CAN Bus

CAN Introduction (1/2)

z CAN (Controller Area Network) is a serial bus system, which
was originally developed for automotive applications in the
early 1980's.

z The CAN protocol was internationally standardized in 1993

as ISO 11898-1 and comprises the data link layer of the
seven layer ISO/OSI reference model.

z CAN provides two communication services: the sending of a

message (data frame transmission) and the requesting of a
message (remote transmission request, RTR).
 CAN Introduction (2/2)
z The equivalent of the CAN protocol in human
communication are e.g. the Latin characters.. CAN users
still have to define the language/grammar and the
words/vocabulary to communicate.
z CAN provides
z a multi-master hierarchy, which allows building intelligent and
redundant systems.
z broadcast communication. A sender of information transmits to
all devices on the bus. All receiving devices read the message
and then decide if it is relevant to them.
z sophisticated error detecting mechanisms and re-transmission
of faulty messages.
 History of CAN (1/2)
z In February of 1986, Robert Bosch GmbH
introduced the serial bus system Controller Area
Network (CAN ) at the Society of Automotive
Engineers (SAE) congress.
z Today, almost every new passenger car
manufactured in Europe is equipped with at least
one CAN network. Also used in other types of
vehicles, from trains to ships, as well as in
industrial controls, CAN is one of the most
dominating bus protocols
 History of CAN (2/2)
z 1983 : Start of the Bosch internal project to develop an in-vehicle
network
z 1986 : Official introduction of CAN protocol
z 1987 : First CAN controller chips from Intel and Philips
Semiconductors
z 1991 : Bosch’s CAN specification 2.0 published
z 1991 :CAN Kingdom CAN-based higher-layer protocol introduced by
Kvaser
z 1992 : CAN in Automation (CiA) international users and
manufacturers group established
z 1992 : CAN Application Layer (CAL) protocol published by CiA
z 1992 : First cars from Mercedes-Benz used CAN network
z 1993 : ISO 11898 standard published
z 1994 : 1st international CAN Conference (iCC) organized by CiA
z 1994 : DeviceNet protocol introduction by Allen-Bradley
z 1995 : ISO 11898 amendment (extended frame format) published
z 1995 : CANopen protocol published by CiA
z 2000 : Development of the time-triggered communication protocol
for CAN (TTCAN)
 CAN – Protocol
z The CAN protocol is an international standard
defined in the ISO 11898. Beside the CAN
protocol itself the conformance test for the
CAN protocol is defined in the ISO 16845,
which guarantees the interchangeability of
the CAN chips.
z CAN is based on the “broadcast
communication mechanism”, which is based
on a message-oriented transmission protocol.
 CAN Protocol
- Principles of data exchange
 CAN Protocol
- Principles of data exchange
z As a result of the content-oriented addressing scheme a
high degree of system and configuration flexibility is
achieved.
z It is easy to add stations to an existing CAN network
without making any hardware or software modifications
to the present stations as long as the new stations are
purely receivers.
z This allows for a modular concept and also permits the
reception of multiple data and the synchronization of
distributed processes.
z Data transmission is not based on the availability of
specific types of stations allowing simple servicing and
upgrading of the network.
 CAN Protocol
- Real-time data transmission
z In real-time processing the urgency of messages
to be exchanged over the network can differ
greatly.
z The priority, at which a message is transmitted
compared to another less urgent message, is
specified by the identifier of each message.
z Bus access conflicts are resolved by bit-wise
arbitration of the identifiers involved by each
station observing the bus level bit for bit. This
happens in accordance with the wired-and-
mechanism, by which the dominant state
overwrites the recessive state.
z Transmission requests are handled in order of
their importance for the system as a whole.
 CAN Protocol
- Real-time data transmission
 CAN Protocol
- Message frame formats

• The CAN protocol supports two message frame formats, the

only essential difference being in the length of the
identifier.
• The “CAN base frame” supports a length of 11 bits for the
identifier and the “CAN extended frame” supports a
length of 29 bits for the identifier.
 CAN Protocol
- Message frame formats
 CAN Protocol
- Detecting and signaling errors

z For error detection the CAN protocol

implements three mechanisms at the
message level:

z Cyclic Redundancy Check (CRC)

z Frame check
z ACK errors
 CAN Protocol
– Detecting and signaling errors
z The CAN protocol also implements two
mechanisms for error detection at the bit
level:

z Monitoring: Each station that transmits also

observes the bus level and thus detects differences
between the bit sent and the bit received.
z Bit stuffing: The bit representation used by CAN is
"Non Return to Zero (NRZ)" coding. The
synchronization edges are generated by means of
bit stuffing. This stuff bit has a complementary
value, which is removed by the receivers.
Higher Layer Protocols

CAN hardware
implementations
cover the lower
two layers of the
OSI reference
model while
various software
solutions (higher
layer protocols)
cover the layers
three to seven.
 Higher Layer Protocols
z Models are used to understand communication, and to
describe communication objects as well as services on
these objects. Layered models are common in
communication technology.

zTo understand the CAN

reference model easier you can
use an analogy. Functionality
provided by CAN is similar to
Latin letters in human
communication. It is the base for
writing a language, but is not
enough to start with efficient
communication.
 Physical Layer
z CAN protocol defines the data link layer and part of the physical layer in
the OSI model, which consists of seven layers. The International
Standards Organization (ISO) defined a standard, which incorporates the
CAN specifications as well as a part of physical layer: the physical
signaling, which comprises bit encoding and decoding (Non-Return-to-
Zero, NRZ) as well as bit timing and synchronization.
z The CAN physical medium is a two-wire bus line with common return
terminated at both ends by resistors. Differential signal is used for better
immunity. The following figure shows a transmit signal from a CAN
controller, the differential signal emitted on the line and the receive signal
received by the CAN controller to monitor the CAN bus.
 Physical Layer
z A typical CAN bus in a factory automation
application is a single line bus with stubs to
connect equipments such as PLC, Sensors, Drives
etc… as illustrated by the figure below :
 CAN Design
- Physical Layout & Topology

Physical CAN Connection according to ISO 11898

 Implementations of the
CAN protocol
z Communication is identical for all implementations of
the CAN protocol. There are differences, however,
with regard to the extent to which the implementation
takes over message transmission from the
microcontrollers which follow it in the circuit.

z CAN controller with intermediate buffer.

z CAN controller with object storage.
z CAN slave controllers for I/O functions.
 CAN – Advantages

z Is capable of providing real-time communication.

z Uses error correction and confinement, greatly helpful in
noise-critical environments.
z Uses a lossless, bitwise arbitration scheme.
z High Speeds at Low-Cost.
z Suitability for small networks.
z The protocol is designed to increase integrity of the
system.
z It is designed for control – not transmission of large
blocks of data.
 CAN Microcontrollers
z All CAN Microcontrollers have a set of common
features:
z Flash memory for code

z E2PROM

z RAM

z In Application Programming capability assisted by a

boot loader.
z Same CAN engine to simplify Software Migration.

z Low voltage capability (2.7 volts min)

z Enough MIPS to run high layer protocol + application

 Atmel Solutions for CAN
Networking
z Atmel offer a family of product dedicated to advanced
CAN bus standard (2.0A & 2.0B) with 80C51 core and
AVR core. These microcontrollers with Flash memory
provide the ultimate solution for designing advanced
CAN based systems.
z Performance range
z Based on either 8051 or AVR core, the CAN 8-bit Flash microcontrollers
achieve 5 MIPS or 16 MIPS processing speed respectively.
z Powerful On-chip CAN Controller
z V2.0A/V2.0B compliant – Handles independent message objects
programmable on-the-fly.
z Easy Remote Programming and Field Upgrade
z Highly flexible self-programming via CAN, UART, SPI, JTAG
z Support Higher Layer Protocol Stacks
z CANopen, DeviceNet™, J939 and OSEK™
Atmel Solutions for CAN
Networking
 CAN - Application
z The Controller Area Network (CAN) serial bus system is
used in a broad range of embedded as well as
automation control systems. It usually links two or more
micro-controller-based physical devices.

z Many industries have adopted the CAN bus standard,

and gained a lot in reliability and flexibility. For some
applications, the cost and speed to deploy or reconfigure
a communication network is critical such as a factory
floor for instance. A CAN bus can be laid out, then
equipments can be added thanks to the plug and play
capability of CAN with Higher Layer Protocols.
 CAN in cars and truck engine
control
z Networking controllers for engine timing, transmission,
chassis and brakes.
z Networking components of chassis electronics and
electronics which make the vehicle more comfortable.
Examples of such multiplex applications are lighting
control, air-conditioning, central locking and seat and
mirror adjustment.

CAN is used in the majority of

European cars for engine
control and body electronic.
American and Asian car
manufacturers are also
implementing the CAN.
 CAN in maritime applications
z In maritime electronics CAN networks are used in boats,
ships and vessels as embedded network in sub-systems
and as integration network connecting several sub-
systems. Dedicated maritime devices with CAN
connectivity exist, marine sub-systems with CAN
interface as well as entirely CAN-based ship automation
systems. Ship automation systems may comprise
several physical CAN networks.
z A second category of maritime application is fishing
industry as well as recreational boat. In such application
we can find GPS, radar, sonar, fish finder, control
dashboard, display plus various safety sensors.
CAN in avionics system network

z CAN is used as a backbone network in aircrafts for

flight state sensors, navigation systems and research
PCs driving displays installed in the cockpit.
z Within the aircraft CAN networks are used to analyze
in-flight data or together with a voice/video
installation to analyze crew assistance provided by the
cockpit interfaces.
z CAN is also used in aerospace applications, e.g. in
engine control systems such as fuel systems, pumps
and linear actuators.
 CAN in medical equipments
z CAN is used as embedded network in medial devices
such as in X-ray machines. Complete operating rooms
are equipped with a CAN network that manages all
functions.
z CAN is deployed by the leader in hospital beds
connecting the control panels the various motors, the
scale. A hospital bed includes 5 to 10 CAN nodes in new
generation of beds to be introduced in 2004 in the
marketplace.
z X-ray collimator, X-ray generator and patient table from
a market leader use CAN.
z In addition, complete hospital control systems with
voltage control, indication and control units, multi cube
power meters and digital I/O, and visualization software
are networked via CAN.
 CAN in environment research
z The scientist of the Max-Planck-Institute (MPI) faced a difficult
task of measuring and collecting data when they wanted to
implement the project “bio diversity”. The project was started
in the spring of 2003 in the valley of the Saale-river near Jena,
on the grounds equivalent to 13 soccer pitches they planted
over 400 meadow allotments and sowed 495 different
mixtures of meadow plants
z Due to the spacious extent a decentralized measuring system
was chosen; all communication is done via CANopen. In four
independent CAN networks with an overall length of 4,500 m
were installed a total of 220 soil temperature sensors, 110 soil
water voltage sensors, 25 pressure sensors, 22 sensors for air
temperature and humidity as well as 22 surface temperature
sensors. Furthermore 25 pumps were needed to regulate the
water content of the soil.
 Other Applications
z Factory automation
z Industrial machine control
z Lifts and escalators
z Building automation
z Non-industrial control
z Non-industrial equipment
 Thank You

Shreyas Nangia – 200301123

Arun Agrawal – 200301154
Mohit Gupta - 200301197