Controller Area Network (CAN Bus) - Serial Network Technology For Embedded Systems

Controller Area Network (CAN) is a serial network technology that was originally designed for the automotive industry, especially for European cars, but has also become a popular bus in industrial automation as well as other applications. The CAN bus is primarily used in embedded systems, and as its name implies, is a network technology that provides fast communication among microcontrollers up to real-time requirements, eliminating the need for other, more expensive and complex technologies.

CAN networks can be used as an embedded communication system for microcontrollers as well as an open communication system for intelligent devices. Some users, for example in the field of medical engineering, opted for CAN because they have to meet particularly stringent safety requirements.

Similar requirements had to be considered by manufacturers of other equipment with very high safety or reliability requirements (e.g. robots, lifts and transportation systems).

I used the following presentation for seminars during RTECC (Real Time Embedded Computing Conference) events all over the United States and Canada. It explains in detail the CAN protocol features with references to applications and development plus the use of higher layer protocols such as CANopen, DeviceNet, and SAE J1939. All content is based on my book A Comprehensible Guide to Controller Area Network.

Table of Content

1. Controller Area Network
2. CAN Bus Literature
3. What is CAN Bus - General Aspects
4. What is CAN Bus - Technical Aspects
5. A Brief History of CAN Bus
6. A Brief History of CAN Bus - Continued
7. CAN Bus Applications
8. CiA - CAN in Automation
9. CAN Bus Main Characteristics
10. Benefits of Using CAN Bus
11. Message Frames
12. Remote Transmission Request
13. Message Broadcasting with Data Frames
14. Message Request with Remote Frames - 1
15. Message Request with Remote Frames - 2
16. Message Frame Format - 1
17. Message Frame Format - 2
18. Extended CAN Bus Protocol
19. Dominant/Recessive Bus Level
20. Bit Monitoring
21. Bus Arbitration Principle - 1
22. Bus Arbitration Principle - 2
23. Bus Arbitration Principle - 3
24. Data Transfer Synchronization - 1
25. Data Transfer Synchronization - 2
26. Data Transfer Synchronization - 3
27. Bit Stuffing Range
28. Frame Length Due to Bit Stuffing
29. Bit Monitoring - 1
30. Bit Monitoring - 2
31. Hard Synchronization
32. Bit Synchronization
33. Phase Errors
34. Compensation of Phase Errors
35. Error Detection Method
36. Error Detection Analysis
37. Error Detection
38. Error Frame Superpositioning
39. Fault Confinement - 1
40. Transmit / Receive Errors
41. Fault Confinement - 2
42. CAN Bus Medium
43. CAN Bus Topology
44. CAN Bus Level - 1
45. CAN Bus Level - 2
46. CAN Bus Connection
47. Maximum Bus Length
48. Wiring And Connections
49. CAN Bus Controller Chips - 1
50. CAN Bus Controller Chips - 2
51. CAN Bus Higher Layer Protocols - 1
52. CAN Bus Higher Layer Protocols - 2
53. More Info on CAN Bus
54. Literature

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