没有合适的资源?快使用搜索试试~ 我知道了~
首页FlexRay_Protocol_Specification_V2.1_Rev.A.pdf
FlexRay_Protocol_Specification_V2.1_Rev.A.pdf
5星 · 超过95%的资源 需积分: 34 101 下载量 114 浏览量
更新于2023-03-03
评论 3
收藏 5.37MB PDF 举报
The FlexRay communication protocol described in this document is specified for a dependable automotive network. Some of the basic characteristics of the FlexRay protocol are synchronous and asynchronous frame transfer, guaranteed frame latency and jitter during synchronous transfer,prioritization of frames during asynchronous transfer, multi-master clock synchronization1, error detection and signaling, erro,containment on the physical layer through the use of a bus guardian device, and scalable fault tolerance.
资源详情
资源评论
资源推荐
FlexRay Communications System
Protocol Specification
Version 2.1
Revision A
2.1 Revision A
Registered copy for zhou_guang_pu@sina.com
FlexRay Protocol Specification
Version 2.1 Revision A 22-December-2005
Disclaimer
Page 2 of 245
Disclaimer
This specification as released by the FlexRay Consortium is intended for the purpose of information only.
The use of material contained in this specification requires membership within the FlexRay Consortium or
an agreement with the FlexRay Consortium. The FlexRay Consortium will not be liable for any unauthorized
use of this Specification.
Following the completion of the development of the FlexRay Communications System Specifications
commercial exploitation licenses will be made available to End Users by way of an End User's License
Agreement. Such licenses shall be contingent upon End Users granting reciprocal licenses to all Core
Partners and non-assertions in favor of all Premium Associate Members, Associate Members and Devel-
opment Members.
All details and mechanisms concerning the bus guardian concept are defined in the FlexRay Bus Guardian
Specifications.
The FlexRay Communications System is currently specified for a baud rate of 10 Mbit/s. It may be extended
to additional baud rates.
No part of this publication may be reproduced or utilized in any form or by any means, electronic or
mechanical, including photocopying and microfilm, without permission in writing from the publisher.
The word FlexRay and the FlexRay logo are registered trademarks.
Copyright © 2004-2005 FlexRay Consortium. All rights reserved.
The Core Partners of the FlexRay Consortium are BMW AG, DaimlerChrysler AG, Freescale Halbleiter
Deutschland GmbH, General Motors Corporation, Philips GmbH, Robert Bosch GmbH, and Volkswagen
AG.
Registered copy for zhou_guang_pu@sina.com
FlexRay Protocol Specification
Version 2.1 Revision A 15-December-2005
Table of Contents
Page 3 of 245
Table of Contents
Chapter 1
Introduction.............................................................................................................. 10
1.1 Scope .............................................................................................................................................10
1.2 References .....................................................................................................................................10
1.2.1 FlexRay consortium documents ........................................................................................... 10
1.2.2 Non-consortium documents.................................................................................................. 10
1.3 Revision history ..............................................................................................................................12
1.4 Terms and definitions .....................................................................................................................13
1.5 Acronyms and abbreviations ..........................................................................................................16
1.6 Notational conventions ...................................................................................................................18
1.6.1 Parameter prefix conventions............................................................................................... 18
1.6.2 Color coding ......................................................................................................................... 18
1.7 SDL conventions ............................................................................................................................19
1.7.1 General................................................................................................................................. 19
1.7.2 SDL Notational Conventions ................................................................................................ 19
1.7.3 SDL Extensions.................................................................................................................... 20
1.7.3.1 Microtick, macrotick and sample tick timers ................................................................. 20
1.7.3.2 Microtick behavior of the 'now' - expression................................................................. 20
1.7.3.3 Channel-specific process replication ............................................................................ 21
1.7.3.4 Handling of Priority Input Symbols ............................................................................... 21
1.8 Network topology considerations....................................................................................................21
1.8.1 Passive bus topology............................................................................................................ 22
1.8.2 Active star topology .............................................................................................................. 22
1.8.3 Active star topology combined with a passive bus topology................................................. 24
1.9 Example node architecture.............................................................................................................25
1.9.1 Objective............................................................................................................................... 25
1.9.2 Overview............................................................................................................................... 25
1.9.3 Host - communication controller interface ............................................................................ 26
1.9.4 Communication controller - bus driver interface................................................................... 26
1.9.5 Bus driver - host interface..................................................................................................... 27
1.9.5.1 Hard wired signals (option A) ....................................................................................... 27
1.9.5.2 Serial Peripheral Interface (SPI) (option B) .................................................................. 27
1.9.6 Bus driver - power supply interface (optional) ...................................................................... 28
1.10 Testability Requirements ..............................................................................................................28
Chapter 2
Protocol Operation Control .................................................................................... 29
2.1 Principles ........................................................................................................................................29
2.1.1 Communication controller power moding ............................................................................. 29
2.2 Description......................................................................................................................................31
2.2.1 Operational overview............................................................................................................ 32
2.2.1.1 Host commands............................................................................................................ 33
2.2.1.2 Error conditions ............................................................................................................ 33
2.2.1.2.1 Errors causing immediate entry to the POC:halt state ..........................................33
2.2.1.2.2 Errors handled by the degradation model .............................................................34
2.2.1.3 POC status ................................................................................................................... 34
2.2.1.4 SDL considerations for single channel nodes .............................................................. 36
2.3 The Protocol Operation Control process ........................................................................................36
2.3.1 POC SDL utilities.................................................................................................................. 37
Registered copy for zhou_guang_pu@sina.com
FlexRay Protocol Specification
Version 2.1 Revision A 15-December-2005
Table of Contents
Page 4 of 245
2.3.2 SDL organization .................................................................................................................. 38
2.3.3 Preempting commands......................................................................................................... 39
2.3.4 Reaching the POC:ready state............................................................................................. 40
2.3.5 Reaching the POC:normal active state ................................................................................ 41
2.3.5.1 Wakeup and startup support ........................................................................................ 43
2.3.6 Behavior during normal operation ........................................................................................ 45
2.3.6.1 Asynchronous commands ............................................................................................ 45
2.3.6.2 Cyclical behavior .......................................................................................................... 45
2.3.6.2.1 Cycle counter.........................................................................................................46
2.3.6.2.2 POC:normal active state........................................................................................46
2.3.6.2.3 POC:normal passive state.....................................................................................47
2.3.6.2.4 Error checking during normal operation ................................................................49
2.3.6.2.4.1 Error checking overview ................................................................................50
2.3.6.2.4.2 Error checking details for the POC:normal active state.................................50
2.3.6.2.4.3 Error checking details for the POC:normal passive state ..............................51
Chapter 3
Coding and Decoding ............................................................................................. 54
3.1 Principles ........................................................................................................................................54
3.2 Description......................................................................................................................................54
3.2.1 Frame and symbol encoding ................................................................................................ 55
3.2.1.1 Frame encoding............................................................................................................ 56
3.2.1.1.1 Transmission start sequence.................................................................................56
3.2.1.1.2 Frame start sequence............................................................................................56
3.2.1.1.3 Byte start sequence...............................................................................................56
3.2.1.1.4 Frame end sequence.............................................................................................56
3.2.1.1.5 Dynamic trailing sequence ....................................................................................56
3.2.1.1.6 Frame bit stream assembly ...................................................................................57
3.2.1.2 Symbol encoding.......................................................................................................... 58
3.2.1.2.1 Collision avoidance symbol and media access test symbol..................................58
3.2.1.2.2 Wakeup symbol.....................................................................................................59
3.2.2 Sampling and majority voting ............................................................................................... 61
3.2.3 Bit clock alignment and bit strobing...................................................................................... 61
3.2.4 Channel idle detection.......................................................................................................... 63
3.2.5 Action point and time reference point................................................................................... 63
3.2.6 Frame and symbol decoding ................................................................................................ 65
3.2.6.1 Frame decoding............................................................................................................ 66
3.2.6.2 Symbol decoding.......................................................................................................... 67
3.2.6.2.1 Collision avoidance symbol and media access test symbol decoding ..................67
3.2.6.2.2 Wakeup symbol decoding .....................................................................................67
3.2.6.3 Decoding error.............................................................................................................. 68
3.2.7 Signal integrity ...................................................................................................................... 68
3.3 Coding and decoding process........................................................................................................69
3.3.1 Operating modes .................................................................................................................. 69
3.3.2 Coding and decoding process behavior ............................................................................... 69
3.3.3 Encoding behavior................................................................................................................ 71
3.3.4 Encoding macros.................................................................................................................. 73
3.3.5 Decoding behavior................................................................................................................ 77
3.3.6 Decoding macros.................................................................................................................. 78
3.4 Bit strobing process........................................................................................................................85
3.4.1 Operating modes .................................................................................................................. 85
3.4.2 Bit strobing process behavior ............................................................................................... 86
3.5 Wakeup pattern decoding process .................................................................................................87
Registered copy for zhou_guang_pu@sina.com
FlexRay Protocol Specification
Version 2.1 Revision A 15-December-2005
Table of Contents
Page 5 of 245
3.5.1 Operating modes .................................................................................................................. 87
3.5.2 Wakeup decoding process behavior .................................................................................... 88
3.5.3 Wakeup decoding macros.................................................................................................... 89
Chapter 4
Frame Format........................................................................................................... 90
4.1 Overview.........................................................................................................................................90
4.2 FlexRay header segment (5 bytes) ................................................................................................90
4.2.1 Reserved bit (1 bit) ............................................................................................................... 90
4.2.2 Payload preamble indicator (1 bit)........................................................................................ 91
4.2.3 Null frame indicator (1 bit) .................................................................................................... 91
4.2.4 Sync frame indicator (1 bit)................................................................................................... 91
4.2.5 Startup frame indicator (1 bit) ............................................................................................... 92
4.2.6 Frame ID (11 bits)................................................................................................................. 92
4.2.7 Payload length (7 bits).......................................................................................................... 93
4.2.8 Header CRC (11 bits) ........................................................................................................... 93
4.2.9 Cycle count (6 bits)............................................................................................................... 94
4.2.10 Formal header definition..................................................................................................... 94
4.3 FlexRay payload segment (0 - 254 bytes)......................................................................................94
4.3.1 NMVector (optional).............................................................................................................. 95
4.3.2 Message ID (optional, 16 bits).............................................................................................. 96
4.4 FlexRay trailer segment..................................................................................................................96
4.5 CRC calculation details ..................................................................................................................97
4.5.1 CRC calculation algorithm .................................................................................................... 97
4.5.2 Header CRC calculation ....................................................................................................... 98
4.5.3 Frame CRC calculation ........................................................................................................ 98
Chapter 5
Media Access Control........................................................................................... 100
5.1 Principles ......................................................................................................................................100
5.1.1 Communication cycle ......................................................................................................... 100
5.1.2 Communication cycle execution ......................................................................................... 101
5.1.3 Static segment.................................................................................................................... 102
5.1.3.1 Structure of the static segment................................................................................... 102
5.1.3.2 Execution and timing of the static segment................................................................ 102
5.1.4 Dynamic segment............................................................................................................... 103
5.1.4.1 Structure of the dynamic segment.............................................................................. 103
5.1.4.2 Execution and timing of the dynamic segment ........................................................... 103
5.1.5 Symbol window................................................................................................................... 106
5.1.6 Network idle time ................................................................................................................ 107
5.2 Description....................................................................................................................................107
5.2.1 Operating modes ................................................................................................................ 108
5.2.2 Significant events ............................................................................................................... 109
5.2.2.1 Reception-related events............................................................................................ 109
5.2.2.2 Transmission-related events ...................................................................................... 109
5.2.2.3 Timing-related events................................................................................................. 110
5.3 Media access control process ......................................................................................................110
5.3.1 Initialization and state MAC:standby .................................................................................. 110
5.3.2 Static segment related states ............................................................................................. 112
5.3.2.1 State machine for the static segment media access control ...................................... 112
5.3.2.2 Transmission conditions and frame assembly in the static segment.......................... 114
5.3.3 Dynamic segment related states ........................................................................................ 116
Registered copy for zhou_guang_pu@sina.com
剩余244页未读,继续阅读
uncle_sam_
- 粉丝: 0
- 资源: 1
上传资源 快速赚钱
- 我的内容管理 收起
- 我的资源 快来上传第一个资源
- 我的收益 登录查看自己的收益
- 我的积分 登录查看自己的积分
- 我的C币 登录后查看C币余额
- 我的收藏
- 我的下载
- 下载帮助
会员权益专享
最新资源
- 2023年中国辣条食品行业创新及消费需求洞察报告.pptx
- 2023年半导体行业20强品牌.pptx
- 2023年全球电力行业评论.pptx
- 2023年全球网络安全现状-劳动力资源和网络运营的全球发展新态势.pptx
- 毕业设计-基于单片机的液体密度检测系统设计.doc
- 家用清扫机器人设计.doc
- 基于VB+数据库SQL的教师信息管理系统设计与实现 计算机专业设计范文模板参考资料.pdf
- 官塘驿林场林防火(资源监管)“空天地人”四位一体监测系统方案.doc
- 基于专利语义表征的技术预见方法及其应用.docx
- 浅谈电子商务的现状及发展趋势学习总结.doc
- 基于单片机的智能仓库温湿度控制系统 (2).pdf
- 基于SSM框架知识产权管理系统 (2).pdf
- 9年终工作总结新年计划PPT模板.pptx
- Hytera海能达CH04L01 说明书.pdf
- 数据中心运维操作标准及流程.pdf
- 报告模板 -成本分析与报告培训之三.pptx
资源上传下载、课程学习等过程中有任何疑问或建议,欢迎提出宝贵意见哦~我们会及时处理!
点击此处反馈
安全验证
文档复制为VIP权益,开通VIP直接复制
信息提交成功
评论7