Loading presentation...

Present Remotely

Send the link below via email or IM

Copy

Present to your audience

Start remote presentation

  • Invited audience members will follow you as you navigate and present
  • People invited to a presentation do not need a Prezi account
  • This link expires 10 minutes after you close the presentation
  • A maximum of 30 users can follow your presentation
  • Learn more about this feature in our knowledge base article

Do you really want to delete this prezi?

Neither you, nor the coeditors you shared it with will be able to recover it again.

DeleteCancel

Make your likes visible on Facebook?

Connect your Facebook account to Prezi and let your likes appear on your timeline.
You can change this under Settings & Account at any time.

No, thanks

CAN

No description
by

jungil kim

on 4 April 2014

Comments (0)

Please log in to add your comment.

Report abuse

Transcript of CAN

Thank You!
Conventional Vehicle
Conventional & Modern vehicle comparison
Controller Area Network
CAN
GM J300, J309 (Cruze, Orlando) Topology
-Max cable length : 30m
-Max bus transfer rate up to 1 Mbit/s
-Max number of node : 30 units
-Normal bus load : 60Ω (2X120Ω, parallel connection)
-Number of turns of CAN wire (Min:33 turns, Max:55 turns)
-Zt (termination impedance) definition (60 ohm)
-Branch point (originated from main line)
CAN HW Characteristics
RSM L43(SM5) Topology

CAN High-Speed (HS)
Bit rate up till 1Mb/s, 500kb/s in Renault projects
Specifications:
ISO spec. : ISO 11898-2/11898-5
R/N spec. : 36-02-026/--A
HKMC spec. : ES95480-00

CAN Low-Speed Fault Tolerant (LSFT)
Limited to 125kb/s
Tolerant to line failures (Open Wire or Short-Circuit)
Specifications:
ISO specification : ISO 11898-3
R/N Spec. : 65610/2003/573

Vehicle Communication Spec.
1. KWP2000 (ISO 14230) : For diagnostic, normally 10.4Kbps, Max message length 255 bytes

2. LIN (ISO 9141) : Single wire, Single master & multi slave, Max 20Kbps, up to 64 nodes (normally less than 12 nodes)

3. CAN (ISO 15765) : Twisted wire, Multiple Master,
Max 1 Mbps, up to 30 nodes

4. FlexRay : Single or dual network channels, Max 10Mbps, Fault tolerant network, up to 64 nodes

5. MOST (Media Oriented Systems Transport) :
up to 64 devices, plug & play functionality, star or ring topology, maximum 23Mbps

Various Vehicle Communication Protocol
Notification to the Application or to the Network Management Layer

OSI Model (Reception deadline monitoring)

Battery Power

Ground

CAN High speed

OBDII Connector : SAE J1962
Diagnostic Connector Equivalent to ISO/DIS 15031-3
Standardization of
SAE J1850 PWM (Standard of Ford)
SAE J1850 VPW (Standard of GM)
ISO 9141-2, 14230 (K-line, L-line)
ISO 15765(CAN)

OBD II Connector

C_Mute
C_Absent

Confirmed_Mute or
Confirmed_Absent

Key Transmission Frame

KTF

Bus Off Notification

Communication Notification

Communication Failure Flags

Bus off recovery
Communication Notification
Communication Failure Flags

Station Management

Network Management Layer

Interaction(Presentation) Layer

Data Link Layer

OSI Model (Network Management Layer)

App. Layer

Data Link Layer

Physical Layer

IP Layer

Network Layer

0011 0101 1010 …. Binary data

0x35C …. Frames

Electrical signal

Packets

Summary of OSI Layer

AIRBAG_CANHS_R_01 Message

The application Layer performs the actual vehicle control operation. (Injection control, airbag igniter, etc.)
Sleep management
Station management

Message

Packets (0~4096 bytes)

Frame :

0x35C (001101011010b)

Station Management

Sleep Management

Transport Layer

Session Layer

CAN bus

Application Layer

Interaction(Presentation) Layer

Network Layer

Data Link Layer

Physical Layer

OSI Model (Application Layer)

Message

Packets (0~4096 bytes)

Frame :

0x35C (001101011010b)

Network Management Layer control and monitor communication resources of the network

Station Management

Sleep Management

Network Management Layer

Transport Layer

Session Layer

CAN bus

Application Layer

Interaction(Presentation) Layer

Network Layer

Data Link Layer

Physical Layer

OSI Model (Network Management Layer)

Concept
Topology
-Which protocol will be used (High-speed CAN, LSFT, LIN ...)
-ECU deployment(Packge), Harness length ....
-OEM release spec.
-Supplier developing the module

-Unit level HW test and validation (EMC, Environmental ...)
-Unit level SW test and validation (CAN communication, diagnostic ...)
Vehicle Validation
Vehicle Development
-Vehicle type (Sedan, Sports, Luxury ...)
-Features (ECM, Airbag, LDW, PAS ...)
ECU Development
-Bench level test
-Mule car test
-Proto vehicle test
Development finished
Brake
Brake
Pedal
Accl.
Pedal
Engine
Sensor
ACU
BCM
ECM
Airbag
-Twisted wire, Light weight
-Complex, Convenient
-Deploy lots of ECUs, Expensive
-Hardwired, Cheaper
-Simple, Easy to implement
-Heavy
Modern Vehicle
Crash Detected
No Crash Detected
Conventional
Modern
No Crash Detected
Crash Detected
Conventional Vehicle
*increasing number of functions
=> increasing number of wire

1. Brake wire
2. Acceleration wire
3. Parking wire
.....
Modern Vehicle
*increasing number of functions
=> increasing number of signal

1. Brake signal
2. Acceleration signal
3. Parking signal
.....
CAN Characteristics
* Message Based Communication

Messages are not transmitted from one node to another based on addresses, message itself is the priority and the contents
* Bus Access Method (Multi master system)

When bus is idle, any node may start to transmit a frame
* Information Routing

No need to know the transmitter of information, receivers accept or do not accept information based on filtering (Broadcasting)
* System flexibility

Nodes may be added to the CAN network without S/W H/W change of any node (if added node is not the transmitter)
* Automatic retransmission

When frames are lost or disturbed, transmission will be retransmitted automatically when the bus is idle
* Error detection

Data monitoring, CRC, Bit stuffing, Frame check, Ack check
Topology (Wiring Specification)
Topology (Wiring Specification)
Hardwired
Hardwired
CAN bus
Electrical Characteristics
Termination Resistor
HKMC JM(Tucson) Topology
OSI 7 Model
Physical layer
Data link layer
Network layer
Transport, session layer
Network, Sleep, Station managemet
Network layer
34.674676 1 2B0 Rx d
5

BC FF 00 07 55
;
DLC=5
,
Data=5 bytes
34.674908 1 329 Rx d 8 84 66 7F 94 4A 20 00 14
34.675158 1 370 Rx d 8 FF 20 00 00 FF 00 00 00
34.675398 1 43F Rx d 8 00 40 60 FF 38 70 11 00
34.675638 1 440 Rx d 8 FF 00 00 00 FF 68 11 00
34.675874 1 545 Rx d 8 DC 16 00 71 01 00 02 00
34.677084 1 153 Rx d 8 00 80 10 FF 00 FF 00 00
34.677328 1 220 Rx d 8 00 40 00 40 AD 00 00 40
CAN log file (UUDT)
0.0204 1 7E0 Tx d 8
0
2

21 80
00 00 00 00 00 ;
Single frame
,
DLC=2
,
Data=2 bytes
0.0017 1 7E8 Rx d 8 10 1A 61 80 30 34 34 30
0.0004 1 7E0 Tx d 8 30 00 0A 00 00 00 00 00
0.0005 1 7E8 Rx d 8 21 52 45 31 35 33 FF FF
0.0110 1 7E8 Rx d 8 22 FF FF FF 34 4C 7A 00
0.0110 1 7E8 Rx d 8 23 41 44 01 01 00 88 00

0.0047 1 7E8 Rx d 8 1
0 1A

61 80 30 34 34 30
;
DLC = 0x1A(26)
,
1st frame = 6 bytes
0.0004 1 7E0 Tx d 8
30
00 05 00 00 00 00 00 ;
Flow control
0.0005 1 7E8 Rx d 8
2
1
52 45 31 35 33 FF FF
;
Consecutive frame,
2nd frame = 7 bytes
0.0060 1 7E8 Rx d 8
2
2
FF FF FF 34 4C 7A 00
;
Consecutive frame,
3rd frame = 7 bytes
0.0060 1 7E8 Rx d 8
2
3
41 44 01 01 00 88
00 ;
Consecutive frame,
4th frame = 6 bytes
CAN log (USDT)
Network layer
USDT, less than 7 byte message - single frame
Network layer
Reception side
OSI 7 layer
OBD II connector
If you have questions, please come to me personally.
http://www.obd-2.de/stecker-belegungen.html
Network layer
2 Possibilities :

If the Packet is less than 8-bytes long, no segmentation

If the Packet is 8-bytes long or more, the Network Layer segments this packet

*
UUDT
(Unacknowlege Unsegmented Data Transmission)
: Most data from/to the gateway is
periodic and broadcasted
to all ECUs

*
USDT
(Unacknowledge Segmented Data Transmission)
: Most
Diagnostic messages
are event-driven messages
Message type
Interaction and Presentation Layer
Transmission monitoring
Interaction and Presentation Layer
Reception monitoring
Interaction and Presentation Layer
USDT, more than 7 byte message - Multi frame
Network layer
UUDT, max 8 bytes data
Vehicle
Development

Conventional &
Modern vehicle

CAN spec.
CANoe Practice
1. Network Hardware
2. New configuration
3. Simulation setup (DB association, IG..)
4. Measurement setup (Data log)
5. Trace setup (filter)
6. Graphic
CANdb++ Editor
** CAN message review
1. Network nodes
2. Messages (Tx, Rx)
-Layout
3. Signals
4. Byte order
-Big endian (Motorola)
-Little endian (Intel)
7E0 Tx d 8
0
2

21 80
00 00 00 00 00
* Motorola (GM, Renault/Nissan)
CAN tools
Full transcript