System and method for automatically selecting baud rate in a CAN network

1. A device comprising:

a memory;

a Controller Area Network (CAN) controller coupled to a CAN bus;

at least one processor coupled to the memory and the CAN controller, the at least one processor being configured to:

set the CAN controller to a first baud rate;

determine a second baud rate;

send, in response to determining and prior to setting the CAN controller to the second baud rate, a baud rate change request via the CAN bus, wherein the baud rate change request includes at least an identifier of the second baud rate;

determine a timeout has elapsed;

send, in response to determining the timeout has elapsed, a baud rate confirmation request via the CAN bus; and

set the CAN controller to the second baud rate.

2. The device of claim 1 , wherein the at least one processor is further configured to:

receive a data frame from at least one device coupled to the CAN bus;

determine, in response to receiving the data frame, that the CAN bus does not support the second baud rate based on an error count of the CAN controller;

determine a lower baud rate, wherein the lower baud rate is less than the second baud rate; and

send a baud rate change request via the CAN bus, wherein the baud rate change request includes at least an identifier of the lower baud rate.

3. The device of claim 1 , wherein the at least one processor is further configured to:

receive a data frame from at least one device coupled to the CAN bus;

determine, in response to receiving the data frame, that the CAN bus supports the second baud rate based on an error count of the CAN controller;

determine a higher baud rate, wherein the higher baud rate is greater than the second baud rate; and

send a baud rate change request via the CAN bus, wherein the baud rate change request includes at least an identifier of the higher baud rate.

4. The device of claim 1 , wherein the at least one processor is further configured to:

receive a data frame from at least one device coupled to the CAN bus;

determine, in response to receiving the data frame, that a CAN device coupled to the CAN bus does not support the second baud rate; and

operate the CAN controller at the first baud rate.

5. The device of claim 1 , wherein the at least one processor is further configured to:

determine that an idle timeout has occurred; and

switch, based on the idle timeout, to a client mode.

6. The device of claim 5 , wherein the at least one processor is further configured to send at least one test data frame via the CAN bus, wherein the at least one test data frame includes a pattern of bytes causing the CAN bus to be signaled at a high frequency.

7. The device of claim 5 , wherein the at least one processor is further configured to:

receive a baud rate change request from a device coupled to the CAN bus, wherein the baud rate change request includes at least one identifier of a new baud rate;

determine if the new baud rate is supported by the CAN controller; and

send a negative acknowledgement via the CAN bus if the new baud rate is not supported by the CAN controller.

8. A computer-implemented method of selecting baud rates using a computer, the computer including a memory, a Controller Area Network (CAN) controller coupled to a CAN bus, and at least one processor coupled to the CAN controller and the memory, the method comprising:

setting the CAN controller to a first baud rate;

determining a second baud rate;

sending, in response to determining and prior to setting the CAN controller to the second baud rate, a baud rate change request via the CAN bus, wherein the baud rate change request includes at least an identifier of the second baud rate;

determining a timeout has elapsed;

sending, in response to determining the timeout has elapsed, a baud rate confirmation request via the CAN bus; and

setting the CAN controller to the second baud rate.

9. The method of claim 8 , further comprising:

receiving a data frame from at least one device coupled to the CAN bus;

determining, in response to receiving the data frame, that the CAN bus does not support the second baud rate based on an error count of the CAN controller;

determining a lower baud rate, the lower baud rate being less than the second baud rate; and

sending a baud rate change request via the CAN bus, wherein the baud rate change request includes at least an identifier of the lower baud rate.

10. The method of claim 8 , further comprising:

receiving a data frame from at least one device coupled to the CAN bus;

determining, in response to receiving the data frame, that the CAN bus supports the second baud rate based on an error count of the CAN controller;

determining a higher baud rate, the higher baud rate being greater than the second baud rate; and

sending a baud rate change request via the CAN bus, wherein the baud rate change request includes at least an identifier of the higher baud rate.

11. The method of claim 8 , further comprising:

receiving a data frame from at least one device coupled to the CAN bus;

determining, in response to receiving the data frame, that a CAN device coupled to the CAN bus does not support the second baud rate; and

operating the CAN controller at the first baud rate.

12. The method of claim 8 , further comprising:

determining an idle timeout has occurred; and

switching, based on the idle timeout, to a client mode.

13. The method of claim 12 , further comprising sending at least one test data frame via the CAN bus, wherein the at least one test data frame includes a pattern of bytes causing the CAN bus to be signaled at a high frequency.

14. The method of claim 12 , further comprising:

receiving a baud rate change request via the CAN bus, wherein the baud rate change request includes at least one identifier of a new baud rate;

determining if the new baud rate is supported by the CAN controller; and

sending a negative acknowledgement via the CAN bus if the new baud rate is not supported by the CAN controller.

15. A non-transitory computer readable medium having stored thereon sequences of instructions for selecting baud rates for a device coupled to a Controller Area Network (CAN) bus, the instructions causing at least one processor to:

set a CAN controller to a first baud rate;

determine a second baud rate;

send, in response to determining and prior to setting the CAN controller to the second baud rate, a baud rate change request via the CAN bus, wherein the baud rate change request includes at least an identifier of the second baud rate;

determine a timeout has elapsed;

send, in response to determining the timeout has elapsed, a baud rate confirmation request via the CAN bus; and

set the CAN controller to the second baud rate.

16. The non-transitory computer readable medium according to claim 15 , wherein the sequences of instructions include instructions that cause the at least one processor to:

receive a data frame from at least one device coupled to the CAN bus;

determine, in response to receiving the data frame, that the CAN bus does not support the second baud rate based on an error count of the CAN controller;

determine a lower baud rate, wherein the lower baud rate is less than the second baud rate; and

send a baud rate change request via the CAN bus, wherein the baud rate change request includes at least an identifier of the lower baud rate.

17. The non-transitory computer readable medium according to claim 15 , wherein the sequences of instructions include instructions that cause the at least one processor to:

receive a data frame from at least one device coupled to the CAN bus;

determine, in response to receiving the data frame, that the CAN bus supports the second baud rate based on an error count of the CAN controller;

determine a higher baud rate, wherein the higher baud rate is greater than the second baud rate; and

send a baud rate change request via the CAN bus, wherein the baud rate change request includes at least an identifier of the higher baud rate.