Understanding_and_using_CAN.zip_CAN_其他书籍下载-pudn.com

<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/625e98f58cbeb85d572427fb/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <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/625e98f58cbeb85d572427fb/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">Understanding and using the Controller Area</div><div class="t m0 x2 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0">Network</div><div class="t m0 x3 h3 y3 ff1 fs1 fc0 sc0 ls0 ws0">Marco Di Natale</div><div class="t m0 x4 h3 y4 ff1 fs1 fc0 sc0 ls0 ws0">October 30, 2008</div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div> </body> </html>

<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/625e98f58cbeb85d572427fb/bg3.jpg"><div class="t m0 x6 h5 y6 ff2 fs3 fc0 sc0 ls0 ws0">Contents</div><div class="t m0 x6 h6 y7 ff2 fs2 fc0 sc0 ls0 ws0">1 Introduction 7</div><div class="t m0 x6 h6 y8 ff2 fs2 fc0 sc0 ls0 ws0">2 The CAN 2.0b Standard 9</div><div class="t m0 x7 h4 y9 ff1 fs2 fc0 sc0 ls0 ws0">2.1 Physical layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10</div><div class="t m0 x8 h4 ya ff1 fs2 fc0 sc0 ls0 ws0">2.1.1 Bit timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10</div><div class="t m0 x8 h4 yb ff1 fs2 fc0 sc0 ls0 ws0">2.1.2 The physical layer in ISO and SAE standards . . . . . . . . . 13</div><div class="t m0 x8 h4 yc ff1 fs2 fc0 sc0 ls0 ws0">2.1.3 Network topology and Bus length . . . . . . . . . . . . . . . 15</div><div class="t m0 x8 h4 yd ff1 fs2 fc0 sc0 ls0 ws0">2.1.4 Physical encoding of dominant and recessive states . . . . . . 18</div><div class="t m0 x7 h4 ye ff1 fs2 fc0 sc0 ls0 ws0">2.2 Message frame formats . . . . . . . . . . . . . . . . . . . . . . . . . 19</div><div class="t m0 x8 h4 yf ff1 fs2 fc0 sc0 ls0 ws0">2.2.1 Data frame . . . . . . . . . . . . . . . . . . . . . . . . . . . 20</div><div class="t m0 x8 h4 y10 ff1 fs2 fc0 sc0 ls0 ws0">2.2.2 Remote frame . . . . . . . . . . . . . . . . . . . . . . . . . . 22</div><div class="t m0 x8 h4 y11 ff1 fs2 fc0 sc0 ls0 ws0">2.2.3 Error frame . . . . . . . . . . . . . . . . . . . . . . . . . . . 22</div><div class="t m0 x8 h4 y12 ff1 fs2 fc0 sc0 ls0 ws0">2.2.4 Overload frame . . . . . . . . . . . . . . . . . . . . . . . . . 22</div><div class="t m0 x7 h4 y13 ff1 fs2 fc0 sc0 ls0 ws0">2.3 Bus arbitration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22</div><div class="t m0 x7 h4 y14 ff1 fs2 fc0 sc0 ls0 ws0">2.4 Message reception and ﬁltering . . . . . . . . . . . . . . . . . . . . . 23</div><div class="t m0 x7 h4 y15 ff1 fs2 fc0 sc0 ls0 ws0">2.5 Error management . . . . . . . . . . . . . . . . . . . . . . . . . . . 24</div><div class="t m0 x8 h4 y16 ff1 fs2 fc0 sc0 ls0 ws0">2.5.1 CRC checks . . . . . . . . . . . . . . . . . . . . . . . . . . . 24</div><div class="t m0 x8 h4 y17 ff1 fs2 fc0 sc0 ls0 ws0">2.5.2 Acknowledgement . . . . . . . . . . . . . . . . . . . . . . . 25</div><div class="t m0 x8 h4 y18 ff1 fs2 fc0 sc0 ls0 ws0">2.5.3 Error types . . . . . . . . . . . . . . . . . . . . . . . . . . . 25</div><div class="t m0 x8 h4 y19 ff1 fs2 fc0 sc0 ls0 ws0">2.5.4 Error signalling . . . . . . . . . . . . . . . . . . . . . . . . . 25</div><div class="t m0 x8 h4 y1a ff1 fs2 fc0 sc0 ls0 ws0">2.5.5 Fault conﬁnement . . . . . . . . . . . . . . . . . . . . . . . . 26</div><div class="t m0 x6 h6 y1b ff2 fs2 fc0 sc0 ls0 ws0">3 Time analysis of CAN messages 29</div><div class="t m0 x7 h4 y1c ff1 fs2 fc0 sc0 ls0 ws0">3.1 Ideal behavior and worst case response time analysis . . . . . . . . . 30</div><div class="t m0 x8 h4 y1d ff1 fs2 fc0 sc0 ls0 ws0">3.1.1 Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30</div><div class="t m0 x8 h4 y1e ff1 fs2 fc0 sc0 ls0 ws0">3.1.2 Message buffering inside the peripheral . . . . . . . . . . . . 34</div><div class="t m0 x8 h4 y1f ff1 fs2 fc0 sc0 ls0 ws0">3.1.3 An ideal implementation . . . . . . . . . . . . . . . . . . . . 35</div><div class="t m0 x7 h4 y20 ff1 fs2 fc0 sc0 ls0 ws0">3.2 Stochastic analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . 43</div><div class="t m0 x7 h4 y21 ff1 fs2 fc0 sc0 ls0 ws0">3.3 Probabilistic analysis . . . . . . . . . . . . . . . . . . . . . . . . . . 43</div><div class="t m0 x9 h4 y22 ff1 fs2 fc0 sc0 ls0 ws0">3</div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></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/625e98f58cbeb85d572427fb/bg4.jpg"><div class="t m0 x5 h4 y5 ff1 fs2 fc0 sc0 ls0 ws0">4</div><div class="t m1 xa h7 y5 ff1 fs4 fc0 sc0 ls0 ws0">CONTENTS</div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></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/625e98f58cbeb85d572427fb/bg5.jpg"><div class="t m0 x6 h8 y23 ff2 fs5 fc0 sc0 ls0 ws0">Chapter 1</div><div class="t m0 x6 h5 y24 ff2 fs3 fc0 sc0 ls0 ws0">Introduction</div><div class="t m0 x6 h4 y25 ff1 fs2 fc0 sc0 ls0 ws0">This book is the result of several years of study and practical experience in the design</div><div class="t m0 x6 h4 y26 ff1 fs2 fc0 sc0 ls0 ws0">and analysis of communication systems based on the Controller Area Network (CAN)</div><div class="t m0 x6 h4 y27 ff1 fs2 fc0 sc0 ls0 ws0">standard. CAN is a multicast-based communication protocol characterized by the de-</div><div class="t m0 x6 h4 y28 ff1 fs2 fc0 sc0 ls0 ws0">terministic resolution of the contention, low cost and simple implementation. The Con-</div><div class="t m0 x6 h4 y29 ff1 fs2 fc0 sc0 ls0 ws0">troller Area Network (CAN) [4] was developed in the mid 1980s by Bosch GmbH, to</div><div class="t m0 x6 h4 y2a ff1 fs2 fc0 sc0 ls0 ws0">provide a cost-effective communications bus for automotive applications, but is today</div><div class="t m0 x6 h4 y2b ff1 fs2 fc0 sc0 ls0 ws0">widely used also in factory and plant controls, in robotics, medical devices, and also in</div><div class="t m0 x6 h4 y2c ff1 fs2 fc0 sc0 ls0 ws0">some avionics systems.</div><div class="t m0 x7 h4 y2d ff1 fs2 fc0 sc0 ls0 ws0">CAN is a broadcast digital bus designed to operate at speeds from 20kb/s to 1Mb/s,</div><div class="t m0 x6 h4 y2e ff1 fs2 fc0 sc0 ls0 ws0">standardized as ISO/DIS 11898 [1] for high speed applications (500 kbit/s) and ISO</div><div class="t m0 x6 h4 y2f ff1 fs2 fc0 sc0 ls0 ws0">11519-2 [2] for lower speed applications (125Kbit/s). The transmission rate depends</div><div class="t m0 x6 h4 y30 ff1 fs2 fc0 sc0 ls0 ws0">on the bus length and transceiver speed. CAN is an attractive solution for embedded</div><div class="t m0 x6 h4 y31 ff1 fs2 fc0 sc0 ls0 ws0">control systems because of its low cost, light protocol management, the deterministic</div><div class="t m0 x6 h4 y32 ff1 fs2 fc0 sc0 ls0 ws0">resolution of the contention, and the built-in features for error detection and retrans-</div><div class="t m0 x6 h4 y33 ff1 fs2 fc0 sc0 ls0 ws0">mission. Controllers supporting the CAN communication standard are today widely</div><div class="t m0 x6 h4 y34 ff1 fs2 fc0 sc0 ls0 ws0">available as well as sensors and actuators that are manufactured for communicating</div><div class="t m0 x6 h4 y35 ff1 fs2 fc0 sc0 ls0 ws0">data over CAN. CAN networks are today successfully replacing point-to-point connec-</div><div class="t m0 x6 h4 y36 ff1 fs2 fc0 sc0 ls0 ws0">tions in many application domains, including automotive, avionics, plant and factory</div><div class="t m0 x6 h4 y37 ff1 fs2 fc0 sc0 ls0 ws0">control, elevator controls, medical devices and possibly more.</div><div class="t m0 x7 h4 y38 ff1 fs2 fc0 sc0 ls0 ws0">Commercial and open source implementation of CAN drivers and middleware soft-</div><div class="t m0 x6 h4 y39 ff1 fs2 fc0 sc0 ls0 ws0">ware are today available from several sources, and support for CAN is included in</div><div class="t m0 x6 h4 y3a ff1 fs2 fc0 sc0 ls0 ws0">automotive standards, including OSEKCom and AUTOSAR. The standard has been</div><div class="t m0 x6 h4 y3b ff1 fs2 fc0 sc0 ls0 ws0">developed with the objective of time determinism and support for reliable communi-</div><div class="t m0 x6 h4 y3c ff1 fs2 fc0 sc0 ls0 ws0">cation. With respect to these properties, it has been widely studied by academia and</div><div class="t m0 x6 h4 y3d ff1 fs2 fc0 sc0 ls0 ws0">industry and methods and tools have been developed for predicting the time and relia-</div><div class="t m0 x6 h4 y3e ff1 fs2 fc0 sc0 ls0 ws0">bility characteristics of messages.</div><div class="t m0 x7 h4 y3f ff1 fs2 fc0 sc0 ls0 ws0">This book attempts at providing an encompassing view on the study and use of the</div><div class="t m0 x6 h4 y40 ff1 fs2 fc0 sc0 ls0 ws0">CAN bus, with references to theory and analysis methods, but also a description of the</div><div class="t m0 x6 h4 y41 ff1 fs2 fc0 sc0 ls0 ws0">issues in the practical implementation of the communication stack for CAN and the</div><div class="t m0 x6 h4 y42 ff1 fs2 fc0 sc0 ls0 ws0">implications of design choices at all levels, from the selection of the controller, to the</div><div class="t m0 x6 h4 y43 ff1 fs2 fc0 sc0 ls0 ws0">SW developer and the architecture designer. We believe such an approach may be of</div><div class="t m0 x9 h4 y44 ff1 fs2 fc0 sc0 ls0 ws0">5</div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div>