Controller Area
Network
SUBMITTED BY:CHANDRA SHEKAR.I.G
DEPT OF E&C
1NH02EC010
NHCE
topic discussion
• CAN overview
• CAN features
• Architecture
• Working of CAN
• Mechanism
• Advantage and applications
Intra-vehicular Communication
• A typical vehicle has a large number of
electronic control systems
• The growth of automotive electronics is a
result of:
• Customers wish for better comfort and
better safety.
• Government requirements for improved
emission control
• Reduced fuel consumption
• Some of such control systems
• Engine timing
• Gearbox and carburetor throttle control
• Anti-block systems (ABS)
• Acceleration skid control (ASC)
Intra-vehicular
communication
• The complexity of the functions
implemented by these electronic
control systems necessitates
communication between them.
• In addition, a number of systems are
being developed which will cover
more than one device. For example
• ASC requires the interplay of the engine
timing and carburetor control in order to
reduce torque when drive wheel
slippage occurs.
How do we connect these
control devices?
• With conventional systems, data is
exchanged by means of dedicated signal
lines.
• But this is becoming increasingly
difficult and expensive as control
functions become ever more complex.
• In the case of complex control systems
in particular, the number of connections
cannot be increased much further.
CAN bus : basic motivation
Figure 1 Traditional Wiring - two pairs of cables can
substitute all typical connections.
CAN OVERVIEW
• CAN (Controller Area Network) Protocol
developed by Bosch in the early 1980s for
automotive in-vehicle networking
• Intel was the first CAN licensee and introduced
the 82526 in 1987.
• First production car to use a CAN network - 1991
Mercedes S-Class
• CAN Specification 2.0 released 1991
• Extended (29-bit) identifier
• Standard (11-bit) identifier
Controller Area Network
(CAN)
• Controller Area Network (CAN) is a fast serial bus that
is designed to provide
• an efficient,
• Reliable and
• very economical link between sensors and actuators.
• CAN uses a twisted pair cable to communicate at
speeds up to 1Mbit/s with up to 40 devices.
• Originally developed to simplify the wiring in
automobiles.
• CAN fieldbuses are now used in machine and factory
automation products as well.
CAN features
• Any node can access the bus when the bus is
quiet
• Non-destructive bit-wise arbitration to allow
100% use of the bandwidth without loss of
data
• Variable message priority based on 11-bit (or
29 bit) packet identifier
• Peer-to-peer and multi-cast reception
• Automatic error detection, signaling and
retries
• Data packets 8 bytes long
• They use broadcasting communication
mechanism
What constitutes a CAN
bus? The specification of a CAN bus should ideally cover all of
the seven layers of the OSI model.
Application
layer
Data link Logical link control
layer Medium access control
Physical Physical signaling
layer Physical medium attachment
Medium dependant interface
Working of the CAN
network: example
Tradeoff: CAN bus versus
point-to-point connections
• By introducing one single bus as the only means of
communication as opposed to the point-to-point
network, we traded off the channel access
simplicity for the circuit simplicty
• Since two devices might want to transmit
simultaneously, we need to have a MAC protocol to
handle the situation.
• CAN manages MAC issues by using a unique
identifier for each of the outgoing messages
• Identifier of a message represents its priority.
CAN: message format
Supports only 11 bit identifier
S 11- BIT R I R D 0-8 C A E I
O IDENTIFE T D 0 L BYTES R C O F
F IR RE C DATA C K F S
Extended CAN message
format
S 11 S 18 R R R D 0-8 C AEI
O -BIT R I -BIT T 1 0 L BYTE R C O F
F IDEN E D IDEN R CS C KF S
TIFIE E TIFIE DATA
R R
Implicit collision handling in
the CAN bus
• If two messages are simultaneously sent
over the CAN bus, the bus takes the
“logical AND” of all them
• Hence, the messages identifiers with the
lowest binary number gets the highest
priority
• Every device listens on the channel and
backs off as and when it notices a
mismatch between the bus’s bit and its
identifier’s bit
CAN ARBITRATION LOGIC
DOMINANT RECESSIVE
DOMINANT DOMINANT DOMINANT
RECESSIVE DOMINANT RECESSIVE
Implicit collision handling in
Node B notices a mismatch
in bit # 3 on the bus.
the CAN bus: example Therefore, it stops
transmitting thereafter
1 1 1
BUS
0 0 0 0 0 0
1 1 1
Node A’s
0 0 0 0 0 0
message-ID
1 1 1 1
Node B’s
0 0 0 0 0
message-ID
Unlike the MAC protocols we learnt, in CAN a collision does not result in
wastage of bandwidth.
Hence, CAN achieves 100% bandwidth utilization
ADVANTAGES
• CAN is ideally suited in applications requiring a high number of
short messages in a short period of time with high reliability in
rugged operating environments.
• Since CAN is message based and not address based, it is
especially suited when data is needed by more than one location
and system-wide data consistency is mandatory.
• Fault confinement is also a major benefit of CAN. Faulty nodes
are automatically dropped from the bus, which prevents any
single node from bringing a network down, and assures that
bandwidth is always available for critical message transmission.
• This error containment also allows nodes to be added to a bus
while the system is in operation, otherwise known as hot-
plugging.
APPLICATIONS OF CAN
•
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.
The Original Equipment Manufacturers (OEM) design
embedded control systems; the end-user has no or only
some knowledge of the embedded network functions and
is therefore not responsible for the CAN communication
system.
Opposed to that, automation control systems are
specified by the end-user. The system design including
the CAN network services may be implemented by the
end-users themselves or by a system house.
Few application are:
• Trucks and buses
• Off-highway and off-road vehicles
• Passenger and cargo trains
• Maritime electronics
• Aircraft and aerospace electronics
• Factory automation
• Industrial machine control
• Lifts and escalators
• Building automation
• Medical equipment and devices
• Non-industrial control
• Non-industrial equipment
CAN A PPL IC ATI ON IN SC ANIA T RUC K
THANK YOU
