What Is CAN-FD

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
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
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
Slide: 5
Agenda
Why CAN-FD?
> What is CAN-FD?
Basic Concepts
CAN-FD Specifics
Data Frame
Summary
References
FAQ
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
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
Slide: 8
Agenda
Why CAN-FD?
What is CAN-FD?
> Basic Concepts
CAN-FD Specifics
Data Frame
Summary
References
FAQ
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
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
Slide: 11
Agenda
Why CAN-FD?
What is CAN-FD?
Basic Concepts
> CAN-FD Specifics
Data Frame
Summary
References
FAQ
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
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
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
1 11 1 1 1 1 1 1 4 0..512 17 / 21 1 1 1 7 3
* - Excludes stuff bits
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

1
Slide: 17
Agenda
Why CAN-FD?
What is CAN-FD?
Basic Concepts
CAN-FD Specifics
> Data Frame
Summary
References
FAQ
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
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)
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
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
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
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
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

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
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
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
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
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
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
Slide: 31
Data Frame
CAN-FD Oscilloscope Trace:
Arbitration Data Arbitration

Phase Phase Phase
Slide: 32
Agenda
Why CAN-FD?
What is CAN-FD?
Basic Concepts
CAN-FD Specifics
Data Frame
> Operating Modes/States

Summary
References
FAQ
Slide: 36
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
Slide: 37
… 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
Slide: 38
Agenda
Why CAN-FD?
What is CAN-FD?
Basic Concepts
CAN-FD Specifics
Data Frame
> Physical Layer Considerations
Summary
References
FAQ
Slide: 39
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
Slide: 41
 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
Slide: 42
 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
Slide: 43
 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
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
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
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
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
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
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
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.
Slide: 51

What Is CAN-FD

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FD

A Short Primer and Update

> Why CAN-FD?

Physical Layer Considerations

Vector‘s Roadmap for CAN FD

CAN networks reached practical maximums of data transfer

 Current CAN bus speeds ≤ 1Mbit/sec

* - excluding stuff bits

 Other protocols have much higher data throughput rate

> What is CAN-FD?

Physical Layer Considerations

Vector‘s Roadmap for CAN FD

New network protocol:

 Supports dual bit rates within a message

 Supports larger data lengths than “standard” CAN

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

 System cost similar to standard CAN

 Progressively introduce CAN-FD nodes into standard networks

> Basic Concepts

Physical Layer Considerations

Vector‘s Roadmap for CAN FD

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

 Tools have been modified to work with CAN-FD

 Physical layer is similar

Maintains compatibility with physical layer of standard CAN

> CAN-FD Specifics

Physical Layer Considerations

Vector‘s Roadmap for CAN FD

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

*- excluding stuff bits

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

CAN Base Data frame*

CAN-FD Base Data Frame*

* - Excludes stuff bits

CAN Extended Data Frame*

CAN-FD Extended Data Frame*

* - Excludes stuff bits

> Data Frame

Vector‘s Roadmap for CAN FD

Identifier DLC Data CRC EOF IFS

Arbitration Phase Data Phase Arbitration Phase

* - Excludes stuff bits

Identifier DLC Data CRC EOF IFS

Start Arbitration Control Data Field CRC ACK End

Of Field Field Field Field Of

* - Excludes stuff bits

Identifier DLC Data

Identifier DLC Data

Identifier DLC Data

Identifier DLC Data

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

 BRS – Bit Rate Switch

 ESI – Error State Indicator

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

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

 ACK sent at the end of first CRC delimiter bit

CAN-FD Oscilloscope Trace:

Arbitration Data Arbitration

> Operating Modes/States

Physical Layer Considerations

CAN-FD controller has three operating modes:

 Bus Monitoring Mode

 Restricted Operation Mode