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<div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/62508e606caf5961920a0dee/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">©<span class="ff2 ls1 ws1"> National Instruments Corporation<span class="_ _0"> </span>1-1<span class="_ _1"> </span><span class="ls2 ws2">Controller Area Network (CAN) T<span class="_ _2"></span>utorial</span></span></div><div class="t m0 x1 h3 y2 ff3 fs1 fc0 sc0 ls3 ws3">Controller Area Network (CAN) T<span class="_ _3"></span>utorial</div><div class="t m0 x2 h4 y3 ff4 fs2 fc0 sc0 ls4 ws4">A Controller Area Netw<span class="_ _4"></span>ork (CAN) b<span class="_ _4"></span>us is<span class="ls0 ws5"> a high-inte<span class="_ _2"></span>grity serial bus system </span></div><div class="t m0 x2 h4 y4 ff4 fs2 fc0 sc0 ls5 ws6">for networking intelligent de<span class="_ _2"></span>vices.<span class="ls6 ws7"> CAN busses and de<span class="_ _2"></span>vices are common </span></div><div class="t m0 x2 h4 y5 ff4 fs2 fc0 sc0 ls5 ws6">components in automoti<span class="_ _2"></span>ve and industr<span class="ls3 ws8">ial systems. Using a CAN interface </span></div><div class="t m0 x2 h4 y6 ff4 fs2 fc0 sc0 ls3 ws9">de<span class="_ _4"></span>vice, you can write LabV<span class="wsa">IEW applications to co<span class="ls7 wsb">mmunicate with a CAN </span></span></div><div class="t m0 x2 h4 y7 ff4 fs2 fc0 sc0 ls3 ws0">network.</div><div class="t m0 x1 h5 y8 ff3 fs3 fc0 sc0 ls8 ws0">To<span class="_ _5"></span>p<span class="_ _5"></span>i<span class="_ _5"></span>c<span class="_ _5"></span>s</div><div class="t m0 x2 h4 y9 ff4 fs2 fc0 sc0 ls6 ws7">A.<span class="_ _6"> </span>What You Need to Get Started</div><div class="t m0 x2 h4 ya ff4 fs2 fc0 sc0 ls6 ws7">B.<span class="_ _7"> </span>History of CAN</div><div class="t m0 x2 h4 yb ff4 fs2 fc0 sc0 ls9 wsc">C.<span class="_ _7"> </span>CAN Basics</div><div class="t m0 x2 h4 yc ff4 fs2 fc0 sc0 lsa wsd">D.<span class="_ _6"> </span>Channel Configuration</div><div class="t m0 x2 h4 yd ff4 fs2 fc0 sc0 ls3 ws8">E.<span class="_ _8"> </span>CAN APIs</div><div class="t m0 x2 h4 ye ff4 fs2 fc0 sc0 ls3 ws8">F<span class="_ _9"></span>.<span class="_ _a"> </span>CAN Programming in <span class="lsb wse">LabVIEW (Channel API)</span></div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>
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<div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/62508e606caf5961920a0dee/bg2.jpg"><div class="t m0 x1 h2 y1 ff2 fs0 fc0 sc0 lsc wsf">Controller Area Network (CAN)<span class="_ _b"></span> T<span class="_ _2"></span>utorial<span class="_ _1"> </span>1-2<span class="_ _c"> </span>ni.com</div><div class="t m0 x1 h5 yf ff3 fs3 fc0 sc0 lsd ws10">A.<span class="_ _d"> </span>What Y<span class="_ _9"></span>ou Need to Get Started</div><div class="t m0 x1 h6 y10 ff3 fs4 fc0 sc0 lse ws11">T<span class="_ _9"></span>utorial Materials</div><div class="t m0 x2 h4 y11 ff4 fs2 fc0 sc0 ls6 ws7">Before you use this tutorial, ensure you hav<span class="_ _2"></span>e all the following items: </div><div class="t m0 x2 h7 y12 ff5 fs2 fc0 sc0 ls0 ws0">❑<span class="_ _e"> </span><span class="ff4 lsf ws12">W<span class="_ _2"></span>indows 2000 or later installed on your computer<span class="_ _9"></span>. The tutorial is </span></div><div class="t m0 x3 h4 y13 ff4 fs2 fc0 sc0 ls5 ws6">optimized for W<span class="_ _2"></span>indows XP<span class="_ _3"></span>.</div><div class="t m0 x2 h7 y14 ff5 fs2 fc0 sc0 ls0 ws0">❑<span class="_ _e"> </span><span class="ff4 lsf ws13">Multifunction D<span class="_ _2"></span>A<span class="_ _2"></span>Q de<span class="_ _4"></span>vice conf<span class="_ _4"></span>igured as <span class="ff6 fs5 ls10 ws0">device<span class="_"> </span>1</span><span class="ls6 ws7"> using </span></span></div><div class="t m0 x3 h4 y15 ff4 fs2 fc0 sc0 ls5 wsb">Measurement & Automation Explorer (MAX)</div><div class="t m0 x2 h7 y16 ff5 fs2 fc0 sc0 ls0 ws0">❑<span class="_ _e"> </span><span class="ff4 ls6 ws7">LabVIEW Full or Professional De<span class="_ _2"></span>velopment System 2009 or later</span></div><div class="t m0 x2 h7 y17 ff5 fs2 fc0 sc0 ls0 ws0">❑<span class="_ _e"> </span><span class="ff4">A CAN Interface</span></div><div class="t m0 x2 h7 y18 ff5 fs2 fc0 sc0 ls0 ws0">❑<span class="_ _e"> </span><span class="ff4 ls5 ws6">NI-CAN 2.6.3 or later </span></div><div class="t m0 x2 h7 y19 ff5 fs2 fc0 sc0 ls0 ws0">❑<span class="_ _e"> </span><span class="ff4 ls5 ws6">Exercises folder for sa<span class="_ _2"></span>ving VIs cr<span class="ls6 ws7">eated during the tutorial and for </span></span></div><div class="t m0 x3 h4 y1a ff4 fs2 fc0 sc0 ls11 ws14">completing certain tutorial ex<span class="_ _2"></span>ercises</div><div class="t m0 x2 h7 y1b ff5 fs2 fc0 sc0 ls0 ws0">❑<span class="_ _e"> </span><span class="ff4 ls12 ws15">Solutions folder containing the solutions to all the tuto<span class="_ _4"></span>rial ex<span class="_ _2"></span>ercises</span></div><div class="t m0 x1 h5 y1c ff3 fs3 fc0 sc0 ls0 ws0">B.<span class="_ _d"> </span>Histor<span class="_ _b"></span>y of CAN</div><div class="t m0 x2 h4 y1d ff4 fs2 fc0 sc0 ls3 ws8">In the past fe<span class="_ _4"></span>w decades, the need for improv<span class="_ _2"></span>ements in automotive<span class="_ _4"></span> </div><div class="t m0 x2 h4 y1e ff4 fs2 fc0 sc0 ls5 ws6">technology caused increased usage of<span class="ls6 ws7"> electronic control systems for </span></div><div class="t m0 x2 h4 y1f ff4 fs2 fc0 sc0 ls13 ws16">functions such as engine timing, anti-l<span class="ls0 ws17">ock brake systems, <span class="ls6 ws18">and distrib<span class="_ _2"></span>utorless </span></span></div><div class="t m0 x2 h4 y20 ff4 fs2 fc0 sc0 ls5 ws0">ignition. </div><div class="t m0 x2 h4 y21 ff4 fs2 fc0 sc0 lsf ws19">Originally<span class="_ _9"></span>, point-to-point wiring syst<span class="ls13 ws1a">ems connected electronic devices in </span></div><div class="t m0 x2 h4 y22 ff4 fs2 fc0 sc0 ls5 ws6">vehicles. More and more electronics <span class="ls12 ws15">in v<span class="_ _2"></span>ehicles resulted in bulk<span class="_ _2"></span>y wire </span></div><div class="t m0 x2 h4 y23 ff4 fs2 fc0 sc0 ls5 ws6">harnesses that were heav<span class="_ _4"></span>y and expens<span class="ls3 ws8">i<span class="_ _2"></span>ve. T<span class="_ _9"></span>o eliminate point-to-point </span></div><div class="t m0 x2 h4 y24 ff4 fs2 fc0 sc0 ls5 ws1b">wiring, automoti<span class="_ _2"></span>ve manufacturers replace<span class="ls6 ws1c">d dedicated wiring with in-v<span class="_ _4"></span>ehicle </span></div><div class="t m0 x2 h4 y25 ff4 fs2 fc0 sc0 ls6 ws7">networks, which reduced wiring cost<span class="lsa wsd">, comple<span class="_ _4"></span>xity<span class="_ _9"></span>, and weight. In 1985, </span></div><div class="t m0 x2 h4 y26 ff4 fs2 fc0 sc0 ls6 ws1d">Bosch de<span class="_ _2"></span>veloped the Controller Area <span class="lsb ws1e">Network (CAN), which has emerged </span></div><div class="t m0 x2 h4 y27 ff4 fs2 fc0 sc0 ls6 ws7">as the standard in-vehicle netw<span class="_ _4"></span>ork. </div><div class="t m0 x2 h4 y28 ff4 fs2 fc0 sc0 lsf ws19">CAN provides a cheap, durable netw<span class="_ _4"></span>ork that allo<span class="_ _2"></span>ws the devices to speak </div><div class="t m0 x2 h4 y29 ff4 fs2 fc0 sc0 lsf ws19">through the Electronic Control Unit (ECU). CAN allo<span class="_ _2"></span>ws the ECU to have </div><div class="t m0 x2 h4 y2a ff4 fs2 fc0 sc0 lsa ws1f">one CAN interface rather than analog <span class="ls9 ws1a">inputs to e<span class="_ _4"></span>very de<span class="_ _2"></span>vice in the system. </span></div><div class="t m0 x2 h4 y2b ff4 fs2 fc0 sc0 ls6 ws1d">This decreases ov<span class="_ _2"></span>erall cost and weight <span class="ls13 ws20">in automobiles. Each of the devices </span></div><div class="t m0 x2 h4 y2c ff4 fs2 fc0 sc0 lsf ws21">on the network has a CAN controller chip<span class="ls5 ws3"> and is therefore intelligent. All </span></div><div class="t m0 x2 h4 y2d ff4 fs2 fc0 sc0 ls5 ws6">transmitted messages ar<span class="ls6 ws14">e seen by all de<span class="_ _4"></span>vices on the network. Each de<span class="_ _2"></span>vice </span></div><div class="t m0 x2 h4 y2e ff4 fs2 fc0 sc0 ls5 ws6">can decide if the message is rele<span class="_ _4"></span><span class="ls11 wsb">v<span class="_ _2"></span>ant or if it can be filtered.</span></div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>
<div id="pf3" class="pf w0 h0" data-page-no="3"><div class="pc pc3 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/62508e606caf5961920a0dee/bg3.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">©<span class="ff2 ls1 ws1"> National Instruments Corporation<span class="_ _0"> </span>1-3<span class="_ _1"> </span><span class="ls2 ws2">Controller Area Network (CAN) T<span class="_ _2"></span>utorial</span></span></div><div class="t m0 x2 h4 y2f ff4 fs2 fc0 sc0 ls6 ws22">As CAN implementations increased in <span class="lsa ws23">the automotiv<span class="_ _2"></span>e industry<span class="_ _2"></span>, CAN (high </span></div><div class="t m0 x2 h4 y30 ff4 fs2 fc0 sc0 ls6 ws7">speed) was standardized internationally as ISO 11898. Later<span class="_ _2"></span>, lo<span class="_ _4"></span>w-speed </div><div class="t m0 x2 h4 y31 ff4 fs2 fc0 sc0 ls13 ws24">CAN was introduced for car body electroni<span class="lsf ws25">cs. Finally<span class="_ _9"></span>, single-wire CAN was </span></div><div class="t m0 x2 h4 y32 ff4 fs2 fc0 sc0 lsf ws19">introduced for some body and comfort de<span class="_ _2"></span>vices. Major semiconductor </div><div class="t m0 x2 h4 y33 ff4 fs2 fc0 sc0 ls11 ws26">manufacturers such as Intel, M<span class="_ _4"></span>otorola, and Philips de<span class="_ _2"></span>veloped CAN chips.</div><div class="t m0 x2 h4 y34 ff4 fs2 fc0 sc0 ls6 ws27">By the mid-1990s, CAN was the basis of<span class="ls5"> man<span class="_ _2"></span>y industrial device networking </span></div><div class="t m0 x2 h4 y35 ff4 fs2 fc0 sc0 ls6 ws7">protocols, including De<span class="_ _4"></span>viceNet and CANOpen.</div><div class="t m0 x1 h6 y36 ff3 fs4 fc0 sc0 ls14 ws28">Automotive Applications</div><div class="t m0 x2 h4 y15 ff4 fs2 fc0 sc0 lsf ws19">Examples of CAN de<span class="_ _2"></span>vices include engi<span class="ls6 ws7">ne controller (ECU), transmission, </span></div><div class="t m0 x2 h4 y37 ff4 fs2 fc0 sc0 ls13 ws13">ABS, lights, po<span class="_ _4"></span>wer windo<span class="_ _2"></span>ws, power st<span class="ls5 ws6">eering, instrument panel, and so on.</span></div><div class="t m0 x4 h8 y38 ff3 fs5 fc0 sc0 ls15 ws29">Figure 1-1. <span class="ff1 ls16 ws2a">Automotive CAN Devices</span></div><div class="t m0 x1 h6 y39 ff3 fs4 fc0 sc0 ls17 ws2b">Other CAN Markets</div><div class="t m0 x2 h4 y3a ff4 fs2 fc0 sc0 ls0 ws2c">Comparing the requirements for automoti<span class="_ _2"></span><span class="ls3 ws2d">ve and industrial de<span class="_ _4"></span>vice networks </span></div><div class="t m0 x2 h4 y3b ff4 fs2 fc0 sc0 ls3 ws7">sho<span class="_ _4"></span>wed the follo<span class="_ _2"></span>w<span class="_ _b"></span>ing similarities: </div><div class="t m0 x2 h4 y3c ff4 fs2 fc0 sc0 lsf ws19">•<span class="_ _f"> </span>the transition aw<span class="_ _2"></span>ay from<span class="_ _b"></span><span class="ls3 ws8"> dedicated signal lines</span></div><div class="t m0 x2 h4 y3d ff4 fs2 fc0 sc0 ls18 ws2e">•l<span class="_ _10"></span>o<span class="_ _11"></span>w<span class="_ _10"></span> c<span class="_ _10"></span>o<span class="_ _10"></span>s<span class="_ _10"></span>t</div><div class="t m0 x2 h4 y3e ff4 fs2 fc0 sc0 ls5 ws6">•<span class="_ _f"> </span>resistance to harsh en<span class="_ _2"></span>vironments</div><div class="t m0 x2 h4 y3f ff4 fs2 fc0 sc0 ls11 ws2f">•<span class="_ _f"> </span>real-time capabilities</div><div class="t m0 x2 h4 y40 ff4 fs2 fc0 sc0 ls5 ws1f">These similarities led to the use of CAN<span class="ls3 ws8"> in industrial applications such as </span></div><div class="t m0 x2 h4 y41 ff4 fs2 fc0 sc0 ls0 ws30">textile machinery<span class="_ _9"></span>, packaging machines<span class="ls3 ws31">, and production line equipment such </span></div><div class="t m0 x2 h4 y42 ff4 fs2 fc0 sc0 ls0 ws0">as photoelectric sen<span class="ls13 ws32">sors and motion.</span></div><div class="t m0 x2 h4 y43 ff4 fs2 fc0 sc0 ls6 ws33">W<span class="_ _2"></span>ith its growing popularity in automoti<span class="_ _2"></span><span class="ls5 ws34">ve and industrial applications, CAN </span></div><div class="t m0 x2 h4 y44 ff4 fs2 fc0 sc0 lsa wsd">has been increasingly used in a wide<span class="ls5 ws6"> variety of applications. Usage in </span></div><div class="t m0 x2 h4 y45 ff4 fs2 fc0 sc0 lsf ws19">systems such as agricultural equipment, nautical machinery<span class="_ _9"></span>, medical </div><div class="t m0 x2 h4 y46 ff4 fs2 fc0 sc0 lsf ws35">apparatus, semiconductor manufacturing <span class="ls3 ws36">equipment, a<span class="_ _2"></span>vionics, and machine </span></div><div class="t m0 x2 h4 y47 ff4 fs2 fc0 sc0 ls12 ws15">tools v<span class="_ _4"></span>alidate the v<span class="_ _2"></span>ersatility of CAN.</div><div class="c x5 y48 w2 h9"><div class="t m0 x6 ha y49 ff7 fs6 fc0 sc0 ls0 ws37">Instrument Panel</div><div class="t m0 x6 ha y4a ff7 fs6 fc0 sc0 ls0 ws0">P<span class="_ _2"></span>ower Steering</div><div class="t m0 x6 ha y4b ff7 fs6 fc0 sc0 ls0 ws0">P<span class="_ _2"></span>ower Windows</div><div class="t m0 x6 ha y4c ff7 fs6 fc0 sc0 ls0 ws0">T<span class="_ _9"></span>ransmission</div><div class="t m0 x6 ha y4d ff7 fs6 fc0 sc0 ls0 ws0">Lights</div><div class="t m0 x6 ha y4e ff7 fs6 fc0 sc0 ls0 ws0">ABS</div><div class="t m0 x7 ha y4f ff7 fs6 fc0 sc0 ls0 ws0">Automotiv<span class="_ _2"></span>e CAN Devices</div></div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>
<div id="pf4" class="pf w0 h0" data-page-no="4"><div class="pc pc4 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/62508e606caf5961920a0dee/bg4.jpg"><div class="t m0 x1 h2 y1 ff2 fs0 fc0 sc0 lsc wsf">Controller Area Network (CAN)<span class="_ _b"></span> T<span class="_ _2"></span>utorial<span class="_ _1"> </span>1-4<span class="_ _c"> </span>ni.com</div><div class="t m0 x8 h8 y50 ff3 fs5 fc0 sc0 ls19 ws38">Figure 1-2. <span class="ff1 ls16 ws2a">Other CAN Markets</span></div><div class="t m0 x1 h5 y51 ff3 fs3 fc0 sc0 ls6 ws7">C.<span class="_ _d"> </span>CAN Basics</div><div class="t m0 x1 h6 y52 ff3 fs4 fc0 sc0 ls17 ws39">Benefits of CAN</div><div class="t m0 x2 h4 y53 ff4 fs2 fc0 sc0 ls3 ws8">•<span class="_ _f"> </span>Lo<span class="_ _4"></span>wer cost from reduced wiring co<span class="ls0 ws0">mpared to two wire, point-to-point </span></div><div class="t m0 x3 h4 y54 ff4 fs2 fc0 sc0 ls5 ws0">wiring</div><div class="t m0 x2 h4 y55 ff4 fs2 fc0 sc0 lsf ws19">•<span class="_ _f"> </span>Highly rob<span class="_ _4"></span>ust protocol</div><div class="t m0 x3 h4 y56 ff4 fs2 fc0 sc0 lsf ws19">–<span class="_ _12"> </span>Built-in determinism</div><div class="t m0 x3 h4 y57 ff4 fs2 fc0 sc0 lsf ws19">–<span class="_ _12"> </span>Fault tolerance</div><div class="t m0 x3 h4 y58 ff4 fs2 fc0 sc0 ls5 ws6">–<span class="_ _12"> </span>Reliable—More than a decade of use in the automoti<span class="_ _2"></span>ve industry</div><div class="t m0 x1 h6 y59 ff3 fs4 fc0 sc0 ls1a ws3a">CAN Specifications</div><div class="t m0 x2 h4 y5a ff4 fs2 fc0 sc0 lsf ws19">•<span class="_ _f"> </span>CAN data (up to 8 bytes in a frame) </div><div class="t m0 x2 h4 y5b ff4 fs2 fc0 sc0 ls6 ws7">•<span class="_ _f"> </span>Maximum 1 Mbaud/s</div><div class="t m0 x2 h4 y5c ff4 fs2 fc0 sc0 ls5 ws6">•<span class="_ _f"> </span>40 Meters at 1 Mbaud/s</div><div class="t m0 x2 h4 y5d ff4 fs2 fc0 sc0 lsf ws19">•<span class="_ _f"> </span>6 km at 10 kbaud/s</div><div class="t m0 x2 h4 y5e ff4 fs2 fc0 sc0 ls13 ws1a">•<span class="_ _f"> </span>Theoretical maximu<span class="ls11 ws14">m of 2,032 nodes per b<span class="_ _2"></span>us</span></div><div class="t m0 x3 h4 y5f ff4 fs2 fc0 sc0 ls13 ws1a">–<span class="_ _12"> </span>Practical limit is<span class="ls0 ws0"> approximately 100 nodes due to transcei<span class="_ _2"></span>ver</span></div><div class="t m0 x3 h4 y60 ff4 fs2 fc0 sc0 ls6 ws7">–<span class="_ _12"> </span>Most buses use 3–10 nodes</div><div class="t m0 x2 h4 y61 ff4 fs2 fc0 sc0 ls6 ws7">•<span class="_ _f"> </span>Data fi<span class="_ _4"></span>elds—Arbitration ID (11 bit or 29 bit)</div><div class="t m0 x3 h4 y62 ff4 fs2 fc0 sc0 ls5 ws6">–<span class="_ _12"> </span>Indicates message priority</div><div class="t m0 x2 h6 y63 ff3 fs4 fc0 sc0 ls1a ws3a">T<span class="_ _9"></span>ypes of CAN</div><div class="t m0 x2 h4 y64 ff4 fs2 fc0 sc0 ls3 ws8">•<span class="_ _f"> </span>High Speed CAN </div><div class="t m0 x3 h4 y65 ff4 fs2 fc0 sc0 ls5 ws6">–<span class="_ _12"> </span>Up to 1 M bits/s transmission rate</div><div class="t m0 x9 ha y66 ff7 fs6 fc1 sc0 ls0 ws0">CAN</div><div class="t m0 xa ha y67 ff7 fs6 fc1 sc0 ls0 ws0">Public</div><div class="t m0 xa ha y68 ff7 fs6 fc1 sc0 ls0 ws0">T<span class="_ _9"></span>ransportation</div><div class="t m0 xb ha y69 ff7 fs6 fc1 sc0 ls0 ws0">A<span class="_ _4"></span>vionics</div><div class="t m0 xc ha y67 ff7 fs6 fc1 sc0 ls0 ws0">Military</div><div class="t m0 xd ha y68 ff7 fs6 fc1 sc0 ls0 ws0">Systems</div><div class="t m0 xe ha y6a ff7 fs6 fc1 sc0 ls1b ws0">Fa<span class="_ _b"></span>r<span class="_ _13"></span>m</div><div class="t m0 xf ha y6b ff7 fs6 fc1 sc0 ls0 ws0">Machinery</div><div class="t m0 x10 ha y6c ff7 fs6 fc1 sc0 ls0 ws0">Other Applications Including</div><div class="t m0 x11 ha y6d ff7 fs6 fc1 sc0 ls0 ws0">Medical Devices</div><div class="t m0 x12 ha y6e ff7 fs6 fc1 sc0 ls0 ws0">Printing Machines</div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>
<div id="pf5" class="pf w0 h0" data-page-no="5"><div class="pc pc5 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/62508e606caf5961920a0dee/bg5.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">©<span class="ff2 ls1 ws1"> National Instruments Corporation<span class="_ _0"> </span>1-5<span class="_ _1"> </span><span class="ls2 ws2">Controller Area Network (CAN) T<span class="_ _2"></span>utorial</span></span></div><div class="t m0 x2 h4 y2f ff4 fs2 fc0 sc0 ls3 ws8">•<span class="_ _f"> </span>Lo<span class="_ _4"></span>w Speed/Fault-T<span class="_ _9"></span>olerant CAN</div><div class="t m0 x3 h4 y6f ff4 fs2 fc0 sc0 ls5 ws6">–<span class="_ _12"> </span>Up to 125 kbaud/s transmission rate</div><div class="t m0 x3 h4 y70 ff4 fs2 fc0 sc0 ls5 ws6">–<span class="_ _12"> </span>Fault tolerant</div><div class="t m0 x2 h4 y71 ff4 fs2 fc0 sc0 ls4 ws21">•<span class="_ _f"> </span>Single W<span class="_ _2"></span>ire</div><div class="t m0 x3 h4 y72 ff4 fs2 fc0 sc0 ls0 ws0">–<span class="_ _12"> </span>Up to 83.3 kbaud/s</div><div class="t m0 x3 h4 y73 ff4 fs2 fc0 sc0 lsf ws19">–<span class="_ _12"> </span>High-v<span class="_ _4"></span>oltage pulse to wak<span class="_ _4"></span>eup sleeping de<span class="_ _4"></span>vices</div><div class="t m0 x2 h6 y74 ff3 fs4 fc0 sc0 lse ws3b">NI CAN Interface Devices</div><div class="t m0 x2 h4 y75 ff4 fs2 fc0 sc0 lsa ws3c">National Instruments provides four t<span class="ls5 ws3d">ypes of CAN interf<span class="_ _4"></span>ace de<span class="_ _2"></span>vices that use </span></div><div class="t m0 x2 h4 y76 ff4 fs2 fc0 sc0 ls0 ws0">the NI-CAN API described in this <span class="lsa wsd">appendix. Each category of de<span class="_ _2"></span>vices </span></div><div class="t m0 x2 h4 y77 ff4 fs2 fc0 sc0 ls6 ws7">supports multiple form factors and is a<span class="_ _2"></span>vailable in one or two port v<span class="_ _2"></span>arieties.</div><div class="t m0 x2 hb y78 ff3 fs2 fc0 sc0 ls6 ws7">High-speed CAN </div><div class="t m0 x2 h4 y79 ff4 fs2 fc0 sc0 ls1c ws3e">•<span class="_ _f"> </span>1 and 2 ports</div><div class="t m0 x2 h4 y7a ff4 fs2 fc0 sc0 ls6 ws7">•<span class="_ _f"> </span>Maximum baud rate of 1Mb/s</div><div class="t m0 x2 hb y7b ff3 fs2 fc0 sc0 ls5 ws6">Low-speed CAN </div><div class="t m0 x2 h4 y7c ff4 fs2 fc0 sc0 ls1c ws3e">•<span class="_ _f"> </span>1 and 2 ports</div><div class="t m0 x2 h4 y7d ff4 fs2 fc0 sc0 ls3 ws8">•<span class="_ _f"> </span>Maximum baud rate of 125 kbaud/s</div><div class="t m0 x2 hb y7e ff3 fs2 fc0 sc0 ls5 ws6">Software Selectable CAN </div><div class="t m0 x2 h4 y7f ff4 fs2 fc0 sc0 ls5 ws6">•<span class="_ _f"> </span>1 and 2 ports (each port can be used as high-speed, lo<span class="_ _4"></span>w-speed, or </div><div class="t m0 x3 h4 y80 ff4 fs2 fc0 sc0 ls3 ws8">single-wire CAN)</div><div class="t m0 x2 hb y81 ff3 fs2 fc0 sc0 ls13 ws1a">Single Wire CAN</div><div class="t m0 x2 h4 y82 ff4 fs2 fc0 sc0 ls1c ws3e">•<span class="_ _f"> </span>1 and 2 ports</div><div class="t m0 x2 h4 y83 ff4 fs2 fc0 sc0 ls3 ws8">•<span class="_ _f"> </span>Maximum baud rate of 83.3 kbaud/s</div><div class="t m0 x1 h6 y84 ff3 fs4 fc0 sc0 ls1a ws3a">CAN Frame</div><div class="t m0 x2 h4 y85 ff4 fs2 fc0 sc0 lsa ws3f">CAN de<span class="_ _4"></span>vices send data across the CAN<span class="ls0 ws40"> Network on pack<span class="_ _4"></span>ets called frames. </span></div><div class="t m0 x2 h4 y86 ff4 fs2 fc0 sc0 ls3 ws8">A typical CAN frame contains an arbi<span class="lsf ws19">tration ID, a data field, a remote </span></div><div class="t m0 x2 h4 y87 ff4 fs2 fc0 sc0 ls5 ws6">frame, an error frame, and an ov<span class="_ _2"></span>erload frame.</div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>
