Ilker Demirkol

ilker.demirkol@upc.edu
 Driven by Mercedes-Benz for networking of 3 ECUs with reqs:
 Error-resistance to cope with strong EMI
 Prioritized communication (e.g. for safety critical applications)
 Fast data rate (Class C network: 125 kbit/s – 1 Mbit/s)
 Cost-effectiveness for wires and nodes

 Same requirements defined by other apps

 Hence…
 Automotive, aviation, space, maritime industry
 Cars, trucks, buses, airplanes
 Rockets, space shuttles , ships
 Medical equipment
 X-Ray, Electro-Cardiograms (ECG) , operating room
 Industrial and home automation
 Production machines, lifts and escalators
 Heating, light control
 Household appliances
 Washers, Dryers, Coffee machines
 Consumer electronics
 Model railway
 1985 Start of development of CAN at Bosch GmbH
1986 V1.0 specification of CAN
Bosch solution presented as CAN at the SAE congress in Detroit*
1991 Specifications of the extended CAN2.0 protocol by Bosch
• Part 2.0A – 11-bit identifier
• Part 2.0B – 29-bit identifier (extended frame format)
1991 First car equipped with CAN: Mercedes W140 S-class
1992 CAN in Automation (CiA) is established as the international users
and manufacturers group
1994 First standardization at ISO is completed (ISO 11898)
* “Automotive serial controller area network”, in Society of Automotive Engineers (SAE) International Congress No. 860391, Detroit, MI, 1986.
1998 Development phase of time-triggered CAN (TTCAN) networks

1999 Explosion of CAN-linked equipment in all motor vehicle and industrial apps

2003 ISO 11898 becomes a standard series (ISO 11898-1, 11898-2, ...)
2004 TTCAN becomes ISO 11897-4

2012 Bosch released the CAN FD 1.0 (flexible data rate: data rates up to 5 Mbit/s)

2015 The CAN FD protocol is standardized in ISO 11898-1

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 3 Classes of ECUs (up to 40 ECUs):

PSM Passenger seat module

CAN Bus for Powertrain and Chassis (500 Kbps) Media oriented system transport (MOST) network
CAN Bus for Body Electronics (125 Kbps) Local interconnect networks (LINs)
(Ref: “Automotive communications-past, current and future”, 2005) 9
 Open System Interconnection (OSI) model vs. CAN:
No. of
ISO/OSI ref model CAN protocol specification
layer

7 Application Application specific

6 Presentation

5 Session
Optional:
4 Transport Higher Layer Protocols (HLP)

3 Network

2 Data Link
CAN protocol
1 Physical (with free choice of medium)
 Obj: Data bit translation into hardware-specific operations

 Defines electrical, mechanical, and procedural interface to the transmission

medium (wire, air, optical fiber, etc.)

 Main functions:
 (De-)modulation of the bits to communication signal
 Channel coding: Insertion of redundant information for error detection/correction
 Synchronisation: Determination of a common time basis
 Responsible for Point-to-Point/Point-to-Multipoint transfer

 Main functions:
 Framing (i.e. sequence of bits)
 Addressing
 Error detection & recovery
 Flow control
 Medium access
 Medium Access
Control

Deterministic Stochastic

Centralized Decentralized Non

Collision-free
control control Collision-free
Master/Slave TDMA CSMA/CR CSMA/CD
e.g. LIN-Bus e.g. FlexRay e.g. CAN-Bus e.g. Ethernet
 HLP Higher Layer Protocols uC/IC/ECU

Logical Link Control

Specification
of the Bosch DL
Medium Access Control CAN Controller
CAN protocol
(ISO 11898-1) Physical Signalling
PHY Physical Medium Attachment
CAN Transceiver
ISO 11898-2/3 Medium-Dependent Interface
Transmission Medium CAN Bus
 Several stds available to suit different applications:
 CAN High Speed up to 1 Mbps (ISO 11898-2)
▪ Most common CAN-based sol’n used
 Low Speed or Fault Tolerant CAN at up to 125 Kbps (ISO 11898-3)
 Truck and bus protocol up to 250 Kbbps (ISO 11992)
 Single wire CAN up to 50 Kbps (SAE J2411)

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 Bus topology
 ISO 11898-2/3 uses twisted pair
 Two wires w/ voltages CAN_H, CAN_L
 Max. 30 connected nodes

Source: ISO 11898

 Bit-1 (Recessive) vs. Bit-0 (Dominant)
 Differential signaling
 GQ1: How would the demodulation (signal to bit
conversion) work?
 GQ2: What would be the effect of interference?

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 What happens if simultaneously:
 2 Bit-1’s are sent?
 2 Bit-0’s are sent?
 1 Bit-1 and 1 Bit-0 is sent?
1 1 1
0 0

1 1 1 0 1

1 0 1 0 1

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 Clock drift and hence time sync. is a challenge for low-cost solutions
 CAN:
 No global time source/clock signal
 No difference bw. bit-1 and not sending anything (bus idle), both correspond to recessive
 Bit time known due to uniform clock rate for every node (e.g. 1μs for 1Mbps)
 But, where are the bit edges?

recessive
dominant Bus idle Bus idle

CAN message
 Synchronization by edge detection in CAN signal
 2 types of synchronization:
▪ Hard synchronization with first recessive-to-dominant edge (Start Of Frame (SOF)
bit) after bus idle
▪ Continuous re-synchronization at every recessive-to-dominant edge transition
Synchronization Re-synchronization

1 bit
recessive
SOF

dominant Bus idle Data Pa ck et Bus idle

CAN message