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CAN: Controller Area Network Lab using ST STM32 Cortex-M processors. www.keil.com

Hands-on usin

the Keil Simulator or the STM32F4 Discover

Board

CAN Primer: Creating Your Own Network

ARM

Keil™ MDK™ toolkit featuring Simulator, Serial Wire Viewer and ETM Trace

For the STMicroelectronics STM32F4 Cortex™-M4 V 2.0 Robert Boys [email protected]m

Introduction:

CAN is extensively used in automotive but it has found applications everywhere. There are many “application” layers

available for CAN such as ISO 15765 (cars), J1939 (trucks), DeviceNET and CANopen (both are for factory automation) but

it is very easy to develop your own protocol that will fit and simplify your needs. Modern CAN transceivers provide a stable

and reliable CAN physical environment without the need for expensive coaxial cables. Nearly all of the mystery of CAN has

dissipated over the years. There is plenty of example CAN software to help you develop your own network.

Many think CAN is just for automotive, but this is not true. CAN has become the standard for vehicle networks, but it has

been adopted in most other fields. As you find out in these pages, there are no attributes in the Bosch CAN specification that

are automotive related. It is completely generic. You can easily

implement your own protocol on top of CAN.

A CAN controller is a sophisticated device. Nearly all the features of

the CAN protocol described here are automatically handled by the

controller with almost no intervention by the host processor. All you

need to do in practice is to configure the controller by writing to its

registers, write data to the controller and the controller then does all

the housekeeping work to get your message on the bus.

The controller will read any frames it sees on the bus and hold them

in a small FIFO memory. It will notify the host processor that this

data is available which it then reads from the controller.

The controller also contains a hardware filter mechanism that can be

programmed to ignore and discard those CAN frames you do not

want passed to the processor. This saves on processor overhead. STMicroelectronics STM32F4 Discovery

MDK provides sample CAN examples for many ARM processors which you can practice with. This document provides

hands-on exercises with both the Keil simulator or with the Discovery board.

Modern bus transceiver chips have made the physical CAN bus much less “finicky” and easier to construct and maintain.

The techniques discussed can be applied to many other microprocessors. We use ARM Keil MDK toolkit for the examples.

There is no charge for the evaluation version: MDK-Lite™. You can use MDK-Lite for all the CAN examples used here.

There are many other CAN examples in MDK for many

boards using ARM processors.

Keil provides a CAN stack as part of MDK-Professional™.

Details are on www.keil.com/rl-arm/rl-can.asp

Keil products are listed on the last page of this document.

See forums.arm.com for more ARM information.

Evaluation boards using STM32 that support CAN:

This document uses the STM32F4 Discovery board but you

can adapt the source code to any board with a CAN node.

The latest version of this document is here: www.keil.com/appnotes/docs/apnt_236.asp

For a general lab on the STM32F4 Discovery: www.keil.com/appnotes/docs/apnt_230.asp

1 2 3 4 5 6 ... 30 31

Inhaltsverzeichnis

Seite 1 - Creating Your Own Network

Seite 2 - How CAN works:

Seite 3 - The CAN System Layout:

Seite 4 - A Node Schematic:

Seite 5

Seite 6 - Remote Frames:

Seite 7 - Bus Speed:

Seite 8 - BUS Faults:

Seite 9 - 3) Time-outs:

Seite 10 - Arbitration Notes:

Seite 11 - Receiving Notes:

Seite 12

Seite 13 - What’s ahead:

Seite 14 - CAN Demonstration Software:

Seite 15

Seite 16 - Other Functions in CAN.c:

Seite 17 - 140 CAN_RxRdy = 0;

Seite 18

Seite 19

Seite 20

Seite 21

Seite 22

Seite 23 - Exception Tracing:

Seite 24

Seite 25 - CAN Waveform:

Seite 26

Seite 27 - UUwww.keil.comUU for more

Seite 28

Seite 29 - Useful Documents:

Seite 30 - Serial Wire Viewer can see:

Seite 31 - For more information:

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