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CAN System Engineering Wolfhard Lawrenz Editor CAN System Engineering From Theory to Practical Applications 1 3 Editor Wolfhard Lawrenz C&S group GmbH Wolfenbüttel Germany ISBN 978-1-4471-5612-3 ISBN 978-1-4471-5613-0 (eBook) DOI 10.1007/978-1-4471-5613-0 Springer London Heidelberg New York Dordrecht Library of Congress Control Number: 2013951526 © Springer-Verlag London 1997, 2013 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. Exempted from this legal reservation are brief excerpts in connection with reviews or scholarly analysis or material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Duplication of this publication or parts thereof is permitted only under the provisions of the Copyright Law of the Publisher’s location, in its current version, and permission for use must always be obtained from Springer. Permissions for use may be obtained through RightsLink at the Copyright Clearance Center. Violations are liable to prosecution under the respective Copyright Law. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. While the advice and information in this book are believed to be true and accurate at the date of publication, neither the authors nor the editors nor the publisher can accept any legal responsibility for any errors or omissions that may be made. The publisher makes no warranty, express or implied, with respect to the material contained herein. Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com) Preface Controller Area Network—CAN—is a communication protocol, which had been developed by R. Bosch GmbH in the beginning of the 1980s.The design focus was to support robust applications in cars. The protocol then was introduced to the market in cooperation of Bosch and Intel. In the year 1990 Mercedes Benz was the first car manufacturer who applied CAN in a series application, in the S-class car for networking of body electronics. The first suppliers of CAN mo- dules at that time were Intel and Motorola. Currently almost all minor and ma- jor semiconductor manufacturers have CAN products in their portfolio. In 1997 24 million CAN interfaces were produced in 1 year; 2 years later there were already more than three times as many. Currently there will probably be more than a billion per year. In the CAN introduction phase—in the end of the 80s and the beginning of the 90s—mostly so called “stand-alone” solutions were offered, which could be easily connected to any type of micro-controller. This strategy fostered the broad application of CAN, because CAN application was not only limited to the micro- controller families of the pioneer semiconductor manufacturers. Since the 90s more and more integrated solutions—CAN together with a microcontroller on one single chip—were launched on the market. However the so called transcei- ver—the interface between the analogue signals on the bus lines and the digital signals of the CAN controller—is even still today typically implemented in a se- parate chip due to its different semiconductor technology. The integrated version of CAN and micro-controller saves die size and connecting pins, increases relia- bility and reduces cost. These factors and the CAN quality itself are some reasons for the overwhelming CAN market dissemination. Currently, CAN communication networking is applied widely in cars, but also in avionics, trains, military applications, industrial controls, etc. The big interest in CAN is mirrored by the huge amount of publications rela- ted to CAN. This is another reason for this newly revised second edition of the English-language CAN book, which corresponds to the 5th edition of the German- language CAN book. This edition addresses the various issues and questions when applying CAN for communication networks. As such, there is a short introduction into the CAN basics. Furthermore, problems and solutions are discussed for the v vi Preface physical layout of networks including EMC issues and topology layout. Addi- tionally, quality issues and, especially, test techniques are addressed. A special feature of this CAN book is that all the technical details have been contributed by different authors who are widely known specialists in their field of expertise. Wolfhard Lawrenz, Wolfenbuettel July 2013 Contents 1 CAN Basic Architectures ............................................................................. 1 Wolfhard Lawrenz 2 Physical Layer ............................................................................................ 41 Wolfhard Lawrenz, Cornelius Butzkamm, Bernd Elend, Thorsten Gerke, Magnus-Maria Hell, Ursula Kelling, Bernd Koerber, Kurt Mueller, Christian Schmitz, Radoslaw Watroba and Rolf Weber 3 Data Link Layer Implementation ........................................................... 131 Wolfhard Lawrenz, Florian Hartwich, Ursula Kelling, Vamsi Krishna, Roland Lieder and Peter Riekert 4 Higher Level Protocols ............................................................................ 173 Gangolf Feiter, Lars-Berno Fredriksson, Karsten Hoffmeister, Joakim Pauli and Holger Zeltwanger 5 Applications .............................................................................................. 255 Guenter Reichart, Gabriel Leen, Nathalie Courmont, Ralph Knüppel, Christian Schmid and Markus Brockmann 6 T esting ....................................................................................................... 283 Wolfhard Lawrenz, Federico Cañas, Maria Fischer, Stefan Krauß, Lothar Kukla and Nils Obermoeller Bibliography ................................................................................................... 345 Index ................................................................................................................ 351 vii Contributors Markus Brockmann WILO AG, Nortkirchenstrasse, Dortmund, Germany Cornelius Butzkamm C&S group GmbH, Am Exer, Wolfenbuettel, Germany Federico Cañas Quellweg 27, Berlin, Germany Nathalie Courmont Airbus France S.A.S., 316 Route de Bayonne, Toulouse Cedex, France Bernd Elend NXP Seminconductors Germany GmbH, Streesemannallee, Hamburg, Germany Gangolf Feiter Concepts & Services Consulting, Alte Landstrasse, Heinsberg, Germany Maria Fischer C&S group GmbH, Waldweg, Wolfenbuettel, Germany Bernd Koerber Westsächsische Hochschule Zwickau, Dr.-Friedrichs-Ring, Zwickau, Germany Lars-Berno Fredriksson Kvaser AB, Aminogatan, Mölndal, Sweden Thorsten Gerke Synopsys GmbH, Karl-Hammerschmidt-Strasse, Aschheim- Dornach, Germany Florian Hartwich Robert Bosch GmbH, Tuebinger Strasse, Reutlingen, Germany Magnus-Maria Hell Infineon Technologies AG, Am Campeon, Neubiberg, Germany Karsten Hoffmeister Elektrobit Automotive GmbH, Max-Stromeyer-Strasse, Konstanz, Germany Ursula Kelling Infineon Technologies AG, Am Campeon, Neubiberg, Germany Stefan Krauß Vector Informatik GmbH, Ingersheimer Strasse ,Stuttgart, Germany Vamsi Krishna Xilinx India Technology Services Pvt. Ltd., Cyber Pearl, Hi-tec City, Madhapur, Hyderabad, India Ralph Knüppel Airbus Deutschland GmbH, Hünefeldstr. Bremen, Germany Lothar Kukla C&S group GmbH, Am Exer, Wolfenbüttel, Germany ix Contributors Wolfhard Lawrenz C&S group GmbH, Waldweg, Wolfenbuettel, Germany Gabriel Leen BMW AG, Petuelring, Munich, Germany Roland Lieder Renesas Electronics Europe GmbH, Arcadiastrasse, Duesseldorf, Germany Kurt Mueller Synopsys, Inc., 2025 NW Cornelius Pass Road, Hillsboro, OR, USA Nils Obermoeller C&S group GmbH, Am Exer, Wolfenbüttel, Germany Joakim Pauli Volvo Powertrain Corporation, Gropegårdsgatan, SE, Göteborg, Sweden Peter Riekert Ingenieurbüro für IC-Technologie, Kleiner Weg, Wertheim, Germany Christian Schmitz ELMOS Semiconductor AG, Heinrich Hertz Strasse, Dortmund, Germany Christian Schmid Airbus Deutschland GmbH, Hünefeldstr. Bremen, Germany Radoslaw Watroba STMicroelectronics Application GmbH, Bahnhofstraße, Aschheim-Dornach, Germany Rolf Weber ELMOS Semiconductor AG, Heinrich Hertz Strasse, Dortmund, Germany Holger Zeltwanger CAN in Automation (CiA) GmbH, Kontumazgarten, Nuremberg, Germany Abbreviations A ABS Anti-lock Braking System ABT Automatic Block Transfer for the transmission of multiple CAN messages without CPU interaction AC Alternating Current ACC Adaptive Cruise Control ACK Acknowledge, e.g. ACK-Bit in CAN-messages ADC Analog Digital Converter AEE Architecture électronique électrique—Denotes the electrionic architecture at PSA PEUGEOT CITROËN AEEC Airlines Electronic Engineering Committee—The AEEC developed standards and technical solutions for avionics, cabin sys- tems and networks AFCAN Advanced Full-CAN—controller architecture microcontrol- lers from NEC with optional diagnostic functionality called “DAFCAN” AFDX Avionics Full Duplex Switched Ethernet—Ethernet-based protocol, supplemented by data rate control (QoS) and deterministic routing AFIR (Xilinx) Acceptance Filter ID Register AFMR (Xilinx) Acceptance Filter Mask Register AFR (Xilinx) Acceptance Filter Register AM Amplitude Modulation AMP Arbitration on Message Priority API Application Programming Interface ARINC Aeronautical Radio Inc.—various technical standards of the aerospace industry; create and maintained by ARINC ARPANET Advanced Research Projects Agency Network—precursor to the Internet ASAP Asynchronous Service Access Protocol—describes a standard- ized way to start, manage, and monitor long running services ASC ASCII—ASCII-encoded text file xi