SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 3.3-V CAN TRANSCEIVERS FEATURES D Operates With a 3.3-V Supply D Low Power Replacement for the PCA82C250 D D D D D D D D D D D Footprint Bus/Pin ESD Protection Exceeds 16 kV HBM High Input Impedance Allows for 120 Nodes on a Bus Controlled Driver Output Transition Times for Improved Signal Quality on the SN65HVD230 and SN65HVD231 Unpowered Node Does Not Disturb the Bus Compatible With the Requirements of the ISO 11898 Standard Low-Current SN65HVD230 Standby Mode 370 µA Typical Low-Current SN65HVD231 Sleep Mode 40 nA Typical Designed for Signaling Rates† up to 1 Megabit/Second (Mbps) Thermal Shutdown Protection Open-Circuit Fail-Safe Design Glitch-Free Power-Up and Power-Down Protection for Hot-Plugging Applications APPLICATIONS D Motor Control D Industrial Automation D Basestation Control and Status D Robotics D Automotive D UPS Control SN65HVD230D SN65HVD231D (TOP VIEW) D GND VCC R D GND VCC R R 7 3 6 4 5 RS CANH CANL Vref 1 8 2 7 3 6 4 5 NC CANH CANL NC 3 5 SN65HVD232 Logic Diagram (Positive Logic) Vref D RS 8 2 NC – No internal connection SN65HVD230, SN65HVD231 Logic Diagram (Positive Logic) D 1 SN65HVD232D (Marked as VP232) (TOP VIEW) LOGIC DIAGRAM (POSITIVE LOGIC) VCC (Marked as VP230) (Marked as VP231) 1 1 8 4 R 7 6 4 7 6 CANH CANL CANH CANL † The signaling rate of a line is the number of voltage transitions that are made per second expressed in the units bps (bits per second). Please be aware that an important notice concerning availability, standard warranty, and use in critical applications of Texas Instruments semiconductor products and disclaimers thereto appears at the end of this data sheet. TMS320Lx240x is a trademark of Texas Instruments. Copyright 2002, Texas Instruments Incorporated PRODUCTION DATA information is current as of publication date. Products conform to specifications per the terms of Texas Instruments standard warranty. Production processing does not necessarily include testing of all parameters. www.ti.com 1 SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 DESCRIPTION The SN65HVD230, SN65HVD231, and SN65HVD232 controller area network (CAN) transceivers are designed for use with the Texas Instruments TMS320Lx240x 3.3-V DSPs with CAN controllers, or with equivalent devices. They are intended for use in applications employing the CAN serial communication physical layer in accordance with the ISO 11898 standard. Each CAN transceiver is designed to provide differential transmit capability to the bus and differential receive capability to a CAN controller at speeds up to 1 Mbps. Designed for operation in especially-harsh environments, these devices feature cross-wire protection, loss-of-ground and overvoltage protection, overtemperature protection, as well as wide common-mode range. The transceiver interfaces the single-ended CAN controller with the differential CAN bus found in industrial, building automation, and automotive applications. It operates over a – 2-V to 7-V common-mode range on the bus, and it can withstand common-mode transients of ± 25 V. On the SN65HVD230 and SN65HVD231, pin 8 provides three different modes of operation: high-speed, slope control, and low-power modes. The high-speed mode of operation is selected by connecting pin 8 to ground, allowing the transmitter output transistors to switch on and off as fast as possible with no limitation on the rise and fall slopes. The rise and fall slopes can be adjusted by connecting a resistor to ground at pin 8, since the slope is proportional to the pin’s output current. This slope control is implemented with external resistor values of 10 kΩ, to achieve a 15-V/µs slew rate, to 100 kΩ, to achieve a 2-V/µs slew rate. See the Application Information section of this data sheet. The circuit of the SN65HVD230 enters a low-current standby mode during which the driver is switched off and the receiver remains active if a high logic level is applied to pin 8. The DSP controller reverses this low-current standby mode when a dominant state (bus differential voltage > 900 mV typical) occurs on the bus. The unique difference between the SN65HVD230 and the SN65HVD231 is that both the driver and the receiver are switched off in the SN65HVD231 when a high logic level is applied to pin 8 and remain in this sleep mode until the circuit is reactivated by a low logic level on pin 8. The Vref pin 5 on the SN65HVD230 and SN65HVD231 is available as a VCC/2 voltage reference. The SN65HVD232 is a basic CAN transceiver with no added options; pins 5 and 8 are NC, no connection. AVAILABLE OPTIONS PART NUMBER LOW POWER MODE INTEGRATED SLOPE CONTROL Vref PIN SN65HVD230 Standby mode Yes Yes SN65HVD231 Sleep mode Yes Yes SN65HVD232 No standby or sleep mode No No 2 www.ti.com TA MARKED AS: VP230 – 40°C 40 C to 85°C 85 C VP231 VP232 SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 Function Tables DRIVER (SN65HVD230, SN65HVD231) OUTPUTS INPUT D RS CANH L CANL BUS STATE H L Dominant H V(Rs) < 1.2 12V Z Z Recessive Open X Z Z Recessive X V(Rs) > 0.75 VCC Z Z Recessive H = high level; L = low level; X = irrelevant; ? = indeterminate; Z = high impedance DRIVER (SN65HVD232) OUTPUTS INPUT D CANH BUS STATE CANL L H L Dominant H Z Z Recessive Open Z Z Recessive H = high level; L = low level; Z = high impedance RECEIVER (SN65HVD230) DIFFERENTIAL INPUTS RS OUTPUT R VID ≥ 0.9 V 0.5 V < VID < 0.9 V X L X ? VID ≤ 0.5 V Open X H X H H = high level; L = low level; X = irrelevant; ? = indeterminate RECEIVER (SN65HVD231) DIFFERENTIAL INPUTS RS VID ≥ 0.9 V 0.5 V < VID < 0.9 V V(Rs) < 1.2 V VID ≤ 0.5 V X OUTPUT R L ? H V(Rs) > 0.75 VCC 1.2 V < V(Rs) < 0.75 VCC H X Open X H ? H = high level; L = low level; X = irrelevant; ? = indeterminate RECEIVER (SN65HVD232) DIFFERENTIAL INPUTS OUTPUT R VID ≥ 0.9 V 0.5 V < VID < 0.9 V L VID ≤ 0.5 V Open H ? H H = high level; L = low level; X = irrelevant; ? = indeterminate www.ti.com 3 SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 Function Tables (Continued) TRANSCEIVER MODES (SN65HVD230, SN65HVD231) V(Rs) V(Rs) > 0.75 VCC OPERATING MODE 10 kΩ to 100 kΩ to ground Slope control V(Rs) < 1 V High speed (no slope control) Standby Terminal Functions SN65HVD230, SN65HVD231 TERMINAL NAME DESCRIPTION NO. CANL 6 Low bus output CANH 7 High bus output D 1 Driver input GND 2 Ground R 4 Receiver output RS 8 Standby/slope control VCC Vref 3 Supply voltage 5 Reference output SN65HVD232 TERMINAL NAME CANL 6 Low bus output CANH 7 High bus output D 1 Driver input GND 2 Ground NC 4 DESCRIPTION NO. 5, 8 No connection R 4 Receiver output VCC 3 Supply voltage www.ti.com SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 equivalent input and output schematic diagrams CANH and CANL Inputs D Input VCC VCC 110 kΩ 16 V 9 kΩ 100 kΩ 45 kΩ Input 1 kΩ Input 20 V 9 kΩ 9V CANH and CANL Outputs R Output VCC VCC 16 V 5Ω Output Output 9V 20 V www.ti.com 5 SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 absolute maximum ratings over operating free-air temperature (see Note 1) (unless otherwise noted)† Supply voltage range, VCC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . – 0.3 V to 6 V Voltage range at any bus terminal (CANH or CANL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . – 4 V to 16 V Voltage input range, transient pulse, CANH and CANL, through 100 Ω (see Figure 7) . . . . . . . . . . . . – 25 V to 25 V Input voltage range, VI (D or R) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . – 0.5 V to VCC + 0.5 V Electrostatic discharge: Human body model (see Note 2) CANH, CANL and GND . . . . . . . . . . . . . . . . . . 16 kV All Pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 kV Charged-device model (see Note 3) All pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 kV Continuous total power dissipation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . See Dissipation Rating table Storage temperature range, Tstg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . – 65°C to 150°C Lead temperature 1,6 mm (1/16 inch) from case for 10 seconds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260°C † Stresses beyond those listed under “absolute maximum ratings” may cause permanent damage to the device. These are stress ratings only, and functional operation of the device at these or any other conditions beyond those indicated under “recommended operating conditions” is not implied. Exposure to absolute-maximum-rated conditions for extended periods may affect device reliability. NOTES: 1. All voltage values, except differential I/O bus voltages, are with respect to network ground terminal. 2. Tested in accordance with JEDEC Standard 22, Test Method A114-A. 3. Tested in accordance with JEDEC Standard 22, Test Method C101. PACKAGE TA ≤ 25°C POWER RATING DISSIPATION RATING TABLE DERATING FACTOR‡ TA = 70°C POWER RATING ABOVE TA = 25°C TA = 85°C POWER RATING D 725 mW 5.8 mW/°C 464 mW 377 mW ‡ This is the inverse of the junction-to-ambient thermal resistance when board-mounted and with no air flow. recommended operating conditions PARAMETER MIN Supply voltage, VCC Voltage at any bus terminal (common mode) VIC Voltage at any bus terminal (separately) VI High-level input voltage, VIH D, R Low-level input voltage, VIL D, R Differential input voltage, VID (see Figure 5) Input voltage, V(Rs) Input voltage for standby or sleep, V(Rs) Driver Receiver Driver Low level output current, Low-level current IOL Receiver V V – 2.5 7.5 V 2 V 0.8 V –6 6 V 0 VCC VCC V 100 kΩ www.ti.com V –40 mA –8 48 8 Operating free-air temperature, TA –40 85 § The algebraic convention, in which the least positive (most negative) limit is designated as minimum is used in this data sheet. 6 UNIT 7 0 High level output current, High-level current IOH MAX 3.6 0.75 VCC Wave-shaping resistance, Rs NOM 3 – 2§ mA °C SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 driver electrical characteristics over recommended operating conditions (unless otherwise noted) PARAMETER VOH TEST CONDITIONS VOD(D) VOD(R) VI = 0 V, See Figure 1 and Figure 3 CANH Recessive VI = 3 V, See Figure 1 and Figure 3 See Figure 1 1.5 2 3 Dominant VI = 0 V, VI = 0 V, See Figure 2 1.2 2 3 VI = 3 V, VI = 3 V, See Figure 1 – 120 0 12 Recessive No load – 0.5 – 0.2 0.05 IIH IIL High-level input current IOS Short circuit output current Short-circuit Co Output capacitance ICC 0.5 VCANH = –2 V VCANL = 7 V See receiver Standby SN65HVD230 Sleep SN65HVD231 All devices Dominant Recessive V 2.3 V mV V – 30 µA – 30 µA – 250 250 – 250 250 V(Rs) = VCC V(Rs) = VCC, D at VCC VI = 0 V, VI = VCC , UNIT VCC 1.25 2.3 CANL VI = 2 V VI = 0.8 V Low-level input current Supply current CANL MAX Dominant Differential out output ut voltage 2.45 TYP† CANH Bus output voltage VOL MIN 370 600 0.04 1 No load Dominant 10 17 No load Recessive 10 17 mA µA A mA † All typical values are at 25°C and with a 3.3-V supply. driver switching characteristics over recommended operating conditions(unless otherwise noted) SN65HVD230 and SN65HVD231 TEST CONDITIONS PARAMETER tPLH tPHL tsk( sk(p)) Propagation Pro agation delay time, low low-to-high-level to high level out output ut Propagation Pro agation delay time, high high-to-low-level to low level out output ut Pulse skew (|tPHL – tPLH|) tr tf Differential output signal rise time tr tf Differential output signal rise time tr tf Differential output signal rise time Differential output signal fall time Differential output signal fall time Differential output signal fall time MIN V(Rs) = 0 V RS with 10 kΩ to ground RS with 100 kΩ to ground TYP MAX 35 85 70 125 500 870 V(Rs) = 0 V RS with 10 kΩ to ground 70 120 130 180 RS with 100 kΩ to ground 870 1200 V(Rs) = 0 V RS with 10 kΩ to ground RS with 100 kΩ to ground V(Rs) = 0 V RS with 10 kΩ to ground RS with 100 kΩ to ground www.ti.com UNIT ns ns 35 CL = 50 pF, See Figure 4 60 ns 370 25 50 100 ns 40 55 80 ns 80 120 160 ns 80 125 150 ns 600 800 1200 ns 600 825 1000 ns 7 SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 driver switching characteristics over recommended operating conditions(unless otherwise noted) SN65HVD232 PARAMETER TEST CONDITIONS MIN TYP MAX 35 85 UNIT ns 70 120 ns tPLH tPHL Propagation delay time, low-to-high-level output tsk(p) tr Pulse skew (|tP(HL) – tP(LH)|) Differential output signal rise time 25 50 100 ns tf Differential output signal fall time 40 55 80 ns Propagation delay time, high-to-low-level output 35 CL = 50 pF, F, See Figure 4 ns receiver electrical characteristics over recommended operating conditions (unless otherwise noted) PARAMETER TEST CONDITIONS MIN VIT+ VIT– Positive-going input threshold voltage Vhys VOH Hysteresis voltage (VIT+ – VIT–) High-level output voltage – 6 V ≤ VID ≤ 500 mV, IO = –8 mA, See Figure 5 VOL Low-level output voltage 900 mV ≤ VID ≤ 6 V, IO = 8 mA, See Figure 5 II Negative-going input threshold voltage See Table 1 VCC = 0 V VIH = –2 V VIH = –2 V, VCC = 0 V Pin-to-ground, VI = 0.4 sin(4E6πt) + 0.5 V Ci CANH, CANL input capacitance Cdiff Differential input capacitance Pin-to-pin, VI = 0.4 sin(4E6πt) + 0.5 V Rdiff Differential input resistance Pin-to-pin, V(D) = 3 V RI MAX UNIT 750 900 mV 650 mV 100 VIH = 7 V VIH = 7 V, Bus input current 500 TYP† Other in input ut at 0 V, D=3V 2.4 0.4 100 250 100 350 – 200 – 30 – 100 – 20 V µA A µA A V(D) = 3 V, 32 pF V(D) = 3 V, 16 pF CANH, CANL input resistance 40 70 100 kΩ 20 35 50 kΩ ICC See driver Supply current † All typical values are at 25°C and with a 3.3-V supply. receiver switching characteristics over recommended operating conditions (unless otherwise noted) TEST CONDITIONS PARAMETER MIN TYP MAX UNIT tPLH tPHL Propagation delay time, low-to-high-level output 35 50 ns Propagation delay time, high-to-low-level output 35 50 ns tsk(p) tr Pulse skew (|tP(HL) – tP(LH)|) 10 ns tf Output signal fall time 8 See Figure 6 Output signal rise time See Figure 6 www.ti.com 1.5 ns 1.5 ns SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 device switching characteristics over recommended operating conditions (unless otherwise noted) TEST CONDITIONS PARAMETER t(LOOP1) t(LOOP2) Total loop delay, driver input to receiver output recessive to dominant output, Total loop delay, driver input to receiver output, output dominant to recessive MIN TYP MAX V(Rs) = 0 V, RS with 10 kΩ to ground, See Figure 9 70 115 See Figure 9 105 175 RS with 100 kΩ to ground, See Figure 9 535 920 V(Rs) = 0 V, RS with 10 kΩ to ground, See Figure 9 100 135 See Figure 9 155 185 RS with 100 kΩ to ground, See Figure 9 830 990 UNIT ns ns device control-pin characteristics over recommended operating conditions (unless otherwise noted) PARAMETER t(WAKE) Vref TEST CONDITIONS SN65HVD230 wake-up time from standby mode with RS SN65HVD231 wake-up time from sleep mode with RS Reference output voltage I(Rs) Input current for high-speed † All typical values are at 25°C and with a 3.3-V supply. MIN TYP† MAX UNIT 0.55 1.5 µS 5 µS See Figure 8 3 –5 µA < I(Vref) < 5 µA 0.45 VCC 0.55 VCC –50 µA < I(Vref) < 50 µA 0.4 VCC 0.6 VCC V(Rs) < 1 V – 450 0 V µA PARAMETER MEASUREMENT INFORMATION VCC II IO D IO 60 Ω 0 V or 3 V VOD CANH VI CANL Figure 1. Driver Voltage and Current Definitions 167 Ω 0V VOD 60 Ω 167 Ω ± –2 V ≤ VTEST ≤ 7 V Figure 2. Driver VOD www.ti.com 9 SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 PARAMETER MEASUREMENT INFORMATION Dominant CANH Recessive CANL ≈3V VOH ≈ 2.3 V VOL ≈1V VOH CANH CANL Figure 3. Driver Output Voltage Definitions RL = 60 Ω Signal Generator (see Note A) CL = 50 pF VO (see Note B) 50 Ω RS = 0 Ω to 100 kΩ for SN65HVD230 and SN65HVD231 N/A for SN65HVD232 3V Input 1.5 V 0V tPLH tPHL VOD(D) 90% 0.9 V Output 0.5 V 10% VOD(R) tr tf NOTES: A. The input pulse is supplied by a generator having the following characteristics: PRR ≤ 500 kHz, 50% duty cycle, tr ≤ 6 ns, tf ≤ 6 ns, Zo = 50 Ω. B. CL includes probe and jig capacitance. Figure 4. Driver Test Circuit and Voltage Waveforms IO VID V IC V )V CANL + CANH 2 VCANH VCANL Figure 5. Receiver Voltage and Current Definitions 10 www.ti.com VO SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 PARAMETER MEASUREMENT INFORMATION Output Signal Generator (see Note A) 50 Ω 1.5 V CL = 15 pF (see Note B) 2.9 V Input 2.2 V 1.5 V tPLH tPHL VOH 90% Output 1.3 V 10% VOL tr tf NOTES: A. The input pulse is supplied by a generator having the following characteristics: PRR ≤ 500 kHz, 50% duty cycle, tr ≤ 6 ns, tf ≤ 6 ns, Zo = 50 Ω. B. CL includes probe and jig capacitance. Figure 6. Receiver Test Circuit and Voltage Waveforms 100 Ω Pulse Generator, 15 µs Duration, 1% Duty Cycle Figure 7. Overvoltage Protection www.ti.com 11 SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 PARAMETER MEASUREMENT INFORMATION Table 1. Receiver Characteristics Over Common Mode With V(Rs) = 1.2 V VIC –2 V VID 900 mV VCANH –1.55 V VCANL –2.45 V R OUTPUT 7V 900 mV 8.45 V 6.55 V L 1V 6V 4V –2 V L L 4V 6V 7V 1V L –2 V 500 mV –1.75 V –2.25 V H 7V 500 mV 7.25 V 6.75 V H 1V –6 V –2 V 4V H 4V –6 V 1V 7V H X X Open Open H VOL VOH VCC 10 kΩ D R 60 Ω 0V Output CL = 15 pF RS Generator PRR = 150 kHz 50% Duty Cycle tr, tf < 6 ns Zo = 50 Ω Signal Generator 50 Ω + V(Rs) – VCC 1.5 V V(Rs) 0V t(WAKE) 1.3 V R Output Figure 8. t(WAKE) Test Circuit and Voltage Waveforms 12 www.ti.com SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 PARAMETER MEASUREMENT INFORMATION 0 Ω, 10 kΩ or 100 kΩ ±5% R S DUT CANH VI D 60 Ω ±1% CANL R + VO 15 pF ±20% VCC VI 50% 50% 0V t(LOOP2) t(LOOP1) VOH VO 50% 50% VOL Figure 9. t(LOOP) Test Circuit and Voltage Waveforms NOTE: All VI input pulses are supplied by a generator having the following characteristics: tr or tf ≤ 6 ns, Pulse Repetition Rate (PRR) = 125 kHz, 50% duty cycle www.ti.com 13 SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 TYPICAL CHARACTERISTICS SUPPLY CURRENT (RMS) vs FREQUENCY LOGIC INPUT CURRENT (PIN D) vs INPUT VOLTAGE 33 0 –2 I I(L) – Logic Input Current – µ A I CC – Supply Current (RMS) – mA 32 31 30 29 28 27 26 25 –4 –6 –8 –10 –12 –14 0 250 500 –16 750 1000 1250 1500 1750 2000 f – Frequency – kbps Figure 10 3.1 3.6 160 I OL – Driver Low-Level Output Current – mA I I – Bus Input Current – µ A 1.1 1.6 2.1 2.6 VI – Input Voltage – V DRIVER LOW-LEVEL OUTPUT CURRENT vs LOW-LEVEL OUTPUT VOLTAGE 400 300 200 VCC = 0 V 100 VCC = 3.6 V 0 –100 –200 –300 –7 –6 –4 –3 –1 0 1 3 4 6 7 8 10 11 12 VI – Bus Input Voltage – V 140 120 100 80 60 40 20 0 0 1 2 3 VO(CANL)– Low-Level Output Voltage – V Figure 13 Figure 12 14 0.6 Figure 11 BUS INPUT CURRENT vs BUS INPUT VOLTAGE –400 0 www.ti.com 4 SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 TYPICAL CHARACTERISTICS DRIVER HIGH-LEVEL OUTPUT CURRENT vs HIGH-LEVEL OUTPUT VOLTAGE DOMINANT VOLTAGE (VOD) vs FREE-AIR TEMPERATURE 3 VCC = 3.6 V 100 2.5 VOD– Dominant Voltage – V I OH – Driver High-Level Output Current – mA 120 80 60 40 20 0 VCC = 3.3 V VCC = 3 V 2 1.5 1 0.5 0 0.5 1 1.5 2 2.5 3 0 3.5 –55 –40 0 25 70 85 125 TA – Free-Air Temperature – °C VO(CANH) – High-Level Output Voltage – V RECEIVER LOW-TO-HIGH PROPAGATION DELAY TIME vs FREE-AIR TEMPERATURE RECEIVER HIGH-TO-LOW PROPAGATION DELAY TIME vs FREE-AIR TEMPERATURE 38 RS = 0 37 36 VCC = 3 V 35 VCC = 3.3 V 34 VCC = 3.6 V 33 32 31 30 –55 –40 0 25 70 85 125 t PHL– Receiver High-to-Low Propagation Delay Time – ns Figure 15 t PLH – Receiver Low-to-High Propagation Delay Time – ns Figure 14 40 RS = 0 39 VCC = 3 V 38 VCC = 3.3 V 37 VCC = 3.6 V 36 35 34 –55 –40 0 25 70 85 125 TA – Free-Air Temperature – °C TA – Free-Air Temperature – °C Figure 17 Figure 16 www.ti.com 15 SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 DRIVER LOW-TO-HIGH PROPAGATION DELAY TIME vs FREE-AIR TEMPERATURE 55 RS = 0 VCC = 3 V 50 45 40 VCC = 3.3 V 35 VCC = 3.6 V 30 25 20 15 10 –55 –40 0 25 70 85 125 t PHL– Driver High-to-Low Propagation Delay Time – ns t PLH – Driver Low-to-High Propagation Delay Time – ns TYPICAL CHARACTERISTICS DRIVER HIGH-TO-LOW PROPAGATION DELAY TIME vs FREE-AIR TEMPERATURE 90 RS = 0 VCC = 3.6 V 85 80 75 VCC = 3.3 V 70 VCC = 3 V 65 60 55 50 –55 –40 RS = 10 kΩ 80 50 VCC = 3 V VCC = 3.3 V VCC = 3.6 V 40 30 20 10 0 –55 –40 0 25 70 85 125 TA – Free-Air Temperature – °C 150 125 RS = 10 kΩ VCC = 3.6 V 140 VCC = 3.3 V 130 VCC = 3 V 120 110 100 90 80 –55 –40 0 25 70 85 TA – Free-Air Temperature – °C Figure 20 16 85 DRIVER HIGH-TO-LOW PROPAGATION DELAY TIME vs FREE-AIR TEMPERATURE t PHL – Driver High-to-Low Propagation Delay Time – ns t PLH – Driver Low-to-High Propagation Delay Time – ns DRIVER LOW-TO-HIGH PROPAGATION DELAY TIME vs FREE-AIR TEMPERATURE 60 70 Figure 19 Figure 18 70 25 TA – Free-Air Temperature – °C TA – Free-Air Temperature – °C 90 0 Figure 21 www.ti.com 125 SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 DRIVER LOW-TO-HIGH PROPAGATION DELAY TIME vs FREE-AIR TEMPERATURE 800 RS = 100 kΩ 700 VCC = 3 V 600 VCC = 3.3 V 500 VCC = 3.6 V 400 300 200 100 0 –55 –40 0 25 70 85 125 DRIVER HIGH-TO-LOW PROPAGATION DELAY TIME vs FREE-AIR TEMPERATURE t PHL– Driver High-to-Low Propagation Delay Time – ns t PLH – Driver Low-to-High Propagation Delay Time – ns TYPICAL CHARACTERISTICS 1000 RS = 100 kΩ VCC = 3.6 V 950 VCC = 3.3 V 900 850 VCC = 3 V 800 750 700 –55 –40 25 70 85 125 TA – Free-Air Temperature – °C TA – Free-Air Temperature – °C Figure 23 Figure 22 DRIVER OUTPUT CURRENT vs SUPPLY VOLTAGE DIFFERENTIAL DRIVER OUTPUT FALL TIME vs SOURCE RESISTANCE (Rs) t f – Differential Driver Output Fall Time – µs 50 I O – Driver Output Current – mA 0 40 30 20 10 1.50 1.40 1.30 VCC = 3.3 V 1.20 1.10 VCC = 3.6 V 1.00 0.90 0.80 0.70 0.60 VCC = 3 V 0.50 0.40 0.30 0.20 0.10 0 0 1 1.5 2 2.5 3 3.5 4 VCC – Supply Voltage – V 0 50 100 150 200 Rs – Source Resistance – kΩ Figure 24 Figure 25 www.ti.com 17 SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 TYPICAL CHARACTERISTICS REFERENCE VOLTAGE vs REFERENCE CURRENT 3 V ref – Reference Voltage – V 2.5 2 VCC = 3.6 V 1.5 VCC = 3 V 1 0.5 0 –50 –5 5 50 Iref – Reference Current – µA Figure 26 APPLICATION INFORMATION This application provides information concerning the implementation of the physical medium attachment layer in a CAN network according to the ISO 11898 standard. It presents a typical application circuit and test results, as well as discussions on slope control, total loop delay, and interoperability in 5-V systems. introduction ISO 11898 is the international standard for high-speed serial communication using the controller area network (CAN) bus protocol. It supports multimaster operation, real-time control, programmable data rates up to 1 Mbps, and powerful redundant error checking procedures that provide reliable data transmission. It is suited for networking intelligent devices as well as sensors and actuators within the rugged electrical environment of a machine chassis or factory floor. The SN65HVD230 family of 3.3-V CAN transceivers implement the lowest layers of the ISO/OSI reference model. This is the interface with the physical signaling output of the CAN controller of the Texas Instruments TMS320Lx240x 3.3–V DSPs, as illustrated in Figure 27. 18 www.ti.com SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 APPLICATION INFORMATION ISO 11898 Specification Implementation Application Specific Layer TMS320Lx2403/6/7 3.3-V DSP Logic Link Control Data-Link Layer Embedded Medium Access Control CAN Controller Physical Signaling Physical Layer Physical Medium Attachment SN65HVD230 Medium Dependent Interface CAN Bus-Line Figure 27. The Layered ISO 11898 Standard Architecture The SN65HVD230 family of CAN transceivers are compatible with the ISO 11898 standard; this ensures interoperability with other standard-compliant products. application of the SN65HVD230 Figure 28 illustrates a typical application of the SN65HVD230 family. The output of a DSP’s CAN controller is connected to the serial driver input, pin D, and receiver serial output, pin R, of the transceiver. The transceiver is then attached to the differential bus lines at pins CANH and CANL. Typically, the bus is a twisted pair of wires with a characteristic impedance of 120 Ω, in the standard half-duplex multipoint topology of Figure 29. Each end of the bus is terminated with 120-Ω resistors in compliance with the standard to minimize signal reflections on the bus. www.ti.com 19 SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 APPLICATION INFORMATION Electronic Control Unit (ECU) TMS320Lx2403/6/7 CAN-Controller CANTX/IOPC6 CANRX/IOPC7 D R SN65HVD230 CANH CANL CAN Bus Line Figure 28. Details of a Typical CAN Node ECU 1 ECU 2 ECU n CANH 120 Ω CAN Bus Line 120 Ω CANL Figure 29. Typical CAN Network The SN65HVD230/231/232 3.3-V CAN transceivers provide the interface between the 3.3-V TMS320Lx2403/6/7 CAN DSPs and the differential bus line, and are designed to transmit data at signaling rates up to 1 Mbps as defined by the ISO 11898 standard. features of the SN65HVD230, SN65HVD231, and SN65HVD232 The SN65HVD230/231/232 are pin-compatible (but not functionally identical) with one another and, depending upon the application, may be used with identical circuit boards. These transceivers feature 3.3-V operation and standard compatibility with signaling rates up to 1 Mbps, and also offer 16-kV HBM ESD protection on the bus pins, thermal shutdown protection, bus fault protection, and open-circuit receiver failsafe. The fail-safe design of the receiver assures a logic high at the receiver output if the bus wires become open circuited. If a high ambient operating environment temperature or excessive output current result in thermal shutdown, the bus pins become high impedance, while the D and R pins default to a logic high. 20 www.ti.com SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 APPLICATION INFORMATION features of the SN65HVD230, SN65HVD231, and SN65HVD232 (continued) The bus pins are also maintained in a high-impedance state during low VCC conditions to ensure glitch-free power-up and power-down bus protection for hot-plugging applications. This high-impedance condition also means that an unpowered node does not disturb the bus. Transceivers without this feature usually have a very low output impedance. This results in a high current demand when the transceiver is unpowered, a condition that could affect the entire bus. operating modes RS (pin 8) of the SN65HVD230 and SN65HVD231 provides for three different modes of operation: high-speed mode, slope-control mode, and low-power mode. high-speed The high-speed mode can be selected by applying a logic low to RS (pin 8). The high-speed mode of operation is commonly employed in industrial applications. High-speed allows the output to switch as fast as possible with no internal limitation on the output rise and fall slopes. The only limitations of the high-speed operation are cable length and radiated emission concerns, each of which is addressed by the slope control mode of operation. If the low-power standby mode is to be employed in the circuit, direct connection to a DSP output pin can be used to switch between a logic-low level (< 1 V) for high speed operation, and the logic-high level (> 0.75 VCC) for standby. Figure 30 shows a typical DSP connection, and Figure 31 shows the HVD230 driver output signal in high-speed mode on the CAN bus. D GND VCC R 1 8 2 7 3 6 4 5 RS IOPF6 TMS320LF2406 or TMS320LF2407 CANH CANL Vref Figure 30. RS (Pin 8) Connection to a TMS320LF2406/07 for High Speed/Standby Operation www.ti.com 21 SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 APPLICATION INFORMATION high-speed (continued) 1 Mbps Driver Output NRZ Data 1 Figure 31. Typical High Speed SN65HVD230 Output Waveform Into a 60-Ω Load slope control Electromagnetic compatibility is essential in many applications using unshielded bus cable to reduce system cost. To reduce the electromagnetic interference generated by fast rise times and resulting harmonics, the rise and fall slopes of the SN65HVD230 and SN65HVD231 driver outputs can be adjusted by connecting a resistor from RS (pin 8) to ground or to a logic low voltage, as shown in Figure 32. The slope of the driver output signal is proportional to the pin’s output current. This slope control is implemented with an external resistor value of 10 kΩ to achieve a ≈ 15 V/µs slew rate, and up to 100 kΩ to achieve a ≈ 2.0 V/µs slew rate as displayed in Figure 33. Typical driver output waveforms from a pulse input signal with and without slope control are displayed in Figure 34. A pulse input is used rather than NRZ data to clearly display the actual slew rate. D GND VCC R 1 8 2 7 3 6 4 5 RS 10 kΩ to 100 kΩ IOPF6 TMS320LF2406 or TMS320LF2407 CANH CANL Vref Figure 32. Slope Control/Standby Connection to a DSP 22 www.ti.com SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 APPLICATION INFORMATION DRIVER OUTPUT SIGNAL SLOPE vs SLOPE CONTROL RESISTANCE Driver Outout Signal Slop – V/ µ s 25 20 15 10 5 0 0 10 4.7 20 30 40 50 33 60 47 70 6.8 10 15 22 Slope Control Resistance – kΩ 80 68 90 100 Figure 33. HVD230 Driver Output Signal Slope vs Slope Control Resistance Value RS = 0 Ω RS = 10 kΩ RS = 100 kΩ Figure 34. Typical SN65HVD230 250-kbps Output Pulse Waveforms With Slope Control www.ti.com 23 SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 APPLICATION INFORMATION standby mode (listen only mode) of the HVD230 If a logic high (> 0.75 VCC) is applied to RS (pin 8) in Figures 30 and 32, the circuit of the SN65HVD230 enters a low-current, listen only standby mode, during which the driver is switched off and the receiver remains active. In this listen only state, the transceiver is completely passive to the bus. It makes no difference if a slope control resistor is in place as shown in Figure 32. The DSP can reverse this low-power standby mode when the rising edge of a dominant state (bus differential voltage > 900 mV typical) occurs on the bus. The DSP, sensing bus activity, reactivates the driver circuit by placing a logic low (< 1.2 V) on RS (pin 8). the babbling idiot protection of the HVD230 Occasionally, a runaway CAN controller unintentionally sends messages that completely tie up the bus (what is referred to in CAN jargon as a babbling idiot). When this occurs, the DSP can engage the listen-only standby mode to disengage the driver and release the bus, even when access to the CAN controller has been lost. When the driver circuit is deactivated, its outputs default to a high-impedance state. sleep mode of the HVD231 The unique difference between the SN65HVD230 and the SN65HVD231 is that both driver and receiver are switched off in the SN65HVD231 when a logic high is applied to RS (pin 8). The device remains in a very low power-sleep mode until the circuit is reactivated with a logic low applied to RS (pin 8). While in this sleep mode, the bus-pins are in a high-impedance state, while the D and R pins default to a logic high. loop propagation delay Transceiver loop delay is a measure of the overall device propagation delay, consisting of the delay from the driver input to the differential outputs, plus the delay from the receiver inputs to its output. The loop delay of the transceiver displayed in Figure 35 increases accordingly when slope control is being used. This increased loop delay means that the total bus length must be reduced to meet the CAN bit-timing requirements of the overall system. The loop delay becomes ≈100 ns when employing slope control with a 10-kΩ resistor, and ≈500 ns with a 100-kΩ resistor. Therefore, considering that the rule-of-thumb propagation delay of typical bus cable is 5 ns/m, slope control with the 100-kΩ resistor decreases the allowable bus length by the difference between the 500-ns max loop delay and the loop delay with no slope control, 70.7 ns. This equates to (500–70.7 ns)/5 ns, or approximately 86 m less bus length. This slew-rate/bus length trade-off to reduce electromagnetic interference to adjoining circuits from the bus can also be solved with a quality shielded bus cable. 24 www.ti.com SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 APPLICATION INFORMATION ( ) Figure 35. 70.7-ns Loop Delay Through the HVD230 With RS = 0 www.ti.com 25 SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 APPLICATION INFORMATION interoperability with 5-V CAN systems It is essential that the 3.3-V HVD230 family performs seamlessly with 5-V transceivers because of the large number of 5-V devices installed. Figure 36 displays a test bus of a 3.3-V node with the HVD230, and three 5-V nodes: one for each of TI’s SN65LBC031 and UC5350 transceivers, and one using a competitor X250 transceiver. Tektronix HFS–9003 Pattern Generator Tektronix 784D Oscilloscope Trigger Input Tektronix P6243 Single-Ended Probes One Meter Belden Cable #82841 120 Ω 120 Ω SN65HVD230 SN65LBC031 UC5350 HP E3516A 5-V Power Supply HP E3516A 3.3-V Power Supply Figure 36. 3.3-V/5-V CAN Transceiver Test Bed 26 Competitor X250 www.ti.com SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 APPLICATION INFORMATION Driver Input CAN Bus Receiver Output Figure 37. The HVD230’s Input, CAN Bus, and X250’s RXD Output Waveforms Figure 37 displays the HVD230’s input signal, the CAN bus, and the competitor X250’s receiver output waveforms. The input waveform from the Tektronix HFS-9003 Pattern Generator in Figure 36 to the HVD230 is a 250-kbps pulse for this test. The circuit is monitored with Tektronix P6243, 1-GHz single-ended probes in order to display the CAN dominant and recessive bus states. Figure 37 displays the 250-kbps pulse input waveform to the HVD230 on channel 1. Channels 2 and 3 display CANH and CANL respectively, with their recessive bus states overlaying each other to clearly display the dominant and recessive CAN bus states. Channel 4 is the receiver output waveform of the competitor X250. www.ti.com 27 SN65HVD230 SN65HVD231 SN65HVD232 SLOS346G – MARCH 2001 – REVISED JUNE 2002 MECHANICAL DATA D (R-PDSO-G**) PLASTIC SMALL-OUTLINE PACKAGE 14 PINS SHOWN 0.050 (1,27) 0.020 (0,51) 0.014 (0,35) 14 0.010 (0,25) M 8 0.008 (0,20) NOM 0.244 (6,20) 0.228 (5,80) 0.157 (4,00) 0.150 (3,81) Gage Plane 0.010 (0,25) 1 7 0°–ā8° A 0.044 (1,12) 0.016 (0,40) Seating Plane 0.069 (1,75) MAX 0.010 (0,25) 0.004 (0,10) PINS ** 0.004 (0,10) 8 14 16 A MAX 0.197 (5,00) 0.344 (8,75) 0.394 (10,00) A MIN 0.189 (4,80) 0.337 (8,55) 0.386 (9,80) DIM 4040047 / D 10/96 NOTES: A. B. C. D. 28 All linear dimensions are in inches (millimeters). This drawing is subject to change without notice. Body dimensions do not include mold flash or protrusion, not to exceed 0.006 (0,15). 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