>) Computer and Communication Systems (Lehrstuhl fiir Technische Informatik) Vehicular Networks [C2X] Part 1: In-Car Networking Protocols: K-Line, CAN, and LIN [2x] Summer 2012 Protocols: K-Line, CAN, and LIN 1The K-Line Bus SERRE ERROR PERSE ee Oe eee Be ee @ The K-Line Bus Industry standard of the 80s, much later standardized as ISO 9141 » Numerous variants exist (esp. upwards of Link Layer) »® Lecture focuses on ISO 14230: The KWP 2000 (Keyword Protocol) Specifies Physical and Link layers » Bidirectional bus, communicating over 1 wire (the K Line) | Service Scan Too! or 'End of Production Line! | Programming =| or ‘System Checking [2x] summer 2012 Protocols: K-Line, CAN, and LIN 2The K-Line Bus Pll lll! eRe ee eee @ The K-Line Bus (contd.) ® Optional: additional unidirectional L Line @ Allows mixed networks (using only K Line / using both K+L Line) » Mostly used for connecting ECU Tester, seldom ECU < ECU » Logic levels are relative to on board voltage (< 20% and > 80%) » Bit transmission compatible to UART (Universal Asynchronous Receiver Transmitter): 1 start bit, 8 data bits, 1 stop bit, optional parity bit » Bit rate 1.2 kBit/s ... 10.4 kBit/s @ Dependent on ECU, not Bus @ Master must be able to handle multiple bit rates [2x] summer 2012 Protocols: K-Line, CAN, and LIN 3The K-Line Bus @ Protocol » Connection establishment (2 variants) @ Fast init (100 ms, Bitrate always 10,4 kBit/s) — Master sends Wake Up pattern (25 ms low, 25 ms pause) — Master sends Start Communication Request, includes dest address — ECU answers with keyword, after max. 50 ms — Keyword encodes supported protocol variants takes values from 2000 .. 2031 (KWP 2000) > 55mg, 25ms. 25ms <50ms, (w/ Keyword) L-Line Wake Up Fixed Bit Rate 10,4 kbit/s [2x] Summer 2012 Protocols: K-Line, CAN, and LIN 4The K-Line Bus @ Protocol »® Connection establishment (2 variants) @ 5 Baud init — Master sends destination address (using 5 Bit/s) — ECU answers: 0x55 (01010101), keyword low Byte, keyword high Byte (with desired data rate) — Master derives bit rate from pattern, sends Echo (inv. High Byte) — ECU sends Echo (inv. Destination address) Tester» ECU ECU > Tester Tester» ECU ECU — Tester >300mg ~~ 2s 5.300%) < 29s < 2Qps <20ms < 59s K-Line inv. Keyword Adress byte MISE L-Line Adress byte 5Bil/s Fixed bit rate, chosen by ECU, detected and adopted by master [2x] Summer 2012 Protocols: K-Line, CAN, and LIN 5The K-Line Bus @ Protocol » Communication always ated by master @ Master sends Request, ECU sends Response » Addressing @ Address length is 1 Byte @ Either physical address (identifies specific ECU) @ or logical address (identifies class of ECU) e.g., engine, transmission, ... @ Differentiated via format byte »® Duration of single transmission at 10.4 kBit/s @ best case: 250 ms, worst case 5.5s @i.e., application layer data rate < 1 KB/s [2x] Summer 2012 Protocols: K-Line, CAN, and LIN 6The K-Line Bus @ Protocol header » Format Byte @ Encodes presence and meaning of address bytes @ Short packet length can be encoded in format byte; length byte then omitted » Destination address » Source address » Length » Payload @ Up to 255 Byte @ First Byte: Service Identifier (SID) Ee ee eee »® Checksum Format byte Destination @ Sum of all Bytes (mod 256) Source Length Payload... Checksum [2x] summer 2012 Protocols: K-Line, CAN, and LIN 7The K-Line Bus @ Service Identifiers » Standard Service Identifiers @ Session Initi: ization and teardown — 0x81h Start Communication Service Request — 0x82h Stop Communication Service Request @ Configuring protocol timeouts — 0x83h Access Ti ing Parameter Request (optional) » Other SIDs are vendor defined @ Passed on (unmodified) to application layer @ Typical use: two SIDs per message type — First SID: Positive reply — Second: Negative reply [2x] Summer 2012 Protocols: K-Line, CAN, and LINThe K-Line Bus @ Error handling » If erroneous signal arrives @ ECU ignores message @ Master detects missing acknowledgement @ Master repeats message » If invalid data is being sent @ Application layer sends negative reply @ Master / ECU can react accordingly [2x] Summer 2012 Protocols: K-Line, CAN, and LIN 9The K-Line Bus @ Use in On Board Diagnostics (OBD) > > > > + = z < o + S wo oO < > BAT- K-Line OBD uses stricter protocol variant Bit rate fixed to 10.4 kBit/s No changes in timing Header no longer variable @ Length byte never included @ Address always included Max. Message length is 7 Byte Shall use logical addressing by tester, physical addressing by ECUs J1850- CAN-L L-Line BAT+ [2x] summer 2012 Protocols: K-Line, CAN, and LIN 10The CAN Bus @ The CAN Bus » ,Controller Area Network“ (1986) » Network topology: Bus » Two signal levels @ low (dominant), high (recessive) » Up to 110 nodes @ Limited by PHY layer =» At 125 kBit/s: max. 500m ECU 4 ECU 2 ECUn CAN Controller] Transceiver| BORG S BERGE Be ee 2 [2x] Summer 2012 Protocols: K-Line, CAN, and LIN 1The CAN Bus @ The CAN Bus » ISO 11898 @ Low Speed CAN (up to 125 kBit/s) @ High Speed CAN (up to 1 MBit/s) » Specifies OSI layers 1 and 2 @ Higher layers not standardized by CAN, covered by additional standards and conventions @ E.g., CANopen » Random access, collision free @ CSMA/CA with Bus arbitration » Message oriented » Does not use destination addresses [2x] Summer 2012 Protocols: K-Line, CAN, and LINThe CAN Bus SERRE RR ER EE BER Bee 2 eB ee @ Physical layer (typical) » High Speed CAN @ 500 kBit/s @ Twisted pair wiring @ Branch lines max. 30 cm @ Terminating resistor mandated (120 Q) @ Signal swing 2 V @ Error detection must happen within one Bit’s time = bus length is limited: 1MBit/s data rate 1<50m- [2x] Summer 2012 Protocols: K-Line, CAN, and LIN 3The CAN Bus SEER ER EESRE BER Bee ee ee @ Physical layer (typical) » Low Speed CAN @ Up to 125 kBit/s @ Standard two wire line suffices @ No restriction on branch lines @ Terminating resistors optional @ Signal swing 5 V gle Wire CAN @ 83 kBit/s @ One line vs. ground @ Signal swing 5 V [2x] Summer 2012 Protocols: K-Line, CAN, and LIN 14CAN in Vehicular Networks SERRE EERE PRR @ Bit Timing » Times derived from clock time (Quantum) Tg » Bit time T,, consists of sync segment Toyncsegy Propagation SEZMENT Tpropseg Phase SEgMENtS Tpnasesegi TPhaseseg2 (CaN be adapted by controller for synchronization) ® Tsyncsegt » Signal sampled between Tpracesegi ANd Tphaseseg2 » Standard recommends, e.g. at 500 kbps, Tg= 125 ns, T,,=16 Tg Propseg Must be longer than 2x propagation delay Tyyncseg=17q — Toropseg=1.--8 79 Tenasesegi= 1...8 7g Tphaseseg2 = MAX 27g f +t ‘ ++ +4 4 | 4 Bit begins Bit ends Signal Sampled SEE SGRGEREE PSE SEES SS Sees ee ee [2x] summer 2012 Protocols: K-Line, CAN, and LIN 15CAN in Vehicular Networks @ Address-less communication » Messages carry 11 Bit or 29 Bit message identifier » Stations do not have an address, Frames do not contain one »® Stations use message identifier to decide whether a message is meant for them Medium access using CSMA/CA with bit » Link layer uses 4 frame formats Data, Remote (request), Error, Overload (flow control) ise arbitration + » Data frame format: Start Control Bus Bit Bits Idle 11+1 or 29+3 Bit 15 bit | Acknowledge & Message Identifier CRC_ | End of Frame < >< >< >< > Header, 19 or 39 bit Payload, 0 ... 64 bit Trailer, 25 bit 23 bit 6 bit} DataO.. . 8 Byte [2x] summer 2012 Protocols: K-Line, CAN, and LIN 16CAN in Vehicular Networks @ CSMA/CA with bitwise arbitration (CSMA/CR) »® Avoids collisions by priority-controlled bus access » Each message contains identifier corresponding to its priority » Identifier encodes “O” dominant and “1” recessive: concurrent transmission of “O” and “1” results in a “O” » Bit stuffing: after 5 identical Bits one inverted Stuff-Bi (ignored by receiver) inserted » When no station is sending the bus reads “1” (recessive state) »® Synchronization happens on bit level, by detecting start bit of sending station [2x] summer 2012 Protocols: K-Line, CAN, and LINCAN in Vehicular Networks SERRE ERROR PERSE ee Oe eee Be ee @ CSMA/CA with bitwise arbitration (CSMA/CR) » Wait for end of current transmission @ wait for 6 consecutive recessive Bits » Send identifier (while listening to bus) » Watch for mismatch between transmitted/detected signal level @ Means that a col ion with a higher priority message has occurred @ Back off from bus access, retry later »® Realization of non-preemptive priority scheme » Real time guarantees for message with highest priority @i.e., message with longest “O”-prefix [2x] summer 2012 Protocols: K-Line, CAN, and LIN 18CAN in Vehicular Networks @ CSMA/CA with bitwise arbitration (CSMA/CR) » Example (recall: “0” dominant, “1” recessive) {C2x] Summer 2012The CAN Bus @ CSMA/CA with bitwise arbitration (CSMA/CR) » Client 2 recognizes bus level mismatch, backs off from access Client 1 Client 2 Client 3 Bus [2x] summer 2012 Protocols: K-Line, CAN, and LIN 20The CAN Bus @ CSMA/CA with bitwise arbitration (CSMA/CR) » Client 1 recognizes bus level mismatch, backs off from access Client 1 Client 2 Client 3 Bus [2x] summer 2012 Protocols: K-Line, CAN, and LIN 21The CAN Bus @ CSMA/CA with bitwise arbitration (CSMA/CR) »® Client 3 wins arbitration Client 1 Client 2 Client 3 Bus [2x] summer 2012 Protocols: K-Line, CAN, and LIN 22The CAN Bus @ CSMA/CA with bitwise arbitration (CSMA/CR) »® Client 3 starts transmitting data Client 1 Client 2 Client 3 Bus [2x] summer 2012 Protocols: K-Line, CAN, and LIN 23The CAN Bus: TTCAN SERRE EERE PRR @ Time-Triggered CAN (TTCAN) » ISO 11898-4 extends CAN by TDMA functionality » Solves non-determinism of regular CAN Improves on mere “smart” way of choosing message pri » One node is dedicated “time master” node » Periodically sends reference messages starting “basic cycles” » Even if time master fails, TTCAN keeps working @ Up to 7 fallback nodes @ Nodes compete for transmission of reference messages @ Chosen by arbitration Reference eee Next Ref. Message Message | | Basic cycle S000 0 [2x] Summer 2012 Protocols: K-Line, CAN, and LINThe CAN Bus: TTCAN @ TTCAN Basic Cycle » Basic cycle consists of time slots @ Exclusive time slot — Reserved for dedicated client @ Arbitration time slot — Regular CAN CSMA/CA with bus arbitration »® Structure of a basic cycle arbitrary, but static » CAN protocol used unmodified > Throughput unchanged =» TTCAN cannot be seen replacing CAN for real time applications @ Instead, new protocols are being used altogether (e.g., FlexRay) [2x] summer 2012 Protocols: K-Line, CAN, and LIN 25The CAN Bus SEES SSSR S08 CE ee a ee @ Message filtering » Acceptance of messages determined by message identifier » Uses two registers @ Acceptance Code (bit pattern to filter on) @ Acceptance Mask (“O” marks relevant bits in acceptance code) NA EA Acceptance Code Reg. 0 0 Acceptance Mask Reg. 1 #1 1 1 #1 1 1 0 0 0 0 Resulting Filter Pattern O 1 14 #0 1 #4 #4 X X X X [2x] summer 2012 Protocols: K-Line, CAN, and LIN 26The CAN Bus @ Data format » NRZ » Time synchronization using start bit and stuff bits (stuff width 5) » Frame begins with start bit » Message identifier 11 Bit (CAN 2.0A), now 29 Bit (CAN 2.0B) El a 15 SB Control Bits Data CRC Acknowledge & End of Frame [2x] summer 2012 Protocols: K-Line, CAN, and LIN 27The CAN Bus SERRE RR ER EE BER Be ee eB Be ee @ Data format »® Control Bits @ Message type (Request, Data, Error, Overload) @ Message length ee SB Identifier La Data CRC Acknowledge & End of Frame [2x] summer 2012 Protocols: K-Line, CAN, and LIN 28The CAN Bus SERRE RR ER EE BER Bee 2 eB ee @ Data format » Payload @ Restriction to max. 8 Byte per message @ Transmission time at 500 kBit/s: 260 ps (using 29 Bit ID) @i.e., usable data rate 30 kBit/s ee SB Identifier Control Bits CRC Acknowledge & End of Frame [2x] summer 2012 Protocols: K-Line, CAN, and LINThe CAN Bus @ Error detection (low level) » Sender checks for unexpected signal levels on bus » All nodes monitor messages on the bus @ All nodes check protocol conformance of messages @ All nodes check bit stuffing » Receiver checks CRC » If any(!) node detects error it transmits error signal @ 6 dominant Bits with no stuffing » All nodes detect error signal, discard message SORES SER SES SS SSRs eee ee ee [2x] Summer 2012 Protocols: K-Line, CAN, and LIN 30The CAN Bus @ Error detection (high level) » Sender checks for acknowledgement @ Receiver transmits dominant “O” during ACK field of received message » Automatic repeat of failed transmissions » If controller finds itself causing too many errors @ Temporarily stop any bus access » Remaining failure probability ca. 10-14 [2x] Summer 2012 Protocols: K-Line, CAN, and LIN 31The CAN Bus: Transport Layers SERRE ERROR PERSE ee Oe eee Be ee @ Not covered by ISO 11898 (CAN) standards » Fragmentation » Flow control » Routing to other networks @ Add transport layer protocol » |SO-TP @ ISO 15765-2 =» TP 2.0 @ Industry standard >. [2x] Summer 2012 Protocols: K-Line, CAN, and LIN 32The CAN Bus: ISO-TP @ |SO-TP: Header ® Optional: 1 additional address Byte @ Regular addressing — Transport protocol address completely in CAN message ID @ Extended addressing — Uniqueness of addresses despite non-unique CAN message ID — Part of transport protocol address in CAN message ID, additional address information in first Byte of TP-Header » 1 to 3 PCI Bytes (Protocol Control Information) @ First high nibble identifies one of 4 types of message @ First low nibble and addl. Bytes are message specific a it) Addl. PCI PCI ee high low (opt) Addl. PCI Bytes Payload [2x] summer 2012 Protocols: K-Line, CAN, and LIN 33The CAN Bus: ISO-TP SE ISO-TP: Message type “Single Frame” »® 1 Byte PCI, high nibble is 0 low nibble gives number of Bytes in payload »® PCI reduces frame size from 8 Bytes to 7 (or 6) Bytes, throughput falls to 87.5% (or 75%, respectively) » No flow control Payload ee ee (Address) 0 Len Payload [2x] summer 2012 Protocols: K-Line, CAN, and LIN 34The CAN Bus: ISO-TP SEES SSSR S08 CE ee a ee ISO-TP: Message type ,,First Frame“ » 2 Bytes PCI, high nibble is 1 low nibble + 1 Byte give number of Bytes in payload » After First Frame, sender waits for Flow Control Frame (Address) 1 Len Payload ISO-TP: Message type ,,Consecutive Frame“ »® 1 Byte PCI, high nibble is 2 low nibble is sequence number SN (counts upwards from 1) @ Application layer can detect packet loss » No additional error detection at transport layer (Address) 2 Payload ae [2x] summer 2012 Protocols: K-Line, CAN, and LIN 35The CAN Bus: ISO-TP ISO-TP: Message type ,,Flow Control Frame“ » 3 Bytes PCI, high nibble is 3 » low nibble specifies Flow State FS » FS=1: Clear to Send @ Minimum time between two Consecutive Frames must be ST @ Sender may continue sending up to BS Consecutive Frames, then wait for new Flow Control Frame » FS=2: Wait @ Overload @ Sender must wait for next Flow Control Frame » Byte 2 specifies Block Size BS » Byte 3 specifies Separation Time ST (Address) 3 FS BORG S BERGE Be ee 2 [2x] summer 2012 Protocols: K-Line, CAN, and LIN 36The CAN Bus: TP 2.0 SERRE EERE PRR Pll lll! SS RRS eee @ TP2.0 » Connection oriented » Communication based on channels »® Specifies Setup, Configuration, Transmission, Teardown » Addressing @ Every ECU has unique logical address; additional logical addresses specify groups of ECUs @ for broadcast und channel setup: logical address + offset = CAN message identifier @ Channels use dynamic CAN message identifier [2x] Summer 2012 Protocols: K-Line, CAN, and LIN 37The CAN Bus: TP 2.0 @ TP 2.0: Broadcast » Repeated 5 times (motivated by potential packet loss) » Fixed length: 7 Byte » Byte 0: @ logical address of destination ECU » Byte 1: Opcode @ 0x23: Broadcast Request @ 0x24: Broadcast Response » Byte 2, 3, 4: @ Service ID (SID) and parameters » Byte 5, 6: @ Response: 0x0000 @ No response expected: alternates between 0x5555 / OxAAAA a Dest Opcode SID, Parameter 0x55, 0x55 BORG S BERGE Be ee 2 [2x] summer 2012 Protocols: K-Line, CAN, and LIN 38The CAN Bus: TP 2.0 A @ TP 2.0: channel setup » Byte 0: logical address destination ECU » Byte 1: Opcode @ OxCO: Channel Request @ OxDO: Positive Response @ OxD6 .. OxD8: Negative Response » Byte 2,3:RXID ® Validity nibble of Byte 3 is 0 (1 if RX ID not set) » Byte 4,5: TXID @ Validity nibble of Byte 5 is 0 (1 if TX ID not set) » Byte 6: Application Type @ cf. TCP-Ports Dest Opcode RX ID TX ID sutens susan oossunnseosnmamnminvnbmnsos sober penne [2x] summer 2012 Protocols: K-Line, CAN, and LIN 39The CAN Bus: TP 2.0 SERRE EER SE PERSE ee Oe ee Be ee @ TP 2.0: channel setup (II) »® Opcode OxCO: Channel Request @ TX ID: CAN msg ID requested by self @ RX ID: marked invalid » Opcode OxD0: Positive Response @ TX ID: CAN msg ID requested by self @ RX ID: CAN msg ID of original sender ™ Opcode OxD6 .. OxD8: Negative Response @ Reports errors assigning channel (temporary or permanent) @ Sender may repeat Channel Request » After successful exchange of Channel Request/Response: dynamic CAN msg IDs now assigned to sender and receiver next message sets channel parameters Dest OxcO TX ID App suuitsnssusatnntnon4uhonsnisnnine nmi osmium penne [2x] summer 2012 Protocols: K-Line, CAN, and LIN 40The CAN Bus: TP 2.0 @ TP 2.0: set channel parameters » Byte 0: Opcode @ OxA0: Channel Setup Request (Parameters for channel to initiator) @ OxA1: Channel Setup Response (Parameter for reverse channel) » Byte 1: Block size @ Number of CAN messages until sender has to wait for ACK » Byte 2, 3, 4, 5: Timing parameters @ E.g., minimal time between two CAN messages @ TP 2.0: misc. channel management and teardown » Byte 0: Opcode @ OxA3: Test — will be answered by Connection Setup Response @ OxA4: Break — Receiver discards data since last ACK @ OxA5: Disconnect — Receiver responds with disconnect, too Timing ee [2x] summer 2012 Protocols: K-Line, CAN, and LIN aThe CAN Bus: TP 2.0 @ TP 2.0: Data transmission via channels » Byte 0, high nibble: Opcode @ MSB=0 — Payload — /AR=0—- Sender now waiting for ACK — EOM=1 - Last message of a block @ MSB=1 — ACK message only (no payload) — RS=1-ready for next message (> flow control) » Byte 0, low nibble @ Sequence number Cree ney » Bytes 1.. 7: Payload 0 0 /AR EOM Op Payload sus uns nso ae eens nme [2x] summer 2012 Protocols: K-Line, CAN, and LIN a2The LIN Bus SERRE RR ER EE BER Bee 2 eB ee @ Local Interconnect Network (LIN) @ 1999: LIN 1.0 @ 2003: LIN 2.0 » Numerous extensions @ LOGAL INTERCONNECT NETWORK » Backwards compatible (only) @ Goal of LIN: be much cheaper than low speed CAN » Only reached partway @ specifies PHY and MAC Layer, API Application API Diagnostic _| Signal interaction Protocol frame handler Physical —3—————_—_———_ LIN bus line S00 [2x] Summer 2012 Protocols: K-Line, CAN, and LIN 43The LIN Bus Very similar to K-Line Bus Master-slave concept with self synchronization ™ no quartz needed » lax timing constraints LIN master commonly also part of a CAN bus » LIN commonly called a sub bus Bidirectional one-wire line, up to 20 kBit/s Bit transmission UART compatible » 1 Start Bit, 8 Data Bits, 1 Stop Bit Message oriented » No destination address Slave Slave Slave Function Function Function HOS SEE EERE ER a ee ee ee ee ee ee ee ee [2x] Summer 2012 Protocols: K-Line, CAN, and LIN 44The LIN Bus @ Rudimentary error detection »® Sender monitors bus » Aborts transmission on unexpected bus state @ Noerror correction @ Starting with LIN 2.0: Response Error Bit »® Should be contained in periodic messages » Set (once) if slave detected an error in last cycle @ Static slot schedule i » “Schedule Table” » Determines cyclic schedule of messages transmitted by master > Bus timing mostly deterministic the master ® Slaves do not need to know schedule > can be changed at run-time [2x] summer 2012 Protocols: K-Line, CAN, and LIN 45The LIN Bus @ Data request » Sync Break (213 Low Bits, 1 High Bit) @ Not UART compliant > uniquely identifiable ® Sync Byte 0x55 (01010101) @ Synchronizes bit timing of slave » LIN Identifier (6 data Bits + 2 parity Bits) @ Encodes response’s expected message type and length @ 0x00 .. 0x3B: application defined data types, 0x3C .. Ox3D: Diagnosis, Ox3E: application defined, Ox3F: reserved @ Parity Bits: 1,2 1, ® |, ® lyand-(I, ® 1, ® I, © Is) Bus Idle 21 bit triggers Data Response Syne Break Syne LIN 213 bit | Byte 55h Identifier st + | Checksum L Jo’ J aa + Data request, sent by master Data response, sent by slave [2x] summer 2012 Protocols: K-Line, CAN, and LIN 46The LIN Bus @ Data response »® Slave responds with up to 8 Bytes of data @ LSB first, Little Endian @ length was defined by LIN Iden » Frame ends with checksum @ LIN 1.3: Classic Checksum (only data bytes) @ LIN 2.0: Enhanced Checksum (data bytes + Iden’ @ Checksum is sum of all Bytes (mod 256), plus sum of all carries Bus Idle 24 bit triggers Data Response Syne Break Syne LIN 213 bit | Byte 55h Identifier st + | Checksum L Jw J a ~a Data request, sent by master Data response, sent by slave. [2x] Summer 2012 Protocols: K-Line, CAN, and LIN a7The LIN Bus @ Types of requests » Unconditional Frame » Event Triggered Frame ® Sporadic Frame > @ Unconditional Frame » Most simple frame type » Designed for periodic polling of specific data point »® Exactly one slave answers » LIN is a single master system > timing of unconditional frames fully deterministic » Sample use case: @ Request “did state of front left door contact change?” every 15 ms @ Receive negative reply by front left door ECU every 15 ms Pe oo ooo 0 [2x] summer 2012 Protocols: K-Line, CAN, and LIN 48The LIN Bus SERRE ERROR PERSE ee Oe eee Be ee @ Types of requests » Unconditional Frame » Event Triggered Frame ® Sporadic Frame > @ Event Triggered Frame » Simultaneous polling of multiple slaves, slave answers if needed ®» Collisions possible (> non-determinism), detect by corrupt. data @ master switches to individual polling via Uncon ional Frames » Use whenever slaves unlikely to respond » Sample use case: @ Request “did state of a door contact change?” every 15 ms @ Change in state unlikely, simultaneous change extremely unlikely [2x] summer 2012 Protocols: K-Line, CAN, and LIN 49The LIN Bus @ Types of requests » Unconditional Frame » Event Triggered Frame ® Sporadic Frame > @ Sporadic Frame » Sent (by master) only when needed » Shared schedule slot with other Sporadic Frames » Use whenever polling for specific data only seldom needed » If more than one Sporadic Frame needs to be sent, master needs to decide for one > no collision, but still non-deterministic » Sample use case: @ Request ,,power window fully closed?“ every 15 ms @ ...only while power window is closing Pe oo ooo 0 [2x] summer 2012 Protocols: K-Line, CAN, and LIN 50The LIN Bus @ Doing Off-Board-Diagnosis of LIN ECUs » Variant 1: Master at CAN bus responds on behalf of ECU on LIN @ Keeps synchronized state via LIN messages »® Variant 2: Master at CAN bus tunnels, e.g., KWP 2000 messages @ Standardized protocol @ LIN dest address is 0x3C (Byte 1 is ISO dest address) @ Dest ECU (according to ISO address) answers with address 0x3D @ Independent of payload, LIN frame padded to 8 Bytes @ LIN slaves have to also support KWP 2000 @ Contradicts low cost approach of LIN @ “Diagnostic Class” indicates level of support [2x] summer 2012 Protocols: K-Line, CAN, and LIN 51Main Takeaways @ Overall > > ess {C2x] Summer 2012 Design goals Message orientation vs. address orientation, Addressing schemes Medium access Flow control Real time guarantees and determinism Mainly for diagnostics Transmission uses UART signaling Communication using Request- Response pattern » > > @ CAN ®» Still standard bus in veh ™ Message oriented » CSMA/CA with bitwise arbitration @ Impact on determinism ® TTCAN (TDMA) » Error detection ® Transport layer: ISO-TP vs. TP 2.0 ® Flow control, channel concept les @ LIN =» Goals Deployment as sub bus Message types and scheduling Determinism ees Protocols: K-Line, CAN, and LIN 52