Table Of ContentCAN 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
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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 communica-
tion 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 deve-
loped 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 proto-
col, 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
