CAN

Setha Pan-ngum

History of CAN [1]  It was created in mid-1980s for automotive

applications by Robert Bosch.  Design goal was to make automobiles more reliable, safer, and more fuel efficient.  The latest CAN specification is the version 2.0 made in 1991.

Conventional Wiring (No Bus) [3] Serial Communication Links

Nozzles

Sensors ECUs

NOZZLE ECU

Data Logging

GPS

A Simple CAN Application (Serial Bus) [3] Nozzles

Sensors ECUs

NOZZLE ECU

Data Bus

Data Bus Data Logging

GPS

Conventional wiring [2]

With CAN [2]

CAN information [2]

Layered Approach in CAN (1 of 3) [1]  Only the logical link and physical layers are described.  Data link layer is divided into two sublayers: logical link control (LLC)

and medium access control (MAC).  LLC sublayer deals with message acceptance filtering, overload notification,

and error recovery management.  MAC sublayer presents incoming messages to the LLC sublayer and accepts messages to be transmitted forward by the LLC sublayer.  MAC sublayer is responsible for message framing, arbitration, acknowledgement, error detection, and signaling.  MAC sublayer is supervised by the fault confinement mechanism.

Layered Approach in CAN (2 of 3) [1]  The physical layer defines how signals are actually

transmitted, dealing with the description of bit timing, bit encoding, and synchronization.  CAN bus driver/receiver characteristics and the wiring and connectors are not specified in the CAN protocol.  System designer can choose from several different media to transmit the CAN signals.

Layered Approach in CAN (3 of 3) [1] Application Layer

Supervisor CAN LAYERS Acceptance filtering Data Link LLC sublayer Overload notification Recovery management Data encapsulation/decapsulation Frame coding (stuffing/destuffing) Medium access management MAC sublayer Error detection Error signaling Acknowledgement Serialization/Deserialization Physical

Bit encoding/decoding Bit timing Synchronization Driver/Receiver characteristics

Figure 13.1 CAN layers

Fault Confinement

Bus Failure Management

General Characteristics of CAN [1] (1 of 3)  Carrier Sense Multiple Access with Collision Detection

(CSMA/CD)  Every node on the network must monitor the bus

(carrier sense) for a period of no activity before trying to send a message on the bus.  Once the bus is idle, every node has equal opportunity to transmit a message.  If two nodes happen to transmit simultaneously, a nondestructive arbitration method is used to decide which node wins.

Binary Countdown (Bit dominance) [2]

Binary Countdown [4]

General Characteristics of CAN [1] (2 of 3)  Message-Based Communication  Each message contains an identifier.  

Identifiers allow messages to arbitrate and also allow each node to decide whether to work on the incoming message. The lower the value of the identifier, the higher the priority of the identifier.

 Each node uses one or more filters to compare the incoming

messages to decide whether to take actions on the message.  CAN protocol allows a node to request data transmission from other nodes.  There is no need to reconfigure the system when a new node joins the system.

General Characteristics of CAN [1] (3 of 3)  Error Detection and Fault Confinement  The CAN protocol requires each node to monitor the CAN bus to find out if the bus value and the transmitted bit value are identical.  The CRC checksum is used to perform error checking for each message.  The CAN protocol requires the physical layer to use bit stuffing to avoid long sequence of identical bit value.  Defective nodes are switched off from the CAN bus.

Types of CAN Messages (1 of 2) [1]  Data frame  Remote frame  Error frame

 Overload frame

Types of CAN Messages (2 of 2) [1]  Two states of CAN bus  Recessive: high or logic 1  Dominant: low or logic 0

Data Frame [1]  A data frame consists of seven fields: start-of-frame,

arbitration, control, data, CRC, ACK, and end-offrame.

Interframe space

Interframe space or overload frame

Data Frame

Start of Arbitration Control frame field field

Data field

Figure 13.2 CAN Data frame

CRC field

ACK field

End of frame

Start of Frame [1]  A single dominant bit to mark the beginning of a data

frame.  All nodes have to synchronize to the leading edge caused by this field.

Arbitration Field [1]  There are two formats for this field: standard format and extended format. Interframe space

Arbitration field Start of frame

11 bit Identifier

Control field RTR

IDE

r0

DLC

(a) standard format Arbitration field Start of frame

Control field

11-bit identifier SRR IDE 18-bit identifier RTR r0

r1

DLC

(b) extended format Figure 13.3 Arbitration field

 The identifier of the standard format corresponds to the base ID in the extended format.  The RTR bit is the remote transmission request and must be 0 in a data frame.  The SRR bit is the substitute remote request and is recessive.  The IDE field indicates whether the identifier is extended and should be recessive in the extended format.  The extended format also contains the 18-bit extended identifier.

Control Field [1]  Contents are shown in figure 13.4.  The first bit is IDE bit for the standard format but is

used as reserved bit r1 in extended format.  r0 is reserved bit.  DLC3…DLC0 stands for data length and can be from 0000 (0) to 1000 (8). Arbitration field

Data field or CRC field

Control Field

IDE/r1

r0

reserved bits

DLC3

DLC2

DLC1

Data length code

Figure 13.4 Control field

DLC0

Data Field [1]  May contain 0 to 8 bytes of data

CRC Field [1]  It contains the 16-bit CRC sequence and a CRC

delimiter.  The CRC delimiter is a single recessive bit. Data or Control field

CRC field

CRC sequence Figure 13.5 CRC field

ACK

CRC delimiter

ACK Field [1]  Consists of two bits  The first bit is the acknowledgement bit.  This bit is set to recessive by the transmitter, but will be reset to dominant if a receiver acknowledges the data frame.  The second bit is the ACK delimiter and is recessive.

Remote Frame [1]  Used by a node to request other nodes to send certain

type of messages  Has six fields as shown in Figure 13.7  These fields are identical to those of a data frame with

the exception that the RTR bit in the arbitration field is recessive in the remote frame. Interframe space

Interframe space or overload frame

Remote frame

Start of frame

arbitration Control field field

CRC field

Figure 13.7 Remote frame

ACK field

End of frame

Error Frame [1]  This frame consists of two fields.  The first field is given by the superposition of error flags contributed from

different nodes.  The second field is the error delimiter.

 Error flag can be either active-error flag or passive-error flag.  Active error flag consists of six consecutive dominant bits.  Passive error flag consists of six consecutive recessive bits.

 The error delimiter consists of eight recessive bits. Data frame

Interframe space or Overload frame

Error frame

error flag

error delimiter

Superposition of error flags Figure 13.8 Error frame

Overload Frame [1]  Consists of two bit fields: overload flag and overload delimiter  Three different overload conditions lead to the transmission of the

overload frame:

 Internal conditions of a receiver require a delay of the next data frame or

remote frame.  At least one node detects a dominant bit during intermission.  A CAN node samples a dominant bit at the eighth bit (i.e., the last bit) of an error delimiter or overload delimiter.

 Format of the overload frame is shown in Figure 13.9.  The overload flag consists of six dominant bits.  The overload delimiter consists of eight recessive bits. End of frame or Error demiliter or Overload delimiter

Interframe space or Overload frame

Overload frame Overload flag

Overload delimiter

Superposition of overload flags Figure 13.9 Overload frame

Interframe Space (1 of 2) [1]  Data frames and remote frames are separated from preceding frames by

the interframe space.  Overload frames and error frames are not preceded by an interframe space.  The formats for interframe space is shown in Figure 13.10 and 13.11.

Interframe space

Frame

Intermission

Frame

bus idle

Figure 13.10 Interframe space for non error-passive nodes or receiver of previous message Interframe space

Frame Intermission

Suspend Transmission

Frame Bus Idle

Figure 13.11 Interframe space for error-passive nodes

Interframe Space (2 of 2) [1]  The intermission subfield consists of three recessive

bits.  During intermission no node is allowed to start transmission of the data frame or remote frame.  The period of bus idle may be of arbitrary length.  After an error-passive node has transmitted a frame, it sends eight recessive bits following intermission, before starting to transmit a new message or recognizing the bus as idle.

Message Filtering [1]  A node uses filter (s) to decide whether to work on a

specific message.  Message filtering is applied to the whole identifier.  A node can optionally implement mask registers that specify which bits in the identifier are examined with the filter.  If mask registers are implemented, every bit of the mask registers must be programmable.

Bit Stream Encoding [1]  The frame segments including start-of-frame, arbitration field, control    



field, data field, and CRC sequence are encoded by bit stuffing. Whenever a transmitter detects five consecutive bits of identical value in the bit stream to be transmitted, it inserts a complementary bit in the actual transmitted bit stream. The remaining bit fields of the data frame or remote frame (CRC delimiter, ACK field and end of frame) are of fixed form and not stuffed. The error frame and overload frame are also of fixed form and are not encoded by the method of bit stuffing. The bit stream in a message is encoded using the non-return-to-zero (NRZ) method. In the non-return-to-zero encoding method, a bit is either recessive or dominant.

Errors (1 of 3) [1]  Error handling  CAN recognizes five types of errors.

 Bit error  A node that is sending a bit on the bus also monitors the bus.

 When the bit value monitored is different from the bit value being

sent, the node interprets the situation as an error.  There are two exceptions to this rule: 



A node that sends a recessive bit during the stuffed bit-stream of the arbitration field or during the ACK slot detects a dominant bit. A transmitter that sends a passive-error flag detects a dominant bit.

Errors (2 of 3) [1]  Stuff error  Six consecutive dominant or six consecutive recessive levels occurs in a message field.  CRC error  CRC sequence in the transmitted message consists of the result of the CRC calculation by the transmitter.  The receiver recalculates the CRC sequence using the same method but resulted in a different value. This is detected as a CRC error.

Errors (3 of 3) [1]  Form error  Detected when a fixed-form bit field contains one or more illegal

bits

 Acknowledgement error  Detected whenever the transmitter does not monitor a dominant bit

in the ACK slot

 Error Signaling  A node that detects an error condition and signals the error by

transmitting an error flag  

An error-active node will transmit an active-error flag. An error-passive node will transmit a passive-error flag.

Fault Confinement [1]  A node may be in one of the three states: error-active, error-passive, and busoff.  A CAN node uses an error counter to control the transition among these three states.  CAN protocol uses 12 rules to control the increment and decrement of the error counter.  When the error count is less than 128, a node is in error-active state.  When the error count equals or exceeds 128 but not higher 255, the node is in error-passive state.  When the error count equals or exceeds 256, the node is in bus off state.  An error-active node will transmit an active-error frame when detecting an error.  An error-passive node will transmit a passive-error frame when detecting an

error.  A bus-off node is not allowed to take part in bus communication.

From [2]

From [2]

CAN Benefits and Drawbacks [2]

References and slide sources 1. 2. 3. 4.

Huang Han-Way, The HCS12/9S12: An introduction Koopman P, Controller Area Network (CAN) slides Stone M, Controller Area Networks lecture slides, Oklahoma State University Upender B, Koopman P, Communication protocols for embedded systems, Embedded systems programming, Nov 1994.