CAN 통신 핸드북

CAN(Controller Area Network) Communication Handbook

김기명 지음

놀쑤 2023년 03월 08일 출간

작품소개

책소개

이 책은 CAN 통신과 관련된 사항을 한권에 정리한 CAN 통신 프로토콜 해설서이다. CAN의 역사와 응용 분야, CAN과 관련있는 프로토콜과 제반 배경지식들을 담고 있어서 기호와 암호같은 각종 용어들의 바다속에서 헤엄쳐 나와 CAN 통신을 바르게 이해할 수 있게 해주는 책이다. 이 책에서는 CAN 통신 프레임, 에러 처리, CAN 통신 시스템의 구현 등 다양한 정보들을 다루고 있어서 CAN 통신의 기초를 이해하는데 꼭 필요한 책이다.

목차

목차 5
1. CAN이란? 10
1.1 CAN (Controller Area Network)··························································· 10
1.2 CAN의 역사·························································································· 12
1.3 CAN 응용 (Applications)······································································· 14
1.4 관련 자료 링크······················································································· 17
2. OSI 계층으로 본 CAN 19
2.1 OSI란?·································································································· 19
2.2 CAN의 프로토콜 계층 구조····································································· 20
2.3 CAN의 물리(Physical) 계층(Layer)························································· 22
2.3.1 CAN의 물리(Physical) 부 계층(Sub-Layer)·············································· 24
2.3.2 PLS(Physical Signaling) 부계층의 기능··················································· 25
2.3.3 매체 부착 (Media Attachment)····························································· 25
2.3.4 High-Speed CAN (ISO 11898-2)·························································· 27
2.3.5 Fault-Tolerant CAN (ISO 11898-3)······················································· 28
2.3.6 버스 케이블 특성 (Bus Cable Characteristics)········································· 31
2.3.7 커넥터 (Connector)··············································································· 32
2.4 CAN의 데이터링크(Data Link) 계층(Layer)············································· 33
2.4.1 CAN의 데이터링크(Data Link) 부 계층(Sub-Layer)·································· 33
2.4.2 데이터 링크 계층의 기능········································································· 34
2.4.3 메시지 서비스························································································ 35
2.5 CAN의 상위(Upper) 계층(Layer)···························································· 36
2.6 CAN 프로토콜······················································································· 37
2.6.1 CAN 프로토콜 종류················································································ 37
2.6.2 CAN 프로토콜 라이선스·········································································· 38
2.6.3 CAN의 하위 계층 관련 표준들································································· 39
2.6.4 차량용 시리얼 통신 프로토콜··································································· 39
2.6.5 CAN 상위 계층 프로토콜········································································· 40
3. CAN 통신 프레임(Frame) 43
3.1 CAN 2.0A vs 2.0B················································································ 43
3.2 CAN 관련 메시지 종류············································································ 46
3.2.1 데이터 프레임 (Data Frame)·································································· 46
3.2.2 원격 프레임 (Remote Frame)································································· 49
3.2.3 에러 프레임 (Error Frame)····································································· 54
3.2.4 과부하 프레임 (Overload Frame)···························································· 54
4. CAN 프로토콜 세부사항 56
4.1 동기화 (Synchroniztion)········································································ 56
4.1.1 비트 타이밍 (Bit Timing)········································································ 56
4.1.2 동기화 (Synchronization)······································································ 57
4.2 비트 스터핑 (Bit Stuffing)······································································ 59
4.2.1 Bit Encoding / Decoding······································································ 59
4.2.2 프레임 코딩 (Bit Stuffing / Destuffing)·················································· 59
4.3 중재 (Arbitration)················································································· 61
4.3.1 다중 접속 (Multiple Access) 방식··························································· 61
4.3.2 CSMA/CD-NDBA 중재 방식··································································· 62
4.3.3 CAN 중재(Arbitration) 예제··································································· 64
4.4 메시지 전달 (Message Transfer)···························································· 67
4.4.1 ID의 의미와 사용···················································································· 67
4.4.2 메시지 필드의 위치와 우선순위································································ 68
5. CAN 통신 에러 72
5.1 에러 종류······························································································ 72
5.1.1 비트 에러 (Bit Error)·············································································· 73
5.1.2 채워 넣기 에러 (Stuff Error)··································································· 73
5.1.3 순환 중복 검사 에러 (CRC Error)····························································· 74
5.1.4 형식 에러 (Form Error)·········································································· 74
5.1.5 응답 에러 (Acknowledge Error)····························································· 75
5.2 에러 프레임 예제···················································································· 75
5.3 에러 관리······························································································ 77
5.3.1 CAN 장치의 3가지 상태·········································································· 77
5.3.2 Error Counter의 증감············································································ 78
5.3.3 Error 제한(Confinement)······································································ 78
6. CAN 구현 81
6.1 CAN 시스템의 구성················································································ 81
6.1.1 CAN 트랜시버(Transceiver)···································································· 81
6.1.2 CAN 컨트롤러(Controller)····································································· 82
6.2 CAN Controller 레지스터 운용······························································· 85
6.2.1 CAN 컨트롤러 기본 레지스터 맵······························································ 85
6.2.2 메시지 필터링 (Acceptance Filter)·························································· 85
7. CAN 기타 사항 89
7.1 OBD2 (OBD-II)····················································································· 89
7.1.1 OBD2란?······························································································ 89
7.1.2 OBD 역사······························································································ 89
7.1.3 OBD2의 커넥터····················································································· 90
7.1.4 OBD2의 프로토콜 계층과 사용································································ 92
7.1.5 OBD2의 서비스····················································································· 92
7.2 DBC 파일······························································································ 93
7.2.1 DBC란?································································································· 93
7.2.2 DBC 데이터··························································································· 93
7.2.3 자동차에서 사용하는 DBC 종류······························································· 95
7.3 CAN FD(Flexible Data-rate)·································································· 95
7.3.1 CAN FD란?··························································································· 95
7.3.2 CAN FD 프레임······················································································ 96
7.3.3 CAN과 CAN FD····················································································· 99
7.4 자동차 내부 네트워크··········································································· 100

책 속으로

CAN 통신의 모든 것
- CAN 프로토콜 해설서
- CAN의 역사와 응용
- CAN 통신 프레임
- 동기화, 비트 타이밍, 프레임 코딩, 중재
- CAN 관련 프로토콜 종류
- 에러 검출 및 제한
- CAN 통신 시스템의 구현
- OBD-II, DBC, CAN FD

출판사 서평

CAN은 Controller Area Network이란 뜻으로 자동차 ECU 간 통신을 위한 네트워크로 개발되었으며, 그 성능과 안정성을 인정받아 자동차 분야 외에도 각 분야의 자동화 제어 분야, 각종 기계, 의료, 항공, 로봇 등 다양한 분야에서 사용되고 있다. 1991년에 CAN 2.0 사양이 발표된 후에도 CAN 프로토콜에 대해서 제대로 정리되어진 책이 없고 여기저기 흩어져 있는 정보들만 돌아다닐 뿐이었으나 'CAN 통신 핸드북'이 나오게 되면서 CAN 통신관련 정보를 한곳에서 찾아볼 수 있게 되었다.
이 책에서는 CAN 통신이 왜 탄생하게 되었고 어떻게 발전해 왔는지, CAN 프로토콜은 어떤 내용을 담고 있는지 그리고 CAN 통신 주변 지식들을 모아 다루고 있다. CAN 프레임을 통해서 어떻게 통신이 이루어 지는지 파악할 수 있도록 각종 그림과 예제로 설명하고 있어 CAN 통신을 제대로 이해하는데 도움을 받을 수 있을 것이다.

작가정보

저자(글) 김기명

정보통신공학과를 졸업하고 반도체설계로 전기전자통신공학부 석사 졸업하였다.
통신장비제조 기업체 연구소에서 통신관련 장비설계 및 반도체(ASIC) 설계를 담당하였다.