ID 210C: Introduction to CAN/LIN Solutions

Renesas Electronics America Inc.

Sridhar Lingam
Product Marketing Manager
12 October 2010
Version 10

Sridhar Lingam
Product Marketing Manager
Renesas MCU CAN Solutions
M16C/R32C, H8S/H8SX Product Families
TFT-LCD solution for H8S and H8SX

Education
MSEE from the Clemson University, Clemson, SC

Work Experience
16 years experience with semiconductor Industry with focus on
Industrial applications
Varied experience as Product Engineer, FAE and Product
Marketing
Responsible for definition and Marketing of Memory & MCU
product families
Previously worked at National Semiconductor,
STMicroelectronics & Atmel
2

Renesas Technology and Solution Portfolio

Microcontrollers
& Microprocessors
#1 Market share
worldwide *

ASIC, ASSP
& Memory
Advanced and
proven technologies

Solutions
for
Innovation

Analog and
Power Devices
#1 Market share
in low-voltage
MOSFET**
*

MCU: 31% revenue

basis from Gartner
"Semiconductor
Applications Worldwide
Annual Market Share:
Database" 25
March 2010

** Power MOSFET: 17.1%

on unit basis from
Marketing Eye 2009
(17.1% on unit basis).

Renesas Technology and Solution Portfolio

Microcontrollers
& Microprocessors
#1 Market share
worldwide *

ASIC, ASSP
& Memory
Advanced and
proven technologies

Solutions
for
Innovation

Analog and
Power Devices
#1 Market share
in low-voltage
MOSFET**
*

MCU: 31% revenue

basis from Gartner
"Semiconductor
Applications Worldwide
Annual Market Share:
Database" 25
March 2010

** Power MOSFET: 17.1%

on unit basis from
Marketing Eye 2009
(17.1% on unit basis).

Microcontroller and Microprocessor Line-up

Superscalar, MMU, Multimedia

Up to 1200 DMIPS, 45, 65 & 90nm process

Video and audio processing on Linux
Server, Industrial & Automotive

High Performance CPU, Low Power

Up to 500 DMIPS, 150 & 90nm process

600uA/MHz, 1.5 uA standby
Medical, Automotive & Industrial

High Performance CPU, FPU, DSC

Up to 165 DMIPS, 90nm process

500uA/MHz, 2.5 uA standby
Ethernet, CAN, USB, Motor Control, TFT Display
Legacy Cores
Next-generation migration to RX

General Purpose
Up to 10 DMIPS, 130nm process
350 uA/MHz, 1uA standby
Capacitive touch

Ultra Low Power

Up to 25 DMIPS, 150nm process
190 uA/MHz, 0.3uA standby
Application-specific integration

Embedded Security
Up to 25 DMIPS, 180, 90nm process
1mA/MHz, 100uA standby
Crypto engine, Hardware security

Microcontroller and Microprocessor Line-up

Superscalar, MMU, Multimedia

Up to 1200 DMIPS, 45, 65 & 90nm process

Video and audio processing on Linux
Server, Industrial & Automotive

High Performance CPU, Low Power

Up to 500 DMIPS, 150 & 90nm process

600uA/MHz, 1.5 uA standby
Medical, Automotive & Industrial

High Performance CPU, FPU, DSC

Up to 165 DMIPS, 90nm process

500uA/MHz, 2.5 uA standby
Ethernet, CAN, USB,
Motor
Control,
TFT Display
CAN
MCU
Solutions
Legacy Cores
R8C/R32C/SH/RX
Next-generation migration to RX

General Purpose
Up to 10 DMIPS, 130nm process
350 uA/MHz, 1uA standby
Capacitive touch

Ultra Low Power

Up to 25 DMIPS, 150nm process
190 uA/MHz, 0.3uA standby
Application-specific integration

Embedded Security
Up to 25 DMIPS, 180, 90nm process
1mA/MHz, 100uA standby
Crypto engine, Hardware security

Innovation

Our CAN/LIN Solution

Renesas easy to design MCU CAN/LIN solutions

provide highly reliable, expandable, and noise immune
interfaces for industrial applications using chip to chip
communications.

Agenda
CAN in Embedded Networks
What is CAN & its benefits?
Can Basics
What is LIN and its benefits?
Renesas MCU CAN Solutions
Q&A

Key Takeaways

Reasons for using CAN and LIN

Benefits of CAN and LIN
Basics of CAN and LIN
General differences between CAN and LIN

10

What is CAN ?
Controller Area Network
Developed in 1983 by Robert Bosch
To solve the networking issues in automotive

Main Benefits
Economical
Reliable
Real Time response
Scalable

Standards
CAN 2.0A (ISO11519)
Can 2.0B(ISO11898)

11

CAN-Leading Choice for Embedded Networking

The main Reasons are
Economical
Low Wiring Cost
Low Hardware Cost
Reliability
Error Free Communication
Immune to EMI/EMS
Availability
Several 8/16/32 bit MCU available in the market
Standard development tools
Scalability

12

Question
Please give 3 reasons for the growing popularity of
CAN in embedded applications
Reliability (works well in noisy environment)
Economical ( Have low wiring costs)
Scalability
Availability

13

Features and Benefits of CAN

14

Multiple Master Hierarchy

Redundant Intelligent Systems

1 Mbps of Data transfer rate

Real Time Response

0-8 Bytes of User Data

Simplifies design requirements

Unique mail box Identifiers

Flexibility in System Design

Acceptance Filtering by nodes

Arbitration & Prioritization

Provides Error Detection

Ensures high Reliability

Fault Confinement measures

Keeps the traffic undisturbed

Auto re-transmit if corrupted

Accurate communication link

CAN and the 7-layer model

ISA/OSI Reference Model
7. Application Layer
6. Presentation Layer
5. Session Layer
4. Transport Layer

Partially
implemented by
higher-level CAN
protocols
(CANOpen)

3. Network Layer
2. Data Link Layer
1. Physical Layer

15

Standard CAN
implementation

Managed in
Hardware.
Dramatic Real-time
advantage to
System Design

Data Flow in CAN

Transmitting Node

Node Configured to
receive identifier

Node not Configured to

receive identifier

MCU Firmware

MCU Firmware

MCU Firmware

Identifier [id_n]

Identifier [id_n]

Data [values_x]

Data [values_x]

Tx Mail Box [id_n]

Rx Mail Box [id_c]

Rx Mail Box [id_d]

Data [values_x]

Rx Mail Box [id_b]

Rx Mail Box [id_b]

Rx Mail Box [id_c]

Rx Mail Box [id_n]

Rx Mail Box [id_c]

Rx Mail Box [id_b]

Data [values_x]

Rx Mail Box [id_a]

CAN Peripheral

CAN Peripheral

CAN Peripheral

CAN Transceiver

CAN Transceiver

CAN Transceiver

Data Frame is broadcast to the bus [ id_n][value_x]

16

Data Frame

11/29

ID extend 1

Identifier

Rem Req 1

S
O
F

Control

Data
(Bytes)

C
R
C

A
C
K

E
O
F

0-8 bytes

15

7+

Start of Frame 1-bit

Arbitration Field 11-bits/29-bits
Control Field 6 bits (2 reserved, 4 representing number of
Data Field bytes)
Data Field 0 to 8 BYTES
CRC 15-bits
ACK Field 1-bit/variable
End of Frame 7-bits (recessive)
17

Question
Why do most CAN applications use CAN 2.0A (11-bit
identifiers) and not CAN 2.0B (29-bit identifiers)?

Overall data bandwidth decreases

Decrease in reliability
Increase in worse case delay

18

CAN Bus Characteristics

Dominant bits (0s) override recessive bits (1s) on the CAN bus.

Node 1 Backs OffNode 1

100
0
Node 2 Backs OffNode 2
101
Node 3
000
LSBMSB
19

Maintaining Synchronization
Bit Stuffing is applied to keep the bus synchronized
Five bits of consecutive dominant or recessive bits inserts a bit
of the opposite polarity
Resulting signal edge is used to establish timing synchronization
at all nodes
Stuffed bits are managed by hardware

20

Bus Access and Arbitration

The CAN protocol handles bus accesses according to the
concept of Carrier Sense Multiple Access with Collision
Detection
For a collision, messages are NOT destroyed!
No bandwidth is wasted on collisions!
The message with the higher priority wins bus access
NDA Non-destructive Arbitration

Each message has an identifier that determines the priority

Each node defined by unique identifier to avoid collisions
AMP Arbitration by Message Priority

21

CAN and EMI

Node A

Node B

CAN_H
U diff
CAN_L
(dominant level)

CAN_H
+
CAN_L

EMI

CAN-Bus
(Differential Serial Bus)
22

Node C

CAN Baud Rate vs. Bus Length

1000
500

Bus lines
assumed to be
an electrical
medium
(e.g. twisted pair)

200

Bit Rate
[kbps]

100
50
20
10
5
0

10

40 100

200

1000

CAN Bus Length [m]

23

10,000

Error Detection in CAN

Error statistics depend up on the entire environment
Total number of nodes
Physical Layout
EMI Disturbance

CAN application example running at

2000 hours/year, 500 Kbps, 25% Bus load
Results in one undetected error in 1000 years

24

CAN
Controller

Physical Layer

Physical CAN Bus

(Differential, e.g Twisted Pair)

CAN_Txd
CAN_Rxd

CAN_Txd
Differential
CAN_Rxd Transceiver

CAN_Txd

CAN_Rxd

Optical
Transceiver
Optical Fiber

25

Cables and Connectors

CAN does not specify the physical media
Common Wire
Twisted pair
Shielded twisted pair
If optional power is needed: additional twisted pair
A pair of shielded twisted pair
Application specific

Common Connector
9-pin Dsub
5-pin mini style
Terminal blocks
Application specific (e.g. telephone jacks)

26

What is LIN ?
Local Interconnect Network
A slower & low cost alternative to CAN

Developed by LIN Consortium in 2002

Developed as a sub-network of CAN to reduce the Bus Load
Applications
Automotive, White Goods, Medical for sensors and actuators

27

Features & Benefits of LIN

Complementary to CAN

Extends CAN to sub-nets

Single Wire Implementation

Reduce harness costs

Speed up to 20Kbps

Improves EMI response

Single Master/Multiple Slave

No arbitration necessary

Based on common UART/SCI

Reduces risk of availability

Self Synchronization

No external crystal

Guaranteed latency times

Deterministic & Predictable

28

Typical LIN Network

ECU & Gateway
CAN 5V CAN
phys
SCI
IF
LIN phys IF

Simplex
12V Operation

29

Node A

Node B

Node C

Node D

SCI
XCVR

SCI
XCVR

SCI
XCVR

SCI
XCVR

LIN Message Frame

message header
synch break
13 bit

Synchronization
Frame

message response

synch field identifier

Identifier Byte

Synchronization
Field
30

0 to 8 data fields

checksum

Message

LIN Physical Interface

Usually
managed by a
transceiver

LIN Control Unit

VBAT
8...18V
master: 1k
slave: 30k
UART

Rx

60%
Bus

40%

Tx
GND

Example capacitances
master: 2.2nF
slave: 220pF

31

Bus Voltage

recessive
logic 1
controlled slope
~2V/s
dominant
logic 0
Time

Sense voltage

Taking account of Ground-Shift

Data timing

32

LIN Baud Rate Requirements

(1)The pre-synchronization accuracy in rev. 1.3 is 15%, but this is

tightened to 14% in LIN 2.0

33

Question
What are the reasons when LIN is preferred over CAN?

To save the bandwidth of another main bus

Size of Network is 16 nodes or less
When lower speed is acceptable
Economical
Single Master with multiple slaves

34

LIN versus CAN

LIN versus CAN

35

Access Control

Single Master

Multiple Master

Max Bus Speed

20 Kbps

1 Mbps

Typical # nodes

2 to 16

4 to 20

Message Routing

6-bit Identifier

11/29-bit Identifier

Data byte/frame

2,4,8 bytes

0-8 bytes

Error detection

8-bit checksum

16-bit CRC

Physical Layer

Single-wire

Twisted-pair

Renesas CAN/LIN Solutions

36

Renesas MCU CAN Solutions

Single
CAN

Multi
CAN

SH7216
200MHz@3/5V

High End
Up to 1 MB Flash
1-2 CAN
176 pin

RX600
100MHz@3V

New

SH7264/62
144MHz@3V

SH7286
100MHz@3/5V

Mid End
Up to 1 MB Flash
1-2 CAN
100/144/176 pin

R32C/117

R32C/118

With FPU

With FPU

64MHz@3/5V

CAN API
Compatible

64MHz@3/5V

M16C/29
20MHz@3/5V

Low End
Up to 128 KB Flash
1 CAN
48-64 pin
37

www.america.renesas.com/CAN
R8C/2x
20MHz@3/5V

Implementation of CAN in Renesas MCU

RX
TX

CAN 2.0A / CAN 2.0B

Protocol Engine

Up to 1Mbps data rate

16/32
Message Buffers
INTs
Clock
Data
Control

Message Buffer
CPU
Interface

Acceptance
Filter
Control
Registers
Common
Control/Status
Registers

38

Renesas M16C LIN Roadmap

R32C
Dedicated LIN
Hardware

M16C Platform

M32C

M16C

M16C/Tiny

R8C/3x

39

UART LIN

Common LIN API

Support for all
M16C Products

Renesas CAN Development Kit

CAN Development Kits for R8C & R32C CAN-D Kit

R32C CAN-D kit now

Two R8C/23 or R32C/118 Renesas Starter Boards
available
Systec CAN protocol Analyzer included in the kit
E8/E30a Debug Interface
Up to 3 CAN interfaces with 32 mailboxes each
Time-triggered CAN support
All board specific APIs and drivers available in included CD
Extensive third-party middleware support available Sample projects and
evaluation software
CAN API
LIN API

Common API for all Renesas CAN MCU Solutions

www.america.renesas.com/CAN

RCDK8C (R8C), MSRP: $495

YRCDK32C (R32C), MSRP: $550

40

Innovation

41

Questions?

42

Feedback Form
Please fill out the feedback form!
If you do not have one, please raise your hand

43

Thank You!

44

Appendix

45

Serial Communications
CAN, LIN, RS-485, RS-232, SPI, I2C, etc. are all serial
communications
Advantages
No line-to-line timing skew
Fewer wires lowering cable, connector, and design costs
Saves on board space and power consumption per bit

Disadvantages
Generally point-to-point
Overhead above actual data payload that uses bandwidth
Higher signal rates shorten transmission distances

46

Transmission Topologies
Point-to-Point (Simplex)
One transmitter and one receiver per line
Transmission is possible only in one direction, i.e. unidirectional.

Multidrop (Distributed Simplex)

point-to-point configuration with one transmitter and many
receivers
Only unidirectional transfer is possible.

47

Transmission Topologies
Multipoint (Multiplex)
Many transmitters and many receivers per line.
Transmission is possible in either direction, i.e. bidirectional.

48

Number of CAN Nodes Built

~Over 2 Billion Nodes

Shipped YTD!!!*

Source: CiA (CAN-in-Automation): http://www.can-cia.org*; REA estimates

49

A Typical 2-channel CAN Solution

2-channel CAN MCU
CPU
CAN

CAN

Lighting
System

Motion
Sensor

Monitor

CAN

CAN

Transceiver

Transceiver

Temp
Sensor

50

HVAC

Motor
Control
CAN Bus 1

CAN Bus 2

Low-Speed

High-Speed

RS-485 vs. CAN

CAN equals RS-485?

Similar costs
Similar distances
Similar electrical immunity
Similar chip availability
Similar connectors
Same 32 nodes (loads) standard
Duplex (4 wire) or Half-Duplex (2 wire) options available

RS-485 is used primarily due to Legacy.

Remember 8051?

51

RS-485 and the 7-layer model

ISA/OSI Reference Model
7. Application Layer
6. Presentation Layer
5. Session Layer
4. Transport Layer

Partially
implemented by
higher-level
RS-485 protocols
(i.e. MODBUS)

3. Network Layer
2. Data Link Layer
Standard RS-485
implementation
1. Physical Layer
Only Low Layer specification
52

Managed by
CPU in Software

CAN Protocol Versions

Two CAN protocol versions are available:
V2.0A (Standard) - 11 bit Message IDs - 2048 IDs available

V2.0B (Extended) - 29 bit Message IDs - more than 536

Million IDs available

53

Termination Settings
High-Speed CAN (125Kbps+)
For High-Speed CAN, both ends of the pair of signal wires (CAN_H and
CAN_L) must be terminated
ISO 11898 requires a cable with a nominal impedance of 120 ohms

120 ohm resistors should be used for termination

Only the devices on the ends of the cable need termination resistors

54

Termination Settings
Low-Speed CAN (Up to 125Kbps)
Each device on the network needs a termination resistor for each data
line: R(RTH) for CAN_H and R(RTL) for CAN_L
Requires termination on the transceiver rather than on the cable
The resistance of each resistor is calculated through several formulas

55

An example of LIN Implementation

56

Renesas Electronics America Inc.