1、BS ISO 16845-1:2016Road vehicles Controllerarea network (CAN)conformance test planPart 1: Data link layer and physicalsignallingBSI Standards PublicationWB11885_BSI_StandardCovs_2013_AW.indd 1 15/05/2013 15:06BS ISO 16845-1:2016 BRITISH STANDARDNational forewordThis British Standard is the UK implem
2、entation of ISO 16845-1:2016.The UK participation in its preparation was entrusted to Technical Committee AUE/16, Data Communication (Road Vehicles).A list of organizations represented on this committee can be obtained on request to its secretary.This publication does not purport to include all the
3、necessary provisions of a contract. Users are responsible for its correct application. The British Standards Institution 2016.Published by BSI Standards Limited 2016ISBN 978 0 580 88009 4 ICS 43.040.15 Compliance with a British Standard cannot confer immunity from legal obligations.This British Stan
4、dard was published under the authority of the Standards Policy and Strategy Committee on 30 November 2016.Amendments/corrigenda issued since publicationDate T e x t a f f e c t e dBS ISO 16845-1:2016 ISO 2016Road vehicles Controller area network (CAN) conformance test plan Part 1: Data link layer an
5、d physical signallingVhicules routiers Plan dessai de conformit du gestionnaire de rseau de communication (CAN) Partie 1: Couche liaison de donnes et signalisation physiqueINTERNATIONAL STANDARDISO16845-1First edition2016-11-01Reference numberISO 16845-1:2016(E)BS ISO 16845-1:2016ISO 16845-1:2016(E)
6、ii ISO 2016 All rights reservedCOPYRIGHT PROTECTED DOCUMENT ISO 2016, Published in SwitzerlandAll 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
7、 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 officeCh. de Blandonnet 8 CP 401CH-1214 Vernier, Geneva, SwitzerlandTel. +41 22 749 01 11Fax +41 22 74
8、9 09 47copyrightiso.orgwww.iso.orgBS ISO 16845-1:2016ISO 16845-1:2016(E)Foreword viiIntroduction viii1 Scope . 12 Normative references 13 Terms and definitions . 14 Abbreviated terms 35 Global overview . 45.1 Scope of test plan 45.2 Architecture of test plan . 45.3 Organization 55.3.1 General organi
9、zation 55.3.2 Test case organization . 65.3.3 Hierarchical structure of tests 76 LT parameters 86.1 Overview 86.2 Description of parameters 86.2.1 Communication parameters 86.2.2 Application parameters . 96.2.3 Bit rate configuration parameter variation for bit timing tests .107 Test type 1, receive
10、d frame .107.1 Test class 1, valid frame format . 107.1.1 Identifier and number of data test in base format.107.1.2 Identifier and number of data test in extended format .117.1.3 Reception after arbitration lost 127.1.4 Acceptance of non-nominal bit in base format frame .137.1.5 Acceptance of non-no
11、minal bit in extended format frame .137.1.6 Protocol exception behaviour on non-nominal bit 147.1.7 Minimum time for bus idle after protocol exception handling .157.1.8 DLC greater than 8 157.1.9 Absent bus idle Valid frame reception 167.1.10 Stuff acceptance test in base format frame 167.1.11 Stuff
12、 acceptance test in extended format frame 177.1.12 Message validation 187.2 Test class 2, error detection 197.2.1 Bit error in data frame .197.2.2 Stuff error for basic frame 197.2.3 Stuff error for extended frame 207.2.4 Stuff error for FD frame payload bytes 217.2.5 CRC error . 227.2.6 Combination
13、 of CRC error and form error 237.2.7 Form error in data frame at “CRC delimiter” bit position .247.2.8 Form error at fixed stuff bit in FD frames .247.2.9 Form error in data frame at “ACK delimiter” bit position 257.2.10 Form error in data frame at “EOF” 257.2.11 Message non-validation 267.3 Test cl
14、ass 3, error frame management 267.3.1 Error flag longer than 6 bits 267.3.2 Data frame starting on the third bit of intermission field .277.3.3 Bit error in error flag .277.3.4 Form error in error delimiter 287.4 Test class 4, overload frame management . 287.4.1 MAC overload generation during interm
15、ission field .28 ISO 2016 All rights reserved iiiContents PageBS ISO 16845-1:2016ISO 16845-1:2016(E)7.4.2 Last bit of EOF .297.4.3 Eighth bit of an error and overload delimiter 297.4.4 Bit error in overload flag 307.4.5 Form error in overload delimiter . 307.4.6 MAC overload generation during interm
16、ission field following an error frame 317.4.7 MAC overload generation during intermission field following an overload frame 317.5 Test class 5, passive error state class 327.5.1 Passive error flag completion test 1 .327.5.2 Data frame acceptance after passive error frame transmission 337.5.3 Accepta
17、nce of 7 consecutive dominant bits after passive error flag 337.5.4 Passive state unchanged on further errors 347.5.5 Passive error flag completion Test case 2 347.5.6 Form error in passive error delimiter 357.5.7 Transition from active to passive ERROR FLAG .357.6 Test class 6, error counter manage
18、ment 367.6.1 REC increment on bit error in active error flag 367.6.2 REC increment on bit error in overload flag .377.6.3 REC increment when active error flag is longer than 13 bits .377.6.4 REC increment when overload flag is longer than 13 bits 387.6.5 REC increment on bit error in the ACK field .
19、387.6.6 REC increment on form error in CRC delimiter387.6.7 REC increment on form error in ACK delimiter .397.6.8 REC increment on form error in EOF field .397.6.9 REC increment on stuff error . 407.6.10 REC increment on CRC error 417.6.11 REC increment on dominant bit after end of error flag 417.6.
20、12 REC increment on form error in error delimiter 427.6.13 REC increment on form error in overload delimiter427.6.14 REC decrement on valid frame reception 437.6.15 REC decrement on valid frame reception during passive state 437.6.16 REC non-increment on last bit of EOF field .447.6.17 REC non-incre
21、ment on 13-bit length overload flag 447.6.18 REC non-increment on 13-bit length error flag .457.6.19 REC non-increment on last bit of error delimiter 457.6.20 REC non-increment on last bit of overload delimiter .467.6.21 REC non-decrement on transmission .467.6.22 REC increment on form error at fixe
22、d stuff bit in FD frames 477.6.23 REC non-increment on protocol exception in FD frames.477.7 Test class 7, bit timing Classical CAN frame format .487.7.1 Sample point test 487.7.2 Hard synchronization on SOF reception 497.7.3 Synchronization when e 0 and e SJW(N) 497.7.4 Synchronization when e 0 and
23、 e SJW(N) 507.7.5 Synchronization when e SJW(N) 517.7.7 Glitch filtering test on positive phase error .517.7.8 Glitch filtering test on negative phase error527.7.9 Glitch filtering test in idle state 537.7.10 Non-Synchronization after a dominant sampled bit 547.7.11 Synchronization when e 0 and e SJ
24、W(D) 597.8.4 Synchronization when e 0 and e SJW(D) 617.8.5 Synchronization when e SJW .65iv ISO 2016 All rights reservedBS ISO 16845-1:2016ISO 16845-1:2016(E)7.8.7 Glitch filtering test on positive phase error .677.8.8 Glitch filtering test on negative phase error697.8.9 No synchronization after a d
25、ominant sampled bit 718 Test type 2, transmitted frame 738.1 Test class 1, valid frame format . 738.1.1 Identifier and number of data bytes test in base format 738.1.2 Identifier and number of data bytes test in extended format 738.1.3 Arbitration in base format frame 748.1.4 Arbitration in extended
26、 format frame test .758.1.5 Message validation 768.1.6 Stuff bit generation capability in base format frame .768.1.7 Stuff bit generation capability in extended frame 778.1.8 Transmission on the third bit of intermission field after arbitration lost .788.2 Test class 2, error detection 798.2.1 Bit e
27、rror test in base format frame . 798.2.2 Bit error in extended format frame 808.2.3 Stuff error test in base format frame .818.2.4 Stuff error test in extended frame format .818.2.5 Form error test .828.2.6 Acknowledgement error 838.2.7 Form field tolerance test for FD frame format 848.2.8 Bit error
28、 at stuff bit position for FD frame payload bytes .848.3 Test class 3, error frame management 858.3.1 Error flag longer than 6 bit 858.3.2 Transmission on the third bit of intermission field after error frame 858.3.3 Bit error in error flag .868.3.4 Form error in error delimiter 868.4 Test class 4,
29、overload frame management . 878.4.1 MAC overload generation in intermission field878.4.2 Eighth bit of an error and overload delimiter 888.4.3 Transmission on the third bit of intermission after overload frame .888.4.4 Bit error in overload flag 898.4.5 Form error in overload delimiter . 898.5 Test
30、class 5, passive error state and bus-off . 908.5.1 Acceptance of active error flag overwriting passive error flag .908.5.2 Frame acceptance after passive error frame transmission 908.5.3 Acceptance of 7 consecutive dominant bits after passive error flag 918.5.4 Reception of a frame during suspend tr
31、ansmission .928.5.5 Transmission of a frame after suspend transmission Test case 1 .928.5.6 Transmission of a frame after suspend transmission Test case 2 .938.5.7 Transmission of a frame after suspend transmission Test case 3 .938.5.8 Transmission of a frame without suspend transmission .938.5.9 No
32、 transmission of a frame between the third bit of intermission field and eighth bit of suspend transmission .948.5.10 Bus-off state 948.5.11 Bus-off recovery 958.5.12 Completion condition for a passive error flag .968.5.13 Form error in passive error delimiter 968.5.14 Maximum recovery time after a
33、corrupted frame 978.5.15 Transition from active to passive ERROR FLAG .978.6 Test class 6, error counter management 988.6.1 TEC increment on bit error during active error flag 988.6.2 TEC increment on bit error during overload flag .998.6.3 TEC increment when active error flag is followed by dominan
34、t bits 998.6.4 TEC increment when passive error flag is followed by dominant bits 1008.6.5 TEC increment when overload flag is followed by dominant bits .1008.6.6 TEC increment on bit error in data frame 1018.6.7 TEC increment on form error in a frame .102 ISO 2016 All rights reserved vBS ISO 16845-
35、1:2016ISO 16845-1:2016(E)8.6.8 TEC increment on acknowledgement error .1028.6.9 TEC increment on form error in error delimiter 1038.6.10 TEC increment on form error in overload delimiter .1038.6.11 TEC decrement on successful frame transmission for TEC 127.1048.6.13 TEC non-increment on 13-bit long
36、overload flag 1058.6.14 TEC non-increment on 13-bit long error flag .1058.6.15 TEC non-increment on form error at last bit of overload delimiter 1068.6.16 TEC non-increment on form error at last bit of error delimiter .1068.6.17 TEC non-increment on acknowledgement error in passive state .1078.6.18
37、TEC increment after acknowledgement error in passive state 1078.6.19 TEC non-increment on stuff error during arbitration .1088.6.20 TEC non-decrement on transmission while arbitration lost .1088.6.21 TEC non-increment after arbitration lost and error .1098.7 Test class 7, bit timing .1098.7.1 Sample
38、 point test .1098.7.2 Hard synchronization on SOF reception before sample point .1108.7.3 Hard synchronization on SOF reception after sample point 1118.7.4 Synchronization when e SJW(N) 1128.7.6 Glitch filtering test on negative phase error.1138.7.7 Non-synchronization on dominant bit transmission .
39、1138.7.8 Synchronization before information processing time .1148.7.9 Synchronization after sample point while sending a dominant bit .1148.8 Test class 8, bit timing CAN FD frame format .1158.8.1 Sample point test .1158.8.2 Secondary sample point test .1188.8.3 No synchronization within data phase
40、bits when e 2 data bit times.7 Test type 1, received frame7.1 Test class 1, valid frame format7.1.1 Identifier and number of data test in base formatTable 1 specifies the test of the correct reception of frames in base frame format.10 ISO 2016 All rights reservedBS ISO 16845-1:2016ISO 16845-1:2016(E
41、)Table 1 Identifier and number of data test in base formatItem DescriptionPurposeThis test verifies the behaviour of the IUT when receiving a correct data frame with different identifiers and different numbers of data bytes in base format frame.CAN_VERSIONClassical CANCAN FD tolerantCAN FD enabledCA
42、N FD enabledTest variablesIDDLCFDF = 0IDDLCFDF = 1Elementary test casesThe CAN ID shall be element of: 000h, 7FFhDifferent CAN IDs are used for test.#1 CAN ID = 555h#2 CAN ID = 2AAh#3 CAN ID = 000h#4 CAN ID = 7FFh#5 CAN ID = a random valueTested number of data bytes: 0, 8Number of tests: 45The CAN I
43、D will be element of: 000h, 7FFhDifferent CAN IDs are used for test.#1 CAN ID = 555h#2 CAN ID = 2AAh#3 CAN ID = 000h#4 CAN ID = 7FFh#5 CAN ID = a random valueTested number of data bytes: 0, 8 12 16 20 24 32 48 64Number of tests: 80Set-up The IUT is left in the default state.Execution The test system
44、 sends a frame with ID and DLC as specified in elementary test cases definition.ResponseThe IUT shall not generate any error flag during the test.The IUT shall acknowledge the test frame.The data received by the IUT during the test state should match the data sent in the test frame.NOTEAn implementa
45、tion with limited payload capabilities will be tested in range of their payload capabilities.7.1.2 Identifier and number of data test in extended formatTable 2 specifies the test of the correct reception of frames in extended frame format.Table 2 Identifier and number of data test in extended format
46、Item DescriptionPurposeThis test verifies the behaviour of the IUT when receiving a correct data frame with different identifiers and different numbers of data bytes in extended format frame.CAN_VERSIONClassical CANCAN FD tolerantCAN FD enabledCAN FD enabledTest variablesIDDLCFDF = 0IDDLCFDF = 1 ISO
47、 2016 All rights reserved 11BS ISO 16845-1:2016ISO 16845-1:2016(E)Item DescriptionElementary test casesThe CAN ID shall be element of: 00000000h, 1FFFFFFFhDifferent CAN IDs are used for test.#1 CAN ID = 15555555h#2 CAN ID = 0AAAAAAAh#3 CAN ID = 00000000h#4 CAN ID = 1FFFFFFFh#5 CAN ID = random valueT
48、ested number of data bytes: 0, 8Number of tests: 45The CAN ID shall be element of: 00000000h, 1FFFFFFFhDifferent CAN IDs are used for test.#1 CAN ID = 15555555h#2 CAN ID = 0AAAAAAAh#3 CAN ID = 00000000h#4 CAN ID = 1FFFFFFFh#5 CAN ID = random valueTested number of data bytes: 0, 8 12 16 20 24 32 48 6
49、4Number of tests: 80Set-up The IUT is left in the default state.Execution The test system sends a frame with ID and DLC as specified in elementary test cases definition.ResponseThe IUT shall not generate any error flag during the test.The IUT shall acknowledge the test frame.The data received by the IUT during the test state shall match the data sent in the test frame.NOTEAn implementation with limited ID range may not be able to
