CAN-Architectures


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8cm x 7cm
CANbedded
Embedded Software for Automotive Applications
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
V2.04
2006-02-13


Introduction
Vehicle with different bus systems
(CAN Highspeed, CAN Lowspeed, LIN, FlexRay, MOST …)
e.g. CAN Lowspeed:
Many ECUs participate in the  
CAN Lowspeed
For communication the ECUs need:
Physical connection >> bus system
Logical connection   >> data base file >>
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 2
: 
Introduction
The data base file is the basic element for ECU communication
fixed
e.g. DBC, FIBEX, LDF
defined by the OEM
ECUs, Signals, Messages
flexible
defined by the OEM
Attributes
and Vector
network   wide
ECU-specific ECU1
ECU2
ECU3
settings done by suppliers
Assertions, 
Assertions, 
Assertions, 
with configuration tool
Polling, Flags,  Polling, Flags,  Polling, Flags, 
GENy/CANgen
Functions... 
Functions... 
Functions... 
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 3
: 
Introduction
Created by 
modification 
the OEM
Data
issues
base
this DBC is distributed to the suppliers
Supplier 1
Supplier 2
Supplier 3
Supplier 4
(Appl, GENy Data
(Appl, GENy Data
(Appl, GENy Data
(Appl, GENy Data
base
base
base
base
CANbedded)
CANbedded)
CANbedded)
CANbedded)
basis 
basis 
basis
basis
for ECU 1
for ECU 2
for ECU 3
for ECU 4
ECU1
ECU3
CAN
CANoe
ECU2
ECU4
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 4
: 
Introduction
Almost the same communication / diagnostic tasks for all ECUs
T Save precious development time for your core application
T Avoid developing already existing solutions
>> use Standard Software Components
Application Software
(ECU-specific)
Software for Network 
Communication and 
Diagnostic
(Bus specific, same for all ECU
in one Bus system)
ECU1
ECU3
CAN
CANoe
ECU2
ECU4
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 5
: 
Tool Chain – Software Components
Your Task
- Vector’s Solutions
Generation
OIL
OIL Configuration
Operating System
Application
osCAN
Application
CDDT
CANdela
ODX
Flash Programming
Communication Stack
Studio
CDD
CANfbl
Message
CAN han
bed dlin
ded gCAN Dia
bed gno
ded stics
LIN Communication
Re-Programming
Hardware control
CAN / LIN communication
Generation
Tool
Compiler
Linker
Customer specific
Data
base

Executable
hardware
CANdb++


CANfbl
CANalyzer
CANoe
Flash
Code
CANape
CAN
LIN
Physical bus
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 6
: 
Any ECU needs Communication Components
Application
Engine
ABS
CANbedded Software 
Gear
Appl
Components
CAN Bus
Radio
Navigation
Powertrain
Multimedia
Dashboard
Gateway
CD-Changer
Phone
Body-CAN
Door
Roof
Seat
Clima
Computer
LIN
Sensor 1
Sensor 2
Sensor 3
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 7
: 
Any ECU needs Communication Components
Application
Engine
ABS
CANbedded Software 
Gear
Components
Radio
Navigation
Powertrain
Multimedia
Dashboard
Gateway
CD
Phone
Changer
Body-CAN
Door
Roof
Seat
Clima
Computer
LIN
Sensor 1
Sensor 2
Sensor 3
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 8
: 
Inside The ECU
Application
Application
CANbedded Software Components
CAN Controller
Transceiver
CAN Bus
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 9
: 
Inside The ECU
osCAN
Application
CANbedded Software Components
CAN Controller
Transceiver
CAN Bus
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 10
: 
CAN Driver
osCAN
Application
CAN Driver
CAN Controller
Transceiver
CAN Bus
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 11
: 


CAN Driver - detailed
Handling of Hardware Specific CAN Chip Characteristics and 
Provision of a Standardised Application Interface
T
Initialisation
T
Transmission and Reception of Messages with Data-
and Functional Interface
T
Data- and Functional Notification
T
Indication
(Rx)
T
Confirmation
(Tx)
T
Overrun and Error Handling
T
Wakeup Detection 
T
Efficient Search Algorithms for  Software 
Acceptance Filtering
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 12
: 
Interaction Layer
osCAN
Application
Interaction 
Layer
CAN Driver
CAN Controller
Transceiver
CAN Bus
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 13
: 


Interaction Layer - detailed
Interaction Layer with Signal Interface
T
Sending of Messages According to the Specified 
Transmission Types
T
Checking of Minimum Distances Between Transmit 
Messages
T
Monitoring of Receive Messages
T
Setting of Default Values
T
Ensuring of Data Consistency
T
Signal Oriented Application Interface for Data 
Exchange and Notification
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 14
: 
Transport Protocol
osCAN
Application
Interaction 
Layer
Transport Protocol
CAN Driver
CAN Controller
Transceiver
CAN Bus
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 15
: 


Transport Protocol - detailed
Transport Protocol for Data Exchange of Data Link 
Layer Independent Information
T
Segmentation of Data in Transmit Direction
T
Collection of Data in Receive Direction 
T
Exchange of Communication Parameters
T
Control of Data Flow with Synchronisation of
Transmission and Reception
T
Detection of Errors
T
Message Loss
T
Message Doubling
T
Message Sequence
T
Additional Addressing Information (Normal, 
Extended)
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 16
: 
Diagnostics Layer
osCAN
Application
Diagnostics
Layer
Interaction 
Layer
Transport Protocol
CAN Driver
CAN Controller
Transceiver
CAN Bus
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 17
: 


Diagnostics Layer - detailed
Diagnostics Layer According to ISO14229 / ISO14230 (Keyword 
Protocol 2000)
T
Functional Interface for Diagnostic Services 
T
Direct Processing of CAN Specific Diagnostic 
Requests (Enable/Disable Normal Message 
Transmission)
T
Negative Responses (e.g. Service not Available)
T
Exception Handling (e.g. Busy, Request Pending)
T
Address Handling (Detection of Response Service 
Identification)
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 18
: 
Network Management
osCAN
Application
Diagnostics
Layer
Interaction 
Network
Layer
Management
Transport Protocol
CAN Driver
CAN Controller
Transceiver
CAN Bus
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 19
: 


Network Management - detailed
Network Management to Control the CAN Bus
T
Synchronized Transition to Bus Sleep
T
Determination of Net Configuration at Startup
T
Monitoring of Net Configuration During Operation
T
Error Recovery after Bus-Off
T
Provision of Network Status Information
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 20
: 
Measurement and Calibration Protocol - XCP
osCAN
Application
Diagnostics
Layer
Universal
Measure-
Interaction 
Network
ment
Layer
Management
And 
Calibration
Transport Protocol
Protocol
CAN Driver
CAN Controller
Transceiver
CAN Bus
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 21
: 


Universal Measurement and Calibration Protocol - detailed
Universal Measurement and Calibration Protocol for 
Measurement and Calibration on various bus systems
T
Read and Write Access to Various Memory Locations
T
Different Data Access Methods (Polling, Cyclic and 
Event-Triggered) 
T
Flash Programming
T
Simultaneous Handling of Several Controls
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 22
: 
Communication Control Layer
osCAN
Application
Diagnostics
Layer
Universal
Measure-
Interaction 
Network
ment
Layer
Management
And 
Communication
Calibration
Control
Transport Protocol
Protocol
Layer
CAN Driver
CAN Controller
Transceiver
CAN Bus
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 23
: 


Communication Control Layer
Communication Control Layer
Integration of the Software Components
T
CAN Driver, 
T
Interaction Layer, 
T
Network Management, 
T
Transport Protocol
T
Diagnostics
Abstraction for different
T
Vehicle manufactureres
T
Microcontrollers
T
Compiler/linker
T
CAN Controllers / Transceivers
T
Configured via Generation Tool
T
Global Debug Mechanism
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 24
: 
Generation Tool
osCAN
Application
Diagnostics
Layer
Universal
Measure-
Interaction 
Network
ment
Layer
Management
And 
Communication
Calibration

Control
Transport Protocol
Protocol
Generation 
Layer
Tool
CAN Driver
CAN Controller
Transceiver
CAN Bus
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 25
: 


Generation Tool - detailed
Generation Tool for Parameters and Configuration
T
Used for the Complete Set of Vector’s CAN Software 
Components
T
Driven by Communication Matrix ( Network 
Database)
T
User Specific Settings for Each Node (Application 
Database)
T
Part of Vector’s Tool Chain
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 26
: 
CANbedded Software Components and Standards
/
ISO OSEK os CAN
Application
ISO
/
ISO OSEK
Diagnostics
/
ISO OSEK
ASAM
Layer
Universal
Measure-
Interaction 
Network
ment
Layer
/
ISO OSEK
Management
And 
Communication
Calibration

Control
Transport Protocol
Protocol
Generation 
Layer
Tool
HIS
CAN Driver
CAN Controller
Transceiver
CAN Bus
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 27
: 

Generation Process
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide 28
: 

Document Outline

Last modified July 6, 2025: Initial commit (5e3f2e6)