Understanding and Using the Controller Area Network Communication Protocol

Transcription

1 Marco Di Natale Haibo Zeng Paolo Giusto Arkadeb Ghosal Understanding and Using the Controller Area Network Communication Protocol Theory and Practice ^Spri ringer

2 Contents..? 1 The CAN 2.0b Standard Physical Layer Bit Timing Transceivers, Network Topology and Bus Length Physical Encoding of Dominant and Recessive States Connectors The Physical Layer in ISO and SAE Standards Message Frame Formats DATA Frame Remote Frame Error Frame Overload Frame Bus Arbitration Message Reception and Filtering Error Management CRC Checks Acknowledgement Error Types Error Signalling Fault Confinement 22 2 Reference Architecture of a CAN-Based System CAN Controller and Bus Adapter CAN Device Drivers Transmission Reception Bus-Off and Sleep Modes Interaction Layer Direct Transmission Mode Periodic Transmission Mode Mixed Transmission Mode 37 vii

3 viii Contents Deadline Monitoring Message Filtering Implementation Issues Driver Layer Interaction Layer 41 3 Worst-Case Time Analysis of CAN Messages Ideal Behavior and Worst-Case Response-Time Analysis Analysis Flaw and Correction Analysis of Message Systems With Offsets Message Buffering Inside the Peripheral An Ideal Implementation Sources of Priority Inversion: When the Analysis Fails Message Queue Not Sorted by Priority Messages Sent by Index of the Corresponding TxObject Impossibility of Preempting the TxObjects Polling-Based Output From the Timing Analysis of Messages to End-to-End Response-Times Analysis Conclusions 65 4 Stochastic Analysis Introduction Reference Work System Model and Notation Stochastic Analysis of Message Response-Times A Modeling Abstraction for CAN Messages Stochastic Analysis of the Approximate System Analysis on an Example Automotive System 84 5 Statistical Analysis Introduction Deriving and Fitting the Model Common Characteristics of Message Response-Times Fitting the Message Response-Times Estimate of the Distribution Parameters Parameters x off and у Parameters y D and y r Parameters a and b of the Gamma Distribution Predicting Message Response-Times Prediction of Response-Time cdfs for Messages on the Reference Bus Prediction of Response-Time cdfs for Messages on Other Buses Comparison of Stochastic and Statistical Analyses Input Information 117

4 Contents ix Analysis Accuracy Analysis Complexity Reliability Analysis of CAN Error Rates in CAN Deviation Points in the Standard Incorrect Values in the DLC Field Dominant SRR Bit Value Fault Confinement and Transition to Bus Off Inconsistent Omissions or Duplicate Messages Protocol Vulnerability Bus Topology Issues Babbling Idiot Faults and Bus Guardians Analysis of CAN Message Traces Notation Case Studies Trace Analysis Identification of Reference Messages Base Rate Message Reconstruction of the True Message Periods and Arrival Times Queuing Jitter Because of TxTask Scheduling Delays Clock Drifts and Actual Message Periods Finding the Message Phase with Respect to the Base Rate Message Analysis of Automotive Case Studies Overwrite Error at the Destination Node for Message 0xlF3 in V\ Aperiodic Message Transmission Local Priority Inversion Remote Priority Inversion Message Loss at Source Node Reconstruction of Message-to-ECU Relation in a Hybrid Vehicle CANTools System Configuration System Analysis Network Bus Simulation and Rest-Bus Simulation Traffic Logging and Analysis Network Bus Worst/Best Case Analysis Protocol Stack Implementation and Configuration CAN Driver Development and Integration Protocol Stack/Application Calibration 178

5 x Contents 9 Higher-Level Protocols J Physical Layer Parameters and Parameter Groups Protocol Data Units (PDUs) Transport Protocol Network Management CANopen CANopen Architecture and Standards Physical Level Object Dictionary Time Services Communication Protocols Service-Oriented Communication and SDO Message Identifier Allocation Network Management CCP Protocol Definition Command Receive Object Data Transmission Object List of CCP Commands List of Packet IDs and Command Return Codes TTCAN Motivation and Goal Synchronization Mechanisms in TTCAN Scheduling of TTCAN Networks Reliability of TTCAN and Additional Notes 214 Symbols 215 References 217 Index 221