can seminar
DESCRIPTION
This presentation explains the CAN technology including general aspects, protocol features, hardware features, development aspects, higher layer protocol, and available literature.TRANSCRIPT
![Page 1: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/1.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301
Serial Network Technology for Embedded Solutions
Presented by Wilfried Voss
esd electronics, Inc. 525 Bernardston Road Greenfield, MA 01038
http://www.esd-electronics-usa.com
Download this presentation at http://www.esdusa.com/tutorials/
Controller Area Network (CAN)
![Page 2: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/2.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301
1. Introduction
2. General Aspects
3. Protocol Features
4. Hardware Features
5. Development Aspects
6. Higher Layer Protocols
7. Literature
Controller Area Network (CAN)
Page 2
![Page 3: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/3.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301
esd electronics, Inc. 525 Bernardston Road Greenfield, MA 01301
Tel.: 413-773-3170 Fax: 413-773-3171
http://www.esd-electronics-usa.com
esd electronics provides:
• CAN Hardware Interfaces – PCI, cPCI, VME, PMC, PC104, ISA, and more
• CAN Gateways – USB, EtherNet, Bluetooth, IEEE488, and more
• CAN Converters – CANopen, DeviceNet, Profibus, and more
• CAN Embedded Controllers
• Drivers and APIs for various operating systems
• Free CAN Analyzer software – included with driver
esd Product Line
Page 3
![Page 4: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/4.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 4
Literature
Literature on Controller Area Network, CANopen and SAE J1939
http://copperhillmedia.com
![Page 5: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/5.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301
Serial Network Technology for Embedded Solutions
2. General Aspects
Controller Area Network (CAN)
Page 5
![Page 6: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/6.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 6
What is CAN – General Aspects
• Originally designed by Bosch for automotive industry
• Became very popular in industrial automation
• Network technology established among micro-controllers
• Well suited for high speed/real-time applications
• Replaces expensive Dual-Port RAM technology
• CAN chips manufactured by Motorola, Philips, Intel, Infineon, and more
• 600 Million CAN nodes used in 2007
• Serial Network Technology for Embedded Solutions
![Page 7: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/7.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 7
What is CAN – Technical Aspects
• High-integrity serial data communications bus for real-time applications
• Designed for max. performance & reliability
• Operates at data rates up to 1 Mbit/sec
• Uses short messages – 8 bytes per message
• Excellent error detection and fault confinement capabilities
• Is an international standard: ISO 11898
![Page 8: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/8.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 8
A Short History of CAN
1983 Start of Bosch internal project to develop in-vehicle network
1986 Official introduction of the CAN protocol
1987 First CAN controller chips by Intel & Philips
1991 Bosch publishes CAN specification 2.0
1992 CAN in Automation (CiA) established
1992 CAN Application Layer (CAL) protocol by CiA
1992 First automobiles equipped with CAN (Mercedes Benz)
1993 ISO 11898 standard published
1994 First International CAN Conference (iCC)
1994 Allen Bradley introduces DeviceNet
1995 ISO 11898 amendment (extended frame format)
1995 CANopen protocol introduced
2000 Development of time-triggered CAN
![Page 9: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/9.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 9
A Short History of CAN
Number of Million CAN Nodes sold:
![Page 10: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/10.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 10
CAN Applications
CAN is used wherever two or more microprocessor units need to communicate with each other.
• Passenger Cars (multiple separate CAN networks)
• Trucks & Buses, Construction Vehicles, Agricultural Vehicles (SAE J1939 protocol)
• Semiconductor Industry (Wafer Handlers, etc.)
• Robotics, Motion Control Applications
• Passenger/Cargo Trains (Brake Control, Wagon Communication)
• Aircrafts (AC, Seat Adjustment)
• Elevators (e.g. Otis)
• Building Technologies (Light & Door Control Systems, Sensors, etc.)
• Medical Equipment (X-Ray, CAT scanners, etc.)
• Household Utilities (Coffee Machine, Washer, etc.)
• Aerospace (Satellites)
![Page 11: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/11.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 11
CAN Applications
![Page 12: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/12.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 12
CiA – CAN in Automation
• International Users and Manufacturers Organization • Develops, supports CAN Standards and CAN based higher layer protocols • All activities are based on CiA members’ interest
http://www.can-cia.org
CAN Newsletter
To subscribe log on to:
http://www.can-cia.org/newsletter/
![Page 13: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/13.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301
Serial Network Technology for Embedded Solutions
3. Protocol Features
Controller Area Network (CAN)
Page 13
![Page 14: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/14.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 14
Main Characteristics
• Multi-Master Bus Access
• Message Broadcasting
• Message Priority (No Node IDs)
• Limited Data Length (0…8 bytes)
• 1 Mbit/sec Data Rate
• Excellent Error Detection & Fault Confinement
![Page 15: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/15.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 15
Benefits of Using CAN
Main Benefit:
• Physical and Data Link Layer implemented in Silicon
• SW Development Engineer is not involved with writing protocol features
ISO 11898 7-Layer Reference Model
• Low Cost Implementation
• Very Reliable, Error-Resistant
• Worldwide Acceptance
• Last, but not least…CAN Saves You Money!
Be aware! Whenever you attempt to add software functions between the CAN Data Link Layer and the Application Layer, you will be adding functionalities that are already covered by off-the-shelf available higher layer protocols such as CANopen and DeviceNet.
![Page 16: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/16.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 16
Message Frames
• Data Frame – Broadcasts a message to the CAN bus
• Remote Frame – Requests transmission of message
• Error Frame – Signals error condition
• Overload Frame – Special Error Frame
![Page 17: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/17.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 17
Message Broadcasting with Data Frames
• Node A transmits a message • Nodes B, C and D receive the message • Nodes B and D accept the message, Node C declines
![Page 18: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/18.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 18
Message Request with Remote Frames
• Node A sends a remote frame (request)
• Node B, C, D receive message
• Node D accepts, Nodes B & C decline message
![Page 19: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/19.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 19
Message Request with Remote Frames
• Node D sends requested message
• Nodes A, B, C receive requested message
• Nodes A, B accept requested message, Node C declines
![Page 20: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/20.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 20
Message Frame Format
• Data Frame
• Remote Frame
• Error/Overload Frame
![Page 21: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/21.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 21
Message Frame Format
![Page 22: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/22.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 22
Extended CAN Protocol
• Standard Format: 11 Bit Message Identifier
• Extended Format: 29 Bit Message Identifier
• Both formats, Standard and Extended, may co-exist on the same CAN bus
• The distinction between both formats is managed by “Identifier Extension Bit” (IDE)
![Page 23: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/23.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 23
Bus Arbitration Principle
Main Rules of Bus Arbitration
• Bit wise arbitration across the Arbitration Field
• Dominant Bus Level = 0, Recessive Bus Level = 1
![Page 24: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/24.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 24
Bus Arbitration Principle
Node Output and Resulting Bus Level
Bit Monitoring Applies
• Each transmitting node monitors the Bit level on the bus, compares it to transmitted level. • Used during arbitration process. • Provides immediate detection of all bus-wide and local transmission errors.
![Page 25: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/25.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 25
Bus Arbitration Principle
![Page 26: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/26.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 26
Bus Arbitration Principle
Main Rules of Bus Arbitration
• Bus is considered idle after transmitted message plus Intermission Field
• Node that transmits message with lowest ID (highest priority) wins arbitration, continues to transmit. Competing nodes switch to receiving mode.
• Nodes that lost arbitration will start new arbitration as soon as bus is free for access again => No message gets lost
![Page 27: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/27.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 27
Data Transfer Synchronization
Bit Coding
• Bit coding according to Non-Return-to-Zero principle
• Provides highest transport capacity
• Constant Bit level over Bit time
• Insufficient signal edges for synchronization of Bit stream
• “Bit Stuffing” required
![Page 28: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/28.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 28
Data Transfer Synchronization
Bit Stuffing
• Sender inserts complementary Bit (“Stuff Bit”) after 5 successive Bits of same polarity
• Receiver filters the complementary Bit
1. Bit sequence to be transmitted
2. Transmitted Bit sequence on bus after bit stuffing
3. Bit sequence at receiver after filtering Stuff Bit
![Page 29: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/29.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 29
Frame Length due to Bit Stuffing
• Frame length varies due to bit stuffing
• Based on 11-Bit Identifier
• Average bit stuffing determined per mathematical model
Data Field 0 Bytes
Data Field 8 Bytes
No bit stuffing 47 bits 111 bits
Max. bit stuffing (worst case scenario) 55 bits 135 bits
Average bit stuffing 49 bits 114 bits
![Page 30: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/30.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 30
Bit Monitoring
• When exactly does a receiving CAN node read the bit information ?
![Page 31: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/31.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 31
Bit Monitoring
• Partitioning of CAN Bit Time into Four Segments
Sync_Seg: Signal edge is expected here. Any deviation will affect Phase Buffer lengths.
Prop_Seg: Compensates for signal propagation times within the network.
Phase_Seg1/2: Compensate for signal edge phase errors by adjusting their length.
Resynchronization Jump Width: Defines the upper limit to adjust phase buffer lengths.
![Page 32: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/32.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 32
Error Detection Methods
• Bit Monitoring
Each transmitting node monitors the Bit level on the bus, compares it to transmitted level. Provides immediate detection of all bus-wide and local transmission errors.
• Stuff Error
More than 5 Bits of same polarity outside of “bit-stuffed” segment
• CRC Error
Comparison of received CRC sequence and calculated CRC. Provides detection of local receiver errors.
• Form Error
Violation of fixed format Bit fields
• Acknowledgement Error
Transmitted message receives no acknowledgement. ACK confirms only the successful transmission. Is used for error confinement.
![Page 33: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/33.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 33
Error Detection Analysis
Probability of non-detected faulty CAN messages
Example:
• 1 Bit error each 0.7 sec
• 500 kBit/sec
• 8 h/day
• 365 days/year
Residual Error Probability :
1 undetected error in 1000 years
![Page 34: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/34.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 34
Error Detection
Error Frame
Basic Error Frame
More “realistic” Error Frame
Error Recovery Time = Error Flag + Error Delimiter + Intermission Field = 12 + 8 + 3 = 23 Bits
![Page 35: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/35.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 35
Fault Confinement
• Guarantees proper network operation even in cases where malfunctioning nodes produce continuous error condition
• Distinction between temporary and permanent node failures
• Identification and removal (self-retirement) of malfunctioning nodes from the bus
![Page 36: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/36.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 36
Transmit/Receive Errors
Possible error scenarios in a CAN network:
1. Transmit Error
• A transmitting node sends a faulty message
• ALL receiving nodes in the network respond with an error frame
• Through “majority vote” the transmitting node is being flagged as the “perpetrator”
2. Receive Error
• A transmitting node send a perfectly good message
• Only ONE node in the network responds with an error frame
• Through “majority vote” the error reporting node is being flagged as the “perpetrator”
![Page 37: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/37.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 37
Fault Confinement
CAN Node Error States
![Page 38: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/38.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301
Serial Network Technology for Embedded Solutions
4. Hardware Features
Controller Area Network (CAN)
Page 38
![Page 39: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/39.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 39
Bus Medium
• Physical media must support “dominant” and “recessive” bus level. Dominant level always overrules recessive level, especially during bus arbitration.
• Two-wire bus terminated with line impedance to avoid signal reflections
• Optional: Use of optical isolation
![Page 40: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/40.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 40
Bus Topology
Bus Topology according to ISO 11898
![Page 41: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/41.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 41
Bus Level
Bus Levels according to ISO 11898
![Page 42: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/42.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 42
Bus Level
Bus Levels according to ISO 11898
![Page 43: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/43.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 43
Bus Connection
![Page 44: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/44.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 44
Connectors
Pin Signal Description 1 - Reserved 2 CAN_L CAN_L bus line (dominant low) 3 CAN_GND CAN Ground 4 - Reserved 5 CAN_SHLD Optional CAN shield 6 GND Optional CAN Ground 7 CAN_H CAN_H bus line (dominant high) 8 - Reserved (error line) 9 CAN_V+ Optional CAN external positive supply
![Page 45: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/45.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 45
CAN Controller Chips
Two different types of CAN applications:
• Stand-Alone CAN Controller
• Microprocessor with integrated CAN Controller
Many major semiconductor manufacturers, such as Motorola, Philips, Intel, Infineon, and many more, sell CAN chips.
Most semiconductor manufacturers who usually integrated a UART with their microprocessor design, in order to support serial communication for RS 232/485, nowadays tend to integrate CAN instead.
![Page 46: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/46.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301
Serial Network Technology for Embedded Solutions
5. Development Aspects
Controller Area Network (CAN)
Page 46
![Page 47: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/47.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 47
Maximum Bus Length
• Bus Length is limited due to Bit Monitoring (Signal Propagation Time)
![Page 48: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/48.jpg)
Page 48
Special Application Aspects
CAN protocol standard does not include “Inhibit Time”
Problem: What happens when a high-priority message ID jams the bus with a constant stream of messages, e.g. event-triggered sensor readings?
“Inhibit Time” must be implemented into the application, unless you use a higher layer protocol such as CANopen or DeviceNet.
Remember! Whenever you attempt to add software functions between the CAN Data Link Layer and the Application Layer, you will be adding functionalities that are already covered by off-the-shelf available higher layer protocols such as CANopen and DeviceNet.
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301
![Page 49: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/49.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 49
CAN Development Tools
What you need is…
• The “regular” tools such as cross-compiler, emulator, etc.
• CAN Hardware Interface (Starter Kit)
![Page 50: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/50.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 50
CAN Development Tools
What you need is…
• CAN API for your own programming (should be included with HW)
• CAN “Analyzer” Software
![Page 51: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/51.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301
Serial Network Technology for Embedded Solutions
6. Higher Layer Protocols
Controller Area Network (CAN)
Page 51
![Page 52: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/52.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 52
Higher Layer Protocols
Why Higher Layer Protocols…?
• Data Transport of more than 8 bytes
• Embedded Systems require appropriate communication model based on Master/Slave configuration
• Network Management (Network Start-Up, Node Monitoring, Node Synchronization, etc.)
![Page 53: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/53.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 53
Higher Layer Protocols
CANopen • Suited for embedded applications
• Was originally designed for motion control
• Developed/Maintained by CAN-in-Automation User Group
• Manufacturer-Independent Protocol
http://www.can-cia.org
DeviceNet • Suited for industrial applications (floor automation)
• Developed by Allen Bradley/Rockwell
• Maintained by Open DeviceNet Vendor Association (ODVA)
• Standard “controlled” by Allen Bradley/Rockwell
http://www.odva.org
SAE J 1939 • Communication for vehicle networks (trucks, buses, etc.)
• Standard developed by Society of Automotive Engineers (SAE)
http://www.sae.org
![Page 54: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/54.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 54
MilCAN
http://milcan.org
![Page 55: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/55.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301
Serial Network Technology for Embedded Solutions
7. Literature
Controller Area Network (CAN)
Page 55
![Page 56: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/56.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 56
Controller Area Network - Literature
http://can.copperhillmedia.com/
![Page 57: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/57.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 57
Literature
http://canopen.copperhillmedia.com/
![Page 58: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/58.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 58
Literature
http://j1939.copperhillmedia.com/
![Page 59: CAN Seminar](https://reader033.vdocuments.site/reader033/viewer/2022051014/54f978614a7959ae368b4b98/html5/thumbnails/59.jpg)
© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301
Serial Network Technology for Embedded Solutions
Presented by Wilfried Voss
esd electronics, Inc. 525 Bernardston Road Greenfield, MA 01038
http://www.esd-electronics-usa.com
Download this presentation at http://www.esdusa.com/tutorials/
Controller Area Network (CAN)