1、BSI Standards PublicationBS ISO 16844-4:2015Road vehicles TachographsystemsPart 4: CAN interfaceBS ISO 16844-4:2015 BRITISH STANDARDNational forewordThis British Standard is the UK implementation of ISO 16844-4:2015.The UK participation in its preparation was entrusted to TechnicalCommittee AUE/16,
2、Data Communication (Road Vehicles).A list of organizations represented on this committee can beobtained on request to its secretary.This publication does not purport to include all the necessaryprovisions of a contract. Users are responsible for its correctapplication. The British Standards Institut
3、ion 2015. Published by BSI StandardsLimited 2015ISBN 978 0 580 81530 0ICS 43.040.10Compliance with a British Standard cannot confer immunity fromlegal obligations.This British Standard was published under the authority of theStandards Policy and Strategy Committee on 31 January 2015.Amendments issue
4、d since publicationDate Text affectedBS ISO 16844-4:2015 ISO 2015Road vehicles Tachograph systems Part 4: CAN interfaceVhicules routiers Systmes tachygraphes Partie 4: Interface CANINTERNATIONAL STANDARDISO16844-4Second edition2015-01-15Reference numberISO 16844-4:2015(E)BS ISO 16844-4:2015ISO 16844
5、-4:2015(E)ii ISO 2015 All rights reservedCOPYRIGHT PROTECTED DOCUMENT ISO 2015All 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, or posting on the internet
6、 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 copyrightiso.orgWeb www.iso.o
7、rgPublished in SwitzerlandBS ISO 16844-4:2015ISO 16844-4:2015(E)Contents PageForeword ivIntroduction v1 Scope . 12 Normative reference . 13 Terms and definitions . 14 Symbols and abbreviated terms . 15 Physical layer application requirements 25.1 General . 25.2 Bit timing requirements 35.2.1 General
8、 35.2.2 CAN bit timing requirements for 250 kbit/s . 35.2.3 CAN bit timing requirements for 500 kbit/s . 46 Data link layer application requirements 46.1 Message frame format 46.1.1 General 46.1.2 Priority (P) bits . 56.1.3 Extended data page (EDP) bit 56.1.4 Data page (DP) bit . 56.1.5 PDU format (
9、PF) field 56.1.6 PDU specific (PS) field . 56.1.7 Source address (SA) field 56.1.8 Data field . 66.2 PDU specification 66.2.1 Parameter group number (PGN) 66.2.2 PDU format . 66.3 Message types 66.3.1 General 66.3.2 RQST Request 76.3.3 ACKM Acknowledgment message 87 Transport protocol . 87.1 General
10、 . 87.2 BAM Broadcast announce message . 97.3 TP.DT Transport protocol Data transfer . 98 Application layer .108.1 General 108.2 TD Time/Date 108.3 VI Vehicle identification 118.4 VDHR High resolution vehicle distance . 118.5 SERV Service information . 128.6 RESET Reset 128.7 TCO1 Tachograph . 138.8
11、 DI Drivers identification 148.9 TDA Time/Date adjust . 148.10 EEC1 Electronic engine controller 1 158.11 CL Cab illumination message . 168.12 DRTD1 Driver 1 driving rest times 168.13 DRTD2 Driver 2 driving rest times 179 Addresses 18Bibliography .19 ISO 2015 All rights reserved iiiBS ISO 16844-4:20
12、15ISO 16844-4:2015(E)ForewordISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO member bodies). The work of preparing International Standards is normally carried out through ISO technical committees. Each member body interested in a s
13、ubject 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 take part in the work. ISO collaborates closely with the International Electrotechnical Commission
14、(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 particular the different approval criteria needed for the different types of ISO documents should b
15、e 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 elements of this document may be the subject of patent rights. ISO shall not be held responsible for identif
16、ying 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 (see www.iso.org/patents).Any trade name used in this document is information given for the convenienc
17、e 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 principles in the Technical Barriers to Trade (TBT), see the following URL: Foreword Supp
18、lementary information .This second edition cancels and replaces the first edition (ISO 16844-4:2004), which has been technically revised.The committee responsible for this document is ISO/TC 22, Road vehicles, Subcommittee SC 3, Electrical and electronic equipment.ISO 16844 consists of the following
19、 parts, under the general title Road vehicles Tachograph systems: Part 1: Electrical connectors Part 2: Electrical interface with recording unit Part 3: Motion sensor interface Part 4: CAN interface Part 5: Secured CAN interface Part 6: Diagnostics Part 7: Parametersiv ISO 2015 All rights reservedBS
20、 ISO 16844-4:2015ISO 16844-4:2015(E)IntroductionThis International Standard supports and facilitates the communication between electronic control units and a tachograph. The tachograph is based upon the European Council Regulation (EC) No 561/20061and (EEC) No 3821/852as last amended.The digital tac
21、hograph concept is based upon an RU storing data, related to the activities of the various drivers driving the vehicle, on which it is installed.During the normal operational status of the RU, data stored in its memory are accessible to different entities (drivers, authorities, workshops, transport
22、companies) in different ways (displayed on a screen, printed by a printing device, downloaded to an external device). Access to stored data is controlled by smart card inserted in the tachograph.In order to prevent manipulation of the tachograph system, the speed signal sender (motion sensor) is pro
23、vided with an encrypted data link.A typical tachograph system is shown in Figure 1.Key1 positive supply2 battery minus3 speed signal, real time4 data signal in/outFigure 1 Typical tachograph system ISO 2015 All rights reserved vBS ISO 16844-4:2015BS ISO 16844-4:2015Road vehicles Tachograph systems P
24、art 4: CAN interface1 ScopeThis part of ISO 16844 specifies the controller area network (CAN) interface for the interchange of digital information between a road vehicles tachograph system and vehicle units, and within the tachograph system itself. It specifies parameters of, and requirements for, t
25、he application of physical and data link layers of the electrical connection used in the electronic systems.2 Normative referenceThe following documents, in whole or in part, are normatively referenced in this document and are indispensable for its application. For dated references, only the edition
26、 cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies.ISO 11898-1, Road vehicles Controller area network (CAN) Part 1: Data link layer and physical signallingISO 16844-7, Road vehicles Tachograph systems Part 7: Parameters3 Terms and
27、 definitionsFor the purpose of this document, the following terms and definitions apply.3.1recording unitRUpart of the tachograph system which acquires and stores data concerning the vehicle and its driver(s) and their activitiesNote 1 to entry: A recording unit is also referenced as a vehicle unit
28、in other standards, both are synonyms.3.2visual instrumentspeedometer and display(s) for odometer and trip meter data4 Symbols and abbreviated termsACK positive acknowledgeBAM broadcast announce messageCAN controller area networkDA destination addressDP data pageECU electronic control unitINTERNATIO
29、NAL STANDARD ISO 16844-4:2015(E) ISO 2015 All rights reserved 1BS ISO 16844-4:2015ISO 16844-4:2015(E)EDP extended data pageEOL end-of-lineLSB least significant bit/byteMSB most significant bit/byteNACK negative acknowledgeP priorityPDU protocol data unitPF PDU formatPG parameter groupPGN parameter g
30、roup numberPhase_Seg1 phase buffer segment 1Phase_Seg2 phase buffer segment 2Prop_Seg propagation time segmentPS PDU specificRU recording unitSA source addressSync_Seg synchronization segmentTP.DT transport protocol data transfertsbit timetqtime quantatSEG1timing segment 1tSEG2timing segment 2tSJWsy
31、nchronization jump widthVIN vehicle identification number5 Physical layer application requirements5.1 GeneralThe physical layer shall meet the requirements of SAE J1939-114for 250 kbit/s and SAE J1939-145for 500 kbit/s unless otherwise specified in this part of ISO 16844.2 ISO 2015 All rights reserv
32、edBS ISO 16844-4:2015ISO 16844-4:2015(E)5.2 Bit timing requirements5.2.1 GeneralThe following values of CAN bit timing parameters specified in ISO 11898-1 shall be used for the settings of the tachograph ECUs as given in Figure 2.tSync_Seg= 1tqtSEG1= tProp_Seg+ tPhase_Seg1tSEG2= tPhase_Seg2Sync_segI
33、SO 11898 terms:Prop_seg Phase_Seg 1 Phase_Seg 2ISO 16844 terms: tSync_SegtSEG 1tSEG2tBIT aKey1 sample pointaNominal bit time.Figure 2 Partition of bit time5.2.2 CAN bit timing requirements for 250 kbit/sFor a physical layer configured to 250 kbit/s, the parameter values given in Table 1 shall apply.
34、Table 1 CAN bit timing parameter values for 250 kbit/s, single data sampling modeParameter Timing settingMin Nominal MaxtB3 980 ns 4 000 ns 4 020 nstq 400 nstSEG1tSEG1= tB 1tq tSEG2tSEG1= tB 1tq tSEG2tSEG1= tB 1tq tSEG2The CAN bit timing values shall also comply with the following conditions: nomina
35、l bit rate: 250 kbit/s 0,5 %; sample point: between 80 % and 88 % of nominal bit time of single data sampling mode.Values for the bit timing shall be according to Table 2, which is based on time quanta, tq. ISO 2015 All rights reserved 3BS ISO 16844-4:2015ISO 16844-4:2015(E)Table 2 CAN bit timing pa
36、rameter values for 250 kbit/s for a given time quanta, tqParametertqtSJWtSEG2200 ns 600 ns 600 ns250 ns 500 ns 750 ns334 ns 668 ns 668 ns400 ns 800 ns 800 ns5.2.3 CAN bit timing requirements for 500 kbit/sFor a physical layer configured to 500 kbit/s, the parameter values given in Table 3 shall appl
37、y.Table 3 CAN bit timing parameter values for 500 kbit/s, single data sampling modeParameter Timing settingMin Nominal MaxtB1 980 ns 2 000 ns 2 020 nstq 200 nstSEG1tSEG1= tB 1tq tSEG2tSEG1= tB 1tq tSEG2tSEG1= tB 1tq tSEG2The CAN bit timing values shall also comply with the following conditions: nomi
38、nal bit rate: 500 kbit/s 1 %; clock tolerance: 0,05 %; sample point: between 80 % and 88 % of nominal bit time of single data sampling mode.Values for the bit timing shall be according to Table 4, which is based on time quanta, tq.Table 4 CAN bit timing parameter values for 500 kbit/s for a given ti
39、me quanta, tqParameter valuestqtSJWtSEG2100 ns 300 ns 400 ns125 ns 375 ns 375 ns167 ns 334 ns 334 ns200 ns 400 ns 400 ns6 Data link layer application requirements6.1 Message frame format6.1.1 GeneralFor the data link layer, the application layer provides a string of information that is assimilated i
40、nto a PDU. The PDU provides a framework for organizing the information, which shall be sent in the CAN data frame.The 29-bit identifier shall be in accordance with ISO 11898-1.The PDU shall consist of seven fields in addition to the specific CAN fields specified in Figure 3.4 ISO 2015 All rights res
41、ervedBS ISO 16844-4:2015ISO 16844-4:2015(E)The PDU fields shall contain P, EDP, DP, PF, PS, which may be a DA or a GE, SA, and data field.Figure 3 Usage of 29 bit CAN identifier and data fieldNOTE For compatibility with other definitions (e.g. ISO 11898-1, J1939), the bit positions of the identifier
42、 field start with index 0, and the bit/byte positions within the data field start with index 1.6.1.2 Priority (P) bitsThis 3-bit subfield shall be used to optimize PDU message latency for transmission onto the bus only and shall have no other specific meaning. It shall not be used for message valida
43、tion on receiver side and should be globally masked off by the receiver (ignored). The priority of any PDU may be set from highest, 010(0002), to lowest, 710(1112) and will use the default values as given in the PGN specifications. Other values may be specified by the system integrator (vehicle manu
44、facturer).6.1.3 Extended data page (EDP) bitThis 1-bit subfield shall be used in conjunction with the DP subfield to select a range of PGNs. The definition of a PGN is given in 6.2.6.1.4 Data page (DP) bitThis 1-bit subfield shall be used in conjunction with the EDP subfield to select a range of PGN
45、s. The definition of a PGN is given in 6.2.6.1.5 PDU format (PF) fieldThis 8-bit subfield shall determine the PDU format and the transmission method as specified in 6.2.6.1.6 PDU specific (PS) field6.1.6.1 GeneralThis 8-bit subfield shall depend on the PDU format. For a PDU1 format, the PDU specific
46、 (PS) subfield is a destination address (DA); for a PDU2 format, the PS subfield is a group extension (GE).6.1.6.2 Destination address (DA) fieldThe DA addresses the ECU intended to receive and act upon the message. In case of the global destination address (25510/FF16), all nodes shall process the
47、PDU.6.1.6.3 Group extension (GE) fieldThe GE field extends the four least significant bits of the PF field, and provides 4 096 PGNs. It indicates that the PS field is a group extension when the four most significant bits of PF field are set.6.1.7 Source address (SA) fieldThe SA field shall be 8-bit
48、long. There shall be only one device on the network with a given SA, i.e. the SA assures that the CAN identifiers are unique. ISO 2015 All rights reserved 5BS ISO 16844-4:2015ISO 16844-4:2015(E)6.1.8 Data fieldA single CAN frame shall provide a maximum of eight data bytes within the data field. If n
49、ot specified in the message definition, all eight bytes shall be used, even if fewer are required. This provides means to easily add parameters while remaining compatible with previous revisions, which only specified part of the data field.All unused data fields shall be set to the value “not available” all bits set to one (1).6.2 PDU specification6.2.1 Parameter group number (PGN)This 24-bit number shall be used in all cases w
