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Controller Area Network

The document provides specifications for CAN bus signal levels and bit rates. It lists the nominal and tolerance ranges for recessive and dominant signal levels in volts for CANHigh and CANLow lines. It also shows how maximum bit rate depends on bus length, with longer bus lengths supporting lower maximum bit rates. The document describes transmit and receive processes, noting the transmit register is filled by the application and received messages are filtered by the application. It contrasts transmit and receive mailbox configurations between initialising only and writing data each time versus only accepting predefined message IDs.

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bonthanagabhushanam
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126 views20 pages

Controller Area Network

The document provides specifications for CAN bus signal levels and bit rates. It lists the nominal and tolerance ranges for recessive and dominant signal levels in volts for CANHigh and CANLow lines. It also shows how maximum bit rate depends on bus length, with longer bus lengths supporting lower maximum bit rates. The document describes transmit and receive processes, noting the transmit register is filled by the application and received messages are filtered by the application. It contrasts transmit and receive mailbox configurations between initialising only and writing data each time versus only accepting predefined message IDs.

Uploaded by

bonthanagabhushanam
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Signal min CANHigh CANLow 2 2

recessive state nominal 2.5 2.5 max 3 3 min 2.75 0.5

dominant state nominal 3.5 1.5 max 4.5 2.25

unit

Volt Volt

Signal min CANHigh CANLow 1.6 3.1

recessive state nominal 1.75 3.25 max 1.9 3.4 min 3.85 0

dominant state nominal 4 1 max 5 1.15

unit

Volt Volt

Bus length (metres) 40 100 200 500 6 km

Maximum bit rate (bit/s) 1 Mbit/s 500 kbit/s 250 kpit/s 125 kbit/s 10 kbit/s

Transmit

The application fills complete Tx register including ID,RTR,datalength,data -> every ID can be transmitted Every CAN message can be received Normally two receive buffers in FIFO structure Global message filtering. It is normally not possible to set up the filter so that only the interesting messages are let through -> final filtering must be done by the application Remote frame are answered by the application Keep the oldest message (newer messages will be lost)

Receive

Remote frame handling Overrun philosophy

Transmit

Transmit mailboxes initialised Only data bytes written before transmission

once

Receive

Only messages with the IDs defined in receive mailboxes can be received No double buffering for mailboxes Full acceptance filtering (only the exact message IDs are let through) frame Remote frames are answered automatically by the controller Keep the newest message (older messages with the same ID will be lost)

Remote handling Overrun philosophy

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