CAN " CAN ""CAN " CAN CAN CAN CAN BOCH (Robert Bosch GmbH) CAN CAN 1. What's CAN?... 2 1.1 CAN... 3 1.2... 4 2. CAN... 5 3.... 7 3.1... 7 3.2... 9 4. CAN... 10 5. CAN... 11 5.1 IO CAN... 11 5.2 IO11898 IO11519-2... 12 5.3 CAN... 15 6. CAN... 16 6.1... 16 6.2... 19 6.3... 25 6.4... 27 6.5... 28 6.6... 29 6.7 ()... 30 6.8... 33 6.9... 34 6.10... 35 6.11... 36 6.12... 38 6.13...39 6.14... 40 6.15... 41 RJJ05B0937-0100/Rev.1.00 2006.01 Page 1 of 43
1. What's CAN? CAN CAN Controller Area Network ( CAN ) IO( 1) " " " LAN " 1986 BOCH CAN CAN IO11898 IO11519 LAN CAN FA 1 LAN CAN LAN モータ モータ モータ スイッチスイッチ センサ 安 全 系 サブネットワーク エアコン CAN LIN 2.4~19.2Kbps ~125Kbps ヘッド ランプ CAN 125Kbps インパネ AF キーレス メータ コンビネー レベライザ ションランプ 情 報 系 Audio MD/CD VIC Video チェンジャ ナビ コンポ MOT 1394 ドア ボディ 系 ゲートウェイ CAN 500Kbps TV エアバッグ 制 御 サブネットワーク スクイブ afe-by-wire (150Kbps) エンジン パワートレイン 系 エンジン AT 乗 員 検 知 ステアリング ブレーキ シャーシ 系 タイヤ 圧 レーダー 白 線 検 知 ACC IT 系 サブネットワーク FlexRay ( 2) (5Mbps) CAN 500Kbps 故 障 診 断 系 CAN ( 法 規 制 ) 診 断 ツール 1 LAN 1. 2. IO: International Organization for tandardization( ) FlexRay TM RJJ05B0937-0100/Rev.1.00 2006.01 Page 2 of 43
1.1 CAN 2 CAN Pedestrians Protecting Unit Wiper Curtain Airbag Air conditioner-main Airbag Front ensor Navi / Car Audio EP Power Window Dashboard ide Airbag CAN LIN ARB FlexRay Rear ensor Wiper Lear Light Headlight Brake Turn ignal Engine Millimeter-Wave Radar Door Mirror Brake Accelerator Rain ensor Door uspension eatbelt Pretensioner Brake bw-center ECU eat Door-Main tar Coupler Body Computer (BCM) Pressure ensor Passenger eat ensor 2 CAN RJJ05B0937-0100/Rev.1.00 2006.01 Page 3 of 43
1.2 CAN 2 3 CAN 2 CTX 0 CAN CAN H RxD CAN L TxD CAN 500Kbps 500kbps CPU CAN Controller CRX 1 CTX 1 RxD CAN H TxD CAN L AB ETM TCM DMM ECM AB: Antilock Brake ystem CCM: Climate Control Module DIM: Driver Information Module DMM: Door Main Module ECM: Engine Control Module ETM: Electronic Throttle Module TCM: Transmission Control Module CCM DIM CAN 125Kbps 125kbps 3 CAN RJJ05B0937-0100/Rev.1.00 2006.01 Page 4 of 43
2. CAN CAN (1) ( ) (CMA/CR ( 1)) ID (2) CAN (Identifier ID ) ID 2 ID ()(1 ) (3) (4) 1 1 (5) " " (6) ( ) ( ) ( ) (7) CAN 1. CMA/CR: Carrier ence Multiple Access with Collision Resolution RJJ05B0937-0100/Rev.1.00 2006.01 Page 5 of 43
(8) CAN RJJ05B0937-0100/Rev.1.00 2006.01 Page 6 of 43
3. 3.1 3 1 (1) " " 6. CAN (2) "" (8 ) 6. CAN (3) 1 4 1 (TEC) (REC) 0 127 0 127 128 255 128 255 256 RJJ05B0937-0100/Rev.1.00 2006.01 Page 7 of 43
: ( ) TEC 127 REC 127 : TEC 128 REC 128 TEC 255 11 128 TEC(Transmit Error Counter): REC(Receive Error Counter): 4 RJJ05B0937-0100/Rev.1.00 2006.01 Page 8 of 43
3.2 2 1 1 2 1 2 (TEC) (REC) +1 +8 3 ( 1) +8 4 5 6 14 8 7 8 8 8 (ACK EOF ) 9 (ACK ACK ) 10 11 128 +8 +8 +8 +8-1 TEC=0 0 TEC=0 +8 +8 1 REC 127-1 REC=0 0 REC 127 REC=119 127 REC=0 1. ACK ACK ( ) RJJ05B0937-0100/Rev.1.00 2006.01 Page 9 of 43
4. CAN CAN IO OI( 1) 5 CAN OI MAC( 2) LLC( 3)MAC CAN ACK CAN BOCH CAN CAN IO IO11898 IO11519-2 1. 2. 3. OI: Open ystems Interconnection ( ) MAC: Medium Access Control ( ) LLC: Logical Link Control ( ) OI CAN 7. 6. 4 5. 4. 3. 2. 1. LLC MAC 2 (LLC) 2 (MAC) () Point to Point () ID CRC ACK 1 ACK NACK 2 NRZ6 () () ( ) 5 IO/OI CAN RJJ05B0937-0100/Rev.1.00 2006.01 Page 10 of 43
5. CAN 5.1 IO CAN CAN IO IO11898 IO11519-2 IO11898 IO11519-2 (1) IO11898 IO11898 125Kbps 1Mbps CAN IO11898 IO11898-1 IO11898-2 IO11898-1 (2) IO11519 IO11519 125Kbps CAN RJJ05B0937-0100/Rev.1.00 2006.01 Page 11 of 43
5.2 IO11898 IO11519-2 6 CAN CAN IO11898 IO11519-2 CAN PL( 1)PMA( 2)MDI( 3) 3 PMA MDI IO11898 IO11519-2 IO11898 IO11519-2 PL PMA MDI CAN IO11898 IO11519-2 ( ) IO IO11898 IO11519-2 PMA MDI IO11898 IO11519-2 CAN : CAN : CAN IO11898 IO11519-2 6 IO CAN 1. 2. 3. PL: Physical ignaling ublayer( ) PMA: Physical Medium Attachment( ) MDI: Medium Dependent Interface( ) RJJ05B0937-0100/Rev.1.00 2006.01 Page 12 of 43
3 IO11898 IO11519-2 7 3 IO11898 IO11519-2 IO11898(High speed) IO11519-2(Low speed) 1Mbps 125Kbps 40m/1Mbps 1Km/40Kbps 30 20 ( 1) Min. Nom. Max. Min. Nom. Max. Min. Nom. Max. Min. Nom. Max. CAN_High (V) 2.00 2.50 3.00 2.75 3.50 4.50 1.60 1.75 1.90 3.85 4.00 5.00 CAN_Low (V) 2.00 2.50 3.00 0.50 1.50 2.25 3.10 3.25 3.40 0.00 1.00 1.15 (H-L) (V) -0.50 0.00 0.05 1.50 2.00 3.00-0.30-1.50-0.30 3.00 - (/ ) (Z): 120 (Min. 85 Max. 130 ) (r): 70m /m : 5ns/m : 120 (Min. 85 Max. 130 ) (/ ) (Z): 120 (Min. 85 Max. 130 ) (r): 90m /m : 5ns/m : 2.2K (Min. 2.09K Max. 2.31K ) CAN_L GND 30pF/m CAN_H GND 30pF/m [m] 1000 400 40 10K 40K 100K 1M [bps] 7 1. CAN 2 (CAN_High CAN_Low)CAN 2 CAN_High CAN_Low 2 ( ) ( ) "0""1" RJJ05B0937-0100/Rev.1.00 2006.01 Page 13 of 43
3 IO11898 IO11519-2 8 IO11898 IO11519-2 IO11898 IO11519-2 4 IO11898 IO11519-2 IC IO11898 (125K 1Mbps) IO11519-2 (10K 125Kbps) 1 Node 1 CAN_High n Node n Max. 30 (max.30) 1 Node 1 CAN_High n Node n Max. 20 (max.20) 120 CAN Bus Line 120 2.2K CAN Bus Line CAN_Low CAN_Low [V] 5 4 3 2 1 0 1 0 CAN_High CAN_Low CAN [V] 5 4 3 2 1 0 1 0 CAN_High CAN_Low CAN 8 IO11898 IO11519-2 4 IO11898 IO11519-2 IC IC IO11898 HA13721RPJE(RENEA) TJA1050T(Philips) TLE6250G(Infineon) CF150C(BOCH) IO11519-2 TJA1054T(Philips) TLE6254-3G(Infineon) RJJ05B0937-0100/Rev.1.00 2006.01 Page 14 of 43
5.3 CAN CAN IO AE( 1) 5 CAN 9 5 CAN AE J1939-11 250K 2 AE J1939-12 250K 2 12V AE J2284 500K 2 ( ) ( : ) AE J2411 33.3K 83.3K 1 ( : ) NMEA-2000 62.5K 125K 250K 2 ( 2) 500K 1M DeviceNet 125K 250K 500K 2 24V CANopen 10K 20K 50K 125K 250K 500K 800K 1M 2 () D( 3) 125K 250K 500K 1M 2 () ( 4) A B C 10Kbps () 10Kbps 125Kbps ( ) 125Kbps 1Mbps () 5Mbps ( ) by-wire CAN LIN J1850 VAN afe-by-wire D2B MOT IEEE1394 FlexRay 9 1. 2. 3. 4. AE: ociety of Automotive Engineers NMEA: National Marine Educators Association D: mart Distributed ystem : AE RJJ05B0937-0100/Rev.1.00 2006.01 Page 15 of 43
6. CAN 6.1 5 CAN 2 11 ID 29 ID 6 10 14 6 ID RJJ05B0937-0100/Rev.1.00 2006.01 Page 16 of 43
CRC ACK OF RTR IDE r0 CRC ACK * ACK DLC CRC EOF 1 11 1 1 1 4 0 64 15 1 1 1 7 RR IDE r1 r0 RTR DLC 11 1 1 18 1 1 1 4 : : : ACK R: D: 10 CRC ACK OF RTR IDE r0 CRC ACK * ACK DLC CRC EOF 1 11 1 1 1 4 15 1 1 1 7 RR IDE r1 r0 RTR DLC 11 1 1 18 1 1 1 4 ACK ACK : : : R: D: 11 RJJ05B0937-0100/Rev.1.00 2006.01 Page 17 of 43
6 0 6 8 R: D: : 12 6 0 6 8 : : 13 3 0 : 3 8 0 14 RJJ05B0937-0100/Rev.1.00 2006.01 Page 18 of 43
6.2 7 15 (1) (OF) (2) ( ) (3) ( ) (4) 0 8 (5) CRC (6) ACK (7) OF CRC ACK EOF OF RTR IDE r0 CRC ACK * ACK DLC CRC EOF 1 11 1 1 1 4 0 64 15 1 1 1 7 RR IDE r1 r0 RTR DLC 11 1 1 18 1 1 1 4 ACK ACK : : : R: D: 15 RJJ05B0937-0100/Rev.1.00 2006.01 Page 19 of 43
(1) ( ) 1 OF CRC ACK EOF : 16 () (2) ID ( 1) RTR O F 11 1 CRC ACK EOF RR IDE ID ( 1) ID ( 1) RTR 11 1 1 18 1 : : : 17 () 1. ID ID ID(ID28 ID18) 11 ID28 ID18 7 (ID: 1111111XXXX ) ID 2,032 ID ID(ID28 ID18) 11 ID(ID17 ID0) 18 29 ID 7 (ID: 1111111XXXX ) ID 2,032 2 18 ID RJJ05B0937-0100/Rev.1.00 2006.01 Page 20 of 43
(3) 6 IDE r0 DLC O 1 1 4 F CRC ACK EOF ( 1) ( 2) O F r1 r0 DLC 1 1 4 CRC ACK EOF ( 1) ( 2) : : : 18 ( ) 1. 2. (r0 r1) (DLC) 7 7 0 1 2 3 4 5 6 7 8 DLC3 DLC2 DLC1 DLC0 D D D D D D D R D D R D D D R R D R D D D R D R D R R D D R R R R D R D RD D R D: R: RJJ05B0937-0100/Rev.1.00 2006.01 Page 21 of 43
(4) ( ) 0 8 MB O F 0~64 CRC ACK EOF : 19 ( ) (5) CRC ( ) 15 CRC 1 CRC ( ) CRC O F CRC ( 1) ACK 15 EOF 1 : : 20 (CRC ) 1. CRC CRC P(X) CRC CRC CRC CRC P(X) = X 15 + X 14 + X 10 + X 8 + X 7 + X 4 + X 3 + 1 RJJ05B0937-0100/Rev.1.00 2006.01 Page 22 of 43
(6) ACK ACK ACK ACK 2 ACK * ACK O F CRC EOF : : ACK R: ( 1) D: ( 2) 21 (ACK ) 1. 2. ACK ACK ACK ACK ACK "ACK ""ACK " ACK ACK ( ACK ) ACK 1 1 ACK RJJ05B0937-0100/Rev.1.00 2006.01 Page 23 of 43
(7) 7 O F EOF CRC ACK : 22 ( ) RJJ05B0937-0100/Rev.1.00 2006.01 Page 24 of 43
6.3 6 23 (1) (OF) (2) ( ) ID (3) ( ) (4) CRC (5) ACK (6) OF CRC ACK EOF OF RTR IDE r0 CRC ACK * ACK DLC CRC EOF 1 11 1 1 1 4 15 1 1 1 7 RR IDE r1 r0 RTR DLC 11 1 1 18 1 1 1 4 : : : ACK R: D: 23 RJJ05B0937-0100/Rev.1.00 2006.01 Page 25 of 43
RTR RTR / RJJ05B0937-0100/Rev.1.00 2006.01 Page 26 of 43
6.4 CAN 24 (1) 2 : 6 : 6 (2) 8 6 0 6 8 ( 3) R: ( 1) D: ( 2) : 24 1. 2. 3. 12 RJJ05B0937-0100/Rev.1.00 2006.01 Page 27 of 43
6.5 25 (1) 6 (2) 8 6 0 6 8 ( 1) : : 25 1. 12 RJJ05B0937-0100/Rev.1.00 2006.01 Page 28 of 43
6.6 ( ) 26 3 0 : 3 8 0 26 (1) 3 3 OF (2) ( ) (3) ( ) 8 RJJ05B0937-0100/Rev.1.00 2006.01 Page 29 of 43
6.7 () 1 ( )" " 27 11 22 : : 27 RJJ05B0937-0100/Rev.1.00 2006.01 Page 30 of 43
(1) ID (RTR) 28 1 O F R T R 2 O F R T R CRC CRC : : : 28 RJJ05B0937-0100/Rev.1.00 2006.01 Page 31 of 43
(2) ID RTR 30 1 ( O F R R 2 ( ) O F R T R CRC CRC : : : 29 RJJ05B0937-0100/Rev.1.00 2006.01 Page 32 of 43
6.8 5 1 30 : ( ) : ( ) R: D: 30 (1) OF CRC 5 (6 ) 5 1 (2) OF CRC 5 (6 ) 6 5 ( ) RJJ05B0937-0100/Rev.1.00 2006.01 Page 33 of 43
6.9 5 CRC ACK 8 8 () CRC ACK 1. (: ACK ) 6 CRC CRC ACK (ACK ) (OF EOF) (OF EOF) (OF CRC ) (OF CRC ) (CRC ) (CRC ) (CRC ACK EOF) (CRC ACK EOF) (ACK ) (ACK ) ACK ACK 6 ( ) EOF (7 ) ( ) (8 ) ( ) RJJ05B0937-0100/Rev.1.00 2006.01 Page 34 of 43
6.10 9 9 ACK CRC ACK RJJ05B0937-0100/Rev.1.00 2006.01 Page 35 of 43
6.11 1 1 4 (: ynchronization egment) (PT: Propagation Time egment) 1 (PB1: Phase Buffer egment 1) 2 (PB2: Phase Butter egment 2) Tq(Time Quantum) 1 4 Tq 1 Tq Tq PB1 10 Tq 32 1 10 Tq () 1 (PT) 1 (PB1) 2 (PB2) (JW: reynchronization Jump Width) 2 PB1 PB2 JW PB1 PB2 1 8 1 8 PB1 IPT( 1) ( 2) 1 4 PB1 8 25 1. IPT: Information Processing Time 2Tq 2. PB1 IPT PB2 IPT 2Tq PB2 1 PB2 2 8Tq RJJ05B0937-0100/Rev.1.00 2006.01 Page 36 of 43
: 1 =10Tq (1Tq) PT (3Tq) PB1 (3Tq) PB2 (3Tq) (70%) PT PB1 PB2 (1Tq) (2Tq) (3Tq) (4Tq) PT+PB1PB2 (60%) (1Tq) PT (4Tq) PB1 (3Tq) PB2 (2Tq) PT+PB1PB2 (80%) 31 1 RJJ05B0937-0100/Rev.1.00 2006.01 Page 37 of 43
6.12 CAN NRZ(Non-Return to Zero) ( ) RJJ05B0937-0100/Rev.1.00 2006.01 Page 38 of 43
6.13 OF JW 32 PT PB1 PB2 ( ) PT PB1 PB2 32 RJJ05B0937-0100/Rev.1.00 2006.01 Page 39 of 43
6.14 () JW PB1 PB2 JW JW 33 PT (JW=2 ) PT PB1 PB2 2Tq PT PB1 PB2 PB1 JW (2Tq ) ( ) PB2 (JW=2 ) PB1 PB2 PT PB1 PB2 2Tq PB1 PB2 PT PB1 PB2 PB2 JW (2Tq ) ( ) 33 RJJ05B0937-0100/Rev.1.00 2006.01 Page 40 of 43
6.15 (1) 1 1 (2 ) (2) (3) (1) (2) (4) ( 1 ) (5) (6) RJJ05B0937-0100/Rev.1.00 2006.01 Page 41 of 43
Rev. 1.00 2006.01.31 RJJ05B0937-0100/Rev.1.00 2006.01 Page 42 of 43
1. 1. 2. 3. (http://www.renesas.com) 4. 5. 6. 7. 8. RJJ05B0937-0100/Rev.1.00 2006.01 Page 43 of 43