1. Tecnologie Informatiche ed Elettroniche per le Produzioni Animali (corso TIE) CORSO LAUREA MAGISTRALE IN SCIENZE E TECNOLOGIE DELLA PRODUZIONE ANIMALE Massimo Lazzari Scienze veterinarie per la salute, la produzione animale e la sicurezza alimentare - VESPA Università degli Studi di Milano

2. Rete CAN-ISOBUS sulle macchine Massimo Lazzari Scienze veterinarie per la salute, la produzione animale e la sicurezza alimentare - VESPA Università degli Studi di Milano CORSO LAUREA MAGISTRALE IN SCIENZE E TECNOLOGIE DELLA PRODUZIONE ANIMALE TIE per le Produzioni Animali

3. DEFINIZIONI DEFINIZIONI

6. 6 COMPONENTI DI UN MODERNO TRATTORE COMPONENTI DI UN MODERNO TRATTORE

7. 7 COLLEGAMENTO IN RETE A STELLA COMPONENTI DI UN MODERNO TRATTORE COMPONENTI DI UN MODERNO TRATTORE COLLEGAMENTO CON BUS DI RETE

8. COMPONENTI CAN-ISOBUS COMPONENTI CAN-ISOBUS

9. Each module is a separate computer, all working together (CAN Working Set) through a communication Bus, which transfers information from one module to the others. CONTROLLER AREA NETWORK (CAN) CONTROLLER AREA NETWORK (CAN)

10. There were two major development paths for CAN communication standards: 1.LBS/DIN in Europe and 2.SAE J1939 in North America. A joint standard was a dream. LBS/DIN evolved around using a common user interface, UI (Virtual Terminal) SAE J1939 evolved around controlling engines and transmissions. Both used common electronic hardware developed by Robert Bosch, GmbH. ISOBUS ISO 11783

11. ISO 11783 an International Electronics Communications Standard for CAN Bus communications in Agriculture and Forestry applications. An OPEN Standard. ISO 11783 merges J1939 and (LBS)DIN 9684 resulting in a common CAN protocol standard. ISO 11783 SAE J1939 CAN 2.0b (29 bit) (LBS) CAN 2.0a (11 bit) DIN 9684 ISOBUS ISO 11783

12. Implement Control Screen is shown on the Tractor Virtual Terminal when chosen by the Operator. Graphics displayed on the Virtual Terminal are defined by the Implement Control Module. Operator uses soft keys or touch screen to manipulate the implement. VIRTUAL TERMINAL

14. COLLEGAMENTO AI SOFTWARE GESTIONALI

15. 15 Let’s simulate a Vehicle Network… COLLEGAMENTO AI SOFTWARE GESTIONALI

16. 16 Here is our communication protocol

17. 17 Controller Area Network A broadcast, differential serial bus standard, originally developed in the 1980s by Robert Bosch GmbH, for connecting electronic control units (ECUs) in vehicles. Very robust Two wire bus Messages are short (8 data bytes max) Priority based arbitration used for Collision Avoidance Bit stuffing for synchronization: if 5 equal bits, the following one is opposite polarity Error detection mechanism through Cyclic Redundancy Check (CRC) Bit rates up to 1 Mbit/s The CAN data link layer protocol is standardized in ISO 11898-1 (2003). All the other protocol layers are left to the network designer's choice. ISO 11783 (ISOBUS) is the agricultural network protocol

18. 18 Controller Area Network cont. 4  s per bit = 250 bit/s (Required for ISOBUS standard) Data Length Code (DLC) contains nr of data bytes If RTR bit is high, –no data bytes, DLC = # bytes requested 11-bit (CAN 2.0a) and 29 bit (CAN 2.0b) ID messages on same bus IDE (Identifier Extension bit) distinguishes between 11 and 29 bit frames 1 0

19. 19 CAN Frames Standard (a) & Extended (b)

20. 20 Demo time

21. 21 Transmitter Receiver Analog Inputs CAN bus

22. 22 TransmitterReceiver Requester Analog Inputs

23. 23 CAN 2.0b Request Transmission Frame Mark the bits in your handout (3 min)

24. 24 Answer 01010101 01011110 10101010 00001001 11000100 00010101 00001000 10111111 1

25. 25 Step 1 Get rid of the stuffing bits Stuffing bits are put in to ensure synchronization If you see 5 consecutive zeros or ones, the next one is a stuffing bit Throw it out!

26. 26 De-stuffing the CAN Frame 0101010101011110101010100000 1 00111000100000 1 0101000010001011111111 010101010101111010101010000000111000100000010100001000101111 1111

27. 27 Chop the Frame up into pieces 0 Start of Frame XXXXXXXXXXX 11- bit Standard Identifier XSubstitute Remote Request Bit X Identifier Extension Bit (1 = Extended Frame) XXXXXXXXXXXXXXXXXX18 Bit Extended Identifier XRTR Bit (1 = Request Transmission) XX Reserved XXXX Data Length Code (Nr of bytes that follows) XXXXXXXX Data Byte 1 XXXXXXXX Data Byte 2 XXXXXXXXData Byte 3 XXXXXXXX Data Byte 4 XXXXXXXXXXXXXXX Cyclic Redundancy Check (CRC) (15 bits) 1CRC delimiter XAcknowledge slot bit 1 Acknowledge delimiter 1111111End of frame (7 ones) 010101010101111010101010000000111000100000010100001000101111 1111

28. 28 Interpret the CAN Frame 0 Start of Frame 10101010 101 11- bit Standard Identifier 1Substitute Remote Request Bit 1 Identifier Extension Bit (1 = Extended Frame) 10 10101010 0000001118 Bit Extended Identifier 1RTR Bit (1 = Remote Transmission Request) 00 Reserved 0100 Data Length Code (Nr of bytes requested) XXXXXXXX Data Byte 1 XXXXXXXX Data Byte 2 XXXXXXXXData Byte 3 XXXXXXXX Data Byte 4 000010100001000 Cyclic Redundancy Check (CRC) (15 bits) 1CRC delimiter 0Acknowledge slot bit 1 Acknowledge delimiter 1111111End of frame (7 ones)

29. 29 A word on error detection Cyclic Redundancy Check –Transmitter computes Transmitter checksum based on data –Receiver receives both data and Transmitter check sum –Receiver computes Receiver checksum based on data –If Transmitter checksum == Receiver checksum Data is valid with very high probability –P(Error unnoticed) = 4.7 *10 -11

30. 30 Message arbitration is used to resolve conflicts due to collisions: most important message must go through If more than one message is being transmitted simultaneously a collision occurs Bit-by-bit arbitration process: If a node has a lower (dominant) bit it wins arbitration, the others lose and shut down At (2) Node 2 loses arbitration and shuts down. At (3) Node 1 loses arbitration and shuts down. Node 3 (lowest number, highest priority) goes through AND Function 0000 0010 0100 0110 1000 1010 1100 1111

31. 31 What is a protocol ? Give some examples of protocols among humans –Communication pilot-tower –Meetings (Roberts Rules of Order) –Rules of games –Etiquette rules –Unwritten rules (job interview) Some Network protocols –TCP (Transmission Control Protocol) –IP (Internet Protocol) –DHCP (Dynamic Host Configuration Protocol) –HTTP (Hypertext Transfer Protocol) –FTP (File Transfer Protocol) –POP3 (Post Office Protocol 3) –SMTP (Simple Mail Transfer Protocol) –IMAP (Internet Message Access Protocol) –ISO 11783 (ISOBUS)

32. 32 You are sending a mining truck overseas Sender –Split up the truck in smaller parts –Add routing information –Add additional packing information –Add reassemble information –Send “packages sent” message to receiver –Deliver packages to UPS Receiver –Receive messages from UPS –Wait until all packages have come in –Check if you have everything –Reassemble the truck –Send acknowledge message to sender This transmission process requires a protocol UPS = ISO 11898 CAN physical layer –We don’t care how it does it –We want it reliable –We want it fast ISO 11783 (ISOBUS) is the protocol

33. 33 CAN in Agriculture

34. 34

35. 35 Virtual terminal in John Deere tractor

36. 36 Summary Why do we need a Vehicle network? Improved control of engine performance and emissions Improved comfort Automated diagnostics (OnStar) Improved safety Controller Area Network –Communication network for vehicles and other noisy environments –Error handling Bit stuffing CRC –Frames 11bit (2.0a) and 29 bit Prioritization using arbitration mechanism Protocols, rules of communication –ISO 11898 (CAN Physical layer) –ISO 11783 (ISOBUS communication) Link: http://www.can-cia.org/

37. 37 The End