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Controller Area Network (CAN)

Controller Area Network (CAN). 中山科學研究院 助理工程師 劉宜生. 內容. CAN 簡介 發展與應用 技術說明 產品與開發. CAN 簡介. 德國 BOSCH 公司自 1983 年開始發展， 1986 年成為 SAE 官方標準， 1993 年列入 ISO 11898 國際標準 為汽車控制而開發 簡化佈線 提高可靠度與維護性 已廣泛應用於工業自動化與即時控制 串列控制網路，最快速度為 1 Mbps 廣播型的網路，網路中的節點不分主從. CAN 網路架構. http://www.ti.com/. 發展與應用.

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Controller Area Network (CAN)

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  1. Controller Area Network (CAN) 中山科學研究院 助理工程師 劉宜生

  2. 內容 • CAN 簡介 • 發展與應用 • 技術說明 • 產品與開發

  3. CAN 簡介 • 德國BOSCH公司自1983年開始發展，1986年成為SAE官方標準，1993年列入ISO 11898國際標準 • 為汽車控制而開發 • 簡化佈線 • 提高可靠度與維護性 • 已廣泛應用於工業自動化與即時控制 • 串列控制網路，最快速度為1 Mbps • 廣播型的網路，網路中的節點不分主從

  4. CAN 網路架構 http://www.ti.com/

  5. 發展與應用

  6. ISO/OSI Reference Model http://www.ti.com/

  7. ISO 11898 Standards • Part 1: Data link layer and physical signaling, 2003 • Part 2: High-speed medium access unit, 2003 • Part 3: Low-speed, fault-tolerant, medium-dependent interface, 2006 • Part 4: Time-triggered communication, 2004 • Part 5: High-speed medium access unit with low-power mode, 2007

  8. SAE J1939 set of profiles • J1939/11 Physical layer (250 kbit/s, twisted shielded pair) • J1939/13 Off-board diagnostic connector • J1939/15 Reduced physical layer (250 kbit/s, unshielded twisted pair) • J1939/21 Data link layer • J1939/31 Network layer • J1939/71 Vehicle application layer • J1939/73 Application layer diagnostics • J1939/74 (Draft) Application - Configurable messaging • J1939/75 Application layer - Generator sets and industrial • J1939/81 Network management

  9. ISO Standards (application layer) • 11783-1~13/Isobus : Tractors and machinery for agriculture and forestry -- Serial control and communications data network (2001~2009，農林業機械) • 11992-1~4 : Road vehicles -- Interchange of digital information on electrical connections between towing and towed vehicles (2003~2008，卡車、巴士) • 17356-1~6 : Road vehicles -- Open interface for embedded automotive applications (2005~2006)

  10. Application layers • CANopen (http://www.can-cia.de/，CiA DS-301) • CANaerospace (http://www.canaerospace.net/，空用) • ISObus/ISO 11783 (http://www.isobus.net/，農林業) • DeviceNet (http://www.odva.org/) • NMEA 2000 (http://www.nmea.org/，船舶導航) • MilCAN (http://www.milcan.org/，軍用車輛) • SafetyBUS p (http://www.safetybus.de/，工廠自動化) • CAN Kingdom (http://www.kvaser.se/)

  11. 汽車工業的需求 • 需求：安全、舒適、節能 • Electronic Control Unit (ECU) • 安全：ABS、安全氣囊、循跡控制 ... • 舒適：空調、中控鎖、電動座椅、車窗、後視鏡 ... • 節能：引擎控制、點火控制、感測器 ... • 汽車維修 • CONSULT • OBD II (On Board Diagnostic II) • CAN bus

  12. CAN bus 的應用 • 交通：汽車、火車、輪船、航空 • 製造：機器控制、工廠自動化、生產線 • 建築：電梯、門禁、空調 • 農林業：農作收割機、耕耘機 • 保健：醫療設備、手術室、保健器材 • 娛樂：燈光控制、博弈機、玩具 • 科學：高能物理設備、天文望遠鏡 • ...

  13. 汽車電子控制裝置 1 巡航控制 2 MK60E：電子煞車系統 　主動式安全系統 10 四輪煞車 　被動式安全系統 8 雙向預縮式安全帶 11 接近速度感測器 12 側撞感測器 13 前撞感測器 14 安全氣囊控制器 3 電子式穩定控制感測器 4 Gateway data transmitter 5 力回饋加速踏板 LIN (Local Interconnect Network) 6 車門控制單元 7 天窗控制單元 9 座椅控制單元 http://www.aa1car.com/library/can_systems.htm

  14. 引擎控制方塊圖範例 http://www.infineon.com/

  15. 船舶控制與導航 http://www.nmea.org/

  16. CAN 應用於農業機械控制

  17. 其他應用實例

  18. 技術說明

  19. CAN 基本規格 • Transfer rate: 1 Mbps max. • Max. message length: 8 bytes • Carrier Sense Multiple Access/Bitwise Arbitration (CSMA/BA) • Fault tolerance: 15 bits CRC + ACK • Media: twisted pair

  20. Frame 格式

  21. Non-Destructive Bitwise Arbitration Stock Flight Systems

  22. Data rate vs. bus length

  23. Error detection and error confinement • Frame level • Cyclic Redundancy Checks (CRC) • Frame check • ACK error check • Bit level • Bit monitor • Bit stuffing

  24. CAN-H  GND 波形

  25. CAN-L  GND 波形

  26. 產品與開發

  27. 馬達控制 PCMCIA CAN interface Encoder Inclinometer (傾斜儀) 直流伺服放大器 交直流伺服放大器及馬達

  28. Silicon Labs C8051F5xx US$99

  29. Infineon • XC800 family (High performance 8bit 8051) • C166/XC166/XE166/XC2000 family (16 bit) • TriCore family (32 bit) Starter kit TC1767, EUR$600 CPU clock: 133 MHz 2 MByte program flash 92 Kbyte on-chip SRAM USB, JTAG, CAN, FlexRay Starter kit XC888, EUR$149 CPU clock: 24 MHz 32 Kbyte Flash 1.75 Kbyte RAM USB, JTAG, CAN, LIN Starter kit C167CS, EUR$199 CPU clock: 25 MHz 256 Kbyte Flash 64+11 Kbyte RAM RS-232, CAN

  30. Atmel AVR-based Microcontroller • AT90CAN32/64/128 • ATmega32/64M1, ATmega32/64C1

  31. Freescale • 8-bit • HC08 • 16-bit • S12/S12X • 68HC12 • 68HC16 • 56800 Digital Signal Controller • 32-bit • 68K/ColdFire • ARM-based • Power

  32. Microchip • MCP2502x/5x • MCP2510/15/51

  33. 謝謝指教

  34. Reference • http://www.can-cia.de/ • http://www.mjschofield.com/ • http://www.aa1car.com/library/can_systems.htm • http://www.aa1car.com/library/us796obd.htm (Understanding Onboard Diagnostics OBDII: Past, Present & Future)

  35. LIN (Local Interconnect Network) • Single master, up to 16 slaves (i.e. no bus arbitration). • Single wire communications up to 19,2 kbit/s @ 40 meter bus length. • Guaranteed latency times. • Variable length of data frame (2, 4 and 8 byte). • Configuration flexibility. • Multi-cast reception with time synchronization, without crystals or ceramic resonators. • Data checksum and error detection. • Detection of defect nodes. • Low cost silicon implementation based on standard UART/SCI hardware. • Enabler for hierarchical networks. • Operating Voltage of 12 V.

  36. FlexRay • synchronization • Synchronous and asynchronous data transmission (scalable). • Support of a fault tolerant synchronized global time base. • Scalable electric/electronic architectures to support different platforms. • Single Channel gross data rate of 10 Mbit/sec • protocol • Deterministic data transmission, guaranteed message latency and message jitter. • Support of redundant transmission channels. • Fault tolerant and time triggered services implemented in hardware. • Arbitration free transmission. • flexible configuration - physical layer • Support for bus and star topologies. • Fast error detection and signaling. • Support of wake-up/sleep functionality via bus.

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