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Multiplexed Networks forEmbedded SystemsCAN, LIN, Flexray, Safe-by-Wire...

Dominique ParetTranslated byRoderick Riesco, MAMember of the Institute of Translation and Interpreting, UK

3 I C E N T E N N I A L

3 I C E N T E N N I A LJohn Wiley & Sons, Ltd

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ContentsPreface xiAcknowledgements xvPa rt A CA N: from concept to reality 11 The CAN bus : general 3

1.1 Concepts of bus access and arbitration 31.2 Error process ing and managem ent 81.3 Increase your word pow er 121.4 From concept to reality 121.5 Historica l context of CAN 141.6 Pate nts, licences and certification 19

2 CA N: its pro toco l, its pro pe rtie s, its novel feature s 252.1 Defmitions of the CAN protocol: 'ISO 11898-1' 252.2 Errors : their intrinsic prop erties, detection and process ing 542.3 The rest of the frame 712.4 CAN 2.0B 76

3 The CAN physical layer 833.1 Introduction 833.2 The 'CAN bit' 863.3 Nom inal bit time 903.4 CAN and signal propagation 943.5 Bit synchron ization 1063.6 Netw ork speed 116

4 M edi um , Implem entation an d physical layers in CAN 1254.1 The rnge of media and the types of coupling to the network 1264.2 High speed CAN , from 125 k b it s"

1to 1 M bi ts"

1: ISO 11898-2 1314.3 Low speed CA N, from 10 to 125 kbit s _ 1 142

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V 1 I 1 Contents4.4 Optical media 1664.5 Electromagnetic media 1694.6 Pollution and EM C conformity 169

5 Com ponents, applications and tools for CAN 1795.1 CAN componen ts 1795.2 App lications 1995.3 App lication layers and development tools for CAN 215

6 Time-triggered protocols - FlexRay 2316.1 Some general remarks 2316.2 Event-triggered and time-triggered aspects 2326.3 TTCA N - Time-triggered comm unication on CAN 2336.4 Towards high-speed, X-by-W ire and redundant Systems 2366.5 FlexRay 242

Part B New mu ltiplexed bus concepts:LI N, FlexRay, Fail-safe SB C, Safe-by-Wire 2737 LIN - Local Interconnect Network 285

7.1 Introduction 2857.2 Basic concept of the LIN 2.0 protocol 2877.3 Cost and market 3017.4 Conformity of LIN 3017.5 Exam ples of componen ts for LIN 2.0 302

8 Think 'Bus', think 'Fail-safe S B C , 'Gateways' . . . 31 38.1 Fail-safe SBC s: their multiple aspects and reasons for using them 3148.2 The strategy and princip les of re-use 3348.3 Dem o board 3358.4 Gateways 3378.5 Managing the application layers 338

9 Safe-by-Wire 3439.1 A little history 3439.2 Safe-by-W ire Plus 3459.3 Some words of technology 347

10 Audio-video buses 35910.1 I2C Bu s 35910.2 The D2B (Dom estic digital) bus 36010.3 The MO ST (Media oriented Systems transport) bus 36410.4 The IEEE 1394 bus or 'F ire W ire ' 371

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Contents ix11 RF comm unication and wireless mini-networks 377

11.1 Radio-frequency com mu nication: internal 37711.2 Radio-frequency com mu nication: extem al 38111.3 W ireless networks 394Conclusion 399Part C Appendices 401Appendix A. CiA (CAN in Automation) 403Appendix B . Essential references 407A ppe nd ixC . Further reading 411Appendix D. Useful addresses 413Index 415