CAN 協(xié)議畢業(yè)論文外文翻譯1

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1、山東科技大學學士學位論文 文獻翻譯 附錄二 文獻翻譯 CAN protocol M .J .Schofield The CAN protocol is an international standard defined in the ISO 11898. Beside the CAN protocol itself the conformance test for the CAN protocol is defined in the ISO 16845, w

2、hich guarantees the interchangeability of the CAN chips. 1. Principles of data exchange CAN is based on the “broadcast communication mechanism”, which is based on a message-oriented transmission protocol. It defines message contents rather than stations and station addresses. Every message has a m

3、essage identifier, which is unique within the whole network since it defines content and also the priority of the message. This is important when several stations compete for bus access (bus arbitration). As a result of the content-oriented addressing scheme a high degree of system and configur

4、ation flexibility is achieved. It is easy to add stations to an existing CAN network without making any hardware or software modifications to the present stations as long as the new stations are purely receivers. This allows for a modular concept and also permits the reception of multiple data and t

5、he synchronization of distributed processes. Also, data transmission is not based on the availability of specific types of stations, which allows simple servicing and upgrading of the network. 2. Real-time data transmission In real-time processing the urgency of messages to be exchanged over t

6、he network can differ greatly: a rapidly changing dimension, e.g. engine load, has to be transmitted more frequently and therefore with less delays than other dimensions, e.g. engine temperature. The priority, at which a message is transmitted compared to another less urgent message, is specifi

7、ed by the identifier of each message. The priorities are laid down during system design in the form of corresponding binary values and cannot be changed dynamically. The identifier with the lowest binary number has the highest priority. Bus access conflicts are resolved by bit-wise arbitration

8、of the identifiers involved by each station observing the bus level bit for bit. This happens in accordance with the wired-and-mechanism, by which the dominant state overwrites the recessive state. All those stations (nodes) with recessive transmission and dominant observation lose the competition f

9、or bus access. All those "losers" automatically become receivers of the message with the highest priority and do not re-attempt transmission until the bus is available again. Transmission requests are handled in order of their importance for the system as a whole. This proves especially advanta

10、geous in overload situations. Since bus access is prioritized on the basis of the messages, it is possible to guarantee low individual latency times in real-time systems. 3. Message frame formats The CAN protocol supports two message frame formats, the only essential difference being in the leng

11、th of the identifier. The “CAN base frame” supports a length of 11 bits for the identifier, and the “CAN extended frame” supports a length of 29 bits for the identifier. 4. CAN extended frame format The difference between an extended frame format message and a base frame format message is the

12、length of the identifier used. The 29-bit identifier is made up of the 11-bit identifier (“base identifier”) and an 18-bit extension (“identifier extension”). The distinction between CAN base frame format and CAN extended frame format is made by using the IDE bit, which is transmitted as dominant in

13、 case of an 11-bit frame, and transmitted as recessive in case of a 29-bit frame. As the two formats have to co-exist on one bus, it is laid down which message has higher priority on the bus in the case of bus access collision with different formats and the same identifier / base identifier: The 11-

14、bit message always has priority over the 29-bit message. The extended format has some trade-offs: The bus latency time is longer (in minimum 20 bit-times), messages in extended format require more bandwidth (about 20 %), and the error detection performance is lower (because the chosen polynomia

15、l for the 15-bit CRC is optimized for frame length up to 112 bits). CAN controllers, which support extended frame format messages are also able to send and receive messages in CAN base frame format. CAN controllers that just cover the base frame format do not interpret extended frames correctly

16、. However there are CAN controllers, which only support the base frame format but recognize extended messages and ignore them. 5. Detecting and signaling errors Unlike other bus systems, the CAN protocol does not use acknowledgement messages but instead signals errors immediately as they occur. Fo

17、r error detection the CAN protocol implements three mechanisms at the message level (data link layer: OSI layer 2): Cyclic Redundancy Check (CRC): The CRC safeguards the information in the frame by adding a frame check sequence (FCS) at the transmission end. At the receiver this FCS is re-computed

18、 and tested against the received FCS. If they do not match, there has been a CRC error. Frame check: This mechanism verifies the structure of the transmitted frame by checking the bit fields against the fixed format and the frame size. Errors detected by frame checks are designated "format errors

19、". ACK errors: Receivers of a message acknowledge the received frames. If the transmitter does not receive an acknowledgement an ACK error is indicated. The CAN protocol also implements two mechanisms for error detection at the bit level (physical layer: OSI layer 1): Monitoring: The ability

20、of the transmitter to detect errors is based on the monitoring of bus signals. Each station that transmits also observes the bus level and thus detects differences between the bit sent and the bit received. This permits reliable detection of global errors and errors local to the transmitter. Bit

21、stuffing: The coding of the individual bits is tested at bit level. The bit representation used by CAN is "Non Return to Zero (NRZ)" coding. The synchronization edges are generated by means of bit stuffing. That means after five consecutive equal bits the transmitter inserts a stuff bit into the bit

22、 stream. This stuff bit has a complementary value, which is removed by the receivers. If one or more errors are discovered by at least one station using the above mechanisms, the current transmission is aborted by sending an "error frame". This prevents other stations from accepting the message an

23、d thus ensures the consistency of data throughout the network. After transmission of an erroneous message that has been aborted, the sender automatically re-attempts transmission (automatic re-transmission). Nodes may again compete for bus access. However effective and efficient the method de

24、scribed may be, in the event of a defective station it might lead to all messages (including correct ones) being aborted. If no measures for self-monitoring were taken, the bus system would be blocked by this. The CAN protocol therefore provides a mechanism to distinguish sporadic errors from perman

25、ent errors and local failures at the station. This is done by statistical assessment of station error situations with the aim of recognizing a stations own defects and possibly entering an operation mode in which the rest of the CAN network is not negatively affected. This may continue as far as the

26、 station switching itself off to prevent other nodes messages erroneously from being recognized as incorrect. CAN 協(xié)議 斯科菲爾德 CAN協(xié)議是在ISO 11898中定義的國際標準。除了CAN協(xié)議本身，CAN協(xié)議的一致性測試在ISO 16845中定義，用于保證CAN芯片的可互換性。 1．數(shù)據(jù)交換原理 CAN基于“廣播通訊機制”，該機制又建立在面向消息的傳送協(xié)議的基礎之上。它定義消息內(nèi)容而不是站和站地址。每條消息都有一個消息標識符，且該消息標識符在整個網(wǎng)

27、絡內(nèi)是獨一無二的，因為它定義了消息內(nèi)容及消息優(yōu)先權。這在多個站爭搶總線訪問(總線仲裁)的情況下很重要。 面向內(nèi)容的尋址方案帶來的結(jié)果是高度的系統(tǒng)和組態(tài)靈活性。只要新站只是接收器，可以很輕松地將站添加到現(xiàn)有的CAN網(wǎng)絡，無需對目前站的任何硬件和軟件進行改動。這允許運用模塊化概念，也允許接收多重數(shù)據(jù)并實現(xiàn)分布式過程的同步。同時，數(shù)據(jù)傳輸并非基于站的特定類型的可用性。 2. 實時數(shù)據(jù)傳輸 在實時過程中，通過網(wǎng)絡進行交換的消息的緊急程度可以有很大差別：快速變化的單位（例如發(fā)動機載荷）需要更頻繁地進行傳輸，因此比其它單位(例如發(fā)動機溫度)的延遲更少。 使用每個消息的標識符來指定用于

28、衡量消息發(fā)送的緊急程度的優(yōu)先級。優(yōu)先級在系統(tǒng)設計時就已確定下來了，它表現(xiàn)為相應的二進制值，并且無法動態(tài)地更改。二進制數(shù)最小的標識符具有最高的優(yōu)先級。 通過逐位觀測總線電平的每個站所含標識符的逐位仲裁機制來解決總線訪問沖突。這種情況按照顯性狀態(tài)覆蓋隱性狀態(tài)發(fā)生。所有那些帶有隱性傳輸和顯性觀測的站(節(jié)點)會失去爭搶總線訪問的機會。所有那些“爭搶失敗者”會自動成為優(yōu)先級最高的消息的接收器，且在總線再次可用之前不會重新嘗試傳輸。 按照傳輸請求對于整個系統(tǒng)的重要程度，對傳輸請求進行處理。這點在過載情況下更能證明其優(yōu)勢。由于是基于消息區(qū)分總線訪問的優(yōu)先等級，從而可以保證實時系統(tǒng)中個體的等待時間很短

29、。 3. 消息幀格式 CAN協(xié)議支持兩種消息幀格式，二者唯一的重大差別在于標識符的長度?！癈AN基本幀/支持長度為11位的標識符，而“CAN擴展幀”支持長度為29位的標識符。 4. CAN擴展幀格式 擴展幀格式消息與基本幀格式消息的不同在于所使用的標識符長度。29位的標識符由11位標識符(“基本標識符”)和18位擴展符(“標識符擴展”)組成。CAN基本幀格式和CAN擴展幀格式之間的區(qū)別在于IDE位的使用：在11位幀的情況下，該IDE位作為顯性位傳輸，在29位幀的情況下，該IDE位作為隱性位傳輸。由于兩種格式必須共存于一根總線中，在總線訪問沖突的情況下，利用不同的格式和相同的標識

30、符/基本標識符規(guī)定總線上的哪個信息具有較高的優(yōu)先權：11位消息始終比29位消息的優(yōu)先級高。 擴展格式要付出一些代價：總線等待時間較長(最小20個位時間)，具有擴展格式的消息要求更多的帶寬(大約20 %)，且錯誤檢測的性能較低(因為15位CRC所選用的多項式是針對112位的幀長進行優(yōu)化的)。 支持擴展幀格式消息的CAN控制器也能夠發(fā)送和接收具有CAN基本幀格式的消息。只包括基本幀格式的CAN基礎框架。而CAN控制器僅支持基本幀格式，對于擴展消息只能識別和忽略。 5. 檢測錯誤并發(fā)信號通知 與其它總線系統(tǒng)不同，CAN協(xié)議不使用確認消息，而是在錯誤發(fā)生時發(fā)信號通知。對于錯誤檢測，CAN協(xié)議

31、在消息級別執(zhí)行三種機制(數(shù)據(jù)鏈路層：OSI層2)： 周期性的冗余檢查(CRC)：CRC通過在傳輸端添加幀檢查序列(FCS)來保護幀中的信息。在接收器處，參照接收到的FCS對該FCS進行驗算和測試。如果它們不匹配，表示已發(fā)生CRC錯誤。 幀檢查：該機制通過參照固定格式和幀大小來檢查位字段，以驗證所傳輸幀的結(jié)構(gòu)。通過幀檢查檢測到的錯誤被命名為“格式錯誤”。 ACK錯誤：消息的接收器確認所接收到的幀。如果發(fā)送器沒有接收到確認，表示有ACK錯誤。 對于位級別的錯誤檢測，CAN協(xié)議也執(zhí)行兩種機制(物理層：OSI層1)： 監(jiān)視：發(fā)送器的錯誤檢測能力基于對總線信號的監(jiān)視。傳輸消息

32、的每個站也觀測總線電平，這樣可以檢測到發(fā)送的位與接收的位之間的差別。這能實現(xiàn)可靠地檢測全局錯誤以及發(fā)送器的本地錯誤。 位填充：在位級別測試單個位的編碼。CA采用的位表達法是“不歸零制(NRZ)”編碼。同步沿通過位填充產(chǎn)生。這表示在5個連續(xù)的相等位之后，發(fā)送器將一個填充位插入到位流中。該填充位帶有被接收器刪除的互補值。 如果至少一個站利用上述機制發(fā)現(xiàn)了一個或者多個錯誤，那么通過發(fā)送“錯誤幀”。 這防止其他站接受信息,從而保證了整個網(wǎng)絡的數(shù)據(jù)的一致性。一個錯誤的訊息傳遞被中止后,發(fā)送端會自動re-attempts傳輸(自動傳輸)。節(jié)點可以再次爭搶總線訪問。 然而，盡管這里所描述

33、的方法切實有效，但是在站出現(xiàn)故障的情況下，該方法會導致所有消息(包括正確的消息)被取消。如果沒有采取自我監(jiān)視的措施，總線系統(tǒng)會因此而受阻。因此，CAN協(xié)議提供一種機制將偶發(fā)性錯誤與永久性錯誤和站的本地故障區(qū)分開來?？梢酝ㄟ^對站錯誤情況的統(tǒng)計評估來達到這一目的，評估的目的是識別站自身的故障或者引進一種工作模式，在該模式下CAN網(wǎng)絡的其它部分不受負面影響。這種情況可能一直持續(xù)到站將自己關閉，以防止其它節(jié)點的消息被誤認為是錯誤的。 9JWKffwvG#tYM*Jg&6a*CZ7H$dq8KqqfHVZFedswSyXTy#&QA9wkxFyeQ^!djs#XuyUP2kNXpRWXmA&U

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51、T#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^GjqvadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWp

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