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Network
(CAN)
Presentation Goals
• CAN Introduction
– Overview
– History
• CAN Characteristics
– OSI Model
– Physical Layer
– Transmission Characteristics
• Message Format
– Bus Arbitration
– Error Handling
• Miscellaneous
Power
Locks
Dashboard
Airbag
Power
Transmission Active Seats
Control Suspension
Power
Windows
Apex Mountain Engineering Inc. 5
How it all began…
Air
Engine Anti-Lock Condition
Control Brakes Lighting
Power
Locks
Dashboard
Airbag
Power
Transmission Active Seats
Control Suspension
Power
Windows
Apex Mountain Engineering Inc. 6
How it all began… (cont.)
Air
Condition
Engine Anti-Lock ing
Control Brakes
Lighting
Power
Locks
Dashboard
CAN BUS
Airbag
Power
Seats
Transmission Active
Control Suspension
Power
Windows
Apex Mountain Engineering Inc. 7
CAN Features
• Physical medium – two wires terminated at both ends by resistors.
• Differential signal - better noise immunity.
• Benefits:
• Reduced weight, Reduced cost
vs.
http://canbuskit.com/what.php
Application Layer
UDiff
EMI
Apex Mountain Engineering Inc. Inc. • 525 Bernardston Road • Greenfield, MA 01301
© esd electronics, 17
Message Oriented Transmission Protocol
• Each node – receiver & transmitter
• A sender of information transmits to all devices on the bus
• All nodes read message, then decide if it is relevant to them
• All nodes verify reception was error-free
• All nodes acknowledge reception
Node A:
Important message from Node B: Node C:
the speed wheel sensor! Not for me. Got it.
Wheel speed is 100 rpm.
CAN bus
“0” dominant
1 1 1
BUS
0 0 0 0 0 0
1 1 1
Node A’s
0 0 0 0 0 0
message-ID
1 1 1 1
Node B’s
0 0 0 0 0
message-ID
MAC protocols which suffers from bandwidth degradation when a collision occurs.
CAN does not. There is no wastage of bandwidth.
Hence, CAN achieves 100% bandwidth utilization
Sample point
Figure 13.12 Nominal bit time
31
Summary