CANaerospace_Presentation

CANaerospace/AGATE data bus
(C) 2005 Stock Flight Systems
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What is the Controller Area Network (CAN) ?
• Two-wire multi-transmitter serial data bus
• Designed by Bosch in 1985 as automobile network
• No central bus controller required
• Configurable data rate (5kBit/s ... 1MBit/s)
• Bus length 0.2m to 10.000m (with linear data rate reduction)
• Realtime capabilities (guaranteed transmission times)
• Message oriented transmission (2031 message identifiers)
• Network wide data consistency through broadcasting principle
• > 200 bus participants
• More than 100 million nodes installed today
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The major characteristics of CAN
• Effective data rate max. 576 kBit/s (<= 40m bus length)
-> adequate for most realtime control systems
• No overhead for bus arbitration, known response times even for high bus loads
-> bus performance independant of number of participants
• Extremely low probability of undetected data corruption (~ 1*10-13 per transmission)
-> suitable for safety critical applications
• Very low chip cost, easy and straightforward application programming
-> even small systems can benefit from network technology
Due to these characteristics, CAN is used in several aircraft applications already and
selected for many new aircraft:
• Grob Strato-2C High Altitude Research Aircraft: “throttle-by-wire” databus
• NH90 helicopter: Audio system intercommunication
• Airbus A340-600: Environmental control system databus, water&waste management
• Fairchild-Dornier 728JET: Primary/secondary flight control actuator databus, secondary
power supply system intercommunication, smoke detection system databus
• A380: Environmental control system databus, cockpit cursor control device/MFD
communication bus, electric power supply control databus, ........
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CAN hardware
CAN controllers and Microcontrollers with integrated CAN
interfaces:
•
•
•
•
•
•
•
Motorola
Intel
Philips
Infineon
Toshiba
NEC
Texas Instruments, .....
CAN boards for various bus systems:
•
•
•
•
•
•
VME
PCI/PMC
ISA/EISA
SBus
PC104/PC104+
IP, M-modules, PC-MIP, .....
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CAN data rate vs. bus length
data rate (kBit/s)
1000
100
usable area
10
5
10
(C) 2005 Stock Flight Systems
40
100
1000
10000
bus length (m)
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CAN and the ISO open systems interconnection
reference model
user application
CAN Application Layer
CANopen, DeviceNet,
CANaerospace,
CAN Kingdom, ....
CAN 2.0/2.0A/2.0B
layer 7 (application layer)
set of user-defined
application functions
layer 6 (presentation layer)
data representation,
data standardization, ...
layer 5 (session layer)
login, session dialog
control, ...
layer 4 (transport layer)
layer 3 (network layer)
logical channels, data
transmission retries, ...
routing, data packet
flow control, ...
layer 2 (data link layer)
error detection,
data block synchronisation, ...
layer 1 (physical layer)
connectors, cables,
voltage levels, ...
network
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What is CANaerospace ?
• The CAN specification itself does not cover issues like data representation, station
addressing or connection-oriented protocols.
• Using CAN networks in aerospace demands a standard targeted to the specific
requirements of flight or mission critical airborne applications.
• Based on experience in flight control and guidance systems, Stock Flight Systems
created the CANaerospace interface definition in 1997. CANaerospace is an open
standard and may be used by anybody free of any charge. CANaerospace has also been
standardized by the US National Air and Space Administration (NASA) as “AGATE data
bus” in 2001 (document AGATE-WP01-001-DBSTD, Langley Research Center).
• CANaerospace is a slim software layer that turns CAN into an easy-to-handle data bus
meeting the specific requirements of avionic systems.
• CANaerospace is used and supported by some major European aerospace companies
(EADS, Eurocopter, Aero Vodochody, Rotax-Bombardier, Kayser-Threde, ....).
• CANaerospace networks are installed in several aircraft since 1998 and have
demonstrated excellent reliability in a harsh environment.
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CANaerospace at a glance
• Democratic network: No master/slave relationships for normal operation
• Self-identifying message format: Information about data type and transmitting station
• Message numbering: Support for coherent data processing in redundant systems
• Message status code: Continous integrity monitoring support
• Emergency event signalling mechanism: Information about CBIT detected failures
• Node service mechanism: Addressing of specific stations for integrity monitoring,
data download, time synchronisation, .....
• Identifier assignment: Proposed default identifier distribution (similar to ARINC429)
• Ease of implementation: Reduction of work required for certification
• Openness to extensions: Minimum of fixed definitions to provide flexibility
• Free availability: No cost for use, free source code, free specification and tutorials
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CANaerospace basic message format
•
•
•
•
Node-ID (Byte 0): Some system architectures employ backup units which become active if the main
unit fails. The Node-ID allows to immediately identify this situation and react accordingly (i.e. mode
change within redundancy management).
Data Type (Byte 1): CANaerospace supports multiple data types for every message. Backup units
(or units from different vendors) may use different data types while performing identical functions.
Specifying the data type with each message allows automatic system configuration, even during
runtime.
Service Code (Byte 2): For Normal Operation Data, this byte should continously reflect the status
of the data (or the transmitting unit) to support data integrity monitoring within receiving units.
With this information, the validity of data is known at any given time.
Message Code (Byte 3): Message numbering allows to detect if messages are missing and if the
transmitting unit is operating properly. Also, it can be used to compare the "age" of messages from
redundant sources.
CANaerospace message header
11/29-bit CAN identifier
Message Identification
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Message Data (message type specific)
Message Code (data type UCHAR)
Service Code (data type XCHAR)
Data Type (data type UCHAR)
Node-ID (data type UCHAR)
(C) 2005 Stock Flight Systems
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CANaerospace identifier range definitions
Emergency Event Data
0 - 127
128 data objects
High Priority Node Service Data
128 - 199
72 data objects
(36 com. channels)
High Priority User-Defined Data
200 - 299
100 data objects
Normal Operation Data
300 - 1799
1500 data objects
Low Priority User-Defined Data
1800 - 1899
100 data objects
Debug Service Data
1900 - 1999
100 data objects
Low Priority Node Service Data
2000 - 2031
32 data objects
(16 com. channels)
(C) 2005 Stock Flight Systems
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CANaerospace default identifier distribution
(examples)
CAN identifier
System
parameter name
Data type
Units
Notes
317
($13D)
Calibrated airspeed
FLOAT
SHORT2
m/s
321
($141)
Heading angle
FLOAT
SHORT2
deg
+/-180o
401
($191)
Roll control position
FLOAT
SHORT2
%
right: +
left: -
500-503
($1F4-$1F7)
Engine #n N1
(1 < n <= 4) ECS channel A
FLOAT
SHORT2
1/min
N1 for jet , RPM for piston engines
1008
($3F0)
Active nav system track error
angle (TKE)
FLOAT
SHORT2
deg
service code field contains waypoint #
1070
($42E)
Radio height
FLOAT
SHORT2
m
1205
($4B5)
Lateral center of gravity
FLOAT
SHORT2
% MAC
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CANaerospace proposal for the physical interface
CAN
DC
DC
DC
DC
Power +28VDC
CAN Low
unused
RS-232 TxD (maintenance/service)
Power Gnd
1
2
3
4
5
6
7
8
9
RS-232 RxD (maintenance/service)
CAN High
unused
RS-232 Gnd (maintenance/service)
MIL-24308/8 CANaerospace connector
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CANaerospace proposal for the physical interface
(contd.)
+5V
+5V
100nF
NM 05-05
0V
VDD2
2
CAN GND
8
6
VI
3
VO
HCPL-0710
4
GND1
GND2
5
1
CAN High
TxD
7
CAN
CAN Tx
VDD1
100nF
Vcc
10k
0V
1
CAN Vcc
TJA1040
VO
VI
1
2
4
RxD
2
CAN Low
8
6
REF
6
VDD1
RS
CAN Rx
VDD2
GND
8
5
HCPL-0710
5
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GND2
GND1
4
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CANaerospace proposal for MIL-C-26482 and MILC-38999 connectors
A
F
B
C
E
Internal
D
MS3476L1006SN
1
2
10
11
3
9
13
12
4
8
5
7
6
D38999/26FB35SN
1
5
6
Proposed pinout:
Pin 1/B
Pin 2/E
Pin 3/F
Pin 4
Pin 5/A
Pin 6
Pin 7/D
Pin 8/C
Pin 9
Pin 10
Pin 11
Pin 12
Pin 13
+28VDC
CAN Low
unused
RS-232 TxD
DC Gnd
RS-232 RxD
CAN High
unused
RS-232 Gnd
+28VDC
DC Gnd
CAN Low
CAN High
External
shielded twisted
pair or quadruple
(CAN or CAN/power)
shielded twisted
pair or quadruple
(CAN or CAN/power)
4
2
3
D38999/26FA35SN
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Example for a suitable CANaerospace cable
Requirements: 120Ω impedance, low capacitance
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CANaerospace projects (1)
Eurocopter All-Weather Rescue Helicopter (AWRH)
• CANaerospace as interface
between navigation system, flight
state sensors and pilot’s control
units
• Flight tests proved reliability and
performance of CANaerospace data
communication
MFDs
CDU
AWRH special
equipment rack
NECS/Avionics
NECSlite
ADC/AHRS
Avionic control units/
Joystick
CANaerospace bus
NECSlite
MFDs
CDU
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CANaerospace projects (2)
Stock Flight Systems Data Recording System (FDR1-CAN)
• Modular, CANaerospacebased flight data recording
system
1024x768 colour TFT
with integrated Linux
computer system
GPS Antenna
Joystick Control Unit
ARINC 429
• Used in Eurocopter helicopters
and various research aircraft
CANaerospace
• Installed in Pitts S-2B as
continuous testbed
SFIM APIRS F201
Attitude/Heading
Reference System
OAT probe
Pitot/Static Inputs
2 11110
31213 9
4
5 78
6
2 11110
31213 9
4
5 78
6
CANaerospace
Aileron
Elevator
Rudder
PowerNECS
Avionics Interface Unit
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Optional Linux laptop computer for test,
maintenance and software development
with VISTA2D visualization tool
Power Lever
Control Position Transducers
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CANaerospace projects (3)
Stratospheric Observatory
For Infrared Astronomy
(SOFIA)
• NASA/DLR program for
high altitude infrared
astronomy
CANaerospace network
• CANaerospace used for
communication between star tracking
system and realtime control
computers for telescope control
• CANaerospace network length 40m
• System integration in 2002, first flight
planned for 2004
• Website: http://sofia.arc.nasa.gov
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CANaerospace projects (4)
• The “System of Aviation Modules (SAM)”
has successfully passed CAA (Cz)
certification for the Ae270 business/small
transport aircraft developed by Aero
Vodochody a.s. (www.aero.cz) and AIDC
Ltd. of Taiwan.
• SAM comprises of seven intelligent units
which communicate under each other using
CANaerospace. All SAM units are qualified
according to RTCA DO-160D/DO-178B and
meet the HIRF (High Intensity Radiated
Fields) requirements. The certification is
based on FAR part 23.
• The SAM functions include electric power
supply monitoring, fuel distribution and
supply control, hydraulic system control,
propeller heating control, airframe load
monitoring, deicing control, etc.
(C) 2005 Stock Flight Systems
UNIS contact:
UNIS spol. s.r.o.
Jundrovska 33
62400 Brno
Czech Republic
phone: +42-0541515541
fax: +42-0541210361
email: oplustil@unis.cz
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CANaerospace projects (5)
Bombardier-Rotax V220/300T
aircraft engines
• Fuel-injected, watercooled, 120degree V-6 engine line with dual
redundant electronic engine control
unit and CANaerospace data bus
• CANaerospace-interfaced Engine
Monitoring Unit providing the pilot
with all engine data already installed
in several aircraft
• FAA/JAA certification expected
2003, first deliveries in 2004
• Website: www.VaircraftEngines.com
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CANaerospace projects (6)
NASA Small Aircraft
Transportation System (SATS)
program
• SATS is a partnership among
various organizations including
NASA, the Federal Aviation
Administration (FAA), US aviation
industry, state and local aviation
officials, and universities.
• The target is to develop all weather
operations within the entire US
airspace for general aviation.
• CANaerospace/AGATE databus
serves as the central avionics
backbone network in the research
aircraft used for the SATS program
flight tests.
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CANaerospace projects (7)
Various Flight Simulators
• Dornier-Fairchild 728JET
engineering simulator
• Eurocopter TIGER simulators
• Eurocopter BO105 procedure
trainer
• Eurofighter Typhoon simulator
• EADS Mako demonstrator
• NH90 engineering simulator
Eurofighter
BO105
728 JET
TIGER
NH90
Mako
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CANaerospace products and services (1)
Stock Flight Systems
Products/Services:
•
•
•
•
•
CANaerospace specification
Flight data recordering systems
Embedded realtime control computers
CANaerospace network installations
CAN interface boards and driver
software
• Consulting services
Stock Flight Systems
Schützenweg 8a
D-82335 Berg/Farchach
Germany
Phone: +49-8151-9607-0
Fax: +49-8151-9607-30
Email: michael@stockflightsystems.com
www.stockflightsystems.com
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CANaerospace products and services (2)
Reiser Systemtechnik
Products/Services:
• Night vision compatible simulation
cockpit instrumentation
• Design and manufacturing of entire
simulation cockpits including
ejection seat mock-ups
• Design and manufacturing of test
facilities
Reiser Systemtechnik GmbH
Oberer Lüßbach 31
D-82335 Berg/Höhenrain
Germany
Phone: +49-8171-4373-0
Fax: +49-8171-4373-30
Email: reiser@wreiser.com
www.reiser-systemtechnik.de
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CANaerospace products and services (3)
Wetzel Technology
Products/Services:
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•
•
•
•
CANaerospace tools
Data visualization
Digital map applications
Operator stations
Instrument simulation
Wetzel Technology GmbH
Hermann-Oberth-Straße 11
D-85640 Putzbrunn
Germany
Phone: +49-89-460892-62
Fax: +49-89-460892-63
Email: michael@wetzel-technology.de
www.wetzel-technology.de
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US Representative for Stock Flight Systems,
Reiser Systemtechnik and Wetzel Technology
ICS, Inc.
Mr. Kevin Jacobson
1102 West Aster Drive
Phoenix, AZ 85029-2808
phone: +01-602-564-0851
fax: +01-602-588-9440
e-mail support@ICSAero.com
website: www.ICSAero.com
• Innovative Control Systems, Inc (ICS) was
established in 1991 as a provider of
aerospace engineering services and
equipment to High Technology Aerospace
Companies.
• Their customer base includes companies such as Honeywell, Raytheon, Dornier
Luftfahrt, Hamilton Sundstrand, B.F. Goodrich, Aircraft Braking Systems, Vibrometer,
Smiths Industries, and many other aircraft manufacturers and equipment suppliers.
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