1、 ISO 2015 Road vehicles Controller area network (CAN) Part 1: Data link layer and physical signalling Vhicules routiers Gestionnaire de rseau de communication (CAN) Partie 1: Couche liaison de donnes et signalisation physique INTERNATIONAL STANDARD ISO 11898-1 Second edition 2015-12-15 Reference num
2、ber ISO 11898-1:2015(E) ISO 11898-1:2015(E)ii ISO 2015 All rights reserved COPYRIGHT PROTECTED DOCUMENT ISO 2015, Published in Switzerland All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized otherwise in any form or by any means, electronic or m
3、echanical, including photocopying, or posting on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below or ISOs member body in the country of the requester. ISO copyright office Ch. de Blandonnet 8 CP 401 CH-1214 Vernier, Genev
4、a, Switzerland Tel. +41 22 749 01 11 Fax +41 22 749 09 47 copyrightiso.org www.iso.org ISO 11898-1:2015(E)Foreword vi Introduction vii 1 Scope . 1 2 Conformance . 1 3 Normative references 2 4 T erms and definitions . 2 5 Symbols and abbreviated terms . 5 6 Basic concepts of CAN 7 6.1 CAN properties
5、7 6.2 Frames 8 6.3 Bus access method . 8 6.4 Information routing 8 6.5 Network flexibility . 8 6.6 Data consistency 8 6.7 Remote data request 8 6.8 Error detection 9 6.9 Error signalling and recovery time 9 6.10 ACK 9 6.11 Automatic retransmission . 9 6.12 Fault confinement. 9 6.13 Error-active 9 6.
6、14 Error-passive 9 6.15 Bus-off .10 7 Layered architecture of CAN 10 7.1 Reference to OSI model .10 7.2 Protocol specification .11 7.3 Format description of services .11 7.3.1 Format description of service primitives 11 7.3.2 Types of service primitives 12 7.4 LLC interface 12 8 Description of LLC s
7、ub-layer .12 8.1 General 12 8.2 Services of LLC sub-layer 13 8.2.1 Types of connectionless-mode transmission services .13 8.2.2 Service primitive specification .13 8.3 Functions of LLC sub-layer 18 8.3.1 General.18 8.3.2 Frame acceptance filtering .18 8.3.3 Overload notification 18 8.3.4 Recovery ma
8、nagement 19 8.4 Structure of LLC frames 19 8.4.1 General.19 8.4.2 Specification of LLC DF 19 8.4.3 Specification of LLC RF 20 8.5 Limited LLC frames 21 9 Interface between LLC and MAC 21 9.1 Services .21 9.2 Time and time triggering 21 9.2.1 Description .21 9.2.2 Time base 21 9.2.3 Time reference po
9、int .21 ISO 2015 All rights reserved iii Contents Page ISO 11898-1:2015(E)9.2.4 Event generation .22 9.3 Disabling automatic retransmission .22 9.3.1 Retransmission of frames22 9.4 Message time stamping 22 10 Description of MAC sub-layer .22 10.1 General 22 10.2 Services of MAC sub-layer 22 10.2.1 S
10、ervice description .22 10.2.2 Service primitives specification .23 10.3 Functional model of MAC sub-layer architecture .27 10.3.1 Capability 27 10.3.2 Frame transmission . .27 10.3.3 Frame reception 28 10.4 Structure of MAC frames29 10.4.1 Description .29 10.4.2 Specification of MAC DF 29 10.4.3 Spe
11、cification of MAC RF 34 10.4.4 Specification of EF .34 10.4.5 Specification of OF .35 10.4.6 Specification of inter-frame space .36 10.5 Frame coding .37 10.6 Frame acknowledgement 37 10.7 Frame validation .37 10.8 Order of bit transmission 38 10.9 Medium access method 39 10.9.1 General.39 10.9.2 Mu
12、lti-master .39 10.9.3 Bus access .40 10.9.4 Bus integration state .40 10.9.5 Protocol exception event40 10.9.6 Transmission of MAC frames 40 10.9.7 Content-based arbitration 40 10.9.8 Frame priority .41 10.9.9 Collision resolution .41 10.9.10 Disabling of frame formats .41 10.10 MAC data consistency
13、 41 10.11 Error detection .41 10.12 Error signalling 42 10.13 Overload signalling .43 10.14 Bus monitoring 44 10.15 Restricted operation . .44 11 PL specification .44 11.1 General and functional modelling .44 11.2 Services of PL 44 11.2.1 Description .44 11.2.2 PCS_Data.Request .45 11.2.3 PCS_Data.I
14、ndicate .45 11.2.4 PCS_Status.Transmitter .45 11.2.5 PCS_Status.Receiver45 11.3 PCS specification.45 11.3.1 Bit encoding/decoding 45 11.3.2 Synchronization .50 11.3.3 Transmitter delay compensation52 11.4 AUI specification .54 11.4.1 General.54 11.4.2 PCS to PMA messages .55 11.4.3 PMA to PCS messag
15、e 55 iv ISO 2015 All rights reserved ISO 11898-1:2015(E)12 Description of supervisor FCE .55 12.1 Fault confinement55 12.1.1 Objectives 55 12.1.2 Strategies .55 12.1.3 Fault confinement interface specification .56 12.1.4 Rules of fault confinement 58 12.1.5 Network start-up 60 12.2 Bus failure manag
16、ement 60 Annex A (informative) Additional Information 61 Bibliography .65 ISO 2015 All rights reserved v ISO 11898-1:2015(E) Foreword ISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO member bodies). The work of preparing Internation
17、al Standards is normally carried out through ISO technical committees. Each member body interested in a subject for which a technical committee has been established has the right to be represented on that committee. International organizations, governmental and non-governmental, in liaison with ISO,
18、 also take part in the work. ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization. The procedures used to develop this document and those intended for its further maintenance are described in the ISO/IEC Directives, Part
19、 1. In particular the different approval criteria needed for the different types of ISO documents should be noted. This document was drafted in accordance with the editorial rules of the ISO/IEC Directives, Part 2 (see www.iso.org/directives). Attention is drawn to the possibility that some of the e
20、lements of this document may be the subject of patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of any patent rights identified during the development of the document will be in the Introduction and/or on the ISO list of patent declarations rece
21、ived (see www.iso.org/patents). Any trade name used in this document is information given for the convenience of users and does not constitute an endorsement. For an explanation on the meaning of ISO specific terms and expressions related to conformity assessment, as well as information about ISOs a
22、dherence to the WTO principles in the Technical Barriers to Trade (TBT), see the following URL: Foreword Supplementary information. The committee responsible for this document is ISO/TC 22, Road vehicles, Subcommittee SC 31, Data communication. This second edition cancels and replaces the first edit
23、ion (ISO 11898-1:2003), which has been technically revised. It also incorporates the Corrigendum ISO 11898-1:2003/Cor 1:2006. ISO 11898 consists of the following parts, under the general title Road vehicles Controller area network (CAN): Part 1: Data link layer and physical signalling Part 2: High-s
24、peed medium access unit 1) Part 3: Low-speed, fault-tolerant, medium-dependent interface Part 4: Time-triggered communication Part 5: High-speed medium access unit with low-power mode 1) Part 6: High-speed medium access unit with selective wake-up functionality 1) 1) Parts 2, 5, and 6 are being revi
25、sed. They will be merged under a new edition of Part 2.vi ISO 2015 All rights reserved ISO 11898-1:2015(E) Introduction ISO 11898 was first published as one document in 1993. It covered the CAN data link layer, as well as the high-speed physical layer. In the reviewed and restructured ISO 11898 seri
26、es: Part 1 defines the data link layer including the logical link control (LLC) sub-layer and the medium access control (MAC) sub-layer, as well as the physical signalling (PHS) sub-layer; Part 2 defines the high-speed physical medium attachment (PMA); Part 3 defines the low-speed fault-tolerant phy
27、sical medium attachment (PMA); Part 4 defines the time-triggered communication; Part 5 defines the power modes of the high-speed physical medium attachment (PMA); Part 6 defines the selective wake-up functionality of the high-speed physical medium attachment (PMA). NOTE ISO 11898-2 is updated in par
28、allel to the update of this part of ISO 11898 to combine the functions described in ISO 11898-2, ISO 11898-5 and ISO 11898-6. (The future edition of ISO 11898-2 will cancel and replace the current ISO 11898-2:2003, ISO 11898-5:2007 and ISO 11898-6:2013) Figure 1 shows the relations between the OSI r
29、eference layers and the parts of the ISO 11898 series. NOTE ISO 11898-2 refers to the future edition that will cancel and replace the current ISO 11898-2:2003, ISO 11898-5:2007 and ISO 11898-6:2013. Figure 1 CAN data link and physical sub-layers relation to the OSI model ISO 2015 All rights reserved
30、 vii Road vehicles Controller area network (CAN) Part 1: Data link layer and physical signalling 1 Scope This part of ISO 11898 specifies the characteristics of setting up an interchange of digital information between modules implementing the CAN data link layer. Controller area network is a serial
31、communication protocol, which supports distributed real-time control and multiplexing for use within road vehicles and other control applications. This part of ISO 11898 specifies the Classical CAN frame format and the newly introduced CAN Flexible Data Rate Frame format. The Classical CAN frame for
32、mat allows bit rates up to 1 Mbit/s and payloads up to 8 byte per frame. The Flexible Data Rate frame format allows bit rates higher than 1 Mbit/s and payloads longer than 8 byte per frame. This part of ISO 11898 describes the general architecture of CAN in terms of hierarchical layers according to
33、the ISO reference model for open systems interconnection (OSI) according to ISO/IEC 7498- 1. The CAN data link layer is specified according to ISO/IEC 8802-2 and ISO/IEC 8802-3. This part of ISO 11898 contains detailed specifications of the following (see Figure 2): logical link control sub-layer; m
34、edium access control sub-layer; physical coding sub-layer. There are three implementation options. They are the following: support of the Classical CAN frame format only, not tolerating the Flexible Data Rate frame format; support of the Classical CAN frame format and tolerating the Flexible Data Ra
35、te frame format; support of the Classical CAN frame format and the Flexible Data Rate frame format. The last option is recommended to be implemented for new designs. NOTE Implementations of the first option can communicate with implementations of the third option only as long as the Flexible Data Ra
36、te frame format is not used; otherwise, Error Frames are generated. There are opportunities to run implementations of the first option also in CAN networks using the Flexible Data Rate frame format, but these are not in the scope of this part of ISO 11898. 2 Conformance The data link layer conforman
37、ce test plan is not in the scope of this part of ISO 11898. For an implementation to be compliant with this part of ISO 11898, the logical link control sub-layer and the medium access control sub-layer shall comply with all mandatory specifications and values given in this part of ISO 11898. If opti
38、onal specifications and values are implemented, they shall comply, too. INTERNATIONAL ST ANDARD ISO 11898-1:2015(E) ISO 2015 All rights reserved 1 ISO 11898-1:2015(E) 3 Normative references The following documents, in whole or in part, are normatively referenced in this document and are indispensabl
39、e for its application. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies. ISO/IEC 7498-1, Information technology Open Systems Interconnection Basic Reference Model: The Basic Model Part 1 ISO
40、/IEC/IEEE 8802-3:2014, Standard for Ethernet Part 3 4 T erms a nd definiti ons For the purpose of this part of ISO 11898, the following terms and definitions apply. 4.1 arbitration phase phase where the nominal bit time is used 4.2 b i t s t u f f i n g frame coding method providing bus state change
41、s required for periodic resynchronization when using an NRZ bit representation Note 1 to entry: Whenever the transmitting logic encounters a certain number (stuff width) of consecutive bits of equal value in the data, it automatically stuffs a bit of complementary valuea stuff bitinto the outgoing b
42、it stream. Receivers de-stuff the Data Frames and the Remote Frames, i.e. the inverse procedure is carried out. 4.3 bus topology of a communication network, where all nodes are reached by passive links which allow transmission in both directions 4.4 bus comparator electronic circuit converting physi
43、cal signals used for transfer across the communication medium back into logical information or data signals 4.5 bus driver electronic circuit converting information or data signals into physical signals so that these signals can be transferred across the communication medium 4.6 bus state one of two
44、 complementary logical states: dominant or recessive Note 1 to entry: The dominant state represents the logical 0, and the recessive state represents the logical 1. During simultaneous transmission of dominant and recessive bits, the resulting bus state is dominant. When no transmission is in progre
45、ss, the bus is idle. During idle time, it is in recessive state 4.7 Classical Base Frame Format format for Data Frames or Remote Frames using an 11-bit identifier, which are transmitted with one single bit rate and up to and including 8 data bytes 4.8 Classical Extended Frame Format format for Data
46、Frames or Remote Frames using a 29-bit identifier, which are transmitted with one single bit rate and up to and including 8 data bytes2 ISO 2015 All rights reserved ISO 11898-1:2015(E) 4.9 Classical Frame Data Frame or Remote Frame using the Classical Base Frame Format or the Classical Extended Fram
47、e Format 4.10 content-based arbitration CSMA arbitration procedure resolving bus-contention when multiple nodes simultaneously access the bus 4.11 data bit rate number of bits per time during data phase, independent of bit encoding/decoding 4.12 data bit time duration of one bit in data phase 4.13 D
48、ata Frame frame containing user data (e.g. one or more signals or one or more suspect parameters of one or more process data) 4.14 data phase phase where the data bit time is used 4.15 edge difference in bus-states between two consecutive time quanta 4.16 Error Frame frame indicating the detection o
49、f an error condition 4.17 FD enabled able to receive and to transmit FD Frames, as well as Classical Frames 4.18 FD Base Frame Format format for Data Frames using an 11-bit identifier, which are transmitted with a flexible bit rate and up to and including 64 data bytes 4.19 FD Extended Frame Format format for Data Frames using a 29-bit identifier, which are transmitted with a flexible bit rate and up to and including 64 data bytes 4.20 FD Frame Data Frame using the FD Base Frame Format or
