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CHNG I
GII THIU CHUNG
1. 1 Gii thiu CAN
Controller Area Network (CAN) l giao thc giao tip ni tip h tr mnh cho
nhng h thng iu khin thi gian thc phn b (distributed realtime control
system) vi n nh, bo mt v c bit chng nhiu cc k tt.
CAN u tin c pht trin bi nh cung cp ph tng xe t ca c Robert
Bosch vo gia nhng nm 80. tha mn yu cu ngy cng nhiu ca khch hng
trong vn an ton v tin nghi, v tun theo yu cu vic gim bt nhim v tiu
th nng lng, ngnh cng nghip t pht trin rt nhiu h thng in t nh h
thng chng trt bnh xe, b iu khin ng c, iu ha nhit , b ng ca
v.vVi mc ch chnh l lm cho nhng h thng xe t tr nn an ton, n nh v
tit kim nhin liu trong khi gim thiu vic i dy chng cht, n gin ha h
thng v tit kim chi ph sn xut, th mng CAN c pht trin.
Ngay t khi mi ra i, mng CAN c chp nhn v ng dng mt cch
rng ri trong cc lnh vc cng nghip, ch to t, xe ti. Vi thi gian, CAN cng
tr nn thng dng hn v tnh hiu qu, n nh, n gin, m v c bit l chi ph
r. N c s dng vi vic truyn d liu ln, p ng thi gian thc v trong mi
trng khc nhau. Cui cng, truyn tc cao rt n nh. l l do ti sao chng
c s dng trong nhiu ngnh cng nghip khc ngoi xe hi nh cc my nng
nghip, tu ngm, cc dng c y khoa, my dt, v.v
Ngy nay, CAN c chun ha thnh tiu chun ISO11898. Hu nh mi
nh sn xut chip ln nh: Intel, NEC, siemens, Motorola, Maxim IC, Fairchild,
Microchip, Philips, Texas Instrument, Mitsubishi, Hitachi, STmicro... u c sn xut ra
chip CAN, hoc c tch hp CAN vo thnh periperal ca vi iu khin. Vic thc hin
chun CAN tr nn cc k n gin nh s h tr t rt nhiu nh sn xut chip .
im ni tri nht chun CAN l tnh n nh v an ton (reliability and safety).
Nh c ch pht hin v x l li cc mnh, li CAN messages hu nh c pht hin.
Theo thng k, xc sut mt message ca CAN b li khng c pht hin l:

Hnh 1.1. Tnh n nh ca CAN

V d: cho rng nu gi s c 0.7s th mi trng tc ng ln ng truyn CAN
lm li 1 bit. V gi s tc truyn l 500kbits/s. Hot ng 8h/ngy v 365ngy/
nm. Th trong vng 1000 nm trung bnh s c mt frame b li m khng pht hin.

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Min ng dng ca CAN tri rng (from hight speed networks to low cost
multiplex wiring) : h thng in xe t, xe ti, n v iu khin ng c
(engine control units), sensor, PLC comunication, thit b y t. Ngy nay CAN
chim lnh trong ngnh cng nghip t. Trong nhng chic xe hi i mi thng
c mt mng CAN high speed dng iu khin ng c v thng mt mng CAN
lowspeed dng iu khin nhng thit b khc nh king hu, light

Hnh 1.2. ng dng mng CAN trong iu khin xe hi

Chun Field bus Device net, CANopen, J1939 thng dng trong cng
nghip chnh l chun CAN m rng. (Physical layer v MAC sublayer ca cc chun
ny l CAN).
1.2 Tm tt tng quan:
CAN l mt chun ISO (ISO 11898) cho tryn thng ni tip.
Giao thc c BOSCH xy dng vo nm 1980 cho cc ng dng t ng.
Ngy nay CAN c s dng rng ri trong cng nghip t ng.
Chun CAN bao gm:
1.Tng vt l.
2.Tng lin kt d liu:
-Vi loi thng ip
-Cc chun phn x cho truy cp bus
-Cc phng php d li v giam li

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CHNG II
CU TO V NG DNG MNG CAN

2.1 CAN protocol overview( tng quan v giao thc CAN)

Chun u tin ca CAN l chun ISOP 11898-2 nh ngha cc tnh cht ca
CAN High Speed.
Mt v d v mng CAN trong thc t

Hnh 2.1. Mt v d v mng CAN

Cng ngh cp ca mng CAN c ng dy dn n gin, gim ti thiu hin
tng s i tn hiu. s truyn d liu thc hin nh cp dy truyn tn hiu vi sai, c
ngha l chng ta o s khc nhau gia 2 ng (CAN H v CAN L). ng dy bus
kt thc bng in tr 120 ohm (thp nht l 108 ohm v ti a l 132 ohm) mi u
Mng CAN c to thnh bi mt nhm cc nodes. Mi node c th giao tip
vi bt k nodes no khc trong mng. Vic giao tip c thc hin bng vic truyn
i v nhn cc gi d liu - gi l message. Mi loi message trong mng CAN c
gn cho mt ID - s nh danh - ty theo mc u tin ca message .

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Hinh 2.2: Mt nt mng CAN

Mng CAN thuc loi message base system, khc vi address base system, mi
loi message c gn mt ID. Nhng h thng address base th mi node c gn
cho mt ID. Message base system c tnh m hn v khi thm, bt mt node hay thay
mt nhm node bng mt node phc tp hn khng lm nh hng n c h thng. C
th c vi node nhn message v cng thc hin mt task. H thng iu khin phn b
da trn mng CAN c tnh m, d dng thay i m khng cn phi thit k li ton
b h thng.
Mi node c th nhn nhiu loi message khc nhau, ngc li mt message c th
c nhn bi nhiu node v cng vic c thc hin mt cch ng b trong h thng
phn b.
ID ca message ph thuc vo mc u tin ca message. iu ny cho
php phn tch response time ca tng message. ngha quan trng trong vic thit
k h thng nhng thi gian thc. Trc khi c mng CAN, la chn duy nht cho
mng giao tip trong h thng thi gian thc l mng token ring chm chp.

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Hnh2.3 : M hnh mng CAN

Tiu chun ISO11898 nh ngha hai lp Physical layer v Data link layer.
Lp Physical layer nh ngha cch biu din/thu nhn bit 0 bit 1, cch nh thi v
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ng b
Lp Data link layer c chia lm 2 lp nh l logical link control (LLC) v Medium
Access Control (MAC): nh ngha frame truyn v nhng nguyn tc arbittration
trnh trng hp c
hai Master cng truyn ng thi.

Hnh 2.4: Cc lp layer giao tip

Ngoi ra, chun CAN cn nh ngha nhiu c ch khc kim tra li, x l li
c ch kim tra v x l li chia lm 5 loi li: Bit error, Stuff error, CRC error,
Form error, ACK error.
2.2 Lp vt l
2.2.1 None-return-to-zero
Mi bit trong mng CAN c m ha bng phng php None-returnto-zero (NRZ method). Trong sut qu trnh ca mt bit, mc in p ca dy
c gi nguyn, c ngha trong sut qu trnh mt bt c to, gi tr ca n gi
khng i.

Hnh 2.5: NRZ method

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2.2.2 Bit tuffing

Mt trong nhng u im ca cch m ha NRZ l mc ca bit c gi trong
sut qu trnh ca n. iu ny to ra vn v n nh nu mt lng ln bit
ging nhau ni tip. K thut Bit Stuffing p t t ng mt bit c gi tr ngc li
khi n pht hin 5 bit lin tip trong khi truyn.

Hnh 2.6: K thut Bit Stuffing

2.2.3. Bit timing
Ta nh ngha thi gian n v nh nht, l Time Quantum. Thi gian c bn
ny l mt phn s ca thi gian dao ng ca bus. Mt bit khong 8 n 25 quanta.

Hnh 2.7: Gin thi gian

2.2.4 di ca mt bus:
di ca mt bus ph thuc vo nhng thng s sau:
- tr lan truyn trn ng dy ca bus
- S khc nhau ca thi gian Time Quantum (nh ngha trn), v s khc
nhau ca xung clock ti cc nt
- Bin tn hiu thay i theo in tr ca cp v tng tr vo ca cc nt

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Hnh 2.8: Tc t l nghch vi di bus

Bng 2.9 : Vn tc di Bit time

Cn ch rng bt c modul no kt ni vo mt bus CAN phi c h tr
vi tc ti thiu l 20kbit/s. s dng bus c di hn 200 m, cn thit phi
s dng mt optocoupleur, v s dng bus di hn 1 km, phi cn mt h thng kt
ni trung gian nh repeater hoc bridge.
2.2.5 Trng thi dominant v recessive
lp vt l, Bus CAN nh ngha hai trng thi l dominant v recessive,
tng ng vi hai trng thi l 0 v 1. Trng thi dominant chim u th so vi
trng thi recessive. Bus ch trng thi reccessive khi khng c node no pht
i trng thi dominant. iu ny to ra kh nng gii quyt chanh chp khi nhiu
hn mt Master cng mun chim quyn s dng bus.
Bi tnh cht vt l ca bus, cn thit phi phn bit 2 dng truyn:
- Truyn CAN low speed
- Truyn CAN high speed
Bng sau tng kt nhng tnh cht c bn khc nhau gia 2 dng, c bit l tc :

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Thng s
Tc
s nt trn bus
Trng thi
dominant
Trng thi
recessive
tnh cht ca cap
Mc in p cung
cp

CAN low speed

125 kb/s
2 ti 20
CAN H = 4V ; CAN L = 1V

CAN high speed

125 kb/s ti 1Mb/s
2 ti 30
CAN H = 3,25V ; CAN L = 1,5V

CAN H = 1,75V;CANL=3,25V

CAN H = 2,5V ; CAN L = 2,5V

30pF gia cp v dy
5V

2*120 ohm
5V

Bng 2.10: So snh CAN low speed v CAN high speed

Hnh 2.11: in p ca CAN low speed

Hnh 2.12: in p ca CAN high speed

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V tnh cht vi sai trn ng truyn tn hiu ca bus CAN, s min tr tc

ng in t c bo m v 2 dy ca bus u b tc ng nh nhau cng mt lc
bi tn hiu nhiu.

Hnh 2.13: S khng nhiu vi nh hng ca in t

2.3. C ch giao tip
c trng ca CAN l phng php nh a ch v giao tip hng i tng,
trong khi hu ht cc h thng bus thng khc u giao tip da vo a ch cc
trm.Mi thng tin trao i trong mng c coi nh mt i tng , c gn mt m
s cn cc .Thng tin c gi trn bus theo kiu truyn thng bo vi di c th
khc nhau.
Cc thng bo khng c gi ti mt a ch nht nh m bt c trm no cng
c th nhn theo nhu cu.Ni dung mi thng bo c cc trm phn bit qua mt m
cn cc ( IDENTIFIER).M cn cc khng ni ln a ch ch ca thng bo, m ch
biu din ngha ca d liu trong thng bo.V th, mi trm trn mng c th t quyt
nh tip nhn v x l thng bo hay khng tip nhn thng bo qua phng thc lc
thng bo(message filtering).Cng nh x dng phng thc lc thng bo, nhiu trm
c th ng thi nhn cng mt thng bo v c cc phn ng khc nhau.
Mt trm c th yu cu mt trm khc gi d liu bng cch gi 1 khung REMOTE
FRAME.Trm c kh nng cung cp ni dung thng tin s gi tr li mt khung d
liu DATA FRAME c cng m cn cc vi khung yu cu.Bn cnh tnh nng n
gin, c ch giao tip hng i tng CAN cn mang li tnh linh hot v tnh nht
qun d liu ca h thng.Mt trm CAN khng cn bit thng tin cu hnh h thng ( v
d a ch trm), nn vic b sung hay b i mt trm trong mng khng i hi bt c
mt s thay i no v phn cng hay phn mm cc trm khc.Trong mt mng CAN
, c th chc chn rng mt thng bo hoc c tt c cc trm quan tm tip nhn ng
thi, hoc khng c trm no tip nhn.tnh nht qun d liu c m bo qua cc
phng php gi ng lot v x l li.
2.4. Gii quyt tranh chp trn bus
Phng thc giao tip ca bus CAN l s pht tn thng tin (broadcast):
mi im kt ni vo mng thu nhn fame truyn t nt pht. Sau , ni nt s
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quyt nh vic s l message, c tr li hay khng, c phn hi hay khng

Cch thc ny ging nh s pht thng tin v ng i ca mt trm pht thanh,: khi
nhn c thng tin v ng i, ngi li xe c th thay i l trnh ca anh ta,
dng xe hay thay i ti x hoc chng lm g c
Giao thc CAN cho php cc nt khc nhau a d liu cng lc v mt
qu trnh nhanh chng , n nh ca c ch arbitration s xc nh xem nt no c
pht u tin.
s l thi gian thc, d liu phi c truyn nhanh. iu ny nh
hng khng ch ng truyn vt l cho php ti 1Mbit/s, m cn i hi mt s
cp pht nhanh bus trong trng hp xung i, khi m rt nhiu nt mun truyn
ng thi. Khi trao i d liu trn bus, th t s c xc nh da vo loi thng
tin. V du, cc gi tr hay bin i nhanh, nh trng thi ca mt cm bin, hay phn
hi ca mt ng c, phi c truyn lin tc vi tr thp nht, hn l cc gi tr
khc nh nhit ca ng c, cc gi tr thay i t. Trong mng CAN , phn ID
ca mi message, l mt t gm 11 bit (version 2.0A) xc nh mc u tin. Phn u
tin ny nm u mi message. Mc u tin c xc nh bi 7 bit cho
verdion 2.0A, ti 127 mc v mc 128 l
0000000 theo NMT(Netword Management)
Quy trnh arbitration ca bus da trn phn gii tng bit, theo nhng nt ang tranh
chp, pht ng thi trn bus. Nt no mc u tin thp hn s mt s cnh tranh vi
nt c mc u tin cao.

Hnh 2.14: Gii quyt tranh chp trn bus

2.5. CAN frame ( cu trc bc in)
Mt khung truyn c dng sau:

Hnh 2.15: Khung truyn

Chun CAN nh ngha bn loi Frame: Data frame dng khi node mun truyn
d liu ti cc node khc. Remote frame dng yu cu truyn data frame. Error
frame v overload frame dng trong vic x l li.
Dataframe: dng truyn i mt message. C hai dng: standard frame v
extended frame
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Hnh 2.16 CAN data frame

Standard frame: bt u bng 1 bit start of frame (SOF) lun trng thi
dominant, 11bit ID tip theo, 1 bit Remote Transmit Request (RTR) phn bit
remote frame v data frame nu bng dominant ngha l data frame, nu bng
recesive ngha l remote frame. Tip n l 1 bit Identifier Extension (IDE) phn
bit gia Standard frame (dominant) v extended frame (reccesive). Tip theo
l 1 bit r0 lun trng thi dominant. Tip n l 3 bit Data Length Control cho bit
s lng byte data cu frame. Tip n l 0 n 8 bytes data. Tip n l 15 bit
CRC v 1bit CRC delimiter. tip n l 1bit Acknoledge v 1 bit delimiter, tip theo
l 7bits End of frame lun trng thi recesive. cui cng l khong cch ti thiu
gia hai frame truyn inter-frame space (IFS).

Hnh 2.17. CAN standard frame

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Extended frame: gn ging nh standard frame, v c 29 bit ID:

Hnh 2.18. CAN extended frame

Chi tit cc phn khc nhau trong mt khung truyn d liu:
Start of frame:
Nm phn u ca mt farme d liu hay Remote frame, lun trng thi
dominant. Mt nt c th bt u truyn d liu nu bus rnh. Sau tt c cc nt u
ng b sau SOF ca nt bt u truyn.
CRC Field:

Hnh 2.19: CRC Field

CRC Field bao gm mt chui gm 15 bit v CRC Delimiter (l 1 bit reccesive)

Mt chui CRC (Cyclic Redundancy Code) cho php kim tra s nguyn vn
ca d liu truyn. Tt c cc nt nhn phi thc hin quy trnh kim tra ny. Ch vng SO
F, vng tranh chp, vng iu khin v vng d liu c s dng tnh ton chui CRC.
15
Trn thc t, di cc i ca frame khng vt qu 2 bit cho mt chui CRC 15 bit.
ACK Field:
Gm 2 bit : ACK slot v ACK Delimiter (l 1 bit recesive)
-

mt nt ang truyn s gi mt bit recesive trong ACK slot

mt nt nhn ng message thng bo cho nt truyn s gi 1 bit dominant

trong ACK slot

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Remote frame( khung yu cu d liu): dng yu cu truyn data frame ti

mt nt khc. Gn ging data frame nhng c DLC=0 v khng c data field.

Hnh 2.20: CAN remote frame

Error frame: c pht ra khi node pht hin li

Hnh 2.21: CAN error frame

Frame li bao gm 2 phn:
- C li
- Phndelimiter
Overload frame:
Dng khi frame b trn b m, nhm to mt khong cch thi gian b xung gia
2 khung d liu hoc yu cu d liu trong trng hp mt trm b qu ti.
2.6. Nominal Bit Time:
Nominal Bit Time l di ca mt bit trn bus. Mi nt trn bus phi iu chnh
nhp cng vi Nominal Bit Time c th pht v nhn chnh xc d liu trn bus.

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Hnh 2.22. Baudrate nh ngha thi gian cho 1 bit

Chun BOSCH m t thnh phn ca Nominal Bit Time, c chia ra thnh nhiu
on (segment):
- on ng b (SYNC_SEG)
- on lan truyn (PROG_SEG)
- on pha buffer 1 (PHASE_SEG1)
- on pha buffer 2 (PHASE_SEG2)

Hnh 2.23: Mi bt c cu to bi 4 segments

Nominal Bit Time, tnh theo giy, l nghch o ca dung lng trn bus:

2.7. S ng b xung clock

Mi nt phi to mt thi gian danh ngha Bit Time c th nhn v pht
d liu xung bus vi s ng b cc nt khc. Thc t, nu Nominal Bit Time ca
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mi nt khng c ng b vi nhau, gi tr c t bus ti thi im ly mu c

th khng l gi tr ng vi thi im mong mun. tr ny c th lm nh
hng trong nt nhn frame, khi m c t thi gian tnh ton CRC v gi 1 bit
dominant trong ACK Slot xc nhn rng frame ng.

Hnh 2.24: Vn ng b
2.7.1 SJW ( Synchronization Jump Width)
SJK iu chnh mt bit clock i 1-4 TQ (c khi to trc trong thanh ghi v
khng i trong qu trnh hot ng) thc hin vic ng b vi message truyn.
2.7.2 Li pha
PHASE_ERROR c pht hin khi s thay i bit dominant thnh recessive hay
1 bit recessive thnh dominant khng xy ra bn trong segment ng b. Mt bin
e c s dng nh gi li ny v a ra tn hiu. S tnh ton e c thc hin
nh sau:
- e=0,khi s thay i bit xy ra bn trong segment ng b (SYNC_SEG)
- e>0, khi s thay i bit xy ra trc thi im ly mu
- e<0, khi s thay i bit xy ra sau thi im ly mu
C ch trn phc v cho vic ng b li nhng Nominal Bit Time khc nhau
ca mi nt trn bus. C ch ng b ny cng p dng cho s chuyn bit
recessive sang dominant hay ngc li khi c 5 bit lin tip cng loi theo c
ch Bit-Stuffing.
Li pha e tnh ton so vi thi im ly mu xc nh PHASE_SEG
1 phi di hn hay PHASE_SEG 2 phi ngn i ln chuyn trang thi bit
tip theo s vo segment ng b. Hnh a ra chui dch chuyn di ca
segment ca Nominal Bit Time:

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2.7.3 C ch ng b
ng b cng (Hard Synchronization): ch xy ra khi chuyn cnh bit u
tin t recessive thnh dominant (logic1 thnh 0) khi bus rnh, bo hiu 1
Start of Frame (SOF). ng b cng lm cho b m bit timing khi ng li,
gy nn mt chuyn cnh trong SyncSeg. Ti thi im ny, mi nt nhn s
ng b vi nt pht. ng b cng ch xy ra mt ln trong sut mt
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message. V ng b li c th khng xy ra trong cng mt bit (SOF) khi m

ng b cng ang xy ra.
ng b li (Resynchronization): c thc hin bo ton s ng b
thc hin bi ng b cng. Thiu ng b li, nt nhn khng th c c s
ng b v s lch pha ca cc b dao ng ti mi nt.
S tnh ton v mc ng b li c a ra t gi tr sai s pha e, v cng ph
thuc vo gi tr
SJW:
- Nu sai s pha e bng 0 (e=0, chuyn cnh trong Sync Seg), c
ch ng b li cng ging nh ng b cng.
- Nu sai s pha e dng v b hn gi tr tuyt i SJW (0<e<SJW) ,
PHASE_SEG 1 s
ko di thm 1 on e.
- Nu sai s pha e m nhng nh gi tr SJW v tuyt i (e<0 v |e|<SJW),
PHASE_SEG
2 s ngn li 1 on e.
- Nu sai s pha e dng v ln hn hay bng SJW (e>0 v e>SJW),
PHASE_SEG 1 s
ko di thm 1 on SJW
- Cui cng, Nu sai s pha e m nhng ln hn gi tr SJW v tuyt
i (e<0 v |e|>SJW), PHASE_SEG 2 s ngn li 1 on SJW.
Bng sau tm tt kt qu ca c ch trn:
Li pha
0<e<SJW
e<0 v |e|<SJW
e>0 v e>SJW
e<0 v |e|>SJW

Tc ng ln
PHASE_SEG 1
ko di thm e

Tc ng ln
PHASE_SEG 2
lm ngn 1 on e

ko di thm SJW

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2.8. Truyn nhn message

Hnh 2.25: S khi b nhn CAN message

Hnh 2.26: S khi b truyn CAN message

2.9. X l li
Khi truyn mt frame trn bus, li truyn c th nh hng n hot ng ca cc
nt trn bus. Li c th n t mt nt, lm cho mng khng cn hot ng chnh
xc, V vy, nhiu cch pht hin li c s dng trong CAN
Cc loi li:
Bit Error:mi khi nt truyn gi mt bit xung bus, n kim tra xem mc in
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p trn bus c ng vi bit cn gi hay khng. Nu khng ng, n s bo hiu

bng mt Bit Error.
Tuy nhin, Bit Error s khng bo hiu trong nhng trng hp sau:
- Khng c Bit Error no c tc ng khi mt bit dominant c
gi trong vng ID thay th cho mt bit recessive. Cng nh vy,
trong vng ACK Slot, thay cho mt bit recessive.
- Mt nt pht gi mt c li (bit recessive) v nhn bit dominant, ko
cn phi bo hiu Bit error.
Li Stuffing( Stuff Error): Mt li Stuffing c pht hin trong
mi ln c 6 bit hay nhiu hn lin tc trn mt ng dy ca Bus
Tuy nhin, li Stuffing s khng bo trong vng ID, vng iu khin
v vng CRC. C ch Bit Stuffing khng p dng sau CRC. Trong
mi trng hp, li Bit-Stuffing s khng bo trong on kt thc
ca frame hay trong vng ACK
Li Cyclic Redundancy(CRC Error)
Nu gi tr CRC tnh ton bi nt nhn khng ging vi gi tr gi i
bi nt pht, S c mt li CRC(CRC Error).
Li ACK Delimiter
Mt li ACK Delimiter c bo khi nt nhn khng thy mt bit recessive
trong vng
ACK Delimiter hay trong vng CRC Delimiter.
Li Slot ACK (ACK Error)
Mt li Slot ACK c bo bi nt pht khi n khng c thy bit dominant
trong vng Slot
ACK.
Hnh tng hp nhng loi li khc nhau trong tng phn ca mt message frame

Hnh 2.27: Cc loi li khc nhau

2.10. CAN MODULE trn PIC
Controller Area Network (CAN) l modul thc hin cc chun giao tip
CAN 2.0A hay B c nh ngha bi BOSCH. Modul h tr CAN 1.2,
CAN 2.0A, CAN 2.0B, CAN 2.0A, CAN 2.0 B Passive v CAN 2.0
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Active.
Module bao gm:
- Thc hin cc giao thc CAN 1.2, CAN 2.0A v CAN 2.0B
- H tr cc loi Frame chun v m rng
- di d liu t 0-8 byte
- Lp trnh tc ti 1Mbit/s
- 2 buffer nhn vi hai buffer cha message vi 2 mc u tin
- 3 buffer truyn vi ch u tin v kh nng b truyn.
- Cc ngt do li truyn nhn.
- Lp trnh xung clock.
2.10.1 Tng quan v module
Module bao gm mt engine giao tip, cc buffer message v iu khin. Engine
t ng lm tt c cc chc nng nhn v truyn d liu. Message c truyn
bng cch ghi vo cc thanh ghi tng ng. Trng thi v cc li c th pht hin
bng c cc thanh ghi tng ng. Tt c cc message c kim tra li v so
snh vi cc filter (thanh ghi lc) xem n c c nhn v cha vo trong
1 trong 2 thanh ghi nhn.

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Can h tr cc kiu frame sau:

- Kiu frame chun
- Kiu m rng
- Remote frame
- Error frame
- Overload Frame Reception
- Khong gia cc frame truyn
Cc ti nguyn trong module CAN:
- 3 thanh ghi truyn: TXB0, TXB1 v TXB2
- 2 thanh ghi nhn: RXB0 v RXB1
- 2 mt n nhn (filter mask), mi ci cho mt thanh ghi nhn: RXM0,
RXM1
- 6 thanh ghi lc, 2cho RXB0 v 4 cho RXB1: RXF0, RXF1, RXF2,
RXF3, RXF4,
RXF5.
Modul CAN s dng chn RB2/CANTX v RB3/CANRX giao tip vi
bus CAN. Trnh t sau thit lp CAN module trc khi s dng
truyn hay nhn:
1. m bo module trong ch thit lp
2. Thit lp ch baud
3. Thit lp cc thanh ghi lc v mt n
4. a module CAN v ch hot dng bnh thng hay cc ch
khc ty theo p dng.
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2.10.2. Cc mode hot ng

1.Configuration mode : trong mode ny, module CAN c khi to
trc khi hot ng. Modul CAN khng cho php vo mode ny khi c mt
s truyn hay nhn ang xy ra, n ging nh ci kha bo v cc thanh ghi
khi hot ng.
2. Listen mode: Mode ny dng quan st trng thi bus hay dng
phn tch tc baud trong trng hp cm nng. Cho vic phn tch tc
Baud t ng, cn thit phi c 2 nt giao tip vi nhau.
3. Loop back mode: mode ny cho php s truyn cc message t
buffer truyn sang buffer nhn m khng thc s truyn message ra ngoi
CAN bus, s dng pht trin v kim tra h thng. Bit ACK khng c
kim tra v thit b cho php cc messages t n nh nhng message t cc
nt khc.
4. Disabled mode: trong mode ny, module khng truyn hay nhn,
Mode ny ging nh tt module, lm cho xung clock dng.
5. Normal mode: l mode hot dng cho thit b. Trong mode ny, thit
b kim tra tt c cc message trn bus v to bit ACK, frame li v ch
l mode duy nht cho php truyn nhn message ln bus CAN.
6. Error recognition mode : mode c th thit lp b qua tt c cc
li v nhn bt c message no.
2.10.3. Truyn message CAN
a. Cc buffer truyn:
C 3 buffer truyn TXB0, TXB1, TXB2. Mi buffer chim 14 byte SRAM
v bao gm mt thanh ghi iu khin(TXBnCON), 4 thanh ghi ID (TXBnSIDL,
TXBnSIDH, TXBnEIDL, TXBnEIDH), mt thanh ghi m di d liu
(TXBnDLC) v 8 thanh ghi d liu (TXBnDm).

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b. Thit lp truyn:
Bit TXREQ phi c xa ch th buffer ang rng hay message va mi
gi i. Sau , cc thanh ghi SIDH,SIDL, DLC v thanh d liu c np. Nu
s dng frame m rng (ID m rng) th thanh ghi EIDH:EIDL phi c ghi v
bit EXIDE c set bo hiu s dng frame m rng.
bt u truyn,ta set bit TXREQ cho mi buffer truyn. truyn thnh
cng th phi c t nht 1 node nhn bit c tc baud trn mng.
Set bit TXREQ khng c ngha l truyn ngay, n ging nh bo hiu buffer
sn sng truyn. S truyn ch bt u khi thit b kim tra bus rnh. Sau thit
b s truyn message no c mc u tin cao nht. Khi truyn thnh cng, bit
TXREQ s xa, c TXBnIF c set v ngt s xy ra nu bit cho php ngt
TXBnIE c set.
Nu truyn khng thnh cng, bit TXREQ vn c set, bo hiu
message vn cha gii quyt (pending) v mt trong cc c s set. Nu c li,
TXERR v IRXIF s set v mt ngt s sy ra. Nu message mt u tin trn bus, bit
TXLARB s set.
c. u tin truyn:
S u tin ny khng lin quan ti s u tin ca message trn bus theo giao
thc CAN. y ch l s u tin trong thit b xem message no s c truyn
trc hay th t truyn ca 3 buffer. Buffer no c mc u tin cao nht s c
truyn trc . Nu 2 buffer c cng mc u tin, th buffer no c s k hiu cao
hn s c truyn trc. C 4 mc u tin: nu cc bit TXP l 11, th buffer c
mc u tin cao nht; nu cc bit TXP l 00, th buffer c mc u tin thp nht
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2.10.4. Nhn message:

a. Cc buffer nhn:
C 2 buffer nhn RXB0 v RXB1. Mi buffer chim 14 byte SRAM v bao
gm mt thanh ghi iu khin(RXBnCON), 4 thanh ghi ID (RXBnSIDL,
RXBnSIDH, RXBnEIDL, RXBnEIDH), mt thanh ghi m di d liu
(RXBnDLC) v 8 thanh ghi d liu (RXBnDm).
N cn c mt buffer ring Message Assembly Buffer (MAB) c vai tr l
mt buffer ph. MAB lun nhn message k tip trn bus v khng th tc ng trc
tip bi firmware. Buffer MAB tip nhn ln lt tt c cc message ti. Massage
sau c truyn ti buffer nhn tng ng ch khi no ID ca message ng vi
b lc.
b. Nhn mt message:

Hnh 2.28: Cc bufer nhn

Cho tt c cc buffer, MAB (message assembly buffer) c s dng
nhn message k tip trn bus. MCU c th tc ng mt buffer trong khi buffer
kia nhn message hay gi message va nhn.
Khi mt message chuyn ti bt k buffer nhn no bit RXFUL c set.
Bit ny phi c xa bi MCU khi n x l xong message trong buffer
cho php message mi c th nhn trong buffer. Bit ny m bo thit b x l
xong message trc khi module c gng a message mi vo buffer nhn. Nu mt
ngt nhn cho php, th ngt s xy ra bo hiu mt message c nhn thnh
cng.
Khi message c a vo thanh ghi nhn, phn mm c th xc nh chnh
xc b lc no cho php s nhn ny bng cch kim tra filter hit bits
FILHIT<3:0> trong thanh ghi RXBnCON tng ng. Message va nhn l messafe
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chun nu bit EXID trong thanh ghi RXBnSIDL c xa. Ngc li, bit EXID
c set s bo hiu mt message m rng.
c. u tin nhn
RXB0 l buffer c mc u tin cao nht v c hai b lc kt hp vi n.
RXB1 l buffer c mc u tin thp v c 4 b lc. Hn na, thanh ghi RXB0CON
c th thit lp khi RXB0 cha mt message hp l, v mt message hp l
khc khi c nhn, mt error s khng xy ra v message mi s c a vo
RXB1. C 2 mt n lc cho mi bufer.

Hnh2.29: RXB0 cha mt message hp l, message khc khi c nhn s c

a vo RXB1
d. Message Acceptance Filtes and Masks.
c s dng xc nh xem message trong MAB c c chuyn vo cc
bufer nhn hay khng. Khi mt messge hp l va c nhn vo MAB, vng ID
c so snh vi gi tr ca b lc. Nu ng, message s c chuyn vo bufer
tng ng. Filter mask c s dng xc nh xem bit no trong vng ID s c
so snh vi b lc. Bng chn tr cho thy mi bit trong ID c so snh vi mt n
v b lc xc nh message c c chuyn vo buffer nhn hay khng. Nu bit
no c thit lp bng 0,bit s c chp nhn m khng cn xt n b lc.

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2.10.5. Baud Rate Setting:

Time Quantum c tnh theo cng thc:

trong FOSC l tn s xung clock, TOSC l chu k dao ng v BRP l s nguyn

(t 0 n 63) theo gi tr cc bit BRGCON1<5:0>.
2.11. Gii thiu mt s chip CAN thng dng v ng dng trong thc t
Tu phc tp, yu cu ca mng m chn CAN controller. n gin th chn
SJA1000, 81C90/81C91, 82C200,.. y l dng Stand-alone CAN controller. Phc tp
hn th chn cc h Vi iu khin c tch hp CAN 2.0B: H 8051: Infineon C505C,
C515C, Philips 8xC592, 8xC592, 8xCE598, Atmel T89C01CC01, CC02, CC03. H
C16: Infineon C167CR, C164CI. H AVR: AT90CAN128. H PIC: PIC18C658,
PIC18C858, PIC18F248,... v.v v v.v.
K n th chn tip CAN interface tranceiver MCP2551, PCA82C250, PCA82C251,
CF150, MAX3059, MAX3059...
Tham kho s ng dng ca tng con chn m bit cch kt ni chng li vi
nhau v kt ni vo CAN bus. Yu cu cn bao nhiu node th thit k by nhiu.

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2.11.1. Mch ng dng tham kho:

Hinh2.30: Mch Tham Khao PIC tch hp CAN

2.11.2. Mch giao tip CAN:

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Hinh2.31: Mch Tham Khao PIC tch hp CAN

Xong ri th vit chng trnh mng CAN cho cc node giao tip vi nhau.Ti
liu tham kho:
http://canopen.sourceforge.net
http://canfestival.sourceforge.net
http://www.can-cia.org

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2.11.3 Kt ni mng CAN vi cc MCU

Hinh2.32: Kt ni mng CAN vi MCU

Hinh2.33: Kt ni mng CAN vi MCU

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Hinh2.34: Kt ni mng CAN vi MCU

Cp v mc bo v
V bn cht, c mt s im khc bit c bn gia mi trng ng dng ca t
v mi trng cng nghip m cc nh thit k cng nghip cn cn nhc khi la chn
v ng dng cng ngh CAN. Trong nhiu ng dng t vn an ton khng c
cao th thng cn ng truyn d liu CAN di 500 kbp ch khng nht thit phi
c tc trn 1Mbp nh nhiu ng dng cng nghip. Ngoi ra, cp trn sn my cng
nghip ng nhin phi di hn so vi s dng trong cc phng tin i li mc d tc
d liu lun t l nghch vi chiu di cp..
di cp nh hng n tc truyn thng CAN
Chiu di ng cp (m)

Tc tn hiu (kbps)

30

1,000

100

500

250

250

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500

125

1,000

62.5

Thm vo , cp di hn thng chu nh hng ca in t cao nn tnh nng

chng nhiu l rt quan trng. y chnh l mi trng m nhng nh sn xut cht bn
dn ang tp trung pht trin cng ngh CAN cng nghip ca h.
Tng vt l l mt trong nhng thnh phn quan trng nht ca mng CAN bi v
n l yu t cn thit to ra hiu nng mnh m. Trong nhng ng dng cng nghip,
tng vt l c nh theo chun ISO 11898-2, c tc trn 1Mbp. Tiu chun ny xc
nh chc nng thit b truy cp truyn thng (MAU) v mt s c tnh giao din ph
thuc truyn thng (MDI). thc hin cc chc nng tng vt l cn n mt mch thu
pht CAN ni ti bus 2 dy:

Trong nhng nm gn y, loi mch ny c tch hp vo cc IC gim

lng linh kin v n gin qu trnh sn xut. Mt s cng ty ln sn xut nhng thit
b ny nh Texas Instruments, Infinion, Phillips, Microchip v AMIS. Hnh 12.1 l biu
khi ca thit b thu pht CAN tc cao, tun theo AMIS-30660, c chng nhn
Vd1.1 v tng thch vi ISO 11898-2. Nm trong mt gi SO-8, gii php n chip
(single-chip) ca IC cung cp kh nng truyn vi sai ti bus CAN vt l v kh nng
nhn vi sai ti b iu khin giao thc CAN ng thi cung cp cc cp bo v cao
chng li s ngng nht thi (transients) trong nhng mi trng cng nghip.

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Gim tc nhn gy nhiu

Nhng thit b CAN i mi c nhiu li th hn so vi cc IC thu pht c, c
bit l kh nng chng li cm in t (EMS), sng in t (EME) v s phng in
tnh (ESD). Trong nhiu trng hp, nhng tc nhn ny c th gy ra mt lin lc gia
cc bus.
Kh nng kh in t (EMI) cng phi c cn nhc khi chn mt my thu pht
CAN. Chip thu pht CAN c thit k hon hoc thc hin trong mt b cc i xng
vi vic sp xp thi gian truyn tn hiu ti dch chuyn 180o m vn gi tr khng
bn trong chip mc nh nht.
Thm vo , cc chip CAN c thit k loi tr ch chung CMR
(common-mode rejection). Nguyn nhn gy ra ting n CMR l s khc nhau v in
th gia tip t ca nt gi v nt nhn trn CAN. Ting n ny thu c t nh sng
hunh quang hay thit b chuyn mch in nh cp ngun v ng c. Hu ht cc my
thu pht CAN u c mt di CMR t -2V ti +7V cho cc u vo b thu.
Nh ng dng cc k thut thit k, cc nh sn xut chip c th n gin ha
vic thc hin tnh nng tng vt l ca CAN bng cch loi tr vic s dng cun cm
khng common-mode vic sp xp n gin hn v gim chi ph vt liu.
Mc tch hp cp h thng
Vic s dng cng ngh bn dn cao p, tn hiu hn hp cho php cc k s t
c cc mc tch hp h thng cao hn v gip h to ra gii php h thng ASIC
chnh xc. Chng hn nh, my thu pht CAN v b iu khin c th c kt hp
trong mt IC gim s lng linh kin ca cc nt CAN. Tch hp mc cao hn c
ngha l kch c mch nh hn, tit kim khng gian v m ra nhng kh nng mi c
th bao gm vic tch hp my thu pht CAN v tnh nng iu khin trc tip vo mt
giao din cm bin, cn tc ng, ng c hay b sung nhng chc nng mi m khng
tn khng gian mch.
Chun ISO 11898 da trn mt bus c chiu di 40m vi mt nhnh m rng
0.3m. Khong cch ny c th c m rng nh mt my thu pht CAN thit k hon
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ho. Thc t, hai bus c th ni vi nhau bng cch chn mt b lp CAN 1 chip AMIS42700 vo gia CAN-L v CAN-H. B lp CAN 1 chip gip nh thit k mng CAN
n gin ha vic m rng chiu di bus v cho php h pht trin mt nt n gin cho
cc ng dng kt ni-ngng kt ni.
Cc giao din CAN tch hp, thu nh ngy cng c mt vai tr quan trng khi cc
cm bin ngy cng nh hn ph hp vi nhng ng dng mi. Li ch ca vic kt
hp mt my thu pht CAN v mt b iu khin trn mt chip to ra tin cy cao,
khng cn kim tra nhiu v gim s lng linh kin phc tp t hai xung cn mt.
Tm li, phi ghi nhn rng nn tng ca CAN trong ngnh cng nghip t m c
cho cc nh thit k xm nhp ti nhiu cng c v dch v ca bn th ba c kh nng
pht trin v h tr cc ng dng da trn CAN. Trong c cc cng c miu t v cu
hnh mng CAN cp cao; cng c v dch v chun ha chn on d liu v giao
tip; cc cng c o lng v nh chnh.
2.12. u im ca CAN
* Tiu chun hon chnh.
-Giao thc CAN c hn 14 nm pht trin
-C nhiu sn phm v cng c v CAN trn th trng
*.Phn cng (tng vt l) h tr y cho giao thc (protocol)
-Kt hp gia x l v giam li vi truyn tc cao (max 1Mbps-at 40m, 50kbps at
1km).
*.Phng tin truyn n gin
-Chun l dy xon, nhng vi dy thng th vn chy tt.
-Trn cc kiu truyn khc: quang, v tuyn.
*.X l li tt
-y l mt im mnh ca giao thc ny: c ch d li m rng.
*.Giam li mnh.
-Gip ngn nga nt mng hng nh hng n ton h thng.
*.Giao thc c dng hu ht trong cng nghip v t ng.
*.Hiu nng Gi c tt.
2.13. Hng CAN open
c im:
-CANopen l mt nhm nh ca CAL (CAN application layer) c CiA pht trin.
-T ng cu hnh mng
-D dng truy cp tt c cc thng s thit b
-ng b ho thit b
-Truyn ti d liu theo chu k v s kin
-c hoc ghi cc thng s vo ra mt cch ng b
ng dng:
-My t ng
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Thun li:
-D dng tch hp cc cm bin v c cu truyn ng u t rt nh
-M v cc nh pht trin c lp
-H tr cc thit b khc
-Kh nng tc cao thi gian thc

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CHNG III
SO SNH CAN VI CC MNG TRUYN THNG KHC

3.1.Chun RS-232
cc thit b thu pht c th lm vic c hiu qu v khng gp rc ri khi lm vic
phi hp, t lu ngi ta t ra cc tiu chun cho cc cng vo/ra tn hiu tun t
trong cc thit b s. l tiu chun RS-232, vi cc gic cm ch D dao ng t 4
n 37 chn (4, 9, 15, 37 chn).
RS-232 (tng ng vi chun chu u l CCITT V.24) c dng ch yu trong vic
giao tip im - im gia hai thit b u cui (DTE), v d gia hai my tnh, gia
my tnh v my in, hoc gia DT v mt DCE- thit b giao tip d liu, v d gia mt
my tnh v mem.
RS 232 s dng phng thc truyn thng khng i xng, tc l s dng tn hiu in
p chnh lch gia mt 3V. Bt kdy dn v t. Cc cng ca RS - 232 c ngng
in p qui c l tn hiu c p ln +3V c coi c logic 0 hoc c gi tr thp (L) ,
cn tn hiu c p nh hn 3V c coi c logic 1 hoc gi tr cao (H). in p gia
3V khng c ngha.
Chnh v t - 3V ti 3V l phm vi khng c nh ngha, trong trng hp thay i
gi tr logic t 0 ln 1 hoc t 1 xung 0 mt tn hiu phi vt qua qung qu trong
mt th gian ngn hp l. iu ny dn n vic phi hn ch v in dung ca cc
thit b tham gia v ca c ng truyn. Tc truyn dn ti a ph thuc vo chiu
di ca dy dn. a s cc h thng hin nay ch h tr vi tc 19,2 kBd (chiu di
cho php 30 50 m).
Ch lm vic ca h thng RS 232 l hai chiu ton phn (full-duplex), tc l hai
thit b tham gia c th thu v pht cng mt lc. Nh vy vic thc hin truyn thng
cn ti thiu 3 dy dn - tring hai dy tn hiu ni cho vi cc u thu pht ca hai
trm v mt dy t. Vi cu hnh ti thiu ny, vic m bo an ton truyn dn
thuc v trch nhim ca phn mm. RS 232 c mt u im l c th s dng cng
sutpht tng i thp, nh tr khng u .vo hn ch trong phm vi t 3-7k
Trong cc Rle s thng dng loi gic cm 9 chn v loi 25 chn. Chun RS-232 qui
nh mc p, tc truyn v chc nng cc chn ca gic cm. Trn bng sau trnh by
s v cc chc nng cc chn ca loi 9 chn v 25 chn
Chn
( Loai 9 chn) Chn
( Loai 25 chn) Chc nng
1 8 DCD - DCD - Data Carier Detect Li ra
2 3 RxD - Receive Data Li vao
3 2 TxD - Transmit Data Li ra
4 20 DTR - Data Terminal Ready Li ra
5 7 GND - Ni t
6 6 DSR - Data Set Ready Li vao
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7 4 RTS - Request to Send Li ra

8 5 CTS - Clear to send Li vao
9 22 RI - Ring Indicator Li vao
UART v Np Chng Trnh Mch RS232

Hinh 3.1 UART v Np Chng Trnh Mch RS232

* UART(universal asynchronous receiver/transmitter) l mt giao thc truyn nhn

bt ng b c s dng kt ni my tnh vi cc thit b khc qua chun EIA
RS-232
* Cch thc truyn nhn ca UART

3.2.RS 485.
Hin nay, truyn tn hiu i xa hn v ni vi nhiu thit b u cui hn, ngi ta
dng chun RS-485 tng t RS232 nhng c mc in p tn hiu cao hn. s dng
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chun ny, ngi ta c cc b chuyn i tn hiu chun t RS-232 thnh tn hiu chun
RS-485.
Ngng gii hn in p qui nh cho RS 485 c ni rng ra khong 7V n 12V,
v tr khng u vo cng c tng ln. Ngoi kh nng ging nh RS 232, RS-485
cn c kh nng ghp ni nhiu im , v th c dng ph bin trong cc h thng
bus. C th, 32 trm c th ghp ni, c nh a ch v giao tip ng thi trong mt
on RS-485 m khng cn b lp.
t c iu ny, trong mt thi im ch mt trm c php kim sot ng dn
v pht tn hiu, v th mt b kch thch u phi a v trangh thi tr khng cao mi
khi ri, to iu kin cho cc b kch thch cc trm khc tham gia. Ch ny c
gi l tri-state. mt s vi mch RS-485 t ng x l tnh hung ny, trong nhiu trng
hp kc vic thuc v trch nhim ca phn mm iu khin truyn. Trong mch ca
b kch thch RS-485 c mt tn hiu u vo Enable c dng cho mc ch
chuyn b kch thch v trng thi pht tn hiu hoc tri-state.
Mc d phm vi lm vic ti a t 6V n 6V trong trng hp h mch, trng thi
logic ca tn 5V i vi u ra (bn pht)1,5V n hiu ch c nh ngha trong
khong t 5V i vi u vo (bn thu).0,2V n v t
RS-485 cho php ni 32 trm, ng vi 32 b thu pht hoc nhiu hn, tu theo cch
chn ti cho tng thit b thnh vin. Gii hn ny xut pht t c tnh k thut ca h
thng truyn ti nhiu im. Cc trm c mc song song v th vic tng s trm s
lm suy gim tn hiu vt qu mc cho php.
Tc truyn ti v chiu di dy dn
RS-485 cho php khong cch ti a gi trm u v trm cui trong mt on mng l
1200m, khng ph thuc vo s trm tham gia. Tc truyn dn c th ln n 10
Mbit/s, mt s h thng gn y c th ln n tc 12 Mbit/s. Tuy nhin c s trao
i gia tc truyn dn ti a v di dy dn cho php, tc l mt mng di
1200m khng th lm vic vi tc 10Mbd. Quan h gia chng ph thuc rt nhiu
vo vic nh gi cht lng tn hiu.
3.3 . I2C S Khi

Hnh 3.2 I2C

c im
- Giao tip bus tng thch vi I2C Fast chun. 7 bit a ch
- D dng thit lp Ch, T hoc Ch/T
- Xung clock c th lp trnh cho php iu khin tc linh hot
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- Truyn dn song phng gia Ch v T

Cu Trc Byte u Tin

LSB

MSB

R/W
7-bit a ch ca slave

R/W :
0 Slave s c ghi bi Master.
1 Slave s c c bi Master.
Cu Trc D Liu

Master Write:
S

SLAVE ADDRESS W

DATA A

DATA A

ACK t Master

Master Read:
S

SLAVE ADDRESS R

DATA A

DATA NA

ACK t Master
ACK t Slave

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Khng ACK t Master

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ACK

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3.4. im khc bit c bn cua CAN v cc mng truyn thng khc

- L CAN l mt pht trin chung ca hai hng BOSCH v INTEL phc v vic
ni mng trong cc phng tin giao thng c gii thay i cch ni im im c
in, chiu di dy dn c th ln ti vi kilomet, khi lng c th len vi kilogam v
tc truyn dn tng i cao.
- CAN l phng php nh a ch v giao tip hng i tng, trong khi hu
ht cc h thng bus thng khc u giao tip da vo a ch cc trm.Mi thng tin
trao i trong mng c coi nh mt i tng , c gn mt m s cn cc .Thng
tin c gi trn bus theo kiu truyn thng bo vi di c th khc nhau.
Cc thng bo khng c gi ti mt a ch nht nh m bt c trm no cng
c th nhn theo nhu cu.Ni dung mi thng bo c cc trm phn bit qua mt m
cn cc ( IDENTIFIER).M cn cc khng ni ln a ch ch ca thng bo, m
ch biu din ngha ca d liu trong thng bo.V th, mi trm trn mng c th t
quyt nh tip nhn v x l thng bo hay khng tip nhn thng bo qua phng thc
lc thng bo(message filtering).Cng nh x dng phng thc lc thng bo, nhiu
trm c th ng thi nhn cng mt thng bo v c cc phn ng khc nhau.
Mt trm c th yu cu mt trm khc gi d liu bng cch gi 1 khung
REMOTE FRAME.Trm c kh nng cung cp ni dung thng tin s gi tr li mt
khung d liu DATA FRAME c cng m cn cc vi khung yu cu.Bn cnh tnh
nng n gin, c ch giao tip hng i tng CAN cn mang li tnh linh hot v
tnh nht qun d liu ca h thng.Mt trm CAN khng cn bit thng tin cu hnh
h thng ( v d a ch trm), nn vic b sung hay b i mt trm trong mng khng
i hi bt c mt s thay i no v phn cng hay phn mm cc trm khc.Trong
mt mng CAN , c th chc chn rng mt thng bo hoc c tt c cc trm quan
tm tip nhn ng thi, hoc khng c trm no tip nhn.tnh nht qun d liu
c m bo qua cc phng php gi ng lot v x l li.

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CHNG IV
GII THIU MCH THI CNG NG DNG
4.1. S nguyn l:
Dng PIC18F458 o nhit t LM35 v hin th nhit ra mn hnh LCD,
thng qua kt ni mng CAN.
4.1.1 Mch PIC:

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Hnh 4.1 Mch PIC

4.1.2 Mch o nhit :

Hnh 4.2 Mch o nhit

4.1.3 Mch hin th nhit ra LCD:

Hnh 4.3 Mch hin th nhit ra LCD

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4.2 Trnh bin dch CCS:

Hnh 4.4 trnh bin dich CCS

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4.3. Chng trinh nap dnh cho PIC:

Hinh 4.5 Chng trnh np dng cho PIC

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TI LIU THAM KHO:

1. Mng truyn thng cng nghip Hong Minh Sn,NXB Khoa hc v ki thut.
2. http://www.diendandientu.com
3. http://vagam.net
4. http://canopen.sourceforge.net
5. http://canfestival.sourceforge.net
6. http://www.can-cia.org

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