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ISO 11898-1 2015.pdf
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Road vehicles — Controller area network (CAN) —Part 1:Data link layer and physical signalling
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©
ISO 2015
Road vehicles — Controller area
network (CAN) —
Part 1:
Data link layer and physical signalling
Véhicules routiers — Gestionnaire de réseau de communication
(CAN) —
Partie 1: Couche liaison de données et signalisation physique
INTERNATIONAL
STANDARD
ISO
11898-1
Second edition
2015-12-15
Reference number
ISO 11898-1:2015(E)
B55EB1B3C7662F79D1B59483A53B9F2F82C98BEEB793908965C461B0C7F8059064B37A0D94F858DFB18B20F80860C2D2A02FA5D85CD97C7BA16771E46898358B627995BC6B3C56E7492B030605BA226AF1A47B37B5AAA296E6686ED14D945A2BEB0C87
Normen-Download-Beuth-Continental Teves AG & Co. oHG-KdNr.7627936-LfNr.7343887001-2016-01-18 09:55
ISO 11898-1:2015(E)
ii © ISO 2015 – All rights reserved
COPYRIGHT PROTECTED DOCUMENT
© ISO 2015, Published in Switzerland
the requester.
Ch. de Blandonnet 8 • CP 401
CH-1214 Vernier, Geneva, Switzerland
Tel. +41 22 749 01 11
Fax +41 22 749 09 47
www.iso.org
B55EB1B3C7662F79D1B59483A53B9F2F82C98BEEB793908965C461B0C7F8059064B37A0D94F858DFB18B20F80860C2D2A02FA5D85CD97C7BA16771E46898358B627995BC6B3C56E7492B030605BA226AF1A47B37B5AAA296E6686ED14D945A2BEB0C87
Normen-Download-Beuth-Continental Teves AG & Co. oHG-KdNr.7627936-LfNr.7343887001-2016-01-18 09:55
ISO 11898-1:2015(E)
Foreword ........................................................................................................................................................................................................................................vi
Introduction
..............................................................................................................................................................................................................................vii
1 Scope
................................................................................................................................................................................................................................. 1
2 Conformance
............................................................................................................................................................................................................. 1
3 Normative references
...................................................................................................................................................................................... 2
..................................................................................................................................................................................... 2
5 Symbols and abbreviated terms
........................................................................................................................................................... 5
6 Basic concepts of CAN
...................................................................................................................................................................................... 7
6.1 CAN properties ........................................................................................................................................................................................ 7
6.2 Frames ............................................................................................................................................................................................................ 8
6.3 Bus access method ............................................................................................................................................................................... 8
6.4 Information routing ............................................................................................................................................................................ 8
............................................................................................................................................................................... 8
.................................................................................................................................................................................... 8
6.7 Remote data request .......................................................................................................................................................................... 8
6.8 Error detection ........................................................................................................................................................................................ 9
........................................................................................................................................ 9
6.10 ACK .................................................................................................................................................................................................................... 9
6.11 Automatic retransmission ............................................................................................................................................................. 9
................................................................................................................................................................................. 9
6.13 Error-active ................................................................................................................................................................................................ 9
6.14 Error-passive ............................................................................................................................................................................................ 9
6.15 Bus-off ......................................................................................................................................................................................................... 10
7 Layered architecture of CAN
..................................................................................................................................................................10
7.1 Reference to OSI model ................................................................................................................................................................. 10
..................................................................................................................................................................... 11
7.3 Format description of services ...............................................................................................................................................11
7.3.1 Format description of service primitives ................................................................................................11
.................................................................................................................................. 12
7.4 LLC interface .......................................................................................................................................................................................... 12
8 Description of LLC sub-layer
.................................................................................................................................................................12
8.1 General ........................................................................................................................................................................................................ 12
............................................................................................................................................................13
................................................................. 13
.........................................................................................................................13
........................................................................................................................................................ 18
8.3.1 General................................................................................................................................................................................... 18
...................................................................................................................................18
................................................................................................................................................ 18
............................................................................................................................................ 19
8.4 Structure of LLC frames ................................................................................................................................................................19
8.4.1 General................................................................................................................................................................................... 19
............................................................................................................................................19
............................................................................................................................................ 20
8.5 Limited LLC frames .......................................................................................................................................................................... 21
9 Interface between LLC and MAC
........................................................................................................................................................21
9.1 Services ....................................................................................................................................................................................................... 21
9.2 Time and time triggering ............................................................................................................................................................ 21
9.2.1 Description ......................................................................................................................................................................... 21
9.2.2 Time base ............................................................................................................................................................................ 21
9.2.3 Time reference point ................................................................................................................................................. 21
© ISO 2015 – All rights reserved iii
Contents Page
B55EB1B3C7662F79D1B59483A53B9F2F82C98BEEB793908965C461B0C7F8059064B37A0D94F858DFB18B20F80860C2D2A02FA5D85CD97C7BA16771E46898358B627995BC6B3C56E7492B030605BA226AF1A47B37B5AAA296E6686ED14D945A2BEB0C87
Normen-Download-Beuth-Continental Teves AG & Co. oHG-KdNr.7627936-LfNr.7343887001-2016-01-18 09:55
ISO 11898-1:2015(E)
9.2.4 Event generation ........................................................................................................................................................... 22
9.3 Disabling automatic retransmission .................................................................................................................................22
9.3.1 Retransmission of frames
...................................................................................................................................... 22
9.4 Message time stamping
................................................................................................................................................................ 22
10 Description of MAC sub-layer
...............................................................................................................................................................22
10.1 General
........................................................................................................................................................................................................ 22
.......................................................................................................................................................... 22
10.2.1 Service description
..................................................................................................................................................... 22
.......................................................................................................................23
...................................................................................................27
............................................................................................................................................................................ 27
10.3.2 Frame transmission .................................................................................................................................................... 27
10.3.3 Frame reception ............................................................................................................................................................ 28
10.4 Structure of MAC frames.............................................................................................................................................................. 29
10.4.1 Description ......................................................................................................................................................................... 29
..........................................................................................................................................29
.......................................................................................................................................... 34
....................................................................................................................................................... 34
....................................................................................................................................................... 35
................................................................................................................. 36
10.5 Frame coding ......................................................................................................................................................................................... 37
10.6 Frame acknowledgement ............................................................................................................................................................37
10.7 Frame validation ................................................................................................................................................................................. 37
10.8 Order of bit transmission ............................................................................................................................................................ 38
10.9 Medium access method ................................................................................................................................................................ 39
10.9.1 General................................................................................................................................................................................... 39
10.9.2 Multi-master ..................................................................................................................................................................... 39
10.9.3 Bus access ........................................................................................................................................................................... 40
10.9.4 Bus integration state ................................................................................................................................................. 40
10.9.5 Protocol exception event........................................................................................................................................ 40
10.9.6 Transmission of MAC frames .............................................................................................................................. 40
10.9.7 Content-based arbitration .................................................................................................................................... 40
................................................................................................................................................................. 41
10.9.9 Collision resolution .....................................................................................................................................................41
10.9.10 Disabling of frame formats ...................................................................................................................................41
.................................................................................................................................................................... 41
10.11 Error detection ..................................................................................................................................................................................... 41
10.12 Error signalling ....................................................................................................................................................................................42
10.13 Overload signalling ........................................................................................................................................................................... 43
10.14 Bus monitoring .................................................................................................................................................................................... 44
10.15 Restricted operation ........................................................................................................................................................................44
...................................................................................................................................................................................................44
11.1 General and functional modelling .......................................................................................................................................44
11.2 Services of PL ........................................................................................................................................................................................ 44
11.2.1 Description ......................................................................................................................................................................... 44
11.2.2 PCS_Data.Request ......................................................................................................................................................... 45
11.2.3 PCS_Data.Indicate .........................................................................................................................................................45
11.2.4 PCS_Status.Transmitter ........................................................................................................................................... 45
11.2.5 PCS_Status.Receiver....................................................................................................................................................45
.................................................................................................................................................................................45
11.3.1 Bit encoding/decoding ............................................................................................................................................ 45
............................................................................................................................................................. 50
....................................................................................................................52
................................................................................................................................................................................. 54
11.4.1 General................................................................................................................................................................................... 54
11.4.2 PCS to PMA messages ............................................................................................................................................... 55
11.4.3 PMA to PCS message ..................................................................................................................................................55
iv
© ISO 2015 – All rights reserved
B55EB1B3C7662F79D1B59483A53B9F2F82C98BEEB793908965C461B0C7F8059064B37A0D94F858DFB18B20F80860C2D2A02FA5D85CD97C7BA16771E46898358B627995BC6B3C56E7492B030605BA226AF1A47B37B5AAA296E6686ED14D945A2BEB0C87
Normen-Download-Beuth-Continental Teves AG & Co. oHG-KdNr.7627936-LfNr.7343887001-2016-01-18 09:55
ISO 11898-1:2015(E)
12 Description of supervisor FCE .............................................................................................................................................................55
.............................................................................................................................................................................. 55
12.1.1 Objectives
............................................................................................................................................................................ 55
12.1.2 Strategies
............................................................................................................................................................................. 55
............................................................................................... 56
.................................................................................................................................... 58
12.1.5 Network start-up .......................................................................................................................................................... 60
12.2 Bus failure management
.............................................................................................................................................................. 60
Annex A (informative) Additional Information
......................................................................................................................................61
Bibliography
.............................................................................................................................................................................................................................65
© ISO 2015 – All rights reserved v
B55EB1B3C7662F79D1B59483A53B9F2F82C98BEEB793908965C461B0C7F8059064B37A0D94F858DFB18B20F80860C2D2A02FA5D85CD97C7BA16771E46898358B627995BC6B3C56E7492B030605BA226AF1A47B37B5AAA296E6686ED14D945A2BEB0C87
Normen-Download-Beuth-Continental Teves AG & Co. oHG-KdNr.7627936-LfNr.7343887001-2016-01-18 09:55
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