Can gateway controller detect all controllers present on CAN Network?

It asks.

The gateway controller sends out a poll message asking all the embedded controllers to reply. Each of the embeded controllers then sends a reply to the gateway controller identifying itself.

seven-eighths of

downtown

Thank you for the reply! Could you please describe poll message and reply message in detail?

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There is no general answer to this question other than "It depends." CAN mostly resides in the ISO model's transfer layer. What the higher level application layer does with the packets is not specified.

If you know nothing about the network except that it's 'CAN', you could just check every address. If there is a node listnening, it should assert the ACK bit. But this can be a bit time consuming for CAN 2.0.

If you you want a better answer, you will have to know more about the network.

Integrally quoting Rich Webb: "There is no general answer to this question other than "It depends." CAN mostly resides in the ISO model's transfer layer. What the higher level application layer does with the packets is not specified."

You're designing the system, so it's up to you to define the messages.

The only thing that the gateway can reliably detect, if the gateway connected to a network with at least one other powered up device. When a CAN device sends a message, every other node will listen for the bus and if _any_ node receives a message with correct CRC, it will pull down the Ack bit (no matter if the message is addressed to this node). Thus, the sending node knows, that there is at least one active node (i.e. not in Listen Only mode e.g. autobauding).

If the Ack bit remains high after transmission, the transmitter knows that there are no other stations on the bus.

However, if something is known about the protocol, for example with CanOpen, look for Node Guard messages, which will also reveal the node ID.