1、 WORLDWIDE ENGINEERING STANDARDS General Specification GMW14241 GMLAN Device Test Specification for GMLAN High-Speed, Mid-Speed, Low-Speed CAN Bus Nodes Copyright 2012 General Motors Company All Rights Reserved June 2012 Originating Department: GME Specification Center Page 1 of 171 Index Index . 1
2、1 Introduction 5 1.1 Scope. . 5 1.2 Mission/Theme 8 1.3 Classification. . 8 2 References . 8 2.1 External Standards/Specifications. . 8 2.2 GM Standards/Specifications. 8 2.3 Additional References. . 8 3 Test Preparation and Evaluation . 9 3.1 Resources. 9 3.1.1 Calibration . 9 3.1.2 Alternatives 9
3、3.1.3 Facilities 9 3.1.4 Equipment . 9 3.1.5 Test Vehicle/Test Piece . 9 3.1.6 Test Time 9 3.1.7 Test Required Information 9 3.1.8 Personnel/Skills . 9 3.2 Preparation 9 3.3 Conditions 9 3.3.1 Environmental Conditions 9 3.3.2 Test Conditions 9 3.4 Instructions 9 3.5 Data . 9 3.6 Safety 9 3.7 Documen
4、tation . 9 3.7.1 Test Results 10 3.7.2 Deviations from Test Procedure . 10 3.8 Recommended CAN Test Tools. 10 4 Requirements and Procedure . 11 Copyright General Motors Company Provided by IHS under license with General Motors CompanyNot for ResaleNo reproduction or networking permitted without lice
5、nse from IHS-,-,-GM WORLDWIDE ENGINEERING STANDARDS GMW14241 Copyright 2012 General Motors Company All Rights Reserved June 2012 Page 2 of 171 4.1 Physical Layer (Dual-Wire High-Speed CAN, GMW3122). 11 4.1.1 CAN Bus Output Voltage Levels. . 11 4.1.2 Recessive Input Threshold. 13 4.1.3 Dominant Input
6、 Threshold. . 13 4.1.4 Device Resistance. 15 4.1.5 Device Input Capacitance. . 18 4.1.6 Minimum and Maximum Supply Voltage Level for Bus Communication. . 20 4.1.7 Behavior during Crank . 21 4.1.8 Signal Rise/Fall Times . 21 4.1.9 Signal Characteristics 24 4.1.10 Bit Timing 27 4.1.11 Fault Tolerant M
7、odes . 29 4.1.12 Internal Delay 34 4.1.13 Communication Enable Line 35 4.1.14 ESD Protection 46 4.2 Physical Layer (Dual-Wire Mid-Speed CAN, GMW3122) 47 4.2.1 CAN Bus Output Voltage Levels 47 4.2.2 Recessive Input Threshold . 49 4.2.3 Dominant Input Threshold 50 4.2.4 Device Resistance . 51 4.2.5 De
8、vice Input Capacitance 54 4.2.6 Minimum and Maximum Supply Voltage Level for Bus Communication 56 4.2.7 Behavior during Crank . 57 4.2.8 Signal Rise/Fall Times . 58 4.2.9 Signal Characteristics 60 4.2.10 Bit Timing 63 4.2.11 Fault Tolerant Modes . 65 4.2.12 Internal Delay 70 4.2.13 ESD Protection 71
9、 4.3 Physical Layer (Single-Wire CAN, GMW3089) . 72 4.3.1 Device Unit Load . 72 4.3.2 Bus Dominant Output Voltage Level 73 4.3.3 Bus Recessive or Passive State Low Voltage 77 4.3.4 Input Threshold 78 4.3.5 Minimum and Maximum Supply Voltage Level for Bus Communication 79 4.3.6 Behavior during Crank
10、. 80 4.3.7 Signal Rise/Fall Time . 81 4.3.8 Internal Delay 83 4.3.9 Signal Characteristics 84 4.3.10 Bit Timing 86 Copyright General Motors Company Provided by IHS under license with General Motors CompanyNot for ResaleNo reproduction or networking permitted without license from IHS-,-,-GM WORLDWIDE
11、 ENGINEERING STANDARDS GMW14241 Copyright 2012 General Motors Company All Rights Reserved June 2012 Page 3 of 171 4.3.11 Fault Tolerant Modes . 87 4.3.12 ESD Protection 94 4.4 Data Link Layer 94 4.4.1 CAN Protocol Conformance . 94 4.4.2 Extended Format Frame (CAN 2.0B Passive) Compatibility . 94 4.4
12、.3 Mixed Mode Operation. 94 4.4.4 Bus Load . 95 4.5 Application Interface. 96 4.5.1 Application Message Transmission 96 4.5.2 Application Message Transmission Models 97 4.5.3 Implementation of Correct Data Length Code (DLC) 100 4.6 Node Management 101 4.6.1 Node Management on LSCAN . 101 4.6.1.3 Beh
13、avior after a Reset 102 4.6.2 Node Management on High-Speed CAN (HSCAN) 103 4.6.3 Node Management on MSCAN 109 4.6.3.4 Behavior after a Reset 111 4.7 Network Management on Low-Speed CAN 112 4.7.1 VNMF Content and Timing . 112 4.7.2 VN Activation . 113 4.7.3 VN Deactivation . 127 4.7.4 Node Communica
14、tion Active Message . 128 4.8 Network Management on Mid-Speed CAN . 130 4.8.1 VNMF Content and Timing . 130 4.8.2 VN Activation . 132 4.8.3 VN Deactivation . 143 4.8.4 Node Communication Active Message . 144 4.9 Diagnostic Tests (GMW3110) 146 4.9.1 Diagnostic Tests for Low-Speed CAN Bus Nodes 146 4.
15、9.2 Diagnostic Tests for Mid-Speed CAN Bus Nodes . 150 4.9.3 Diagnostic Tests for High-Speed CAN Bus Nodes . 153 4.9.4 Signal Supervision by Device . 155 4.9.4.1 Signal Supervision by Device Payload Supervision 155 4.9.4.2 Signal Supervision by Device Validity bits supervision 156 4.9.4.3 Signal Sup
16、ervision by Device Gated signals supervision . 156 4.10 Signal Converter Functionality 156 4.10.1 Signal Converter Delay Times 156 4.10.2 Signal Supervision through Signal Converters 158 5 Provisions for Shipping . 162 6 Notes . 162 Copyright General Motors Company Provided by IHS under license with
17、 General Motors CompanyNot for ResaleNo reproduction or networking permitted without license from IHS-,-,-GM WORLDWIDE ENGINEERING STANDARDS GMW14241 Copyright 2012 General Motors Company All Rights Reserved June 2012 Page 4 of 171 6.1 Glossary 162 6.1.1 Conventions 162 6.1.2 Ratings 163 6.1.3 Other
18、 . 163 6.2 Acronyms, Abbreviations, and Symbols 163 7 Additional Paragraphs 163 8 Coding System . 163 9 Release and Revisions . 163 Appendix A 164 A1 Recommended CAN Bit Timing Settings for Test Tools 164 A2 Tips on Testing 164 A2.1 Alternative Method for Device Capacitance Measurement 164 A2.1.1 Te
19、st Setup . 164 A2.1.2 Test Pulse . 165 A2.2 Testing SWCAN High-Speed Mode With CANoe 165 A2.2.1 How to Set the DUT to High-Speed Mode 165 A2.2.2 How to Display the High-Speed Mode Answer With a Standard Oscilloscope 166 A2.3 Forcing a CAN Node into Bus Off With CANstress . 167 A2.4 Alternative Curre
20、nt Source Schematic. Figure A8 shows schematic of current source 169 A2.5 Application Schematic for Input Threshold in HVWU Mode. 170 Appendix B 171 B1 Document Structure Overview 171 Copyright General Motors Company Provided by IHS under license with General Motors CompanyNot for ResaleNo reproduct
21、ion or networking permitted without license from IHS-,-,-GM WORLDWIDE ENGINEERING STANDARDS GMW14241 Copyright 2012 General Motors Company All Rights Reserved June 2012 Page 5 of 171 1 Introduction Note: Nothing in this standard supersedes applicable laws and regulations. Note: In the event of confl
22、ict between the English and domestic language, the English language shall take precedence. Following acronyms and abbreviations are used herein: 1.1 Scope. This general document is a lead for testing High-Speed, Mid-Speed, and Low-Speed GM (In-Vehicle) Local Area Network (GMLAN) Controller Area Netw
23、ork (CAN) bus devices. 1.1.1 Electromagnetic Compatibility (EMC) and Electro Magnetic Interference (EMI) testing is not described in this document, except crank pulse and Electrostatic Discharge (ESD). 1.1.2 For In Vehicle Local Area Network (IVLAN) Mid- and High-Speed CAN bus device tests, refer to
24、 the IVLAN Device Test Specification. 1.1.3 The measurement results shall be documented in the separately available GMW14241 Test Result Template (CG2615), all plots included. 1.1.4 Parameters are given as nominal values unless otherwise noted. 1.1.5 All tests and test methods shall be executed if n
25、ot otherwise stated. 1.1.6 Acronyms. Change ACK Acknowledge CAN Controller Area Network CANH CAN High CANL CAN Low CTS Component Technical Specification DID Data Identifier DLC Data Length Code DLL Data Link Layer DSO Digital Signal Oscilloscope DTC Diagnostic Trouble Code DUT Device under Test (con
26、tains one or more Virtual Device) ECU Electronic Control Unit EMC Electro Magnetic Compatibility EMI Electro Magnetic Interference ESD Electrostatic Discharge GGSE Global General Assembly/ Service/Electrical GMLAN GM (In-Vehicle) Local Area Network GND Ground HSCAN High-Speed CAN (Bus) HVWU High Lev
27、el Voltage Wake-up I Current Ileak Leakage Current ILeak_CAN_H Leakage Current - CAN High ILeak_CAN_L Leakage Current - CAN Low I/O Input/Output IVLAN In Vehicle Local Area Network LIN Local Interconnect Network LOG Loss of Ground LSCAN Low-Speed CAN (Bus) Copyright General Motors Company Provided b
28、y IHS under license with General Motors CompanyNot for ResaleNo reproduction or networking permitted without license from IHS-,-,-GM WORLDWIDE ENGINEERING STANDARDS GMW14241 Copyright 2012 General Motors Company All Rights Reserved June 2012 Page 6 of 171 MSCAN Mid-Speed CAN (Bus) NOK Not OK R1 Dual
29、-Wire CAN Bus Termination Resistor 1 R2 Dual-Wire CAN Bus Termination Resistor 2 RBS Rest Bus Simulator Rin Internal Resistance Rin_CAN_H Internal Resistance - CAN High Rin_CAN_L Internal Resistance - CAN Low Rin_diff Differential Internal Resistance Rin_H Internal Resistance - High Rin_L Internal R
30、esistance - Low RTest Test Resistance Rx Receiver RxD DUT Receive Line SG Signal Generator SSTS Subsystem Technical Specification SWCAN Single Wire CAN (Bus) Tamb Ambient temperature TambMin Minimum Ambient Temperature TambMax Maximum Ambient Temperature TxD DUT Transmit Line U Voltage (Independent)
31、 UBatt Battery Voltage (Independent) V Voltage (Dependent) VBA Virtual Bus Analyzer VBatt Battery Voltage (Dependent) VCAN Recessive Output Voltage VCAN_H Output Bus Voltage High VCAN_L Output Bus Voltage Low VCM Common Mode Bus Voltage Vdiff Differential Output Bus Voltage Vdiff45 Differential Outp
32、ut Voltage at 45 Bus Load VDA Virtual Device Availability VN Virtual Network VNMF Virtual Network Management Frame Copyright General Motors Company Provided by IHS under license with General Motors CompanyNot for ResaleNo reproduction or networking permitted without license from IHS-,-,-GM WORLDWIDE
33、 ENGINEERING STANDARDS GMW14241 Copyright 2012 General Motors Company All Rights Reserved June 2012 Page 7 of 171 1.1.7 Symbols. Copyright General Motors Company Provided by IHS under license with General Motors CompanyNot for ResaleNo reproduction or networking permitted without license from IHS-,-
34、,-GM WORLDWIDE ENGINEERING STANDARDS GMW14241 Copyright 2012 General Motors Company All Rights Reserved June 2012 Page 8 of 171 1.2 Mission/Theme. Not applicable. 1.3 Classification. This specification applies to only GM vehicles using GMLAN CAN Bus devices. 2 References Note: Only the latest approv
35、ed standards are applicable unless otherwise specified. 2.1 External Standards/Specifications. ISO 11898-1 ISO 16845 2.2 GM Standards/Specifications. GMW3059 GMW3104 GMW3172 GMW3089 GMW3110 GMW3173 GMW3097 GMW3122 2.3 Additional References. x CTS x General Motors Company Cross-Carline GMLAN/CAN Ques
36、tionnaire x General Motors Company Cross-Carline Serial Data Implementation Specification x General Motors Company Project Specific Serial Data Implementation Specification x GGSE ECU Diagnostic Infrastructure Requirements x GMW14241 Test Result Template (CG2615) x Project Specific Data Dictionary C
37、opyright General Motors Company Provided by IHS under license with General Motors CompanyNot for ResaleNo reproduction or networking permitted without license from IHS-,-,-GM WORLDWIDE ENGINEERING STANDARDS GMW14241 Copyright 2012 General Motors Company All Rights Reserved June 2012 Page 9 of 171 x
38、SSTS x Virtual Node (VN) Activation and Deactivation Criterions 3 Test Preparation and Evaluation 3.1 Resources. 3.1.1 Calibration. The test facilities and equipment shall be in good working order and shall have a valid calibration label. 3.1.2 Alternatives. Alternative test facilities and equipment
39、 may also be used. However, all measuring variables as specified in this standard shall be determined correctly with respect to their physical definition. 3.1.3 Facilities. Not applicable. 3.1.4 Equipment. The test equipment must fulfill the GMW3122 requirements for High-Speed and Mid-Speed Dual-Wir
40、e testing and/or the GMW3089 requirements for Low-Speed Single-Wire testing. Please refer to paragraph 3.8 for recommended CAN test tools. 3.1.5 Test Vehicle/Test Piece. Not applicable. 3.1.6 Test Time. Not applicable. 3.1.7 Test Required Information. Not applicable. 3.1.8 Personnel/Skills. Not appl
41、icable. 3.2 Preparation. Not applicable. 3.3 Conditions. 3.3.1 Environmental Conditions. Unless otherwise specified in the test description the following environmental parameters shall be used for the GMLAN tests: x Room Ambient Temperature: +23 C (73.4F) x Room Ambient Humidity: (50 20) % 3.3.2 Tes
42、t Conditions. Deviations from the requirements of this standard shall have been agreed upon. Such requirements shall be specified on component drawings, test certificates, reports, etc. 3.3.2.1 Unless otherwise specified in the test description, the following test parameters shall be used for the GM
43、LAN tests: x Supply Voltage (14.5 0.1) V 3.3.2.2 The nominal values R1 and R2 of the Dual-Wire CAN bus termination resistors for the test setups shall be as follows: x Regular Bus termination: (60 to 62) x Secondary Bus termination: (619 to 620) x Central Bus termination: (30 to 32) 3.3.2.3 Refer to
44、 Appendix A1 for recommended bit timing settings. 3.4 Instructions. Not applicable. 3.5 Data. Not applicable. 3.6 Safety. This standard may involve hazardous materials, operations, and equipment. This standard does not propose to address all the safety problems associated with its use. It is the res
45、ponsibility of the user of this standard to establish appropriate safety and health practices and determine the applicability of regulatory limitations prior to use. 3.7 Documentation. Samples of components or material released to this standard shall be tested for conformity with the requirements of
46、 this standard and approved by the responsible GM Department prior to the start of delivery of production level components or materials. Any change to the component or material, e.g., design, function, properties, manufacturing process and/or location of manufacture requires a new release of the pro
47、duct. It is the sole responsibility of the supplier to provide the customer, unsolicited, with documentation of any change or modification to the product/process, and to apply for a new release. Copyright General Motors Company Provided by IHS under license with General Motors CompanyNot for ResaleN
48、o reproduction or networking permitted without license from IHS-,-,-GM WORLDWIDE ENGINEERING STANDARDS GMW14241 Copyright 2012 General Motors Company All Rights Reserved June 2012 Page 10 of 171 If not otherwise agreed to, the entire verification test shall be repeated and documented by the supplier prior to start of delivery of the modified or changed product. In some cases, a shorter test can be agreed to between the responsible GM department and the supplier. 3.7.1 Test Results. The measurement results shall be documented in the separate available GMW14241 Te
