FD

CAN-FD
Flexible Data Rate CAN

A Short Primer and Update

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

V 1.1 2012-08-27
Agenda

> Why CAN-FD?

What is CAN-FD?

Basic Concepts

CAN-FD Specifics

Data Frame

Operating Modes/States

Physical Layer Considerations

Summary

References

FAQ

Vector‘s Roadmap for CAN FD

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 3
Why CAN-FD?

CAN networks reached practical maximums of data transfer

 Many CAN buses have reached 50%-95%+ bus load level
 CAN messages contain ≥50% overhead
 Standard CAN ~ 129 bits/message for 64 bits of data*
 Extended CAN ~ 154 bits/message for 64 bits of data*
 At most, only ~40-50% of the bandwidth is used to exchange
useful data

 Current CAN bus speeds ≤ 1Mbit/sec

 Limited by physical characteristics of in-vehicle wiring
 Most auto networks ≤ 500Kbit/sec
 J1939 networks = 250Kbit/sec (500Kb/sec under consideration)

* - excluding stuff bits

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 4
Why CAN-FD?

 CAN bus speed also limited due to the In-Frame Response (IFR)
mechanism
 ACK generation delay in CAN controller +
 Propagation delay through the transceiver +
 Propagation delay over wire ≤ 1 bit time

 Other protocols have much higher data throughput rate

 Ethernet UDP – ~64K bytes/datagram, 64 bytes overhead
(ipV4)
 FlexRay – 254 bytes/frame, 8 bytes of overhead

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 5
Agenda

Why CAN-FD?

> What is CAN-FD?

Basic Concepts

CAN-FD Specifics

Data Frame

Operating Modes/States

Physical Layer Considerations

Summary

References

FAQ

Vector‘s Roadmap for CAN FD

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 6
What is CAN-FD?

New network protocol:

 CAN-FD is a serial communications protocol similar to and
compatible with ISO 11898-1
 Will be folded into the ISO 11898-1 standard
 Designed to be a higher bandwidth network compatible with CAN

 Supports dual bit rates within a message

 Arbitration-Phase – same bit rate as standard CAN
 Data-Phase – integral submultiple of controller clock rate

 Supports larger data lengths than “standard” CAN

 Offers increased data transmission efficiency
 Transmit/receive up to 64 bytes/message

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 7
What is CAN-FD?

 Differences from CAN are limited to CAN-FD controller hardware

 Existing CAN transceivers usable to 2-8 Mbit/sec
 Component re-qualification unnecessary

 Legacy SW usable
 Data fields up to 8 bytes in length

 System cost similar to standard CAN

 Controller, crystal, transceiver, node interconnection cost
 Crystal requires tighter tolerance when BitRateDATA/BitRateARB > 6

 Progressively introduce CAN-FD nodes into standard networks

 First commercial silicon to be available at end of 2012
 Dual rate clock, data fields ≤ 8 bytes
© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 8
Agenda

Why CAN-FD?

What is CAN-FD?

> Basic Concepts

CAN-FD Specifics

Data Frame

Operating Modes/States

Physical Layer Considerations

Summary

References

FAQ

Vector‘s Roadmap for CAN FD

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 9
Basic Concepts

 CAN-FD is similar to standard CAN and can be configured to fit

transparently into an existing CAN network
 All of the advantages of CAN are available in CAN-FD
 Message prioritization, guaranteed latency times, flexible
configuration, multi-master, multicast capability, error detection &
signaling, automatic retransmission on error

 Tools have been modified to work with CAN-FD

 Tool infrastructure remains similar to CAN minimizing learning curve
 CANalyzer/CANoe upgrade released (Ver. 8.0 SP3)
 Database tools have been modified as well

 Physical layer is similar

 Additional consideration must be given to topology when using
higher data rates

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 10
Basic Concepts

Summary:
CAN-FD is superset of CAN that:
 Maintains CAN arbitration scheme
 Maintains ACK scheme
 Has mode that conforms with CAN 2.0/ISO11898-1

And adds:
 Higher data bit rates
 Larger data fields (up to 64 bytes)
 Larger CRC polynomials to handle larger data fields

Maintains compatibility with physical layer of standard CAN

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 11
Agenda

Why CAN-FD?

What is CAN-FD?

Basic Concepts

> CAN-FD Specifics

Data Frame

Operating Modes/States

Physical Layer Considerations

Summary

References

FAQ

Vector‘s Roadmap for CAN FD

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 12
CAN-FD Specifics

Messages:
 Fixed format - similar to “standard or enhanced” CAN
 Message length is longer, but still finite
 Standard CAN-FD ~ 581 bits/message for 512 bits of data*
 Extended CAN-FD ~ 606 bits/message for 512 bits of data*

 At a given bus load ~85-88% of the bandwidth is used to

exchange useful data
 Assuming arbitration bits and data bits transmitted at same rate
 Bandwidth will increase when using higher data rates

*- excluding stuff bits

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 13
CAN-FD Specifics

Messages:
 Increasing data rate also increases effective message rate
 Standard CAN message with:
 4X Data phase ~ 2.2x increase*
 8X Data phase ~ 2.5x increase*

 A 1mb/sec CAN-FD bus with 8Mb/sec data rate has a data

transmission capability similar to a half speed, single channel
FlexRay implementation

*- calculated using 11 bit identifier and 8 byte data field excluding stuff bits – scales linearly

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 14
CAN-FD Specifics

CAN Base Data frame*

ACK
ACK Delimiter
r1
RTR

r0
SOF

CRC Delimiter
Identifier DLC Data CRC EOF IFS

1 11 1 1 1 4 0..64 15 1 1 1 7 3

CAN-FD Base Data Frame*

IDE

BRS

ACK
r1

EDL
r0

ESI
SOF

CRC Delimiter

ACK Delimiter
Identifier DLC Data CRC EOF IFS

1 11 1 1 1 1 1 1 4 0..512 17 / 21 1 1 1 7 3

* - Excludes stuff bits

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Slide: 16
 CAN-FD Specifics

CAN Extended Data Frame*

IDE

r1

ACK
r0
SRR

RTR
SOF

CRC Delimiter

ACK Delimiter
Identifier Extended r0 r1 DLC Data CRC EOF IFS
Identifier

1 11 11 1 18 11 11 11 4 0..64 15 1 11 1 7 3

CAN-FD Extended Data Frame*

IDE

r1

BRS

ACK
EDL
r0

ESI
SRR

ACK Delimiter
SOF

CRC Delimiter
Identifier Extended DLC Data CRC EOF IFS
Identifier

1 11 11 1 18 1 1 1 1 1 4 0..512 17 / 21 1 1 1 7 3

* - Excludes stuff bits

1
© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 17
Agenda

Why CAN-FD?

What is CAN-FD?

Basic Concepts

CAN-FD Specifics

> Data Frame

Operating Modes/States
Physical Layer Considerations
Summary

References

FAQ

Vector‘s Roadmap for CAN FD

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 22
Data Frame

Data Frame:
 Data frames are used to transmit data on the CAN-FD bus
 Consist of two phases – Arbitration and Data

CAN-FD
Base Data Frame*
BRS

ACK
ACK Delimiter
ESI
IDE
EDL

CRC Delimiter
r1

r0
SOF

Identifier DLC Data CRC EOF IFS

1 11 1 1 1 1 1 1 4 0..512 17 / 21 1 1 1 7 3

Arbitration Phase Data Phase Arbitration Phase

(fixed data rate) (flexible data rate) (fixed data rate)

* - Excludes stuff bits

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Slide: 23
 Data Frame

Data Frame:
 … and seven different bit fields – SOF, Arbitration, Control,
Data, CRC, ACK, EOF

CAN-FD
Base Data Frame*
BRS

ACK
ACK Delimiter
ESI
IDE
EDL

CRC Delimiter
r1

r0
SOF

Identifier DLC Data CRC EOF IFS

1 11 1 1 1 1 1 1 4 0..512 17 / 21 1 1 1 7 3

Start Arbitration Control Data Field CRC ACK End

Of Field Field Field Field Of

Frame Frame

* - Excludes stuff bits

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Slide: 24
Data Frame

Start of Frame
 CAN and CAN-FD use the same SOF – a single “dominant” bit

CAN
Base Data frame
Recessive

r0
r1
RTR
SOF
Identifier DLC Data

Bit state

1 11 1 1 1 4 0..64
Dominant

CAN-FD
Base Data frame
Recessive
IDE

r0
BRS
r1

EDL

ESI
SOF

Identifier DLC Data

Bit state

1 11 1 1 1 1 1 1 4 0..512
Dominant

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 25
Data Frame

Arbitration Field
 Little difference between CAN and CAN-FD arbitration fields
 Both share the same addressing for Base and Extended formats
 CAN-FD removes the RTR bit and maintains an always
dominant r1 bit r1
r0
RTR
SOF

Identifier DLC Data

CAN
Base Data frame
1 11 1 1 1 4 0..64
IDE

BRS
r1

EDL
r0

ESI
SOF

Identifier DLC Data

CAN-FD
Base Data frame
1 11 1 1 1 1 1 1 4 0..512

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 26
Data Frame

Control Field:
 CAN and CAN-FD share the following bits:
 IDE, r0 and the DLC bits

IDE

BRS
r1

EDL
r0

ESI
SOF

Identifier DLC Data

1 11 1 1 1 1 1 1 4 0..512

 CAN-FD adds the following bits to the control field :

 EDL – Extended Data Length
 Determines if CAN or CAN-FD

 BRS – Bit Rate Switch

 Separates Arbitration phase from Data phase in CAN-FD
 Clock rate switches to Data phase clock at this point

 ESI – Error State Indicator

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 27
Data Frame

Control Field:
 Data Length Code (DLC)
 4 bits used for both formats
 CAN-FD compatible with CAN at data lengths ≤ 7
 CAN ignores 3 lsb if DLC = 8, CAN-FD does not
 For lengths ≥ 8, CAN-FD uses the following DLCs:

1000 = 8 1100 = 24
1001 = 12 1101 = 32
1010 = 16 1110 = 48
1011 = 20 1111 = 64
IDE

BRS

ACK
r1

EDL
r0

ESI

ACK Delimiter
SOF

CRC Delimiter
Identifier DLC Data CRC EOF IFS
0-8, 12, 16, 20, 24
32, 48, or 64 bytes

1 11 1 1 1 1 1 1 4 0..512 17 / 21 1 1 1 7 3

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 28
Data Frame

Data Field:
 0-8 bytes in CAN
 0-8, 12, 16, 20, 24, 32, 48, or 64 bytes in CAN-FD
 Bytes are transferred msb first
 No data field if DLC = 0
IDE

BRS

ACK
r1

EDL
r0

ESI
SOF

CRC Delimiter

ACK Delimiter
Identifier DLC Data CRC EOF IFS
0-8, 12, 16, 20, 24
32, 48, or 64 bytes

1 11 1 1 1 1 1 1 4 0..512 17 / 21 1 1 1 7 3

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 29
Data Frame

CRC Field:

ACK
CRC Delimiter

ACK Delimiter
Data CRC EOF IFS

0..512 17 / 21 1 1 1 7 3

 Size of CRC differs based on CAN/CAN-FD and length of DLC

 15 bits for CAN
 17 bits for CAN-FD where data field ≤ 16 bytes
 21 bits for CAN-FD where data field > 16 bytes

 Preceding stuff bits are included in the CAN-FD CRC calculation

 CAN does not use stuff bits in the CRC calculation
 CAN-FD CRC delimiter transmitted as 1 bit, but due to phase
shift, etc. receiver can accept delimiter of up to 2 bit times
 Data Phase of CAN-FD frame ends with the sample point of the first bit
of the CRC delimiter
© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 30
Data Frame

ACK Field:

ACK
CRC Delimiter

ACK Delimiter
Data CRC EOF IFS

0..512 17 / 21 1 1 1 7 3

 ACK sent at the end of first CRC delimiter bit

 Slight difference in the format between CAN and CAN-FD
 CAN-FD recognizes up to two bit times as a valid ACK bit
 1 extra bit time allowed to compensate for transceiver phase shift
and bus propagation delay due to the switch from a high data phase
clock to a low arbitration phase clock

End of Frame:
 Both Data Frames and Remote Frames are delimited by a group
of 7 recessive bits

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 31
Data Frame

CAN-FD Oscilloscope Trace:

Arbitration Data Arbitration

Phase Phase Phase

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 32
Agenda

Why CAN-FD?

What is CAN-FD?

Basic Concepts

CAN-FD Specifics

Data Frame

> Operating Modes/States

Physical Layer Considerations

Summary
References
FAQ
Vector‘s Roadmap for CAN FD

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 36
Operating Modes/States

CAN-FD controller has three operating modes:

 Normal Mode
 Full functionality

 Bus Monitoring Mode

 Controller receives data from the bus, but only sends recessive bits
 Cannot initiate message transmission
 Can reroute dominant bits internally if necessary

 Restricted Operation Mode

 Controller can receive and transmit Data Frames and Remote Frames
 Acknowledges valid frames
 Cannot send Active Error Frames or Overload Frames
 Waits for Bus Idle to re-sync with bus

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 37
Operating Modes/States

… and four operating states:

 Integrating
 After starting or during bus-off recovery
 Controller waits until it detects 11 consecutive recessive bits
 Switches to Idle mode

 Idle
 If ready for Start-of-Frame
 Switches to either Receiver or Transmitter mode

 Receiver
 Receives data if active bus detected and is not transmitting

 Transmitter
 When originating a message, and does not change until bus is idle

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 38
Agenda

Why CAN-FD?

What is CAN-FD?

Basic Concepts

CAN-FD Specifics

Data Frame

Operating Modes/States

> Physical Layer Considerations

Summary
References
FAQ
Vector‘s Roadmap for CAN FD

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 39
Physical Layer Considerations

Bus topology is also is a determining factor

 “Linear” bus configuration – highest speed

 Lowest overall capacitance = highest frequency

 Short stubs add little to overall distributed capacitance
 Terminated, balanced line minimizes radiated EMI

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 41
Physical Layer Considerations

 Linear configuration with “star” terminations

 Approx ½ speed of linear bus

Node Node
A D

Node Node
B E

Node 120 Ω 5% - 1/4W Node

C Termination Resistors F

 Large lumped capacitance on each end

 Increased EMI possibility depending on stub length

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 42
Physical Layer Considerations

 Passive “star” central terminator configuration – slowest speeds

 Approx ¼ speed of linear bus

Node Node

A D

Node Node

B E

Node Node
C F
60Ω 5% - 1/4W
Termination Resistor

 Increased possibility of reflections due to non-terminated nodes

 Increased EMI possibility depending on stub length
© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 43
Physical Layer Considerations

 EMC Considerations
 Faster bus speeds  faster bit rise and fall times
 e.g. 1Mb/s rise times ~ 50 – 100 nsec. (5–10 MHz)
 e.g. 10Mb/sec rise times ~ 5-10 nsec. (50-100 MHz)
 Bus should be designed for the Data Phase frequency, not the
Arbitration Phase frequency

 Harmonic content will be at higher levels at higher frequencies

 Traditional methods of suppressing undesired harmonics may
not work
 Closer attention to wiring design, routing and connections will
be necessary
 Low capacitance wiring methods recommended

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 44
Summary

 Serial communication buses require increased bandwidth

 CAN-FD can provide this increased bandwidth
 Increased data rates
 Increased data payloads

 CAN-FD is designed to co-exist with CAN on the same network

 CAN-FD nodes must also meet CAN 2.0/ISO 11898-1 specifications
 CAN-FD frames can co-exist with CAN frames on a CAN-FD bus

 CAN 2.0 nodes and CAN-FD nodes can communicate with each
other as long as the CAN-FD frame format is not used
 CAN-FD format allows migration to CAN-FD from CAN
 CAN-FD nodes on a CAN bus can communicate with external CAN-FD
devices as long as the CAN nodes remain in a stand-by state.
 For example, a CAN-FD node communicating with and external PC
as part of a module flash operation

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 45
References

 Paper “CAN with Flexible Data Rate” – Florian Hartwich, Robert

Bosch GmbH;CAN in Automation, iCC 2012, March 2012

 Presentation “CAN FD CAN with Flexible Data Rate” – Florian

Hartwich, Robert Bosch, GmbH; Feb. 15, 2012

 CAN with Flexible Data Rate – Specification Version 1.0 (Released

April 17, 2012), Robert Bosch, GmbH; April, 2012

 M_CAN Controller Area Network User’s Manual, Revision 2.0.1,

Robert Bosch, GmbH; March 12, 2012

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 46
FAQ

Should we treat CAN FD as a new bus system?

 CAN FD is a superset of CAN
 Easy migration from existing CAN systems
 Tool configuration needs only slight modification
e.g. baud rate for data phase
 Test scripts and DBC databases can be reused
 …for CAN FD payloads up to 8 bytes

Which database format should we use for CAN FD?

 DBC format already supports payloads of 64 bytes
 Autosar System Description is a standardized alternative

Do we need a PDU-abstraction for CAN FD?

 Probably makes sense for payloads > 32 bytes
 PDUs also allow additional data protection, e.g. CRC
 Autosar System Description already supports PDUs

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 47
FAQ

Will CAN FD to have any impact on LIN?

 CAN FD provides no cost advantage for body applications and

is not expected to replace any typical LIN application
 CAN FD frames with payload > 8 bytes can only use raw TP
routing

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 48
FAQ

Will CAN FD to have any impact on FlexRay?

 CAN FD can be a less expensive alternative to FlexRay and is

designed to close the speed gap between CAN and FlexRay
 FlexRay is better suited for time-triggered applications
 CAN FD should be used for event-triggered applications requiring a
higher data rate
 More likely, CAN FD and FlexRay will coexist in future vehicle
networks

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 49
FAQ

Will CAN FD to replace existing CAN systems?

 CAN systems with high bus loads (>50%) are good candidates
to migrate to CAN FD
 The higher data rate and payload of CAN FD may help to avoid
splitting CAN systems with high bus loads
 Split CAN networks can be combined into a single CAN FD
network in order to avoid gateway latencies
 For migration purposes it may make sense to mix CAN with
CAN FD in a single network
 Legacy CAN ECUs will require an adapted controller that
ignores CAN FD frames
 It is not yet clear if mixed CAN - CAN FD networks will be
common in future vehicles

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 50
 Thank you for your attention.

For detailed information about Vector

and our products please have a look at:
www.vector.com

Author:

Lotoczky, Rick

Vector CANtech, Inc.

© 2012 . Vector CANtech, Inc.. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

Slide: 51