1、BSI Standards PublicationBS ISO 11783-3:2014T r a c t o r s a n d m a c h i n e r y f o r agriculture and forestry Serial control and communications data networkPart 3: Data link layerBS ISO 11783-3:2014 BRITISH STANDARDNational forewordThis British Standard is the UK implementation of ISO 11783-3:2
2、014. It supersedes BS ISO 11783-3:2007 which is withdrawn.The UK participation in its preparation was entrusted to Technical Committee AGE/6, Agricultural tractors and forestry machinery.A list of organizations represented on this committee can be obtained on request to its secretary.This publicatio
3、n does not purport to include all the necessary provisions of a contract. Users are responsible for its correct application. The British Standards Institution 2014.Published by BSI Standards Limited 2014ISBN 978 0 580 74596 6ICS 35.240.99; 65.060.01Compliance with a British Standard cannot confer im
4、munity from legal obligations.This British Standard was published under the authority of the Standards Policy and Strategy Committee on 31 May 2014.Amendments/corrigenda issued since publicationDate T e x t a f f e c t e dBS ISO 11783-3:2014 ISO 2014Tractors and machinery for agriculture and forestr
5、y Serial control and communications data network Part 3: Data link layerTracteurs et matriels agricoles et forestiers Rseaux de commande et de communication de donnes en srie Partie 3: Couche liaison de donnesINTERNATIONAL STANDARDISO11783-3Third edition2014-05-15Reference numberISO 11783-3:2014(E)B
6、S ISO 11783-3:2014ISO 11783-3:2014(E)ii ISO 2014 All rights reservedCOPYRIGHT PROTECTED DOCUMENT ISO 2014All 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 mechanical, including photocopying,
7、 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 officeCase postale 56 CH-1211 Geneva 20Tel. + 41 22 749 01 11Fax + 41 22 749 09 47E-mail co
8、pyrightiso.orgWeb www.iso.orgPublished in SwitzerlandBS ISO 11783-3:2014ISO 11783-3:2014(E) ISO 2014 All rights reserved iiiContents PageForeword ivIntroduction vi1 Scope . 12 Normative references 13 Terms and definitions . 14 General description . 15 Technical requirements 25.1 Message frame format
9、 25.2 Protocol data unit (PDU) 85.3 Protocol data unit (PDU) formats 105.4 Message types . 135.5 Message priority . 245.6 Bus access . 245.7 Contention-based arbitration 245.8 Error detection . 245.9 Assignment process for SA and PGN . 255.10 Transport protocol functions 275.11 Extended transport pr
10、otocol functions 385.12 PDU processing requirements 455.13 Application notes . 46Annex A (informative) ISO 11783 PDU processing Typical receive routine 48Annex B (informative) Transport protocol transfer sequences Examples of connection mode data transfer 50Annex C (informative) Communication mode e
11、xamples 58Annex D (informative) Network Bandwidth Utilization 60Bibliography .61BS ISO 11783-3:2014ISO 11783-3:2014(E)ForewordISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO member bodies). The work of preparing International Stand
12、ards 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, also ta
13、ke 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 1. In pa
14、rticular 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. www.iso.org/directivesAttention is drawn to the possibility that some of the elements of this
15、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 received. www.iso.or
16、g/patentsAny 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 adherence to the WTO prin
17、ciples in the Technical Barriers to Trade (TBT) see the following URL: Foreword - Supplementary informationThe committee responsible for this document is ISO/TC 23, Tractors and machinery for agriculture and forestry, Subcommittee SC 19, Agricultural electronics.This third edition cancels and replac
18、es the second edition (ISO 11783-3:2007) which has been technically revised.ISO 11783 consists of the following parts, under the general title Tractors and machinery for agriculture and forestry Serial control and communications data network: Part 1: General standard for mobile data communication Pa
19、rt 2: Physical layer Part 3: Data link layer Part 4: Network layer Part 5: Network management Part 6: Virtual terminal Part 7: Implement messages application layer Part 8: Power train messages Part 9: Tractor ECU Part 10: Task controller and management information system data interchange Part 11: Mo
20、bile data element dictionary Part 12: Diagnostics services Part 13: File serveriv ISO 2014 All rights reservedBS ISO 11783-3:2014ISO 11783-3:2014(E) Part 14: Sequence control ISO 2014 All rights reserved vBS ISO 11783-3:2014ISO 11783-3:2014(E)IntroductionISO 11783 specifies a communications system f
21、or agricultural equipment based on the CAN 2.0 B 1protocol. SAE J 1939 documents1), on which parts of ISO 11783 are based, were developed jointly for use in truck and bus applications and for construction and agriculture applications. Joint documents were completed to allow electronic units that mee
22、t the truck and bus SAE J 1939 specifications to be used by agricultural and forestry equipment with minimal changes. General information on ISO 11783 is to be found in ISO 11783-1.The purpose of ISO 11783 is to provide an open, interconnected system for on-board electronic systems. It is intended t
23、o enable electronic control units (ECUs) to communicate with each other, providing a standardized system.The International Organization for Standardization (ISO) draws attention to the fact that it is claimed that compliance with this part of ISO 11783 may involve the use of a patent concerning the
24、controller area network (CAN) protocol referred to throughout the document.ISO takes no position concerning the evidence, validity and scope of this patent.The holder of this patent has assured ISO that he is willing to negotiate licences under reasonable and non-discriminatory terms and conditions
25、with applicants throughout the world. In this respect, the statement of the holder of this patent right is registered with ISO. Information may be obtained from:Robert Bosch GmbHWernerstrasse 51Postfach 30 02 20D-70442 Stuttgart-FeuerbachGermanyAttention is drawn to the possibility that some of the
26、elements of this part of ISO 11783 may be the subject of patent rights other than those identified above. ISO shall not be held responsible for identifying any or all such patent rights.1) Society of Automotive Engineers, Warrendale, PA, USA.vi ISO 2014 All rights reservedBS ISO 11783-3:2014INTERNAT
27、IONAL STANDARD ISO 11783-3:2014(E)Tractors and machinery for agriculture and forestry Serial control and communications data network Part 3: Data link layer1 ScopeISO 11783 as a whole specifies a serial data network for control and communications on forestry or agricultural tractors and mounted, sem
28、i-mounted, towed or self-propelled implements. Its purpose is to standardize the method and format of transfer of data between sensors, actuators, control elements, and information-storage and -display units, whether mounted on, or part of, the tractor or implement. It is intended to provide open sy
29、stem interconnect (OSI) for electronic systems used by agricultural and forestry equipment.This part of ISO 11783 describes the data link layer and the use of CAN extended data frames by the network.2 Normative referencesThe following documents, in whole or in part, are normatively referenced in thi
30、s document and are indispensable 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 11783-1, Tractors and machinery for agriculture and forestry Serial control and com
31、munications data network Part 1: General standard for mobile data communicationISO 11783-5, Tractors and machinery for agriculture and forestry Serial control and communications data network Part 5: Network managementISO 11783-7, Tractors and machinery for agriculture and forestry Serial control and
32、 communications data network Part 7: Implement messages application layerISO 11898-1, Road vehicles Controller area network (CAN) Part 1: Data link layer and physical signalling3 Terms and definitionsFor the purposes of this document, the terms and definitions given in ISO 11783-1 apply.4 General de
33、scriptionThe data link layer enables the reliable transfer of data across the physical link. This consists of sending the CAN data frame with the necessary synchronization, sequence control, error control and flow control. The flow control is accomplished through a consistent message frame format. I
34、SO 2014 All rights reserved 1BS ISO 11783-3:2014ISO 11783-3:2014(E)5 Technical requirements5.1 Message frame format5.1.1 GeneralThe message frame format shall conform to the CAN requirements. The CAN specification referenced throughout this part of ISO 11783 is specified in ISO 11898-1. When there a
35、re differences between the CAN specification and this part of ISO 11783, then this part of ISO 11783 shall be the governing document.The CAN document specifies, in an information-routing-related discussion, that control function addresses are not used. While this is true for some applications of CAN
36、, it is not true for ISO 11783. The definition of the ISO 11783 network requires that control function addressing be used to prevent multiple control functions from using the same CAN identifier field. Many additional requirements exist in ISO 11783 that are not specified by CAN.ISO 11898-1 specifie
37、s two message frame formats: base frame and extended frame. ISO 11898-1 compatibility implies that messages of both formats can potentially be present on a single network, by using certain bit coding which allows for the recognition of the different formats. Up to this point, ISO 11783 also accommod
38、ates both message frame formats. However, ISO 11783 only defines a full strategy for standardized communications using the extended frame format. All base frame format messages are for proprietary use following the rules defined in this part of ISO 11783.ISO 11783 controllers shall therefore use the
39、 extended frame format. Base frame format messages may reside on the network, but only in accordance with this part of ISO 11783.NOTE Base frame controllers do not respond to network management messages and are not able to support the strategy for standardized communications.The CAN data frame is pa
40、rsed into different bit fields, as shown in Figure 1. The number and parsing of the bits in the arbitration and control field differs between the CAN base and CAN extended frame messages. CAN base frame messages, as shown in Figure 1 a), contain 11 identifier bits in the arbitration field, whereas t
41、he arbitration field of CAN extended frame messages, as shown in Figure 1 b), contain 29 identifier bits. ISO 11783 has further defined the identifier bits in the arbitration field of the CAN message frame formats. These definitions are given in Table 1.5.1.2 Message frame format according to ISO 11
42、783 (ISO 11898-1 extended frame format)The CAN extended frame message, illustrated by Figure 1, encompasses a single protocol data unit (PDU). The PDU consists of seven predefined fields, assimilated from information provided by the application layer: Priority; Extended Data Page (EDP), Data Page (D
43、P); PDU Format (PF), PDU Specific (PS), which can be Destination Address (DA), Group Extension (GE) or proprietary; Source Address (SA); Data.(See 5.2 for a detailed description of each field and 5.3 for PDU formats.)2 ISO 2014 All rights reservedBS ISO 11783-3:2014ISO 11783-3:2014(E)SOFIdentifier11
44、 bitsRTDIDEr0DLC4 bitsData field0 to 64 bitsCRC15 bitsACK field2 bitsEOF7 bitsCAN data frameMaximum frame length with bit stuffing = 127 bitsArbitration field12 bitsControl field6 bitsData fieldBit stuffingNo bitStuffinga) CAN base frame formatr1Identifier18 bitsRTDSOFIdentifier11 bitsSRRIDEr0DLC4 b
45、itsData field0 to 64 bitsCRC15 bitsACK field2 bitsEOF7 bitsCAN data frameMaximum frame length with bit stuffing = 150 bitsArbitration field32 bitsControl field6 bitsData fieldBit stuffingNo bitStuffingb) CAN extended frame formatFigure 1 CAN data framesThe fields are then packaged into one CAN data
46、frame and sent over the physical media to other network controllers. The layers of the OSI model that ISO 11783 supports are shown in Figure 2. It is possible that some parameter group definitions require more than one CAN data frame in order to send their information. ISO 2014 All rights reserved 3
47、BS ISO 11783-3:2014ISO 11783-3:2014(E)OriginatingcontrollerApplicationNetworkData linkLogical link control(LLC)Medium access control(MAC)PhysicalReceivingcontrollerApplicationNetworkData linkLogical link control(LLC)Medium access control(MAC)PhysicalPriority, EDP, DP, PF, PS, SA, Data1 or more PDU1
48、or more CAN messagesPriority, EDP, DP, PF, PS, SA, Data1 or more PDU1 or more CAN messagesFigure 2 Application of OSI model according to ISO 11783Table 1 shows the arbitration and control fields of the 29 bit identifier for CAN, 29 bit identifier for ISO 11783 and 11 bit identifier for CAN, and the
49、use of the 11 bit identifier on an ISO 11783 network. A complete definition for each of the bit field assignments according to ISO 11783 is given in 5.3. In ISO 11783, the CAN data frame data field is described as Bytes 1 to 8. Byte 1smost significant bit, Bit 8, is the first bit sent closest to the data length code (DLC). Byte 8sleast significant bit, Bit 1, is the last of the data bits to be sent and is closest to the cyclic redundancy check (CRC) field. See Figure 3.NOTE Base frame controlle
