Seminar On CAN Bus Protocol (2015) - PPT

Seminar on
CAN
Bus
Protocol
By Abhinaw Tiwari
CSE-12010330
Contents
 Introduction
 CAN Applications
 CAN Characteristics
 Message Types
 Arbitration
 CAN Data Protection
 Advantages
 Disadvantages
 Conclusion
-2-
Introduction
• Multi-master protocol
• Broadcasting
• Serial communication technology
• Priority-based bit-wise arbitration
-3-
Introduction
• Originally developed by Robert Bosch for

automobile in-vehicle network in the 1980s
• For reliable data exchange between ECUs
• Robust in noisy environments
• Cost effective
-4-
Introduction
• Compact and fast
• It is a message-based protocol.
• There are no defined addresses, just defined

messages.
-5-
Before CAN
After CAN
Real-world applications
-8-
Real-world applications
• Automotive
• Military vehicles
• Industrial machinery
• Medical systems
• Agricultural machinery
• Marine control and navigation
• Elevator control systems
-9-
CAN Characteristics
• All messages are broadcast
• Any node is allowed to broadcast a
message
• Each message contains an ID that
identifies the source or content of a
message
• Each receiver decides to process or
ignore each message
- 10 -
CAN Characteristics
Bit Rate / Bus Length

1M bit/sec 40 meters (131 feet)
500K bit/sec 100 meters (328 feet)
- 11 -
CAN Characteristics
Physical Medium
Single twisted pair wire terminated on each end
Node Node
A B
120 Ω 120 Ω
- 12 -
CAN Characteristics
Network Size
• The maximum number of nodes is not

specified.
• Networks are limited by electrical loading,
up to 64 nodes is normal
- 13 -
CAN Message Types
Four Message Types
• Data Frame
– Used to transmit data
• Remote Frame
– Used to request data transmission
• Error Frame
– Sent by a node that detects an error
• Overload Frame
– Sent by a node to request a delay in
transmission
- 14 -
CAN Message Format
• Standard Data Frame
• Extended Data Frame

CAN Arbitration
• CSMA/CA
• All nodes must wait for an idle bus condition .
• If two nodes begin transmitting simultaneously,

they then participate in an arbitration process.
- 16 -
CAN Arbitration
• Wired-AND mechanism
• The node with the lower ID number wins the

arbitration and continues transmitting its
message.
• The loser of the arbitration backs off and re-tries.
- 17 -
CAN Arbitration
CSMA/CA & Wired-AND Logic
- 18 -
CAN Data Protection
CAN Data Protection-
Error Detection
• Bit Monitoring
 Sender Task
 Compares every bit placed on the CAN bus with the
actual bus level
 Discrepancy indicates a bit monitoring error and
results in error handling
- 19 -
CAN Data Protection
Error Detection
• Stuff Check
 Receiver Task
 Compares arriving bit stream for a sequence of six
homogeneous bits.
 Detection of a sixth homogeneous bit indicates bit
stuffing error and results in error handling
- 20 -
CAN Data Protection
Error Detection
• Form Check
 Receiver Task
 Comparison of the arriving bit stream with the
message format
 Detection of a dominant delimiter bit (CRC delimiter,
ACK delimiter) or a dominant bit within EOF
indicates a format error and results in error handling
- 21 -
CAN Data Protection
Error Detection
• Cyclic Redundancy Check

 Receiver Task
 Utilizes the arriving bit stream and generator
polynomial for the Cyclic Redundancy Check
defined in ISO 11898-1
 Detection of a CRC error results in error handling
- 22 -
CAN Data Protection
Error Detection
• ACK Check
 Sender Task
 Acknowledge error (ACK error) is detected if the
recessive level placed by the sender is not
overwritten
 Detection of an ACK error results in error handling
- 23 -
CAN Data Protection
Error Tracking
- 24 -
CAN Advantages
• High performance under light loads

• Low cost
• Reliable
• Robust
- 25 -
CAN Disadvantages
• Unfair access: Node with high priority can hog

the network
• Starvation for some particular nodes
- 26 -
Conclusion
• CAN is ideally suited in applications requiring a large

number of short messages with high reliability in
rugged operating environments.
• Because CAN is message-based and not address-
based, it is especially well-suited when data is
needed by more than one location and system-wide
data consistency is mandatory.
- 27 -
References
1. https://elearning.vector.com
2. https://slideshare.net
- 28 -
CAN Bus Protocol
Q&A
- 29 -
CAN Bus Protocol
Thank you!
- 30 -

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What are the main applications of CAN bus?

What are the main applications of CAN bus?

How does arbitration work in CAN bus?

How does arbitration work in CAN bus?

Seminar on

• Serial communication technology

• Priority-based bit-wise arbitration

• Originally developed by Robert Bosch for

• For reliable data exchange between ECUs

• Robust in noisy environments

• Compact and fast

• There are no defined addresses, just defined

Bit Rate / Bus Length

Single twisted pair wire terminated on each end

• The maximum number of nodes is not

• Standard Data Frame

• Extended Data Frame

• All nodes must wait for an idle bus condition .

• If two nodes begin transmitting simultaneously,

• The node with the lower ID number wins the

• The loser of the arbitration backs off and re-tries.

• Cyclic Redundancy Check

• High performance under light loads

• Unfair access: Node with high priority can hog

• CAN is ideally suited in applications requiring a large

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