*CAN
Glossary:
(*Control Area Networking)
Dave Funk Consultant PHYTEC 06/17/1999
Terms - Alphabetized:
- Acknowledge A single bit, transmitted by the receiving
node, in response to data
- Active Error Detection Detected errors are made public.
- Arbitration Priority bitwise "Bid for
Buss" to avoid collision
- Basic-CAN Basic functions limitations - low
baud rates
- Bit-Construction Data bits, constructed of 8-12 Time
Quantums ("TQ")
- Bit-Monitoring All nodes monitor the dominate and
recessive states
- Bit-Stuffing After 5 consecutive identical data bits,
an alternate bit is imposed
- Bus Speeds Class A-up to 10Kb, B-10Kb to 125Kb, C-125Kb
to 1 Mb
- CAN Controller Area Network
- A multi-master bus, using open linear structure, with one
logic bus line, and equal nodes)
- (Complies with the 7-layer ISO/OSI communication reference
model)
- CAN_H CAN High (+3.5V)
- CAN_L CAN Low (+1.5V)
- CAN_Open CAL Based Profile-Layer-Protocol by CiA for
interchangeability
- Can Overload-Frame Generated by a node that is not
ready
- CAN Protocol Versions V2.0A (Standard) and V2.0B Active
and Passive (Extended)
- CiA CAN in Automation
- CRC Cyclic Redundancy Check
(X15+X14+X10+X8+X7+X4+X3
- DBT Distributor
- DCF Device Description File
- Delimiter A passive bit between Fields
- De-Stuffing The action of the receiver to remove stuffing
bits from the data stream.
- Device Limitation Maximum number of "Nodes"
- Distance Limitation 130 ft (40 meters)
- DLC Data Length Code
- DLL Data Link Layer (not Dynamic Link
Library)
- DOD Device Object Directory
- Dominant Level (Bit) +1.5V ( bus state for a single-line)
[ "Wired-And" Pull-Down]
- Dominant Bit ( Bus State) When the CAN_H line and
the CAN_L lines are both at +2.5V
- EDS Electronic Data Sheet
- EMI Electro-Magnetic-Interference
- Error Active State Node will transmit a public dominant
Error Frame.
- Error Frame A series of consecutive dominant or recessive
bits, followed by a series of 6 recessive bits.
- Error Off State
- Error Passive State Node will transmit a recessive
Error Frame
- Full-CAN Greater hardware management higher
baud rates
- Hamming The process of shifting & combining bits
to create a unique code
- Hard Synchronization Synchronization on the falling
edge of the Start Of Frame Bit
- ISO International Standardization
Organization
- Line-Termination 120 ohms (each end of the line)
- LLC Logic Link Control
- MAC Medium Access Control
- MDTP Multiplexed Domain
Transfer Protocol
- NMT Network Management
- Node Passive or Active Device
- Node Guarding Device Failure Detection ("disconnected")
- NRZ Bit Coding Non-Return
to Zero
- OSI Organization of Standards
Institute (7 Layer)
- Passive Error Detection
- PDO Process Data Object
- Phase Buffer Segment 1 Compensation for phasing errors,
by lengthening the data-bit for re-sync
- Phase Buffer Segment 2 Compensation for phasing errors,
by shortening the data-bit for re-sync
- Propagation Segment A programmable 1-8 Time Quanta
variation (delay compensation).
- Protocol Established method or procedure for data
communication.
- Recessive Level (Bit) +3.5V ( bus state for a single-line,
with ground reference)
- Recessive Bit ( Bus State) When the CAN_H line is
at +3.5V, and the CAN_L is at +1.5V
- Re-synchronizing (Hard) At each Recessive to Dominant
edge transition
- Resynchronization Jump Width Limited to 1-4 TQ, but
not longer than Phase Buffer Seg 2
- RTR Remote Transmission Request
bit
- SAE Society of Automotive
Engineers
- SDO Service Data Object
(provide access to entries in a Device Object Directory)
- SEP Stored Event Protocol
- SDO Service Data Object
- SLIO Serial Link I/O
(CAN slaves)
- SOF Start of Frame
- Sync Sync Pulse, or Synchronization Process
- Synchronization Segment The first segment within a
CAN bit
- TQ Time Quantum /8 to
/25 per Bit , [4 Segments per bit time]
- Transfer Rates 1 Mb/sec
- VAN Vehicle Area Network
Usage Terms (by groups):
- Arbitration Priority bitwise "Bid for
Bus" to avoid collision
- Basic-CAN Basic functions limitations - low
baud rates
- Full-CAN Greater hardware management higher
baud rates
- NRZ Bit Coding Non-Return
to Zero
- Bit-Stuffing After 5 consecutive identical data
bits
- Recessive Level (Bit) +3.5V ( bus state)
- Dominant Level (Bit) +1.5V ( bus state) [ "Wired-And"
]
- Line-Termination 120 ohms (each end of the line)
- Re-synchronizing (Hard) At each Recessive to Dominant
edge transition
- Node Passive or Active Device
- Node Guarding Device Failure Detection
- Transfer Rates 1 Mb/sec
- Distance Limitation 130 ft (40 meters)
- Bus Speeds Class A-up to 10Kb, B-10Kb to 125Kb, C-125Kb
to 1 Mb
- Device Limitation Maximum number of "Nodes"
Phases:
- Standard Protocol (V2.0A)
- Extended Protocol (V2.0B)
- Passive
- Active
Key Phrases:
- Bit-Stuffing After 5 consecutive identical data bits
- Node Guarding Device Failure Detection
- Re-synchronizing (Hard) At each Recessive Bit to Dominant
Bit
- Noise Immunity to EMI Differential-Mode Interfacing
- Hamming The process for combining bitwise codes for
uniqueness
Equipment Variations:
- CANopen CAL Based Profile-Layer-Protocol by CiA for
interchangeability
- CANopen Chip Micro-Controller Chip that conforms to
CAN open
- CANopen Software Software Protocol that conforms to
CAN Open
- CANadapter
- pcNET-CAN 8-Bit PC ISA Card, for CAN Activity
- PCAN-Dongle
- SLIOmodul Serial Link I/O
Module
Frame Formats:
- Data Frame
- Remote Frame
- Error Frame
- Overload Frame
- Space (Inter Frame)
Fields within the Data
Frame:
- Start-of-Frame 1 bit
- Arbitration Field 11 + 1 bits
- Control Field 11 + 4 bits
- Data Field 0 to 64 (plus filler bits)
- CRC Field 15 + 1 bits
- Acknowledge Field 2 bits
- End-of-Frame 7 bits
Fields within the Remote
Frame:
Start of Frame
- Arbitration Field 11 bits, plus Dominant RTR Bit
- Control Field 11 + 4 bits
- No Data Field
- CRC Field 15 + 1 bits
- Acknowledge Field 2 bits
- End-of-Frame
Fields within the Error
Frame:
- Error Flag Field 6 to 12 bits
- Error Delimiter Field 8 bits (Recessive)
Detected Errors:
- CRC Error
- ACK Error
- Form Error
- Bit Error
- Stuff Error
Fields within the Overload
Frame:
- Error Flag Field 6 bits
- Superimposition of Active Overload Flags 0 to 6 bits
- Error Delimiter Field 8 bits (Recessive)
Fields within the Interframe
Space:
- Intermission Field 3 bits
- Bus Idle (Recessive)
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CAN Glossary & Summarization SfE_DCS 01/31/2014