03 Proto1 PDF

Part
1: In-Car Networking
PROTOCOLS: K-LINE, CAN, AND LIN
[C2X] Summer 2014
Protocols: K-Line, CAN, and LIN
K-LINE
[C2X] Summer 2014
The K-Line Bus
The K-Line Bus
Industry standard of the 80s, much later standardized as ISO 9141

Numerous variants exist (esp. upwards of Link Layer)
Lecture focuses on ISO 14230: The KWP 2000 (Keyword Protocol)
Species Physical and Link layers
BidirecVonal bus, communicaVng over 1 wire (the K Line)
[C2X] Summer 2014
The K-Line Bus
The K-Line Bus (contd.)
OpVonal: addiVonal unidirecVonal L Line

Allows mixed networks (using only K Line / using both K+L Line)
Mostly used for connecVng ECUTester, seldom ECU ECU

Logic levels are relaVve to on board voltage (< 20% and > 80%)
Bit transmission compaVble to UART (Universal Asynchronous
Receiver Transmiaer): 1 start bit, 8 data bits, 1 stop bit, opVonal
parity bit
Bit rate 1.2 kBit/s ... 10.4 kBit/s
Dependent on ECU, not Bus

Master must be able to handle mulVple bit rates
[C2X] Summer 2014
The K-Line Bus
Protocol
ConnecVon establishment (2 variants)

5 Baud init
Master sends desVnaVon address (using 5 Bit/s)
ECU answers: 0x55 (01010101), keyword low Byte, keyword high Byte
(with desired data rate)
Master derives bit rate from paaern, sends Echo (inv. High Byte)
ECU sends Echo (inv. DesVnaVon address)
Tester ECU
> 300ms
~ 2s
< 300ms
K-Line
Adress byte
L-Line
Adress byte
5 Bit/s
[C2X] Summer 2014
ECU Tester
Tester ECU ECU Tester
< 20ms
Sync. Byte
55h
< 20ms
Keyword
LSB
< 20ms
Keyword
MSB
< 50ms
Inv. Keyword
MSB
Inverted
Adress byte
Fixed bit rate, chosen by ECU, detected and adopted by master
The K-Line Bus
Protocol
ConnecVon establishment (2 variants)

Fast init (100 ms, Bitrate always 10,4 kBit/s)
Master sends Wake Up paaern (25 ms low, 25 ms pause)

Master sends Start Communica2on Request, includes dest address
ECU answers with keyword, ager max. 50 ms
Keyword encodes supported protocol variants
takes values from 2000 .. 2031 (KWP 2000)
> 55ms 25ms
25ms
K-Line
< 50ms
Start Communication
Service Request
(w/ Keyword)
Start Communication
Service Request
L-Line
Wake Up
[C2X] Summer 2014
Fixed Bit Rate 10,4 kbit/s
The K-Line Bus
Protocol
CommunicaVon always iniVated by master

Master sends Request, ECU sends Response
Addressing
Address length is 1 Byte
Either: physical addressing (idenVes specic ECU)
Or: funcVonal addressing (idenVes class of ECU)
e.g., engine, transmission, ...
DierenVated via format byte
DuraVon of single transmission at 10.4 kBit/s

best case: 250 ms, worst case 5.5s
i.e., applicaVon layer data rate < 1 KB/s
[C2X] Summer 2014
The K-Line Bus
Protocol header
Format Byte
Encodes presence and meaning of address bytes
Short packet length can be encoded in format byte; length byte then
omiaed
DesVnaVon address
Source address
Length
Payload
Up to 255 Byte
First Byte: Service IdenVer (SID)
Checksum
Sum of all Bytes (mod 256)
0 .. 7
8 .. 15
Format byte
Destination
Source
Length
Payload...
...
[C2X] Summer 2014
Checksum
8
The K-Line Bus
Service IdenVers
Standard Service IdenVers

Session IniValizaVon and teardown
0x81h Start CommunicaVon Service Request
0x82h Stop CommunicaVon Service Request
Conguring protocol Vmeouts

0x83h Access Timing Parameter Request (opVonal)
Other SIDs are vendor dened

Passed on (unmodied) to applicaVon layer
Typical use: two SIDs per message type
First SID: PosiVve reply
Second: NegaVve reply
[C2X] Summer 2014
The K-Line Bus
Error handling
If erroneous signal arrives

ECU ignores message
Master detects missing acknowledgement
Master repeats message
If invalid data is being sent

ApplicaVon layer sends negaVve reply
Master / ECU can react accordingly
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10
The K-Line Bus
Use in On Board DiagnosVcs (OBD)
OBD uses stricter protocol variant

Bit rate xed to 10.4 kBit/s
No changes in Vming
Header no longer variable
Length byte never included
Address always included
Max. Message length is 7 Byte

Shall use
logical addressing by tester,
physical addressing by ECUs
[C2X] Summer 2014
11
Controller Area Network
CAN
[C2X] Summer 2014
12
The CAN Bus
The CAN Bus
Controller Area Network (1986)

Network topology: Bus
Many (many) physical layers
Common:
Up to 110 nodes
At 125 kBit/s: max. 500m
Always:
Two signal levels
low (dominant)
high (recessive)
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The CAN Bus
The CAN Bus
In the following: ISO 11898

Low Speed CAN (up to 125 kBit/s)
High Speed CAN (up to 1 MBit/s)
Species OSI layers 1 and 2

Higher layers not standardized by CAN,
covered by addiVonal standards and convenVons
E.g., CANopen
Random access, collision free

CSMA/CR with Bus arbitraVon
(someVmes called CSMA/BA
bitwise arbitraVon)
ECU 1
[C2X] Summer 2014
ECU n
C
CAN
Controller
Message oriented
Does not use desVnaVon addresses
Implicit Broadcast/MulVcast
ECU 2
Transceiver
CAN_H
120
CAN_L
14
The CAN Bus
Physical layer (typical)
High Speed CAN

500 kBit/s
Twisted pair wiring
3,5 V
2,5 V
1,5 V
[C2X] Summer 2014
Wire 1
Wire 2
Branch lines max. 30 cm

TerminaVng resistor mandated (120 )
Signal swing 2 V
Error detecVon must happen within one Bits Vme
bus length is limited:
1 MBit / s
l 50 m
data rate
15
The CAN Bus
Physical layer (typical)
Low Speed CAN
Up to 125 kBit/s
Standard two wire line suces
No restricVon on branch lines
TerminaVng resistors opVonal
Signal swing 5 V
Single Wire CAN

83 kBit/s
One line vs. ground
Signal swing 5 V
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16
CAN in Vehicular Networks
Bit Timing
Times derived from clock Vme (Quantum) TQ
Bit Vme Tbit consists of sync segment TSyncSeg, propagaVon segment
TPropSeg, phase segments TPhaseSeg1, TPhaseSeg2 (can be adapted by
controller for synchronizaVon)
TSyncSeg+ TPropSeg must be longer than 2x propagaVon delay
Signal sampled between TPhaseSeg1 and TPhaseSeg2
Standard recommends, e.g. at 500 kbps, TQ = 125 ns, Tbit =16 TQ
TSyncSeg=1TQ
TPropSeg=18TQ
TPhaseSeg1=18TQ
TPhaseSeg2 = max 2TQ
Tbit=419TQ
Signal Sampled
Bit begins
[C2X] Summer 2014
Bit ends
17
Address-less communicaVon
Messages carry 11 Bit or 29 Bit message idenVer
StaVons do not have an address, frames do not contain one
StaVons use message idenVer to decide whether a message is
meant for them
Medium access using CSMA/CR with bitwise arbitraVon
Link layer uses 4 frame formats
Data, Remote (request), Error, Overload (ow control)
Data frame format:
Start
Bit
11+1 or 29+3 Bit
Message Identifier
Header, 19 or 39 bit
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Bus
Idle
Control
Bits
6 bit Data 0 . . . 8 Byte
Payload, 0 64 bit
15 bit
CRC
Acknowledge &
End of Frame
Trailer, 25 bit
3 bit
18
CSMA/CR with bitwise arbitraVon

Avoids collisions by priority-controlled bus access
Each message contains idenVer corresponding to its priority
IdenVer encodes 0 dominant and 1 recessive:
concurrent transmission of 0 and 1 results in a 0
Bit stung: ager 5 idenVcal Bits one inverted Stu-Bit is inserted
(ignored by receiver)
When no staVon is sending the bus reads 1 (recessive state)
SynchronizaVon happens on bit level,
by detecVng start bit of sending staVon
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Wait for end of current transmission

wait for 6 consecuVve recessive Bits
Send idenVer (while listening to bus)

Watch for mismatch between transmiaed/detected signal level
Means that a collision with a higher priority message has occurred
Back o from bus access, retry later
RealizaVon of non-preempVve priority scheme

Real Vme guarantees for message with highest priority
i.e., message with longest 0-prex
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Example (recall: 0 dominant, 1 recessive)

000
001
011
010
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100
110
101
21
The CAN Bus
Client 2 recognizes bus level mismatch, backs o from access
Client 1
Client 2
Client 3
Bus
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22
The CAN Bus
CSMA/CA with bitwise arbitraVon (CSMA/CR)
Client 1 recognizes bus level mismatch, backs o from access
Client 1
Client 2
Client 3
Bus
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The CAN Bus
Client 3 wins arbitraVon
Client 1
Client 2
Client 3
Bus
[C2X] Summer 2014
24
The CAN Bus
Client 3 starts transmiwng data
Client 1
Client 2
Client 3
Bus
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25
The CAN Bus: TTCAN
Aside: Time-Triggered CAN (TTCAN)
ISO 11898-4 extends CAN by TDMA funcVonality

Solves non-determinism of regular CAN
Improves on mere smart way of choosing message prioriVes
One node is dedicated Vme master node

Periodically sends reference messages starVng basic cycles
Even if Vme master fails, TTCAN keeps working
Up to 7 fallback nodes
Nodes compete for transmission of reference messages
Chosen by arbitraVon
Reference
Message
Time
Window 1
Time
Window 2
Next Ref.
Message
Basic cycle
[C2X] Summer 2014
26
The CAN Bus: TTCAN
Aside: TTCAN Basic Cycle
Basic cycle consists of Vme slots

Exclusive Vme slot
Reserved for dedicated client
ArbitraVon Vme slot

Regular CAN CSMA/CR with bus arbitraVon
Structure of a basic cycle arbitrary, but staVc

CAN protocol used unmodied
Throughput unchanged
TTCAN cannot be seen replacing CAN for real Vme applicaVons

Instead, new protocols are being used altogether (e.g., FlexRay)
[C2X] Summer 2014
27
The CAN Bus
Message ltering
Acceptance of messages determined by message idenVer

Uses two registers
Acceptance Code (bit paaern to lter on)
Acceptance Mask (1 marks relevant bits in acceptance code)
Bit
10
Acceptance Code Reg.
Acceptance Mask Reg.
Resulting Filter Pattern
[C2X] Summer 2014
28
The CAN Bus
Data format
NRZ
Time synchronizaVon using start bit and stu bits (stu width 5)
Frame begins with start bit
Message idenVer 11 Bit (CAN 2.0A), now 29 Bit (CAN 2.0B)
15
SB
Identifier
Control Bits
Data
...
CRC
Acknowledge & End of Frame
[C2X] Summer 2014
29
The CAN Bus
Data format
Control Bits
Message type (Request, Data, Error, Overload)
Message length
...
15
SB
Identifier
Control Bits
Data
...
CRC
[C2X] Summer 2014
30
The CAN Bus
Data format
Payload
RestricVon to max. 8 Byte per message
Transmission Vme at 500 kBit/s: 260 s (using 29 Bit ID)
i.e., usable data rate 30 kBit/s
15
SB
Identifier
Control Bits
Data
...
CRC
[C2X] Summer 2014
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The CAN Bus
Error detecVon (low level)
Sender checks for unexpected signal levels on bus

All nodes monitor messages on the bus
All nodes check protocol conformance of messages
All nodes check bit stung
Receiver checks CRC
If any(!) node detects error it transmits error signal
6 dominant Bits with no stung
All nodes detect error signal, discard message
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32
The CAN Bus
Error detecVon (high level)
Sender checks for acknowledgement

Receiver transmits dominant 0
during ACK eld of received message
AutomaVc repeat of failed transmissions
If controller nds itself causing too many errors

Temporarily stop any bus access
Remaining failure probability ca. 10-11
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33
The CAN Bus: Transport Layers
Not covered by ISO 11898 (CAN) standards

FragmentaVon
Flow control
RouVng to other networks

Add transport layer protocol
ISO-TP
ISO 15765-2
TP 2.0
Industry standard
[C2X] Summer 2014
34
The CAN Bus: ISO-TP
ISO-TP: Header
OpVonal: 1 addiVonal address Byte

Regular addressing
Transport protocol address completely in CAN message ID
Extended addressing
Uniqueness of addresses despite non-unique CAN message ID
Part of transport protocol address in CAN message ID,
addiVonal address informaVon in rst Byte of TP-Header
1 to 3 PCI Bytes (Protocol Control InformaVon)

First high nibble idenVes one of 4 types of message
First low nibble and addl. Bytes are message specic
0
(opt) Addl.
Address
1
PCI
high
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2
PCI
low
(opt) Addl. PCI Bytes
Payload
35
The CAN Bus: ISO-TP
ISO-TP: Message type Single Frame

1 Byte PCI, high nibble is 0
low nibble gives number of Bytes in payload
PCI reduces frame size from 8 Bytes to 7 (or 6) Bytes,
throughput falls to 87.5% (or 75%, respecVvely)
No ow control
0
0
Len
Payload
0
(Address)
1
0
[C2X] Summer 2014
Len
4
Payload
36
The CAN Bus: ISO-TP
ISO-TP: Message type First Frame
2 Bytes PCI, high nibble is 1

low nibble + 1 Byte give number of Bytes in payload
Ager First Frame, sender waits for Flow Control Frame
(Address)
Len
Payload
ISO-TP: Message type ConsecuVve Frame
1 Byte PCI, high nibble is 2

low nibble is sequence number SN (counts upwards from 1)
ApplicaVon layer can detect packet loss
No addiVonal error detecVon at transport layer
0
(Address)
1
2
[C2X] Summer 2014
SN
Payload
37
The CAN Bus: ISO-TP
ISO-TP: Message type Flow Control Frame
3 Bytes PCI, high nibble is 3

low nibble species Flow State FS
FS=1: Clear to Send
Minimum Vme between two ConsecuVve Frames must be ST
Sender may conVnue sending up to BS ConsecuVve Frames,
then wait for new Flow Control Frame
FS=2: Wait
Overload
Sender must wait for next Flow Control Frame
Byte 2 species Block Size BS

Byte 3 species SeparaVon Time ST
0
(Address)
1
3
[C2X] Summer 2014
FS
BS
ST
38
The CAN Bus: TP 2.0
TP 2.0
ConnecVon oriented
CommunicaVon based on channels
Species Setup, ConguraVon, Transmission, Teardown
Addressing
Every ECU has unique logical address;

addiVonal logical addresses specify groups of ECUs
for broadcast und channel setup:
logical address + oset = CAN message idenVer
Channels use dynamic CAN message idenVer
[C2X] Summer 2014
39
The CAN Bus: TP 2.0
TP 2.0: Broadcast
Repeated 5 Vmes (moVvated by potenVal packet loss)

Fixed length: 7 Byte
Byte 0:
logical address of desVnaVon ECU
Byte 1: Opcode
0x23: Broadcast Request
0x24: Broadcast Response
Byte 2, 3, 4:
Service ID (SID) and parameters
Byte 5, 6:
Response: 0x0000
No response expected: alternates between 0x5555 / 0xAAAA
Dest
Opcode
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3
SID, Parameter
0x55
0x55
40
The CAN Bus: TP 2.0
TP 2.0: channel setup
Byte 0:
logical address desVnaVon ECU
Byte 1: Opcode
0xC0: Channel Request
0xD0: PosiVve Response
0xD6 .. 0xD8: NegaVve Response
Byte 2, 3: RX ID
Validity nibble of Byte 3 is 0 (1 if RX ID not set)
Byte 4, 5: TX ID
Validity nibble of Byte 5 is 0 (1 if TX ID not set)
Byte 6: ApplicaVon Type

cf. TCP-Ports
Dest
Opcode
[C2X] Summer 2014
RX ID
4
V
TX ID
6
V
App
41
The CAN Bus: TP 2.0
TP 2.0: channel setup (II)
Opcode 0xC0: Channel Request

TX ID: CAN msg ID requested by self
RX ID: marked invalid
Opcode 0xD0: PosiVve Response

TX ID: CAN msg ID requested by self
RX ID: CAN msg ID of original sender
Opcode 0xD6 .. 0xD8: NegaVve Response

Reports errors assigning channel (temporary or permanent)
Sender may repeat Channel Request
Ager successful exchange of Channel Request/Response:

dynamic CAN msg IDs now assigned to sender and receiver
next message sets channel parameters
Dest
0xC0
[C2X] Summer 2014
4
1
TX ID
6
0
App
42
The CAN Bus: TP 2.0
TP 2.0: set channel parameters
Byte 0: Opcode
0xA0: Channel Setup Request (Parameters for channel to iniVator)
0xA1: Channel Setup Response (Parameter for reverse channel)
Byte 1: Block size

Number of CAN messages unVl sender has to wait for ACK
Byte 2, 3, 4, 5: Timing parameters

E.g., minimal Vme between two CAN messages
TP 2.0: misc. channel management and teardown
Byte 0: Opcode
0xA3: Test will be answered by ConnecVon Setup Response
0xA4: Break Receiver discards data since last ACK
0xA5: Disconnect Receiver responds with disconnect, too
0xA0
BS
[C2X] Summer 2014
Timing
43
The CAN Bus: TP 2.0
TP 2.0: Data transmission via channels
Byte 0, high nibble: Opcode

MSB=0 Payload
/AR=0 Sender now waiVng for ACK
EOM=1 Last message of a block
MSB=1 ACK message only (no payload)

RS=1 ready for next message ( ow control)
Byte 0, low nibble

Sequence number
Opcode Nibble
Bytes 1 .. 7: Payload
/AR
EOM
Opcode Nibble
1
0
Op
1
SN
[C2X] Summer 2014
0
6
RS
1
7
Payload
44
Local Interconnect Network
LIN
[C2X] Summer 2014
45
The LIN Bus
Local Interconnect Network (LIN)

1999: LIN 1.0
2003: LIN 2.0
Goal of LIN: be much cheaper than low speed CAN
Numerous extensions
Backwards compaVble (only)
Only reached partway
species PHY and MAC Layer, API

Application
API
Protocol
Physical
[C2X] Summer 2014
Diagnostic
Signal interaction
frame handler
LIN bus line
46
The LIN Bus
Very similar to K-Line Bus

Master-slave concept with self synchronizaVon
LIN master commonly also part of a CAN bus
LIN commonly called a sub bus
BidirecVonal one-wire line, up to 20 kBit/s

Bit transmission UART compaVble
no quartz needed
lax Vming constraints
1 Start Bit, 8 Data Bits, 1 Stop Bit
Message oriented
No desVnaVon address
[C2X] Summer 2014
Master
Function
Slave
Function
Slave
Function
Slave
Function
47
The LIN Bus
Rudimentary error detecVon
No error correcVon
StarVng with LIN 2.0: Response Error Bit
Sender monitors bus

Aborts transmission on unexpected bus state
Should be contained in periodic messages

Set (once) if slave detected an error in last cycle
StaVc slot schedule in the master

Schedule Table
Determines cyclic schedule of messages transmiaed by master
Bus Vming mostly determinisVc
Slaves do not need to know schedule
can be changed at run-Vme
[C2X] Summer 2014
48
The LIN Bus
Data request
Sync Break (13 Low Bits, 1 High Bit)

Not UART compliant uniquely idenVable
Sync Byte 0x55 (01010101)

Synchronizes bit Vming of slave
LIN IdenVer (6 data Bits (I0 to I5) + 2 parity Bits)

Encodes responses expected message type and length
0x00 .. 0x3B: applicaVon dened data types, 0x3C .. 0x3D: Diagnosis,
0x3E: applicaVon dened, 0x3F: reserved
Parity Bits: I0 I1 I2 I4 and (I1 I3 I4 I5)
Bus Idle
1 bit
Sync Break
13 bit
triggers Data Response
Sync
Byte 55h
LIN
Identifier
Data request, sent by master

[C2X] Summer 2014
Data
byte
Data
byte
Checksum
Data response, sent by slave

49
The LIN Bus
Data response
Slave responds with up to 8 Bytes of data

LSB rst, Liale Endian
length was dened by LIN IdenVer
Frame ends with checksum

LIN 1.3: Classic Checksum (only data bytes)
LIN 2.0: Enhanced Checksum (data bytes + IdenVer)
Checksum is sum of all Bytes (mod 256),
plus sum of all carries
Bus Idle
1 bit
Sync Break
13 bit
triggers Data Response
Sync
Byte 55h
LIN
Identifier
Data request, sent by master

[C2X] Summer 2014
Data
byte
Data
byte
Checksum
Data response, sent by slave

50
The LIN Bus
Types of requests
UncondiVonal Frame
Event Triggered Frame
Sporadic Frame
...
UncondiVonal Frame
Most simple frame type
Designed for periodic polling of specic data point
Exactly one slave answers
LIN is a single master system Vming of uncondiVonal frames
fully determinisVc
Sample use case:
Request did state of front leg door contact change? every 15 ms

Receive negaVve reply by front leg door ECU every 15 ms
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51
The LIN Bus
Types of requests
UncondiVonal Frame
Sporadic Frame
...
Simultaneous polling of mulVple slaves, slave answers if needed

Collisions possible ( non-determinism), detect by corrupt. data
master switches to individual polling via UncondiVonal Frames
Use whenever slaves unlikely to respond

Sample use case:
Request did state of a door contact change? every 15 ms
Change in state unlikely, simultaneous change extremely unlikely
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52
The LIN Bus
Types of requests
UncondiVonal Frame
Sporadic Frame
...
Sporadic Frame
Sent (by master) only when needed
Shared schedule slot with other Sporadic Frames
Use whenever polling for specic data only seldom needed
If more than one Sporadic Frame needs to be sent, master needs
to decide for one no collision, but sVll non-determinisVc
Sample use case:
Request power window fully closed? every 15 ms

...only while power window is closing
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53
The LIN Bus
Sample schedule table
[C2X] Summer 2014
Slot
Type
Unconditional
AC
Unconditional
Rain sensor
Unconditional
Tire pressure
Event triggered
Power window
Sporadic
(unused)
-ORFuel level
-OROutside temp
Signal
54
The LIN Bus
Doing O-Board-Diagnosis of LIN ECUs
Variant 1: Master at CAN bus responds on behalf of ECU on LIN

Keeps synchronized state via LIN messages

Variant 2: Master at CAN bus tunnels, e.g., KWP 2000 messages
[C2X] Summer 2014
Standardized protocol
LIN dest address is 0x3C (Byte 1 is ISO dest address)
Dest ECU (according to ISO address) answers with address 0x3D
Independent of payload, LIN frame padded to 8 Bytes
LIN slaves have to also support KWP 2000
Contradicts low cost approach of LIN
DiagnosVc Class indicates level of support
55
Main Takeaways
Overall
Design goals
Message orientaVon vs. address
orientaVon,
Addressing schemes
Medium access
Flow control
Real Vme guarantees and
determinism
K-Line
CAN
Error detecVon
Transport layer: ISO-TP vs. TP 2.0
Flow control, channel concept
LIN
SVll standard bus in vehicles

Message oriented
CSMA with bitwise arbitraVon
Impact on determinism
TTCAN (TDMA)
[C2X] Summer 2014
Mainly for diagnosVcs

Transmission uses UART signaling
CommunicaVon using Request-
Response paaern
Goals
Deployment as sub bus
Message types and scheduling
Determinism
56

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Part

PROTOCOLS: K-LINE, CAN, AND LIN

[C2X] Summer 2014

Protocols: K-Line, CAN, and LIN

[C2X] Summer 2014

Protocols: K-Line, CAN, and LIN

The K-Line Bus

The K-Line Bus

Industry standard of the 80s, much later standardized as ISO 9141

[C2X] Summer 2014

Protocols: K-Line, CAN, and LIN

The K-Line Bus

The K-Line Bus (contd.)

OpVonal: addiVonal unidirecVonal L Line

Mostly used for connecVng ECUTester, seldom ECU ECU

Dependent on ECU, not Bus

[C2X] Summer 2014

Protocols: K-Line, CAN, and LIN

The K-Line Bus

ConnecVon establishment (2 variants)

[C2X] Summer 2014

Tester ECU ECU Tester

Fixed bit rate, chosen by ECU, detected and adopted by master

Protocols: K-Line, CAN, and LIN

The K-Line Bus

ConnecVon establishment (2 variants)

Master sends Wake Up paaern (25 ms low, 25 ms pause)

> 55ms 25ms

[C2X] Summer 2014

Fixed Bit Rate 10,4 kbit/s

Protocols: K-Line, CAN, and LIN

The K-Line Bus

CommunicaVon always iniVated by master

DuraVon of single transmission at 10.4 kBit/s

[C2X] Summer 2014

Protocols: K-Line, CAN, and LIN

The K-Line Bus

Protocols: K-Line, CAN, and LIN

The K-Line Bus

Standard Service IdenVers

Conguring protocol Vmeouts

Other SIDs are vendor dened

[C2X] Summer 2014

Protocols: K-Line, CAN, and LIN

The K-Line Bus

If erroneous signal arrives

If invalid data is being sent

[C2X] Summer 2014

Protocols: K-Line, CAN, and LIN

The K-Line Bus

Use in On Board DiagnosVcs (OBD)

OBD uses stricter protocol variant

Max. Message length is 7 Byte

[C2X] Summer 2014

Protocols: K-Line, CAN, and LIN

Controller Area Network

[C2X] Summer 2014

Protocols: K-Line, CAN, and LIN

The CAN Bus

The CAN Bus

Controller Area Network (1986)

[C2X] Summer 2014