CAN BUS

(Controller Area Network)

Contents
 Overview
 Data Information
 Frame Format
 Protocol
 Error Detection
 Implementations
 Basic CAN
 Full CAN
 FIFO
 Enhanced Full CAN
 Manufacturers
 Diagrams
Overview
 CAN (Controller Area Network) is a serial bus
system used to communicate between
several embedded 8-bit and 16-bit
microcontrollers.
 It was originally designed for use in the
automotive industry but is used today in many
other systems (e.g. home appliances and
industrial machines).
Overview (con’t)
 Highest Baud Rate is 1Mbit.
 CAN uses a message oriented transmission
protocol.
 There are no defined addresses, just defined
messages.
Data Information – Frame Format

 SOF – Start of Frame

 Identifier – Tells the content of message and priority
 RTR – Remote Transmission Request
 IDE – Identifier extension (distinguishes between CAN standard,11 bit
identifier, and CAN extended, 29 bit identifier.)
 DLC – Data Length Code
 Data – holds up to 8 bytes of data
 CRC – “Cyclic Redundant Check” sum
 ACK – Acknowledge
 EOF – End of Frame
 IFS – Intermission Frame Space. Minimum number of bits separating
consecutive messages.
Data Information - Protocol
 Messages are
distinguished by
message identifiers.
 The identifier is unique
to the network and
defines the content &
priority of the message.
Data Information – Protocol (con’t)
 When several messages
access the bus at the same
time, the one with the higher
priority “wins”.
 The identifier with the lowest
binary number has the
highest priority.
 The priority are specified
during system design and
cannot be changed
dynamically.
Data Information – Protocol (con’t)

 Access conflicts on the

bus are resolved by a
“wired and” mechanism,
where the dominate state
overwrites the recessive
state.
 All “losers” automatically
become receivers and
they won’t try to send
another message until the
bus becomes available
again.
Data Information – Error detection
 If one or more errors are detected, the transmission
is aborted. This prevents all other stations or nodes
from accepting the message.
 Re-transmission is automatic. If errors continue, then
the station or node may switch itself off to prevent the
bus from being tied up.
 Error detection is done on two levels:
 Message level
 Bit level
Data Information – Error detection
(con’t)
 Message Level
 CRC = Cyclic Redundant Check sum
 Frame Check = compares message to fixed format and
frame size
 ACK errors = if transmitter does not receive an ACK
signal from the receivers
 Bit level
 Monitoring = The transmitter monitors the bus signal as
it sends the message and compares the bit sent to the
bit received.
 Bit Stuffing = After five consecutive equal bits, the
transmitter inserts a stuff bit with a compliment value
into the bit stream. The receivers remove this stuff bit.
Implementations
 Basic CAN
 Limited number of
receive buffers and
filters
 Can get bogged down
quickly with multiple
consecutive
messages.
Implementation (con’t)
 Full CAN
 Has several message
objects (usually 15)
 Can loose data if
message objects are
setup for multiple filters
 Can still get bogged
down if too many
messages are sent
consecutively
Implementation (con’t)
 FIFO
 “First In First Out”
receive buffer
 Fixes problem with
multiple consecutive
messages
 Cannot allow a high
priority message to
move to front. It has to
wait its turn
Implementation (con’t)
 Enhanced Full Can
 Dedicated FIFO for
each individual
message object
 Very complicated to
use
 Less common
Manufacturers
 Over 20 different chip manufacturers produce
microcontrollers with on-chip CAN interfaces.
 Some more notable ones are:
 Cygnal
 Intel
 Motorola
 NEC
 Phillips
 Toshiba
Cygnal C8051F040/042 Block Diagram
CAN Controller Diagram
Useful Links
 Manufacturer and Product List
 http://www.can-cia.org/products/can/chips/
 CAN Information
 http://www.canbus.us/
 http://www.can-cia.org/can/
 Summary
 CAN (Controller Area Network) is a serial bus system used to
communicate between several embedded 8-bit and 16-bit
microcontrollers
 Data Information
 Frame Format
 Protocol – message oriented
 Error Detection
 Message level (CRC, frame check, ACK errors)
 Bit level (monitoring, bit stuffing)
 Implementations
 Basic CAN
 Full CAN
 FIFO
 Enhanced Full CAN
 Over 20 different chip manufacturers produce microcontrollers with
on-chip CAN interfaces including Cygnal, Intel, and Motorala.