WO2008067956A2 - Verfahren zur flankenformung von signalen und sender-/empfänger-baustein für ein bussystem - Google Patents
Verfahren zur flankenformung von signalen und sender-/empfänger-baustein für ein bussystem Download PDFInfo
- Publication number
- WO2008067956A2 WO2008067956A2 PCT/EP2007/010401 EP2007010401W WO2008067956A2 WO 2008067956 A2 WO2008067956 A2 WO 2008067956A2 EP 2007010401 W EP2007010401 W EP 2007010401W WO 2008067956 A2 WO2008067956 A2 WO 2008067956A2
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- WO
- WIPO (PCT)
- Prior art keywords
- signals
- edge
- bus line
- receiver module
- transmitter
- Prior art date
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Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L25/00—Baseband systems
- H04L25/02—Details ; arrangements for supplying electrical power along data transmission lines
- H04L25/08—Modifications for reducing interference; Modifications for reducing effects due to line faults ; Receiver end arrangements for detecting or overcoming line faults
- H04L25/085—Arrangements for reducing interference in line transmission systems, e.g. by differential transmission
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L25/00—Baseband systems
- H04L25/02—Details ; arrangements for supplying electrical power along data transmission lines
- H04L25/08—Modifications for reducing interference; Modifications for reducing effects due to line faults ; Receiver end arrangements for detecting or overcoming line faults
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
- H03K17/16—Modifications for eliminating interference voltages or currents
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
- H03K17/16—Modifications for eliminating interference voltages or currents
- H03K17/161—Modifications for eliminating interference voltages or currents in field-effect transistor switches
- H03K17/162—Modifications for eliminating interference voltages or currents in field-effect transistor switches without feedback from the output circuit to the control circuit
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
- H03K17/16—Modifications for eliminating interference voltages or currents
- H03K17/161—Modifications for eliminating interference voltages or currents in field-effect transistor switches
- H03K17/162—Modifications for eliminating interference voltages or currents in field-effect transistor switches without feedback from the output circuit to the control circuit
- H03K17/163—Soft switching
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/14—Multichannel or multilink protocols
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K2217/00—Indexing scheme related to electronic switching or gating, i.e. not by contact-making or -breaking covered by H03K17/00
- H03K2217/0027—Measuring means of, e.g. currents through or voltages across the switch
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L25/00—Baseband systems
- H04L25/02—Details ; arrangements for supplying electrical power along data transmission lines
- H04L25/0264—Arrangements for coupling to transmission lines
- H04L25/028—Arrangements specific to the transmitter end
- H04L25/0286—Provision of wave shaping within the driver
- H04L25/0288—Provision of wave shaping within the driver the shape being matched to the transmission line
Definitions
- the invention relates to a method for edge shaping of signals and a transmitter / receiver module for a bus system.
- flanks of signals to be transmitted are formed by means of transmitter / receiver modules used for signal transmission in order to reduce high-frequency interference emissions.
- the transmitter / receiver modules are also referred to as transceivers or bus drivers. As the slope of the signals output to the bus decreases, the noise emission caused by the signals also decreases accordingly.
- the invention has for its object to provide a method for edge shaping of signals that are output to a bus line of a bus system, and a transmitter / receiver module for a bus system that ensure high noise immunity of the bus system.
- the invention achieves this object by a method for edge-forming signals having the features of claim 1 and a transmitter / receiver module having the features of claim 10.
- the method of edge shaping of signals output to a bus line of a bus system comprises the steps of: detecting a high frequency (RF) noise level on the bus line of the bus system, increasing the slew rate of the output signals as the high frequency noise level on the bus line increases and decreasing the slew rate of the output signals as the high frequency noise level on the bus line decreases.
- RF radio frequency
- the edge steepness is continuously increased with increasing RF noise level on the bus line.
- a control current for a gate terminal of a driver transistor which serves for outputting the signals on the bus line, be continuously increased with increasing RF noise level, whereby it is faster or harder switchable between a closed state and a locked state.
- the slope is incrementally increased from a first slope steepness value to at least a second slope steepness value when the RF noise level exceeds at least a first radio frequency noise level threshold.
- frequencies of interference signals in a frequency range from 50 oKHz to 5 GHz, preferably 90 oKHz to 3GHz, particularly preferably 1 MHz to 1 GHz, are taken into account for determining the HF interference level.
- the determination of the RF interference level comprises a rectification of the high-frequency interference signals present on the bus line.
- the determination of the RF interference level further comprises filtering the rectified high-frequency interference signals, in particular forming an average of the rectified high-frequency interference signals. In this way, the RF interference level can be reliably determined.
- the edge steepness of the signals increases, a rising signal edge and / or a falling signal edge are delayed by such a time duration that the rising signal edge and / or the falling signal edge can be received at an unchanged time for a receiver of the signals.
- the time period is set such that a receiver does not notice the change of the slope. If the signal is not delayed in an increase in the slope, a level change is detected earlier in a receiver, whereby a timing specification of the bus system may be violated. This is effectively prevented by delaying the signal edges. With decreasing edge steepness due to decreasing RF noise level, the delay time period is correspondingly reduced again.
- the bus system is a Local Interconnect Network (LIN) bus system.
- LIN Local Interconnect Network
- the inventive transmitter / receiver module for a bus system comprises a driver transistor which is to be looped between a bus line of the bus system and a reference potential and which serves for outputting signals on the bus line, a drive unit for the driver transistor and a high-frequency interference detector.
- the high-frequency noise detector is designed such that it detects a high-frequency noise level on the bus line of the bus system.
- the drive unit is designed such that, depending on the determined high-frequency interference level, it controls the driver transistor in such a way that an edge slope of the output signals increases as the high-frequency noise level on the bus line increases, and a slope of the output signals decreases when the radio-frequency Noise level on the bus line decreases.
- a first controllable current source which is looped in between a supply voltage and a gate terminal of the driver transistor, and a second controllable current source are provided, which is looped between the gate terminal of the driver transistor and a reference potential .
- the controllable current sources are used for defined charging or discharging of the gate electrode of the driver transistor, whereby, for example, the desired edge shape in a mode without HF Interference can be achieved.
- the first and the second controllable current source may be part of the drive unit and / or be formed separately from the drive unit and be driven only by this.
- a filter in particular a low-pass, looped in for interference suppression.
- the filter prevents disturbances on the bus line from influencing the function of the controllable current sources, since these are suppressed by the filter.
- this comprises a third controllable current source, which is looped between a supply voltage and a gate terminal of the driver transistor, and a fourth controllable current source, which is looped between the gate terminal of the driver transistor and a reference potential wherein the third controllable current source and the fourth controllable current source are driven by the drive unit to change the slope of the output signals.
- the first and the second controllable current source can implement a mode without RF interference, wherein parallel to the first and the second current source, the third and the fourth current source provide an increase in the edge steepness, if RF interference is detected.
- the latter comprises a delay unit which is designed in such a way that when the edge steepness of the signals increases, a rising signal edge and / or a falling signal edge are delayed by such a time duration that for a receiver of the signals the rising signal edge and / or the falling signal edge can be received at an unchanged time.
- the delay unit is designed such that it increases as the edge steepness increases Signal edge and / or a falling signal edge delayed by a period of time, so that the signal edge with increased edge steepness reaches a threshold associated with a logic level, at the same time as the signal edge of a signal with normal slew rate.
- the high-frequency interference detector comprises a rectifier which rectifies high-frequency interference signals present on the bus line.
- the high frequency noise detector comprises a filter that filters the rectified high frequency noise.
- the filter comprises an averager, which averages the rectified high-frequency interference signals.
- the bus system is preferably a LIN bus system, wherein the transmitter / receiver module forms a LIN bus driver or a LIN transceiver.
- 1 is a circuit diagram of a transmitter / receiver module for a LIN bus system
- FIG. 2 shows waveforms of signals generated by the transmitter / receiver module of FIG. 1 and FIG.
- FIG. 3 is a circuit diagram of a high frequency noise detector of the transmitter / receiver module of FIG. 1.
- FIG. 3 is a circuit diagram of a high frequency noise detector of the transmitter / receiver module of FIG. 1.
- the transmitter / receiver module TR comprises a MOS driver transistor T1, which is connected in a conventional manner in series with a polarity reversal protection diode D1 between a bus line BL of the bus system and a reference potential GND and which serves to output signals on the bus line BL.
- a MOS driver transistor T1 which is connected in a conventional manner in series with a polarity reversal protection diode D1 between a bus line BL of the bus system and a reference potential GND and which serves to output signals on the bus line BL.
- D1 and T1 further components, not shown, may also be present if these are required.
- further components may also be present if these are required. Please also refer to the LIN-Bus-specification and the relevant literature.
- the transmission path according to the invention is shown in the transmitter / receiver module TR shown.
- the receive path can be implemented in a conventional manner.
- the transmitter / receiver module TR comprises an input terminal TX to which, for example, a port of a microcontroller, not shown, is connected.
- the signals applied to the input terminal TX are output to the Lin bus through the transmitter / receiver module TR.
- a drive unit AE serves to drive the driver transistor T1.
- the drive unit AE is configured in such a way that it activates the driver transistor T1 in dependence on a determined high-frequency noise level on the bus line BL in such a way that an edge steepness of the signals generated by the driver transistor T1 increases as the high-frequency interference level on the bus line BL increases. and a slew rate of the generated signals decreases as the high frequency noise level on the bus line BL decreases.
- the drive unit AE comprises a high-frequency interference detector HFD, which is designed such that it detects a high-frequency interference level on the bus line BL of the bus system.
- the radio frequency interference detector HFD is shown in the embodiment shown in FIG. illustrated as part of the drive unit AE, but it can also be arranged separately from this.
- the drive unit AE further comprises a first controllable current source SQ1, a first switching means S1 and a low-pass filter TP, which are connected in series between a supply voltage VCC and a gate terminal of the driver transistor T1.
- a second controllable current source SQ2, a switching means S2 and the low-pass filter TP are connected in series between the gate terminal of the driver transistor T1 and a reference potential GND.
- the low-pass filter TP serves to suppress high-frequency interference on the bus line BL, which are coupled via the transistor T1, in particular via its gate-drain capacitance and its gate-source capacitance.
- the low-pass filter TP therefore protects the circuit arrangement shown, in particular the elements SQ1 / S1 and SQ2 / S2, from HF interference on the bus line BL.
- the switching means S1 and S2 are used to disconnect the current sources SQ 1 and SQ2 from the gate terminal of the transistor T1 during a charging operation or during a discharging operation of the gate terminal of the transistor T1.
- the switching means S1 and S2 are alternately opened or closed in response to a signal UTX present at the input terminal TX, ie during a charging process the switching means S1 is closed and the switching means S2 is opened and during a discharging operation the switching means S1 is opened and the switching means S2 is closed, whereby charge in the gate terminal of the transistor T1 is transferred or charge is removed from the gate terminal.
- the current sources SQ1 and SQ2 provide during a switching of the signal from a low to a high level and from a high to a low level, a charge or a discharge current for the gate terminal of the transistor T1 such that a desired edge shape of the on the bus line BL output signal, which causes a low noise emission.
- the edge steepness of the signals generated or output in this case is comparatively low.
- a third controllable current source SQ3 and a switching means S3 are provided, which are connected in series between the supply voltage VCC and the gate terminal of the driver transistor T1. Accordingly, a switching means S4 and a fourth controllable current source SQ4 are provided, which are looped between the gate terminal of the driver transistor T1 and the reference potential GND.
- the third controllable current source SQ3 and the fourth controllable current source SQ4 are driven by the high-frequency interference detector HFD of the drive unit AE to change the slope of the output signals by means of a signal US, i. a current intensity of a charging or discharging current supplied by the current sources SQ3 and SQ4 is increased or decreased in accordance with the RF interference level detected by the high frequency noise detector HFD in accordance with the driving signal US.
- the switching means S3 and S4 are used analogously to the switching means S1 and S2 for disconnecting the current sources SQ3 and SQ4 from the gate terminal of the transistor T1 during a charging process or during an unloading operation.
- the switching means S3 and S4 are opened or closed as a function of the signal UTX present at the input terminal TX, the switching means S3 and S4 being delayed with respect to the switching means S1 and S2, since a delay unit VE is connected between the input terminal TX and the switching means S3 and S4 is looped in.
- the delay unit VE serves to increase the edge steepness of the signals, a rising signal edge and a falling Signal edge to such time durations tv1 and tv2 (see Fig. 2) to delay that for a receiver of the signals, the rising edge of the signal and the falling edge of the signal can be received at an unchanged time.
- the delay periods tv1 and tv2 generated by the delay unit VE are set such that a receiver does not notice the change of the slope. If the signal is not delayed in an increase in the slope, a level change is detected earlier in a receiver, whereby a timing specification of the bus system may be violated. This is effectively prevented by delaying the signal edges.
- the rising edge delay time period tv1 differs from the falling edge delay time period tv2.
- the delay periods tv1 and tv2 can optionally be set dynamically depending on the RF noise level, i. with decreasing edge steepness due to decreasing RF interference levels, the delay periods tv1 and tv2 are correspondingly reduced, and with increasing slew rate due to increasing RF noise levels, the delay periods tv1 and tv2 are correspondingly increased.
- the delay periods tv1 and tv2 are constant.
- the radio frequency interference detector HFD When a significant RF noise level is detected on the bus line BL through the radio frequency interference detector HFD, it drives the current sources SQ3 and SQ4 to provide a respective current that is significantly greater than that provided by the current sources SQ1 and SQ2 , As a result, after the lapse of the delay time period tv1 or tv2 generated by the delay unit VE, when either the switching means S3 or S4 is closed, the gate terminal of the transistor T1 is charged or discharged much faster, whereby the edge steepness of the transistors output signals increases significantly.
- the current provided by current sources SQ3 and SQ4 may be continuously increased with increasing RF noise level or increased in steps from a first slope slope value to at least a second slope slope value if the radio frequency noise level exceeds at least a first radio frequency noise level threshold.
- the increased edge steepness leads to disturbances on the bus line BL during the signal edge do not lead to an uncontrolled switching in a receiver.
- the drive parts SQ1 / S1 and SQ2 / S2 as well as SQ3 / S3 and SQ4 / S4 shown in FIG. 1 serve to illustrate the drive principle. It is understood that further, known in the art, not shown components may be present.
- Fig. 2 shows waveforms of a voltage UBL on the bus line BL, which is generated by the transmitter / receiver module TR in response to a voltage applied to the input TX voltage UTX. If the HF detector HFD detects no HF interference on the bus line BL, the result is a signal profile UBL1 which has a low edge steepness. The signal curve UBL1 leads to a low noise radiation on the bus line BL.
- the radio frequency noise detector HFD detects significant RF interference on the bus line BL, it drives the current sources SQ3 and SQ4 to provide a significantly increased charge or discharge current.
- the resulting signal UBL2 has a significantly increased edge steepness, whereby the susceptibility decreases significantly.
- the delay unit VE delays the closing of the switches S3 and S4 with respect to the rising or falling edge of the input signal UTX by the time period tv1 and tv2, respectively, so that an unillustrated receiver will notice nothing of the change in the slew rate.
- the delay time period tv1 or tv2 is set by the delay unit VE such that a threshold or switching level SP is simultaneously reached by the signal UBL1 and the signal UBL2.
- the switching level SP is assigned to a logic level, ie when the signal UBL1 or UBL2 exceeds the switching level SP, a first logical value is detected in the receiver, and when the signal UBL1 or UBL2 falls below the switching level SP, a second logical value is detected in the receiver. For rising and falling edges also different switching levels or thresholds can be set.
- FIG. 3 shows a circuit diagram of the radio frequency interference detector HFD of the transmitter / receiver module TR of FIG. 1.
- the high-frequency noise detector HFD comprises capacitors C1 and C2, which are connected between the bus line BL and the reference potential GND and which form a capacitive voltage divider.
- a current source SQ5 an NMOS transistor N1 and an NMOS transistor N3 are connected in series between the supply voltage VCC and the reference potential GND.
- An NMOS transistor N2 and an NMOS transistor N4 are connected in series between the supply voltage VCC and the reference potential GND.
- the drain terminal and the gate terminal of the transistor N1 are connected to each other.
- the gate terminals of the transistors N1 and N2 are connected together.
- the drain terminal and the gate terminal of the transistor N3 are connected to each other.
- the gate terminals of the transistors N3 and N4 are connected together.
- a PMOS transistor PO and an N MOS transistor N5 are connected between the supply voltage VCC and the reference potential GND.
- the gate terminal and the source terminal of the transistor PO are connected to each other.
- a current source SQ6 is connected in parallel with the drain-source path of the transistor PO.
- a connection node of the first capacitor C1 and the second capacitor C2 is connected to a connection node of the transistor N2 and the transistor N4 and a gate terminal of the transistor N5.
- a PMOS transistor P1 and an N MOS transistor N10 are connected in series between the supply voltage VCC and the reference potential GND.
- the gate terminals of the transistors PO and P1 are connected together.
- the drain terminal and the gate terminal of the transistor N10 are connected to each other.
- a PMOS transistor P2, a switching means S5, a switching means S6 and an NMOS transistor N11 are connected in series between the supply voltage VCC and the reference potential GND.
- a connection node KN 1 of the switching means S5 and S6 is the drive signal US for the controllable current sources SQ3 and SQ4.
- the switching means S5 and S6 are driven by the drive voltage UTX, wherein either the switching means S5 closed and the switching means S6 open or the switching means S5 open and the switching means S6 is closed.
- the transistors N1 to N5 form a so-called "translinear loop". Assuming that the transistors N1 to N5 are all the same, the drain current of the transistor N5 corresponds to the current of the current source SQ5. When the current sources SQ5 and SQ6 are the same, flows no current in the input of the current bank, which is formed from the transistors PO to P2.
- RF disturbances on the bus line BL are conducted via the capacitive voltage divider from the capacitors C1 and C2 to the gate of the transistor N5.
- the source of the transistor N2 clamps the voltage.
- the transistor N2 is high impedance. By this rectifying effect, the gate potential of the transistor N5 increases.
- the drain current of the transistor N5 is now much larger than the current of the current source SQ6 and the resulting differential current flows into the input transistor PO of the PMOS current bank.
- the transistor P2 provides the charging current for the gate terminal of the driver transistor T1 and the transistor P1 and the current mirror, formed of the transistors N10 and N11, generate the corresponding discharge current.
- the circuit arrangement of the high-frequency interference detector HFD shown initially acts as a peak rectifier rectifying high-frequency interference signals present on the bus line.
- the rectified signals are then filtered, for example with a low-pass filter and / or an averager.
- the filter takes into account frequencies of interfering signals in a frequency range from 1 MHz to 1 GHz.
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Power Engineering (AREA)
- Computer Security & Cryptography (AREA)
- Dc Digital Transmission (AREA)
- Electronic Switches (AREA)
- Small-Scale Networks (AREA)
- Logic Circuits (AREA)
- Noise Elimination (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009539647A JP2010512081A (ja) | 2006-12-04 | 2007-11-30 | 信号のエッジ形成の方法、及びバスシステムの送信機/受信機構成部品 |
CN2007800492288A CN101584169B (zh) | 2006-12-04 | 2007-11-30 | 用于形成信号的边沿的方法以及用于总线系统的发射器/接收器模块 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102006058889A DE102006058889B3 (de) | 2006-12-04 | 2006-12-04 | Verfahren zur Flankenformung von Signalen und Sender-/Empfänger-Baustein für ein Bussystem |
DE102006058889.4 | 2006-12-04 |
Publications (3)
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WO2008067956A2 true WO2008067956A2 (de) | 2008-06-12 |
WO2008067956A3 WO2008067956A3 (de) | 2008-08-07 |
WO2008067956A8 WO2008067956A8 (de) | 2008-09-25 |
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PCT/EP2007/010401 WO2008067956A2 (de) | 2006-12-04 | 2007-11-30 | Verfahren zur flankenformung von signalen und sender-/empfänger-baustein für ein bussystem |
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US (1) | US8054911B2 (de) |
JP (1) | JP2010512081A (de) |
KR (1) | KR20090086467A (de) |
CN (1) | CN101584169B (de) |
DE (1) | DE102006058889B3 (de) |
WO (1) | WO2008067956A2 (de) |
Families Citing this family (8)
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WO2012132215A1 (ja) * | 2011-03-31 | 2012-10-04 | ルネサスエレクトロニクス株式会社 | シリアル通信装置 |
DE102013222789A1 (de) * | 2013-11-08 | 2015-05-13 | Robert Bosch Gmbh | Teilnehmerstation für ein Bussystem und Verfahren zur Reduzierung von leitungsgebundenen Emissionen in einem Bussystem |
DE102013222790A1 (de) * | 2013-11-08 | 2015-05-13 | Robert Bosch Gmbh | Teilnehmerstation für ein Bussystem und Verfahren zur Verbesserung der Empfangsqualität in einem Bussystem |
FR3020720B1 (fr) * | 2014-04-30 | 2017-09-15 | Inside Secure | Interface de communication avec adaptation automatique au niveau du signal entrant |
US9166646B1 (en) * | 2014-08-25 | 2015-10-20 | Nxp B.V. | Transceiver circuit and method for operating a transceiver circuit |
US10488516B2 (en) * | 2015-10-21 | 2019-11-26 | Semiconductor Components Industries, Llc | Controlling an output signal independently of the first harmonic |
EP3503397A1 (de) * | 2017-12-20 | 2019-06-26 | Valeo Siemens eAutomotive Germany GmbH | Treibereinheit, stromwandler, fahrzeug und verfahren zum betreiben elektrischer leistungskonverter |
WO2024053215A1 (ja) * | 2022-09-08 | 2024-03-14 | ローム株式会社 | 信号送信装置 |
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2006
- 2006-12-04 DE DE102006058889A patent/DE102006058889B3/de active Active
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2007
- 2007-11-30 KR KR1020097014009A patent/KR20090086467A/ko active IP Right Grant
- 2007-11-30 JP JP2009539647A patent/JP2010512081A/ja active Pending
- 2007-11-30 WO PCT/EP2007/010401 patent/WO2008067956A2/de active Application Filing
- 2007-11-30 CN CN2007800492288A patent/CN101584169B/zh active Active
- 2007-12-04 US US11/950,361 patent/US8054911B2/en active Active
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Publication number | Priority date | Publication date | Assignee | Title |
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GB2186468A (en) * | 1986-02-06 | 1987-08-12 | Plessey Co Plc | Improvements relating to data transmission systems |
US6069916A (en) * | 1996-08-01 | 2000-05-30 | Siemens Aktiengesellschaft | Interface circuit |
Also Published As
Publication number | Publication date |
---|---|
US20080205498A1 (en) | 2008-08-28 |
WO2008067956A3 (de) | 2008-08-07 |
US8054911B2 (en) | 2011-11-08 |
WO2008067956A8 (de) | 2008-09-25 |
CN101584169A (zh) | 2009-11-18 |
CN101584169B (zh) | 2012-12-26 |
DE102006058889B3 (de) | 2008-05-21 |
KR20090086467A (ko) | 2009-08-12 |
JP2010512081A (ja) | 2010-04-15 |
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