CAN

SAM7 Controller Area Network

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CAN

CAN Agenda
What is CAN ? Why CAN ? CAN Protocol CAN Higher Layer Protocols CAN Applications AT91 CAN Microcontrollers Roadmap

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CAN

What is CAN ?
Controller Area Network Invented by Robert Bosch GmbH in 1980 for automotive applications Asynchronous Serial Bus Simple 2-wire differential bus Absence of node addressing Message identifier specifies contents and priority Lowest message identifier has highest priority Non-destructive arbitration system by CSMA with collision detection Multi-master / Broadcasting concept Sophisticated error detection & handling system

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CAN

What is CAN ?
The CAN is an ISO standard (ISO 11898) for serial communication Today CAN has gained widespread use: Industrial Automation Automotive, etc. The CAN standard includes: Physical layer Data-link layer Some message types Arbitration rules for bus access Methods for fault detection and fault confinement

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CAN

Why CAN ?
Mature Standard CAN protocol more than 16 years Numerous CAN products and tools on the market Hardware implementation of the protocol Combination of error handling and fault confinement with high transmission speed (up to 1Mb/s) Simple Transmission Medium Twisted pair of wires is the standard, but also just one wire will work Other links works, too: Opto - or radio links Excellent Error Handling CRC error detection mechanism Fault Confinement Built-in feature to prevent faulty node to block system Most used protocol in industrial and automotive world
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Protocol - CAN

CAN Protocol

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Protocol - CAN

ISO-OSI Reference Model

7. Application Layer
HLPs: CANopen, DeviceNet, OSEK/VDX

6. Presentation Layer
CAN Layers

5. Session Layer 4. Transport Layer 3. Network Layer

Partially Implemented by High Layer Protocol (HLP)

2. Data Link Layer 1. Physical Layer

CAN Protocol

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Protocol - CAN

ISO-OSI Reference Model (2)

CAN Controller

CAN Transceiver

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Protocol - CAN

CAN Bus Logic

1 Recessive (r) 0 Dominant (D) Two logic states on the CAN bus Node 1 D D D D r r r r
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Node 2 D D r r D D r r

Node 3 D r D r D r D r

Bus D D D D D D D r Bus in recessive state or idle

9

Wired-AND Function

Bus in dominant state

Protocol - CAN

Typical CAN Node

Controller

CAN Controller RXD

CAN Transceiver CAN_L

CAN Bus is a simple 2-wire differential serial bus CAN Bus is terminated on each side by a 120 Ohm resistor
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CAN Bus

TXD

CAN_H

Protocol - CAN

CAN Bit Coding & Bit Stuffing

Bit Coding : NRZ (Non-Return-To-Zero code) does not ensure enough edges for synchronization Stuff Bits are inserted after 5 consecutive bits of the same level Stuff Bits have the inverse level of the previous bit. No deterministic encoding, frame length depends on transmitted data

Number of consecutive bits with the same polarity

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Protocol - CAN

CAN Bus Access and Arbitration: CSMA/CD and AMP

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CSMA/CD: Carrier Sense Multiple Access / Collision Detection AMP: Arbitration by Message Priority
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Protocol - CAN

CAN Bus Synchronization

Hard synchronization at Start Of Frame bit

Re-Synchronization on each Recessive to Dominant bit

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Protocol - CAN

CAN Bit Construction

CAN Bit Period Four Time Segments Each Time Segment represents a number of Time Quanta (TQ) 1 Time Quantum 1 period of CAN Controller Clock

SYNC_SEG: synchronize the different nodes PROP_SEG: compensate for signal delays across the network PHASE_SEG1 & 2: compensate for edge phase errors 1 Bit Time 8 to 25 Time Quanta

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Protocol - CAN

Relation between Baud Rate and Bus Length

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Protocol - CAN

Frame Formats

SOF: Start Of Frame CRC: Cyclic Redundancy Code ACK: Acknowledge EOF: End of Frame IFS: Inter Frame Space

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Protocol - CAN

Frame Formats (2)

CAN V2.0A Standard Frame: Identifier is 11 bits long

CAN V2.0B Extended Frame: Identifier is 29 bits long

ID: Identifier IDE: Identifier Extension RTR: Remote Transmission Request

SRR: Substitute Remote Request RB0/1: Reserved bits DLC: Data Length Code

Our CANs supports CAN V2.0A & CAN V2.0B Specification

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Protocol - CAN

Frame Formats (3)

Four different frame formats: Data Frame : RTR Dominant 0

Remote Frame : RTR Recessive 1 and No Data Field

Data Frame has priority on Remote Frame

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Protocol - CAN

Frame Formats (4)

Error Frame: sent after a violation frame format

Overload Frame: prevents data overflow from a slower CAN

Overload Frames are not really used

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Protocol - CAN

Fault Confinement
CAN Node Error States: Error Active: Normal state, node can send all frames (error frames included) Error passive: Node can send all frames excluding error frames Bus off: Node is isolated from bus Internal Counters: TEC & REC TEC: Transmit Error Counter REC: Receive Error Counter

TEC and REC counters allows to prevent from faulty nodes

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Protocol - CAN

Error Detection Analysis

Error statistics depend on the entire environment Total number of nodes Physical layout EMI disturbance Automotive example 2000 hours/year Baud rate: 500 kbps 25% bus load

One undetected error every 1000 years !!!

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HLP - CAN

CAN High Layer Protocols

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HLP - CAN

HLP Definition
CAN protocol defines only the physical and a low data link layer ! The HLP defines: Start-up behavior Definition of message identifiers for the different nodes Flow control Transportation of messages > 8bytes Definition of contents of Data Frames Status reporting in the system

One undetected error every 1000 years !!!

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HLP - CAN

CANopen
Features CANopen is a subset from CAL (CAN Application Layer) developed by CiA Auto configuration the network Easy access to all device parameters Device synchronization Cyclic and event-driven data transfer Synchronous reading or setting of inputs, outputs or parameters Applications Machine Automation Advantages Accommodating the integration of very small sensors and actuators Open and vendor independent Supports inter-operability of different devices High speed real-time capability

CiA (CAN in Automation)

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HLP - CAN

DeviceNet
Features Created by Allen-Bradley (Rockwell Automation nowadays), now presented by the users group ODVA (Open DeviceNet Vendor Association) Power and signal on the same network cable Bus addressing by: Peer-to-Peer with multi-cast & Multi-Master & MasterSlave Supports only standard CAN Applications Machine Automation Advantages Low cost communication link and vendor independent Removal and replacement of devices from the network under power

CANopen (Europe) DeviceNet (USA)

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HLP - CAN

CAN Kingdom
CAN Kingdom is more than a HLP (Meta Protocol): Introduced by KVASER, Sweden A King (system designer) takes the full responsibility of the system The King is represented by the Capital (supervising node)s CAN Kingdom provides simple unique identification of system nodes Applications Machine Automation Advantages Designed for safety critical applications Real time performance Scalability Integration of DeviceNet modules in CAN Kingdom possible

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HLP - CAN

SAE J1939
Features Developed by Society of Automotive Engineers heavy trucks and bus division (SAE) Use of the 29 identifiers Support of real-time close loop control Applications Light to heavy trucks Agriculture equipment e.g. tractors, harvester etc Engines for public work

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HLP - CAN

X-by-wire systems & Time-triggered protocols

Predictable new protocols Applications Automotive, aircraft TTCAN: Time Triggered CAN: Robert Bosch GmbH, CiA. FLexRay: General Motors, DaimlerChrysler, BMW, Motorola, Philips Semiconductors and Bosch Automotive Group. TTP: Time Triggered Protocol: PSA Peugeot Citroen, Audi,Volkswagen, Honeywell and Delphi Automotive Systems. FlexRay is becoming the reference
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HLP - CAN

OSEK/VDX
Initiative of: BMW, Bosch, DaimlerChrysler, Opel, Siemens,VW & IIIT of the University of Karlsruhe / PSA and Renault Goal: Portability and re-usability of the application software OSEK/VDX includes: Communication (Data exchange within and between Control Units) Network Management (Configuration determination and monitoring) Operating System (Real-time executive for ECU software) Applications Automotive Advantages: Saving in costs and development time

Usually called OSEK

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Applications - CAN

CAN Applications

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Applications - CAN

CAN: a Large Field of Applications

Building Automation: Heating control, Air Conditioning, Security, Access & Light Control Domestic & Food distribution appliances Washing machines, dishes cleaner, self-service bottle distributors Automotive & Transportation Dash Board, Power train & Car Body Train, bus and truck equipment Robotic Production Automation: Control & link of production machines Medical Agriculture Harvester, seeding, sowing machines, tractor control...
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AT91SAM7 - CAN

AT91SAM7 CAN Embedded Controllers A1 - A2 - A3 - X

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AT91SAM7 - CAN

CAN Controllers Types

3 types of CAN controllers exist: CAN Controllers 2.0 Part A: standard frames CAN Controllers 2.0 Part B Passive or extended frames passive CAN Controllers 2.0 Part B Active or extended frames active CAN Implementations: 2 main implementations strategy BasicCAN: cheaper CAN Controller 1 or 2 Rx buffers (FIFO) and 1 Tx buffer Minimal Filtering FullCAN: high performance CAN Controllers Set of buffers called Mailboxes Dedicated Mailbox Filtering Our CANs: 2.0A/2.0B (Active) & FullCAN
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AT91SAM7 - CAN

CAN Controllers Features

Two different CAN implementations for the AT91SAM7 family: CAN embedded in SAM7A1 & SAM7A2 (Europe Technologies CAN) CAN embedded in SAM7A3 & SAM7X (ATMEL Rousset CAN) AT91SAM7A1: 1 CAN Controller 2.0A and 2.0B FullCAN with 16 Mailboxes AT91SAM7A2: 4 CAN Controllers 2.0A and 2.0B FullCAN 1 with 32 Mailboxes, 3 with 16 Mailboxes AT91SAM7A3: 2 CAN Controllers 2.0A and 2.0B FullCAN with 16 Mailboxes AT91SAM7X: 1 CAN Controller 2.0A and 2.0B FullCAN with 8 Mailboxes

SAM7A1-A2 Specific / SAM7A3-X Specific

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AT91SAM7 - CAN

CAN Controllers Features (2)

s s s s

s s

s s s

Fully Compliant with CAN 2.0 Part A and 2.0 Part B High Speed CAN: Bit Rates up to 1Mbit/s Data, Remote, Error and Overload Frame Handling Mailboxes with the Following Properties: Standard or Extended ID Programmable for Each Message Mailbox Configurable in Receive (with Overwrite or Not) or Transmit Modes Producer & Consumer Mailbox Feature Independent 29-bit Identifier and Mask Defined for Each Mailbox Uses a 16-bit / 32-bit Timestamp on Receive and Transmit Messages Hardware Concatenation of ID Masked Bitfields To Speed Up Family ID Processing Global 16-bit / 32-bit Internal Timer for Time stamping Priority Management between Transmission Mailboxes: Mailbox number prioritization Message ID prioritization Autobaud Mode Automatic retransmission of corrupted messages Low Power Mode and Programmable Wake-up SAM7A1-A2 Specific / SAM7A3-X Specific

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SAM7A3 / SAM7X - CAN

AT91SAM7A3 AT91SAM7X CAN Controller

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SAM7A3 / SAM7X - CAN

CAN on SAM7X-EK & SAM7A3-EK Boards

PMC has to be programmed 1st for CAN to work: Clock Enabling

Set the PMC_PCER (Peripheral Clock Enable Register).

s s s s s

PIO CAN_TX and CAN_RX have to be configured in peripherals. CAN Transceiver must be enabled through a PIO configured in Output. CAN Internal Timer is 16-bit long. 8 Mailboxes for SAM7X 16 Mailboxes for SAM7A3

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SAM7A3 / SAM7X - CAN

CAN Controller Structure

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SAM7A3 / SAM7X - CAN

CAN Initialization
Status Registers Mode Register

Error Flags

CANEN

ABM

CANEN = 1: Enable CAN Controller Wait for bus synchronization (11 consecutive recessive bits are scanned) WAKEUP flag is set

ABM = 1: Enable Autobaud Mode Error counters are disabled Transmission is disabled

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SAM7A3 / SAM7X - CAN

CAN Bit Timing Configuration

Baudrate Register

BRP

16

Sample Point: point in time at which the bus level is read as the value of that respective bit. 1 Time Quantum 1 period of CAN Controller Clock Time Quantum = (BRP + 1) / MCK

TBIT =TSYNC + TPRS + TPHS1 + TPHS2

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SAM7A3 / SAM7X - CAN

CAN Bit Timing Configuration (2)

Baudrate Register

SJW

12

PROPAG

PHASE1

PHASE2

Nominal Bit Time: 8 to 25 TQ long. Information Processing Time (IPT): time required to determine the bit level of a sampled bit. SYNC_SEG is 1 TQ long. PROP_SEG: 1 to 8 TQ PHASE_SEG1: 1 to 8 TQ PHASE_SEG2 = Max(IPT, PHASE_SEG1) SJW = Min(PHASE_SEG1, 4TQ)

TPRS =TCSC * (PROPAG+1) TPHS1 =TCSC * (PHASE1+1) TPHS2 =TCSC * (PHASE2+1) TSJW =TCSC * (SJW+1)

IPT is 2 TQ for ATMEL CANs

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SAM7A3 / SAM7X - CAN

Low Power Mode

Mode Register Status Register

LPM

SLEEP

20

WAKEUP 21

Low Power Mode: Send or receive messages is disabled (Mailboxes inactive) Enter Low Power Mode: Set LPM flag All pending transmit messages are sent before Wait for SLEEP signal raising Internal Counter (CAN_TIM) is reset and stuck to 0x0000. The user can disable CAN Clock (PMC) Exit Low Power Mode: Enable CAN Clock (PMC) Clear LPM flag Wait for bus synchronization WAKEUP signal raising All pending transmit messages are sent before Internal Counter is reset and stuck to 0

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SAM7A3 / SAM7X - CAN

Time Management Unit

Mode Register Status Register
4

Message Mode Register

TTM

TEOF

TSTP

23

MTIMEMARK

The CAN controller offers optimized features useful to support the TimeTriggered protocols. Time Management Unit can operate in two modes: Time Stamping Mode (TTM = 0): the value of the internal timer (CAN_TIM) is captured in the CAN Timestamp register (CAN_TIMESTP) at each: start of frame (TEOF = 0) end of frame (TEOF = 1) Time Triggered Mode (TTM = 1): a mailbox transfer operation is processed when the internal counter reaches the mailbox trigger value (MTIMEMARK field in corresponding mailbox CAN_MMR).

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TSTP = 1: A start or an end of frame has been detected

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SAM7A3 / SAM7X - CAN

Time Management Unit (2)

Transfer Cmd Reg Status Register Mode Register

TIMRST

31

TOVF

22

TIMFRZ

CAN_TIM register: Free-running 16-bit timer TIMRST = 1: Allows to clear the counter TIMFRZ = 1: Allows to freeze the counter TOVF = 1: A timer overflow is detected CAN_TIMESTP register: copy of the CAN_TIM after a successful transfer

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SAM7A3 / SAM7X - CAN

Data, Remote, Error & Overload Frames Handling

Mailbox Status Register Mode Register
22

MRDY

23

MABT

OVL

DRPT

Data & Remote Frames can be sent/received thanks to the different mailboxes: A successful transfer raises the Mailbox Ready flag (MRDY) in the mailbox status register. When a transmit mailbox looses bus arbitration, the transfer request remains pending. Disable Repeat DRPT = 1: Transfer request is aborted if the transmit mailbox looses bus arbitration. Mailbox Abort flag (MABT) in the mailbox status register raises. Error Frames are automatically handled by the macro. Overload Frames can be generated by setting OVL flag in the Mode Register: OVL = 1: an overload is generated after each successful reception.
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SAM7A3 / SAM7X - CAN

Mailbox Organisation
Mailbox x
CAN_MMRx CAN_MMRx Eight 32-bit registers by mailbox Mailbox x Mode Register Mailbox x Acceptance Mask Register Mailbox x ID Register Mailbox x Family ID Register Mailbox x Status Register Mailbox x Data Low Register Mailbox x Data High Register Mailbox x Control Register CAN_MAMx CAN_MAMx CAN_MIDx CAN_MIDx CAN_MFIDx CAN_MFIDx CAN_MSRx CAN_MSRx CAN_MDLx CAN_MDLx CAN_MDHx CAN_MDHx CAN_MCRx CAN_MCRx

Mailbox Channel Buffer

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SAM7A3 / SAM7X - CAN

Message Acceptance Procedure

Mailbox ID & Acceptance Mask Register

MIDE

29

CAN_MIDx: defines the message ID MIDE = 0: standard message MIDE = 1: standard or extended message CAN_MAMx: defines the mask ID value Allows a mailbox to receive different messages ID. CAN_MFIDx: concatenation of ID & mask ID Speed up message ID decoding

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SAM7A3 / SAM7X - CAN

Push / Pull Model

Push Model: Classical Tx Rx Producer Tx Mailbox Consumer Rx Mailbox

Pull Model: Producer Producer Mailbox Consumer Consumer Mailbox Consumer transmit a remote frame to the Producer. Producer transmit the answer to the Consumer.

Pull Model: With Tx Rx mailboxes: 1 Tx+ 1 Rx Mailbox for each node 4 Mailboxes

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With Consumer Producer mailboxes: 2 Mailboxes only !

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SAM7A3 / SAM7X - CAN

Mailbox Object Type

Mailbox Mode Register

MOT

24

Five programmable type of mailboxes (MOT field in CAN_MMRx)

Reception Mailbox Types: Receive mailbox: The first message received is stored in mailbox data registers. Other messages are ignored by this mailbox. Receive with Overwrite mailbox: The first message received is stored in mailbox data registers. The next message overwrites the previous one. Consumer mailbox (Enhanced Reception Mailbox): Sends a remote frame to a producer mailbox. Waits automatically for a data frame with the same ID from a producer mailbox.

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SAM7A3 / SAM7X - CAN

Mailbox Object Type (2)

Mailbox Mode Register

MOT

24

Transmission Mailbox Types: Transmit mailbox: Sends either a remote frame or a data frame. Producer mailbox (Enhanced Transmit Mailbox): Waits for a remote frame from a consumer mailbox. Once the remote frame received, sends automatically a data frame with the same ID to the consumer mailbox.

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SAM7A3 / SAM7X - CAN

Mailbox Priority
Mailbox Mode Register

PRIOR

16

Reception Modes: In this modes, the mailbox with the lowest number is serviced first. Transmission Modes: Mailbox with the highest priority PRIOR lowest value. When several mailboxes try to transmit a message at the same time, the mailbox with the highest priority is services first. If at least two mailboxes have the same priority (same PRIOR value), the mailbox with the lowest number is serviced first.

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SAM7A3 / SAM7X - CAN

Transmit Mailbox Handling

Mailbox Control Register Mailbox Status Register
16

MTCR

23

MACR

22

MDLC

MRTR

20

MRDY

23

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Size of the message is defined in the Mailbox Data Length Code field (MDLC) Mailbox Transfer Command Request (MTCR = 1): Allows transmission of the current message. Message can be aborted (MACR =1). Mailbox Remote Transmission Request (MRTR = 1): Allows to send a remote frame (MDLC value is ignored).
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SAM7A3 / SAM7X - CAN

Receive Mailbox Handling

Mailbox Control Register Mailbox Status Register

MTCR

23

MRDY

23

MMI

24

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Mailbox Transfer Command MTCR = 1: Allows reception of the next message. When MRDY flag is set, mailbox data registers content is available. MMI flag is set a message has been lost by the mailbox
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SAM7A3 / SAM7X - CAN

Receive with Overwrite Mailbox Handling

Mailbox Control Register Mailbox Status Register

MTCR

23

MRDY

23

MMI

24

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Mailbox Transfer Command MTCR = 1: Allows to reset MRDY flag MMI flag is set a new message has overwritten a previous one.
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SAM7A3 / SAM7X - CAN

Chaining Receive Mailboxes

Allows to receive buffer split into several messages with the same ID buffer size > 8 bytes.

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SAM7A3 / SAM7X - CAN

Producer Mailbox Handling

Mailbox Control Register Mailbox Status Register
22

MTCR

23

MACR

MRDY

23

MMI

24

Mailbox Transfer Command MTCR = 1: Allows to wait for a remote frame reception Data is automatically sent after the reception of a remote frame MRDY remains at 0 as long as the message has not been transmitted or aborted (MACR =1).
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SAM7A3 / SAM7X - CAN

Consumer Mailbox Handling

Mailbox Control Register Mailbox Status Register

MTCR

23

MRDY

23

Mailbox Transfer Command MTCR = 1: Allows to send a remote frame. Then, waits automatically for a data frame from a producer mailbox. MRDY remains at 0 as long as the data frame has not been received or aborted.

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SAM7A3 / SAM7X - CAN

Multiple Transfer or Abort Requests

The CAN Transfer Command Register (CAN_TCR) allows to perform several transfer requests at the same time. The CAN Abort Command Register (CAN_ACR) allows to perform several abort requests at the same time.

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