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Two-wire multi-transmitter serial data bus Designed by Bosch in 1985 as automobile network No central bus controller required Congurable data rate (5kBit/s ... 1MBit/s) Bus length 0.2m to 10.000m (with linear data rate reduction) Realtime capabilities (guaranteed transmission times) Message oriented transmission (2031 message identiers) Network wide data consistency through broadcasting principle > 200 bus participants More than 100 million nodes installed today
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Effective data rate max. 576 kBit/s (<= 40m bus length) -> adequate for most realtime control systems No overhead for bus arbitration, known response times even for high bus loads -> bus performance independant of number of participants Extremely low probability of undetected data corruption (~ 1*10-13 per transmission) -> suitable for safety critical applications Very low chip cost, easy and straightforward application programming -> even small systems can benet from network technology Due to these characteristics, CAN is used in several aircraft applications already and selected for many new aircraft: Grob Strato-2C High Altitude Research Aircraft: throttle-by-wire databus NH90 helicopter: Audio system intercommunication Airbus A340-600: Environmental control system databus, water&waste management Fairchild-Dornier 728JET: Primary/secondary ight control actuator databus, secondary power supply system intercommunication, smoke detection system databus A380: Environmental control system databus, cockpit cursor control device/MFD communication bus, electric power supply control databus, ........
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CAN hardware
CAN controllers and Microcontrollers with integrated CAN interfaces: Motorola Intel Philips Inneon Toshiba NEC Texas Instruments, .....
CAN boards for various bus systems: VME PCI/PMC ISA/EISA SBus PC104/PC104+ IP, M-modules, PC-MIP, .....
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10 5 10
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40
100
1000
layer 7 (application layer) layer 6 (presentation layer) layer 5 (session layer) layer 4 (transport layer) layer 3 (network layer) layer 2 (data link layer)
set of user-dened application functions data representation, data standardization, ... login, session dialog control, ... logical channels, data transmission retries, ... routing, data packet ow control, ... error detection, data block synchronisation, ... connectors, cables, voltage levels, ...
CAN 2.0/2.0A/2.0B
network
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What is CANaerospace ?
The CAN specication itself does not cover issues like data representation, station addressing or connection-oriented protocols. Using CAN networks in aerospace demands a standard targeted to the specic requirements of ight or mission critical airborne applications. Based on experience in ight control and guidance systems, Stock Flight Systems created the CANaerospace interface denition in 1997. CANaerospace is an open standard and may be used by anybody free of any charge. CANaerospace has also been standardized by the US National Air and Space Administration (NASA) as AGATE data bus in 2001 (document AGATE-WP01-001-DBSTD, Langley Research Center). CANaerospace is a slim software layer that turns CAN into an easy-to-handle data bus meeting the specic requirements of avionic systems. CANaerospace is used and supported by some major European aerospace companies (EADS, Eurocopter, Aero Vodochody, Rotax-Bombardier, Kayser-Threde, ....). CANaerospace networks are installed in several aircraft since 1998 and have demonstrated excellent reliability in a harsh environment.
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CANaerospace at a glance
Democratic network: No master/slave relationships for normal operation Self-identifying message format: Information about data type and transmitting station Message numbering: Support for coherent data processing in redundant systems Message status code: Continous integrity monitoring support Emergency event signalling mechanism: Information about CBIT detected failures Node service mechanism: Addressing of specic stations for integrity monitoring, data download, time synchronisation, ..... Identier assignment: Proposed default identier distribution (similar to ARINC429) Ease of implementation: Reduction of work required for certication Openness to extensions: Minimum of xed denitions to provide exibility Free availability: No cost for use, free source code, free specication and tutorials
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Message Identication
Message Data (message type specic) Message Code (data type UCHAR) Service Code (data type XCHAR) Data Type (data type UCHAR) Node-ID (data type UCHAR)
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Emergency Event Data High Priority Node Service Data High Priority User-Dened Data Normal Operation Data Low Priority User-Dened Data Debug Service Data Low Priority Node Service Data
0 - 127 128 - 199 200 - 299 300 - 1799 1800 - 1899 1900 - 1999 2000 - 2031
128 data objects 72 data objects (36 com. channels) 100 data objects 1500 data objects 100 data objects 100 data objects 32 data objects (16 com. channels)
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CAN
DC DC
DC DC
Power +28VDC CAN Low unused RS-232 TxD (maintenance/service) Power Gnd
1 2 3 4 5
6 7 8 9
NM 05-05
CAN GND
100nF
10k
VDD1
VDD2
CAN Tx
2 VI VO
3 Vcc
HCPL-0710
4 GND1 GND2 5 1 TxD
CAN High
TJA1040
8 VDD2 VDD1 1 4 RxD GND CAN Low REF 6
CAN Rx
6 VO VI
RS
HCPL-0710
5 GND2 GND1 4
CAN
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Internal
Proposed pinout: Pin 1/B Pin 2/E Pin 3/F Pin 4 Pin 5/A Pin 6 Pin 7/D Pin 8/C Pin 9 Pin 10 Pin 11 Pin 12 Pin 13 +28VDC CAN Low unused RS-232 TxD DC Gnd RS-232 RxD CAN High unused RS-232 Gnd +28VDC DC Gnd CAN Low CAN High
External
MS3476L1006SN
1 2 3 12 4 8 5 6 7 11 13 10 9
shielded twisted
D38999/26FB35SN
1 6 2 3 4
shielded twisted
D38999/26FA35SN
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Example for a suitable CANaerospace cable Requirements: 120 impedance, low capacitance
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Eurocopter All-Weather Rescue Helicopter (AWRH) CANaerospace as interface between navigation system, ight state sensors and pilots control units Flight tests proved reliability and performance of CANaerospace data communication
MFDs CDU
AWRH special equipment rack NECS/Avionics NECSlite ADC/AHRS Avionic control units/ Joystick CANaerospace bus
NECSlite
MFDs
CDU
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Stock Flight Systems Data Recording System (FDR1-CAN) Modular, CANaerospacebased ight data recording system Installed in Pitts S-2B as continuous testbed
CANaerospace
ARINC 429
GPS Antenna
OAT probe
Pitot/Static Inputs
21 1110 31213 9 4 5 78 6 21 1110 31213 9 4 5 78 6
CANaerospace
Aileron Elevator Rudder PowerNECS Avionics Interface Unit Power Lever Control Position Transducers Optional Linux laptop computer for test, maintenance and software development with VISTA2D visualization tool
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Stratospheric Observatory For Infrared Astronomy (SOFIA) NASA/DLR program for high altitude infrared astronomy
CANaerospace network
CANaerospace used for communication between star tracking system and realtime control computers for telescope control CANaerospace network length 40m System integration in 2002, rst ight planned for 2004 Website: http://soa.arc.nasa.gov
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The System of Aviation Modules (SAM) has successfully passed CAA (Cz) certication for the Ae270 business/small transport aircraft developed by Aero Vodochody a.s. (www.aero.cz) and AIDC Ltd. of Taiwan. SAM comprises of seven intelligent units which communicate under each other using CANaerospace. All SAM units are qualied according to RTCA DO-160D/DO-178B and meet the HIRF (High Intensity Radiated Fields) requirements. The certication is based on FAR part 23. The SAM functions include electric power supply monitoring, fuel distribution and supply control, hydraulic system control, propeller heating control, airframe load monitoring, deicing control, etc.
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UNIS contact: UNIS spol. s.r.o. Jundrovska 33 62400 Brno Czech Republic phone: +42-0541515541 fax: +42-0541210361 email: oplustil@unis.cz
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Bombardier-Rotax V220/300T aircraft engines Fuel-injected, watercooled, 120degree V-6 engine line with dual redundant electronic engine control unit and CANaerospace data bus CANaerospace-interfaced Engine Monitoring Unit providing the pilot with all engine data already installed in several aircraft FAA/JAA certication expected 2003, rst deliveries in 2004 Website: www.VaircraftEngines.com
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NASA Small Aircraft Transportation System (SATS) program SATS is a partnership among various organizations including NASA, the Federal Aviation Administration (FAA), US aviation industry, state and local aviation ofcials, and universities. The target is to develop all weather operations within the entire US airspace for general aviation. CANaerospace/AGATE databus serves as the central avionics backbone network in the research aircraft used for the SATS program ight tests.
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Various Flight Simulators Dornier-Fairchild 728JET engineering simulator Eurocopter TIGER simulators Eurocopter BO105 procedure trainer Euroghter Typhoon simulator EADS Mako demonstrator NH90 engineering simulator Euroghter 728 JET
BO105
TIGER
NH90
Mako
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Wetzel Technology GmbH Hermann-Oberth-Strae 11 D-85640 Putzbrunn Germany Phone: +49-89-460892-62 Fax: +49-89-460892-63 Email: michael@wetzel-technology.de www.wetzel-technology.de
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US Representative for Stock Flight Systems, Reiser Systemtechnik and Wetzel Technology
ICS, Inc. Mr. Kevin Jacobson 1102 West Aster Drive Phoenix, AZ 85029-2808 phone: +01-602-564-0851 fax: +01-602-588-9440 e-mail support@ICSAero.com website: www.ICSAero.com Innovative Control Systems, Inc (ICS) was established in 1991 as a provider of aerospace engineering services and equipment to High Technology Aerospace Companies. Their customer base includes companies such as Honeywell, Raytheon, Dornier Luftfahrt, Hamilton Sundstrand, B.F. Goodrich, Aircraft Braking Systems, Vibrometer, Smiths Industries, and many other aircraft manufacturers and equipment suppliers.
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