Can Bus

the emission control vehicular systems had its first appearance in the 1990s. There were basically 5 different systems until 2008 when the CAN BUS became the preferred standard. However, this last one only standardized the physical communication between systems. With the growing inclusion of electronics subsystems non related to emission control, each vehicle maker developed its own set of protocols and intercommunication codes. This work proposes the basis of a standard platform for non emissions related systems based on the current OBDII structure from standard SAE J2178 adapted over CAN BUS message frame.

Cette application consiste à réaliser un programme informatique qui contrôler un moteur pas-à-pas sur un CAN bus au travers un réseau Ethernet. Pour ce faire, nous avons décidé que l'application qui envoi et reçoit les messages sur le bus CAN sera une application serveur. Un programme client situé sur un PC quelconque du réseau local sera chargé d'envoyer des commandes au serveur en utilisant le protocole TCP/IP.

Recent automotive systems are increasingly complex and networked using various protocols like CAN, LIN, MOST, FlexRay, etc. The introduction of these technologies adds to the vulnerability of the vehicle security and gives more opportunities for hackers and thieves to implement various malpractices for their own benefit or to inflict harm. Advancements in vehicular communication technologies have given rise to the possibility of various network-based attacks. This project focuses on the Controller Area Network (CAN) protocol and how its vulnerabilities can be exploited to perform malicious attacks like Denial of Service (DoS) attack on an in-vehicle network prototype. A prototype reverse parking assist system has been used as the system under test, throughout this paper. Here, we have also introduced a countermeasure for the DoS attack which shuts off the adversary node from the CAN bus, so that the ideal functioning of the network will resume.

In this paper, the proposed CANTrack solution is described and its implementation is thoroughly explained. CANTrack is a sophisticated Computer Aided Design (CAD) tool that supports the entire development process for automotive networked systems. CANTrack differentiates itself from other competitive tools; by not only supporting planning, development, testing and finally starting-up; but also incorporating the unique features of CAN bus security enhancement and tool customization upon customer needs. The Controller Area Network (CAN) bus security feature is implemented using an intuitive algorithm that encrypts the 8-byte payload data using a symmetric key that is being dynamically changed using synchronized key generators across all nodes. This algorithm makes the encrypted message unique at any instance of time to avoid replay attacks. The algorithm is tested thoroughly on an experimental setup using Vector Canoe; with the results of two use cases presented.

CAN protokolü dağıtılmış sistemler için tasarlanmış seri haberleşme mantığına dayanan ve sinyalin
(Bus) veri hattına gerilim farkı olarak gönderildiği bir protokolüdür. Bu protokol özellikle düşük maliyetli
kablolamanın yapıldığı çoklu düğümlerle birbirine bağlanmış ünitelerin gerçek zamanlı kontrolü için
uygundur. Standart CAN tanımlamaları OSI’ nin fiziksel ve veri katmanında tanımlanmıştır. Bu
nedenle standart CAN alt seviye bir protokoldür

This article deals with a design of CAN bus analyser. For this purpose the design with utilisation of Field Programmable Gate Arrays (FPGAs) is used. A syst em structure consisted
of basic blocks is introduced and the blocks are described. For the structure description is used VHDL (VHSIC Hardware Description Language).

CAN protokolü dağıtılmış sistemler için tasarlanmış seri haberleşme mantığına dayanan ve sinyalin
(Bus) veri hattına gerilim farkı olarak gönderildiği bir protokolüdür. Bu protokol özellikle düşük maliyetli
kablolamanın yapıldığı çoklu düğümlerle birbirine bağlanmış ünitelerin gerçek zamanlı kontrolü için
uygundur. Standart CAN tanımlamaları OSI’ nin fiziksel ve veri katmanında tanımlanmıştır. Bu
nedenle standart CAN alt seviye bir protokoldür

Networked Control System (NCS) is a very active research topic which has grown in momentum for over fifteen years. An NCS consists of closed loop control systems in which the sensors, the actuators and the controllers are interconnected via a network. The network is often shared by several closed loop process control applications and other types of application. The use of communication networks for control systems introduces new research problems, in both the automatic control community and the communication network community. On the one hand, the network can introduce random time delays and data loss, which require the development of new methods for robust control laws that take into account the network performance. On the other hand, under the constraints of applications, the network must guarantee a certain Quality of Service (QoS), especially in terms of time delay and reliability of data transmission, in order to ensure a Quality of Control (QoC) i.e. a necessary performance and stability of the loop control system.
Our work concerns about this context, which aims to consider the Co-Design of the QoC provided by the controller and the QoS provided by the Medium Access Control (MAC) protocols of the network. With this motivation, we propose not only network QoS solutions for process control applications (i.e. the network QoS is QoC driven that we call the relation QoC→QoS) and QoC solutions with the dynamic regulation of control parameters according to the QoS performances (i.e. the QoC is QoS driven that we call the relation QoS→QoC), but also, mainly, a method of co-design to jointly consider both the two aspects Control - Network (noted the relation QoS↔QoC).
Concretely, for the Control aspect, we consider a control loop servo motor with a proportional – derivative (PD) controller, and for the Network aspect, we consider both a wired Local Area Network - LAN (bus CAN) and a wireless LAN (single-hop and single channel). Concerning the network QoS solutions, we use the hybrid priority for the message scheduling, and particularly, in the wireless context, we propose the collision-free MAC protocols based on Carrier Sense Multiple Access (CSMA). Concerning the QoC solutions, we use a method of compensation for time delays which is the dominant pole method. All solutions are validated by the simulation using the software TrueTime / Matlab Simulink.

In this paper, the proposed CANTrack solution is described and its implementation is thoroughly explained. CANTrack is a sophisticated Computer Aided Design (CAD) tool that supports the entire development process for automotive networked systems. CANTrack differentiates itself from other competitive tools; by not only supporting planning, development, testing and finally starting-up; but also incorporating the unique features of CAN bus security enhancement and tool customization upon customer needs. The Controller Area Network (CAN) bus security feature is implemented using an intuitive algorithm that encrypts the 8-byte payload data using a symmetric key that is being dynamically changed using synchronized key generators across all nodes. This algorithm makes the encrypted message unique at any instance of time to avoid replay attacks. The algorithm is tested thoroughly on an experimental setup using Vector Canoe; with the results of two use cases presented.

In order to link missile of actuating mechanism to CAN bus, an interface between actuating mechanism and CAN bus has been designed. It provides a method for the designing and realization of the hardware and software of interface. This interface has been used in reality. It proves that this design is feasible.

The increased requirements for intelligent management of the ship operations and real-time data
exchange, along with the demand for less staff and more reliability lead to the necessity to apply
efficient networking at modern ships operational parts. To this direction, the usage of Control
Area Network (CAN) in vessel systems or subsystems is proposed. This work focuses on the
presentation of the CAN protocol, its advantages and on the reasons why it is one of the most successful network protocols ever. Furthermore, two examples of proposed CAN networks in a vital supplementary system of a yacht and the propulsion system of a passenger ship are demonstrated