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Physical Layer
Bit-Encoding/Decoding
Bit-Timing
Soft Synchronization
Media Attachment
Transceiver Characteristics
Bus Cable Characteristics
CiA
Physical
Physical Interface
Interface Layer
Layer
Physical
Physical Signaling
Signaling (PLS)
(PLS)
Bit
BitEncoding/Decoding
Encoding/Decoding
Bit
BitTiming
Timing
Synchronization
Synchronization
Physical
Physical Medium
MediumAttachment
Attachment(PMA)
(PMA)
Transceiver
Characteristics
Transceiver Characteristics
Medium
Medium Dependent
Dependent Interface
Interface (MDI)
(MDI)
Cable/Connector
Cable/Connector
CiA
The CAN physical layer can be divided in three sub-layers. The PLS
layer is implement in the CAN controller chips. The PMA layer
describes the transceiver characteristics. The MDI layer specifies the
cable and connector characteristics.
The PMA and MDI layers are subject of different international,
national and industry standards as well as proprietary specifications.
Most common is the ISO 11898 standard specifying a high-speed
transceiver for CAN-based networks.
Non-Return-to-Zero
Non-Return-to-Zero Coding
Coding
recessive bit-level
5V
Bit 1
0V
Bit 2
Bit 3
Bit 3
Bit 4
Bit 5
dominant bit-level
CiA
The bit stream in a CAN message is coded according to the NonReturn-to-Zero (NRZ) method. This means that during the total bit
time the generated bit level is either dominant or recessive. The
alternative method, the Manchester coding, requires in each bit a
falling or rising edge, which leads to higher frequency.
Bit-Stuffing
Bit-Stuffing Rule
Rule
bit-sequence to be transmitted
r
Sd
stuffed bit-sequence
r
Sr
CiA
User-Bit
User-Bit to
to Stuff-Bit
Stuff-Bit Ratio
Ratio
Unstuffed bit-sequence
stuffed bit-sequence
CiA
Stuff-Bit
Stuff-Bit Estimation
Estimation
data length
code
estimated
maximum
dlc
s_max
s_max
s_max-1
s_max-2
s_max-3
0
1
8
10
0
0
0
0
1
0
13
30
12
32
14
444
16
>171
18
>82
20
>175
22
124
>15205
24
21
>2660
CiA
Because the Control Field of the CAN Data Frame contains two
reserved bits of dominant value and the Data Length Code the
practical maximum number of stuff-bits is not the same as
theoretically calculated.
The shown table is the result of simulation for all possible CAN
Standard Frames. There is no frame with the maximum number of
stuff-bits existing. CAN frames with a Data Length Code of 7 contain
more stuff-bits in average than the others. This is why the DLC has
the value of 0111 (0 = dominant, 1 = recessive).
Bit-Timing
Bit-Timing
Oscillator
BaudratePrescaler
Time Quantum
Bit-Time
CiA
Sub-Bit
Sub-Bit Segments
Segments
Nominal Bit-Time
SYNC_SEG PROP_SEG PHASE_SEG1 PHASE_SEG2
Sample Point
Sync_Seg :
1 tq
Prop_Seg + Phase_Seg1: 1 .. 16 tq
Phase_Seg2:
1 .. 8 tq
CiA
Basically the CAN bit period can be subdivided into four time
segments. Each time segment consists of a number of Time Quanta.
SYNC_SEG is 1 Time Quantum long. It is used to synchronize the
various bus nodes.
PROP_SEG is programmable to be 1, 2,... 8 Time Quanta long. It is
used to compensate for signal delays across the network.
PHASE_SEG1 is programmable to be 1,2, ... 8 Time Quanta long. It
is used to compensate for edge phase errors and may be lengthened
during resynchronization.
PHASE_SEG2 is the maximum of PHASE_SEG1 and the
Information Processing Time long. It is also used to compensate
edge phase errors and may be shortened during resynchronization.
Information Processing Time is less than or equal to 2 Time Quanta
long.
The total number of Time Quanta has to be from 8 to 25.
Programming of the Sample Point allows optimizing the Bit Timing: A
late sampling for example allows a maximum bus length; an early
sampling allows slower rising and falling edges.
Signal
Signal Propagation
Propagation
Receiving
CAN Node
Transmitting
CAN Node
Optocoupler
Optocoupler
Optocoupler
Transceiver
Optocoupler
Transceiver
Signal Propagation
for Identifier and Ack
CiA
Data-Rate/Bus-Length
Data-Rate/Bus-Length Ratio
Ratio
Data-Rate [kbit/s]
1600
1000
100
10
5
10
100
1000
CiA
At bit rates lower than 1 Mbit/s the bus length may be lengthened
significantly. A data rate of 50 kbit/s allows a bus length of 1 km. ISO
11898 compliant transceivers specify max. bus length of about 1 km.
But it is allowed to use bridge-devices or repeaters to increase the
allowed distance between ISO 11898 compliant nodes to more than 1
km.
Practical
Practical Bus
Bus Length
Length
Bit Rate
Bus Length
Nominal Bit-Time
1 Mbit/s
800 kbit/s
500 kbit/s
250 kbit/s
125 kbit/s
62,5 kbit/s
20 kbit/s
10 kbit/s
30 m
50 m
100 m
250 m
500 m
1000 m
2500 m
5000 m
1 ms
1,25 ms
2 ms
4 ms
8 ms
20 ms
50 ms
100 ms
CiA
Resynchronization
Resynchronization (1)
(1)
Input Signal
Sync_Seg
Prop_Seg + Phase_Seg1
Sync_Seg
Prop_Seg + Phase_Seg1
Phase_Seg2
RJW
Sync_Seg
RJW (Resynchronization Jump Width): 1 .. 4 tq
Resynchronization
Resynchronization (2)
(2)
Input Signal
Sync_Seg
Prop_Seg + Phase_Seg1
Phase_Seg2
RJW
Nominal Sample Point
Sync_Seg
Phase_Seg2
Prop_Seg + Phase_Seg1
Phase_Seg2
Sync_Seg
CiA
Medium
Medium Attachment
Attachment
CiA
There are several official and industry standards dealing with CAN
medium attachment.
Most important for general purpose applications is the CAN highspeed standard ISO 11898.
The ISO 11519-1 specification will be withdrawn in the near future,
and is only used by the German LBS standard (DIN 9684) for
agriculture machines.
Fault-tolerant transceivers used in car body electronics will be
standardized by the ISO TC22 SC3 WG1.
The ISO 11992 standard was originally developed for truck/trailer
connections, and provides also fault-tolerant capability.
A SAE task force is working on a single-wire transmission
specification.
Proprietary fiber-optical solutions as well as wire-less transmission
are available.
A power-supply transmission is possible but not commercially
available due to the high price of the transceiver.
ISO
ISO 11898-2
11898-2 Network
Network Setup
Setup
node 1
. . . . . . . .
node n
120 W
120 W
CAN_H
CAN_L
CiA
ISO
ISO 11898-2
11898-2 Node
Node
mC
CAN-Controller
Tx
Rx
Vref
CAN-Transceiver
CAN_H CAN_L
+5V
0V
Bus-Line
CiA
Nominal
Nominal Bus
Bus Levels
Levels
min. 1 ms
Voltage
5V
CAN_H
3,5 V
2,5 V
CAN_L
1,5 V
0V
Recessive
Dominant
Recessive
Time
CiA
The bus nodes shall detect a recessive bus condition if the voltage of
CAN_H is not higher than the voltage of CAN_L plus 0.5 V. If the
voltage of CAN_H is at least 0.9 V higher than CAN_L, then a
dominant bus condition shall be detected. The nominal voltage in the
dominant state is 3.5 V for the CAN_H line and 1.5 V for the CAN_L
line.
Electromagnetic
Electromagnetic Interference
Interference
V
EMI
Vdiff = const
CAN_H
120 W
t
120 W
CAN_L
CiA
ISO
ISO High-Speed
High-Speed Signal
Signal Levels
Levels
CAN_H
Tx
0V
Transceiver
d
5V
0V
d
5V
Rx
2V
0V
2V
2,5V
t
d
t
CAN_L
CiA
ISO
ISO High-Speed
High-Speed Transceivers
Transceivers
p
Manufacturer
Bosch
type no.
CF150B
Mietec
MTC-3054
Philips
Semiconductors
82C250
Philips
Semiconductors
82C251
SGSThomson
Temic
(Siliconix)
Unitrode
L9615
Si9200EY
UC5350
0.5
-5...+36
-3...+65
-8...+18
-36...+36
-5...+36
GND...+16
-8...+36
transient [V]
-200...+200
-200...+200
-150...+100
-200...+200
-200...+200
-60...+60
-150...+100
ESD [kV]
2.5
thermal shutdown
(1,2)
n.a.
yes
yes
(1, 2)
yes
yes
slope control
on/off
variable
variable
variable
on/off
none
variable
CMR [V]
-2...+7 (3)
-7...+12
-7...+12
-7...+12
-2...+7 (3)
-2...+7
-25...+18
delay [ns]
230
100
170
170
230
120 (4)
100 (4)
32
32
64 (110)
110
32
32
n.a. (6)
<80
110
<70
<80
<80
70
70
stand-by current
[mA]
packaging
n.a.
300
<170
<250
n.a.
n.a.
1000
SOIC-8
SOP-16
SO-8, DIP-8
SO-8
SOIC-8,DIL-8
Remarks: 82C250 and UC5350 are pin compatible; L9615 is licenced by Bosch
CiA
CiA
CiA DS-102
DS-102 Baudrates
Baudrates
Bit rate
Bus length
(1)
Nominal
bit time
Number of
time quanta
Length of
time
Location of
sample
BTR 0
at 16 MHz
BTR 1
at 16 MHz
tb
per bit
quantum tq
point
(82C200)
(82C200)
1 Mbit/s
25 m
1 ms
125 ns
6 tq
00h
14h
800 kbit/s
50 m
1.25 ms
00h
16h
500 kbit/s
100 m
2 ms
00h
1Ch
250 kbit/s
250 m (2)
4 ms
01h
1Ch
125 kbit/s
500 m (2)
8 ms
03h
1Ch
50 kbit/s
1000 m (3)
20 ms
16
1.25 ms
09h
1Ch
20 kbit/s
2500 m (3)
50 ms
16
3.125 ms
18h
1Ch
10 kbit/s
5000 m (3)
100 ms
31h
1Ch
(750 ns)
10
125 ns
8 tq
(1 ms)
16
125 ns
14 tq
(1.75 ms)
16
250 ns
14 tq
(3.5 ms)
16
500 ns
14 tq
(7 ms)
14 tq
(17.5 ms)
14 tq
(43.75 ms)
16
6.25 ms
14 tq
(87.5 ms)
CiA
CiA
CiA DS-102
DS-102 Bit-Timing
Bit-Timing
Sample Point
Time Quantum (tq)
1 Mbit/s
tq = 125 ns
10 - 500 kbit/s
tq = 250 ns .. 6,25ms
3 4
5 6
10
9 10 11 12 13 14 15 16
CiA
The bit timing recommended by CiA defines the time quantum as well
as the position of the sample point.
CiA
CiA DS-102
DS-102 Design
Design Hints
Hints
Every module should support a bit rate of
20 kbit/s and as many of the recommended
bit-rates as possible.
For bus-length greater than about 200 m the
use of optocouplers is recommended.
For bus length greater than about 1 km bridge
or repeater devices may be needed.
CiA
CiA
CiA DS-102
DS-102 Pin
Pin Assignment
Assignment
Signal
Description
Reserved
CAN_L
CAN_L bus line dominant low
CAN_GND
CAN Ground
Reserved
(CAN_SHLD) Optional CAN Shield
GND
Optional Ground
CAN_H
CAN_H bus line dominant high
Reserved
(CAN_V+)
Optional CAN external supply
CiA
The CiA DS-102 standard includes a pin assignment for 9-pole Sub-D
connectors for the connection of nodes to the CAN bus lines. This pin
assignment is also used by some higher-layer protocol specifications
(e.g. CANopen, Smart Distributed System).
High-Speed
High-Speed Parameter
Parameter
DC Parameter
Length-Related Resistance (r):
70 m W /m
Termination Resistor (Rt):
nominal 120 W (min. 108 W, max. 132 W)
AC Parameter
Impedance (Z):
nominal 120 W (min. 108 W, max. 132 W)
Specific Line Delay:
5 ns/m
CiA
DC
DC Characteristics
Characteristics
Bus
BusCable
Cable
Bus
Bus
Length
Length
LengthLengthRelated
Related
Resistance
Resistance
00....40
40mm
70
70mW/m
mW/m
40
40....300
300mm
<60
<60mW/m
mW/m
300
<40mW/m
mW/m
300....600
600mm <40
600
<26mW/m
mW/m
600mm....11km
km <26
Bus-Line
Bus-Line
Cross-Section
Cross-Section
Termination
Termination Max.
Max.
Resistance
Resistance Baudrate
Baudrate
2
2
0.25
0.34mm
mm2 124 W (1%) 11Mbit/s
Mbit/s
0.25mm
mm2....0.34
124 W (1%) at 40 m
AWG23,
AWG23,AWG22
AWG22
at 40 m
2
2
0.34
0.6mm
mm2 127 W (1%) 500
0.34mm
mm2....0.6
500Kbit/s
Kbit/s
127 W (1%) at 100 m
AWG22,
AWG22,AWG20
AWG20
at 100 m
150
150WW
2
2
0.5
100
100Kbit/s
Kbit/s
0.6mm
mm2
0.5mm
mm2....0.6
to
to
AWG20
atat500
500mm
AWG20
300
W
300 W
150
2
2
150WW
0.75
50
50Kbit/s
Kbit/s
0.8mm
mm2
0.75mm
mm2....0.8
to
to
AWG
18
atat1k
1kmm
AWG 18
300
W
300 W
CiA
CAN
CAN Bus-Line
Bus-Line Cross-Sections
Cross-Sections
Length
100 m
250 m
500 m
Wire resistance Rw < 21 W (32 nodes), < 18,5 W (64 nodes), 16 W (100 nodes),
CiA
SAE
SAE J2284
J2284 Proposal
Proposal
CAN 2.0 B compliant CAN controller
Standard 11-bit identifiers
ISO 11898 compliant transceiver chips
max. data rate: 500 Kbit/s
max. number of nodes: 16 ECUs
bus cable: unshielded twisted pair
max. stub length: 1 m
min./max. ECU distance: 0.1/40 m
CiA
SAE
SAE J2284
J2284 Bit
Bit Timing
Timing
min. nom. max.
[ns] [ns] [ns]
Nominal Bit Time*
Media Delay
ECU Delay
Time Quantum
TSEG1
220
100
390
200
***
***
***
CiA
The SAE J2284 specification defines also the bit timing in CAN highspeed networks (ISO 11898-2).
ISO
ISO 11898-2
11898-2 Repeater
Repeater
Rx_2
Tx_1
OR
OR
AND
NOT
DELAY
NOT
NOT
AND
OR
Rx_1
DELAY
NOT
Tx_2
OR
CiA
ISO 11898 Repeater can be used to isolate galvanically CAN bus sections or
to drive a higher number of bus nodes as the transceiver supports or to
exceed the bus length to more than 1 km. With repeaters any network
topology can be achieved.
ISO
ISO 11898-2
11898-2 Topology
Topology
Node
Node33
Node
Node22
Node
Node11
Node
Node44
Ld
Node
Nodenn
Lt
Ld = Drop Length
Lt = Trunk Length
CiA
Calculation
Calculation of
of Cable
Cable Drop
Drop Length
Length
Rules of thumb for the maximum length of a unterminated cable drop Ld
and for for the cumulative drop length Ldi:
n
Ld < tPROPSEG / ( 50 * tP )
i=1
tPROPSEG : length of the propagation segment of the bit period
: specific line delay per length unit
tP
Example: bit rate = 500 kbit/s: tPROPSEG = 12 * 125ns = 1500 ns; tP = 5 ns/m
n
CiA
Split
Split Termination
Termination Concept
Concept
Topology option intended to provide enhanced EMC characteristics
without changing the DC characteristics of the termination line.
CAN_H
Rt/2
Cg
Rt/2
Bus Line
Rt/2
Rt/2
Cg
CAN_L
Rt/2 = 62 W
Cg = 10...100nF
CiA
Multiple
Multiple Termination
Termination Concept
Concept
Topology option which targets at networks differing from a single
line structure for example with cable drop lengths of a few meters.
This topology can be used in combination with the split termination.
CAN_H
Rt
Rt
CAN_L
Rt = 180 W
Rt
CiA
Patented
Patented Star
Star Topology
Topology
30 W
CAN
CAN
Node
Node
10 W
30 W
15 nF
CAN
CAN
Node
Node
^=
2 mH
44 W
10 pF
CiA
Fault-Tolerant
Fault-Tolerant Transceiver
Transceiver
mC
CAN Controller
Tx
Control
RTH
Rx
Vref
CAN Transceiver
+5V
CAN_H CAN_L
0V
RTL
Bus-Line
CiA
Open
Open and
and Short
Short Failures
Failures
Node 1
Node n
Node 2
CAN_H
RT
RT
CAN_L
Case
Case
Case
Case
Case
Case
Case
Case
Case
1: CAN_H interrupted
2: CAN_L interrupted
3: CAN_H shorted to battery voltage
4: CAN_L shorted to ground
5: CAN_H shorted to ground
6: CAN_L shorted to battery voltage
7: CAN_L shorted to CAN_H
8: CAN_H and CAN_L interrupted at the same Location
9: Loss of one connection to termination network
CiA
During normal operation several bus failures may occur that may
influence the bus operation. In several applications, in particular in
car body electronics, fault- tolerance capability is required.
Except in case 8 the transceiver will indicate the failure to the
microcontroller via a dedicated error flag output. This signal can be
used for diagnostic purposes.
Tx
0V
d
d
5V
0V
d
5V
Rx
d
t
Fault-Tolerant Transceiver
Fault-Tolerant
Fault-Tolerant Signal
Signal Levels
Levels
CAN_H
2,2V
5V
3,6V
1,4V
2,2V
CAN_L
CiA
The fault-tolerant transceiver was originally specified by DaimlerBenz and other passenger car manufacturers. This approach will
substitute the ISO 11519-1 standard.
The dominant bit is represented by 3.6 V (CAN_H) and 1.4 V
(CAN_L) meaning there is difference voltage of 2.2 V; the recessive
bit difference voltage is 5 V (CAN_H = 0 V and CAN_L = 5 V).
Fault-Tolerant
Fault-Tolerant Transceiver
Transceiver
Motorola
Philips
Siemens
ST Micro
Stand-alone
Transceiver
MC 33388
TJA 1054
TLE 6252
System
Basis Chip
MC 33389
TJA 1060
TLE 6260
U 435
functional compatible
pin-compatible
CiA
CiA
System
System Basis
Basis Chip
Chip
Battery
Tx
Rx
Wake-up
Bus Transceiver
Mode Control
Voltage Transceiver
Time Control
Wake-up Input
Relay Driver
SPI
Vcc
Output
CiA
Nominal
Nominal ISO
ISO 11992
11992 Bus
Bus Levels
Levels
CAN_H
Tx
0V
Transceiver
d
5V
0V
d
5V
Rx
18V
9V
9V
9V
9V
d
t
CAN_L
CiA
Active
Active Star
Star Coupler
Coupler Concept
Concept
Terminated CAN
Node11
Node
Node
Node22
Transceiver
Star
Coupler
optical transmission path
CAN
Node n
CiA
Power
Power Line
Line Transmission
Transmission
Lp
Lp
Lp
Lp
Cs
Cs
Rp
Up Ri
Power Source
Rs
Cp
Power Circuit
Signal Circuit
CAN Node
CiA
RF
RF Transmission
Transmission
Radio
Transmission
Node
Node44
CAN
Node11 Node
Node22 Node
Node33
Node
Node55
Node
CAN
Node
Node77
Node66 Node
CiA
Infrared
Infrared Transmission
Transmission
Node
Node44
CAN
Node11 Node
Node22 Node
Node33
Node
Infrared
Transmission
Node55
Node
CAN
Node
Node77
Node66 Node
CiA