7/28/2019 LIN Training

1/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

History and introduction

Technical features

The ISO/OSI reference model and LIN

Frames

Message Frames

Communication concept of LIN

Command Frames and Extended Frames Sleep mode and wake-up signal

Error and exception handling

CAN vs. LIN

Local Interconnect Network Training

OverviewOverview

7/28/2019 LIN Training

2/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Time

History and expectationHistory and expectation

2000

1998

200x

1999

LIN Consortium initiated(5 car manufacturers,

1 semiconductor supplier,

1 tool provider)http://www.lin-subbus.org

First specification

draft released

Current specificationLIN Specification Package V1.2

(Nov 17, 2000)

Growth expectations:3 10 LIN nodes per vehicle

1.2 billion LIN nodes per year world-wide

7/28/2019 LIN Training

3/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Typical example for LIN in automobiles (1)Typical example for LIN in automobiles (1)

7/28/2019 LIN Training

4/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Typical example for LIN in automobiles (2)Typical example for LIN in automobiles (2)

7/28/2019 LIN Training

5/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Comparison of automotive bus systemsComparison of automotive bus systems

7/28/2019 LIN Training

6/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

History and introduction

Technical features

The ISO/OSI reference model and LIN

Frames

Message Frames

Communication concept of LIN

Command Frames and Extended Frames Sleep mode and wake-up signal

Error and exception handling

CAN vs. LIN

Local Interconnect Network Training

OverviewOverview

7/28/2019 LIN Training

7/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Low-cost single-wire implementation(less expensive than CAN but not as reliable as CAN)

Single-master / Multiple-slave concept (no arbitration is necessary)

Low-cost silicon implementation based oncommon UART/SCI interface hardware

(almost any microcontroller has necessary hardware on chip)

Sub-bus as an extension to CAN to provide

connection to local network clusters

Technical features (1)Technical features (1)

7/28/2019 LIN Training

8/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Technical features (2)Technical features (2)

Data rates of up to 20 kbit/sec(limited by the EMI of single-wire transmission)

Recommended Bit Rates:Slow : 2.400 bit/secMedium: 9.600 bit/secFast : 19.200 bit/sec

Guaranteed latency times for signaltransmission

Self-synchronization without quartz or

ceramics resonators in the slave node (significant cost reduction of hardware platform)

Hot plug-in / plug-out

7/28/2019 LIN Training

9/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

History and introduction

Technical features

The ISO/OSI reference model and LIN

Frames

Message Frames

Communication concept of LIN

Command Frames and Extended Frames Sleep mode and wake-up signal

Error and exception handling

CAN vs. LIN

Local Interconnect Network Training

OverviewOverview

7/28/2019 LIN Training

10/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

The ISO/OSI reference model (1)The ISO/OSI reference model (1)

Application Layer

Presentation Layer

Session Layer

Network Layer

Transport Layer

Data Link Layer

Physical Layer

77

66

55

44

33

22

11

All

People

Seem

To

Need

Data

Processing

7/28/2019 LIN Training

11/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

The ISO/OSI reference model (2)The ISO/OSI reference model (2)

Application Layer

Presentation Layer

Session Layer

Network Layer

Transport Layer

Data Link Layer

Physical Layer

77

66

55

44

33

22

11

Applications, operating system

Conversion of data formats

Task synchronization, buffers,connection setup and monitoring,access rights control

Address conversion, routing,segmentation

Setup of logical connection,transport protocol

Transmission security, frame setup,error management

Electrical / mechanical characteristics:Transmission medium, wiring,connectors, encoding, signals

7/28/2019 LIN Training

12/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

The ISO/OSI reference model and LINThe ISO/OSI reference model and LIN

Physical Layer

22

11

Data Link Layer

LLC- Logical Link Control

is concerning with MessageFiltering and RecoveryManagement

MAC - Medium AccessControl

is supervised by a managemententity called Fault Confinement

Bit Timing, Bit synchronization,

Line Driver / Receiver

Acceptance Filtering,

Recovery Management,

Time Base Synchronization,

Message Validation

Data Encapsulation /

Decapsulation, Error Detection,

Error Signaling,

Serialization / Deserialization

7/28/2019 LIN Training

13/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

History and introduction

Technical features

The ISO/OSI reference model and LIN

Frames

Message Frames

Communication concept of LIN

Command Frames and Extended Frames

Sleep mode and wake-up signal

Error and exception handling

CAN vs. LIN

Local Interconnect Network Training

OverviewOverview

7/28/2019 LIN Training

14/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

01110001010100

11110101010101

01010101000111

Frames (1)Frames (1)

Frame: Envelope for transmission data

3 different frame types :

Message Frame: used for transmission of regular data

Command Frame: used for software updates,network configuration and diagnostic purposes

Extended Frame: allows the embedding of user-definedmessage formats and future LIN formats into the currentLIN protocol without violating the LIN specification

7/28/2019 LIN Training

15/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

01110001010100

11110101010101

01010101000111

Frames (2)Frames (2)

Frame Format

Header Response

Byte Field Format: transmission with LSB first

0 18 Data Bits

Start Bit Stop Bit

7/28/2019 LIN Training

16/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

History and introduction

Technical features

The ISO/OSI reference model and LIN

Frames

Message Frames

Communication concept of LIN

Command Frames and Extended Frames

Sleep mode and wake-up signal

Error and exception handling

CAN vs. LIN

Local Interconnect Network Training

OverviewOverview

7/28/2019 LIN Training

17/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Message Frames: Header (1)Message Frames: Header (1)

Synchronization Break field

Synch Break IDSynch

identifies the start of a message frame

consists of 2 parts:

dominant bus level with a minimum duration ofTSYNBRK (13 bits)

recessive bus level with a minimum duration ofTSYNDEL (1bit)

7/28/2019 LIN Training

18/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Message Frames: Header (2)Message Frames: Header (2)

Synch Break IDSynch

Synchronization field

contains the information for clock synchronization

consists of the pattern 0x55

7/28/2019 LIN Training

19/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Message Frames: Header (3)Message Frames: Header (3)

0 1ID0 ID1 ID2 ID3 ID4 ID5 P0 P1

Identifier bits

Length control

ID parity bits

Synch Break IDSynch

Identifier field (1)

contains the identifier, length and parity of the frame

7/28/2019 LIN Training

20/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Message Frames: Header (4)Message Frames: Header (4)

ID0 - ID5 64 (26) identifiers divided into4 subsets of 16 identifiers with 2, 4 or 8 data bytes

P0 - P1 are the parity check bits of identifier

Identifier field (2)

7/28/2019 LIN Training

21/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Message Frames: ResponseMessage Frames: Response

Response

contains the data field and the checksum

data field consists of 2, 4 or 8 bytes

checksum field (1 byte) contains the inverted modulo-256 sumacross all data bytes calculated using add with carry

Response

7/28/2019 LIN Training

22/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

History and introduction

Technical features

The ISO/OSI reference model and LIN

Frames

Message Frames

Communication concept of LIN

Command Frames and Extended Frames

Sleep mode and wake-up signal

Error and exception handling

CAN vs. LIN

Local Interconnect Network Training

OverviewOverview

7/28/2019 LIN Training

23/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

LIN communication concept: Master task vs. Slave tasksLIN communication concept: Master task vs. Slave tasks

slave task

master task

master

control unit

slave task

slave

control unit

slave task

slave

control unit

LIN bus

only the master control unit contains a master task

slave tasks are contained in all control units

Master task vs. Slave tasks

7/28/2019 LIN Training

24/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

LIN communication concept: Frame timingLIN communication concept: Frame timing

Master

Task

Slave

Task

Identifier Field1 byte

Synch Field1 byte

Synch Break13 bit (min)

Data Field

2, 4 or 8 bytes

t

t

In-frame

Space

Checksum Field

1 byte

Inter-frame

space / break

nextSynch Break

7/28/2019 LIN Training

25/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

LIN communication concept: Master TaskLIN communication concept: Master Task

Master Task

has the control over the whole bus communication

serves as the reference for synchronization

sets the schedule

sends the header of each message

monitors the data bytes and the checksum byte

receives the wake-up signal from a slave node

when the bus is in Sleep Mode

7/28/2019 LIN Training

26/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

LIN communication concept: Slave TaskLIN communication concept: Slave Task

Slave Task

waits for the Synch Break Field

synchronizes on the Synch Field

depending on ID sent by the Master Task,sends response (publisher), receives response

(subscriber), or does none of both

sends wake-up signal when bus is in Sleep Modeand it needs to transmit data

7/28/2019 LIN Training

27/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

History and introduction

Technical features

The ISO/OSI reference model and LIN

FramesMessage Frames

Communication concept of LIN

Command Frames and Extended Frames

Sleep mode and wake-up signal

Error and exception handling

CAN vs. LIN

Local Interconnect Network Training

OverviewOverview

7/28/2019 LIN Training

28/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Command FramesCommand Frames

are regular 8-byte Message Frames

are used to broadcast general command requests

for service purposes from the master to all

bus participants

2 types of Command Frames:

Master request frame (ID-Field = 0x3C):

to send commands and data from the master to the slave node

Slave response frame (ID-Field = 0x7D):to trigger one slave node to send data to the master node

Command Frames (1)

7/28/2019 LIN Training

29/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Command Frames / Sleep Mode CommandCommand Frames / Sleep Mode Command

type of command is specified in the first data byte

of a command frame

values of 0x00 to 0x7F for command type are reserved

Example:

Command Frames (2)

Sleep Mode Command (command type 0x00):Master Request Frame which is used to broadcast the request

for transition to sleep mode to all bus nodes

7/28/2019 LIN Training

30/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Extended FramesExtended Frames

allow the embedding of user-defined message formats

and future LIN formats into the LIN protocol without

violating the current LIN specification

2 types of extended frames:

the identifier can be followed by an arbitrary number

of LIN bytes fields

Extended Frames

User-defined extended frame (ID-Field = 0xFE)

Frame reserved for future LIN extension (ID-Field = 0xBF)

7/28/2019 LIN Training

31/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

History and introduction

Technical features

The ISO/OSI reference model and LIN

FramesMessage Frames

Communication concept of LIN

Command Frames and Extended Frames

Sleep mode and wake-up signal

Error and exception handling

CAN vs. LIN

Local Interconnect Network Training

OverviewOverview

7/28/2019 LIN Training

32/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Transition to and from Sleep ModeTransition to and from Sleep Mode

Slave nodes go to Sleep Mode after:

Transition to and from Sleep Mode

reception of a Sleep Mode Command from the master node or

a time-out (TTIME_OUT = 25000 TBIT) in the case that

the sleep command message was corrupted

Sleep mode can be terminated by the slave taskof any node by sending a Wake-Up Signal:

TWUSIG

Wake-up

delimiter

Bus

Sleep

TUDEL

7/28/2019 LIN Training

33/46

7/28/2019 LIN Training

34/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

History and introduction

Technical features

The ISO/OSI reference model and LIN

FramesMessage Frames

Communication concept of LIN

Command Frames and Extended Frames

Sleep mode and wake-up signal

Error and exception handling

CAN vs. LIN

Local Interconnect Network Training

OverviewOverview

l I N k T i i

7/28/2019 LIN Training

35/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Error typesError types

Possible error types

Bit Error

Checksum Error

Identifier-Parity Error

Slave-Not-Responding Error

Inconsistent-Synch Field Error

L l I t t N t k T i iL l I t t N t k T i i

7/28/2019 LIN Training

36/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Bit ErrorBit Error

Bit Error

Error description The bit on the bus is different from the one that was transmitted.

Method of detection

Sending unit monitors the bus while transmitting.

Fault confinementThis error is detected by:

- the master task in the master node,

- the slave task in the slave nodewhile reading back their own transmissions.

L l I t t N t k T i iL l I t t N t k T i i

7/28/2019 LIN Training

37/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Checksum ErrorChecksum Error

Error description The checksum calculated over all received data bytes does not

match the received checksum byte.

Method of detection The sum of the inverted modulo-256 sum over all received data bytesand the checksum byte does not result in 0xFF.

Fault confinement This error is detected by:

- the slave task in the master node when reading data from the bus,

- the slave task in the slave node while reading data from the bus.

Checksum Error

Local Interconnect Net ork TrainingLocal Interconnect Network Training

7/28/2019 LIN Training

38/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Identifier-Parity ErrorIdentifier-Parity Error

Error description The parity identifier bits do not match the calculated values.

Method of detection

Calculation of parity bits from received identifier andcomparation to received parity bits.

Fault confinement This error is detected by:

- the master task in the master node while reading backits own transmission,

- the slave task in the slave node while reading from the bus.

Identifier-Parity Error

Local Interconnect Network TrainingLocal Interconnect Network Training

7/28/2019 LIN Training

39/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Slave-Not-Responding ErrorSlave-Not-Responding Error

Error description The transmission of a LIN frame is not fully completed within

the time frame specified in the schedule.

Method of detection This error is detected while reading from the bus when a slave taskexpects data to be transmitted.

Fault confinement This error is detected by:

- the slave task in the master node when expecting or

reading data from the bus,

- the slave task in the slave node while reading from the bus

only when this slave expects a message from another slave.

Slave-Not-Responding Error

Local Interconnect Network TrainingLocal Interconnect Network Training

7/28/2019 LIN Training

40/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Inconsistent-Synch-Field ErrorInconsistent-Synch-Field Error

Error description Synch field is different from the pattern 0x55.

Method of detection

Slave task detects the edges of the Synch Fieldoutside the given tolerance.

Fault confinement This error can only be detected by the slave task in the slave node.

Inconsistent-Synch-Field Error

Local Interconnect Network TrainingLocal Interconnect Network Training

7/28/2019 LIN Training

41/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

Error causesError causes

Error causes

Local disturbance of ground potential

Local disturbance of supply voltage

Global electric disturbance of the bus signal

Unsynchronized time base

Local Interconnect Network TrainingLocal Interconnect Network Training

7/28/2019 LIN Training

42/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network TrainingLocal Interconnect Network Training

History and introduction

Technical features

The ISO/OSI reference model and LIN

FramesMessage Frames

Communication concept of LIN

Command Frames and Extended Frames

Sleep mode and wake-up signal

Error and exception handling

CAN vs. LIN

Local Interconnect Network Training

OverviewOverview

7/28/2019 LIN Training

43/46

Local Interconnect Network TrainingLocal Interconnect Network Training

7/28/2019 LIN Training

44/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

Local Interconnect Network Trainingg

CAN vs. LIN (1)CAN vs. LIN (1)

Data rate max. 1 MBaud max. 20 kBaud

Master/Slave multi-master master/slave

Data security CRC code simple checksum

Acknowledgement yes no

Node number up to 100 up to 16

Local Interconnect Network TrainingLocal Interconnect Network Training

7/28/2019 LIN Training

45/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

gg

CAN vs. LIN (2)CAN vs. LIN (2)

Latency time not guaranteed deterministic

Frame scheduling no yes

Tx on event yes no

Error correction retransmission none

Error prevention bus-off mechanism none

Local Interconnect Network TrainingLocal Interconnect Network Training

7/28/2019 LIN Training

46/46

Training: Local Interconnect Network (LIN) C CE SW B / Oliver Bremicker / 23 Aug 2002

gg

CAN vs. LIN (3)CAN vs. LIN (3)

Upper SW layers e.g. OSEK COM LIN API

Protocol in HW yes no

Bus length max. 1000m max. 40m

Number of wires 2 (or 1) 1

ISO standard ISO 11898 / 11519 no