and minimize electromagnetic interference (EMI).
Fault Signaling: In case of signaling errors or violations, the transceiver may provide
diagnostic outputs or status flags to indicate the presence of signal integrity issues.

In summary, the CAN transceiver plays a crucial role in managing bus faults, ensuring reliable
communication, and providing signaling support within the CAN network. It detects and reports
bus faults, facilitates fault recovery procedures, and ensures proper signal conditioning and
transmission to maintain the integrity of CAN communication.

CAN Bus
1.Transmission between nodes
Message-Based Communication: Nodes exchange data in message format containing sender
info, message ID, data payload, and error-checking bits.

Distributed Network Architecture: Nodes communicate directly without a central controller,

enabling efficient communication.

Broadcast Communication: Messages are broadcast to all nodes, allowing multiple nodes to
receive the same message simultaneously.

Priority-Based Arbitration: Messages with lower IDs have higher priority, ensuring critical
messages are transmitted without delay.

Collision Detection and Resolution: Nodes automatically retry transmission in case of a collision,
minimizing data loss.

Error Detection and Handling: Built-in mechanisms detect errors and automatically retransmit
messages for data integrity.

Deterministic Communication: Messages are transmitted and received with predictable timing,
crucial for real-time applications.

2. CAN Main Controller Software:

The CAN main controller software manages the overall operation of the CAN bus within the
vehicle's network.
It handles tasks such as message transmission, reception, arbitration, error detection, and
fault recovery.
The software interfaces with other system components, including the microcontroller,
transceivers, and higher-level applications.
It implements the CAN protocol stack, including protocols for message framing, bit timing,
error detection, and fault confinement.
Additionally, the software may include features for message filtering, prioritization, and
routing to optimize communication efficiency.

3. CAN Main Controller Software Flowchart:

Start

Initialize CAN controller

Configure CAN bus parameters (bit rate, mode, etc.)

Loop:

- Check for pending messages to transmit

- If message to transmit:

- Perform arbitration to determine message priority

- Transmit message onto the CAN bus

- Check for incoming messages

- If message received:

- Process received message

- Handle message acknowledgment or retransmission if necessary

- Update system state based on received data

- Handle error detection and fault recovery

- Update internal timers and counters

End Loop

Stop