Controller Area Network Nodes Research Articles

Performance Enhancement of CAN/Ethernet Automotive Gateway with a CAN Data Reduction Algorithm

Data reduction (DR) techniques for the controller area network (CAN) are being developed to reduce the increased bus load caused by the growing number of electronic control units (ECUs) and automotive software complexity in modern automobiles. DR techniques enable the transmission of the same information with less bandwidth, effectively reducing the busload in CAN-based networks. Modern vehicles are composed of various in-vehicle network (IVN) protocols, such as CAN, local interconnect network (LIN), and Ethernet. However, existing DR techniques only consider the communication between CAN nodes. The application of DR techniques to a CAN bus may lead to compatibility issues when communicating with heterogeneous IVN protocols. This paper proposed a CAN/Ethernet gateway system for seamless communication with CAN DR. The proposed gateway system was implemented on a TC275-based embedded system, and its performance was evaluated and analyzed. The experimental results revealed that CAN DR compression effectively improves both the CAN bus load and end-to-end processing time of the gateway system. The CAN bus load was reduced by up to 33.68%, and the average end-to-end processing time was reduced to 336 μs.

Design of CAN Bus Communication Interfaces for Forestry Machines

This paper presents the initial developments of new hardware devices targeted for CAN (Controller Area Network) bus communications in forest machines. CAN bus is a widely used protocol for communications in the automobile area. It is also applied in industrial vehicles and machines due to its robustness, simplicity, and operating flexibility. It is ideal for forestry machinery producers who need to couple their equipment to a machine that allows the transportation industry to recognize the importance of standardizing communications between tools and machines. One of the problems that producers sometimes face is a lack of flexibility in commercialized hardware modules; for example, in interfaces for sensors and actuators that guarantee scalability depending on the new functionalities required. The hardware device presented in this work is designed to overcome these limitations and provide the flexibility to standardize communications while allowing scalability in the development of new products and features. The work is being developed within the scope of the research project “SMARTCUT—Remote Diagnosis, Maintenance and Simulators for Operation Training and Maintenance of Forest Machines”, to incorporate innovative technologies in forest machines produced by the CUTPLANT S.A. It consists of an experimental system based on the PIC18F26K83 microcontroller to form a CAN node to transmit and receive digital and analog messages via CAN bus, tested and validated by the communication between different nodes. The main contribution of the paper focuses on the presentation of the development of new CAN bus electronic control units designed to enable remote communication between sensors and actuators, and the main controller of forest machines.

CANeleon: Protecting CAN Bus With Frame ID Chameleon

The Controller Area Network (CAN) has been widely used in the automotive and industrial automation for over two decades. However, due to the lack of security mechanisms, CAN is vulnerable to attacks. In this paper, we propose a novel protection scheme called CANeleon . It can defend CAN against a smart attacker who might inject malicious frames with legitimate frame IDs, which cannot be mitigated by existing countermeasures. Inspired by the idea of moving target defense technologies, CANeleon equips each legitimate CAN node with the ability to shift the spoofed frame ID. In this way, the IDs of malicious frames are exposed and can be further filtered by legitimate nodes. Moreover, CANeleon neither inserts new information to the frame, nor requires any modification to the CAN protocol, so it is in compliance with the existing standards. CANeleon is a decentralized mechanism guaranteeing that the protection could be done simultaneously without additional communication. Experiments on a CAN bus prototype and a real self-driving vehicle prove the effectiveness of CANeleon .

TRICKS—Time TRIggered Covert Key Sharing for Controller Area Networks

There are dozens of proposals for securing the controller area network (CAN); however, only a few of them are concerned on how to share secret keys between CAN nodes. Recently, some works have used the non-destructive property of CAN arbitration in order to exchange a secret key and achieve information theoretic security for the key exchange. In our proposals, we exploit both delays and the non-destructive arbitration of CAN to achieve a secure key exchange. While our approach is less efficient when it comes to bandwidth, we do not require any kind of additional hardware and we build our implementation on the software layer which is accessible for any CAN-based application. To boost efficiency, we finally bootstrap secret keys by means of the guessing-resilient protocols, such as encrypted-key-exchange (EKE) and simple password exponential key exchange (SPEKE). In principle, a few dozen frames suffice for a secure key-exchange between two CAN nodes. We discuss several protocol versions and extensions for the case of more than two parties. We also present the experimental results on modern automotive-grade controllers to prove the performance of our solution.

Controller area network node reliability assessment based on observable node information

Controller area network (CAN) based fieldbus technologies have been widely used in networked manufacturing systems. As the information channel of the system, the reliability of the network is crucial to the system throughput, product quality, and work crew safety. However, due to the inaccessibility of the nodes’ internal states, direct assessment of the reliability of CAN nodes using the nodes’ internal error counters is infeasible. In this paper, a novel CAN node reliability assessment method, which uses node’s time to bus-off as the reliability measure, is proposed. The method estimates the transmit error counter (TEC) of any node in the network based on the network error log and the information provided by the observable nodes whose error counters are accessible. First, a node TEC estimation model is established based on segmented Markov chains. It considers the sparseness of the distribution of the CAN network errors. Second, by learning the differences between the model estimates and the actual values from the observable node, a Bayesian network is developed for the estimation updating mechanism of the observable nodes. Then, this estimation updating mechanism is transferred to general CAN nodes with no TEC value accessibility to update the TEC estimation. Finally, a node reliability assessment method is developed to predict the time to reach bus-off state of the nodes. Case studies are carried out to demonstrate the effectiveness of the proposed methodology. Experimental results show that the estimates using the proposed model agree well with actual observations.

Data driven CAN node reliability assessment for manufacturing system

The reliability of the Controller Area Network(CAN) is critical to the performance and safety of the system. However, direct bus-off time assessment tools are lacking in practice due to inaccessibility of the node information and the complexity of the node interactions upon errors. In order to measure the mean time to bus-off(MTTB) of all the nodes, a novel data driven node bus-off time assessment method for CAN network is proposed by directly using network error information. First, the corresponding network error event sequence for each node is constructed using multiple-layer network error information. Then, the generalized zero inflated Poisson process(GZIP) model is established for each node based on the error event sequence. Finally, the stochastic model is constructed to predict the MTTB of the node. The accelerated case studies with different error injection rates are conducted on a laboratory network to demonstrate the proposed method, where the network errors are generated by a computer controlled error injection system. Experiment results show that the MTTB of nodes predicted by the proposed method agree well with observations in the case studies. The proposed data driven node time to bus-off assessment method for CAN networks can successfully predict the MTTB of nodes by directly using network error event data.

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.

Design of a CAN Network with Ethernet and Wireless CAN Interface

Controller Area Network (CAN) is a leading serial bus or network for embedded control since this protocol’s development in the early 1980s, and Ethernet has become the dominant LAN architecture, currently which also is widely applied in embedded control. In order to resolve the interconnection of CAN network and Ethernet, a CAN network with Ethernet and wireless CAN interface is designed, which contains a wired and wireless CAN-Ethernet gateway based on μIP TCP/IP stack protocol, a wired CAN network and a wireless CAN network. Microprocessor STC12C5A60S2 is used as the MPU in the gateway, Ethernet controller ENC 28J60 is connected to Internet through adapter HR911105A and RJ45, CAN interface chips are SJA1000 and PCH82c250, wireless module utilize the single RF transceiver chip nRF2401. The structure of hardware and software of this system are presented, and testing program show that this system can transport data with each other among Ethernet, the wired CAN nodes and the wireless CAN.

Research for CAN Node Fault Rapid Detection Based on OSEK Network Management

In order to detect the fault of automotive Electronic Control Units. In this paper, we proposed and implemented Controller Area Network (CAN) node management mechanism in the light of CAN technology standards and OSEK / VDX specifications. Besides, the standard protocols for analyzing low-speed CAN network application messages and monitoring network management messages had been developed. We utilized the vehicle network remote fault diagnosis platform and CAN analysis tool ZLGCANTEST to test the CAN data and analyze its real-time monitoring state. The experiment results indicate that CAN node management is capable of rapidly completing node fault detecting and promptly report node fault information for vehicle network remote fault diagnosis.

Design of CAN Node in Li-Ion Battery Formation and Test System Based on DSP

Aiming at the solution of low communication rate, stability and anti-interference problem of Li-lion formation and test equipment, two controllers of TMS320F2812 DSP as lower controller and ARM as upper controller, are introduced as Controller Area Network (CAN) communicaton model in formation and test system to realize high speed and stable communication between bottom and top. This paper presents a scheme of using CAN technology to realize communication. The principle and communication protocol of formation and test system and hradware design are introduced in this paper.

Study and Design of CAN Bus Node Based on MC912D60A Microcontroller in Automobile

Controller Area Network (CAN) is a kind of serial communication network that supports the distributed control and the real time control. The CAN have high performances and high reliabilities. It can solve many problems of complex circuitry, wiring harness increasing, operation reliability reducing and the difficulty of fault maintain increasing while using CAN Bus technology in automobile. In this paper, the form of CAN bus and node design method based on MC912D60A single chip microcomputer were studied and introduced. At last, the hardware design principle diagrams and software flow charts were given.

Balastro electrónico digital con control de intensidad luminosa direccionado digitalmente basado en bus CAN

This paper describes the design and implementation of a new digital dimming electronic ballast with the capability of being remotely controlled in a digital way, this is achieved through a novel lighting network based on Controller Area Network (CAN) bus standard. The proposed ballast was designed to drive a T5, 28 Watt s fluorescent lamp. The proposed functional performance was tested using an implemented lighting network system based on CAN 2.0A bus specification. The defined lighting network functions include dimming, turning on and off, and fault condition detection. The network control is made with a lighting system soft ware in a personal computer (PC) through one specific CAN node, being able to address up to 2047 individually controllable ballasts. According to the obtained results the proposed digital dimming electronic ballast performed the established functions successfully, meeting C class of the International Electrotechnical Commission (IEC) standard. The resulting system consists of a novel fully functional CAN bus lighting network with a reliable two wire remote control. Applications for this CAN Bus lighting network include lighting systems focused on design issues like lamp dimming control for electrical energy consumption savings and efficient lamp maintenance. Such application areas cover building lighting management, precision lighting eff ects,and studio lighting.

MULTIPLE ELECTRONIC CONTROL UNITS CALIBRATION SYSTEM BASED ON EXPLICIT CALIBRATION PROTOCOL AND J1939 PROTOCOL

The rising number of electronic control units (ECUs) in vehicles and the decreasing time to market have led to the need for advanced methods of calibration. A multi-ECU calibration system was developed based on the explicit calibration protocol (XCP) and J1939 communication protocol to satisfy the need of calibrating multiple ECUs simultaneously. The messages in the controller area network (CAN) are defined in the J1939 protocol. Each CAN node can get its own calibration messages and information from other ECUs,and block other messages by qualifying the CAN messages with priority,source or destination address. The data field of the calibration message is designed with the XCP ,with CAN acting as the transport layer. The calibration sessions are setup with the event-triggered XCP driver in the master node and the responding XCP driver in the slave nodes. Mirroring calibration variables from ROM to RAM enables the user to calibrate ECUs online. The application example shows that the multi-ECU calibration system can calibrate multiple ECUs simultaneously,and the main program can also accomplish its calculation and send commands to the actuators in time. By the multi-ECU calibration system,the calibration effort and time can be reduced and the variables in ECU can get a better match with the variables of other ECUs.

New measurement method of sample point position in controller area network nodes

This paper presents a new method for sample point position measurement in the bit interval of Controller area network (CAN) nodes. The position of sample point is an important parameter of CAN network node configuration influencing the bit error rate and consequently frame error rate within the whole system. The functionality of the proposed method was verified by using a unique measuring device emulating real conditions in the harsh automotive environment. The gained results along with validation procedure are further described.

Development of Real Time Monitoring System Using Controller Area Network

This paper presents a new development of a real time monitoring subsystem in a general-purpose real time monitoring and diagnosing system using controller area network (CAN) technology. To validate the designed concept, several vehicle electric utility devices are constructed as CAN nodes and are integrated into the CAN bus. An intelligent transducer to convert utility current and voltage is designed and fabricated with micro-controllers. An automatic node detection mechanism is also developed and added to detect the newly jointed/retrieved nodes and record the running history for further diagnosis when system or device malfunction happens. The system design configuration, implementation and verification are demonstrated with actual test data, and the test results demonstrate that the proposed system accomplishes real time electric power monitoring with diagnosis capability.

Detector-control system for the ATLAS muon endcap trigger

Thin gap chambers (TGCs) is the end-cap muon trigger detector of the ATLAS experiment, one of the major projects being built at CERN, Geneva, Switzerland. The TGC detector will be inaccessible during operation due to high radiation levels in the ATLAS cavern. The detector requires a detector-control system (DCS) to monitor important detector and environmental parameters, calibrate, set, and maintain the configuration of front-end electronics, and take appropriate corrective action to maintain the detector stability and reliable performance. The TGC DCS is a distributed system, comprising a central control and configuration master station, and about 1500 microcontroller slaves connected to it using a controller area network (CAN). The CAN nodes control hardware devices such as the thresholds for amplifier shaper discriminators (ASDs), and data-acquisition parameters. CAN nodes are distributed on the on-chamber trigger electronic boards, to service many channels close to their source. In contrast to many other control systems, the TGC DCS makes full use of the intelligence offered by the ATLAS ELMB CAN nodes, in order to distribute the control of complex tasks on the front-end nodes and reduce CAN bus traffic. These nodes implement JTAG and I2C protocols, monitor hardware parameters, generate test patterns, and histogram chamber charge for diagnostics. The hardware and software design, integration, performance, and radiation test results are described.

A new method for transferring CAN messages using wireless ATM

Considering widespread use of controller area network (CAN) FieldBus communication systems in process control environments it is usually required to interconnect them. Remote CAN nodes in industrial applications, automation systems and military applications may need communicating with each other or a central management unit for several purposes such as exchanging time-critical information. Along with the wireless communication revolution, networking without wires will play a leading role in the industry affecting customers' strategies and implementation plans. Interconnection of remote CAN nodes in industrial real-time applications using wireless asynchronous transfer mode (WATM) will provide significant benefits to global system integration and control. This paper presents a new method describing fixed wireless CAN networking exploiting WATM as an over the air protocol. CAN over WATM mapping issues using encapsulation technique are explained. The performance analysis of the proposed scheme is presented through computer simulation results provided by OPNET Modeler. The results show that benefiting also from the ATM's QoS control mechanisms, different kind of CAN messages carrying various data source traffics are delivered within 100 ms arrival time deadline as required by the SAE benchmark.