CAN communication

1. Introduction to CAN network

Background of communication application

 Delivering any information

What is communication?
 Need a way to deliver information such as language, light, and acting

[Wiring connection method] [ Apply communication network ]

Vehicle application
Network configuration

▶ Network type

BUS type
 Applied to CAN communication
 Intervention required for multiple access
BUS type
 Simple structure
 Easy to add /remove controls

 Not used in vehicles

STAR type  Information transfer via hub

Star Brothers

 Applied to multimedia communication (MOST )

RING type  No loss due to multiple connections
 Communication failure occurs when the controller is defective
Ring type
Network configuration

▶ Major terms of communication

BUS type  Serial Communication

Serial communication  Data is transferred sequentially
 CAN, LIN communication, etc.

 Parallel Communication
Parallel communication
 Transfer data to multiple lines simultaneously

Star Brothers
 Synchronous Communication
Synchronous communication  Need a separate line for synchronization
 MOST communication

 ASynchronous Communication
Asynchronous communica- St St
Ring typetion art op  Synchronize in Data Frame
bit bit

 CAN, LIN communication, etc.

Network configuration

▶ Major terms of communication

① Data request
BUS type
 Principal relationships in data transmission
Master/Slave  Respond to Master's request
 LIN communication
②Response

 All controllers can send data

Multi Master  Communication priority required
 CAN communication
Major communication methods

▶ Comparison of major communication methods

FTLS CAN HS CAN

Classification K-line KWP 2000 LIN MOST
(B-CAN) (C-CAN)

ISO 11898-1 ISO 11898-2

Standard ISO 9141 ISO 14230 Association Standards Association Standards
ISO 11898-3 ISO 11898-5

Communica-
tions Master/slave Multi-master Circulation structure
Subject

Communica-
tions Line 1 Second Line Optical cable
Line

Communica- 100Kbit/s 500Kbit/s 25Mbit/s

tions 4.8Kbit/s 10.4Kbit/s 20Kbit/s
(up to 125 Kbit/s) (up to 1 Mbit/s) (up to 150 Mbit/s)
Speed
Major communication methods

▶ Comparison of major communication methods

FTLS CAN HS CAN
Classification K-line KWP 2000 LIN MOST
(B-CAN) (C-CAN)

Standard
12V 0V/5V 2.5V
Voltage

Beat
Time 208 ㎲ 96 ㎲ 50 ㎲ 10 ㎲ 2㎲ 44 ㎱

Per frame Approximately 22.6

Number of bits 14~18.7 ㎳ 6.7~8.6 ㎳ Up to 6 m3 1.1~1.3 ㎳ 222~260 ㎲ m3

Application · Convenience device

· Immobilizer certifica- · Diagnostic equipment · Body length · Powertrain
and parking assist · Multimedia
tion communication · Multimedia · Chassis control
Scope system

· Response to communi-
Major · Consisting of headers/ · Sensitive to communi- · Strong against external
·Response after requesting data cation line failure
Features respawns
(Line 1)
cation line failure noise
Major communication methods

 Diagnostic communication relay

KWP 2000 method UDS communication method

[Diagnostic equipment]

C-CAN B-CAN
[BCM] [SJB]
(500Kbit/s) (100Kbit/s)

KWP 2000 B-CAN

* Example) Sonata (YF) and many * Example) New vehicles after Santa Fe (DM ), K9
others.
Data Transfer Flow

▶ Meaning of waveform
 The communication waveform transmits information in a combination of ‘1’ and ‘0’.

Reference voltage: 10 V
Signal:‘ 1 ’

Signal:‘ 0 ’

Time of data transfer (frame)

Data Transfer Flow

 Process of waveform creation (based on CAN)

제어기 [ A] 제어기 [ B ]

C AN C AN C AN C AN
MC MC
Co n t Tr a n Tr a n Co n t

When transferring data When data is received

1. Transfer data from MC 1. Receive signals of ‘1’ and ‘0’ from the CAN transceiver
2. Frame configuration on CAN controller 2. Frame analysis and data generation on the CAN controller
3. The CAN transceiver configures the frame into signals ‘1’ 3. Control after receiving signals from MC
and ‘0’ and sends them to the BUS.
Network configuration

BUS type

12V → 0V
 Binary consists of ‘ 1’’ and ‘ 0’.
Dominant, recessive  Voltage in different binary states
 Dominance always prevails over recession

Star Brothers

Ring type
Data Transfer Flow

 BUS voltage level

NRZ

High
3.5V

BUS type
2.5V
 the voltage difference between the two lines
C-CAN Low · 0 V thermal (‘ 1 ’)
1.5V
·If the voltage is 2V or higher, it is dominant (‘ 0 ’)
recessive Dominance
('1') ('0')

Low
5V
3.5V  the voltage difference between the two lines
· 5 V thermal (‘ 1 ’)
B-CAN 1.5V ·If the voltage is less than 2V, it is dominant (‘ 0 ’)
Star Brothers High
0V  Application of fault tolerance function

recessive Dominance
('1') ('0')

12V  Based on 12 V
K-Line recessive ('1').
Ring typeLIN · Thermal properties of 9.6V (80%) or higher (‘ 1 ’)
·Preference of 2.4V (20%) or less (‘ 0 ’)

Dominance ('0')
0V
Data Transfer Flow

▶ Termination resistance

 A constant current flows through the BUS.

 Reduce the signal reflected by collision at both ends of the BUS

C-CAN B-CAN, M-CAN

Termination resistance Termination resistance

(120Ω) (120Ω)

☞ Applied inside controller configured at both ends of BUS ☞ Applied inside all controllers
2. Communication frame structure
Protocol

▶ The protocol is
 A communication protocol that sets rules for communication, transmission method, error management, etc.
 Registered primarily as standards by ISO (International Standards Organization), SAE (American Society of
Automotive Engineers)

▶ What can be found in the protocol

 How to connect or deliver controllers

 Control period communication method
 Data format exchanged
 To detect data errors
 Code conversion method
 Other information required for communication
Data Frame Analysis

▶ K-Line

 Frame structure

Target
Data length Data features Data #1 Data #2 Data #3 Data #4 Data #5 Check Thumb
Controller ad- (1byte) (1byte) (1byte) (1byte) (1byte) (1byte) (1byte) (1byte)
dress
(1byte)

2. Target Controller Address 5. Data

The actual data transmitted and received by the controller. Use

specify the controller to receive the data
2 to 5 bytes depending on the amount of data

3. Data Length 6. Check Thumb

It is a space used to verify data. All data is calculated by adding

Indicates how long the data is sent
and accumulating 8 bits, and then verified with the remaining
values.
4. Data Items and Features

Display data items and contents

Data Frame Analysis

▶ LIN communication

 Frame structure

Block synchronization Synchronization Identifier Data #1 to #8 Check Thumb

(13bit) (1byte) (6bit) (1 byte each for a total of 8 bytes) (1byte)

Header (Request signal sent by master) Response

1. Synchronization blocking 4. Data

It signals the start of a new frame and outputs a dominant It is the actual data transmitted and received by the controller.
signal of 13 bits The length depends on the amount of data.

2. Synchronization 6. Check Thumb

Slave synchronization induction It is a space used to verify data. All data is calculated by adding
and accumulating 8 bits, and then verified with the remaining
3. Identifier values.

Specify the ID of the data being sent

Data Frame Analysis

▶ CAN communication

 Frame structure

SOF Arbitration Areas DLC Data #1 to #8 CRC area ACK EOF IFS
(1bit) (11byte) (6byte) (up to 64 bits per 1 byte) (15bit) (2bit) (7bit) (3bit)

1. SOF

· Signal indicating the start of sending data by a specific controller when the BUS is in idle state
·1bit dominant signal is transmitted, and other controllers are synchronized based on this signal

2. Arbitration Areas

· Det ermine priority when multiple controllers send signals to the BUS at the same time
· BUS as data priority, not controller
· RTR bits are also included in the Arbitration Areas
Data Frame Analysis

▶ CAN communication

 Frame structure

SOF Arbitration Areas DLC Data #1 to #8 CRC area ACK EOF IFS
(1bit) (11byte) (6byte) (up to 64 bits per 1 byte) (15bit) (2bit) (7bit) (3bit)

3. DLC

Indicates the length of data with information

4. Data Area

It consists of a total of 8 bytes, and up to 64 bits depending on the amount of data.

5. CRC Area

· The bit flow from the start of the frame to the data is expressed in polynomial f(x) and transmitted
· Check whether the controller that received the data matches the CRC value after calculating the frame (amount and part of the data)
Data Frame Analysis

▶ CAN communication

 Frame structure

SOF Arbitration Areas DLC Data #1 to #8 CRC area ACK EOF IFS
(1bit) (11byte) (6byte) (up to 64 bits per 1 byte) (15bit) (2bit) (7bit) (3bit)

6. ACK

Signals indicating that data has been received normally

4. EOF

Seven recessive signals are sent as a signal indicating the end of the frame.

5. IFS

· The period during which one frame is finished and the next frame is prepared
· No signal can be transmitted
Error type

Error type Description

Beat error If the bit sent by the controller and the Feedback bit are incorrect

Filling error If more than 5 consecutive bits are detected

Response error If no one has received an incoming response to the transmitted data (ACK response)

CRC error If the calculated CRC value is incorrect (send side and receive side)

Frame structure error If the data frame format is invalid

Separator error If there is no distinction between ACK and CRC

Type of error in CAN communication

▷ CAN communication error type

 BUS-OFF

 TIME-OUT Diagnostic communication error

 MESSAGE ERROR

 LENGTH ERROR

 DELAYED ERROR
Understand network control relationship and CAN schematic
Network Control Relations

▶ Messages and signals

Messages Signal

EMS Messages EMS 1 Engine RPM, torque, vehicle speed … 64bit

ECM EMS 2 APS, TPS, atmospheric pressure … 56bit

EMS 3 WTS , intake air temperature, MAP … 64bit

…
High
Cluster
High Low Low

• CLU1
TCU VDC SPAS EPB
• CLU2

• TCU1 • VDC1 • SPAS1 • EPB1

• TCU2 • VDC2 • SPAS2 • EPB2
Network Control Relations

▶ Relationship between message and

signal  Message: EMS3  ID: 0280H

 Prioritize by ID

 One message size is up to 64 bits

 Signal position is determined in the message and the value of

the signal is determined by bit

 For switch signals, 1 and 0 are treated as 1 bit

 TPS requires 90 values and is treated as 7 bits

 Signal Description  Signal position and size

 Signal entry
(bit)
Network Control Relations

▶ Message transfer waveform

☞ Waveform in data units (size with 1 message)

Network Control Relations

▶ Message transfer waveform

 Waveform measured by FLUKE, C-CAN HIGH (1 waveform with actual data)

1 size of data (16 bytes)≒ 240 m3

Time = 50 ㎲ Time = 20 ㎲
CAN related failure cases
Terminating resistance

Model XCIENT Start (OK) shift (NO ) did not start.

Phe-
Self-diagnosis engine is not available.
nomen
Engine Powertech 440/206 [10 EM ] on Mission Entry Possible Diagnosis Nor-
mal Message

T/M Astronic
Cause Main wiring short circuit.Disconnection
Mileage 550,000 Km

As a result of the termination resistance

test, it is possible to take faster action than Display unit self-diagnosis 180.181 .183 , etc.
expected, so the repair is completed by
soldering the wiring down the passenger Check the termination resistance of the diag-
nostic connector 190 ohms, considering it a
Inves- seat junction box top with disconnection
CAN communication problem.
tiga- and short circuit. Remedy
Surprisingly, this part is pointed out as a One out of two longitudinal resistors is prob-
tion lematic
multiple problem.
The problem is that it interferes with the Waveform inspection check HI~LO not syn-
bracket that fixes the wire and causes de- chronized.
terioration.
Terminating resistance
Intermittent gear shifting is not possible

Model EURO 5 Xcient Intermittent instrument cluster CM warn-

Phe- ing light is turned on and gear shifting is
Engine D6CE nomen not possible
on It cannot be reproduced when the engine
T/M AMT is turned on or off.

Mileage 162,272km CAN communication wiring connected to the

Cause passenger seat is damaged due to interference
1) Check CAN communication error during self-di- with the vehicle body.
agnosis
2) When measuring CAN communication resistance
at the terminal on the CM side, it is normally con-
firmed as 60 Ω .
3) Interference with B-CAN yellow wiring body Development cannot be reproduced during
when measuring insulation resistance of CAN com- Remedy commissioning after wiring taping
Inves- munication wiring during reproduction of develop-
ment
tiga- (0.4 Ω is checked when checking the insulation of the
tion vehicle body, and 60 Ω is checked for the green
wiring)
4) The phenomenon is the same when measuring af-
ter removing the connector related to CAN commu-
nication at the bottom of the driver 's seat.
5) Interference with the vehicle body is checked
when checking the wiring of the window operation
switch related to the CAN of the passenger seat.
Intermittent gear shifting is not possible

door wiring connections for pas- interference genera-

senger seats tor

Microscopic interference
Thank you