Controller Area Network

Transcription

1 Controller Area Network Projects with ARM and Arduino Prof Dr Dogan Ibrahim Near East University an Elektor Publication LEARN DESIGN SHARE

2 Contents Contents Preface Chapter 1 Automotive Bus Systems Vehicle Network Systems CAN Bus LIN Bus MOST Byteflight Intellibus Others Comparison of Automotive Bus Systems A Brief History of CAN Bus CAN in Automotive Industry The Basic Structure of a CAN Automotive System Advantages of CAN Bus Disadvantages of CAN Bus Properties of CAN Bus The ISO/OSI Reference Model and CAN CAN BusISO/OSI Model CANopen Summary...44 Chapter 2 Structure of the CAN physical layer CAN Bus Termination CAN Bus Data Rate Cable Stub Length CAN Bus Node CAN Bus Signal Levels CAN_H Voltage CAN_L Voltage CAN Signal Waveform Bus Arbitration

3 Controller Area Network - Projects with ARM and Arduino Bus Transceiver CAN Connectors CAN Repeaters CAN PC Interface Summary...57 Chapter 3 CAN Bus Frames Data Frame Start Of Frame (SOF) Arbitration Field RTF Field Control Field Data Field CRC Field ACK Field End of Frame Field Remote Frame Error Frame Overload Frame Extended CAN Frames Summary Chapter 4 Error conditions on CAN Bus Bit Stuffing CAN Bus Error Detection Bit Error Bit Stuffing Error CRC Error Frame Error ACK Error CAN Bus Fault Confinement Summary

4 Contents Chapter 5 Data exchange on CAN bus Data Exchange With Data Frames Remote Frames on the Bus Summary...83 Chapter 6 CAN Bus timing Bit Timing Selection of Bit Timing Segments The Prop_Seg Oscillator Tolerance Summary...98 Chapter 7 CAN Bus controllers The Basic Structure of a CAN Transceiver The Basic Structure of a CAN Controller The MCP2515 CAN Controller (Without Built-in Transceiver) The MCP2515 CAN Controller (With Built-in Transceiver) Summary Chapter 8 CAN Bus development tools Hardware Development Tools CAN MicroMOD Development Kit mikroelektronika CAN Communication Kit The RCDK8C CAN Development Kit mikroelektronika CAN SPI Click Board mikroelektronika CAN-1 board CAN Bus Monitor Demo Board CAN Bus Analyzers Microchip Inc CAN Bus Analyzer CANdo PCAN Explorer CAN-Bus-Tester 2 (CBT2) BitScope Logic LAP-C Logic Analyzer

5 Controller Area Network - Projects with ARM and Arduino 8.3 CAN Bus Software Development Tools Keil Real-Time Library (RL-ARM) mikroelektronika mikroc Pro for ARM STM32F2xx Standard Peripheral Library Summary Chapter 9 Architecture of ARM microcontrollers The STM32 Family of ARM Microcontrollers The STM32F107VCT6 Microcontroller Basic Features of the STM32F407VCT Internal Block Diagram The Power Supply Low Power Modes The Clock Circuit Summary Chapter 10 Programming ARM Microcontrollers mikroc STM32F407VCT6 Microcontroller Specific Features The General Purpose Input-Output (GPIO) Library GPIO_Clk_Disable GPIO_Set_Pin_Mode GPIO_Digital_Input GPIO_Digital_Output GPIO_Analog_Input GPIO_Alternate_Function_Enable Memory Type Specifiers PORT Input-Output Accessing Individual Bits bit Data Type Interrupts and Exceptions Exceptions Interrupt Service Routine Creating a New Project

6 Contents 10.9 Simulation Setting Break Points Debugging Other mikroc IDE Tools ASCII Chart GLCD Bitmap Editor HID Terminal Interrupt Assistant LCD Custom Character Seven Segment Editor UDP Terminal USART Terminal USB HID Bootloader Statistics The Library Manager Summary Chapter 11 Clicker 2 for STM32 Development Board LEDs Push-button Switches Power Supply mikrobus Sockets Programming the Microcontroller on the Clicker 2 for STM32 Board Summary Chapter 12 mikroc Pro for ARM Built-IN CAN Bus functions STM32F407VGT6 Microcontroller Built-in CAN Controller Module Message Transmission Message Reception mikroc Pro for ARM CAN Bus Functions CANxSetOperationMode CANxInitializeAdvanced CANSetMask

7 Controller Area Network - Projects with ARM and Arduino CANSetFilter CANSetFilterScale CANSetFilterScale CANxRead CANxWrite CANSlaveStartBank Chapter 13 CAN BUS projects using ARM Microcontrollers PROJECT 1 Remote LED PROJECT 2 Remote Temperature Alarm PROJECT 3 Remote DC Motor Drive PROJECT 4 CAN Bus With 3 Nodes Chapter 14 Using CAN Bus analyzers Using a Logic Analyzer as a CAN Bus Analyzer Using the Microchip Inc CAN Bus Analyzer (APGDT002) Connecting the CAN BUS Analyzer to the PC and CAN BUS Example CAN Bus Analysis Transmitting Data On the Bus Summary Chapter 15 CAN SPI CAN SPI Functions CAN SPI Variables CANSPISetOperationMode CANSPIGETOperationMode CANSPIInitialize CANSPISetBaudRate CANSPISetMask CANSPISetFilter CANSPIRead Project Example Chapter 16 Using Arduino with CAN Bus Arduino CAN Bus Shield

8 Contents 16.2 CAN Bus Functions CAN.begin(Baud) CAN.checkReceive() CAN.readMsgBuf(&msglen, msgbuf) CAN.getCanId() CAN.sendMsgBuf(msgID, ext, len, buf) CAN.checkError() CAN.init_Mask(num, ext, uidata) CAN.init_Filt(num, ext, uidata) CAN.isRemoteRequest() CAN.isExtendedFrame() Include Files Example CAN Bus System Index