AUTOSAR CountdownAdvent Calendar 2022

CAN(controller area network)

Last updated at 2024-04-14Posted at 2019-05-04

通信系のお仕事をしてきて、やられたと思ったのは２つ。

CAN
と
SoftEther

感謝感激な道具。

Wireshark(旧Ethereal)

この３つは、今でも目標。

CAN

ISO文書からCANを理解するのは難しい。
作成した根拠(Rationale)、廃棄した理由をわかりやすく公開していないことがある。
廃棄後の代替仕様・移行仕様が国際規格でないと追跡できない。

MATLAB/Simulink Homeの自動コード生成（追加ツールボックス必要なし）を使ってCAN通信を実現する
https://qiita.com/tatsuyai713/items/4f639a360bdeadcc32c3

ISO11898

ISO 11898-1:2003 Road vehicles - Controller area network (CAN) Part 1: Data link layer and physical signalling
https://www.iso.org/standard/63648.html

ISO 11898-2:2015 Road vehicles - Controller area network (CAN) Part 2: High-speed medium access unit
https://www.iso.org/standard/63648.html

ISO 11898-3:2006 Road vehicles - Controller area network (CAN)Part 3: Low-speed, fault-tolerant, medium-dependent interface

ISO 11898-4:2004 Road vehicles - Controller area network(CAN) Part 4:Time-triggered communication

ISO 11898-5:2007 Road vehicles - Controller area network(CAN) Part 5: High-speed medium access unit with low-power mode

ISO 11898-6:2013 Road vehicles - Controller area network(CAN) Part 6:
High-speed medium access unit with selective wake-up functionality
https://www.iso.org/standard/59165.html

ISO11519/11898

ISO 11519-1:1994
Road vehicles -- Low-speed serial data communication -- Part 1: General and definitions
https://www.iso.org/standard/19469.html

ISO 11519-3:1994 Road vehicles -- Low-speed serial data communication -- Part 3: Vehicle area network (VAN)
https://www.iso.org/standard/19471.html

ISO 11898-1:2015 PRoad vehicles -- Controller area network (CAN) -- Part 1: Data link layer and physical signalling
https://www.iso.org/standard/63648.html

ISO 11898-2:2016 Preview
Road vehicles -- Controller area network (CAN) -- Part 2: High-speed medium access unit
https://www.iso.org/standard/67244.html

ISO 11898-3:2006
Road vehicles -- Controller area network (CAN) -- Part 3: Low-speed, fault-tolerant, medium-dependent interface
https://www.iso.org/standard/36055.html
(ISO 11519-2:1994 Road vehicles -- Low-speed serial data communication -- Part 2: Low-speed controller area network (CAN))の改定

ISO 11898-4:2004 Road vehicles -- Controller area network (CAN) -- Part 4: Time-triggered communication
https://www.iso.org/standard/36306.html

ISO 11898-5:2007 Road vehicles -- Controller area network (CAN) -- Part 5: High-speed medium access unit with low-power mode
https://www.iso.org/standard/41284.html
2017/3/15 Withdrawal 廃棄

ISO 11898-6:2013 Road vehicles -- Controller area network (CAN) -- Part 6: High-speed medium access unit with selective wake-up functionality
https://www.iso.org/standard/59165.html
2017/3/15 Withdrawal 廃棄

ISO 16845

ISO 16845-1:2016 Road vehicles -- Controller area network (CAN) conformance test plan -- Part 1: Data link layer and physical signalling
https://www.iso.org/standard/59166.html

ISO 16845-2:2018 Road vehicles -- Controller area network (CAN) conformance test plan -- Part 2: High-speed medium access unit -- Conformance test plan
https://www.iso.org/standard/69841.html

ISO 16844

ISO 16844-4:2015 Road vehicles -- Tachograph systems -- Part 4: CAN interface
https://www.iso.org/standard/57314.html

ISO 16844-6:2015 Road vehicles -- Tachograph systems -- Part 6: Diagnostics
https://www.iso.org/standard/59683.html

ISO 14229

ISO 14229-3:2012 Road vehicles -- Unified diagnostic services (UDS) -- Part 3: Unified diagnostic services on CAN implementation (UDSonCAN)
https://www.iso.org/standard/55284.html

ISO 26021

ISO 26021-2:2008 Road vehicles -- End-of-life activation of on-board pyrotechnic devices -- Part 2: Communication requirements
https://www.iso.org/standard/45457.html

ISO 26021-2:2008 defines the deployment process, the system architecture, CAN-based communication methods and system preconditions which have to be implemented to fulfil the use cases defined in ISO 26021‑1. Additionally, the relationship to and use with other existing standards are defined.

ISO 26021-4:2009 Road vehicles -- End-of-life activation of on-board pyrotechnic devices -- Part 4: Additional communication line with bidirectional communication
https://www.iso.org/standard/45459.html

ISO 26021-4:2009 defines the requirements of redundancy hardware or software systems independent from the controller area network (CAN) line, which are activated by the additional communication line (ACL hardware line).

ISO 26021-5:2009 Road vehicles -- End-of-life activation of on-board pyrotechnic devices -- Part 5: Additional communication line with pulse width modulated signal
https://www.iso.org/standard/45460.html

ISO 26021-5:2008 defines the requirements of redundancy hardware or software systems independent from the CAN line which are activated by the ACL hardware line.

ISO 27145

ISO 27145-1:2012 Road vehicles -- Implementation of World-Wide Harmonized On-Board Diagnostics (WWH-OBD) communication requirements -- Part 1: General information and use case definition
https://www.iso.org/standard/46273.html

Qiita記事

CANプロトコル　初歩の初歩
https://qiita.com/hijion/items/e6bf9a2bb2164c471c43

CANのきほん★
https://qiita.com/nobutan_tinou/items/9fc48788d0dc69498ce2

猿でも分かるCANプロトコルの基本
https://qiita.com/mindwood/items/93d5c2dc0e340cc20769

Python-can(CAN over Serial)でESP32(ESP-IDF)と通信する
https://qiita.com/gamboling/items/96b3c064f5204410d00a

[メモ] オープンソースのcantools の libcandbcで、.dbcファイルの読み込み
https://qiita.com/mt08/items/fbe61c7caf2c4e5b3b17

WindowsでのRaspberry PI向けクロスコンパイルで、VS2015でcan-utilsのcandumpをデバッグ
https://qiita.com/mt08/items/9fa52d3d508f9c499171

OBD2 データ(車両情報)を csv で取得する方法
https://qiita.com/naohikowatanabe/items/39f14aacb06d04253d17

CANについて
https://qiita.com/fattolys/items/e8f8081d3cb42d7da0f6

MCP2517FDでCAN FD通信を行う
https://qiita.com/akmy/items/8c3d51ef551d4471f4fb#_reference-84d650396ae5e843eaf0

raspberry PI

raspberry piでCAN(OBD2)通信ボードを認識させる
https://qiita.com/snz/items/5c3325204a54b7cec6e7

Raspberry Pi: PCAN-USB(PEAK-System) で、SocketCAN
https://qiita.com/mt08/items/cd853d318b336e2b0fde

Raspberry Pi CAN通信 (MCP2515 TJA1050 CAN Bus Module)
https://qiita.com/mt08/items/535ab4690eecbcf5375d

[ビルドメモ] cantools - Raspberry Pi
https://qiita.com/mt08/items/733d1ac64233806f92fc

MCP2515を使った自作基板とRaspberry Piで自動車のECUにOBDリクエストを送る
https://qiita.com/suzutsuki0220/items/7cfdeb334efa4ffe3070

Raspberry PiでOBD-II (CAN)の情報を取得するための基板を自作する
https://qiita.com/suzutsuki0220/items/8642b1c3ea51859a95ad

Raspberry Piで、PCAN-USB (PEAK-System) を使う
https://qiita.com/mt08/items/6d50193df857e839547e

RaspberryPi + OBD2 で取得した車両情報を解析してみる
https://qiita.com/nomunomu0504/items/8876f34fb33d8bf24fcb

arduino

Arduino M0 Pro でマルチタスクプログラミング : CAN通信
https://qiita.com/exshonda/items/fcf3353f7fb27d62a0da

arduinoでインスツルメント　クラスター
https://qiita.com/ohisama@github/items/9a13613604ae87c604bb

arduinoでcan
https://qiita.com/ohisama@github/items/5e8bd97150f3e07c201f

linux

LinuxでCAN(車載通信)を動作させてみる
https://qiita.com/yuichi-kusakabe/items/e5b50aa3edb712bb6916

Nucleo-F303K8でCAN Bus通信を行う
https://qiita.com/john256/items/f2fc5a5d0cc5ba744b69

AGL CAN binding アーキテクチャ
https://qiita.com/hatchet/items/491a42e87c8acf3773d2

[メモ] cantools のサンプルコード dbclsを VCでビルド
https://qiita.com/mt08/items/435d733b15f59c547a78

[メモ] オープンソースのcantools の libcandbcで、.dbcファイルの読み込み
https://qiita.com/mt08/items/fbe61c7caf2c4e5b3b17

文書履歴(document history)

ver. 0.01 初稿 20190520
ver. 0.04 URL追記　20230302

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