IntCanConfH

8th iCC Las Vegas 2002

Session III - Physical Layer

Using CAN arbitration for electrical-layer testing

Sam Broyles, Steve Corrigan, Texas Instruments

http://www-s.ti.com/sc/psheets/slla123/slla123.pdf

Abstract:

The Controller Area Network (CAN) protocol incorporates a powerful means of seamlessly preventing data corruption during message collision. This arbitration process and its relationship to the electrical layer variables are explained. Techniques to force message collision and test arbitration are demonstrated with strategies to leverage arbitration as a quantitative benchmark in safety-critical systems. The benchmark is then applied to several example systems and results provided for comparison.

Coordinated Multi-Axis Motion Control via CAN bus.

Jan Bosteels, Advanced Motion Controls

http://www.a-m-c.com/download/8th_iCC-AMC.PDF

Session V:

A Novel Distributed Add-on Concept to Detect and Recover from Bus Failures in

Controller Area Network using REDCAN.

Presented by someone of University Göteborg and Sauer-Danfoss The REDCAN is a bus switching Module. http://www.ce.chalmers.se/staff/sivis/articel_redcan.pdf

Session VII:

Fault tolerant TTCAN networks

B. Müller, T. Führer, F. Hartwich, R. Hugel, H. Weiler, Robert Bosch GmbH? http://www.can.bosch.com/docu/Fault_Tolerant_TTCAN.pdf http://www.can-cia.org/can/ttcan/mueller.pdf

Timing in the TTCAN Network

Florian Hartwich, Bernd Müller, Thomas Führer, Robert Hugel, Robert Bosch GmbH?

http://www.can-cia.de/can/ttcan/hartwich2.pdf

Abstract

ISO TC22/SC3/WG1/TF6 has standardised (as ISO CD 11898-4) an additional layer to the CAN protocol, "Time Triggered Communication on CAN". This new standard specifies how a periodic transmission schedule is maintained, how a global system time is supported, and provides failure handling procedures as well as application interfaces. The time triggered communication is built upon the unchanged CAN protocol (ISO 11898-1). This allows a software implementation of the time triggered function of TTCAN, based on existing CAN ICs. The high precision global time however requires a hardware implementation. A hardware implementation also offers additional functions like time mark interrupts, a stop-watch, and a synchronization to external events, all independent of software latency times. This paper describes the principles of how a TTCAN network's clock speed and clock phase is synchronized to an external time base or to another TTCAN network.

Minimizing CAN response-time jitter by message manipulation

Thomas Nolte, Hans Hansson and Christer Norstr?om M?alardalen Real-Time Research Centre Department of Computer Engineering M?alardalen University, V?aster°as, SWEDEN http://www.mrtc.mdh.se

www.mrtc.mdh.se/publications/0385.pdf

Abstract

Delay variations (jitter) in computations and communications cause degradation of performance in control applications. There are many sources of jitter, including variations in execution time and bus contention. This paper presents methods to reduce the jitter caused by the bit-stuffing mechanism in the Controller Area Network (CAN). By introducing some restrictions, such as a small reduction of available frame priorities, we are able to reduce the number of stuffed bits in the worst case. We also combine this with some of our previous work that reduces the number of stuffed bits in the data part of the frame. We show the actual penalty introduced by forbidding priorities, and we show the overall improvement by using these techniques together in a small case study.

Session X

MilCAN (MILCAN) adapting COTS CANbus to military vetronics

Steven T. Majoewsky, General Motors Defense, Colin Davies, Radstone Technology