CAN

Controller Area Network

CAN HISTORY
In Feb, 1986 , Robert Bosch publish the CAN at the SAE congress. Mid of 1987, Intel produce the first CAN chip

WHAT IS CAN ?
CAN is a multi-master serial network. Two-wire serial transmission Max transmission speed : 1Mbit/s Max transmission length: 10km (5kbit/s) Arbitration and Error detection function Easy to wire CAN 2.0A, 2.0B- ISO-11898 Follow ISO-11898 specification
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CAN LAYER STRUCTURE

OSI Ref. Model :Application Presentation Session Transport Network

CAN

Data Link Layer Physical Layer

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CAN MESSAGE FRAME

 A DATA FRAME carries data from a transmitter to the receivers.  A REMOTE FRAME is transmitted by a bus unit to request the transmission of the DATA FRAME with the same IDENTIFIER.  An ERROR FRAME is transmitted by any unit on detecting a bus error.  An OVERLOAD FRAME is used to provide for an extra delay between the preceding and the succeeding DATA or REMOTE FRAMEs.

DATA FRAME
Carries data from a transmitter to the receivers.

REMOTE FRAME
Transmitted by a bus unit to request the DATA FRAME..

ERROR FRAME
Transmitted by any unit on detecting a bus error.

OVERLOAD FRAME
Used to provide for an extra delay between the preceding and the succeeding DATA or REMOTE FRAME.

CAN FEATURES
 Arbitration Mechanism

Message Filtering CAN Error Detection

 FAULT CONFINEMENT

Physical Signaling Bus comparison

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ARBITRATION FIELD
Standard 11 bit Extended - 29 bit

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ARBITRATION EXAMPLE
Node 1 Transmits: 0 10110110100 0 0 0 1 00000001 E xxxx 01 O F

Node 2 Transmits: 0 Node 2 losing arbitration and stops transmitting! 10110111 Node 2 still ACKs message. As seen on the wire: 0 10110110100 0 0 0 1 00000001 E xxxx 01 O F 01

Arbitration Field

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CAN BUS ARBITRATION MECHANISM

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MESSAGE FILTERING

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PHYSICAL SIGNALING
Dominant (low impedance driven) (2 volts differential) - logical 0 Recessive (high impedance) levels (0 volts differential) - logical 1

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CAN BUS NETWORK

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BUS COMPARISON
CAN
Baud Rate Bus Length Communication Mode Collision Detection 5 k ~ 1 M bps 40 m ~ 10 km Multi-master

RS-485
1.2 k ~ 115.2 k bps 40 m ~ 1.2 km Master-slave

Arbitration

None

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CAN APPLICATION
DeviceNet Factory automation CANopen Machine automation J1939 Vehicle automation TTCAN (Time-triggered Transmission)- Vehicle application

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EXAMPLE
Vehicle Automation

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