CAN基础

CAN
2008-7-5
www.hirain.com
Confidential
CAN
CAN
CAN
http://www.hirain.com
CAN
CANController Area Network20

80Bosch
CAN
Body Control
Powertrain Control
Engine
Control
Door
Control
Transmission
Seat
Control
Power
Locks
Control
Dash
board
ABS/ASR
Active
Suspension
Air
Condition
Airbag
Light
Control
CAN
CAN
Body Control
Powertrain Control
Engine
Control
Door
Control
Transmission
Seat
Control
Power
Locks
Control
Dash
CAN
CAN
board
ABS/ASR
Active
Suspension
Air
Condition
Light
Control
Airbag
CAN
1983Bosch
1986BoschSAECAN
1987IntelPhilipsCAN
1991BoschCAN 2.0
CAN2.0AB
1991CANBenz S
CAN
1993ISOCAN ISO-11898
1994SAECANJ1939
2003Maybach76ECU
CANLINMOST
2003VW35ECUGolf
CANFlexRay
CAN
CAN
CAN
ID
CAN
CAN
CAN
CAN
ID
CAN
Data
CAN
10
CAN
CAN
CRC
11
CAN
1Mbps<=40
NRZ
/kbps
1000
NRZ
500
200
100
50
20
10
5
/m
0 10
40
100
200
1000
10000
12
CAN
/CSMA/CA (Carrier Sense

Multiple Access/Collision Avoidance)
(CS)
(MA)
(CA)
13
CAN
CAN
CAN
14
CAN
/kbps
~10
10~125
125~1000
ABS
LIN
CAN
J1850
VAN
CAN
CAN
MOST
1000~
FlexRay
D2B
IEEE1394
15
CAN
from Renesas
16
CAN
CAN
CANOSI
zCAL, CANopen (CiA)
zDeviceNet (ODVA)
zSDS (Honeywell)
zNMEA-2000(NMEA)
zJ1939(SAE)
LLC, Logical Link Control
MAC, Medium Access Control
PLS, Physical Signaling Sublayer
PMA, Physical Medium Attachment
MDI, Medium Dependent Interface
17
CAN
CAN
CAN2.0
2.0A29ID
2.0B29ID
2.0B1129ID
18
CAN
CAN
ISO11898
OSI
2
CAN
ISO11898
CAN2.0
ISO11898-1
CAN
ISO11898-2
ISO11898-3
CAN
CAN
LLC
MAC
PLS
PMA
MDI
CAN
ISO 11898-12003
Road vehicles -- Controller area network (CAN) -- Part 1:

Data link layer and physical signalling
ISO 11898-22003

High-speed medium access unit
ISO 11898-32006

Low-speed, fault-tolerant, medium-dependent interface
ISO 11898-42004

Time-triggered communication
ISO 11898-5

High-speed medium access unit with low-power mode
Singlewire
19
CAN
CAN
82C250
CAN
TJA1054
CAN
20
CAN
CAN
CAN
CAN
CAN
CAN_H
3.5V
2.5V
CAN_L
1.5V
10
CAN
21
CAN
CAN
(V)
1 (recessive)
0 (dominant)
CAN_H
~ 3.5 V
~ 2.5 V
~ 1.5 V
CAN_L
CAN message
22
CAN
CAN
CAN
23
24
ID
ID
25
26
CAN
1CAN
ABCDID5
736
3
CAN node A
CAN node B
CAN node C
CAN node D
CAN bus
27
CAN
1CAN
CAN node A
CAN node B
CAN node C
CAN node D
CAN bus
28
CAN
NRZ
NRZ
NRZ
NRZ
NRZ
NRZ
29
CAN
NRZ
1 1 1 2 3 4 5 1 2 3 4 5 2 3 4 5 1
CAN
30
CAN
(Acceptance Filter)
CAN
CAN
CAN
10
CAN
ID
CAN
Data
0
I D
1 0
E N
0 1
T 1
I 0
F 1
I 0
E R
0 0
(Selector or
ID
Code)
0
S 1
E 0
L 1
E
X C
1 1
T
X O
1
X R
1
X 0 0 1
X
(Mask)
M
1 A
1 1
S K
0 1 0 0 0 1 1 0
CAN
ID
(ID)
1 =
0 =
32
CAN
CAN
CAN
CAN
33
CAN
34

CRC
Bus Idle
11
1 1 1
S
O
F
ID
R I
T D r DLC
R E
ACK
0-64
15
1 1 1
Data Field
CRC
D A D
E C E
L K L
EOF
I
T
M
Bus Idle
CRC
Bus Idle
11
1 1
18
S
O
F
ID
S I
R D
R E
Extended ID
SOF, Start of Frame
RTR, Remote
Transmission Request
R
r r
T
DLC
1 0
R
0-64
15
1 1 1
Data Field
CRC
D A D
E C E
L K L
EOF
I
T
M
ACK,
Acknowledgement
EOF, End of Frame
ITM, Intermission
IDE, Identifier Extension
DLC, Data Length Code
SRR, Substitute
Remote Request
Bus Idle
1 1 1
ACK
35
SOF
36
IDRTRIDESRR
ID
1129
37
IDRTRIDESRR
RTR
RTR=0
RTR=1
38
IDRTRIDESRR
IDE
IDE=011ID
IDE=129ID
39
IDRTRIDESRR
SRR
SRR=1
40
r0r1DLC
r0r10
DLC
DLC0-8DLC9-15
41
0-8
CAN
42
CRC
CRC
CRC
CRC
CRC
43
CRC
CRC
1
CRC
44
ACK
ACK
45
ACK
ACK
ACK
ACK
ACK
46
7
11
11
D
E
L
EOF
I
T
M
11
47
SOF
CRC
48
CAN
CAN
CAN
49
50
ACK
CRC
51
CRC
CRCCRC
CRCCRC
ACK
CRCACK
ACKACK
ACK
52
CRC
ACK
ACK
CRC
2000/500kbps
25%
1000
53
ACK
CRCACK
54
55
point t1
t1
1
2
56

2
t1
S
O
F
t2
S
O
F
()
()
ITM
57
S
O
F
58
CRC
CRC
59
60
ACK
61
RECTEC
62
CAN
CAN
CAN
63
CAN
64
CAN
CAN
65
CAN
66
CAN
67
CAN
I want to know
the oil temp
OK! No problem!
ID= oil temp
ID= oil temp

Date= 115C
oil temp
sensor
~~~~~
~~~~~
115C
115C
68
CAN
CAN
0-
I
T
M
Transmission
Suspension
Bus Idle
CAN
69
CAN
70
CAN
71
CAN
CAN
CAN
72
=1/
CAN
tQ
73
(Time Quantum)
BRP=BaudRatePrescaler
74
48-25
Time Quantum
CAN
13
75
Synchronization Segment
76
Propagation Segment
2
18
77
1Phase Buffer Segment1
18
78
2Phase Buffer Segment2
18
79
CAN
SOF
SOF
SOF
80
SOF
R
S
S
PTS
PES1
PES2
81
<SJW
12

>=SJW
1
=SJW
2=SJW
82
1SJW=4
Slower
Transmitter
Faster
Receiver
83
2SJW=4
Faster
Transmitter
Slower
Receiver
84
Synchronization
Jump Width
SJWPES1PES2
SJWPES1PES2
85
tdel=tel,1+tBus+tel,2=tel+tBus
tProp>=2(tEl+tBus)
tCAN_Controller,2+tCAN_Transceiver,2
tCAN_Controller,1+tCAN_Transceiver,1
86
T(Bit) = 1/Baudrate
T(tq) = T(Bit) / NBT
T(Prop_Seg)= 2*(DelayTransceiver+DelayBus)
Prop_Seg = T(Prop_Seg) / T(tq)
If (NBT-1-Prop_Seg) /2
Phase_Seg1 = Phase_Seg2 = (NBT-1Prop_Seg) / 2
else
Phase_Seg1 = (NBT-1-Prop_Seg)/2,
Phase_Seg2 = (Phase_Seg1)+1
87
SJW = min ( Phase_Seg1 , 4 )
Df <= SJW / (2*10*NBT)

Df <= (min(Phase_Seg1,Phase_Seg2))/
(2*(19*NBT-Phase_Seg2))
88
MCU
8MHz1Mbps20m
5ns/m
150ns@85C (From Freescale AN1798)
1) = 20X5= 100ns
tProp = 2X (100+150) =500ns
2) BRP = 1tQ = 125nsNBT = 8
3) PROP_SEG = 500/125=4
4) NBT - PROP_SEG - 1 = 3, PHASE_SEG1 =
1, PHASE_SEG2 = 2
89
MCU8MHz1Mbps
20m5ns/m
150ns@85C
5) RJW= min { 4, PHASE_SEG1 }=1

6) df <= 1/2(13X8-2)=0.00490
df <=1/20X8=0.00625
90
CAN
CAN
CAN
91
ISO11898-2
92
ISO11898-3_
4.7K>R>500
Rall>100
93
ISO11898-3_
94
CAN
95
CAN
CAN
CAN
96
CAN
97

CAN基础

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CAN基础

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CAN

CANController Area Network20

/CSMA/CA (Carrier Sense

LLC, Logical Link Control

MAC, Medium Access Control

PLS, Physical Signaling Sublayer

PMA, Physical Medium Attachment

MDI, Medium Dependent Interface

Road vehicles -- Controller area network (CAN) -- Part 1:

Road vehicles -- Controller area network (CAN) -- Part 2:

Road vehicles -- Controller area network (CAN) -- Part 3:

Road vehicles -- Controller area network (CAN) -- Part 4:

Road vehicles -- Controller area network (CAN) -- Part 5:

SOF, Start of Frame

EOF, End of Frame

IDE, Identifier Extension

DLC, Data Length Code

ID= oil temp

ID= oil temp

1Phase Buffer Segment1

2Phase Buffer Segment2

SJW = min ( Phase_Seg1 , 4 )

Df <= SJW / (2*10*NBT)

5) RJW= min { 4, PHASE_SEG1 }=1

Anda mungkin juga menyukai

Df <= SJW / (210NBT)