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To Can Controllers at ST

The document provides an overview of CAN controllers and the CAN protocol. It discusses that CAN supports multi-master communication and is used in automotive, industrial, and medical applications. The key characteristics of CAN include multi-master capability, message priority, object-oriented communication without addressing, real-time capability, error detection and management. CAN uses a bus topology and broadcast communication of frames between nodes.

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Raj Mohan
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Download as PDF, TXT or read online on Scribd
48 views

To Can Controllers at ST

The document provides an overview of CAN controllers and the CAN protocol. It discusses that CAN supports multi-master communication and is used in automotive, industrial, and medical applications. The key characteristics of CAN include multi-master capability, message priority, object-oriented communication without addressing, real-time capability, error detection and management. CAN uses a bus topology and broadcast communication of frames between nodes.

Uploaded by

Raj Mohan
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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INTRODUCTION TO CAN CONTROLLERS AT ST

CAN PROTOCOL OVERVIEW

CAN: WHY ? WHERE ?


Existing protocols (I2C, D2B) didnt support multi-masters communication Low baud-rates Poor error detection & management CAN is used in several domains:
Automotive Industrial Home automation Medical etc
Power Train Safety

Car Body

CAN PROTOCOL OVERVIEW

CAN SPECIFICATION
Specified by BOSCH GmbH and normalized by ISO 11898
Specified by users

7. Application layer 6. (empty) 3. 2. Data link layer

(OSEK/VDX, J1939, CANOpen, DeviceNet, etc.)

LLC (Logic Link Control) Accept. filtering, Overload notif., etc. MAC (Medium Access Control) Data encap/decap, Frames, Access, etc. PLS (Physical Signalling) Bit encod/decod, Bit timing, Sync. Bosch specification ISO 11898 standard

OSI model

1. Physical layer

PMA (Physical Medium Attachment) Driver/ receiver characteristics MDI (Medium Dependent Interface) Connectors

CAN PROTOCOL OVERVIEW

KEY CHARACTERISTICS
CAN means Controller Area Network CAN is an asynchronous serial communication protocol Multi-master concept
CSMA/CA (Carrier Sense Multiple Access / Collision Avoidance) Message priority

Object-oriented communication
No node addressing, but content identification

Real-time capability
Low message transfer latency

System wide message consistency


Error detection & management mechanism

CAN PROTOCOL OVERVIEW

PRINCIPLE OF DATA EXCHANGES


Based on Object-oriented transmission protocol ( broadcast communication mechanism) BUS topology
Node 1 Node 2 Node 3 Node 4

CAN core

CAN core

CAN core

CAN core

Frame

Filter

Frame

Filter

Frame

Filter

Frame

Filter

Transceiver CAN H CAN L

Transceiver

Transceiver

Transceiver

CAN PROTOCOL OVERVIEW

PHYSICAL LAYERS
High speed CAN physical layer (ISO 11898-2 standard)
Speed up to 1Mbit/s Max. bus length 40m at 1Mbit/s Two wire differential bus Characteristic line impedance 120 Ohm (120-Ohm resistor at both ends)

Low speed CAN physical layer (ISO 11898-3 standard)


Speed up to 125 Kbit/s Up to 32 nodes per network Two transmission lines (terminated on each node so that total termination = 100 Ohm) Short circuit proof (fault-tolerant specifications)

CAN PROTOCOL OVERVIEW

CAN FRAMES
Data frame: 2 standards
Standard format Extended format 11-bit identifier 29-bit identifier

Remote frame
Data frame structure without Data field

(Active/Passive) Error Frame


Break stuff bit rule or fixed-form bit fields (delimiter bits)

Overload frame
Still supported for compatibility

CAN PROTOCOL OVERVIEW

CAN FRAME STRUCTURE


Recessive S O F 11-bit Identifier R I r T D 0 R E DLC 0..8 Data bytes CRC ACK EOF
Sent by the Transmitter

Dominant

DEL

ACK slot

D E L ACK inserted by all Receivers

Listen

ACK

Listen

DEL = Delimiter

DEL

ACK slot

D E L

CAN bus

CAN PROTOCOL OVERVIEW

STANDARD Vs EXTENDED IMPLEMENTATIONS


Standards
Standard format send / receive Extended format check / acknowledge Extended send / receive 2.0A 2.0B Passive 2.0B Active

Yes

Yes

Yes

no (destructive !)

Yes

Yes

no (destructive !)

no (destructive !)

Yes

2.0A and 2.0B active nodes cannot cohabit on the same network 2.0B passive and active nodes can cohabit on the same network

CAN PROTOCOL OVERVIEW

ERROR DETECTION
Bit Error (value of TX and RX signals differs) Acknowledge Error (when transmitter monitors ACK slot recessive) Stuff Bit Error (when stuff bit rule is broken) CRC Error (when CRC value is wrong) Form Error (wrong delimiters/EOF)
10

CAN PROTOCOL OVERVIEW

FAULT CONFINEMENT
Two counters
Transmit Error Counter (TEC) Receiver Error Counter (REC)
Reset and Configuration

Error Active
TEC > 127 or REC > 127 TEC < 128 or REC < 128 128 sequences of 11 consecutive recessive bit

Error Passive

Bus Off
TEC > 255

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