1、Space engineering - CANbus extention protocolBS EN 16603-50-15:2017BSI Standards PublicationWB11885_BSI_StandardCovs_2013_AW.indd 1 15/05/2013 15:06EUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN 16603-50-15 June 2017 ICS 49.140 English version Space engineering - CANbus extention protocol Ingn
2、ierie spatiale - Protocole dextension du CANbus Raumfahrttechnik - CANbus-Erweiterungsprotokoll This European Standard was approved by CEN on 11 May 2017. CEN and CENELEC members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European Sta
3、ndard the status of a national standard without any alteration. Up-to-date lists and bibliographical references concerning such national standards may be obtained on application to the CEN-CENELEC Management Centre or to any CEN and CENELEC member. This European Standard exists in three official ver
4、sions (English, French, German). A version in any other language made by translation under the responsibility of a CEN and CENELEC member into its own language and notified to the CEN-CENELEC Management Centre has the same status as the official versions. CEN and CENELEC members are the national sta
5、ndards bodies and national electrotechnical committees of Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech Republic, Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norwa
6、y, Poland, Portugal, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and United Kingdom. CEN-CENELEC Management Centre: Avenue Marnix 17, B-1000 Brussels 2017 CEN/CENELEC All rights of exploitation in any form and by any means reserved worldwide for CEN national Members and f
7、or CENELEC Members. Ref. No. EN 16603-50-15:2017 ENational forewordThis British Standard is the UK implementation of EN 16603-50-15:2017.The UK participation in its preparation was entrusted to Technical Committee ACE/68, Space systems and operations.A list of organizations represented on this commi
8、ttee can be obtained on request to its secretary.This publication does not purport to include all the necessary provisions of a contract. Users are responsible for its correct application. The British Standards Institution 2017 Published by BSI Standards Limited 2017ISBN 978 0 580 94096 5ICS 49.140C
9、ompliance with a British Standard cannot confer immunity from legal obligations.This British Standard was published under the authority of the Standards Policy and Strategy Committee on 30 September 2017.Amendments/corrigenda issued since publicationDate Text affectedBRITISH STANDARDBS EN 16603-50-1
10、5:2017EUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN 16603-50-15 June 2017 ICS 49.140 English version Space engineering - CANbus extention protocol Ingnierie spatiale - Protocole dextension du CANbus Raumfahrttechnik - CANbus-Erweiterungsprotokoll This European Standard was approved by CEN on
11、11 May 2017. CEN and CENELEC members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical references concerning such national stand
12、ards may be obtained on application to the CEN-CENELEC Management Centre or to any CEN and CENELEC member. This European Standard exists in three official versions (English, French, German). A version in any other language made by translation under the responsibility of a CEN and CENELEC member into
13、 its own language and notified to the CEN-CENELEC Management Centre has the same status as the official versions. CEN and CENELEC members are the national standards bodies and national electrotechnical committees of Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech Republic, Denmark, Estonia, Finla
14、nd, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and United Kingdom. CEN-CENELEC Management Centre
15、: Avenue Marnix 17, B-1000 Brussels 2017 CEN/CENELEC All rights of exploitation in any form and by any means reserved worldwide for CEN national Members and for CENELEC Members. Ref. No. EN 16603-50-15:2017 EBS EN 16603-50-15:2017EN 16603-50-15:2017 (E) 2 Table of contents European foreword 7 Introd
16、uction 8 1 Scope . 9 2 Normative references . 10 3 Terms, definitions and abbreviated terms 12 3.1 Terms from other standards 12 3.2 Terms specific to the present standard . 12 3.3 Abbreviated terms. 16 3.4 Bit numbering convention . 17 3.5 Nomenclature . 17 4 Overview of the standard and principles
17、 19 4.1 Document organization . 19 4.2 Relationship of CAN Bus Network to existing Architectures 19 4.3 CANbus network . 20 4.4 Physical layer . 21 4.5 Communication model 21 4.6 CANopen higher layer protocol . 21 4.7 Time distribution . 23 4.7.1 Overview . 23 4.7.2 SYNC message and protocol 24 4.7.
18、3 Bit timing . 24 4.8 Redundancy management and monitoring . 24 4.8.1 Overview . 24 4.8.2 Node Monitoring via Node-Guarding or Heartbeat Messages . 25 4.8.3 Bus monitoring and reconfiguration management . 26 4.9 Connectors and pin assignments 27 4.10 Minimal protocol set 27 5 Physical layer 28 5.1 T
19、opology . 28 BS EN 16603-50-15:2017EN 16603-50-15:2017 (E) 3 5.1.1 Physical topology 28 5.1.2 Maximum bus length and drop length 30 5.1.3 Number of network devices . 30 5.2 Medium . 31 5.2.1 Cable requirements . 31 5.2.2 Connectors . 32 5.3 Transceiver characteristics . 32 5.3.1 General . 32 5.3.2 I
20、SO 11898-2:2003 transceiver electrical characteristics 33 5.3.3 Resistance to electrical CAN Network faults 33 5.3.4 Transceiver isolation . 38 5.3.5 Physical layer implementation based on RS-485 transceivers 38 5.3.6 Detailed implementation for RS-485 transceiver . 39 5.4 Bit timing . 39 5.4.1 Bit
21、rate 1 Mbps 39 5.4.2 Other bit rates . 39 5.4.3 Bit timing . 39 5.5 Electromagnetic compatibility (EMC) 40 5.6 Data link layer . 40 5.6.1 ISO 11898 compliance 40 5.6.2 Fault confinement . 40 6 CANopen higher layer protocol . 42 6.1 Service data objects . 42 6.2 Process data objects 42 6.3 Synchronis
22、ation object 42 6.4 Emergency object . 43 6.5 Network management objects. 43 6.5.1 Module control services 43 6.5.2 Error control services 43 6.5.3 Bootup service 43 6.5.4 Node state diagram . 43 6.6 Electronic data sheets 44 6.7 Device and application profiles . 44 6.8 Object dictionary . 45 6.9 Sy
23、nchronous communications 45 6.10 COB-ID and NODE-ID assignment . 45 7 Time distribution 47 BS EN 16603-50-15:2017EN 16603-50-15:2017 (E) 4 7.1 Time objects . 47 7.1.1 Time code formats 47 7.1.2 Spacecraft elapsed time objects 48 7.1.3 Spacecraft universal time coordinated objects 48 7.2 Time distrib
24、ution and synchronization protocols 49 7.2.1 General . 49 7.2.2 Time distribution protocol 49 7.2.3 High-resolution time distribution protocol . 50 8 Redundancy management . 52 8.1 General . 52 8.2 Node internal bus redundancy architectures . 52 8.2.1 General . 52 8.2.2 Parallel bus access architect
25、ure 52 8.2.3 Selective bus access architecture . 52 8.3 Bus monitoring and reconfiguration management . 53 8.3.1 Bus redundancy management parameters 53 8.3.2 Start-up procedure 56 8.3.3 Bus monitoring protocol 57 9 Minimal implementation of the CANopen protocol for highly asymmetrical control appli
26、cations 60 9.1 COB-ID assignment 60 9.2 Object dictionary . 60 9.3 Minimal set CANopen Objects 60 9.4 Minimal Set Protocol . 61 9.4.1 Definitions . 61 9.4.2 Use of data bytes in application layer 62 9.4.3 Minimal Set Protocol data transmission . 63 9.4.4 PDO transmit triggered by telemetry request.
27、64 9.4.5 PDO mapping . 64 9.4.6 Network management objects . 65 9.4.7 Special function objects 65 9.4.8 Communication error object 66 9.4.9 NMT error control objects 66 9.4.10 Miscellaneous authorized objects 66 9.5 Free COBID 70 10 Connectors and pin assignments . 73 BS EN 16603-50-15:2017EN 16603-
28、50-15:2017 (E) 5 10.1 Overview 73 10.2 Naming convention . 73 10.3 Circular connectors . 73 10.3.1 MIL-C D38999 configuration B: Dual CAN Network. 73 10.3.2 MIL-C D38999 configuration D: Single CAN Network 74 10.4 Sub-miniature D connectors (9-pin D-sub) 75 10.5 Sub-miniature D connectors (9-pin D-s
29、ub) RS-485 76 11 CANopen standard applicability matrix 77 11.1 Introduction . 77 Annex A (informative) Electrical connectivity . 88 A.1 Transceivers . 88 A.1.2 Detailed implementation for RS-485 transceiver . 88 A.2 Example Implementation of a RS-485 physical layer 90 A.3 CAN Network Bus termination
30、 93 A.4 Bus management and redundancy . 93 A.4.1 Selective bus access architecture . 93 A.4.2 Parallel bus access architecture 94 Bibliography . 95 Figures Figure 3-1: Bit numbering convention . 17 Figure 4-1: Relationship between ISO layering, ISO 11898, CiA 301 and ECSS CAN standard definitions 20
31、 Figure 4-2: Example of minimal implementation topology . 21 Figure 4-3: Format of hearthbeat message . 26 Figure 5-1: Linear multi-drop topology 28 Figure 5-2: Daisy chain topology. . 29 Figure 7-1: Format for objects containing the SCET . 48 Figure 7-2: Format for objects containing the Spacecraft
32、 UTC . 49 Figure 8-1: Node start up procedure . 56 Figure 8-2: Bus monitoring logic . 58 Figure 8-3: Slave bus selection process, toggling mechanism 59 Figure 9-1: Unconfirmed Command exchange overview (example with PDO1) 61 Figure 9-2: Telemetry request exchange overview (example with PDO2) . 62 Fi
33、gure 10-1: Illustration of a 9-pin D-Sub connector 75 Figure A-1 : Principle of Isolated CAN Operation 88 Figure A-2 : RS-485 CAN physical interface for OBC/Bus Master 90 BS EN 16603-50-15:2017EN 16603-50-15:2017 (E) 6 Figure A-3 : RS-485 CAN physical interface for nodes using single connector for r
34、edundant buses 91 Figure A-4 : RS-485 CAN physical interface nodes using dual connector for redundant buses . 91 Figure A-5 : Split (left) and standard (right) Termination schemes. . 93 Figure A-6 : Selective bus access architecture . 94 Figure A-7 : Parallel bus access architecture 94 Tables Table
35、5-1: CAN levels in ISO 11898-2:2003 . 33 Table 5-2 CAN failure modes and recommended FDIR actions. 36 Table 8-1: BUS redundancy management parameters for slaves . 54 Table 8-2: BUS redundancy management parameters for master 55 Table 9-1: Peer-to-Peer objects of the minimal set . 61 Table 9-2: Broad
36、cast objects of the minimal set . 61 Table 9-3: PDO Communication Object description: . 63 Table 9-4: PDO Communication Entry Description: 63 Table 9-5 PDO Communication Object description: 64 Table 9-6: PDO Communication Entry Description: 64 Table 9-7 : SYNC Message Object description: 65 Table 9-
37、8: SYNC Message Entry Description: 65 Table 9-9 SYNC used with NMT master Object description: . 66 Table 9-10 SYNC used with NMT master Entry Description: 66 Table 9-11: CANopen Object dictionary Data Types 67 Table 9-12: Authorized and Forbidden Object Dictionary Entries of the Communication profil
38、e . 68 Table 9-13 : COB ID -Predefined connection set 71 Table 10-1 : Signal terminology 73 Table 10-2: Pin function for MIL-C D38999 configuration B 74 Table 10-3: Pin function for MIL-C D38999 configuration D 74 Table 10-4: Pin function for sub D-type with CAN Network . 75 Table 10-5: Pin function
39、 for sub D-type with RS-485 CAN Network 76 Table 11-1: DiA 301 (former CIA DS301) applicability matrix 78 Table A-1 : Logic Table, RS-485 Driver implementation . 92 Table A-2 : Logic Table, RS-485 Receiver implementation . 92 Table A-3 : Component item values 92 BS EN 16603-50-15:2017EN 16603-50-15:
40、2017 (E) 7 European foreword This document (EN 16603-50-15:2017) has been prepared by Technical Committee CEN-CENELEC/TC 5 “Space”, the secretariat of which is held by DIN. This standard (EN 16603-50-15:2017) originates from ECSS-E-ST-50-15C. This European Standard shall be given the status of a nat
41、ional standard, either by publication of an identical text or by endorsement, at the latest by December 2017, and conflicting national standards shall be withdrawn at the latest by December 2017. Attention is drawn to the possibility that some of the elements of this document may be the subject of p
42、atent rights. CEN and/or CENELEC shall not be held responsible for identifying any or all such patent rights. This document has been prepared under a standardization request given to CEN by the European Commission and the European Free Trade Association. This document has been developed to cover spe
43、cifically space systems and has therefore precedence over any EN covering the same scope but with a wider domain of applicability (e.g.: aerospace). According to the CEN-CENELEC Internal Regulations, the national standards organizations of the following countries are bound to implement this European
44、 Standard: Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech Republic, Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Romania, Serbia, Slovakia,
45、 Slovenia, Spain, Sweden, Switzerland, Turkey and the United Kingdom. BS EN 16603-50-15:2017EN 16603-50-15:2017 (E) 8 Introduction This European Standard specifies requirements for the use of the CAN (Controller Area Network) data bus in spacecraft onboard applications. These requirements extend the
46、 CAN Network specification to cover the aspects required to satisfy the particular needs of spacecraft data handling systems. This standard is one of a series of ECSS standards relating to data link interfaces and communication protocols e.g. MIL-STD-1553 and ECSS-E-ST-50-5x Space Wire. In order to
47、provide a uniform set of communication services across these standards the CCSDS Spacecraft Onboard Interface Services (SOIS) Subnetwork Recommendations have been applied as driving requirements for protocol specification. The CAN Network has been successfully used for three decades in automotive an
48、d critical control industry. In particular, its use in applications that have demanding safety and reliability requirements, or operate in hostile environments have similarities to spacecraft onboard applications. The CAN Network is being adopted for a variety of space applications and care has ther
49、efore been taken during the drafting of this standard to include existing experience and feedback from European Space industry. In addition to the CAN Network data link specifications, this standard also specifies the optional use of the CANopen standard as an application layer protocol operating over CANbus. The set of CANopen specifications comprises the application layer and communication profile as well as application, device, and interface profiles. CANopen provides very flexible configuration capabilities. BS EN 16603-50-15:2017EN 16603-50-15:2017 (E) 9 1 Scope This
