Controller Area Network (CAN)

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.