In-Vehicle Networking

SAE Network classification

• Class A networks
– Low Speed (<10K bits/second)
– Convenience features: entertainment, audio, trip computer, etc.
• Class B networks
– Medium Speed (10K b/s to 125K b/s)
– General information transfer: instrument cluster, vehicle speed,
legislated emissions data/diagnostics, etc.
• Class C networks
– High Speed (125K b/s to 1M b/s or greater)
– Real-time control: powertrain control, braking, vehicle dynamics, etc.
Costs and Speeds for Automotive
Networks
Automotive Body Network
 Typical LIN Applications
Steering Wheel:
Roof: (very many controls are going to
(high amount of wiring) Rain be positioned on the steering
Sensor, Light Sensor, Light wheel) Cruise Control, Wiper,
Control, Sun Roof … Turning Light, …
(Rain Sensor needs to be Optional: Climate Control, Radio,
interrogated every 10-20ms) Telephone, etc.

Climate: Seat:
Many Small Many Seat Position
Motors Control Motors, Occupancy
Panel Sensor, Control Panel

Door/window/seat:
Mirror, Central ECU, Mirror,
Switch, Window Lift, Seat
Control Switch, Door Lock, etc.
 Hierarchical Network Struc
• CAN based network

• CAN + LIN
LIN implementation
 SubNets
• Necessary to reduce Busload on main Bus
• Solutions
– CAN
– Automotive Standard Bus
– Compatible with Main Bus
– Expensive (Die Size/ Dual Wire)
– Serial Sub Bus
– no standard Bus System
– not compatible with Main Bus
– inexpensive
– SCI-Based: Interface exists even on cheap devices
– Interface can easily be reconstructed by ASIC or CPLD
 Sub-Network: LIN vs. CAN
• LIN

• Dual Wire CAN

Comparison of general features of LIN
and CAN
Features LIN CAN
Medium access control single master multiple masters
Typical bus speed 2.4, 9.6 and 19.2kbps 62,5…1000kbps
Multicast message routing 6 bit identifier 11/29 bit identifier
Typical size of network 2…16 nodes 4…20 nodes
Data byte per frame 0… 8 2…8
Transmission time for 4 data 6 ms at 20kbps 0.8 ms at 125kbps
bytes
Error detection (data field) 8-bit checksum 15-bit CRC
Physical layer single-wire, 12 V twisted-pair, 5 V
Quarts/ceramic resonator master only Yes
Relative cost per network x 0.5 x 1.0
connection
 LIN History

• LIN (Local Interconnect Network) is a cost-effective and

deterministic communication system for connecting ECUs
with smart sensors, actuators and controls.
• LIN1.0: 1999.7
• LIN1.1: 2000.3
• LIN1.2: 2000.11
• LIN1.3: 2002.12
• LIN2.0: 2003.9
• LIN2.1: 2006.11
• J2602: 2004.8 the Society of Automotive Engineers
 Aim of LIN
• Open Standard
• Easy To Use
• Components available today
• Cheaper than CAN or J1850
• A LIN bus length is limited to 40 meters and up to 16 ECUs
could be connected.
 Sub Bus Concept
Basic Requirements:
• Satisfy Need for a Standard for Sub Busses
• Cost driven: The solution must be cheaper than CAN
• Reliability: Same Level as CAN expected
• Long Term Solution
• Logical Extension to CAN
• Scalable: Capability to extend Systems with additional nodes
• Lowering Cost of Satellite nodes:
– No Crystal or Resonator
– Easy implementation
– Simple State Machines
• Low Reaction Time (100 ms max)
• Predictable Worst Case Timing
 LIN Concept
Technical Solution
– Low cost single-wire implementation (enhanced ISO 9141)
– Speed up to 20Kbit/s (limited for EMI-reasons)
– Single Master / Multiple Slave Concept
 No arbitration necessary
– Low cost silicon implementation based on common UART/SCI
interface hardware
 Almost any Microcontroller has necessary hardware on chip!
– Self synchronization without crystal or ceramics resonator in the
slave nodes
 Significant cost reduction of hardware platform
– Guaranteed latency times for signal transmission (Predictability)
 Master / Slave Protocol
Master Task
– Determines order and priority of messages.
– Monitors Data and check byte and controls the error
handler.
– Serves as a reference with its clock base (stable clock
necessary)
– Receives Wake- Up Break from slave nodes
• Slave Task
– Is one of 2-16 members on the bus
– Receives or transmits data when an appropriate ID is sent
by the master.
– The node serving as a master can be slave, too!
 Master / Slave Protocol
Master
– has control over the whole Bus and Protocol
– The master controls which message at what time is to be
transferred over the bus. It also does the error handling.
– To accomplish this the master
• sends Sync Break
• sends Sync Byte
• sends ID-Field
• monitors Data Bytes and Check Byte, and evaluates them on
consistance
• receives WakeUp Break from slave nodes when the bus is
inactive and they request some action.
• serves as a reference with it’s clock base (stable clock necessary)
 Master/Slave Protocol
Slave
– Is one of 2-16 Members on the Bus and receives or transmits Data
when an appropriate ID is sent by the master.
• Slave snoops for ID.
• According to ID, slave determines what to do.
– either receive data
– or transmit data
– or do nothing.
• When transmitting the slave
– sends 1, 2, 4, or 8 Data Bytes
– sends Check-Byte
• The node serving as a master can be slave, too!
 Schedule table
• The master task (in the master node) transmits frame
headers based on a schedule table.
• The schedule table specifies the identifiers for each header
and the interval between the start of a frame and the start
of the following frame.
• The master application may use different schedule tables
and select among them.
 LIN protocol offers message timing
predictability
• Time Triggered Approach
• Message Length is known
– Number of transmitted data bytes is known
• Minimum length can be calculated
– Each Message has length budget of 140% of it’s minimum length
• maximum allowed length is known
• distance between beginning of two messages
 LIN protocol offers message timing
predictability
– Message sequence is known
• Master uses scheduling table

– Use of different scheduling tables is possible

• Provides Flexibility
Data Transmission
LIN Standard - Overview
 LIN (Local Interconnect Network)
• Low speed serial network designed for body control in automotive
applications
• Physical layer based on ISO 9141 (the K-line).
– Single wire plus ground
– Voltage level signaling
– Dominant/recessive bit levels
– Max 40 m wire length
– 1-20 kbit/s
• Data Link
– Media Access Control: Master/slave
– Serial asynchronous byte oriented communication
• UART compatible
– 64 uniquely identified messages
• Transport layer for diagnostic support
• Includes application layer development framework
 LIN Physical Layer
• Single Wire
• ISO 9141 Compliant
 Technical overview
• a single master and up to 16 slaves
• no arbitration
• deterministic traffic behavior and guarantees the latency times
• single wire
• Maximum data rate 20kbit
• byte-encoded according to the UART-protocol
 LIN frame
• Synchronization break,
• Synchronization byte,
• Identifier byte,
• Data bytes,
• Ckecksum byte.
 LIN frame
• A frame consists of a header (provided by the master
task) and a response (provided by a slave task).
 LIN message frame
• LIN message frame consists of a header and a response
part.
• header: the SYNC-break, SYNC-field and the identifier- (ID)
field
 Synchronization break
• Marks the Beginning of a Message Frame
• consists of at least 13 bits of zeroes.
• the slaves are allowed to have a baud rate that differs with 15% to
the masters
• Slave: to detect that a message is transmitted on the bus.
• For the master node, implemented in a microcontroller, the
procedure of sending a SYNC-break involves some tampering with
the UART-protocol.
 Synchronization field
• Specific Pattern for Determination of Time Base
• master send a header, slaves synchronize their clocks every time a
new message is received.
• Master: accurate resonator as a time reference.
• Slaves: synchronizes its clock from the falling edge of the start bit to
the bit 7 of the SYNC-byte and divides it by 8.
 Identifier field
•The slave nodes on the network are addressed by the ID- field.
• Message Identifier: Incorporates Information about the sender, the
receiver(s), the purpose, and the Data field length.
• 2 Parity Bits protect the highly sensitive ID-Field.
• Length 6 Bits, 64 Message Identifiers are possible.
• 4 classes of 1/2/4/8 Data Bytes. The length coding is in the 2 LSB
of the ID-Field. Each class has 16 Identifiers.

ID range Frame Length

00-31 0x00-0x1F 000000-011111 2
32-47 0x20-0x2F 100000-201111 4
48-63 0x30-0x3F 110000-111111 8
 Identifier
• The identifier field is sent by the master node to all LIN nodes
• This identifier normally contains one of 64 different values and
includes 2 parity bits in the 8 bit data
• The identifier is normally associated with a collection of signals that
are subsequently transmitted on the LIN bus
• In a specific case this can initiate SLEEP mode in the LIN slave
nodes – in this case no further data is transmitted on the LIN bus
LIN Message Frame
 response
• The response contains one to eight data bytes and one checksum
byte.
• The slave task is connected to the identifier and receives the
response, verifies the checksum and uses the data transport.
• Messages are created when the master node sends a frame
containing a header.
• The slave node(s) then fills the frame with data depending on the
header sent from the master.
 Data byte
• The data length is defined by ID5 and ID6 from the
identifier field.
• It can be 2, 4 or 8bytes.
 Cheksum byte
• The checksum (CRC) is computed only on the data field.
• All other fields are not included.
 LIN Communication –
Data from Master to Slave(s)
• a command frame (CMD frame).
• master sends a complete message frame for one ore more
slaves
 LIN Communication –
Data from Slave to Master
• request frames (REQ frame).
• master requests a response from a specific slave (polling)
 LIN Communication –
Data from Slave to Slave
• information sent between sensor and actuator.
• one slave sends its response to one or more slaves
 Frame Synchronisation - UART
• Initial conditions: +/- 4% baud rate accuracy relative the
transmitting source
• A standard transmission of data will require matched send
and receiver baud rates
 Frame Synchronisation - LIN
• Initial conditions: +/- 15% baud rate accuracy relative the
the LIN master transmitting the synchronisation frame
• A synch break must be at least 13 bit periods in duration to
allow for
 Bit-Synchronisation
• A start bit transition to a low logic level (dominant)
indicates a start of a byte, least significiant first and
completing with a logic high level (resessive) bit to indicate
the STOP bit
 Bit Sampling
• Within a UART, clocked high speed sampling is used to
aquire bit state
 Bit-Synchronisation

• After recognition of a Low level in the start bit, the data is sampled at a
rate 16 times the bit rate expected. The middle 3 samples must all agree
for an error free reception of the data.
• A stop bit is expected after 1 start bit and 8 data bits in a typical message
 LIN Physical Interface

• Note: The LIN specification refers to the ECU connector voltages !

 Network Configuration
• LIN Concept includes configuration interface:
– LIN description file describes complete LIN network and also
contains all information necessary to monitor the network.
– LIN Configuration Language Description is part of the LIN
Specification and gives tools the possibility to configure the
network and the nodes, diagnose the traffic, and/or simulate
missing nodes.
 The Work-flow
– Data Input
• Definition of objects
• Definition of relations between the objects
– Data Processing
• Logical Signal Mapping
• Signal Packing (Frame Editor/Frame Compiler)
• Timing Analysis
– Data Output
• Configuration file generation
• Various optional customer-defined post-operations
 Application Programmers
Interface
Standard API
• simplifies design of
Application Code
• opens up the market
for
competition.
 LIN Tools by VCT
• LIN Database Manager (LDM)
The LDM is a standalone offline tool, providing a
user-friendly Windows interface for logically
describing and configuring LIN systems at a high
abstraction level.
• LIN Configuration Tool (lcfg) and
LIN Application Programmer’s Interface (API) The
LIN API provides the embedded SW developer an
abstraction from details of information transfer.
Together with the LIN Configuration Tool and an
optimized embedded SW package the user gets
correctness and quality together with efficiency
and reconfiguration flexibility.
• LINspector
a highly flexible tool for testing and verifying
communication for compliance with the LIN
standard.
~ END ~