A Brief Introduction To Controller Area Network
A Brief Introduction To Controller Area Network
A Brief Introduction To Controller Area Network
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Introduction
CAN is a two-wire, half duplex, high-speed network system, that is far superior to conventional serial
technologies such as RS232 in regards to functionality and reliability and yet CAN implementations are
more cost effective.
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While, for instance, TCP/IP is designed for the transport of large data amounts, CAN is designed for
real-time requirements and with its 1 MBit/sec baud rate can easily beat a 100 MBit/sec TCP/IP
connection when it comes to short reaction times, timely error detection, quick error recovery and error
repair.
CAN networks can be used as an embedded communication system for microcontrollers as well as an
open communication system for intelligent devices. Some users, for example in the field of medical
engineering, opted for CAN because they have to meet particularly stringent safety requirements.
Similar requirements had to be considered by manufacturers of other equipment with very high safety or
reliability requirements (e.g. robots, lifts and transportation systems).
The greatest advantage of Controller Area Network lies in the reduced amount of wiring combined with
an ingenious prevention of message collision (meaning no data will be lost during message
transmission).
A great variety of microprocessor chips, such as the ARM Cortex-M3 processor, provide interfaces such
as Ethernet, digital I/O, analog I/O, USB, UARTS, and, last but not least, Controller Area Network.
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However, that does not mean that you can use the chip “as is” and connect it to a network, sensors, etc.
All of these interfaces require some kind of a “hardware driver.” In case of serial technologies such as
RS232 or CAN, you will need the corresponding transceiver.
In the specific case of the CAN bus controller, we need a line driver (transceiver) to convert the
controller’s TTL signal to the actual CAN level, which is a differential voltage. The use of differential
voltage contributes to the vast reliability of CAN.
The next image compares both signals, TTL and differential voltage:
The actual signal status, recessive or dominant, is based on the differential voltage between CAN_H
and CAN_L (2V during dominant bit time; 0V during recessive bit time).
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Even though extremely effective in automobiles and small, embedded applications, CAN alone is not
suitable for projects that require a minimum of network management and messages with more than
eight data bytes.
As a consequence, higher-layer protocols (additional software on top of the CAN physical layer) such as
CANopen for industrial automation and SAE J1939 for off-road vehicles were designed to provide an
improved networking technology that support messages of unlimited length and allow network
management, which includes the use of node IDs (CAN supports only message IDs where one node
can manage multiple message IDs).
Ironically, however, it is very well foreseeable that the basic CAN technology will prevail over higher-
layer protocols for the automation industry such as CANopen and DeviceNet, specifically due to its
continued use in automobiles. These days, CANopen and DeviceNet are “dead” protocols when it
comes to new developments. The only exception is SAE J1939, which is closely connected to the diesel
engine technology and that includes, yet again, vehicles.
CANopen
Like CAN, the CANopen standard is the responsibility of CiA (CAN-in-Automation). For further
information, refer to their website at http://www.can-cia.org.
Note: I personally consider CANopen to be a fairly complex and tremendously over-bloated protocol
with a disappointingly low bandwidth. Add to this that CANopen is rapidly losing its attraction for the
automation industry due to the emergence of the more powerful Industrial Ethernet protocols, and now
there are two reasons why I never attempted writing a CANopen stack.
SAE J1939
Defines communication for vehicle networks (trucks, buses, agricultural equipment, etc.)
Is a standard developed by the Society of Automotive Engineers (SAE)
The SAE J1939 Standards Collection can be found exclusively on the Web at http://www.sae.org.
The Society of Automotive Engineers (SAE) Truck and Bus Control and Communications Subcommittee
has developed a family of standards concerning the design and use of devices that transmit electronic
signals and control information among vehicle components. SAE J1939 and its companion documents
have quickly become the accepted industry standard and the Controller Area Network (CAN) of choice
for off-highway machines in applications such as construction, material handling, and forestry
machines.
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Note: In my book SAE J1939 ECU Programming & Vehicle Bus Simulation with the Arduino I introduce
ARD1939, an SAE J1939 protocol stack for Arduino Uno and Mega 2560. The stack and the associated
sample programs will also work on the Arduino Due.
DeviceNet
The DeviceNet Specification, consisting of two volumes: Volume One - Common Industrial Protocol
(CIP) and Volume Three- DeviceNet Adaptation of CIP, is available only for ODVA (Open DeviceNet
Vendor Association) members.
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