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Controller
N
Area
C A Network
AGENDA
Why CAN?
N
What is CAN?
A
The CAN Protocol
C
Features of CAN Protocol
CAN Applications
NEED FOR A BUS SYSTEM
N
AIR
A
BAGS
ENGINE
CONTROL
BODY
C
ELECTRONICS
ACTIVE
SUSPENSION
INFOTAINMENT
ANTI-LOCK
BREAKING
NEED FOR A BUS SYSTEM
ENGINE ANTI-LOCK
CONTROL BREAKING
N
ACTIVE AIR
A
SUSPENSION BAGS
C
Disadvantages of Point to Point Connections:
Increases Material Costs
Increases Production & Testing Time
NEED FOR A BUS SYSTEM
Bus Protocol
N
CAN CAN CAN
A
BUS
Eg CAN
C
Advantages of Bus System:
Proven Reliability
Reduced Costs
Reduced Production & Testing Time
What is CAN ?
CAN is
an ISO standard (ISO 11898) for serial communication
AN
a protocol developed Robert Bosch Gmbh for automotive applications
C
a differential two-wire bus CAN_H & CAN_L
Low cost.
Low cost.
Extremely robust.
N
Highspeed
High(up to 1(up
speed MBits/sec).
to 1 MBits/sec).
A
Reliable. Error handling and Error Confinement.
C
Reliable. Error handling and Error Confinement.
Automatic retransmitting of the faulty data.
7
Automatic retransmitting of the faulty data.
N
faulty.
Automatic disconnect of nodes which are suspected to be physically faulty.
Functional
Functional
C A
Addressing,
Addressing,
"broadcasted"
i.e. no source/destination
i.e. no source/destination
on the network.
"broadcasted" on the network
address,address,
the datathe
aredata are
8
Attributes of CAN ?
Broadcast Communication Mechanism is adopted
Each node will have its own crystal clock, so no common clock needed
N
Theoretically no limitation on the number of nodes
A
CSMA / CD Bus contention & Non-Return To Zero (NRZ) mechanism
C
Each CAN message can transmit from 0 to 8 bytes of user information
9 ECR | 01/03/2006 | Robert Bosch India Ltd reserves all rights even in the event of industrial property rights. We reserve all rights of disposal
such as copying and passing on to third parties.
Attributes of CAN
AN
10
C
ECR | 01/03/2006 | Robert Bosch India Ltd reserves all rights even in the event of industrial property rights. We reserve all rights of disposal
such as copying and passing on to third parties.
Attributes of CAN
N
CAN BUS
NODE C
Transmits
00001111
T
C A R
NODE B
Transmits
00110011
T R
NODE A
Transmits
01010101
T
11 ECR | 01/03/2006 | Robert Bosch India Ltd reserves all rights even in the event of industrial property rights. We reserve all rights of disposal
such as copying and passing on to third parties.
Attributes of CAN
Frame Formats
Standard Frame 11 bit Identifier ( CAN 2.0A )
N
Extended Frame 29 bit Identifier ( CAN 2.0B )
A
Frame Types
C
Data Frame: for sending of a message
Error Frame
Overload Frame
12 ECR | 01/03/2006 | Robert Bosch India Ltd reserves all rights even in the event of industrial property rights. We reserve all rights of disposal
such as copying and passing on to third parties.
Attributes of CAN
Arbitration Field
C
11 Bit Identifier DLC (4) 0 to 64 Bits 15 Bits 7 Bits 3 Bits
SOF
IDE
RTR
r0
Bus Idle
CRC Delimiter
Bus Idle
Ack Slot
Ack Delimiter
13 ECR | 01/03/2006 | Robert Bosch India Ltd reserves all rights even in the event of industrial property rights. We reserve all rights of disposal
such as copying and passing on to third parties.
Data Frame
SOF: Start of frame bit. It is the indication of start of frame when a dominant bit is
detected after the bus idle condition.
RTR: one bit wide. Indicates that incoming frame is a data frame or a remote
frame depending on the value of this bit.
IDE: one bit wide. Indicates that the incoming frame is of standard format if
dominant bit is received in this field or else extended one (if recessive).
14
Data Frame Continued.,
Control field: six bit wide. Two bits r0 and r1 are reserved. In standard
frame r1 is replaced by IDE bit. And remaining 4 bits called as data length
control (DLC) describes total length of data field.
Data field: contains the actual information within the limit of {08} bytes.
15
Data Frame Continued.,
ACK field: 2 bit wide and contain two fields ACK flag and ACK
delimiter.
ACK flag: being successful reception of frame the receiver will indicate
the transmitter by putting a dominant bit in this place. Otherwise
recessive.
16
17
Attributes of CAN
AN
18
C CAN_L and GND
ECR | 01/03/2006 | Robert Bosch India Ltd reserves all rights even in the event of industrial property rights. We reserve all rights of disposal
such as copying and passing on to third parties.
Why CAN ?
Mature Standard
N
Excellent Error Handling
A
Fine Fault Confinement
C
Proven Best Performance / Price ratio
19 ECR | 01/03/2006 | Robert Bosch India Ltd reserves all rights even in the event of industrial property rights. We reserve all rights of disposal
such as copying and passing on to third parties.
Applications of CAN
Mobile Machinery
Special Industrial
Application Control
Fields
N
Systems
CAN
Public Transport
& Traffic
C A Building
Automation
Systems
20 ECR | 01/03/2006 | Robert Bosch India Ltd reserves all rights even in the event of industrial property rights. We reserve all rights of disposal
such as copying and passing on to third parties.
Implementing CAN
AN
21
C
ECR | 01/03/2006 | Robert Bosch India Ltd reserves all rights even in the event of industrial property rights. We reserve all rights of disposal
such as copying and passing on to third parties.
Robert Bosch India Ltd ( RBIN )
Tools
AN
KOMO ( BLAUPUNKT )
22
C
CANvas ( RB India )
ECR | 01/03/2006 | Robert Bosch India Ltd reserves all rights even in the event of industrial property rights. We reserve all rights of disposal
such as copying and passing on to third parties.
Robert Bosch India Ltd ( RBIN )
CAN we?
A N
we CAN!
23
C
ECR | 01/03/2006 | Robert Bosch India Ltd reserves all rights even in the event of industrial property rights. We reserve all rights of disposal
such as copying and passing on to third parties.
Robert Bosch India Ltd ( RBIN )
AN
24
C
ECR | 01/03/2006 | Robert Bosch India Ltd reserves all rights even in the event of industrial property rights. We reserve all rights of disposal
such as copying and passing on to third parties.