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1 1 2 3 FlexRay FlexRay FlexRay ECU ECU TDMA (Time Division Multiple Access) FlexRay 4 LIN (Local Interconnect Network) LIN ECU ECU 12V 20kbps 16 CAN/LIN LIN 5 CAN Bus 6 CAN Bus 10-20 (ECU) ECU ECU CAN (Controller Area Network) ECU ECU CAN ( ) 7 CAN 8 CAN Bus 9 CAN 1983: Bosch 1986: CAN protocol 1991: Bosch CAN specification 1992: CiA, (CAN in Automation) 1992: CAN Application Layer (CAL) 1993: ISO 11898 1994: DeviceNet protocol 1995: CANopen protocol by CiA 2000: TTCAN 10 CAN 1.

2 / (CSMA/CA) ID ECU ID 2. ID ID 3. ID 11 CAN 4. 5. 6. 7. 12 ISO OSI ISO/OSI 7 6 5 4 3 2 ( ) 1 13 CAN device net PLC ISO/OSI CAN 7 6 5 4 3 2 1 14 CAN reference model 15 CAN CAN ISO OSI MAC LLC CAN MAC CAN 16 CAN 17 CAN ISO11898/ISO11519-2 ISO ISO11898/ISO11519-2 PLS PMA PMA MDI ISO11898 11519-2 MDI CAN 18 Physical layer requirements Non-return-to-zero coding Bit-stuffing In bit-time

3 Response Automatic re-synchronization Dominant and recessive bit representation 19 CAN bus ISO 11898-2 20 CAN bus 21 CAN bus ISO 11898-2 node Vref Vcc/2. 22 CAN bus Non-Return-to-Zero-Coding 'dominant' 'recessive'. 23 ISO11898 ISO11519-2 CAN (CAN_H) (CAN_L) Dominant(0) Recessive(1) 24 ISO 11898 11519-2 25 CAN bus ISO TX, RX 5V Transceiver CAN_H CAN_L 26 recessive: CAN_H CAN_L + V. Dominant: CAN_H CAN_L dominant CAN_H V CAN_L 27 IC ISO 11898 ISO 11519-2 IC Transceiver IC ISO11898 ISO11519-2 HA13721 RPJE(RENESAS) TJA1050T(Philips) TLE6250G(Infineon) CF150C(BOSCH) TJA1054T(Philips) TLE6254-3G(Infineon) 28 CAN standardization 29 CAN Name Baud rate Specification Application field SAE J1939-11 250 k Two-wire shielded twisted pair Truck, bus SAE J1939-12 250 k Two-wire shielded twisted pair 12 V supply Agricultural machine SAE J2284 500 k Two-wire twisted pair (non-shielded) Automobile (high-speed: power train system) SAE J2411 k, k One-wire Automobile (low-speed.)

4 Body system) NMEA-2000 k, 125 k, 250 k, 500 k,1 M Two-wire shielded twisted pair Power supply Ship DeviceNet 125 k, 250 k, 500 k Two-wire shielded twisted pair 24 V supply Industrial equipment CANopen 10 k, 20 k, 25 k, 50 k, 125 k,250 k, 500 k, 800 k, 1 M Two-wire twisted pair Optional (shielded, power supply) Industrial equipment SDS 125 k, 250 k, 500 k, 1 M Two-wire shielded twisted pair Optional (power supply) Industrial equipment 30 31 CAN CAN (frame) 32 11bits 29bits 33 SOF 1 dominant(0) 0-8bytes CRC ACK 1 dominant(0) EOF 34 -SOF 1 dominant(0) frame Hard synchronization is performed whenever there is a recessive-to-dominant edge 35 - ID 36 - RTR bit: dominant(0); recessive(1).

5 37 - IDE: dominant(0); recessive(1) R0: DLC: Data Len. DLC3 DLC2 DLC1 DLC0 0 d d d d 1 d d d r 2 d d r d 3 d d r r 4 d r d d 5 d r d r 6 d r r d 7 d r r r 8 r d/r d/r d/r 38 - 0-8 bytes = 0 Byte = 8 Byte 39 -CRC CRC Hamming distance 6, 5 SOF, , . CRC x15 + x14 + x10 + x8 + x7 + x4 + x3 + 1 40 -CRC 41 - recessive bit(1) ACK Slot dominant (0) . 42 - (EOF) 7 recessive(1) . 43 CAN bus ID RTR recessive(1) 44 CAN bus 1. Local global . 2. Error Flag (global ). 3. Local Error Delimiter overlapping Error Flag. 4.. 5.. 6.. 6 Error Flag bit stuffing error.

6 45 CAN bus -Local Errors Receiver1 local error 6 bits error flag Receiver stuffing 6bits error flag 8bits delimiter 3bits interframe 46 Error detection analysis Example: 1 bit error each 0,7 s, 500 kbit/s, working 8 h/day at 365 days/year. Statistical average: 1 undetected error in 1000 years! 47 Probability of non-detected faulty CAN basic data frames: CAN 48 1. 2. 3. / (TEC) (REC) 0-127 0-127 128-255 128-255 256 ---- 49 255 (bus status bit) 1( CAN (reset request bit) 1 CPU CAN ( 128 ) ( ) 0(OK) 50 CAN bus bus error 6bits error flag (dominant) error flag 0-6bits 8bits error delimiter 3bits interframe 51 CAN bus bus error 6bits error flag (recessive))

7 Error flag 0-6bits 8bits error delimiter 3bits interframe 52 CAN bus SOF CRC 6 0 1 error frame 53 CAN bus 5bits 1bit 54 CAN bus 55 CAN bus dominant recessive recessive dominant error frame 56 CAN bus CRC CRC Area CRC CRC Field CRC ACK Field error frame 57 CAN bus CRC 58 CAN bus - ACK Field dominant(0) ACK delimiter error frame 59 CAN bus CRC Delimiter ACK Delimiter EOF successive(1) dominant(0) error frame EOF dominant(0) overload frame error frame 60 CAN bus Bit Error Bit-Stuffing Error Ack Error Form Error CRC Error ACK delimiter 61 CAN bus Intermission dominant.

8 62 3bits recessive(1) 63 dominant(0) 64 ID RTR 65 CAN bus 8 25 Time Quanta. 66 CAN bus SYNC_SEG 1 Time Quantum. PROP_SEG 1,2, .. 8 TQ. PHASE_SEG1 1,2, .. 8 TQ PHASE_SEG2 (1-4TQ) PHASE_SEG1. 67 Signal propagation 68 CAN bus 69 CAN bus /Bus- 70 CAN Bus 71 CAN bus ISO 72 CAN bus CiA DS-102 Baudrates 73 CAN bus CiA DS-102 Bit-Timing 74 CAN bus CiA DS-102 Pin Assignment 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 ground 7 CAN_H CAN_H bus line dominant high 8 - Reserved 9 (CAN_V+) Optional CAN external supply 75 CAN bus DC 76 CAN bus ISO 11898-2 1 Mbit/s Ld m.

9 77 Stub length limits 78 Data rate bus length Sample Point (TQ) Max. stub length Accumulated Stub length 1 Mbit/s - 25 m 87,5% (125 ns) 800 kbit/s - 50 m 87,5% (125 ns) 500 kbit/s - 100 m 87,5% (125 ns) 250 kbit/s - 250 m 87,5% (250 ns) 11m 55m 125 kbit/s - 500 m 87,5% (500 ns) 22m 110m 50 kbit/s - 1000 m 87,5% (1,25 s) 55m 275m 20 kbit/s - 2500 m 87,5% (3,125 s) 10 kbit/s - 5000 m 87,5% (6,25 s) 275m 1375m CAN CPU CAN (SJA1000) CAN (PCA82C251) CAN ECU 79 CAN CAN (Atmel T89C51CC01: 8051+CAN) CAN (PCA82C251) CAN ECU 80 CAN PCA82C250/PCA82C251 PCA82C250/251 CAN CAN PCA82C251 ISO11898 1 Mbps 110 81 PCA 82C250/251 82 124 62 10nF-100nF EMC 83 CAN Bus 3 3 180 84 CAN SJA1000 SJA1000 CAN (CAN) PCA82C200 CAN (64 FIFO) 11 29 1 Mbits/s PeliCAN (-40-+125 C)

10 85 BasicCAN PCA82C200 BasicCAN PCA82C200 SJA1000 PeliCAN SJA1000 CAN Basic CAN 86 SJA1000 87 SJA1000 SJA1000 DIP28 : SO28 : 88 BasicCAN mode: 10-bytes. 2 identifier bytes up to 8 data bytes. 89 PeliCAN mode: 13 bytes. 1 byte for Frame Information 2 or 4 identifier bytes (Standard Frame or Extended Frame) up to 8 data bytes. frame frame 90 RXFIFO RXFIFO 64 FIFO RXFIFO CAN 91 -BasicCAN 2 8 : Acceptance Code Register (ACR): ID10-3 ID Acceptance Mask Register (AMR): 1 0 ACR CAN 8 10 9 8 7 6 5 4 3 2 1 0 ACR 0 1 1 1 0 0 1 0 AMR 0 0 1 1 1 0 0 0 ID 0 1 x x x 0 1 0 x x x 92 -PeliCAN 4 ACR 4 AMR : Acceptance Code Register (ACR): ID10-3 ID Acceptance Mask Register (AMR).