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ISO 11898-1-2015.pdf
Foreword
Introduction
1 Scope
2 Conformance
3 Normative references
4 Terms and definitions
5 Symbols and abbreviated terms
6 Basic concepts of CAN
6.1 CAN properties
6.2 Frames
6.3 Bus access method
6.4 Information routing
6.5 Network flexibility
6.6 Data consistency
6.7 Remote data request
6.8 Error detection
6.9 Error signalling and recovery time
6.10 ACK
6.11 Automatic retransmission
6.12 Fault confinement
6.13 Error-active
6.14 Error-passive
6.15 Bus-off
7 Layered architecture of CAN
7.1 Reference to OSI model
7.2 Protocol specification
7.3 Format description of services
7.3.1 Format description of service primitives
7.3.2 Types of service primitives
7.4 LLC interface
8 Description of LLC sub-layer
8.1 General
8.2 Services of LLC sub-layer
8.2.1 Types of connectionless-mode transmission services
8.2.2 Service primitive specification
8.3 Functions of LLC sub-layer
8.3.1 General
8.3.2 Frame acceptance filtering
8.3.3 Overload notification
8.3.4 Recovery management
8.4 Structure of LLC frames
8.4.1 General
8.4.2 Specification of LLC DF
8.4.3 Specification of LLC RF
8.5 Limited LLC frames
9 Interface between LLC and MAC
9.1 Services
9.2 Time and time triggering
9.2.1 Description
9.2.2 Time base
9.2.3 Time reference point
9.2.4 Event generation
9.3 Disabling automatic retransmission
9.3.1 Retransmission of frames
9.4 Message time stamping
10 Description of MAC sub-layer
10.1 General
10.2 Services of MAC sub-layer
10.2.1 Service description
10.2.2 Service primitives specification
10.3 Functional model of MAC sub-layer architecture
10.3.1 Capability
10.3.2 Frame transmission
10.3.3 Frame reception
10.4 Structure of MAC frames
10.4.1 Description
10.4.2 Specification of MAC DF
10.4.3 Specification of MAC RF
10.4.4 Specification of EF
10.4.5 Specification of OF
10.4.6 Specification of inter-frame space
10.5 Frame coding
10.6 Frame acknowledgement
10.7 Frame validation
10.8 Order of bit transmission
10.9 Medium access method
10.9.1 General
10.9.2 Multi-master
10.9.3 Bus access
10.9.4 Bus integration state
10.9.5 Protocol exception event
10.9.6 Transmission of MAC frames
10.9.7 Content-based arbitration
10.9.8 Frame priority
10.9.9 Collision resolution
10.9.10 Disabling of frame formats
10.10 MAC data consistency
10.11 Error detection
10.12 Error signalling
10.13 Overload signalling
10.14 Bus monitoring
10.15 Restricted operation
11 PL specification
11.1 General and functional modelling
11.2 Services of PL
11.2.1 Description
11.2.2 PCS_Data.Request
11.2.3 PCS_Data.Indicate
11.2.4 PCS_Status.Transmitter
11.2.5 PCS_Status.Receiver
11.3 PCS specification
11.3.1 Bit encoding/decoding
11.3.2 Synchronization
11.3.3 Transmitter delay compensation
11.4 AUI specification
11.4.1 General
11.4.2 PCS to PMA messages
11.4.3 PMA to PCS message
12 Description of supervisor FCE
12.1 Fault confinement
12.1.1 Objectives
12.1.2 Strategies
12.1.3 Fault confinement interface specification
12.1.4 Rules of fault confinement
12.1.5 Network start-up
12.2 Bus failure management
Annex€A (informative) Additional Information
Bibliography
BS ISO 11898-1:2015
BSI Standards Publication
Road vehicles — Controller
area network (CAN)
Part 1: Data link layer and physical
signalling
BS ISO 11898-1:2015
National foreword
This British Standard is the UK implementation of ISO 11898-1:2015.
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 necessary
provisions of a contract. Users are responsible for its correct
application.
© The British Standards Institution 2016.
Published by BSI Standards Limited 2016
ISBN 978 0 580 83030 3
ICS 43.040.15
Compliance 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 31 January 2016.
Amendments/corrigenda issued since publication
Date
Text affected
INTERNATIONAL
STANDARD
BS ISO 11898-1:2015
ISO
11898-1
Second edition
2015-12-15
Part 1:
Road vehicles — Controller area
network (CAN) —
Data link layer and physical signalling
Véhicules routiers — Gestionnaire de réseau de communication
(CAN) —
Partie 1: Couche liaison de données et signalisation physique
Reference number
ISO 11898-1:2015(E)
© ISO 2015
BS ISO 11898-1:2015
ISO 11898-1:2015(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2015, Published in Switzerland
All 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 on the internet or an intranet, without prior
written permission. Permission can be requested from either ISO at the address below or ISO’s member body in the country of
the requester.
ISO copyright office
Ch. de Blandonnet 8 • CP 401
CH-1214 Vernier, Geneva, Switzerland
Tel. +41 22 749 01 11
Fax +41 22 749 09 47
copyright@iso.org
www.iso.org
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© ISO 2015 – All rights reserved
BS ISO 11898-1:2015
ISO 11898-1:2015(E)
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Contents
Page
Foreword ........................................................................................................................................................................................................................................vi
Introduction ..............................................................................................................................................................................................................................vii
Scope .................................................................................................................................................................................................................................1
Conformance .............................................................................................................................................................................................................1
Normative references ......................................................................................................................................................................................2
Terms and definitions .....................................................................................................................................................................................2
Symbols and abbreviated terms ...........................................................................................................................................................5
Basic concepts of CAN ......................................................................................................................................................................................7
6.1
CAN properties ........................................................................................................................................................................................7
Frames ............................................................................................................................................................................................................8
6.2
6.3
Bus access method ...............................................................................................................................................................................8
6.4
Information routing ............................................................................................................................................................................8
6.5
Network flexibility ...............................................................................................................................................................................8
Data consistency ....................................................................................................................................................................................8
6.6
6.7
Remote data request ..........................................................................................................................................................................8
6.8
Error detection ........................................................................................................................................................................................9
6.9
Error signalling and recovery time ........................................................................................................................................9
6.10 ACK ....................................................................................................................................................................................................................9
6.11 Automatic retransmission .............................................................................................................................................................9
6.12 Fault confinement.................................................................................................................................................................................9
6.13 Error-active ................................................................................................................................................................................................9
6.14 Error-passive ............................................................................................................................................................................................9
6.15 Bus-off .........................................................................................................................................................................................................10
Layered architecture of CAN ..................................................................................................................................................................10
7.1
Reference to OSI model .................................................................................................................................................................10
Protocol specification .....................................................................................................................................................................11
7.2
7.3
Format description of services ...............................................................................................................................................11
Format description of service primitives ................................................................................................11
7.3.1
Types of service primitives ..................................................................................................................................12
7.3.2
7.4
LLC interface ..........................................................................................................................................................................................12
Description of LLC sub-layer .................................................................................................................................................................12
8.1
General ........................................................................................................................................................................................................12
8.2
Services of LLC sub-layer ............................................................................................................................................................13
8.2.1
Types of connectionless-mode transmission services .................................................................13
8.2.2
Service primitive specification .........................................................................................................................13
Functions of LLC sub-layer ........................................................................................................................................................18
8.3
8.3.1
General...................................................................................................................................................................................18
Frame acceptance filtering ...................................................................................................................................18
8.3.2
8.3.3
Overload notification ................................................................................................................................................18
8.3.4
Recovery management ............................................................................................................................................19
8.4
Structure of LLC frames ................................................................................................................................................................19
8.4.1
General...................................................................................................................................................................................19
8.4.2
Specification of LLC DF ............................................................................................................................................19
8.4.3
Specification of LLC RF ............................................................................................................................................20
8.5
Limited LLC frames ..........................................................................................................................................................................21
Interface between LLC and MAC ........................................................................................................................................................21
Services .......................................................................................................................................................................................................21
9.1
9.2
Time and time triggering ............................................................................................................................................................21
9.2.1 Description .........................................................................................................................................................................21
Time base ............................................................................................................................................................................21
9.2.2
9.2.3
Time reference point .................................................................................................................................................21
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© ISO 2015 – All rights reserved
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BS ISO 11898-1:2015
ISO 11898-1:2015(E)
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9.2.4
Event generation ...........................................................................................................................................................22
Disabling automatic retransmission .................................................................................................................................22
9.3
Retransmission of frames......................................................................................................................................22
9.3.1
9.4 Message time stamping ................................................................................................................................................................22
Description of MAC sub-layer ...............................................................................................................................................................22
10.1 General ........................................................................................................................................................................................................22
Services of MAC sub-layer ..........................................................................................................................................................22
10.2
10.2.1 Service description .....................................................................................................................................................22
10.2.2 Service primitives specification .......................................................................................................................23
10.3 Functional model of MAC sub-layer architecture ...................................................................................................27
10.3.1 Capability ............................................................................................................................................................................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
10.4.2 Specification of MAC DF ..........................................................................................................................................29
10.4.3 Specification of MAC RF ..........................................................................................................................................34
10.4.4 Specification of EF .......................................................................................................................................................34
10.4.5 Specification of OF .......................................................................................................................................................35
10.4.6 Specification of inter-frame space .................................................................................................................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
10.9.8 Frame priority .................................................................................................................................................................41
10.9.9 Collision resolution .....................................................................................................................................................41
10.9.10 Disabling of frame formats ...................................................................................................................................41
10.10 MAC data consistency ....................................................................................................................................................................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
PL specification ...................................................................................................................................................................................................44
11.1 General and functional modelling .......................................................................................................................................44
Services of PL ........................................................................................................................................................................................44
11.2
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
11.3 PCS specification.................................................................................................................................................................................45
11.3.1 Bit encoding/decoding ............................................................................................................................................45
11.3.2 Synchronization .............................................................................................................................................................50
11.3.3 Transmitter delay compensation....................................................................................................................52
11.4 AUI specification .................................................................................................................................................................................54
11.4.1 General...................................................................................................................................................................................54
11.4.2 PCS to PMA messages ...............................................................................................................................................55
11.4.3 PMA to PCS message ..................................................................................................................................................55
© ISO 2015 – All rights reserved
BS ISO 11898-1:2015
ISO 11898-1:2015(E)
12
Description of supervisor FCE .............................................................................................................................................................55
12.1 Fault confinement..............................................................................................................................................................................55
12.1.1 Objectives ............................................................................................................................................................................55
12.1.2 Strategies .............................................................................................................................................................................55
12.1.3 Fault confinement interface specification ...............................................................................................56
12.1.4 Rules of fault confinement ....................................................................................................................................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
BS ISO 11898-1:2015
ISO 11898-1:2015(E)
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out
through ISO technical committees. Each member body interested in a subject for which a technical
committee has been established has the right to be represented on that committee. International
organizations, governmental and non-governmental, in liaison with ISO, also take part in the work.
ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of
electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular the different approval criteria needed for the
different types of ISO documents should be noted. This document was drafted in accordance with the
editorial rules of the ISO/IEC Directives, Part 2 (see www.iso.org/directives).
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of
any patent rights identified during the development of the document will be in the Introduction and/or
on the ISO list of patent declarations received (see www.iso.org/patents).
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation on the meaning of ISO specific terms and expressions related to conformity
assessment, as well as information about ISO’s adherence to the WTO principles in the Technical
Barriers to Trade (TBT), see the following URL: Foreword — Supplementary information.
The committee responsible for this document is ISO/TC 22, Road vehicles, Subcommittee SC 31, Data
communication.
This second edition cancels and replaces the first edition (ISO 11898-1:2003), which has been technically
revised. It also incorporates the Corrigendum ISO 11898-1:2003/Cor 1:2006.
ISO 11898 consists of the following parts, under the general title Road vehicles — Controller area
network (CAN):
— Part 1: Data link layer and physical signalling
— Part 2: High-speed medium access unit 1)
— Part 3: Low-speed, fault-tolerant, medium-dependent interface
— Part 4: Time-triggered communication
— Part 5: High-speed medium access unit with low-power mode 1)
— Part 6: High-speed medium access unit with selective wake-up functionality 1)
1) Parts 2, 5, and 6 are being revised. They will be merged under a new edition of Part 2.
vi
© ISO 2015 – All rights reserved
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