CANaerospace is a higher layer protocol based on Controller Area Network (CAN) which has been developed by Stock Flight Systems in 1998 for aeronautical applications.
CANaerospace supports airborne systems employing the Line-replaceable unit (LRU) concept to share data across CAN and ensures interoperability between CAN LRUs by defining CAN physical layer characteristics, network layers, communication mechanisms, data types and aeronautical axis systems. CANaerospace is an open source project, was initiated to standardize the interface between CAN LRUs on the system level. CANaerospace is continuously being developed further and has also been published by NASA as the Advanced General Aviation Transport Experiments Databus Standard [1] in 2001. It found widespread use in aeronautical research worldwide. A major research aircraft that employs several CANaerospace networks for real-time computer interconnection is the Stratospheric Observatory for Infrared Astronomy (SOFIA), a Boeing 747SP with a 2.5m astronomic telescope. CANaerospace is also frequently used in flight simulation and connects entire aircraft cockpits (i.e. in Eurofighter Typhoon simulators) to the simulation host computers. In Italy CANaerospace is used as UAV data bus technology. [2] Furthermore, CANaerospace serves as communication network in several general aviation avionics systems.
A line-replaceable unit (LRU), lower line-replaceable unit (LLRU), line-replaceable component (LRC), or line-replaceable item (LRI) is a modular component of an airplane, ship or spacecraft that is designed to be replaced quickly at an operating location. The different lines (distances) are essential for logistics planning and operation. An LRU is usually a sealed unit such as a radio or other auxiliary equipment. LRUs are typically assigned logistics control numbers (LCNs) or work unit codes (WUCs) to manage logistics operations.
Interoperability is a characteristic of a product or system, whose interfaces are completely understood, to work with other products or systems, at present or in the future, in either implementation or access, without any restrictions.
In the seven-layer OSI model of computer networking, the physical layer or layer 1 is the first and lowest layer. This layer may be implemented by a PHY chip.
The CANaerospace interface definition closes the gap between the ISO/OSI layer 1 and 2 CAN protocol (which is implemented in the CAN controller itself) and the specific requirements of distributed systems in aircraft. It may be used as a primary or ancillary avionics network and was designed to meet the following requirements:
To ensure interoperability and reliable communication, CANaerospace specifies the electrical characteristics, bus transceiver requirements and data rates with the corresponding tolerances based on ISO 11898. The bit timing calculation (baud rate accuracy, sample point definition) and robustness to electromagnetic interference are given special emphasis. Also addressed are CAN connector, wiring considerations and design guidelines to maximize electromagnetic compatibility.
The Bosch CAN specification itself allows messages being transmitted both periodically and aperiodically but does not cover issues like data representation, node addressing or connection-oriented protocols. CAN is entirely based on Anyone-to-Many (ATM) communication which means that CAN messages are always received by all stations in the network. The advantage of the CAN concept is inherent data consistency between all stations, the drawback is that it does not allow node addressing which is the basis for Peer-to-Peer (PTP) communication. Using CAN networks in aeronautical applications, however, demands a standard targeted to the specific requirements of airborne systems which implies that communication between individual stations in the network must be possible to enable the required degree of system monitoring. Consequently, CANaerospace defines additional ISO/OSI layer 3, 4 and 6 functions to support node addressing and unified ATM/PTP communication mechanisms. PTP communication allows to set up client/server interactions between individual stations in the network either temporarily or permanently. More than one of these interactions may be in effect at any given time and each node may be client for one operation and server for another at the same time. This CANaerospace mechanism is called "Node Service Concept" and allows i.e. to distribute system functions over several stations in the network or to control dynamic system reconfiguration in case of failure. The Node Service concept supports both connection-oriented and connectionless interactions like with TCP/IP and UDP/IP for Ethernet.
Robert Bosch GmbH, or Bosch, is a large multinational engineering and electronics company headquartered in Gerlingen, near Stuttgart, Germany. The company was founded by Robert Bosch in Stuttgart in 1886. Bosch is 92% owned by Robert Bosch Stiftung.
Ethernet is a family of computer networking technologies commonly used in local area networks (LAN), metropolitan area networks (MAN) and wide area networks (WAN). It was commercially introduced in 1980 and first standardized in 1983 as IEEE 802.3, and has since retained a good deal of backward compatibility and been refined to support higher bit rates and longer link distances. Over time, Ethernet has largely replaced competing wired LAN technologies such as Token Ring, FDDI and ARCNET.
Enabling both ATM and PTP communication for CAN requires the introduction of independent network layers to isolate the different types of communication. This is realized for CANaerospace by forming CAN identifier groups as shown in Figure 1. The resulting structure creates Logical Communication Channels (LCCs) and assigns a specific communication type (ATM, PTP) to each of the LCCs. User-defined LCCs provide the necessary freedom for designers and allow the implementation of CANaerospace according to the needs of specific applications.
As a side effect, the CAN identifier groups in Figure 1 affect the priority of the message transmission in case of bus arbitration. The communication channels are therefore arranged according to their relative importance:
The majority of the real-time control systems used in aeronautics employ "big endian" processor architectures. This data representation was therefore specified for CANaerospace as well. With big endian data representation, the most significant bit of any datum is arranged leftmost and transmitted first on CANaerospace as shown in Figure 2.
CANaerospace uses a self-identifying message format which is realized by structuring the message payload as shown in Figure 3. This structure defines a 4-byte message header and a 4-byte parameter section.
On first sight the use of 50% of the CAN message payload for purposes other than transmitting operational data may seem like a waste of bandwidth. However, the CANaerospace message header delivers valuable information which would require the use of message payload bytes also when realized otherwise: The header allows receiving stations to analyze received messages immediately with respect to origin, data type, integrity and creation time. To accomplish this, no further information except the knowledge of the CAN identifier assignment for the particular system is needed. The message header bytes have the following meaning:
The above information contained in the CANaerospace message header contains important information to determine the integrity of the parameters for the use in flight safety critical systems and supports system redundancy. Additionally, it significantly improves the interoperability between LRUs of different vendors and allows the monitoring of CANaerospace networks concerning the status of the LRUs attached to it. For further interoperability, CANaerospace defines aerospace specific axis systems with the corresponding sign conventions and physical units. Together with the predefined identifier assignment list, these definitions describe the traffic in a CANaerospace network unambiguously. The CANaerospace Standard Identifier Assignment List reserves the CAN identifiers between 300 and 1799 and assigns parameters to them as shown in the excerpt of this list (Figure 4).
System designers may use self-defined identifier assignment lists. The mandatory "Node Identification Service" which each CANaerospace LRU has to respond to allows to scan the network for attached LRUs and their identifier assignment list code to avoid inconsistencies. The CANaerospace Standard Identifier Assignment List as well as the lists for data types and units provide user-defined sections which may be used by system designers to expand these lists according to their needs.
An essential characteristic of all flight safety critical systems is that their behavior has to be precisely defined, analyzed and tested to meet formal certification requirements. This characteristic is often misinterpreted as timing determinism but is in fact predictability. The degree of precision required for timing is specific to each application and has to be quantified by system analysis. The ultimate target to be reached, however, is that it may be demonstrated to certification authorities (i.e. FAA, EASA) that a safety critical system behaves predictably under foreseeable circumstances. Using CANaerospace, this predictability may be achieved.
CANaerospace sets forth a concept of managing the available bandwidth of a multi-drop CAN network to ensure predictable behavior for ATM and PTP communication which is called Time Triggered Bus Scheduling. Time Triggered Bus Scheduling is based on a limitation of the number of CAN messages that any node in the network may transmit within a minor time frame. The minor time frame is defined during initial system design. The maximum number of messages transmitted within one minor time frame may differ from node to node and contain growth potential if granted by system design. It is crucial to the Time Triggered Bus Scheduling concept that every node in the network adheres to its transmission schedule at all times when generating network traffic. It is neither required nor prohibited, however, that nodes in the network synchronize to other nodes concerning their message transmission order or transmission times.
CAN error frames may lead to unpredictable behavior if the bandwidth is consumed by error frames resulting from faults of the network or the nodes attached to it. Therefore, CANaerospace recommends to limit the bandwidth usage to 50% of the maximum bandwidth so that unpredictability is mitigated. While Time Triggered Bus Scheduling requires margins and does not optimize network bandwidth usage, it provides a safe and straightforward approach to build certifiable (predictable) systems. For ensuring this under fault conditions the system designer has to define the behaviour under these conditions (error frames and avoidance of priority inversion). [4] Applying the Time Triggered Bus Scheduling concept, it may be demonstrated that a CANaerospace network behaves predictably. Shown in Figure 5 is the transmission schedule of a CANaerospace network with two nodes transmitting their messages asynchronously, in alternating order and at random times within their minor time frames (worst-case scenario). This example utilizes 50% of the maximum bandwidth.
Using Time Triggered Bus Scheduling, no message in this transmission schedule has a latency exceeding 50% of one minor time frame plus the duration of the longest message. Time Triggered Bus Scheduling reduces the effect of message priority due to the fact that the nodes on the network are required to meter their message transmissions.
Local oscillator tolerances and lack of time synchronization between the nodes will result in minor time frames drifting away from each other. This does not adversely affect message latencies as long as the duration of the minor time frame in all nodes matches closely. To ensure predictability, all aperiodic messages must be included in the bandwidth management calculations.
Time Triggered Bus Scheduling ensures adequate flexibility for increasing network traffic during the lifetime of the system if growth potential is planned. As an example, system design will allow nodes to be integrated into the network without affecting the existing nodes. Furthermore, the predictable behavior enforced by Time Triggered Bus Scheduling allows systems with different criticality levels to coexist on the same network.
In general terms, throughput is the maximum rate of production or the maximum rate at which something can be processed.
Synchronous optical networking (SONET) and synchronous digital hierarchy (SDH) are standardized protocols that transfer multiple digital bit streams synchronously over optical fiber using lasers or highly coherent light from light-emitting diodes (LEDs). At low transmission rates data can also be transferred via an electrical interface. The method was developed to replace the plesiochronous digital hierarchy (PDH) system for transporting large amounts of telephone calls and data traffic over the same fiber without the problems of synchronization.
Circuit switching is a method of implementing a telecommunications network in which two network nodes establish a dedicated communications channel (circuit) through the network before the nodes may communicate. The circuit guarantees the full bandwidth of the channel and remains connected for the duration of the communication session. The circuit functions as if the nodes were physically connected as with an electrical circuit.
Network topology is the arrangement of the elements of a communication network. Network topology can be used to define or describe the arrangement of various types of telecommunication networks, including command and control radio networks, industrial fieldbusses, and computer networks.
Time-division multiplexing (TDM) is a method of transmitting and receiving independent signals over a common signal path by means of synchronized switches at each end of the transmission line so that each signal appears on the line only a fraction of time in an alternating pattern. It is used when the bit rate of the transmission medium exceeds that of the signal to be transmitted. This form of signal multiplexing was developed in telecommunications for telegraphy systems in the late 19th century, but found its most common application in digital telephony in the second half of the 20th century.
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A communication channel or simply channel refers either to a physical transmission medium such as a wire, or to a logical connection over a multiplexed medium such as a radio channel in telecommunications and computer networking. A channel is used to convey an information signal, for example a digital bit stream, from one or several senders to one or several receivers. A channel has a certain capacity for transmitting information, often measured by its bandwidth in Hz or its data rate in bits per second.
In telecommunications, message switching was the precursor of packet switching, where messages were routed in their entirety, one hop at a time. It was first built by Collins Radio Company, Newport Beach, California, during the period 1959–1963 for sale to large airlines, banks and railroads. Message switching systems are nowadays mostly implemented over packet-switched or circuit-switched data networks. Each message is treated as a separate entity. Each message contains addressing information, and at each switch this information is read and the transfer path to the next switch is decided. Depending on network conditions, a conversation of several messages may not be transferred over the same path. Each message is stored before being transmitted to the next switch. Because of this it is also known as a 'store-and-forward' network. Email is a common application for message switching. A delay in delivering email is allowed, unlike real-time data transfer between two computers.
Frequency division multiple access (FDMA) is a channel access method used in some multiple-access protocols. FDMA allows multiple users to send data through a single communication channel, such as a coaxial cable or microwave beam, by dividing the bandwidth of the channel into separate non-overlapping frequency sub-channels and allocating each sub-channel to a separate user. Users can send data through a subchannel by modulating it on a carrier wave at the subchannel's frequency. It is used in satellite communication systems and telephone trunklines.
A Controller Area Network is a robust vehicle bus standard designed to allow microcontrollers and devices to communicate with each other in applications without a host computer. It is a message-based protocol, designed originally for multiplex electrical wiring within automobiles to save on copper, but is also used in many other contexts.
LIN is a serial network protocol used for communication between components in vehicles. The need for a cheap serial network arose as the technologies and the facilities implemented in the car grew, while the CAN bus was too expensive to implement for every component in the car. European car manufacturers started using different serial communication technologies, which led to compatibility problems.
The Time-Triggered Protocol (TTP) is an open computer network protocol for control systems. It was designed as a time-triggered fieldbus for vehicles and industrial applications. and standardized in 2011 as SAE AS6003. TTP controllers have accumulated over 500 Millions of flight hours in commercial DAL A aviation application, in power generation, environmental and flight controls. TTP is used in FADEC and modular aerospace controls, and flight computers. In addition, TTP devices have accumulated over 1 Billion of operational hours in SIL4 railway signalling applications.
Connection-oriented communication is a network communication mode in telecommunications and computer networking, where a communication session or a semi-permanent connection is established before any useful data can be transferred, and where a stream of data is delivered in the same order as it was sent. The alternative to connection-oriented transmission is connectionless communication, for example the datagram mode communication used by the IP and UDP protocols, where data may be delivered out of order, since different network packets are routed independently, and may be delivered over different paths.
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In computer networking, a reliable protocol is a protocol which notifies the sender whether or not the delivery of data to intended recipients was successful. Reliability is a synonym for assurance, which is the term used by the ITU and ATM Forum.
CANopen is a communication protocol and device profile specification for embedded systems used in automation. In terms of the OSI model, CANopen implements the layers above and including the network layer. The CANopen standard consists of an addressing scheme, several small communication protocols and an application layer defined by a device profile. The communication protocols have support for network management, device monitoring and communication between nodes, including a simple transport layer for message segmentation/desegmentation. The lower level protocol implementing the data link and physical layers is usually Controller Area Network (CAN), although devices using some other means of communication can also implement the CANopen device profile.
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In computing, bandwidth is the maximum rate of data transfer across a given path. Bandwidth may be characterized as network bandwidth, data bandwidth, or digital bandwidth.