White Paper – The CAN FD Physical Layer 21-12-2015 The Physical Layer in the CAN FD World - the update- White Paper – Name Date-Month-Year Author: Magnus-Maria Hell Principal In Vehicle Network Email: [email protected] www.infineon.com White Paper – The CAN FD Physical layer 21-12-2015 Abstract In automotive and industrial applications the CAN protocol is very well established. But in this applications more and more data will be used and the limitation of the classical CAN network with 1 Mbit/s was not sufficient to cover the future needs. With bit rates up to 5 Mbit/s, the improvement of CAN called CAN FD is now available to increase the average data rate significant. An update of the physical layer requirements for this high bit rates was necessary and all new for CAN FD relevant parameters are described in this article. Content 1 Motivation 3 2 General 3 2.1 Loop delay symmetry 3 2.2 Transceiver Tx delay symmetry 6 2.3 Transceiver Rx delay symmetry 7 2.4 Bit timing symmetry in a Network 8 2.5 Symmetry for networks up to 2Mbit/s 9 2.6 Symmetry for networks up to 5Mbit/s 10 2.7 Interface between Microcontroller and Transceiver 12 3 CAN FD product overview 12 List of 15 2 White Paper – The CAN FD Physical Layer 21-12-2015 1 Motivation For CAN physical layer the ISO specifications 11898-2/5/6 are relevant. These three specifications are now merged into one specification ISO11898-2 (ed. 2016), which will be released mid to end of 2016. In these updated specification additional dynamic parameters for CAN FD and higher bit rates are added and a lot of existing parameters are modified and adjusted for future needs. The dynamic parameters, relevant for CAN FD, will be discussed in this article. 2 General During arbitration phase, when two or more nodes are in competition to win the arbitration, the maximum bitrate is limited by o Network propagation delays o Transceiver propagation delays o And reflection. After the arbitration phase, the propagation delay between nodes is not important anymore, but the bit width variations, caused by the network behavior and the transceiver performance, are now relevant. What are the reasons for bit width variations? Which parts of the network determine the bit width variation? The most critical parts are: o The interface between micro-controller and transceiver o The transceiver o The network (reflection, damping) o The transceiver has three different kinds of propagation delays o Loop delay TxD to RxD o Transceiver Tx (Transmitter) delay o Transceiver Rx (Receiver) delay. The symmetry requirements of these delays are now added in the ISO 11898-2 and will be described in the next chapters. At the moment for CAN FD communication two bit rates in the data phase are in discussion. 2Mbit/s and 5Mbit/s. The ISO 11898-2 (ed2016) specifies for this two bit rates the dynamic symmetry requirements. Normally, the symmetry of the transceiver is independent from data bit rates. A 5 Mbit/s transceiver can also be used for lower bit rates like 2 Mbit/s or 500kBit/s. The min bit rate is limited by the permanent TxD dominant time out feature. This feature is implemented to block the bus communication in case the TxD pin of a transceiver is permanently clamped to ground. With the ISO parameter for this feature a minimum bit rate of 50kBit/s can be realized. 2.1 Loop delay symmetry The loop delay is the delay between the TxD input signal and the RxD output signal of a transmitting transceiver. Figure 1 illustrates the Transceiver loop delay. In the existing ISO 11898-5 this propagation 3 White Paper – The CAN FD Physical Layer 21-12-2015 delay is specified with max 255ns. In the new ISO 11898-2 the condition, how to test and to guarantee is now added and the maximum allowed delay is unchanged. Figure 1: Transceiver Loop delay Figure 2 illustrates, how the loop delay is specified. The delay of the recessive to dominant transition (falling edge in TxD) starts at 30% of the TxD voltage swing and stops at 30% of the RxD output level. Figure 2: Transceiver Loop delay specification The dominant to recessive transition (rising edge) starts at 70% of the TxD level and stops at 70% of its RxD level. The loop delay is an important parameter for a transmitting note. The transceiver loop delay is part of the transmitter delay which can be compensated in the transmitter delay compensation unit (TDC) in the CAN controller. In Figure 3 the difference between Transmitter and Transceiver loop delay is Figure 3: Difference between Transmitter and Transceiver Loop delay 4 White Paper – The CAN FD Physical Layer 21-12-2015 demonstrated. The Transmitter loop delay starts at the output of the CAN controller as a part of the microcontroller and ends on the receiver input of the CAN controller. For high bit rates the nominal bit time may be shorter than the propagation delay. The Transmitter compensation delay unit (TDC) in the CAN FD controller compensates the transmitter delay. For high bit rates a high resolution of this unit is recommended. The symmetry of the recessive to dominant and dominant to recessive transition is very important for the transmitting node and may be different. To check this dynamic performance of the transceiver, the recessive bit width on the RXD pin (tBit(RXD)) after five consecutive dominant bits (see Figure 4) is defined in the ISO 11898-2 specification. In Table 1 the RxD recessive bit width specification Figure 4: Transceiver Loop delay symmetry specification Table 1: The RxD recessive bit width (Transceiver Loop Delay symmetry) Bit rate Data phase tBit(RxD) min tBit(RxD) max tBit(RxD) normal t(loop) Bus load Load on RxD 2 Mbit/s 400 ns 550 ns 500 ns <255 ns 60 Ω║100pF 15 pF 5 Mbit/s 120 ns 220 ns 200 ns <255 ns 60 Ω║100pF 15 pF is shown. Depends on the asymmetry, the recessive bit width will be shortened or extended. The limits of this parameter are asymmetric to the nominal bit rate. In Figure 5 the impact on recessive bit width is demonstrated. The recessive signal has a wide range of variation and the sample point should be set as late as possible. Figure 5: Variation on RxD recessive bit length The max propagation delay TxD to RxD for both edges is below 255ns. In general, the asymmetric behavior is caused by o the busload (resistive and capacitive) o the maximum differential voltage of the dominant bit o the temperature dependency of the transceiver internal delays. 5 White Paper – The CAN FD Physical Layer 21-12-2015 2.2 Transceiver Tx delay symmetry The Transceiver Tx delay is the delay between the TxD input signal and the differential bus output Figure 6: Transceiver Tx delay signal (see Figure 6). The symmetry is the difference between the recessive to dominant delay and the dominant to recessive delay. The symmetry is specified like for the Loop delay. The recessive bit length is the distance between 500mV of the falling edge to 900mV of the rising edge.(see Figure 7). In Table 2 Figure 7: Specification of recessive bit width on the bus the new ISO parameter for tBit(Bus) are shown. The variation of the symmetry is smaller like for the Loop delay (tBit(RxD)). This parameter are valid for the defined bus load RL=60 Ohms and a bus load representative capacitor CL=100pF. For higher bus load the variation may be different. Table 2: The Bus recessive bit width (Transmitter Loop Delay symmetry) Bit rate Data phase tBit(Bus) min tBit(Bus) max tBit(Bus) normal Bus load 2 Mbit/s 435 ns 530 ns 500 ns 60 Ω║100pF 5 Mbit/s 155 ns 210 ns 200 ns 60 Ω║100pF The impact of the recessive bus width is illustrates in Figure 8. The recessive to dominant edge is controlled by the transceiver, but the dominant to recessive edge is dominated by the bus load. 6 White Paper – The CAN FD Physical Layer 21-12-2015 Figure 8: Variation on bus recessive bit length One reason for the asymmetry is the internal delay from TxD Pin to the output stages. The second reason is the differential voltage level of the dominant signal. This dominant voltage level depends on o o o Transmitter supply voltage (VCC) Physical bus load Transceiver temperature To reduce the emission of transmitting signals, the slew rates are controlled and as slow as possible for high bit rates too. The voltage difference between the recessive level and the dominant differential threshold level are always 900mV (Vdiffrec2dom) (see Figure 9).The slew rate defines the delay time. Figure 9: Impact of the dominant voltage level on the recessive bit width The voltage difference (Vdiffdom2rec) between dominant voltage level and the recessive threshold may differ from 1V (1.5V dominant level minus 500mV recessive threshold) up to 2.5V (3V dominant level minus 500mV recessive threshold). Due to the constant slew rate, the dominant to recessive delay time depends on the voltage level of the dominant signal. These two scenarios are illustrated in Figure 9. As higher the dominant voltage level on the bus as longer will be the dominant bit width or as smaller will be the receive bit width on the RxD Pin. In this scenario the impact of the bus load is ignored. To reduce the variation of the recessive bit width a small range of the Transceiver supply VCC is recommended. 2.3 Transceiver Rx delay symmetry The Transceiver Rx delay is the propagation delay between the differential bus signal and the RxD output signal. This symmetry depends on 7 White Paper – The CAN FD Physical Layer 21-12-2015 o o o o o production dispersion Temperature variation The Receiver thresholds Supply voltage variation Bus differential voltage Vdiff slew rate ∆tRec is a calculated value. The calculation formula is: ∆tRec = tBit(RxD)- tBit(Bus) The parameter of the RxD symmetry is also specified in the ISO 11898-2. (Table 3 ) Table 3: The tolerance of the Receiver of 2 Mbit/s and 5 Mbit/s transceiver Bit rate Data phase tBit(Bus) min tBit(Bus) max Load on RxD 2 Mbit/s -65 ns 40 ns 15pF 5 Mbit/s -45 ns 15 ns 15pF 2.4 Bit timing symmetry in a Network Figure 10 illustrates a typical communication path from a transmitting node to a receiving node in a network. The bit width will be modified by the Transmitter Tx delay, the network, the asymmetry of the Figure 10: Typical communication path in CAN Receiver. In a worst case scenario the variation of the RxD recessive bit time on a receiving node is the Figure 11: Illustration of the recessive bit width on a receiving node 8 White Paper – The CAN FD Physical Layer 21-12-2015 sum of the Transceiver Tx delay symmetry and the Transceiver Rx delay symmetry (see. Figure 11). In Table 4 the possible variation of the recessive bit width on a receiving node is shown. This calculation Table 4: Variation of the recessive bit width on a receiving RxD Bit rate Data phase tBit(RxDrec) min tBit(RxDrec) max 1 Mbit/s tBit(Bus) normal Bus load 1000 ns 60 Ω║100pF 2 Mbit/s 370 ns 570 ns 500 ns 60 Ω║100pF 5 Mbit/s 110 ns 225 ns 200 ns 60 Ω║100pF is the sum of the Transceiver Tx delay symmetry and the Transceiver Rx symmetry. The impact of the network is excluded in this calculation. The rising edges may jitter. The falling edges are stable, as this is the edge on which a CAN node synchronizes and this dominant bus level is actively driven by the transmitter and therefore stable. The range marked in green is the variation of the transmitter and the range marked in yellow is the variation of the receiver. To analyze the worst case scenario, both parameters must be added. The calculation formula for tRec(RxD) is: 2.5 Symmetry for networks up to 2Mbit/s For bit rates between 1Mbit/s and 2Mbit/s a transceiver specified for 2Mbit/s should be chosen. This chapter shows the possibility to calculate the jitter at the RxD pin at the receiving node, for bit rates below 2 Mbit/s. The maximum and minimum recessive bit length tRec(RxD) seen be the receiving node is calculated. t Rec(RxD)max = t nom + (t Bit(Bus)max - t nom(2Mbit/s) ) + ∆t Recmax t Rec(RxD)min = t nom + (t Bit(Bus)min - t nom(2Mbit/s) ) + ∆t Recmin A calculation example for 1Mbit/s: Table 5: Deviation of a 2 Mbit/s Transceiver to the nominal bit time Parameter for 2 Mbit/s (tBit= 500ns) Parameter Specification Deviation to nominal bit time Unit min max min max Loop delay symmetry 400 550 -100 50 ns Transceiver Tx delay symmetry 435 530 -65 30 ns Transceiver Rx delay symmetry -65 40 -65 40 ns In Table 5 the deviation of the symmetry parameter to the nominal bit time is calculated. These deviations of a transceiver are bit rate independent. A transceiver has no information about bit rate and protocol. A transceiver transmits the level on the TxD pin on the bus pins up to the max specified bit rate. 9 White Paper – The CAN FD Physical Layer 21-12-2015 Based on this experience the deviation for 1 Mbit/s with a2 Mbit/s transceiver can be calculated. The deviation is like for the 2 Mbit/s transceiver and the calculated numbers are illustrated in Table 6: Calculated bit width variation of a 2Mbit/s transceiver used in a 1Mbit/s application Parameter for 1 Mbit/s (tBit= 1000ns) application Calculated Bit width Parameter Deviation to nominal bit time Unit min max min max Loop delay symmetry 900 1050 -100 50 ns Transceiver Tx delay symmetry 935 1030 -65 30 ns Transceiver Rx delay symmetry -65 40 -65 40 ns 2.6 Symmetry for networks up to 5Mbit/s For bit rates up to 5Mbit/s a transceiver specified for 5Mbit/s should be chosen. This chapter shows the possibility to calculate the jitter at the RxD pin at the receiving node, for bit rates below 5 Mbit/s. The maximum and minimum recessive bit length t Rec(RxD) seen be the receiving node is calculated. Maximum t Rec(RxD) = nominal bit time + max TX delay sym. deviation + max value of ∆t Rec for 5Mbit/s Minimum t Rec(RxD) = nominal bit time + min TX delay sym. deviation + min value of ∆t Rec for 5Mbit/s These values consider only the influence of the Transceiver. Additional effects like clock tolerance and the phase shift of the network are not considered. Table 7: Deviation of a 5 Mbit/s transceiver compared with the nominal bit time Parameter for 5 Mbit/s (tBit= 200ns) Parameter Specification Deviation to nominal bit time Unit min max min max Loop delay symmetry 120 220 -80 20 ns Transceiver Tx delay symmetry 155 210 -45 10 ns Transceiver Rx delay symmetry -45 15 -45 15 ns In Table 7 the deviation of the symmetry parameter to the nominal bit time is calculated. These deviations are bit rate independent. A transceiver has no information about bit rate and protocol. A transceiver transmits the level on the TxD pin on the bus pins up to the max specified bit rate. Based on this experience the deviation for 4 Mbit/s with a 5 Mbit/s transceiver can be calculated. The calculated deviation for 4 Mbit/s are shown in Table 8. 10 White Paper – The CAN FD Physical Layer 21-12-2015 Table 8: Calculated bit width variation of a 5 Mbit/s transceiver used in a 4 Mbit/s application Calculated parameter for a 4 Mbit/s application Parameter Calculated Bit width Deviation to nominal bit time Unit min max min max Loop delay symmetry 170 270 -80 20 ns Transceiver Tx delay symmetry 205 260 -45 10 ns Transceiver Rx delay symmetry -45 15 -45 15 ns In a real network a lot of ringing is available at the end of a dominant to recessive transition. This cause a reduction of the recessive bit time or tailores a network. Using a 5 Mbit/s transceiver in a 2Mbit/s application gives a little more margin for the network. In Table 9 the calculated numbers of the variation of a 5Mbit/s transceiver in a 2Mbit/s application. As you can see, the spread is smaller and especially the recessive bit width variance on the RxD Pin of a receiving node is much smaller compared with 2 Mbit/s transceiver in The same network (see Table 10 ). The Table 9: Calculated bit width variation of a 5 Mbit/s transceiver used in a 2 Mbit/s application Calculated parameter for a 2 Mbit/s application Parameter Calculated Bit width Deviation to nominal bit time Unit min max min max Loop delay symmetry 420 520 -80 20 ns Transceiver Tx delay symmetry 455 510 -45 10 ns Transceiver Rx delay symmetry -45 15 -45 15 ns Table 10: Comparison of the recessive bit width on a receiving node with 2Mbit/s and 5Mbit/s transceiver Bit rate Data phase 2 Mbit/s With 5 Mbit/s transceiver 2 Mbit/s With 2 Mbit/s transceiver tBit(RxDrec) min tBit(RxDrec) max tBit(Bus) normal 410 ns 525 ns 500 ns 60 Ω║100pF 370 ns 570 ns 500 ns 60 Ω║100pF Bus load difference is 40 ns. This margin makes your network more reliable against noise and EMC jitter. These are all relevant transceiver parameter for the new CAN FD application. To concept a CAN Physical layer the PLL jitter, the propagation delay and the symmetry are also part of the physical layer and have to be taken into account.. The Interface between microcontroller and transceiver has to be taken into account too and will be described in the next chapter. 11 White Paper – The CAN FD Physical Layer 21-12-2015 2.7 Interface between Microcontroller and Transceiver The interface between microcontroller and Transceiver cannot be ignored, if higher bit rates will be used in CAN FD networks. Depends on the kind of microcontroller port which will be used for TxD and the length of the board wire, the propagation delay can be up to 50ns. Due to the high capacitive load in case of a long wire on the ECU board, the slew rates will be slow too. To get no additional asymmetry, the TxD input thresholds should be symmetric (CMOS level) to the transceiver I/O supply. A TTL level Figure 12: Transceiver internal bit width modification caused by TxD input thresholds based TxD input threshold cause an internal modification of the bit length depends on the slew rate of the TxD input signal. Figure 12 illustrated such kind of bit width modification. Also the symmetry of the slew rates hast to be taken into account. As higher the bit rate is as more symmetric the slew rate of the microcontrollers TxD signal and the Transceiver RxD signal has to be. 3 Infineon CAN FD product overview Infineon offers a wide portfolio of stand alone transceiver and System base chips supporting CAN FD. Additional components are in development to support 5Mbit/s too. Table 11: CAN FD stand alone transceiver product overview Stand alone Transceiver Product variant Classical CAN CAN FD up to 2Mbit/s CAN FD up to 5 Mbit/s Without remote wake up (8 Pin Device) TLE7250SJ/LE TLE7250VSJ/VLE TLE7250XSJ/XLE Yes Yes No Without remote wake up (8 Pin Device) TLE9250SJ/LE TLE9250VSJ/VLE TLE9250XSJ/XLE Yes Yes Yes Without remote wake up (8 Pin Device) TLE7251VSJ/VLE Yes Yes No Without remote wake up (8 Pin Device) TLE9251VSJ/VLE Yes Yes Yes Industrial Transceiver with remote Wake up IFX1051 Yes Yes 12 White Paper – The CAN FD Physical Layer 21-12-2015 Table 12: System Basis chip with CAN FD and CAN partial Network product overview System Base Chip Mid Range SBC DCDC SBC DCDC SBC Multi-CAN Power SBC CAN FD up to 2Mbit/s CAN FD up to 5Mbit/s CAN PN + CAN FD tolerance Product variant Classical CAN TLE9260QX(V33) TLE9261QX(V33) TLE9262QX(V33) TLE9263QX(V33) Yes Yes No No TLE9260-3QX(V33) TLE9261-3QX(V33) TLE9262-3QX(V33) TLE9263-3QX(V33) Yes Yes No Yes TLE9271QX(V33) TLE9272QX(V33) TLE9273QX(V33) TLE9274QX(V33) Yes Yes No No TLE9278QX(V33) Yes Yes Yes No TLE9278-3QX(V33) Yes Yes Yes Yes 13 White Paper – The CAN FD Physical Layer 21-12-2015 List of Figures Figure 1: Transceiver Loop delay ..................................................................................................................4 Figure 2: Transceiver Loop delay specification ...............................................................................................4 Figure 3: Difference between Transmitter and Transceiver Loop delay ..............................................................4 Figure 4: Transceiver Loop delay symmetry specification ................................................................................5 Figure 5: Variation on RxD recessive bit length ..............................................................................................5 Figure 6: Transceiver Tx delay .....................................................................................................................6 Figure 7: Specification of recessive bit width on the bus ..................................................................................6 Figure 8: Variation on bus recessive bit length................................................................................................7 Figure 9: Impact of the dominant voltage level on the recessive bit width ..........................................................7 Figure 10: Typical communication path in CAN .............................................................................................8 Figure 11: Illustration of the recessive bit width on a receiving node .................................................................8 Figure 12: Transceiver internal bit width modification caused by TxD input thresholds .....................................12 14 White Paper – The CAN FD Physical Layer 21-12-2015 List of Tables Table 1: The RxD recessive bit width (Transceiver Loop Delay symmetry) ...............................................5 Table 2: The Bus recessive bit width (Transmitter Loop Delay symmetry) ................................................6 Table 3: The tolerance of the Receiver of 2 Mbit/s and 5 Mbit/s transceiver .............................................8 Table 4: Variation of the recessive bit width on a receiving RxD ...............................................................9 Table 5: Deviation of a 2 Mbit/s Transceiver to the nominal bit time .........................................................9 Table 6: Calculated bit width variation of a 2Mbit/s transceiver used in a 1Mbit/s application .................10 Table 7: Deviation of a 5 Mbit/s transceiver compared with the nominal bit time .....................................10 Table 8: Calculated bit width variation of a 5 Mbit/s transceiver used in a 4 Mbit/s application ...............11 Table 9: Calculated bit width variation of a 5 Mbit/s transceiver used in a 2 Mbit/s application ...............11 Table 10: Comparison of the recessive bit width on a receiving node with 2Mbit/s and 5Mbit/s transceiver ...............................................................................................................................................................11 Table 11: CAN FD stand alone transceiver product overview .................................................................12 Table 12: System Basis chip with CAN FD and CAN partial Network product overview ..........................13 15 White Paper – The CAN FD Physical layer 21-12-2015 Publications ISO 11898-2 Road Vehicles- Controller area network (CAN) Part 2: High-Speed medium access unit (edition 2016) not published up to now (dec 2015) International standardization organization (ISO) CiA 601-1 CAN node and system design Part 1: Physical interface implementation (2015) CAN in Automation (CiA) e.V. 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