1. History of CAN Kingdom

2. CAN Kingdom for Distributed Real-time Networks

3. References

4. External References

CAN Kingdom is a CAN based, [https://www.can-cia.org/can-knowledge/hlp/higher-layer-protocols/ higher layer protocol] similar to other protocols like CANopen or DeviceNet and is developed by the Swedish company Kvaser^[1][2]. Like its counterparts, it is also widely used in automotive micro-controller applications as the field bus for communication even though it was developed mainly for the maritime industry^[3].

CAN Kingdom, is said to be flexible enough to support run-time configurations that include operations such as switching on and off individual nodes, and supports run time change in node identifiers and message triggering conditions, a crucial requirement in real time automotive micro-controller applications.^[4]

History of CAN Kingdom

The development of CAN in-order to fulfil the requirement of a serial bus for real-time control systems started at Bosch during 1983 and first version was released in 1986 at SAE Congress in Detroit. The Bosch CAN 2.0 specification was published in 1991 followed by its international standardisation on 1993.^[5][6]

Since CAN defines only the lowest two layers - physical and data link layers - of the ISO OSI seven layer model, the higher layer protocols were developed according to the specific industrial usage requirements. These higher layer protocols were added to the original CAN two layer specification to develop specific industrial communication bus standards that are CAN-based. Some of them are the SAE J1939, CANopen, DeviceNet, and CAN Kingdom.

Even though CAN was originally developed for being used in passenger cars, due to its popularity, different market segments started using it. The elevator manufacturer "Kone" from Finland, was one among them. Swedish engineers Kvaser suggested use of CAN in textile machinery, and with the participation of some textile manufacturers (Lindauer Dornier and Sulzer) and suppliers and under the leadership of [https://career.kvaser.com/people/66431-lars-berno-fredriksson Lars-Berno Fredriksson], the "CAN Textile User's Group" was founded ^[11]. In the early 1990s, this group had developed the communication principles that led to the formation of the development environment "CAN Kingdom". Even though it could not be considered as an application layer with respect to the ISO OSI model, it is said to be considered as the ancestor of the CAN based higher-layer protocols like CANopen and DeviceNet. ^[12]

CAN Kingdom for Distributed Real-time Networks

CAN Kingdom is said to be built in order to achieve real-time communication needs associated with automotive and industrial automation networks like run-time configuration of network parameters, dynamic node management, event-driven messaging and run-time troubleshooting among other requirements^[4]. Rather than a complete higher level protocol, CAN Kingdom is a set of [https://erg.abdn.ac.uk/users/gorry/course/intro-pages/service-prim.html protocol primitives] upon which a system designer can build the network of his choice. A single node is designated as the "Master node" or "King" that initialises other nodes and only this needs to be programmed to be integrated into the network. Prior to their induction into the network, all other nodes need to be programmed with only 3 basic information:

1. The CAN-ID or physical address of the node.
2. Data transfer rate
3. The ID of the configuration message for this node.

Then these nodes can be added into the system and they can read their configuration from the Master node. This may significantly reduce the network setup complexity. More than that, the system designer can utilise the additional flexibility of changing the network topology and thus the data flow. The concept of Master node said to qualify CAN Kingdom as a network with a "single point of configuration".^[13]

The King or master node not only performs node initiation and setup but also controls network configuration and inter-node communication. The CAN Kingdom system operation consists of 2 phases, the setup phase and run phase. ^[14] Nguyen (1998) further states that, once the initiation or setup phase is completed, the King can be removed from the network during the run phase if no further configuration changes are needed. During this stage, the CAN Kingdom system functions like a fully fledged distributed CAN network with Multi-master and Broadcasting capabilities.

CAN Kingdom could not be denoted as a complete higher layer protocol, since it do not specify the application layer in the OSI model. It is up-to the system designer to design the optimum system for his requirements on the standardised communication mechanism and layer management protocol provided by CAN Kingdom.^[15]

References

External References

[https://www.kvaser.com/about-can/higher-layer-protocols/cankingdom/ CAN higher layer protocols - CAN Kingdom]

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