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CAN Bus
CAN Bus
CAN Protocol
The CAN protocol is an international standard defined in the ISO 11898. Beside the CAN protocol itself the conformance test for the CAN protocol is defined in the ISO 16845, which guarantees the interchangeability of the CAN chips. CAN is based on the broadcast communication mechanism, which is based on a message-oriented transmission protocol.
CAN Protocol
- Principles of data exchange
CAN Protocol
- Principles of data exchange
As a result of the content-oriented addressing scheme a high degree of system and configuration flexibility is achieved. It is easy to add stations to an existing CAN network without making any hardware or software modifications to the present stations as long as the new stations are purely receivers. This allows for a modular concept and also permits the reception of multiple data and the synchronization of distributed processes. Data transmission is not based on the availability of specific types of stations allowing simple servicing and upgrading of the network.
CAN Protocol
- Real-time data transmission
In real-time processing the urgency of messages to be exchanged over the network can differ greatly. The priority, at which a message is transmitted compared to another less urgent message, is specified by the identifier of each message. Bus access conflicts are resolved by bit-wise arbitration of the identifiers involved by each station observing the bus level bit for bit. This happens in accordance with the wired-andmechanism, by which the dominant state overwrites the recessive state. Transmission requests are handled in order of their importance for the system as a whole.
CAN Protocol
- Real-time data transmission
CAN Protocol
- Message frame formats
The CAN protocol supports two message frame formats, the only essential difference being in the length of the identifier. The CAN base frame supports a length of 11 bits for the identifier and the CAN extended frame supports a length of 29 bits for the identifier.
CAN Protocol
- Message frame formats
CAN Protocol
- Detecting and signaling errors
For error detection the CAN protocol implements three mechanisms at the message level:
Cyclic Redundancy Check (CRC) Frame check ACK errors
CAN Protocol
Detecting and signaling errors
The CAN protocol also implements two mechanisms for error detection at the bit level:
Monitoring: Each station that transmits also observes the bus level and thus detects differences between the bit sent and the bit received. Bit stuffing: The bit representation used by CAN is "Non Return to Zero (NRZ)" coding. The synchronization edges are generated by means of bit stuffing. This stuff bit has a complementary value, which is removed by the receivers.
Physical Layer
CAN protocol defines the data link layer and part of the physical layer in the OSI model, which consists of seven layers. The International Standards Organization (ISO) defined a standard, which incorporates the CAN specifications as well as a part of physical layer: the physical signaling, which comprises bit encoding and decoding (Non-Return-toZero, NRZ) as well as bit timing and synchronization. The CAN physical medium is a two-wire bus line with common return terminated at both ends by resistors. Differential signal is used for better immunity. The following figure shows a transmit signal from a CAN controller, the differential signal emitted on the line and the receive signal received by the CAN controller to monitor the CAN bus.
Physical Layer
A typical CAN bus in a factory automation application is a single line bus with stubs to connect equipments such as PLC, Sensors, Drives etc as illustrated by the figure below :
CAN Design
- Physical Layout & Topology
CAN Advantages
Is capable of providing real-time communication. Uses error correction and confinement, greatly helpful in noise-critical environments. Uses a lossless, bitwise arbitration scheme. High Speeds at Low-Cost. Suitability for small networks. The protocol is designed to increase integrity of the system. It is designed for control not transmission of large blocks of data.
CAN Microcontrollers
All CAN Microcontrollers have a set of common features: Flash memory for code E2PROM RAM In Application Programming capability assisted by a boot loader. Same CAN engine to simplify Software Migration. Low voltage capability (2.7 volts min) Enough MIPS to run high layer protocol + application
CAN - Application
The Controller Area Network (CAN) serial bus system is used in a broad range of embedded as well as automation control systems. It usually links two or more micro-controller-based physical devices. Many industries have adopted the CAN bus standard, and gained a lot in reliability and flexibility. For some applications, the cost and speed to deploy or reconfigure a communication network is critical such as a factory floor for instance. A CAN bus can be laid out, then equipments can be added thanks to the plug and play capability of CAN with Higher Layer Protocols.
CAN is used in the majority of European cars for engine control and body electronic. American and Asian car manufacturers are also implementing the CAN.
Other Applications
Factory automation Industrial machine control Lifts and escalators Building automation Non-industrial control Non-industrial equipment
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