Controller Area Network Controller Research Articles

Implications of architecture and implementation choices on timing analysis of automotive CAN networks

The Controller Area Network (CAN) protocol is widely adopted in industry such as automotive. It has been analyzed in a number of studies in the real-time systems community to compute the worst case response time of messages, based on an ideal model on the behavior of the message queuing and CAN controller. Recently, more results are being added to study systems that are not constructed according to the ideal model.In this paper, we further investigate the architecture choices that may affect the timing analysis. Specifically, we provide an assessment on the practical relevance of several analysis results. We also present theory and empirical studies on the relative importance of architecture implementation issues that are quite common in real systems but further deviate from the ideal behavior. We also experimentally evaluate the response time while using TxObjects without preemption. We propose a heuristic for the design of multiple software queues when TxObjects are not preemptable. Finally, we derive an upper bound on the worst case response time when message output at the CAN driver is polling based.

Highly Accurate Clock Synchronization With Drift Correction for the Controller Area Network

Modern vehicles, that have to be considered as safety-critical cyber-physical systems, require highly accurate <i>clock synchronization</i> (CS) among their distributed computing devices. Since Controller Area Network (CAN) is the predominant in-vehicle communication bus, it is highly relevant to support CS for CAN. This article proposes an original CS method for distributed in-vehicle networks based on CAN with both <i>offset</i> and <i>drift correction</i> . While offset correction is performed based on timestamps in periodic reference messages (RMs), our new method benefits from the re-synchronization mechanism of the CAN bit timing to apply highly accurate drift correction. Our algorithm does not make any modifications to the CAN protocol but requires the measurement of the phase error from the CAN controller. We derive analytical bounds for the expected clock differences and further validate the practicability of the proposed method by comprehensive experiments. As the main result, our method achieves a clock accuracy below <inline-formula><tex-math notation="LaTeX">$2\;\mu$</tex-math></inline-formula> s independent of important parameters such as the bit rate, RM period, bus utilization and time-varying clock drifts.

Development of unified diagnostic services on CAN using MATLAB and Arduino

Unified diagnostic service (UDS) is a standard developed by ISO which provides uniform services to automotive Electronic Control Unit (ECU) suppliers and manufacturers. With an ever-increasing number of ECUs in Automobiles, many diagnostic protocols such as Keyword Protocol (KWP) and Diagnostics over K-Line cause compatibility issues between them. Complexity multiplies when there is an increase in several functionalities of diagnostic software. The diagnostic tool enabled with UDS offers a standardized solution for diagnostics, debugging, and configuration of ECUs. This UDS application is implemented using Controller Area Network (CAN) Transport Protocol due to its reliability and robustness. This paper presents a UDS model in MATLAB-Simulink using a vehicle network toolbox and MATLAB Function block. Hardware implementation was done using Arduino Uno and MCP2515 CAN controller together acting as Client (Tester) and Server connected over CAN channel. Programming for hardware was done in Arduino IDE. The proposed model for UDS is effective and according to UDS standards.

A Systematic Method to Generate Effective STLs for the In-Field Test of CAN Bus Controllers

In order to match the strict reliability requirements mandated by regulations and standards adopted in the automotive sector, as well as other domains where safety is a major concern, the in-field testing of the most critical devices, including microcontrollers and systems on chip, is a crucial task. Since the controller area network (CAN) bus is widely used in the automotive domain, the corresponding controller ubiquitously appears in all these devices. This paper presents a generic and systematic methodology to develop an effective in-field test procedure for CAN controllers based on a functional approach (i.e., on the adoption of self-test libraries). The method can be customized to match the requirements coming from different scenarios, and allows the test engineer to maximize the achieved fault coverage in terms of structural faults in the different cases. The experimental results we gathered on a representative CAN controller model show that, given two typical testing scenarios, we are able to detect 84.28% and 87.62% of stuck-at faults, respectively, hence demonstrating the effectiveness of the proposed approach.

Motorsport Data Acquisition System and Live Telemetry using FPGA based CAN controller

The paper describes the design and working of a motorsport data acquisition, logging, live telemetry, and display system developed using the Controller Area Network (CAN) communication protocol as the backbone of the arrangement. The main controller of the CAN system is the myRIO which was programmed using LabVIEW. A Formula One car hosts over a hundred sensors during each of its races. The data acquisition/logging system, although does not directly affect the car’s performance, is indispensable when it comes to the testing and design phase of the car. Designers can validate their assumptions and calculations, real-time data during testing can be a safety indicator and it provides insight to the driver about the performance of the vehicle. The FPGA-based controller for CAN is designed for data acquisition and live telemetry system with the interest of the formula car team in mind. The design choices were made to improve and deliver a more effective system than the pre-existing ones. All choices of controllers, sensors, formatting were custom made for the requirements of the team. All programmable devices were coded individually to suit the system and the graphical user interface was designed internally. Data acquired by the proposed system helps in making sure that the car achieves the goals that were envisioned when it was designed.

Electric Vehicle Control System by using Controller Area Network Communication

The Controller Area Network (CAN) communication protocol is designed by Bosch in the 1980s as a doubled wired, differential voltage-based serial communication system for control systems. Electric vehicles, like Gasoline vehicles, require controllers to regulate load operation, where conventional point-to-point communication system gets outcome of huge number of cables in the harness. CAN is used to minimize the amount of cables and enable various controllers to transfer data and accomplish complicated jobs simultaneously. This paper presents the design of a CAN-based control system to be used as a replacement for the existing system and shows the development of four modules as well as a proposed implementation for the complete system. Individual modules will be developed initially and later interfaced to the CAN network with CAN controller modules. All modules are connected with a twisted pair of cables for data transmission with CAN.

Ringing Suppression in a Controller Area Network With Flexible Data Rate Using Impedance Switching and a Limiter

The ringing and the resulting asymmetry in the propagation delay are the main causes of bandwidth degradation and communication errors in a controller area network (CAN) with flexible data rate. Therefore, in this paper, the mechanism of ringing is analyzed, and the ringing suppression circuit is proposed based on the analysis. The proposed circuit includes an impedance matching resistor and a forward-biased diode for terminating the repetition of reflections and limiting the magnitude of the ringing. These components are temporarily connected by operating a switch that is controlled by the TxD signal of a CAN controller so that the ringing suppression circuit only engages when necessary and at the correct time. The performance of the ringing suppression circuit is verified by experiments. The experimental results show that the proposed circuit keeps the ringing adequately suppressed and the good symmetry in the propagation delay across the physical bus is possessed.

On a software-defined CAN controller for embedded systems

Controller Area Network (CAN) technology is nowadays ubiquitous in vehicular applications and is also gaining popularity in other contexts, for instance, embedded and industrial automation systems. The recent standardization of CAN with flexible data rate (CAN FD), as well as other academic proposals, have highlighted the usefulness of enhancing the CAN physical and data link layers to attain better performance and other features. This paper describes a portable software-defined CAN controller called SDCC. Besides being handy as a research tool for experimenting with novel protocol concepts at the data link layer, SDCC is also fully capable of real-time execution. Hence, it can interact with real-world CAN devices through a physical bus interface.

Securing Vehicular Controller Area Networks: An Approach to Active Bus-Level Countermeasures

This article describes novel bus-level countermeasures for a controller area network (CAN) bus. The proposed methods use custom CAN hardware that leverages the error confinement functionality in the CAN specification to suppress and eventually control malicious transmissions on the bus. Other attempts to prevent unauthorized transmission have required custom CAN controllers on all electronic control units (ECUs). The methods described in this article require only a single custom controller, keeping cost low and making retrofitting legacy systems more practical. We successfully implemented and tested the proposed design on a reference CAN.

Design of CAN controller IP core for intercom of phased array antenna

To achieve miniaturized beam steering system for phased array antenna, a Controller Area Network (CAN) controller IP core based on Avalon bus was designed. Function structure of the IP core was given based on CAN2.0B protocol specification, and designs of controller interface logic, bit stream processor, bit timing logic and so on were completed using Verilog HDL language, and its hardware driver and communication software were developed. The reusability of the IP core was demonstrated with the designed SoPC system which integrated the CAN controller IP core, Nios II microprocessor, phase controller IP core and so on. The experimental results show that the system can realize data communication in the actual network reliably and stably. The built-up system based on this module has many of advantages, such as easy expansion, high portability and broad applicability. The IP core can also be used in high-density and compact industrial control equipments.

Using DSP Algorithms for CRC in a CAN Controller

A controller area network (CAN) controller is an integral part of an electronic control unit, particularly in an advanced driver assistance system application, and its characteristics should always be advantageous in all aspects of functionality especially in real time application. The cost should be low, while maintaining the functionality and reliability of the technology. However, a CAN protocol implementing serial operation results in slow throughput, especially in a cyclical redundancy checking (CRC) unit. In this paper, digital signal processing (DSP) algorithms are implemented, namely pipelining, unfolding, and retiming the CAN controller in the CRC unit, particularly for the encoder and decoder sections. It must attain a feasible iteration bound, a critical path that is appropriate for a CAN system, and must obtain a superior design of a high-speed parallel circuit for the CRC unit in order to have a faster transmission rate. The source code for the encoder and decoder was formulated in the Verilog hardware description language.

FPGA Implementation of Manchester Line Encoding for Frame Length Compression Scheme in CAN(Controller Area Network) Controller

CAN(Controller Area Network) is now getting popular because of its expanding applications especially in automotive industry. CAN protocol uses NRZ(Non Return to Zero) line encoding. Long NRZ messages may cause problems in receivers such as clock drift means that if there are no edges, receivers lose tracks of bits. As a solutions, stuff bits are extra bits added to force transitions regardless of data. However, stuff bits cause jitters during transmission and due to this extra frame for stuff bits, it reduces the frame rate of the controller. In this paper, a frame length compression scheme to improve the features of CAN controller is presented. Modified Manchester Line Encoding is implemented in this CAN controller. The proposed scheme is synthesized on the Xilinx Virtex-5 FPGA by using Verilog HDL. The simulation results shows that the Modified Manchester Line Encoding is better than the original Line NRZ encoding technique in terms of clock synchronization and frame length compression in CAN communications.

FPGA Based Controller Area Network

&lt;p&gt;In this paper the Controller Area Network (CAN) Controller is presented. CAN is an advance serial bus communication protocol that efficiently supports distributed, broadcast real-time control and fault tolerance features for automobile industries to provide congestion free networking. The CAN Controller is designed for scheduling of messages, consist of the Transmitter Controller, FIFO buffer, CRC generator and bit stuffer. Scheduling messages on CAN corresponds to assigning identifiers (IDs) to message according to their priorities. Non Return to Zero (NRZ) coding and Non Destructive Bitwise Arbitration (NDBA) is used. The data is taken from the buffer FIFO, bit stuffed and then transmitted after CRC is performed. The whole design is captured entirely in VHDL language using bottom up design and verification methodology. The proposed controller was designed for applications needing high level data integrity and data rates upto 1Mbps. The applications of CAN are factory automation, machine control, automobile, avionics and aerospace, building automation.&lt;/p&gt;

IMPLEMENTATION OF THE CAN BUS IN THE VEHICLE BASED ON ARM 7

A controller area network (CAN) is mostly used to the many high level industrial protocol , due to it reducing wiring harness , tremendous flexibility, high performance ,low cost .This paper represent the CAN used in the motor car , which show different parameter by using different sensors , the different types of sensors to measure the different parameter like temperature , humidity ,gas detection & fuel level based on ARM (LPC 2129). Microcontroller ARM (LPC 2129) has inbuilt CAN controller.

MPS-CAN analyzer: Integrated implementation of response-time analyses for Controller Area Network

We present a new response-time analyzer for Controller Area Network (CAN) that integrates and implements a number of response-time analyses which address various transmission modes and practical limitations in the CAN controllers. The existing tools for the response-time analysis of CAN support only periodic and sporadic messages. They do not analyze mixed messages which are partly periodic and partly sporadic. These messages are implemented by several higher-level protocols based on CAN that are used in the automotive industry. The new analyzer supports periodic, sporadic as well as mixed messages. It can analyze the systems where periodic and mixed messages are scheduled with offsets. It also supports the analysis of all types of messages while taking into account several queueing policies and buffer limitations in the CAN controllers such as abortable or non-abortable transmit buffers. Moreover, the tool supports the analysis of mixed, periodic and sporadic messages in the heterogeneous systems where Electronic Control Units (ECUs) implement different types of queueing policies and have different types of buffer limitations in the CAN controllers. We conduct a case study of a heterogeneous application from the automotive domain to show the usability of the tool. Moreover, we perform a detailed evaluation of the implemented analyses.

Integrating mixed transmission and practical limitations with the worst-case response-time analysis for Controller Area Network

The existing worst-case response-time analysis for Controller Area Network (CAN) calculates upper bounds on the response times of messages that are queued for transmission either periodically or sporadically. However, it does not support the analysis of mixed messages. These messages do not exhibit a periodic activation pattern and can be queued for transmission both periodically and sporadically. They are implemented by several higher-level protocols based on CAN that are used in the automotive industry. We extend the existing analysis to support worst-case response-time calculations for periodic and sporadic as well as mixed messages. Moreover, we integrate the effect of hardware and software limitations in the CAN controllers and device drivers such as abortable and non-abortable transmit buffers with the extended analysis. The extended analysis is applicable to any higher-level protocol for CAN that uses periodic, sporadic and mixed transmission modes.

Marcapasos transitorio a través de bolsa pericárdica

The existing worst-case response-time analysis for Controller Area Network (CAN) calculates upper bounds on the response times of messages that are queued for transmission either periodically or sporadically. However, it does not support the analysis of mixed messages. These messages do not exhibit a periodic activation pattern and can be queued for transmission both periodically and sporadically. They are implemented by several higher-level protocols based on CAN that are used in the automotive industry. We extend the existing analysis to support worst-case response-time calculations for periodic and sporadic as well as mixed messages. Moreover, we integrate the effect of hardware and software limitations in the CAN controllers and device drivers such as abortable and non-abortable transmit buffers with the extended analysis. The extended analysis is applicable to any higher-level protocol for CAN that uses periodic, sporadic and mixed transmission modes.

ENGLISH

1,2,3 ABSTRACT: A controller area network (CAN) is mostly used to the many high level industrial protocol , due to it reducing wiring harness , tremendous flexibility, high performance ,low cost .This paper represent the CAN used in the motor car , which show different parameters by, the different types of sensors to measure the different parameter like temperature , humidity ,gas detection & fuel level based on ARM (LPC 2129). Microcontroller ARM (LPC 2129) has inbuilt CAN controller.

SfiCAN: A Star-Based Physical Fault-Injection Infrastructure for CAN Networks

The dependability requirements of distributed embedded control systems demand appropriate evaluation techniques. Requirements of embedded systems are often tested by means of fault injection. However, for the controller area network (CAN), the potential of this technique has not been fully exploited. This paper presents sfiCAN - a novel physical fault-injection infrastructure that relies on a CAN-compliant hub that allows the injection of faults independently into each node's transmitted or received bits, thereby recreating fault scenarios beyond the capabilities of other injectors for CAN. Notably, it is the first injector that is able to test the behavior under inconsistency scenarios of arbitrary software for CAN nodes and the first that makes it possible to inject faults that may lead to integrity errors without requiring any modifications to the nodes' software or CAN controllers. Moreover, sfiCAN allows the remote and flexible configuration of fault injection and the retrieval of accurate information about the subsequent behavior of the nodes.

CAN 네트워크의 시간동기를 위한 IEEE1588 구현

본 논문에서는 CAN(Controller Area Network)의 시간동기를 위한 IEEE1588 알고리즘의 구현에 관한 연구결과를 제시한다. 시간동기는 네트워크 기반 임베디드 시스템의 안정성, 효율, 신뢰성 개선 측면에서 매우 중요하다. 최근 전용 칩을 이용하는 IEEE1588 표준이 Ethernet 기반 임베디드 시스템의 시간동기에 폭넓게 적용되고 있다. IEEE1588과 같은 표준화된 시간동기 기법은 기존의 'in-house' 시간동기 기법에 비해 많은 장점들을 제공하지만, CAN을 위한 IEEE1588 전용 칩은 현재까지 상용화된 제품을 찾아보기 어렵다. 본 논문에서는 전용 칩을 사용하지 않고 소프트웨어와 CAN 메시지만을 이용하여 IEEE1588 알고리즘을 구현한다. 제안된 방법의 효용성을 확인하기 위해 간단한 모델을 이용하여 추정한 동기정밀도와 실험용 네트워크를 통해 측정한 동기정밀도를 비교분석 한다. In this paper, an IEEE1588 based clock synchronization technique for CAN (Controller Area Network) is presented. Clock synchronization plays a key role to the success of a networked embedded system. Recently, the IEEE1588 algorithm making use of dedicated chipsets has been widely adopted for the synchronization of various industrial applications using Ethernet. However, there is no chipset available for CAN. This paper presents the implementation of IEEE1588 for CAN, which is implemented using only software and CAN packets without any dedicated chipset. The proposed approach is verified by the comparison between the estimated synchronization precision with a simple model and the measured precision with experimental setup.