Understanding and Using the Controller Area Network Communication Protocol
This is the first book to offer a hands-on guide to designing, analyzing and debugging a communication infrastructure based on the Controller Area Network (CAN) bus. Although the CAN bus standard is well established and currently used in most automo
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Marco Di Natale • Haibo Zeng • Paolo Giusto Arkadeb Ghosal
Understanding and Using the Controller Area Network Communication Protocol Theory and Practice
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Marco Di Natale Scuola Superiore S. Anna RETIS Lab. Pisa 56124, Italy Paolo Giusto General Motors Corporation Palo Alto, CA 94306, USA
Haibo Zeng McGill University Montreal, Quebec, Canada H3A 2A7 Arkadeb Ghosal National Instruments Berkeley, CA 94704, USA
ISBN 978-1-4614-0313-5 e-ISBN 978-1-4614-0314-2 DOI 10.1007/978-1-4614-0314-2 Springer New York Dordrecht Heidelberg London Library of Congress Control Number: 2011944254 © Springer Science+Business Media, LLC 2012 All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer Science+Business Media, LLC, 233 Spring Street, New York, NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden. The use in this publication of trade names, trademarks, service marks, and similar terms, even if they are not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights. Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
Preface
This book is the result of several years of study and practical experience in the design and analysis of communication systems based on the Controller Area Network (CAN) standard. CAN is a multicast-based communication protocol characterized by the deterministic resolution of the contention, low cost, and simple implementation. The CAN [16] was developed in the mid 1980s by Bosch GmbH, to provide a cost-effective communications bus for automotive applications. Today it is widely used also in factory and plant controls, in robotics, medical devices, and also in some avionics systems. Controller Area Network is a broadcast digital bus designed to operate at speeds from 20 kbit/s to 1 Mbit/s, standardized as ISO/DIS 11898 [6] for high speed applications (500 kbit/s) and ISO 11519-2 [7] for lower speed applications (up to 125 kbit/s). The transmission rate depends on the bus length and transceiver speed. CAN is an attractive solution for embedded control systems because of its low cost, light protocol management, the deterministic resolution of the contention, and the built-in features for error detection and retransmission. Controllers supporting the CAN communication standard, as well as sensors and actuators that are manufactured for communicating data over CAN, are today widely available. CAN networks are successfully replacing point-to-point connections in many application domains. Commercial and open source implementation of CAN drivers and middleware software is today available from several sources, and support for CAN is included in automotive standards, including
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