CAN (Controller Area Network)

1 I I CAN (Controller Area Network) CAN ? CAN - , , , - (ECU) . 2032 CAN ( ID ) . ( , ) , 110 ( 82C250 CAN ) . CAN 1 Mbit/sec , . , (Error Confinement) (Error Detection) noise-critical.

2 CAN ? Controller Area Network 1980 Robert Bosch GmbH . CAN , , . - , -ECU . - . 1993 CAN ISO 11898( ) ISO 11519( ).

3 , CAN . CAN ? CAN CAN . ISO (Open System Interconnection model) , . OSI , , , . OSI . CAN OSI - . CAN , I I.

4 - / DeviceNet , PLC .. 7 Application Layer .. DeviceNet . 6 Presentation Layer . - 5 Session Layer . 4 Transport Layer .. 3 Network Layer .. 2 Data Link Layer . , checksum framing.

5 1 Physical Layer , . , CAN 2 ( ) . 2 (balanced-line signalling ), , . , - , . CAN (noise immunity) (fault tolerance) . CAN_H ( CAN High) CAN_L ( CAN Low).

6 ( "recessive") CAN_H CAN_L . "1" , "recessive" . '0' "dominant' , CAN_L CAN_H . '0' , CAN_H = CAN_L = . CAN CAN : I I . ( 1 MBit/sec) . - - , ( ) . CSMA/CD-NDBA CSMA/CD Carrier Sense Multiple Access.

7 CSMA/CD (carrier sense) (listening) , . , . , "listen" . - . , CAN , - 'Non-Destructive Bit-wise Arbitration' . CAN (ID) , 11 29 . CAN 0 1 . ID - , 0 ( , 11 0 ).

8 , 1 0 . CAN higher level protocol CAN higher level protocol ( Application layer protocol ) CAN ( ) " " . CAN . , ( . ) , , - .. CAN : Open DeviceNet Vendors Association DeviceNet Honeywell Smart Distributed System (SDS) CiA CAN Application Layer (CAL) I I CiA CANOpen (subset of CAL) kvaser CANK ingdom Bitwise arbitration CAN , - 'non-destructive bit-wise arbitration'.

9 ; CAN (ID) , 11 29 . CAN 0 1 . ID - , 0 ( , 11 0 ) . , 1 0 . BasicCAN FullCAN BasicCAN FullCAN , CAN .. , BasicCAN CAN CPU , . FullCAN , 16 CAN.

10 CPU CAN . , FullCAN CAN CPU - . FullCAN CAN CPU - ID CPU " ' . Standard CAN Extended CAN CAN 11 CAN 29 . CAN , CAN 11- . , 11 29 . active , CAN.