A Comprehensible Guide to Controller Area Network

by Wilfried Voss

Overview

A Comprehensible Guide to Controller Area Network by Wilfried Voss represents the most thoroughly researched and most complete work on CAN available in the marketplace. Controller Area Network (CAN) is a serial network technology that was originally designed for the automotive industry, especially for European cars, but has also become a popular bus in industrial automation as well as other applications. The CAN bus is primarily used in embedded systems, and as its name implies, is a network technology that provides fast communication among microcontrollers up to real-time requirements, eliminating the need for the much more expensive and complex technology of a Dual-Ported RAM. This book provides complete information on all CAN features and aspects combined with a high level of readability. The author, Wilfred Voss, is the President of esd electronics, Inc., a company that specializes in CAN technology. The company is located in Greenfield, Massachusetts. Mr. Voss has worked in the CAN industry since 1997 and before that was a specialist in the paper industry. He has a master's degree in electrical engineering from the University of Wuppertal in Germany. Mr. Voss has conducted numerous seminars on CAN and CANopen during various Real Time Embedded And Computing Conferences (RTECC) and ISA (Instrumentation, Systems, and Automation Society) events all over the United States and Canada.

Product Details

ISBN-13:	9780976511601
Publisher:	Copperhill Media Corporation
Publication date:	08/01/2005
Edition description:	New Edition
Pages:	164
Product dimensions:	7.30(w) x 9.60(h) x 0.50(d)
Age Range:	18 Years

About the Author

Wilfried Voss is the President of esd electronics, Inc., a company that specializes in all aspects of the CAN technology. The company is located in Greenfield, Massachusetts, Mr. Voss has worked in the CAN industry since 1997 and has conducted numerous seminars on CAN, CANopen and J1939 during various technical conferences and events all over the United States and Canada. He has a master's degree in electrical engineering from the University of Wuppertal in Germany. Mr. Voss has traveled the world extensively, settling in New England in 1989. He presently lives in an old farmhouse in Greenfield, Massachusetts with his Irish-American wife and their son Patrick.

Table of Contents

Overview 1

1.1 What is Can? 2

1.2 A Brief History of Can 3

1.3 Can Applications 6

1.4 Can-in-Automation (CiA) 10

1.5 International Standard ISO 11898 10

Main Characteristics 13

2.1 Frames 14

2.2 Multi-Master Bus Access 14

2.3 Message Broadcasting 15

2.4 Message Priority 16

2.5 Short Messages 16

2.6 Data Rate and Message Frequency 17

2.7 Bus Arbitration 17

2.8 Error Detection & Fault Confinement 18

Benefits of Using Can 21

3.1 Can Controller Firmware 22

3.2 Low Cost Implementation 24

3.3 Speed, Reliability, Error-Resistance 25

3.4 Worldwide Acceptance 25

3.5 Higher Layer Protocols 26

Message From Architecture 31

4.1 Dominant and Recessive Bus Level 32

4.2 Data and Remote Frames 36

4.3 Data Frame 37

4.4 Remote Frame 39

4.4.1 Remote Frame on Recall 40

4.5 Message Frame Format 43

4.6 Extended Can Protocol 53

4.7 Error Frame 57

4.7.1 Error Flag 59

4.7.2 Error Delimiter 65

4.8 Overload Frame 66

4.8.1 Overload Flag 68

4.8.2 Overload Delimiter 69

4.9 Interframe Space 70

4.10 Frame Length and Transmission Times 71

4.11 Baud Rate Considerations 72

4.12 Bandwidth 74

Message Broadcasting 79

5.1 Message Broadcasting with Data Frames 80

5.2 Message Request with Remote Frames 82

Bus Arbitration 85

6.1 Principle of Bus Arbitration 86

6.2 Main Rules of Bus Arbitration 87

6.3 Bus Arbitration Example 90

Data Transfer Synchronization 93

7.1 Bit Coding 94

7.2 Bit Stuffing 96

7.3 Bit Timing and Synchronization 99

7.3.1 Bit Sample Point 99

7.3.2 Bit Time 100

7.3.3 Bit Time Programming 105

7.3.4 Synchronization 106

7.3.5 Phase Error and Resynchronization 108

7.3.6 Oscillator Frequency Tolerance Range 114

Error Detection and Fault Confinement 117

8.1 Error Detection 118

8.1.1 Bit Monitoring 118

8.1.2 Checksum Check 119

8.1.3 Bit Stuffing Error 120

8.1.4 Frame Check Error 121

8.1.5 Acknowledgement Error 122

8.2 Error Signaling 122

8.3 Fault Confinement 123

8.3.1 Error Counting 127

Physical Layer 131

9.1 Bus Topology 132

9.2 Bus Medium 134

9.4 Bus Signal Level 136

9.5 Bus Connection 137

9.6 Maximum Bus Length 139

9.7 Wiring and Connectors 141

Summary 143