Controller Area Network

Seminar By:Prathap S 8th semister ECE

What is CAN? Where is CAN used? When was CAN invented? How does CAN function? Conclusion

What is CAN?

Controller Area Network (CAN) is a serial bus system especially suited to interconnect smart devices to build smart systems or sub-systems. CAN is a serial communication protocol for sensors, actuators and other nodes in real time systems.

Attributes of CAN

Broadcast messaging. Sophisticated error detecting mechanism. Retransmission of faulty messages. Availability of more than 50 controllers from more than 15 manufacturers.

CAN Applications

Passenger cars Trucks and buses Passenger and cargo trains Maritime electronics Aircraft and aerospace electronics Factory automation Industrial machine control Lifts and escalators Building automation Medical equipment and devices

Tire pressure monitoring in Vehicles

Continuous tire pressure monitoring both during the journey and at standstill. Early warning for the driver if pressure loss and tire failure. Prevention of errors when setting normal tire pressure values and while inflating tires.

CAN History

1983 : Start of the Bosch internal project to develop an in-vehicle network by Kiencke. 1986 : Official introduction of CAN protocol. 1987 :First CAN controller chips. 1992: First cars from Mercedes-Benz used CAN network.

CAN Milestones

How does CAN function?

CAN protocol

CAN protocol is an international standard defined in the ISO 11898. CAN protocol is a CSMA/CD protocol. Based on broadcast communication mechanism. Message oriented transmission protocol. Message has a unique identifier within network. Message also defines the priority.

CAN Protocol (CSMA/CD)

A Computer Network

How this is done in CAN system

Advantages

Easy to add stations to existing CAN n/w without making any hardware or software modifications. Permits multiple reception and synchronization of distributed processes. Data can be transmitted via n/w in such a way that it is unnecessary for each station to have to know who the producer of data is. Easy servicing and upgrading of networks. Introducing network to mechatronics reduces both the cabling and the connectors.

CAN and OSI model

The CAN specification (ISO11898) discusses only the Physical and Data-Link layers for a CAN network.

The Data-Link Layer - is the only layer that recognizes and understands the format of messages. This layer constructs the messages to be sent to the Physical Layer, and decodes messages received from the Physical Layer. The Physical Layer - specifies the physical and electrical characteristics of the bus, and of the hardware that converts the characters of a message into electrical signals for transmitted messages - and electrical signals into characters for received messages.

CAN Message Frame

Four types of frames. Data frame.

Transmits information.

Remote frame.

Request information
Indicates occurrence of error. Indicates more time required to process message.

Error frame.

Overload frame.

Message Frame Format

Supports two message frame formats. CAN Standard frame (CAN 2.0 A) CAN Extended frame (CAN 2.0 B) Differ in the length of the identifier. CAN 2.0 A : 11 bits, CAN 2.0 B: 29 bits

CAN Standard Frame

CAN Extended frame

How CAN handles errors?

The error is detected by the can controller (a transmitter or a receiver). An error frame is immediately transmitted. The message is cancelled at all nodes The status of the CAN controllers are updated. The message is re-transmitted.

Detecting and Signaling errors

At message level

Cyclic Redundancy Check (CRC). Frame Check. ACK errors.

At bit level

Bit stuffing
After five consecutive identical bit levels have been transmitted, the transmitter will automatically inject (stuff) a bit of the opposite polarity into the bit stream.

Bit stuffing

CAN physical layer

High-speed physical layer according to ISO 11898-2 Fault-tolerant low-speed physical layer according to ISO 11898-3

CAN transmits signals on the CAN bus which consists of two wires, a CAN-High and CAN-Low. These two wires are operate in differential mode, that is they are carrying inverted voltages.

CAN Implementation
Two principle hardware implementations Basic CAN
There is a tight link between the CAN controller and the associated microcontroller.

Full CAN
Contain additional hardware to provide a message "server" that automatically receives and transmits CAN messages without interrupting the associated microcontroller.

Advantages

Low-Cost, Lightweight Network CAN provides an inexpensive, durable network that helps multiple CAN devices communicate with one another.
Broadcast Communication Each device can decide if a message is relevant or if it should be filtered. This structure allows modifications to CAN networks with minimal impact. Priority Every message has a priority, so if two nodes try to send messages simultaneously the one with the higher priority gets transmitted and the one with the lower priority gets postponed.

Error Capabilities The CAN specification includes a Cyclic Redundancy Code (CRC) to perform error checking on each frame's contents.

fig- CAN networks significantly reduce wiring.

Conclusion

Optimized for systems to transmit small amounts of data. CSMA/CD allows every node to have equal chance to gain access to the bus and allows smooth handling of collisions. Protocol is message based. Fast, robust message transmission with fault confinement is a big plus.

THANK YOU FOR YOUR TIME