can通讯协议介绍

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1、CANBusHands-OnCoursePresentedby:IntrepidControlSystems,Inc.QinWenSalesEngineerTel:+86-137-6464-9956Email:qinwen@intrepidcs.com1ObjectivesLearnthebasicsoftheCANprotocolUnderstandwhatmakesupaCANnetworkUnderstandwhatmakesupaCANnodeLearnhowCANcomparestocompe

2、titiveprotocolsLearnhowtouseaCANtesttoolandaCANDatabase(DBC)filetomonitorandtransmitCANmessagesandsignals2AgendaPart1:LearnthehighlevelCANfeaturesPart2:UnderstandtheCANmessagePart3:UnderstandhowmessagesarecommunicatedbetweenCANnodes3Part1:TheBigPicture4

3、WhatisCAN?Standsfor:Controller–AreaNetworkDevelopmentoftheCAN-busstartedoriginallyin1983atRobertBoschGmbHTheprotocolwasofficiallyreleasedin1986attheSocietyofAutomotiveEngineers(SAE)congressinDetroit5CANKeyFeaturesSpeedupto1MbpsNon-destructivemessagearbit

4、rationAllnodesreceiveallmessagesNoguaranteedmessagelatency6CostvsDataRateLINCANFlexRayMOST12510RelativecostpernodeDatarate[bps]20K1M10M25M7CANvsLINCANismuchfaster:upto1MbpsLINoffersatimedeterministicmodelCANoffersamorepowerfulchecksumUsesLDFinsteadofDBCf

5、ilesfordatabases8CANvsFlexRayFlexRaynetworkstartupmorecomplicatedFlexRayofferstimedeterministiccommunicationsFlexRayoffersfaulttoleranceusingvariousmechanismsFlexRayofferslargerdataframesUsesFIBEXinsteadofDBCfiles9CANvsMOSTMOSTistargetedatinfotainmentapp

6、licationsMOSToffersdedicatedtransfersinaringnetworkat25MbpsOptical,50MbCopper,and150Mbpsopticalphysicallayers10CANHardwareFeaturesModeratecostsiliconimplementationRequireshardwareCANcontrollerandCANtransceiverRequireshardwareCANtransceiverMicroprocessorC

7、ANTransceiverCANControllerCANHighCANLowGround11Quiz11.CANguaranteesmessagelatency.(TrueorFalse)2.CANrequireshardwarecontrollers.(TrueorFalse)3.CANissimilartoLIN:bothhaveverydefinedmessagestructure.(TrueorFalse)4.Whatisthemaximumnumberofbytescanbeina

8、CANmessage?12CANPhysicalLayersHighSpeedCAN:upto1MbpsLowSpeedFaultTolerantCAN:upto125kbpsSingleWireCAN:upto83.3kbps132.53.5V1.5tCANHighCANLowRecessiveDominantCANDualWirePhysicalLayers14CANNode1CANNode2CANNode3120Ohm120OhmC