Senses for Safety.

Driver assistance systems help save lives.

CAN-FD Praveen Subramanian

( CAN with Flexible Data-Rate ) (ADAS –PD)

Chassis & Safety

www.continental-corporation.com Advanced Driver Assistance Systems
Prerequisite:
▪ Knowledge on CAN protocol (ISO 11898).
▪ Working experience with Vector Database files and CANOE.

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Agenda :

1 Overview
2 Introduction
3 Physical and Data Link Layer
4 Types of frames
5 Frame Formats
6 Bit timings
7 Example Configuration for Bit Timing
8 Transmission Duration
9 Bandwidth Utilization
10 Oscilloscope Images
11 Error Handling
12 Register Configuration
13 Changes involved in migration
14 CAN-FD in Diagnostics
15 CAN-FD in Flashing
16 Microcontroller support
17 Vector Hardware support
18 Sample CAN-FD DBC
19 CAN-FD demo
20 Questions

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Overview
▪ Like the name suggests, CAN-FD can be considered as superset of Classical CAN protocol.

CAN CAN- FD

▪ Unlike Flexray or Ethernet, CAN-FD is not a protocol designed from ground

up.

▪ It includes almost all feature's of Classical CAN along with few additional
improvements .

▪ (e.g.) Windows 98 and Microsoft 10

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Introduction

When?
▪ CAN-FD was invented by BOSCH in the year 2011.
▪ Saw its commercial use during 2012.

What ?
▪ CAN-FD switches between two baud-rates during frame transmission unlike Classical CAN
and other communication protocols which works with single baud rate.
▪ Arbitration baud rate Range ( <1mbps).
▪ Data rate Range (1mbps – 8 mbps).
▪ CAN-FD supports transmission of up to 64 bytes of data in contrast to Classical CAN which
can handle only 8 Data bytes.
▪ Follows ISO 11898-1
▪ Support for both 11 and 29 bit identifiers similar to Classical CAN.

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Types (NON-ISO CAN-FD and ISO CAN-FD)

▪ BOSCH CAN-FD is generally referred to as NON-ISO CANFD.

▪ ISO made slight changes to the original CAN-FD making it more robust, This improved
version is referred to as ISO-CAN-FD.

▪ DIFFERENCES:
▪ The ISO CAN FD format includes a counter for the stuff bits that is also transmitted as part
of the frame. The CRC polynomial calculation is more robust in the ISO CAN FD than the
non-ISO CAN FD.

▪ NOTE:
▪ These protocols can’t intercommunicate with each other.

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Physical and Data Link Layer (Almost same as Classical CAN)

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Physical Medium:
-

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Continued…

▪ Transmission medium comprising of CAN-H and CAN-L twisted cables with terminating
resistance of 120ohms is identical to Classical CAN.
▪ Recessive and Dominant voltage levels are also carried forward from Classical CAN.

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Frame Types :

- All frame formats of Classical CAN with exception of Remote frame are supported.

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Data Frame Format (NON-ISO-CAN-FD and ISO-CAN-FD)

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Data Frame Format (Classical CAN )

Recap on various bit fields

Fields Visible in CANOE trace window are :Frame ID,DLC,Data

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Arbitration field

▪ Both share the same addressing for Standard and Extended formats.

▪ CAN FD removes the RTR bit and maintains an always dominant r1 bit.

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Control Field:

▪ CAN and CAN FD share the following bits:

▪ IDE, r0 and the DLC bits.

▪ CAN FD adds the following bits to the control field :

▪ EDL – Extended Data Length :Determines if CAN (dominant) or CAN FD (recessive).
(Also referred to as FDF –Flexible Data Field)
▪ BRS – Bit Rate Switch : Clock rate switches when BRS is recessive.
▪ ESI – Error State Indicator (error active/passive).

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DLC Field:

▪ 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:

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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.

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CRC Field:

▪ 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 is always transmitted as 1 bit, but due to phase shift between
nodes a transmitter accepts up to 2 bit times.

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ACK Field

▪ Slight difference in the format between CAN and CAN FD.

▪ CAN FD nodes recognize up to two bit times as a valid ACK.
▪ 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.
▪ ACK Delimiter remains the same.

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End of Frame

▪ Frames are delimited by a group of 7 recessive bits similar to Classical CAN.

▪ Inter Frame Spacing of 3 bits is also carried forward from Classical CAN.

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Error Frame
▪ Same as Classical CAN
▪ Transmission occurs at arbitration baud rate

▪ Error flag comprises of 6 bits (Dominant or recessive based on error state ).

▪ Error Delimiter always consists of 8 recessive bits.
▪ Refer to Error Management for more info.

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Overload Frame

▪ Same as Classical CAN.

▪ Transmission occurs at arbitration baud rate .
▪ Format closely resembles Error frame .

▪ Overload Flag : comprises of 6 dominant fields.

▪ Overload Delimiter : consists of 8 recessive bits.

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Continued..

▪ There are three kinds of OVERLOAD conditions, which lead to the transmission of an
OVERLOAD FLAG:

▪ The internal conditions of a Receiver, which requires a delay of the next DATA FRAME or
REMOTE FRAME.
▪ Detection of a dominant bit at the first or second bit of INTERMISSION.
▪ If a CAN FD node samples a dominant bit at the eighth bit (the last bit) of an ERROR
DELIMITER or OVERLOAD DELIMITER, or if a CAN FD Receiver samples a dominant bit
at the last bit of END OF FRAME, it will start transmitting an OVERLOAD FRAME (not an
ERROR FRAME). The Error Counters will not be incremented.

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Bit Timing

▪ The concepts of Time Quantum and Sampling point are same as Classical CAN.
▪ Another set of hardcoded values are configured to accommodate for the additional
baud rate.
▪ NOTE: Sampling happens between Phase_Segment 1 and Phase_Segment2

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› Length of Time Segments for the NOMINAL BIT RATE
▪ • SYNC_SEG(N) is 1 TIME QUANTUM(N) long.
▪ • PROP_SEG(N) is programmable to be 1,2,…,32 or more TIME QUANTA(N) long.
▪ • PHASE_SEG1(N) is programmable to be 1,2,…,32 or more TIME QUANTA(N) long.
▪ • PHASE_SEG2(N) is the maximum of PHASE_SEG1(N) and the INFORMATION
PROCESSING TIME

▪ • The INFORMATION PROCESSING TIME is less than or equal to 2 TIME QUANTA(N) long.

› Length of Time Segments for the DATA BIT RATE

▪ • SYNC_SEG(D) is 1 TIME QUANTUM(D) long.
▪ • PROP_SEG(D) is programmable to be 0,1,2,…,8 TIME QUANTA(D) long.
▪ • PHASE_SEG1(D) is programmable to be 1,2,…,8 TIME QUANTA(D) long.
▪ • PHASE_SEG2(D) is the maximum of PHASE_SEG1(D) and the INFORMATION
PROCESSING TIME

▪ • The INFORMATION PROCESSING TIME is less than or equal to 2 TIME QUANTA(D) long

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Example Configuration

▪ NOMINAL BIT TIME configuration based on a

▪ Prescaler of m(N) = 2 and the time segments ,
PROP_SEG(N) = 6,
PHASE_SEG1(N) = 4,
PHASE_SEG2(N) = 4 combined with the

▪ DATA BIT TIME configuration based on a

▪ Prescaler of m(D) = 1 and the time segments
PROP_SEG(D) = 1,
PHASE_SEG1(D) = 4,
PHASE_SEG2(D) = 4,

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Transmission Duration for a single frame

▪ Table comparing transmission durations of Classical CAN frame with CAN-FD with varying
Lower and Higher Baud rate configurations.

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Bandwidth Utilization (Classical CAN vs CAN-FD)

▪ Classical CAN
▪ In most automotive applications, bandwidth utilization varies between 60-80% ,also bus load is
not allowed to exceed 90%.
▪ A typical Classical CAN frame with 11-bit identifier along with stuff bits has a size of about 16
bytes of data out of which only 8 bytes is used for effective data transmission.
▪ Hence for Classical CAN, the effective bandwidth used for data transmission comes down to
30-40%.

▪ CAN-FD
▪ For a CAN-FD frame with a 11-bit identifier ,we have 64 effective data bytes with same
overhangs of 16bytes.
▪ Hence Even with 60-80% of bandwidth utilization, more than 120% of the same can be used for
effective data transmission.
▪ There is a multifold increase in volume of data being transported as expected.

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 Oscilloscope Images:

› Classical CAN

› CAN-FD

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Error Handling:

▪ Error Handling is identical to Classical CAN.

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Continued..
▪ Transmit Error Counter and Receive Error Counter Increment/Decrement logic remains the
same as in Classical CAN
▪ Bus-Off and Error-Passive failures are also carried forward.

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Continued..

› Active Error Frame

› Passive Error Frame

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Common Registers used in Classical CAN:

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Register Configuration for CAN-FD

▪ All Classical CAN registers are carried forward for CAN-FD

▪ For Higher bit rate support, one additional copy of BTR register needs to be configured

▪ Some Optional Interface registers:

▪ • Double set of status registers to distinguish between messages and errors occurring
while operating in the first or in the second bit rate.
▪ • Dedicated error counter to compare error rates in the two operating modes.

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Bit Timing Register Configuration:

▪ Time segment (1and 2) are configured as mentioned in Bit Timing segment.

▪ Synchronization Jump Width:
▪ Valid programmed values are 0-3. The actual interpretation by the hardware of this value is
such that one more than the value programmed here is used.
▪ Baud Rate Prescaler
▪ The value by which the oscillator frequency is divided for generating the bit time quanta.
The bit time is built up from a multiple of this quanta. Valid values for the Baud Rate
Prescaler are[ 0 … 63 ]. The actual interpretation by the hardware of this value is such that
one more than the value programmed here is used.
▪ Note: With a module clock CAN_CLK of 8 MHz, the reset value of 0x2301 configures the
C_CAN for a bit rate of 500 kBit/s.

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Migration from Classical CAN to CAN-FD
(why CAN-FD can be preferred over Flexray, Ethernet)

▪ Physical transmission medium

▪ Physical transmission medium remains the same for CAN and CAN-FD.
Migration to Flexray/Ethernet requires replacement of existing medium.

▪ Hardware Changes
▪ Traditional trans receivers and Controllers must be upgraded to ones supporting CAN-FD.
▪ NOTE: All CAN-FD hardware's work as a hybrid setup supporting both Classical CAN and
CAN-FD, hence there is room for backward compatibility.
▪ For most modern Controllers and trans receivers supporting CAN-FD, the price gap when
compared to ones supporting Classical CAN is less ,same can’t be said about ones
supporting Flexray/Ethernet.

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Continued..

› Software Changes :
▪ Major reason for choosing CAN-FD for upgrade from CAN
would be savings in Software R&D cum Development costs.
▪ As shown in AUTOSAR BSW architecture ,both Classical CAN
and CAN-FD share a common slot due to minimal changes
and the fact that CAN-FD supports backward compatibility.
▪ Major changes with CAN-FD includes configuration of BRT2
register in MCAL layer and changes in packing and unpacking
of signals in COM layer.
▪ In case of Flexray and Ethernet, major overhaul of all functions
across MCAL, ECU abstraction and sessions layer must be
carried out further adding to development costs.
▪ Backward compatibility is not supported by Flexray/Ethernet.

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CAN-FD in Diagnostics:
› Diagnostics:
▪ CAN-FD is highly useful in diagnostics eliminating the need for flow control mechanism configured as a part of CAN-TP
in most cases.
▪ Almost all DID’s used in Read, Write and Routine services can be accommodated within 64 byte payload in a single
frame.

Example ( Reading 17 byte VIN Data )

- Classical CAN (With Flow Control)

Tx - 03 22 F1 90 (UDS service 22 using DID FI90)

Rx - 10 14 62 F1 90 11 12 13 (First Frame with positive response ) Time : (15-30) Milliseconds (Approx.)
Tx - 30 00 00 (Flow Control Frame) (5 Frames)
Rx - 21 21 22 23 24 25 26 27 (Consecutive Frame 1)
Rx - 22 31 32 33 34 35 36 37 (Consecutive Frame 2)

- CAN-FD

Tx - 03 22 F1 90 Time : (5-10) Milliseconds (Approx.)

Rx - 14 62 F1 90 11 12 13 21 22 23 24 25 26 27 22 31 32 33 34 35 36 37 (2 Frames)

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CAN-FD in Flashing:
› Flashing:
▪ CAN-FD with Data baud rate of 8mbps can be configured for flashing large hex files (e.g.
Infotainment and instrument clusters)
▪ Reduces the duration of flashing by many folds.

Example : ( Consider a Hex file size of 10MB)

* Twice the Estimated time as only about 50% of time is spent in transmission of useful data.
NOTE : This is just a rough theoretical estimation.

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Microcontroller /Controller /Trans receiver Support:

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Vector Hardware Support:

› Almost all Vector hardware's currently available in market support CAN-FD.

› Examples:
▪ VN1610
▪ VN1611
▪ VN1630A
▪ VN1640A
▪ VN7600
▪ VN7610

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CAN-FD Database file walkthrough

› DBC for MFC510:

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CANOE Configuration Demo

› MFC510 cfg
▪ CAN-FD Configuration creation and demo with MFC510 SW.

› VECTOR cfg
▪ Sample Cfg for CAN-FD from VECTOR found in below path:
▪ C:\Users\Public\Documents\Vector\CANoe\10.0 (x64)\CANoe Sample
Configurations\CAN\CAN_FD.

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Questions ?

› What happens when CAN_FD frames are

injected in Classical CAN network ?

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Thank You for not sleeping:

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