CAN PROTOCOL

Mohamed Bahae OUAADDI

[email protected]
Table of
Content
CAN

1 INTRODUCTION

2 CAN BUS AND OSI MODEL

3 CAN BUS PHYSICAL LAYER

4 CAN BUS DATA LINK LAYER

 CAN
CONTROLLER
AREA NETWORK
 CAN is a half-duplex asynchronous serial communication
protocol developed by Robert Bosch GmbH in the early
1980s, and it was officially launched at the Society of
Automotive Engineers (SAE) congress in Detroit, Michigan.
Initially designed to support robust automotive
applications, the protocol was introduced to the market
through a collaboration between Bosch and Intel.
The first suppliers of CAN modules at that time were Intel
INTRODUCTION and Motorola. Currently almost all minor and major
semiconductor manufacturers have CAN products in their
portfolio.
CAN was standardized as ISO 11898 in November 1993. By
1997, 24 million CAN interfaces were produced in a single
year, and just two years later, this number had already
tripled. Currently, it is estimated that over a billion CAN
interfaces are produced annually.
 WHY INVENTING CAN ?
Wiring before CAN

The evolution of the CAN bus traces back to a time

when automobiles and automotive industries relied
on point-to-point wiring systems, where each
electronic component had its dedicated data line. As
the automotive sector expanded and demanded
more sophisticated features, the inclusion of
Wiring after CAN
additional electronic components became
inevitable. However, this led to challenges such as
extensive rewiring due to the rising number of CAN H
components, resulting in scalability issues and
heightened manufacturing costs for vehicles. CAN L

[email protected]
 CAN FEATURES

Half duplex Asynchronous Serial

protocol
Multi-Master No slave (any node on the Deterministic ( the time it takes for a
bus can initiate communication) message to be transmitted and received
Message prioritization (CAN bus uses a can be precisely predicted. This is crucial
priority-based arbitration mechanism to for real-time applications where timing is
determine which message gets critical)
transmitted when multiple nodes attempt Differential pair of wires (twisted to
to send messages simultaneously.) prevent electromagnetic interference EMI)
Error Detection and high noise immunity
Low Cost and Simple Implementation
Scalability
retransmission of faulty messages
CAN BUS AND
OSI MODEL
The OSI or Open Systems Interconnection Model is
a conceptual framework that standardizes the
functions of a Networking system into seven
distinct layers. Each layer serves a specific purpose
and interacts with adjacent layers to facilitate
communication between different systems. It was

CAN
developed by the International Organization for DATA LINK
Standardization (ISO) PHYSICAL
 CAN NETWORK
TOPOLOGY CAN Node

CAN BUS
PHYSICAL
LAYER
High Speed
CSMA CAN AND Low
Networks Speed CAN

NRZ
Encoding and
Bit Stuffing
 CAN NETWORK TOPOLOGY

CAN Network is a broadcast type

unlike traditional networks such NODE 1 NODE 2 NODE 3
as I2C or USB or Ethernet,
messages are sent globally in the
network and all the nodes can CAN BUS
NODE 4 NODE 5
hear the broadcasted message
without any addressing
 CAN NODE
MCU ( Host Controller )
Micro-Controller unit : This unit decides
how to deal with received data or data to
be transmitted. CAN Controller

CAN Controller : This unit applies

acceptance filtering as well as it receives CAN_TX CAN_RX
whole data until the complete message is
CAN Transceiver
not received. This unit sent data on CAN
Bus serially when the bus is idle.
CAN transceiver : This unit converts CANH CANL
transmit signal from CAN controller level to
CAN-BUS level and Vice-Versa .
120 Ohm 120 Ohm

CAN BUS Node Architecture

Why Differential signal ? Why Termination Resistance ?

Reflexions can be particularly strong

Differential signal resists
when the signal reaches the end of the
electromagnetic noise compared to
cable, which is why termination
one conductor with an un-balanced
adapters are placed at the ends.
reference.
The CAN Driver in every CAN node is
To achieve good signal quality, it is
normally completely passive when
necessary to use a twisted pair wire
sending binary 1 the recessive level.
as the transmission medium and to
The resistor ensures that the voltage
protect the signal from external
difference returns to recessive state
noise.
when the dominant signal disappears
 Differential signal

Recessive state : (Logical H)

CANH = 2.5 V
CANL = 2.5 V
Vdiff = 0 V
Dominant state : (Logical L)
CANH = 3.5 V
CANL = 1.5 V
Vdiff = 2 V

Vdiff = CANH - CANL

 HIGH-SPEED CAN AND LOW-SPEED CAN
High-Speed CAN Low-Speed CAN
Low-Speed CAN, or Fault-Tolerant CAN
The High-Speed CAN is the "classic"
(according to ISO 11898-3), is
CAN bus (according to ISO 11898-2),
designed for improved durability. The
used in many (industrial) applications.
recessive level of the differential signal
The bit rates ranging from 10 kbit/s up
is at -5 V, the dominant level is 2.2 V. If
to 1 Mbit/s.
one of the two data lines is damaged,
CAN signals are transmitted
there is an automatic switchover to
differentially. Using High-Speed CAN,
single-wire mode. This allows the
the differential voltage for dominant bits
system to be operated. The bit rates
is 2 V, for recessive bits 0 V.
ranging from 40-125 kbit/s.
High-Speed CAN Bus Low-Speed CAN Bus
levels levels

CANH CANH

CANL
CANL
CSMA (CARRIER SENSE MULTIPLE ACCESS)
Networks

This method was developed to decrease the chances of collisions when two or more nodes
start sending their signals. Carrier Sense multiple access requires that each node sense the
bus before transmit any data. The bus has two states :

Carrier Busy = Transmission is tacking place in the bus

Carrier idle = No transmission currently taking place in bus

The possibility of collision still exists because of propagation delay.

 Types of CSMA Access Modes:

1- Persistent : 2- Non-Persistent :
If bus is busy the node sense the bus If bus is busy the node waits a random period
continuously until it becomes idle of time and then repeat the transmission
 Types of CSMA Access Modes:

3- P-Persistent :

Each node has its

own time slut in
the bus trimming
 CSMA With Collision Avoidance

CSMA / CA :
The basic idea behind CSMA/CA is that the node should be
able to receive while transmitting to detect a collision from
different nodes. In wired networks, if a collision has occurred
then the energy of the received signal almost doubles, and the
node can sense the possibility of collision. In the case of
wireless networks, most of the energy is used for transmission,
and the energy of the received signal increases by only 5-10% if
a collision occurs. It can’t be used by the node to sense
collision. Therefore CSMA/CA has been specially designed for
wireless networks.
 CSMA With Collision detection

CSMA / CD : CSMA / CD + AMP :

if two nodes sense the bus to be idle CSMA with collision detection and arbitration
and begin transmitting on message priority.
simultaneously, both of them will when two or more nodes begin sending
detect the collision immediately and messages at same time collision is detected
they should stop the transmission and the message with the highest priority will
and wait random period of time and overwrite other messages using bit wise
then tries to send data again, this arbitration, It means that only this highest
method used by Ethernet LAN priority message remains on the bus
networks.
CAN NETWORK is CSMA / CD + AMP
 NRZ - encoding
During signal transfer there are two types of line code used :

RZ(Return to zero) Coding : NRZ(Non-Return to Zero) code :

As name explains itself “return to
NRZ is “Non Return To Zero”
Zero” means in this line coding
means in NRZ line coding there
signal(1 or 0) drops to zero in
is no rest state in between the
between the each pulses.You
can say each signal take a rest pulse(it will not return to zero) as
state between next signal well as no change in polarity
transmission whether until consecutive signals are
consecutive signals are same or same.
different.

CAN Bus Uses NRZ encoding technique with Bit-Stuffing.

 BIT STUFFING
Bit stuffing is a form of data
communication used in various
protocols, including the CAN bus,
to prevent false synchronization. It
involves adding non-information
bits into the data stream to break
up patterns that could be mistaken
for frame boundaries.
In the CAN bus protocol, bit
stuffing occurs when message
have more than 5 consecutive bits
of the same value no falling edges
or rising edges for resynchronization. The transmitter will insert on an additional bit of the opposite value
into the data stream.
The primary purpose of bit stuffing is to maintain synchronization between different nodes on the CAN bus.
The CAN bus protocol relies on edge transitions (the change from 0 to 1 or vice versa) to synchronize the
internal clocks of different nodes. If there are too many consecutive bits of the same value, the lack of edge
transitions could lead to a loss of synchronization.
 BITWISE ARBITRATION
An example illustrates arbitration between
The node or ECU, with the lowest
two competing CAN nodes :
address gets the bus, and wines
arbitration.
A dominant bit always overwrites a
recessive bit on a CAN bus
Because each node continuously
monitors its own transmissions when
certain node detects that the bus
state does not match the bit that it
transmitted. Its halts transmission
while the node that win the bus
continues on with its message
 CAN BUS DATA
LINK
LAYER

CAN Message
Standard CAN
Types vs Extended
CAN
 Standard CAN vs Extended CAN

There is two frame formats CAN 2.0A (CAN

standard) frame and CAN 2.0B (CAN extended)
frame

CAN standard defined the length of the identifier

in the Arbitration field to 11 bits . Later on,
customer demand forced an extension of the
standard. The new format is often called the
extended CAN and allows no less than 29 bits in
the identifier. To differentiate between the two
frame types, reserved bit in the control field was
used (the IDE (Identifier Extension) bit).
 CAN
Message
Types

THE DATA THE REMOTE THE ERROR THE OVERLOAD

FRAME FRAME FRAME FRAME
the DATA frame is the most The Remote Frame is just like the Data the ERROR frame is a special the OVERLOAD is used to
common message type, It is Frame, with two important differences: message It is transmitted provide for an extra delay
the only frame for actual • the RTR bit in the Arbitration Field is when a node detects an between the preceding and
DATA transmission recessive error in a message the succeeding data or
• there is no Data Field remote frame
 DATA FRAME
Standard CAN

IFS

Extended CAN

IFS
SOF (Start of Frame) : Marks the beginning of data and remote Frames
Used for synchronization ,It’s a single dominant bit, can start
only if bus was idle
Arbitration Field : Includes the message Identifier (consists of 11bits in CAN
2.0A and 29bits in CAN 2.0B)
RTR (Remote Transmission Request) bit, which
distinguishes data and remote frames (dominant in data
frame and recessive in remote frame).
For Extended CAN
IDE (Extended Identifier) indicates that the identifier field in
the frame is using the extended format.
SRR (Substitute Remote Request):When this bit is set to 1, it
indicates that this frame is a substitute remote request,
meaning the node wants to request data from another
node. If set to 0, it's a data frame.
The IDE (Identifier Extension) bit belongs to:
- The Control Field of the Standard Format
- The Arbitration Field of the Extended Format
Control Field : IDE (Extended Identifier) : A low (dominant) IDE bit
indicates an 11-bit message identifier, a high (recessive)
IDE bit indicates a 29-bit identifier.
r0, a Dominant bit reserved for future usage.
And the DLC (Data length code) field, which consists of 4
bits indicates the number of bytes of data contained in the
CAN frame. It ranges from 0 to 8 bytes, allowing for
variable-length data payloads.
For Extended CAN
The Control Field was redesigned in CAN 2.0B, as shown in the
picture at the bottom, in order to support the coexistence of 11-
bit and 29-bit message identifiers on the same CAN bus network.
Includes two bits, r1 and r0, reserved for future use and
were kept at a low (dominant) level.
And the DLC (Data length code) like standard CAN.
 Data Field : The data field can contain upto 8 bytes.
CRC Field : Or (Cyclic Redundancy Check) field, it contains a 15-bit
checksum used for error detection, followed by CRC delimiter
(always recessive). It features a Hamming distance of six.
ACK Field : ACK field is 2 bits, one is the acknowledgment bit and the
second is a delimiter (always recessive).
Sender writes a recessive bit in the ACK slot, and every node
receiving an accurate message overwrites this recessive bit in
the original message with a dominant bit, so the sender knows
if at least one receiver has correctly received the message.

EOF(End of Frame) : it’s a 7 recessive bits marks the end of a CAN frame (message)
and disables bitstuffing, indicating a stuffing error when
dominant.
IFS(Interframe space) : It’s a bit field used to separate Data(or Remote) frames from
preceding frames whatever type they are. It contains the bit
fields INTERMISSION (3 recessive bits) and BUS IDLE.
 REMOTE FRAME
The remote frame serves to request data transmission from another node, resembling
the data frame but with two notable distinctions. Firstly, it's distinctly identified as a
remote frame by a recessive RTR bit in the arbitration field. Secondly, unlike the data
frame, it doesn't contain any data payload.

ERROR FRAME
The error frame is a special message characterized (like the End Of Frame) by a
deliberate breach of the bit-stuffing rules. It's dispatched when a node detects an error
within a message, prompting all other nodes in the network to send out an error frame
too. Subsequently, the initial transmitter automatically initiates a retransmission of the
message.
Transmission of error frame starts simultaneously with the next bit after the detection of
an error (CRC error frames start after the ACK delimiter).
• Active Error Flag
It's a sequence of 6 dominant bits that violates bit stuffing. When it's raised by a node,
the other CAN nodes will see the Active Error Flag as a Bit Stuffing Error. In response
they also raise an Active Error Flag.

Primary Active Secondary Active Error

error flag error flag(s) Delimiter

CAN
frame

6 bits 0 to 6 bits 8 bits

• Passive Error Flag
It's a sequence of 6 recessive bits that violates bit stuffing.
In this case we have to distinguish between a Passive Error Flag raised by a
transmitting node and a receiving node :
1. Transmitter is Error Passive :
the other CAN nodes will see the Passive Error Flag as a Bit Stuffing Error. In
response they raise an Active Error Flag.
2. Receiver is Error Passive :
When transmetter raises an Active Error Flag, the receiver will raise a Passive Error
Flag which will be “invisible” to all CAN nodes on the bus, because any dominant bits
win over the sequence of recessive bits

Passive error Active error Error

flag flag(s) Delimiter
 ERROR Types :
The error management is able to identify five different types of errors :
Bit-Error
A transmitted bit is not received with the same logical value with which it was sent. Excluded
are the Arbitration Field and the ACK Slot.
Stuff-Error
More than five consecutive bits of the same level have been detected. Excluded are End Of
Frame and Interframe Space (IFS).
CRC-Error
The calculated CRC checksum does not match with the received CRC checksum
Form-Error
There has been a violation of the frame format, e.g. CRC Delimiter or ACK Delimiter was not
recognized as a recessive bit, or End Of Frame was disturbed
Acknowledgement-Error
A transmitter did not detect a dominant bit in the ACK Slot, which means that the message
was not recognized as fault-free by any other CAN node.
CAN node States :

• Error Active
This is the normal state of a CAN node, in which messages can be sent and received.
In the event of a fault, an Active Error Flag, consisting of dominant bits, is transmitted.

• Error Passive
This state is reached after several errors have been detected on the CAN bus. In this
state, the CAN node may continue to send and receive messages, but in the case of
an error, only a Passive Error Flag is sent, consisting of recessive bits.

• Bus Off
In this state, the CAN node is completely disconnected from the CAN bus. It therefore
cannot send or receive messages or Error Flags. This state is reached when there is a
long disturbance on the CAN bus or a frequently repeated disturbance.
 ERROR Counters :
The error state transitions are controlled by error counters.
Each CAN node has an error counter
for receive errors : REC (Receive Error Counter).
for transmit errors : TEC (Transmit Error Counter) .
ERROR Handling :
The error handling is done in the following order :
1. An error is detected.
2. An Error Frame is sent by any CAN node that has detected the error.
3. The message currently in progress is rejected by all CAN nodes.
4. Error counters incremented.
5. The disturbed message is retransmitted
State Diagram for CAN node :

Error
Active Hardware reset or Host reset
with 128 x 11 recessive bit
waiting time

Error Bus
Passive OFF
 The states are characterized by the following count values :

• Error Active:
The counts of the Receive Error Counter and Transmit Error Counter
are both less than or equal to 127.
• Error Passive:
At least one of the two error counts is greater than 127 and the
Transmit Error Counter is less than 256.
• Bus Off:
The Transmit Error Counter is greater than 255.

The transition from Error Active to Error Passive and vice versa is done
automatically. The Bus Off state can be exited only by appropriate
actions of the host controller (software or hardware reset).
 Update of Counters :
Receive Error Counter :
→
A receiver detects an error REC=REC+1.
→
A receiver detects a dominant bit after sending an Error Flag REC=REC+8.
A receiver detects a Bit-Error while sending an Active Error Flag or an Overload
→
Flag REC=REC+8.
A receiver with REC>0 will decrement after each reception of a fault-free Data
→
Frame or Remote Frame REC=REC - 1.
→
A receiver with REC=0 REC=0.
Any CAN node tolerates up to seven consecutive dominant bits after sending
an Active Error Flag, Passive Error Flag, or Overload Flag. After detecting the
14th consecutive dominant bit (in case of an Active Error Flag or an Overload
Flag) or after detecting the eighth consecutive dominant bit following a
Passive Error Flag, and after each sequence of additional eight consecutive
→
dominant bits, every receiver increases REC=REC+8.
Transmit Error Counter :
→
A transmitter starts an Error Flag TEC=TEC+8.
Exception 1: When a transmitter is in Error Passive state and detects an
Acknowledgment-Error (no dominant bit in the ACK Slot) and it does
not detect a dominant bit while sending its Passive Error Flag, the TEC
is not changed.
Exception 2: If a transmitter detects a Bit-Error on a recessive stuff-bit in the
Arbitration Field before the RTR bit, the TEC is not changed.
A transmitter detects a Bit-Error while sending an Active Error Flag or an Overload
→
Flag TEC=TEC+8.
A transmitter with TEC>0 will decrement after each successful transmission of a
→
Data Frame or a Remote Frame TEC=TEC−1.
Any CAN node tolerates up to seven consecutive dominant bits after sending an
Active Error Flag, Passive Error Flag, or Overload Flag. After detecting the 14th
consecutive dominant bit (in case of an Active Error Flag or an Overload Flag) or
after detecting the eighth consecutive dominant bit following a Passive Error
Flag, and after each sequence of additional eight consecutive dominant bits,
→
every transmitter increases TEC=TEC+8.
 WARNING Level :

A node reaches the warning level when :

TEC > 96 AND/OR REC > 96

When a node reaches the warning level :

An “Error Warning flag” is Set and can be Cleared for TEC <= 96 AND
REC <= 96 .
An “Interrupt” might result (Optional).

We can use the Warning level to determine if a CAN node gets near the
threshold to the Error Passive state by checking constantly the Error Warning
flag.
 OVERLOAD FRAME
Overload Frames are dispatched under two conditions. Initially, when a dominant bit
appears in the first two bits of the Interframe Space (IFS), an Overload Frame is sent to
synchronize all CAN nodes. Additionally, a CAN controller might utilize an Overload
Frame to signal to other CAN nodes that it is currently overloaded and unable to
handle a new message immediately due to high workload.
The overload frame has no effect on the error counters (REC and TEC).
Today’s CAN controllers are fast enough, they are able to handle all bus traffic without
the additional delay of Overload Frames.
Overload Superposition of Overload
flag Overload flags Delimiter

IFS

6 bits 0 to 6 bits 8 bits