Abstract:
A Controller Area Network (CAN) driver (a transmitter) includes a conventional main driver having an open drain first driver MOSFET, for pulling up a first conductor of a bus in a dominant state, and an open drain second driver MOSFET, for pulling down a second conductor of the bus in the dominant state. Since it is difficult to perfectly match the driver MOSFET characteristics for conducting exactly equal currents during turning on and turning off, significant common mode fluctuations occur, resulting in electromagnetic emissions. Source followers are respectively connected in parallel with the first driver MOSFET and the second driver MOSFET for creating a low common mode loading impedance on the conductors during times when the main driver MOSFETs are turning on and turning off to greatly reduce any common mode fluctuations caused by the main driver MOSFETs.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is based on, and claims priority from, U.S. provisional application 62/056,240, filed on Sep. 26, 2014, by the present inventor, assigned to the present assignee and incorporated herein by reference. 
    
    
     FIELD OF THE INVENTION 
     This invention relates to Controller Area Network (CAN) bus transmitters and, in particular, to a bus driver that reduces common mode fluctuations. 
     BACKGROUND 
     The Controller Area Network (CAN) bus standard ISO 11898 is designed to allow devices to communicate with each other using a 2-wire bus. The ISO 11898 standard is incorporated herein by reference. The data signals on the bus are differential, so any common mode signals are ideally nullified. The standard is primarily applied to communications in vehicles, and examples of devices that may communicate over the bus include engine control units, power steering control units, air bag control units, audio system control units, power window control units, etc. The CAN bus standard may also be applied to industrial environments (e.g., robotic control units), entertainment environments (e.g., video game control units), and other environments. 
     The various control units typically generate parallel data, and the data is packaged in frames in accordance with a protocol and transmitted serially, as differential bit signals, on the bus. Collision and arbitration rules are specified by the standard. 
     The present invention only deals with the bus driver (a transmitter) in a CAN, which is typically coupled to a twisted wire pair. 
       FIG. 1  illustrates a prior art CAN bus driver  10  for a particular device receiving serial data on line  12 . In one example, the bus driver  10  receives a logical 0 bit on line  12 , and a gate driver  14  generates a low PGATE voltage for turning on a PMOS transistor  16  and generates a high NGATE voltage for turning on an NMOS transistor  18 . Thus, Vcc is applied to the high side bus line  20 , and system ground is applied to the low side bus line  22 . The lines  20  and  22  are coupled to the twisted pair cable  24  (a bus) via optional reverse current-blocking diodes  26  and  28  and the bus terminals CANH and CANL. The voltage differential for a logical 1 bit should be greater than 1.5 volts. This is called a dominant state. For a logical 1 bit on line  12 , both transistors  16  and  18  are turned off (a high impedance), and the 120 ohm termination resistors  30  and  32  return the differential voltage on the bus to 0 volts. This is called a recessive state. 
     Various devices would be coupled to the cable  24  and also include a bus driver similar to the driver  10 . 
     The common mode voltage, which is equal to the average of the CANH and CANL terminal voltages, ideally remains constant during transitions from the recessive state to the dominant state and during transitions from the dominant state back to the recessive state. Fluctuations of the common mode voltage result in electromagnetic emissions (EME), which are undesirable in electronic systems. 
     During the transition from the recessive state to the dominant state, the PMOS transistor  16  should turn on at exactly the same time and at the same rate as the NMOS transistor  18  in order for the average of the CANH and CANL terminal voltages to remain approximately constant throughout the dominant state. Likewise, during the transition from the dominant state to the recessive state, the PMOS transistor  16  should turn off at exactly the same time and at the same rate as the NMOS transistor  18 . 
     In practical electronic devices, it is very difficult to ensure that two different open drain FETs of different types (PFET vs NFET) turn on and off at exactly the same time and rate. If the two devices do not turn on or off at the same rate, large changes in the common mode voltage may arise during the transitions, resulting in EME. The CAN bus driver  10  is very susceptible to producing large common mode variations. This is because the two transistors  16  and  18  act as high impedance current sources when they are turning on and off, during which their gate to source (Vgs) voltage is low and their drain to source voltage (Vds) is high. Under this condition, the common mode load is the parallel output impedance of these two transistors (plus the parallel impedance of the CAN receivers that are on the CAN bus). This results in a high common mode loading impedance that can be several tens of kilohms. Under these conditions, a small fractional difference in the currents simultaneously conducted by the PMOS transistor  16  and the NMOS transistor  18  during the turn-on or turn-off transitions may result in a common mode voltage fluctuation of a volt or more. This is unacceptable for EME considerations in many systems. 
     What is needed is a CAN driver that is less affected by the unequal currents conducted by the main driver transistors during the transitions between the dominant and recessive states. 
     SUMMARY 
     The invention relates to a CAN bus driver where the main driver transistors are supplemented with complementary source follower drivers. Because the source follower FETs drive their respective CAN bus lines through their sources rather than their drains, their output impedance is very low compared to an open drain driver. The complementary source follower drivers turn on slightly before and turn off slightly after the main driver FETs to provide a much lower common mode loading impedance during the transition between the dominant and recessive states, thereby greatly reducing the common mode voltage fluctuations arising from conduction current mismatches in the main driver FETs. 
     The source follower driver contains a complementary slope generator circuit that produces two rising and falling waveforms that are equal and opposite to a high degree of matching. Good matching is possible because integrated circuit technology enables highly matched complementary current sources and highly matched capacitors. The complementary rise and fall slopes are generated by switching equal but opposite currents into a pair of matched capacitors. 
     When the main driver transistors are turned fully on, the bus is driven by the main drive transistors and their respective source followers conducting in parallel. 
     In another embodiment, similar benefits are achieved if the source follower drivers are switched simultaneously with the main driver FETS, since the low impedance of the source follower driver dominates the switching effects, but such precise timing is relatively difficult in an actual circuit. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  illustrates a prior art CAN bus driver. 
         FIG. 2  illustrates a CAN bus driver in accordance with one embodiment of the invention. 
         FIG. 3  illustrates a CAN bus driver in accordance with a second embodiment of the invention, where an additional common source FET is connected anti-parallel with each of the source follower FETs to allow the main driver FETs to be made smaller while achieving the same overall output drive current. 
         FIG. 4  illustrates a CAN bus driver in accordance with a fourth embodiment of the invention, where the main driver FETs in  FIG. 3  are eliminated, while increasing the size of the FETs in the source follower driver to achieve the same overall output drive current. 
     
    
    
     DETAILED DESCRIPTION 
       FIG. 2  illustrates the improved CAN bus driver  40 , where the elements equivalent to those in  FIG. 1  are labeled with the same numerals. The driver  40  further includes a pull-up source follower  42  and a pull-down source follower  44 . 
     The pull-up source follower  42  includes an NMOS transistor  46  having its drain coupled to the power supply voltage Vcc and its source coupled to the source of a PMOS transistor  48  acting as a protective high voltage cascode device. The drain of the PMOS transistor  48  is coupled to the high side bus line  20 . The gate of the PMOS transistor  48  is coupled to system ground to turn it on, and the gate of the NMOS transistor  46  is coupled to receive a control voltage generated by a slope generator  50 . 
     The pull-down source follower  44  includes a PMOS transistor  52  having its drain coupled to the system ground and its source coupled to the source of an NMOS transistor  54  acting as a protective high voltage cascode device. The drain of the NMOS transistor  54  is coupled to the low side bus line  22 . The gate of the NMOS transistor  54  is coupled to the system power supply Vcc to turn it on, and the gate of the PMOS transistor  52  is coupled to receive a control voltage generated by the slope generator  50 , where the control voltages for the PMOS transistor  52  and the NMOS transistor  46  are complementary, as shown by the complementary waveforms NSLW (N slew) and PSLW (P slew) within the slope generator  50 . 
     The PMOS transistor  52  is matched with the NMOS transistor  46  so that, as the two transistors turn on or turn off, they conduct approximately identical currents. 
     The high side bus line  20  is coupled to the drain of the PMOS transistor  16  in the main driver  56 , and the low side bus line  22  is coupled to the drain of the NMOS transistor  18  in the main driver  56 . 
     Because the NMOS transistor  46  and the PMOS transistor  52  drive their respective CAN bus lines  20 / 22  through their sources rather than their drains, their output impedance is very low compared to an open drain driver. The output impedance is low since any change in Vgs caused by a fluctuation on the bus line  20  or  22  produces a large change in current through the transistor. 
     Since the NMOS transistor  46  and the PMOS transistor  52  are matched and are following the well matched complementary outputs of the slope generator  50 , and because their outputs are low impedance voltage sources rather than high impedance current sources, the source followers  42  and  44  produce very little common mode voltage fluctuations when they turn on or turn off. In addition, the source followers  42  and  44  provide a low impedance common mode load on the main driver  56  when the main driver  56  turns on and off. 
     The much lower common mode loading impedance by the source followers  42  and  44  thereby greatly reduce the common mode voltage fluctuations arising from conduction current mismatches in the main driver  56  transistors  16  and  18  when changing states. 
     The complementary slope generator  50 , considered to be part of the overall source follower driver circuit  58 , produces two rising and falling waveforms (NSLW and PSLW) that are equal and opposite to a high degree of matching. Good matching is possible because integrated circuit technology enables highly matched complementary current sources and highly matched capacitors. The complementary rise and fall slopes are generated by switching equal but opposite currents into a pair of matched capacitors. 
     In order for the source follower driver  58  to provide a common mode load for the main driver  56  during the times when the main driver transistors  16  and  18  are turning on and off, it must turn on slightly before the main driver  56  turns on and turn off slightly after the main driver  56  turns off. This is accomplished by the delay circuits  60  and  62  between the data input line  12  and the inputs of the source follower driver  58  and the main driver  56 . The main driver  56  is driven through the delay circuit  62  that delays the leading edge of the data signal (for turning on) but not the trailing edge (for turning off). This is shown by the data input DIN and data output DOUT waveforms within the delay circuit  62 . The source follower driver  58  is driven through the delay circuit  60  that delays the trailing edge of the data signal (for turning off) but not the leading edge (for turning on). Upon the arrival of the leading edge of the data signal, the source follower driver  58  turns on immediately, followed shortly after by the main driver  56 . Upon the arrival of the falling edge of the data signal, the main driver  56  turns off immediately, followed shortly after by the source follower driver  58 . This enables the source follower driver  58  to provide a common mode load to the main driver  56  during its turn on and turn off transitions to reduce common mode voltage fluctuations. 
     Therefore, ideally, the main driver  56  only switches at times when the source follower driver  58  is in its steady state (whether in recessive or dominant state). 
     Because the source follower driver  58  is driving the output through source followers  42  and  44 , there is a voltage drop between the input voltages on the gates of the NMOS transistor  46  and the PMOS transistor  52  and their outputs. For this reason, the source follower driver  58  is not capable of driving a sufficiently large differential voltage to satisfy the requirements of the CAN bus. Therefore it used as a supplementary driver to improve the EME properties of the main driver  56 , which employs the open drain FETs suitable for driving large differential voltages on the CAN bus. 
     In an alternative embodiment, the high voltage protection cascode transistors  48  and  52  may be deleted. The blocking diodes  26  and  28  may also be deleted, or may be placed at other nodes in the circuit. Further, other techniques can be used for ensuring that the source follower driver  58  turns on before the main driver  56  and turns off after the main driver  56 . 
     In one embodiment, the serial transmission uses a non-return to zero (NRZ) format. 
       FIG. 3  illustrates a second embodiment of the invention.  FIG. 3  differs from  FIG. 2  in that common source low voltage PMOS transistor  66  and NMOS transistor  68  are connected in anti-parallel with the source follower NMOS transistor  46  and PMOS transistor  52 , respectively. PMOS transistor  66  has its source and body connected to the drain of the NMOS transistor  46  and its drain connected to the source and body of the NMOS transistor  46 . The gate of the PMOS transistor  66  is driven by the main driver&#39;s  56  gate driver  14  in parallel with the main driver PMOS transistor  16  rather than the source follower driver slope generator  50 . 
     Likewise, common source NMOS transistor  68  has its source and body connected to the drain of the PMOS transistor  52  and its drain connected to the source and body of the PMOS transistor  52 . The gate of the NMOS transistor  68  is driven by the main driver&#39;s  56  gate driver  14  in parallel with main driver NMOS transistor  18  rather than the source follower driver slope generator  50 . 
     The advantage of the embodiment of  FIG. 3  is more efficient usage of the chip area devoted to the high voltage transistors  48  and  54  in the source follower driver  58 . High voltage FETs are desirable in the output circuit of a CAN transmitter because they provide much greater immunity to damage from electrical fault conditions and electrostatic discharge compared to the conventional low voltage FETs typically used in CMOS integrated circuits. However, high voltage FETs require much greater chip area than low voltage FETs for the same output drive current. In the embodiment shown in  FIG. 2 , the high voltage cascode transistors  48  and  52  in the source follower driver  58  conduct only during the turn-on and turn-off phases of the signal, and do not contribute to the output drive current when the driver is fully turned on. The main driver  56  pulls up the voltage on the high side bus line  20  high enough to turn off the source follower NMOS transistor  46  and pulls down the voltage on the low side bus line  22  low enough to turn off the source follower PMOS transistor  52 . As a result, current through the high voltage cascode transistors  48  and  54  drops to zero during the fully-on state. The considerable chip area devoted to the high voltage cascode transistors  48  and  54  yields a benefit in suppressing the common mode voltage fluctuations but does not contribute to the drive current of the transmitter in its fully on state. 
     The embodiment of  FIG. 3  improves the area efficiency of the transmitter by adding the common source PMOS transistor  66  anti-parallel with the source follower NMOS transistor  46 , and adding the common source NMOS transistor  68  anti-parallel with the source follower PMOS transistor  52 . The gates of the transistors  66  and  68  are driven by the main driver gate driver  14  in parallel with main driver output transistors  16  and  18  respectively. The transistors  66  and  68  turn on and off at the same time as the main driver transistors  16  and  18  and conduct current through the high voltage cascode transistors  48  and  54 . Because they are connected in the common source configuration in parallel with the main driver transistors, their gate to source control voltage are independent of the voltages on the bus lines  20  and  22 . The transistors  66  and  68  continue to conduct current through transistors  48  and  54  as the bus line  20  is pulled high and the bus line  22  is pulled low, even as the voltage on these bus lines turn off the source follower transistors  46  and  52 . Because the high voltage transistors  54  and  48  now contribute to the drive strength of the transmitter in the fully on state, the size of the main driver transistors  16  and  18  may be reduced while achieving the same output drive current as the embodiment shown in  FIG. 2 . 
       FIG. 4  illustrates a third embodiment of the invention, which may be used to reduce the driver area, compared to the embodiment of  FIG. 2 , with a circuit that is simpler than that of  FIG. 3 . In this embodiment, the high voltage transistors  16  and  18  of the main driver  14  in  FIG. 3  are eliminated completely, and the full on-state drive current flows through the common-source low voltage transistors  66  and  68  and their associated optional high voltage cascode transistors  48  and  54 . This simplifies the circuit compared to the embodiment shown in  FIG. 3  while maintaining some of its advantage of full utilization of the high voltage cascode transistors  48  and  54  for driving the on-state output current. However, the common source transistors  66  and  68  and the high voltage cascode transistors  48  and  54  will have to be made significantly larger than their counterparts in  FIG. 3  because they now must drive the full output current in the absence of the main driver transistors  16  and  18 . The total FET area may be lower than the embodiment of  FIG. 2 , with its inefficient use of high voltage cascode transistors  48  and  54 , but the total transistor area may be higher than in the embodiment of  FIG. 3  because the series combination of transistors  68  and  54  and transistors  66  and  48  will have a higher resistance per unit area than the single transistor  18  and transistor  16  used in the main driver  14  in  FIG. 3 . 
     In another embodiment, similar benefits of reducing the common mode voltage fluctuations during transitions between states are achieved if the source follower drivers are switched simultaneously with the main driver FETS, since the low impedance of the source follower drivers dominate the switching effects on the bus lines, but such precise timing of the transitions of the various FETs is relatively difficult in an actual circuit. Thus, in such an embodiment, the delay circuits  60  and  62  are not needed. 
     While particular embodiments of the present invention have been shown and described, it will be obvious to those skilled in the art that changes and modifications may be made without departing from this invention in its broader aspects. The appended claims are to encompass within their scope all such changes and modifications as fall within the true spirit and scope of this invention.