1 November Basics of In-Vehicle Networking (IVN) Protocols
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1 1 November 2011 Basics of In-Vehicle Networking (IVN) Protocols
2 Available IVN Protocols There are many Bus Systems used in a car but... "It is becoming clear that regardless of carmaker, new vehicles will be made using LIN for the lowest data-rate functions, CAN for medium speed, MOST for the high-speed data rates and FlexRay, for safetycritical applications such as steerand brake-by-wire." Automotive Industries, November 2011
3 LIN Overview Like in a classroom situation, the LIN master initiates iti t the response of the other participants LIN = 12 V, single-wire serial communications protocol based on the common SCI (UART) byte-word interface Maximum speed = 20 kb/s (EMC/clock synchronisation) Master controls the medium access: no arbitration or collision management, guaranteed latency times Clock synchronization mechanism by slave nodes (no need for quartz or ceramics resonator) Nodes added without t HW/SW changes in other slave nodes Typically < 12 nodes, (64 identifiers & relatively low transmission speed) 3 November 2011
4 LIN Applications Mirrors, window lift, doors switches, door lock, HVAC motors, control panel, engine sensors, engine cooling fan, seat positioning motors, seat switches, wiper control, light switches, interface switches to radio/navigation/phone, rain sensor, light control, sun roof, RF receivers, body computer/smart junction box, interior lighting, and more Steering Wheel: cruise control, wiper, turning light, climate control, radio, telephone Roof :rain sensor, light sensor, light control, sun roof Climate: small motors, control panel Engine: sensors, small motors Seat: seat position motors, occupancy sensor, control panel Door: mirror, central ECU, mirror switch, window lift, seat control switch, door lock 4 November 2011
5 LIN details Protocol stack A node in a cluster interfaces to the physical bus wire using a frame transceiver. The frames are not accessed directly by the application; a signal based interaction layer is added in between. As a complement, a transport layer interface exists between the application and the frame handler. Application program Interface (API) Specification Protocol Specification Physical Layer Specification 5 November 2011
6 LIN details Physical Layer Vsup between 7 V and 18 V Strict requirements for slope and symmetry Duty-cycle: Min = 39.6 %, Max = 58.1% (Bus-load: time-constant between 1 µs and 5 µs: 1k/1 nf 660/6.8 nf 500/10 nf) (not-synchronized oscillator <14% tolerance) 6 November 2011
7 LIN details Communication concept Communication initiated by the master task (message header) Slave task activated upon recognition of identifier - starts the message response (1-8 data bytes + 1 checksum byte). Data correctness: parity, checksum Identifier = content, not the destination! exchange of data in various ways: M S(s) S M S S(s) message frame. 0 = dominant state 1 = recessive state Not used = recessive 7 November 2011
8 LIN Reference Information LIN Specification Package Revision 2.2 Contact: 8 November 2011
9 CAN Overview In CAN communication, all partners are equal and are able to communicate at any time. In case of conflicts (two speaking at the same time), arbitration is used to ensure messages are understood. Controller Area Network is a fast serial bus designed to provide an efficient, reliable and very economical link between sensors and actuators CAN connects the vehicle's electronic equipment These connections facilitate the sharing of information and resources among the distributed applications All nodes can send a message at any time, when two nodes are accessing the bus together, arbitration decides who will continue 9 November 2011
10 CAN Applications CAN was developed in early 1980 s for automotive and is widely used in all car parts (Powertrain, Chassis, Body); every car developed in Europe, USA, and Japan has at least a few CAN nodes; CAN is being adopted in Asia as well An increasing number of products have a CAN transceiver implemented together with other functionality (e.g. in system basis chips, stepper motors, park assist, ) CAN also found its way into Industrial Applications See 10 November 2011
11 CAN - details Characteristics Asynchronous communication (Event Triggered) Any node can access the bus when the bus is quiet Non-destructive ti arbitration, ti 100% use of the bandwidth without loss of data, large latency for low priority messages, low latency for high priority messages Variable message priority based on 11-bit (or extended 29 bit) packet identifier Automatic error detection, signaling and retries CAN uses a twisted pair cable to communicate at speeds up to 1 Mb/s with up to 40 devices 11 November 2011
12 CAN - details Physical Layer (*) CAN bus requires line termination ISO standard define the impedance of the cable as 120 ± 12 Ω Twisted pair, shielded or unshielded is requested (*) Single wire CAN (SEA2411, 33,33 kbit/s) and low speed CAN (ISO , 125Kbit/s) are not covered by above description 12 November 2011
13 CAN - details Physical Layer What is the advantage of the two wire CAN communication? EMC applied on two terminated floating wires is not changing differential voltage When twisted pair is used it has advantage for electromagnetic emissions (EME) Note: Low speed CAN (ISO , 125Kbit/s) bus is not a terminated bus and 2 wires are used here for fault tolerance reasons. One wire shorted, disconnected or short in between the two wires causes communication switching to single ended communication. 13 November 2011
14 CAN details Bus arbitration in more details If two messages are simultaneously sent over the CAN bus, the bus takes the logical AND of the signal Hence, the messages identifiers with the lowest binary number gets the highest priority Every device listens on the channel and backs off as and when it notices a mismatch between the bus s s bit and its identifier s bit 14 November 2011
15 CAN Reference Information (ISO ) CAN Data Link Layer and Physical Signaling (ISO ) High speed CAN Medium Access Unit (ISO ) CAN Low-Speed, Fault-Tolerant (ISO ) CAN Time-Triggered Communication (ISO ) CAN High-Speed with Low-Power Mode (SEA2411) Single wire CAN 2.0 Part A (pdf) describing the CAN base frame format CAN 2.0 Part B (pdf) describing both base and extended frame formats 15 November 2011
16 FlexRay Overview High data rates (up to 10 Mb/s) Time- and event-triggered behavior As in a train-schedule, all FlexRay traffic on the bus is nicely scheduled using time-slots. Redundancy Fault-tolerance tolerance Deterministic (use of time-slots ) 16 November 2011
17 FlexRay Applications FlexRay delivers the error tolerance, speed and time-determinism performance requirements for x-by-wire applications (i.e. drive-by-wire, steer-by-wire, brake-by-wire, etc.) The first series production vehicle with FlexRay was at the end of 2006 in the BMW X5, enabling a new and fast adaptive damping system 17 November 2011
18 FlexRay - Details Basic requirements Bit-rates up to 10 Mb/s over UTP or STP Line termination (Line impedance 80 to 110 Ω) Push-pull driver (2 dominant states + 1 idle state (recessive) ) Maximum wire-length (strong attenuation at 10 Mb/s) Slope-control + symmetry of slopes and delays Jitter EMC For TT-protocols: Time-skew versus delay Oscillator stability: Jitter, accuracy Reliable and fault-tolerant tolerant Bus-Guardian: To avoid babbling idiot Control media access based on time-slots Bus Topologies: Bus-architecture (passive bus) More difficult for line-termination Star-configuration (active star) Point to point communication 18 November 2011
19 FlexRay Details Physical Layer Communication cycle Static Segment: Reserved slots for deterministic data that arrives at a fixed period. Dynamic Segment: Is used for a wider variety of event-based data that does not require determinism (cfr.can) Symbol Window: Typically used for network maintenance and signaling for starting the network. Network Idle Time: A known "quiet" time used to maintain synchronization between node clocks. 19 November 2011
20 FlexRay Details Frame Format Clock Synchronization See chapter 8 of FlexRay Protocol Specification 20 November 2011
21 FlexRay Reference Information Current standard (v3.0.1) has the following documents: FlexRay Specifications Version FlexRay Protocol lspecification Version FlexRay Protocol Conformance Test Specification Version FlexRay Electrical Physical Layer Specification Version FlexRay Electrical Physical Layer Conformance Test Specification Version FlexRay Electrical Physical Layer Application Notes Version The FlexRay specifications v3.0.1 were submitted to ISO in order to be published as a standard for road vehicles 21 November 2011
22 IVN Testing & Conformance Conformance testing Compliance with the standard Executed by: C&S Group Ihr ESD & EMC testing According to OEM requirements Executed by: IBEE-Zwickau Underwriters Laboratories(UL) 22 November 2011
23 Bus - Comparison Bus LIN CAN FlexRay MOST Cost/Node [$] (ABIreport: Y08) Used in Subnets Soft real-time Hard real-time Multimedia Application domains Body Powertrain, Chassis Chassis, Powertrain Multimedia, Telematics Message transmission Synchronous Asynchronous Synchronous & Asynchronous Synchronous & Asynchronous Message identification Identifier Identifier Time slot Architecture Single Master typ slaves Multi-Master typ nodes Multi-Master up to 64 nodes Multi-Master up to 64 nodes Access control Polling CSMA/CA TDMA TDM CSMA/CA Data Rate 20 kbps 1 Mbps 10 Mbps 24 Mbps Physical Layer Single Wire Dual-Wire Dual-Wire (Optical Fiber) Optical Fiber (Dual-wire) Latency Jitter Constant Load dependent Constant Data stream Babbling idiot n/a Not provided Provided Extensibility High High Low High 23 November 2011
24 Released LIN Products from ON Semiconductor WPN OPN (T&R) Description Standard AMIS AMIS30600LINI1RG LIN Transceiver NCV7321 NCV7321D10R2G Stand-alone LIN Transceiver NCV7321D11R2G NCV7420 NCV7420D23R2G LIN Transceiver with 3.3V VReg. NCV7420D24R2G NCV7420D25R2G NCV7420D26R2G LIN Transceiver with 5V VReg. NCV7425 NCV7425DW0R2G LIN Transceiver with 3.3V Vreg (150mA) NCV7425DW5R2G LIN Transceiver with 5V Vreg (150mA) LINv1.3 LINv2.1 J November 2011
25 Released CAN Products from ON Semiconductor WPN OPN (T&R) Description Standard AMIS AMIS30660CANH2RG CAN HS Transceiver (5V) AMIS AMIS30663CANG2RG CAN HS Transceiver (3.3V) AMIS AMIS42700WCGA4RH Dual CAN HS Transceiver AMIS AMIS42665TJAA1RG HS LP CAN Transceiver (Level WU - Matte Sn) AMIS42665TJAA3RL AMIS42665TJAA6RG HS LP CAN Transceiver (Level WU - NiPdAu) HS LP CAN Transceiver (Edge WU GM spec.) ISO NCV7340 NCV7340D12R2G HS LP CAN Transceiver (Level WU) NCV7340D13R2G ISO NCV7340D14R2G HS LP CAN Transceiver (Edge WU GM spec.) NCV7441 NCV7441D20R2G Dual HS LP CAN Transceiver NCV7341 NCV7341D20R2G Improved HS LP CAN Transceiver with Error Detection (>6KV) NCV7341D21R2G HS LP CAN Transceiver with Error Detection AMIS AMIS41682CANM1RG CAN LS Transceiver (5V) ISO AMIS AMIS41683CANN1RG CAN LS Transceiver (3.3V) 3 NCV7356 See datasheet (6 Single Wire CAN versions) 25 November 2011
26 Released Protection Devices from ON Semiconductor NUP1105L NUP2105L 26 November 2011
27 IVN Products & Solutions from ON Semiconductor For more information on IVN products & solutions from ON Semiconductor, visit: Automotive Applications ESD Protection Diodes Data Transmitters & Receivers 27 November 2011
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