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CAN DATA TRANSFER IN GENERAL
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--- CAN = Controller Area Network.

It is a network that is designed specially for data transfer between control units in ve-
hicles.

A. There is a CAN bus line that consists of two conductor wires (CAN Hi can Lo). Data
transfer is very fast that means CAN is a ”real time” system.
The CAN principle has been designed by Bosch and it has been standardised by ISO
and SAE standardisation organisations.

Many CAN units can be connected to the same bus line. All stations use the same wires
when transferring data. When one of the stations is sending a message to the line all the
other stations are ”listening” (receiving) the message.

The receiving station checks if the message is important to it. The messages have no
destination but every station know which kind of messages it must accept.
Every message has also a priority level that determines which of messages has a right to
be sent first.

B. Data transfer in CAN is digital. It means that a message consists of bits that can have two
different values: “1” or “0” (zero).
Bits are sent one bit after the other until the message has been sent totally. In CAN sys-
tem message can be sent with speed of 250 000 bits per second.

Every CAN units measures differential voltage between Hi and Lo.

V diff about 2 V means “0“ bit and V diff about 0 V means “1” bit..

C. Message frame

The electronics send bit packages called message frames to the bus. A message frame
consist of fields. The most important fields are clarified below.

Always the first is a start field that synchronises all stations. Secondly an identification
field is sent which also defines the priority of the message frame.

Data field contains the information itself e.g. an order to a hydraulic valve. After receiving
the message every station sends feed back bits that means it has received the message
correctly. End of message field informs that the message has been sent totally. Before
next message there is some space.

A message contains about 100 bits and sending a message takes about 0.5 millisec-
onds. So, about 2000 messages can be sent in a second (theoretically).

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CAN BUS: principle
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--- A simply CAN BUS consists of two control units, which have been connected with two
copper wires (twisted paired cable) to each other.

--- When the switch 1 of the control unit is off, the control unit makes a message, in which
it tells to the control unit 2 that the switch is in off position.
This kind of message goes between control units a few tens times per second.

When the switch is actuated, the contents of the message will be changed : the switch is
on.
The control unit 2 becomes this message and switches the light on.

The control unit 2 can send a message to the unit 2, that the light is on and the control
unit 1 can switch on the indication light of the switch.

The message goes between the control units digitally.

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