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-= Can
-2020-10-01:s5/net/mm8/noter/1 #2280
-
-Can lever i layer 1 - 3 i OSI modellen.
-
-== Bus
-
-Requires that a single bit is received by all bus members.
-
-1 is recessive, while 0 is dominant.
-Recessive is the default so pull up and dominant is when the line is pulled down.
-
-....
-0 + 0 = 0
-1 + 1 = 1
-0 + 1 = 0 # Because 0 is dominant
-....
-
-CAN defines 0 as the dominant bit.
-
-== Frame
-
-Node id is also used as priority.
-Smaller id gives a higher priority.
-It therefore uses `CSMA/CA`.
-This can be seen below:
-
-1. First everyone starts transits zero.
-2. Then nodes starts transmitting their id.
-3. If a node hears something different than they are transmitting they know they are loosing.
-4. The winner (TAKES IT ALL) can then send the rest of the frame.
-5. Loosing nodes wait for end of frame, so they can try again.
-
-In the ACK field the receiver sends a dominant bit to signal if the frame went fine.
-
-This means that we are constantly listening while receiving and others can also jump in.
-
-=== Addressing
-
-ID is not really a address.
-
-One does not operate on source and destination but more different message ID's.
-Like different sensor values have different id's, and other nodes can then subscribe on these id's.
-
-Nodes only listen for id's they are interested in.
-
-=== Frame types
-
-Data Frame:: a frame containing data.
-Remote frame:: a request for a specific resource.
-Error frame:: transmitted by a node on a error.
-Overload frame:: Whaat
-
-== Bit synchronization
-
-Nodes need to agree on whats on the bus.
-
-Bit time must be twice propagation time.
-This means long lines give slower speeds.
-
-====
-.Problem
-Periodic messages with different priority can give non-deteministic behavior, as their clock go in and out of phase.
-
-This can be solved by finding a worst case and checking if it lives up to a requirement.
-However this can be hard if there are many messages.
-
-One can also run simulations.
-====