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{\*\generator Microsoft Word 11.0.5604;}{\info{\title Automatizacija u prometu '95}{\subject Controller Area Network}{\author ......}{\keywords CAN}{\operator Aleksandar Klai\'e6}{\creatim\yr2006\mo12\dy1\hr15\min6}{\revtim\yr2006\mo12\dy1\hr15\min6}
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\fs20\lang1033\langfe1050\cgrid\langnp1033\langfenp1050 {\b\f36\fs28\insrsid414230 CAN - RA\'c8UNALNA MRE\'8eA U VOZILIMA
\par }{\b\f36\insrsid414230 
\par 
\par }{\b\f36\fs24\insrsid414230 Aleksandar Klai\'e6, Ministarstvo unutarnjih poslova Republike Hrvatske
\par Hrgovi\'e6i 61, 10000 Zagreb
\par }\pard \qc \li0\ri0\sb120\widctlpar\nooverflow\faroman\rin0\lin0\itap0 {\b\f36\fs24\insrsid414230 Vladimir Koroman, Brodarski institut, Zagreb
\par }\pard \qc \li0\ri0\widctlpar\nooverflow\faroman\rin0\lin0\itap0 {\b\f36\fs24\insrsid414230 Av. V. Holjevca 20, 10010 Zagreb
\par }\pard \qc \li0\ri0\sb120\widctlpar\nooverflow\faroman\rin0\lin0\itap0 {\b\f36\fs24\insrsid414230 Ljubomir Kulja\'e8a, Fakultet elektrotehnike i ra\'e8unarstva, Zagreb
\par }\pard \qc \li0\ri0\widctlpar\nooverflow\faroman\rin0\lin0\itap0 {\b\f36\fs24\insrsid414230 Unska 3, 10000 Zagreb
\par }{\b\f36\insrsid414230 
\par 
\par }\pard \qj \li0\ri0\widctlpar\nooverflow\faroman\rin0\lin0\itap0 {\b\i\f36\fs22\insrsid414230 Sa\'9eetak
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\b\i\f36\fs22\insrsid414230 \tab Pove\'e6ani tehni\'e8ki zahtjevi na pojedine automobilske aplikacije, brz tehnolo\'9aki razvoj suvremene elektronike, te op\'e6
e civilizacijske smjernice prema za\'9atiti ljudskih \'9eivota, o\'e8uvanju okoli\'9aa i ve\'e6oj kvaliteti \'9eivljenja, vode proizvo\'f0a\'e8e vozila novom na\'e8inu razmi\'9aljanja. Danas ve\'e6 mo\'9e
emo govoriti o sustavu za upravljanje vozilom koji u sebi sadr\'9ei sve prija\'9anje samostalne aplikacije (ubrizgavanje goriva, katalizator, ABS, itd.), sada sjedinjene pomo\'e6u procesne ra\'e8unalne mre\'9e
e,  posebno optimizirane obzirom na posebnosti koje karakteriziraju kompleksan proces kakav je vozilo. CAN protokol (Controller Area Network), koji su razvile firme Bosch i Intel, prvobitno ga namijeniv\'9ai za aplikacije u automobilskoj indust
riji, postao je industrijski standard. U radu se analiziraju karakteristike i primjena procesnih mre\'9ea temeljenih na CAN protokolu.
\par }\pard \qj \li0\ri0\widctlpar\tx567\nooverflow\faroman\rin0\lin0\itap0 {\f36\fs24\insrsid414230 
\par }\pard \qc \li0\ri0\widctlpar\tx567\nooverflow\faroman\rin0\lin0\itap0 {\b\f36\fs28\insrsid414230 CAN - COMPUTER NETWORK IN VEHICLES
\par }\pard \qj \li0\ri0\widctlpar\tx567\nooverflow\faroman\rin0\lin0\itap0 {\b\i\f36\fs22\insrsid414230 Abstract
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\b\i\f36\fs22\insrsid414230 \tab Increasing demands on some automotive applications, fast  technological develop
ment  of modern electronics, as well as general civilization needs towards human life protection, clean  environment and higher standard of living, lead vehicle manufacturer to a new way of thinking. Today we can speak about vehicle control system that co
ntains all the previous stand-alone applications (fuel injection, catalyst, ABS, etc.), linked together using a fieldbus which is  optimized according to all the specialties that characterize complex process such as a vehicle. CAN protocol (Controller Are
a Network), firstly  developed by Bosch and Intel for automotive industry applications, become world-wide industrial standard. The paper analyze characteristics and  applications of fieldbusses based on CAN protocol.
\par }\pard \qj \li0\ri0\widctlpar\tx567\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 
\par 
\par \sect }\sectd \margtsxn1417\psz9\sbknone\linex0\cols2\endnhere\sectdefaultcl\sftnbj \pard\plain \qj \li0\ri0\widctlpar\tx426\nooverflow\faroman\rin0\lin0\itap0 \fs20\lang1033\langfe1050\cgrid\langnp1033\langfenp1050 {\b\f36\fs24\insrsid414230 1.\tab UVOD

\par }\pard \qj \li0\ri0\widctlpar\tx567\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 \tab Elektroni\'e8ki sustavi za upravljanje  radom motora uvedeni su u automobilsku industriju 70-tih godina kako bi zadovoljili sve ve\'e6
e zahtjeve za smanjenjem potro\'9anje goriva i zaga\'f0enja okoli\'9aa. Elektroni\'e8ki  upravlja\'e8ki sustavi iz tih godina imali su umjerenu primjenu zbog ograni\'e8enih mogu\'e6nosti koje su bile posljedica relativno niskog stupnja razvoja elektroni
\'e8kih tehnologija. Po\'e8etkom 90-tih godina dolazi do ve\'e6eg upliva mikrora\'e8unalnih proizvoda visoke tehnologije u automobilsku industriju, isprva u vozila visoke klase, a danas sve vi\'9a
e i u vozila srednje klase. Krajnji cilj je pretvoriti vozilo u visoko auto-matizirani, distribuirani proces.
\par }\pard \ql \li0\ri0\widctlpar\tx426\nooverflow\faroman\rin0\lin0\itap0 {\b\f36\fs24\insrsid414230 2. \tab VOZILO KAO OBJEKT \tab AUTOMATIZACIJE
\par }\pard \qj \li0\ri0\widctlpar\tx567\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 \tab Danas nestaje koncept karakteristi\'e8an za 80-te godine kada smo govorili npr. o elektroni\'e8kom paljenju na nekom vozilu, o ABS ko\'e8
nicama kao opciji pri kupnji, ili o dogradivom katalizatoru. Sve su to bili zasebni, samostalni elektroni\'e8ki ure\'f0aji i nisu bili tretirani kao dio globalnog sustava upravljanja vozilom.
\par \tab Adaptivni algoritmi upravljanja danas nalaze obilje primjena u automobilskim aplikacijama, i pri tome tra\'9ee  sve mo\'e6niju mikroprocesorsku platformu za implementaciju. Razli\'e8ite tehnike samopode\'9a
avanja parametara u radu, adaptacije na promjenu uvjeta uslijed promjene karakteristika komponenata ili promjene radnih re\'9eima, ali i rje\'9a
enje  problema nepostojanosti karakteristika od vozila do vozila, sve su to primjeri gdje se koriste adaptivni algoritmi upravljanja.
\par \tab Danas smo suo\'e8eni i s op\'e6im civilizacijskim  smjernicama kao \'9ato su o\'e8uvanje okoli\'9aa, pove\'e6anje sigurnosti ljudskih \'9eivota ali i potreba za sve ve\'e6om kvalitetom \'9eivljenja. Sve se to odra\'9eava i na automobilsku industriju.

\par \tab Pove\'e6ani tehni\'e8ki zahtjevi na pojedine automobilske aplikacije, brz razvoj mikropro-cesorske tehnologije, ali i spomenute op\'e6e civilizacijske smjernice, vode proizvo\'f0a\'e8e automobila novom na\'e8inu razmi\'9aljanja. Stoga, danas ve\'e6
 mo\'9eemo govoriti o sustavu za upravljanje vozilom koji u sebi sadr\'9ei sve nekada\'9anje samostalne aplikacije (ubrizgavanje goriva, katalizator, ABS, itd.), sjedinjene pomo\'e6u procesne ra\'e8unalne mre\'9e
e (Fieldbus), posebno optimizirane obzirom na posebnosti koje karakteriziraju kompleksan proces kakav je vozilo.
\par \tab Sve dosad izneseno razlog je primjene koncepta ugra\'f0enih sustava (Embedded Systems) u auto-mobilskoj industriji. Osnove ovog koncepta nisu bitno razli\'e8ite u odnosu na ostale industrijske primjene [1]. I ovdje imamo ra\'e8
unalni sustav odgovaraju\'e6e mo\'e6i, s  komunikacijskim mogu\'e6nos-tima, te s fleksibilnim elektromehani\'e8kim i ambi-jentalnim svojstvima.
\par \tab U dana\'9anjem vozilu nalazi se velik broj ure\'f0aja \'e8iji je rad potrebno automatizirati. Stupanj automa-tizacije ovisi od ure\'f0aja do ure\'f0aja. Klasifikacija ure\'f0aja u vozilu koji su nam interesantni sa stano-vi\'9ata automatizacije mo
\'9ee se izvr\'9aiti prema [2]:
\par {\pntext\pard\plain\f3\fs20\lang1033\langfe1050\langnp1033 \loch\af3\dbch\af0\hich\f3 \'b7\tab}}\pard \qj \fi-284\li284\ri0\widctlpar\tx284{\*\pn \pnlvlblt\ilvl0\ls1\pnrnot0\pnf3\pnstart1\pnindent283\pnhang {\pntxtb \'b7}}
\nooverflow\faroman\ls1\rin0\lin284\itap0\pararsid414230 {\f36\insrsid414230 ure\'f0aji za olak\'9aavanje rada voza\'e8a (npr. automatski mjenja\'e8, servo upravlja\'e8),
\par {\pntext\pard\plain\f3\fs20\lang1033\langfe1050\langnp1033 \loch\af3\dbch\af0\hich\f3 \'b7\tab}ure\'f0aji za upravljanje radom motora (npr.  ubrizgavanje goriva i kontrola smjese),
\par {\pntext\pard\plain\f3\fs20\lang1033\langfe1050\langnp1033 \loch\af3\dbch\af0\hich\f3 \'b7\tab}ure\'f0aji za pobolj\'9aanje radne okoline voza\'e8a i putnika (npr. klima ure\'f0aj),
\par {\pntext\pard\plain\f3\fs20\lang1033\langfe1050\langnp1033 \loch\af3\dbch\af0\hich\f3 \'b7\tab}ure\'f0aji za pove\'e6anje aktivne sigurnosti (npr. ABS) i
\par {\pntext\pard\plain\f3\fs20\lang1033\langfe1050\langnp1033 \loch\af3\dbch\af0\hich\f3 \'b7\tab}ure\'f0aji za pove\'e6anje pasivne sigurnosti (npr. zra\'e8ni jastuk).
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 
\par }\pard \qj \li0\ri0\widctlpar\tx426\nooverflow\faroman\rin0\lin0\itap0 {\b\f36\fs22\insrsid414230 2.1. CAN - Controller Area Network
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 
\par }\pard \qj \li0\ri0\nowidctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 \tab Komunikacijski protokol CAN (Controller Area Network) razvile su firme Bosch i Intel,  prvobitno ga namijeniv\'9ai za aplikacije u automobi
lskoj industriji. Kako je vremenom zbog visokih performansi i relativno jednostavne implementacije \'9airoko prihva\'e6en i u drugim industrijskim primjenama, CAN je postao industrijski standard (ISO-DIS 11 898 / 11 519-1).
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 \tab Osnovne prednosti koje nudi implementacija CAN procesne mre\'9ee su:
\par {\pntext\pard\plain\f3\fs20\lang1033\langfe1050\langnp1033 \loch\af3\dbch\af0\hich\f3 \'b7\tab}}\pard \qj \fi-284\li284\ri0\widctlpar\tx284{\*\pn \pnlvlblt\ilvl0\ls1\pnrnot0\pnf3\pnstart1\pnindent283\pnhang {\pntxtb \'b7}}
\nooverflow\faroman\ls1\rin0\lin284\itap0\pararsid414230 {\f36\insrsid414230 standardizirani komunikacijski protokol za kominikaciju me\'f0u ure\'f0ajima razli\'e8itih proizvo\'f0a\'e8a,
\par {\pntext\pard\plain\f3\fs20\lang1033\langfe1050\langnp1033 \loch\af3\dbch\af0\hich\f3 \'b7\tab}smanjenje optere\'e6enja aplikacijskog procesora kori\'9atenjem inteligentne periferije,
\par {\pntext\pard\plain\f3\fs20\lang1033\langfe1050\langnp1033 \loch\af3\dbch\af0\hich\f3 \'b7\tab}smanjeni tro\'9akovi postavljanja i odr\'9eavanja kabela zbog serijske sabirni\'e8ke strukture,
\par {\pntext\pard\plain\f3\fs20\lang1033\langfe1050\langnp1033 \loch\af3\dbch\af0\hich\f3 \'b7\tab}sna\'9eni mehanizmi za prepoznavanje gre\'9aaka i za ograni\'e8avanje utjecaja gre\'9aaka na sistem.
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\par }\pard \qc \li0\ri0\sb120\sa120\widctlpar\tx567\nooverflow\faroman\rin0\lin0\itap0 {\b\f36\insrsid414230 Sl. 1.}{\f36\insrsid414230  Blokovski prikaz CAN mre\'9ee
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 \tab Na Sl. 1. prikazana je blokovska struktura CAN komunikacijske mre\'9ee jednog vozila. Za prijenos informacija koristi se oklopljena \'9ei\'e8ana parica. Mre
\'9ea je strukturirana kao serijska sabirnica (Bus) sa zaklju\'e8nim otporima na oba kraja (terminatori). Omogu\'e6ena je maksimalna brzina prijenosa od 1Mbps za udaljenosti do 40 m. Signali na sabirnici su diferencijalni, a na\'e8
in pristupa sabirnici je CSMA (Carrier Sense Multiple Access). Ograni-\'e8enje broja priklju\'e8enih \'e8vorova nije logi\'e8kog karaktera (kona\'e8an broj adresa), nego elektri\'e8kog karaktera, tj. vezano je za elektri\'e8
ke karakteristike samog pobudnog sklopa koji se koristi (npr. CAN Driver PCA82C250). CAN protokol ne koristi adrese \'e8vorova nego se  komunikacija odvija na\'e8i-nom "jedan \'9aalje - svi primaju", pri \'e8emu svi \'e8
vorovi primaju i provjeravaju ispravnost poruke neovisno o tome da li im je namijenjena. Svaki CAN \'e8vor mo\'9ee i  inicirati komunikaciju (multi-master arhitektura).
\par \tab Posebna pa\'9enja posve\'e6ena je otkrivanju gre\'9aaka. Gre\'9ake nastaju zbog razli\'e8itih smetnji kojima su izlo\'9eeni komunikacijski vodovi i ugra-\'f0eni sustavi na vozilu, ali i uslijed otkaza ili o\'9ate\'e6
enja pojedinih dijelova sustava (komuni-kacijskih vodova ili samih \'e8vorova).
\par }\pard \qj \li0\ri0\nowidctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 \tab Kratke poruke od 0 do 8 bajtova, kao i mogu\'e6-nost definiranja prioriteta poruka, \'e8ine CAN dobrim rje\'9a
enjem za potrebe rada u stvarnom vremenu. Iako pripada klasi protokola sa slu\'e8ajnim pristupom sabirnici koji se odvija takmi\'e8enjem (Arbitration), CAN koristi u\'e8inkovit na\'e8in odre\'f0
i-vanja prioriteta poruka putem identifikatora poruka. Tako se za kriti\'e8ne poruke mo\'9ee odrediti visoki prioritet \'e8ime je omogu\'e6eno  izra\'e8unavanje vremena njihovog ka\'9anjenja.
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 \tab Razmjena informacija je objektno orjentirana. To zna\'e8i da je pa\'9enja usmjerena na objekte koji predstavljaju stvarne fizikalne veli\'e8ine, kao \'9a
to je primjerice broj okretaja motora. Ukoliko npr. ra\'e8unalni modul automatskog mjenja\'e8a \'9eeli informaciju o broju okretaja motora treba postaviti na mre\'9eu upit o komunikacijskom objektu "broj_okretaja_motora". U tom upitu ne treba biti sadr
\'9eana informacija o tome za koji \'e8vor je taj upit, niti sam modul automatskog mjenja\'e8a uop\'e6e treba znati koji od preostalih \'e8vorova vr\'9ai spomenuto mjerenje. Svaki \'e8
vor "poznaje" samo one komunikacijske objekte koji su vezani na odvijanje njegove aplikacije, sve druge objekte, tj. poruke, odre\'f0eni \'e8vor \'e6e ignorirati. Ovaj koncept je sli\'e8an konceptu dijeljenja memorijskog prostora, pri \'e8
emu se ovdje dijele komunikacijski objekti za koje se brinu pojedini \'e8vorovi. Svi objekti definirani na mre\'9ei, predstavljaju proces automati-zacije vozila i mogu se pratiti na vanjskom dijagnosti\'e8kom ra\'e8unalu, prikazanom na Sl. 1.
\par }\pard \qj \li0\ri0\widctlpar\tx426\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 
\par }{\b\f36\fs22\insrsid414230 2.2. CAN- sklopovska i programska podr\'9aka
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 
\par \tab CAN protokol je sklopovski implementiran. Na tr\'9ei\'9atu postoje komponente razli\'e8itih proizvo\'f0a\'e8a. Razvoj ovih komponenti ide u dva smjera:
\par {\pntext\pard\plain\f3\fs20\lang1033\langfe1050\langnp1033 \loch\af3\dbch\af0\hich\f3 \'b7\tab}}\pard \qj \fi-284\li284\ri0\widctlpar\tx284{\*\pn \pnlvlblt\ilvl0\ls1\pnrnot0\pnf3\pnstart1\pnindent283\pnhang {\pntxtb \'b7}}
\nooverflow\faroman\ls1\rin0\lin284\itap0\pararsid414230 {\f36\insrsid414230 samostoje\'e6i CAN kontroleri (Stand-alone CAN Controllers), npr. Philips PCA 82C200 i
\par {\pntext\pard\plain\f3\fs20\lang1033\langfe1050\langnp1033 \loch\af3\dbch\af0\hich\f3 \'b7\tab}integrirani CAN kontroleri  (Integrated CAN Controllers), npr. Philips P80C592.
\par }\pard \qj \li0\ri0\nowidctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 \tab CAN kontroleri su komponente s memorijskim prostorom za komunikacijske poruke i kontrolnim registrima, te su\'e8
eljem prema mikroprocesoru. Sklopovska implementacija podr\'9eava dva najni\'9ea OSI sloja (Open System Interconnection): fizi\'e8ki sloj (Physical Layer - Layer 1) i sloj podatkovne veze (Data Link Layer - Layer 2).  CAN kontroler mo\'9e
e samostalno izvoditi osnovne komunikacijske funkcije (npr. slanje okvira gre\'9ake i okvira preoptere\'e6enja), a ostalim funkcijama upravlja aplikacijski procesor pisanjem i \'e8
itanjem kontrolnih registara, odgovorima na prekide ili prozivanjem. Mikrokontroler  P80C592 primjer je integriranog CAN kontrolera, koji je nadogra\'f0en na mikrokon
troler Philips P80C552, utemeljen na jezgri Intel 8051. CAN kontroler je implementiran preko internih registara procesora, a za prijenos podataka od spremnika prijema i slanja do interne memorije procesora, koristi se direktni memorijski pristup (Direct M
emory Access - DMA).
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 \tab Upravljanje CAN kontrolerom predstavlja implementaciju OSI sloja 7, tj. aplikacijskog sloja. Izostanak OSI slojeva 3 do 6 uobi\'e8ajen je za procesne mre\'9e
e, a osnovni razlog su zahtjevi za rad u stvarnom vremenu i niska cijena implementacije [3]. Korisnik mo\'9ee odabrati  vlastiti razvoj vi\'9aih programskih funkcija za kori\'9atenje CAN proto-kola, ili kupnju programske biblioteke takvih funkcija na tr
\'9ei\'9atu. Ove biblioteke su raspolo\'9eive uglavnom za programske jezike C i  asembler, za razli\'e8ite mi
kroprocesorske familije (80x86, 'x51, 'x96, '166, ...) te uglavnom za  operativne sustave DOS i Windows. Pozivanjem ovakvih funkcija unutar vlastite aplikacijske programske podr\'9ake, korisniku je omogu\'e6eno koncipiranje i izgradnja procesnih mre\'9e
a koje koriste prednosti CAN protokola, bez dubljeg poznavanja strukture samog protokola.
\par 
\par }\pard \qj \li0\ri0\widctlpar\tx426\nooverflow\faroman\rin0\lin0\itap0 {\b\f36\fs22\insrsid414230 2.3. CAN - struktura protokola
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 
\par \tab Osnovne funkcije CAN \'e8vora su slanje poda-taka, primanje podataka, zahtjev za podacima, te otkrivanje i uklanjanje gre\'9aaka. Za izvo\'f0enje ovih funkcija koriste se formati poruka prikazani na Sl.2.
\par }\pard \qj \li0\ri0\sb120\sa120\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 {\pict\wmetafile8\picw16688\pich12209\picwgoal9461\pichgoal6922 \picscalex43\picscaley43 
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\par }\pard \qc \li0\ri0\sb120\sa120\widctlpar\tx567\nooverflow\faroman\rin0\lin0\itap0 {\b\f36\insrsid414230 Sl. 2.}{\f36\insrsid414230  Formati poruka CAN protokola
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 Koriste se \'e8etiri vrste okvira podataka (Data Frames), koji se sastoje od razli\'e8itih bit polja.  CAN raspoznaje dvije vrste signala na sabirnici:
\par {\pntext\pard\plain\f3\fs20\lang1033\langfe1050\langnp1033 \loch\af3\dbch\af0\hich\f3 \'b7\tab}}\pard \qj \fi-284\li284\ri0\nowidctlpar\tx284{\*\pn \pnlvlblt\ilvl0\ls1\pnrnot0\pnf3\pnstart1\pnindent283\pnhang {\pntxtb \'b7}}
\nooverflow\faroman\ls1\rin0\lin284\itap0\pararsid414230 {\f36\insrsid414230 dominantni nivo (Dominant Level, logi\'e8ka nula), koji prevladava kada se pojave oba nivoa istovremeno, i 
\par {\pntext\pard\plain\f3\fs20\lang1033\langfe1050\langnp1033 \loch\af3\dbch\af0\hich\f3 \'b7\tab}potisnuti nivo (Recesive level, logi\'e8ki jedan).
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 \tab Poruka se sastoji od okvira podijeljenog na polja, koja se sastoje od nizova bitova. Na Sl. 3. prikazana su stanja pojedin
ih bitova u poljima na primjeru okvira podataka.
\par }\pard \qj \li0\ri0\nowidctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 \tab Po\'e8etak okvira (Start of Frame), sastoji se od jednog dominantnog bita koji slu\'9ei za sinkro-nizaciju svih \'e8vorova na mre\'9ei na predstoje\'e6
u iz-mjenu podataka. Slijedi polje arbitracije (Arbi-tration Field) koje se sastoji od identifikatora poruke (Message Identifier) i RTR bita (Remote Transmission Request). Identifikator poruke je duga\'e8ak 11 bita i mo\'9ee imati 2048 razli\'e8
itih vrijednosti. Ovo va\'9ei za osnovni dio protokola (BasicCAN), a postoji i pro\'9airenje s 29 bita duga\'e8
kim identifikatorom  (FullCAN). RTR bit je dominantan prilikom slanja podataka, a potisnut prilikom zahtjeva za podacima (Remote Frame). Time je postignuto da kada \'e8vor postavi zahtjev i dobije odgovor od drugog \'e8vora dok slanje zahtjeva jo\'9a t
raje, ne do\'f0e do sukoba u pristupu sabirnici, nego da se \'e8vor koji je tra\'9eio podatke prebaci iz slanja u primanje  podataka. Prvi dio okvira podataka i zahtjeva je identi\'e8an (Sl.2.), a pri nailasku RTR bita povla\'e8i se onaj \'e8vor koji \'9a
alje potisnuti bit (\'e8vor koji zahtijeva podatke), kada ustanovi da drugi \'e8vor \'9aalje dominantni bit (\'e8vor koji \'9aalje podatke). Dakle, svaki CAN \'e8vor prilikom slanja vr\'9ai kontrolu \'e8
itanjem stanja na sabirnici, tj. usporedbom poslanih i pro\'e8itanih bitova.
\par }\pard \qc \li0\ri0\widctlpar\brdrt\brdrs\brdrw15\brsp20 \brdrl\brdrs\brdrw15\brsp20 \brdrb\brdrs\brdrw15\brsp20 \brdrr\brdrs\brdrw15\brsp20 
\pvpg\phpg\posx1463\posy6044\absh2880\absw9015\abslock1\dxfrtext113\dfrmtxtx113\dfrmtxty142\nooverflow\faroman\rin0\lin0\rtlgutter\itap0 {\insrsid414230 {\pict\wmetafile8\picw17653\pich6367\picwgoal10008\pichgoal3610 \picscalex90\picscaley90 
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0201010008000000250302009501ea029501ea02040000002d01020004000000f0010600030000000000000000000000000000000000500ed8289738}}{\insrsid414230 
\par }\pard \qc \li0\ri0\sa120\widctlpar\brdrt\brdrs\brdrw15\brsp20 \brdrl\brdrs\brdrw15\brsp20 \brdrb\brdrs\brdrw15\brsp20 \brdrr\brdrs\brdrw15\brsp20 
\pvpg\phpg\posx1463\posy6044\absh2880\absw9015\abslock1\dxfrtext113\dfrmtxtx113\dfrmtxty142\nooverflow\faroman\rin0\lin0\rtlgutter\itap0 {\b\insrsid414230 Sl. 3.}{\insrsid414230  Okvir podataka: kontrolna i informacijska polja i nivoi signala
\par }\pard \qj \li0\ri0\nowidctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 \tab Ve\'e6 je spomenuto da CAN koristi objektni pristup komunikaciji. Objekti komunikacijskih poruka sastoje se od od vi\'9ae bajtova kao \'9a
to su:  identifikator poruke, npr. "Broj_okretaja_motora" i pripadnih  1 do 8 bajtova  podataka, zatim bajt konfiguracije poruke, koji sadr\'9e
i broj bajtova koji se prenosi, funkciju slanja ili primanja, te format identifikatora (11 ili 29 bitova). Simboli\'e8kom imenu identifikatora pridru\'9euje se 11 ili 29-bitovni binarni broj, \'e8ime se odre\'f0uje i prioritet poruke koji je to ve\'e6i 
\'9ato je binarni broj manji. Razlog je to \'9ato su logi\'e8ke nule dominantne, te u nadmetanju za pristup sabirnici pobje\'f0uje onaj objekt koji ima vi\'9ae nula u identifikatoru i to s lijeva na desno, jer se bitovi \'9aalju na sabirnicu od najzna\'e8
ajnijeg (MSB) prema najmanje zna\'e8ajnom (LSB). Registar maske prihvata omogu\'e6ava da preko definiranja odre\'f0enih bit pozicija kao nebitnih (Don't Care), omogu\'e6imo primanje vi\'9ae vrsta poruka kao jedan komunikacijski objekt. \tab Kontrolno po
lje (Control Field) sadr\'9ei dva bita za daljnja pro\'9airenja protokola i \'e8etiri bita za du\'9einu podataka u polju podataka (Data Field), koja mo\'9ee iznositi od 0 do 8 bajtova.
\par \tab Polje CRC-a (Cyclic Redundancy Check Field) duga\'e8ko je 15 bitova, a koristi polinom generator (1) posebno prilago\'f0en za slanje okvira s brojem bitova manjim od 127. Ovo polje zavr\'9aava jednim potisnutim bitom (CRC Delimiter).
\par }\pard \qj \li0\ri0\sb120\sa120\widctlpar\tx284\tqr\tx4111\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 f(X) = X}{\f36\super\insrsid414230 15}{\f36\insrsid414230 +X}{\f36\super\insrsid414230 14}{\f36\insrsid414230 +X}{\f36\super\insrsid414230 10
}{\f36\insrsid414230 +X}{\f36\super\insrsid414230 8}{\f36\insrsid414230 +X}{\f36\super\insrsid414230 7}{\f36\insrsid414230 +X}{\f36\super\insrsid414230 4}{\f36\insrsid414230 +X}{\f36\super\insrsid414230 3}{\f36\insrsid414230 +1\tab }{\b\f36\insrsid414230 
(1)}{\f36\insrsid414230 
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 \tab Polje potvrde (Acknowledge Field) sastoji se od 2 bita: prostora za potvrdu (Acknowledge Slot) i ograni\'e8ava\'e6
a potvrde (Acknowledge Delimiter). Oba bita pri slanju imaju potisnuti nivo. Svi CAN kontroleri koji su primili podudaraju\'e6i CRC niz prijavljuju ispravan prijem prepisuju\'e6i potisnuti bit prostora za potvrdu jednim dominantnim bitom. Tako po\'9a
iljalac koji prati stanje na sabirnici pre-poznaje da je bar jedan prijemnik u mre\'9ei ispravno primio informaciju.
\par }\pard \qj \li0\ri0\nowidctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 \tab 
Kraj okvira (End of Frame) sastoji se od 7 potisnutih bitova. Tehnika nadopune bitova (Bit-Stuffing) prilikom slanja poruke u kojoj se pojavi 5 bitova istog polariteta za redom, vr\'9a
i nadopunu jednog bita suprotnog polariteta. Kako se logika nadopune bitova isklju\'e8uje tijekom emitiranja polja  kraja okvira, prijemnik mo\'9ee i pored  gre\'9ake u prijenosu detektirati kraj okvira.
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 \tab Me\'f0uok
virni prostor (Inter-Frame Space) sas-toji se od polja pauze (Intermission Field) i slo-bodne sabirnice (Bus-Idle). Ovaj prostor uvijek  prethodi okviru podataka i okviru zahtjeva. Polje pauze  sastoji se od tri potisnuta bita i za to vrijeme nijedan CAN 
kontroler ne zapo\'e8inje slanje. Vrijeme slobodne sabirnice mo\'9ee biti proizvoljne du\'9eine, a pojava dominantnog bita unutar ovog vremena, interpretira se kao po\'e8etak okvira.
\par 
\par }\pard \qj \li0\ri0\widctlpar\tx426\nooverflow\faroman\rin0\lin0\itap0 {\b\f36\fs22\insrsid414230 2.4. CAN-za\'9atita sustava od gre\'9aaka i otkaza
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 
\par \tab Mno\'9atvo mehanizama za prepoznavanje gre\'9aaka, za ograni\'e8avanje gre\'9aaka, te sposobnost tolerancije havarijskih stanja na \'e8vorovima, kao i mogu\'e6nost rekonfiguracije o\'9ate\'e6enih mre\'9enih vodova u toku rada, omogu\'e6
ava realizaciju sustava s tolerancijom gre\'9aaka (Fault Tolerant System).
\par }\pard \qj \li0\ri0\nowidctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 \tab CAN protokol koristi vi\'9ae mehanizama za prepoznavanje gre\'9aaka. Na najni\'9e
em nivou protokola  implementiran je nadzor sabirnice (Bus Monitoring), koji svakom \'e8voru omogu\'e6ava da pri slanju "slu\'9aa" sabirnicu i uspore\'f0uje poslane po-datke s primljenim te da prepozna eventualnu gre\'9aku. Ugra\'f0
ena je i provjera okvira poruke i sadr\'9eaja pojedinih polja (Message Frame Check). Poslani okviri posjeduju CRC niz za provjeru. Svaki prijemnik pouzdano detektira do 5 proizvoljno raspodijeljenih, pojedina\'e8nih bit gre-\'9aaka (Hammingova razli
ka je 6), kao i pogre\'9aku grupe bitova maksimalne duljine od 15 bitova po okviru. Dodatni mehanizam za\'9atite od gre\'9aaka je tehnika nadopune bitova, koja pri prijenosu 5 bitova istog stanja za redom, ubacuje bit suprotnog stanja, omogu\'e8avaju\'e6
i time dodatnu provjeru, ali i sinkronizaciju sabirni\'e8kog signala za prijemnike.
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 \tab Metode za ograni\'e8avanje gre\'9aaka smanjuju  utjecaj nastalih gre\'9aaka na rad sustava u cjelini. CAN kontroler mo\'9e
e biti u jednom od tri stanja koja definira u\'e8estalost detektiranih gre\'9aaka:
\par {\pntext\pard\plain\f3\fs20\lang1033\langfe1050\langnp1033 \loch\af3\dbch\af0\hich\f3 \'b7\tab}}\pard \qj \fi-284\li284\ri0\widctlpar\tx284{\*\pn \pnlvlblt\ilvl0\ls1\pnrnot0\pnf3\pnstart1\pnindent283\pnhang {\pntxtb \'b7}}
\nooverflow\faroman\ls1\rin0\lin284\itap0\pararsid414230 {\f36\insrsid414230 stanje aktivnosti na gre\'9ake (Error Active),
\par {\pntext\pard\plain\f3\fs20\lang1033\langfe1050\langnp1033 \loch\af3\dbch\af0\hich\f3 \'b7\tab}stanje pasivnosti na gre\'9ake (Error Pasive) i
\par {\pntext\pard\plain\f3\fs20\lang1033\langfe1050\langnp1033 \loch\af3\dbch\af0\hich\f3 \'b7\tab}stanje isklju\'e8enosti sa sabirnice (Buss-Off).
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 CAN kontroler zapo\'e8inje rad u stanju aktivnosti na gre\'9ake. U ovom stanju on normalno mo\'9ee primati i slati podatke, a koristi aktivnu zastavicu gre\'9a
ke (Active Error Flag) unutar okvira gre\'9ake (Error Frame). Zastavica se sastoji od 6 dominantnih bitova i \'9aalje se pri svakoj detekciji gre\'9ake. Uslijed toga, svi ostali CAN kontroleri detektiraju stanje gre\'9ake i zapo\'e8inju slanje vlast
itih zastavica gre\'9ake,  prekidaju\'e6i komunikaciju na sabirnici. Da bi se to izbjeglo, u slu\'e8aju ve\'e6e u\'e8estalosti gre\'9aaka CAN kontroler prelazi u stanje pasivnosti na gre\'9ake i koristi pasivnu zastavicu gre\'9a
ke (Passive Error Flag), koja se \'9aalje samo kada je sabirnica slobodna. U slu\'e8aju daljnjeg pove\'e6anja u\'e8estalosti  gre\'9aaka, CAN kontroler prelazi u stanje isklju\'e8enosti sa sabirnice. U tom stanju \'e8vor ne mo\'9ee vr\'9a
iti komunikaciju, ali ne ometa rad sustava. Ponovni start \'e8vora mogu\'e6e je izvr\'9aiti programski. Broja\'e8i gre\'9aaka CAN kontrolera koriste neproporcionalno brojanje, tj. gre\'9aka uzro-kuje ve\'e6i porast nego \'9a
to korektno slanje/prijem poruke uzrokuje smanjenje broja\'e8a (sklopovski je implementiran omjer 8:1). Kada broja\'e8 prije\'f0e 96 to\'e8aka gre\'9ake signalizira upozorenje aplikacijskom procesoru, na 127 to\'e8
aka prebacuje CAN kontroler u stanje pasivnosti, a na 255 to\'e8aka gre\'9ake isklju-\'e8uje ga sa sabirnice.
\par }\pard \qj \li0\ri0\nowidctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 \tab Kori\'9atenjem integriranog CAN kontrolera P8xC592 (Sl. 4.), mogu\'e6e je detektirati havarije na komunikacijskim vodovima, ali i u toku rada izvr\'9a
iti rekonfiguraciju pobudnog sklopovlja u jedno\'9ei\'e8anu komunikaciju i nastaviti rad. Rekonfiguracija je mogu\'e6a za slijede\'e6e slu\'e8ajeve: prekid jednog sabirni\'e8kog voda na bilo kojoj lokaciji, kratki spoj jednog od sabirni\'e8kih vodo
va sa napajanjem i kratki spoj izme\'f0u sabirni\'e8kih vodova (CAN_L, CAN_H). Rekonfiguracija za-htjeva preklapanje odgovaraju\'e6eg ulaza kompa-ratora na pomo\'e6ni referentni napon (integrirano u P8xC592) i onemogu\'e6
avanje pripadnog izlaznog pobudnog stupnja. Tako, u slu\'e8aju ispada, inteligentni moduli uspostavljaju  barem ogra-ni\'e8enu sposobnost za rad.
\par }\pard \qj \li0\ri0\sa120\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 {\pict\wmetafile8\picw15071\pich10465\picwgoal8544\pichgoal5933 \picscalex48\picscaley48 
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000000000000000000}}{\f36\insrsid414230 
\par }\pard \qc \li0\ri0\sb120\widctlpar\tx567\nooverflow\faroman\rin0\lin0\itap0 {\b\f36\insrsid414230 Sl. 4.}{\f36\insrsid414230  Rekonfiguracija mre\'9enih vodova
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 
\par 
\par }\pard \qj \li0\ri0\widctlpar\tx426\nooverflow\faroman\rin0\lin0\itap0 {\b\f36\fs24\insrsid414230 3.\tab ZAKLJU\'c8AK
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 
\par \tab Optimizacija cijelog sustava vozila krajnji je cilj umre\'9eavanja. Osnova takve koncepcije je robustan i pouzdan komunikacijski sustav, koji zadovoljava zahtjeve za radom u stvarnom vremenu, i koji je jednostavan i jeftin za implementaciju i odr\'9e
avanje. Ako ovim zahtjevima dodamo standardiziranost komunikacijskog protokola, dobivamo sve preduvjete da na\'9a sustav ostavimo otvorenim za budu\'e6a pro\'9airenja i pobolj\'9aanja komponentama, sklopovskim i  programskim modulima ili \'e8
itavim podsustavima razli\'e8itih proizvo\'f0a\'e8a i tra\'9eenih karakteristika.
\par 
\par 
\par }\pard \qj \li0\ri0\widctlpar\tx426\nooverflow\faroman\rin0\lin0\itap0 {\b\f36\fs24\insrsid414230 4.\tab LITERATURA
\par }\pard \qj \li0\ri0\widctlpar\tx284\nooverflow\faroman\rin0\lin0\itap0 {\f36\insrsid414230 
\par }\pard \qj \fi-340\li340\ri0\widctlpar\tx567\nooverflow\faroman\rin0\lin340\itap0 {\f36\insrsid414230 [1]\tab A. Klai\'e6, Odabir ugra\'f0enih ra\'e8unalnih sustava i integracija procesne mre\'9e
e distribuiranog sustava nadzora baterije, MIPRO '95, Mikrora\'e8unala u tehni\'e8kim sustavima (MTS), 56 - 61, Opatija, 1995.
\par [2]\tab Z. Luli\'e6, Sustavi za automatizaciju uprav-lja\'e8kih procesa u vozilima, Automatizacija u prometu '94, 46 - 49, Zagreb, 1994.
\par [3]\tab A. Klai\'e6, Comparable Characteristics of Some Fieldbusses, IMAM '95, 701 - 708, Dubrovnik, 1995.
\par [4]\tab PHYTEC Me\'dftechnik GmbH, CAN Development Kit Dokumentation, PHYTEC Me\'dftechnik GmbH, Mainz, 1994.
\par [5]\tab F. Blum, C. Szydlowski, CAN: ein Blick hin-ter die Kulissen, Elektronik, 6, 40 - 43, 1993.
\par [6]\tab Philips Components, PCA 82C200 Stand-alo-ne CAN-controller, Philips, Hamburg, 1990.
\par [7]\tab Philips Components, 80C592 Target Device Specification 1992, Philips, Hamburg, 1992.
\par [8]\tab J. Pehrs, H. Reus, CAN - das sichere Bus-konzept, Elektronik, 17, 96 - 101, 1991.
\par }}