• Overview

• CAN FD

• Hardware

  • Termination Resistors

  • Transceiver

  • Speed and Differential Signals

  • Bit Stuffing

• Frame

  • ACK bit

  • Message ID based Arbitration

  • RTR

• Errors

  • Transmit Error Counters

  • Receive Error Counters

  • Bus Off Conditions

• Applications

• DBC

  • Message Format

  • Signed and Unsigned Signals

  • Fractional Signals

  • Little Endian Examples

  • Big Endian Examples

  • Multiplexed Signals

  • Enumerations

  • Miscellaneous

• Typical CAN Driver

  • CAN Frame Structure

  • Bitrate Settings

  • Sample Point

  • Synchronization

  • Mailboxes

  • Hardware Filters

  • Listen-only mode

  • End-to-End Example

• CAN Tools

  • PCAN

  • Bus Master

  • Vector

• References

  • Cantools

  • Bit Time Calculation

Overview

CAN BUS (Controller Area Network) is a very deterministic BUS heavily used in the automotive industry. It is a half-duplex BUS, that operates using a pair of differential signals. Typically, the speed standards are 100K, 250K, 500K or 1Mbit.

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• BO_ is a message syntax.

• The message name is IO_DEBUG and MID is 500 (decimal), and the length is 4 bytes. (though we only need 1 for 8-bit signal)

• The sender is IO.

• SG_ is a signal syntax. IO_DEBUG_test_unsigned is a signal name.

• 0|8: The unsigned signal starts at bit position 0, and the size of this signal is 8.

• @1+: Defines that the signal is little-endian, and unsigned.

• (1,0): Defines scale and offset. (discussed later)

• [0|0]: Min and Max is not defined. (discussed later)

• "": There are no units. (it could be, for instance "inches")

• The receiver is DBG.

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