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GMW17753.pdf

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    1 Introduction
    1.1 Purpose. This purpose of this standard is to define an implementation of the Controller Area Network with Flexible Data (CAN FD) protocol within the framework of SAE J2534-2, V04.04. This implementation utilizes the manufacture discretionary featu...
    1.2 Applicability. This document describes hardware and software changes required to add CAN FD to an SAE J2534-1/SAE J2534-2 interface. It also serves a reference guide for application developers that wish to add CAN FD support while staying within t...
    1.3 Remarks.
    2 References
    2.1 External Standards/Specifications.
    2.2 GM Standards/Specifications.
    2.3 Additional References.
    3 Requirements
    3.1 Hardware Requirements.
    3.1.1 CAN FD Channels. The Pass-Thru Interface shall have the ability of supporting at least two (2) concurrent ISO 11898-1/ISO 11898-2 CAN FD channels.
    3.1.2 J1962 Pin Usage. See Table 1.
    3.1.3 Termination Resistor. The Pass-Thru Interface have the capability of connecting a 120 Ω termination resistor across the J1962 pins of each channel. The state of the termination resistor shall be controlled by the application.
    3.2 Protocol Identification (ProtocolID) Values. In order to identify Pass-Thru Device(s) that support CAN FD protocol, the device manufacture shall include the following Protocol Registry key in the J2534_V0404 registry hive. The value of the KEY sha...
    3.3 Message Structure. The following defines how the J2534 Pass-Thru message type definition (typedef) structure (struct) elements that are used by the CAN_FD_PS and ISO15765_FD_PS protocol:
    3.3.1 CAN_FD_PS Message Structure. The message structure parameters used for a CAN_FD_PS channel are very similar to CAN_PS (SAE J2534-2, V04.04). The following describes valid settings for each parameter; using any other settings will cause the Pass-...
    3.3.2 ISO15765_FD_PS Message Structure. The message structure used for ISO15765_FD_PS is identical to ISO15765_PS (SAE J2534-1, V04.04) with the exception of:
    3.3.2.1 If the of a Pass-Thru message exceeds 4128 bytes then the application must use an Extended Data array to exchange the additional data with the Pass-Thru Interface.
    3.4 Indications. The Pass-Thru Interface shall only set one indication bit in the .
    3.4.1 CAN_FD_PS Indications.
    3.4.2 ISO15765_FD_PS Indications. ISO15765_FD_PS also inherits CAN_FD_PS indications regardless if Mixed Mode is not enabled. See Table 9.
    3.5 J2534 API Functions. The following does not define new API functions, it simply identifies where changes are required to support CAN FD.
    3.5.1 PassThruConnect(). PassThruConnect opens a CAN_FD_PS or ISO15765_FD_PS channel on the Pass-Thru Interface.
    3.5.1.1 Return Values. As defined by SAE J2534-1.
    3.5.2 PassThruStartMsgFilter().For the most part PassThruStartMsgFilter shall function as defined by SAE J2534-2. CAN_FD_PS will follow the same logic as CAN_PS and ISO15765_FD_PS will follow the same logic flows and ISO15765_PS. The following only de...
    3.5.2.1 Return Values. As defined by SAE J2534-1.
    3.5.2.2 PassThruStartMsgFilter(): Parameters. See Table 12.
    3.5.2.2.1 Dynamic Flow Control. Application that sends all node requests would normally be required to create a Flow Control Filter for each node capable of replying. A Dynamic Flow Control filter reduces the number of FLOW_CONTROL_FILTERS that are re...
    3.5.2.3 Return Values. As defined by SAE J2534-1, however; the condition checks for the ERR_INVALID_MSG have been modified to account for dynamic Filter .
    3.5.3 PassThruStartPeriodicMsg().For the most part PassThruStartPeriodicMsg remains as defined by SAE J2534-1. CAN_FD_PS inherits functionality from CAN, and ISO15765_FD_PS inherits functionality from ISO15765_PS. An ERR_INVALID_MSG shall be returned ...
    3.5.3.1 Return Values. As defined by SAE J2534-1.
    3.5.4 PassThruWriteMsg().For the most part CAN_FD_PS and ISO15765_FD_PS inherit all the basic functionality as defined by CAN_PS and ISO15765_PS respectively.
    3.5.4.1 ISO 15765 Multi-Frame Messages. For multi-frame ISO15765_FD_PS messages, the Pass-Thru Interface must have a filter configured to receive the Flow Control response from the receiving node. If multiple messages have been queued for transmit, th...
    3.5.4.2 Extended Tx Messages. PassThruWriteMsgs only allows the first message in the message list to have an extended message buffer. If any of the following conditions exist, PassThruWriteMsgs shall return value ERR_INVALID_MSG and the message will n...
    3.5.4.3 Return Values. As defined by J2534 with the addition of the following tests.
    3.5.5 PassThruReadMsgs().As defined by J2534, V04.04 except that support for messages beyond 4128 bytes is supported for ISO15765_FD_PS.
    3.5.5.1 Extended Rx Messages. The Pass-Thru Interface shall set the RX_MSG_TRUNCATED status bit if of the received message exceeds 4128 bytes. The shall reflect the length of the received message even though the data field can on...
    3.5.5.2 Return Values. As defined by SAE J2534-1.
    3.5.6 PassThruIOCTL().The following SAE J2534-1 ioctlIDs are valid for CAN_FD_PS and ISO15765_FD_PS. See Table 19.
    3.5.6.1 WRITE_MSG_EXTENSION. The WRITE_MSG_EXTENSION provides a method for an application to transmit a message that exceeds the PASS_THRU_MSG limit of 4128 data bytes. WRITE_MSG_EXTENSION is not supported by a CAN_FD_PS...
    3.5.6.1.1 Return Values. For the most part the return values are defined as J2534 however; ERR_NOT_SUPPORTED has been modified to include the following conditions:
    3.5.6.2 READ_MSG_EXTENSION. The Pass-Thru Interface shall store any data that was truncated by PassThruReadMsgs in a temporary buffer. The READ_MSG_EXTENSION provides a method for an application to read the data bytes of a message t...
    3.5.6.2.1 Return Values. The return value of ERR_NOT_SUPPORTED shall be used to identify the following conditions:
    3.5.6.3 CLEAR_TX_QUEUE. As defined by SAE J2534-1. However, also includes clearing the Extended Tx Data array if present.
    3.5.6.4 CLEAR_RX_QUEUE. As defined by SAE J2534-1. However, also includes clearing the Extended Rx Data arrays if present.
    3.5.6.5 SET_CONFIG and GET_CONFIG. See Table 22 and Table 24.
    4 Validation
    5 Provisions for Shipping
    6 Notes
    6.1 Glossary.
    6.2 Acronyms, Abbreviations, and Symbols.
    7 Additional Paragraphs
    7.1 All parts or systems supplied to this standard must comply with the requirements of GMW3059, Restricted and Reportable Substances.
    8 Coding System
    9 Release and Revisions
    Template For ENG STDS WORLDWIDE ENGINEERING STANDARDS General Specification GMW17753 GM Extension to SAE J2534 Standard to Support CAN FD Increased frame payload size to 64 Bytes. 1 Introduction Note: Nothing in this standard supercedes applicable laws and regulations. Note: In the event of conflict between the English and domestic language, the English language shall take precedence. 1.1 Purpose. This purpose of this standard is to define an implementation of the Controller Area Network with Flexible Data (CAN FD) protocol within the framework of SAE J2534-2, V04.04. This implementation utilizes the manufacture discretionary features defined in the SAE J2534 standard. The intent is to add support of the CAN FD protocol with minimal changes to existing applications and interfaces. The CAN FD protocol implemented two (2) strategies to increase data throughput of a Controller Area Network (CAN) 2.0 network: • • Higher Baudrates (5 Mpbs). Also included in this standard are enhancements to the ISO 15765-2 protocol that were necessary to support CAN FD: • Configurable Frame Size. • Increased Message Size. 1.2 Applicability. This document describes hardware and software changes required to add CAN FD to an SAE J2534-1/SAE J2534-2 interface. It also serves a reference guide for application developers that wish to add CAN FD support while staying within the framework of J2534, V04.04. 1.3 Remarks. • References to “J1962” throughout the document relate to the SAE J1962 Diagnostic Connecter for On-Board Diagnostic purposes. • References to “J2284” throughout the document relate to SAE J2284 and are use-case specific. Care should be exercised to apply the proper specification (see 2.1) for each application. • References to “J2534” throughout the document relate to SAE J2534 and are use-case specific. Care should be exercised to apply the proper specification (see 2.1) for each application. 2 References Note: Only the latest approved standards are applicable unless otherwise specified. 2.1 External Standards/Specifications. SAE J1962 ISO 11898-1 SAE J2534-1 ISO 11898-2 ISO 15765-2 SAE J2534-2 2.2 GM Standards/Specifications. GMW3059 2.3 Additional References. Bosch CAN FD specification: CAN with Flexible Data-Rate, Specification Version 1.0 (released April 17, 2012) SAE J2284-1 SAE J2284-2 SAE J2284-3 SAE J2284-4 SAE J2284-5 © Copyright 2017 General Motors Company All Rights Reserved Page 1 of 16 January 2017 Copyright General Motors Company Provided by IHS Markit under license with General Motors CompanyOrder Number: W2064747Sold to:SHANGHAI DING AUTOMATION LLC. [213189100001] - CHANGMAO.WU@DING-AUTO.COMNot for Resale,2018-02-13 01:36:59 UTCReproduction, distribution or publication of these standards is expressly prohib--``````,,,,,,`,``,`,``-`-``,```,,,`---
    GM WORLDWIDE ENGINEERING STANDARDS Template For ENG STDS GMW17753 3 Requirements Unless indicated otherwise, the SAE J2534, V04.04 definitions of requirements, restrictions and error conditions for Controller Area Network Pin Select (CAN_PS) and ISO15765_PS protocols will apply to CAN_FD_PS and ISO15765_FD_PS channels. For CAN FD the ISO 15765-2 Extended Data (ED) standard has been extended to support larger message sizes. 3.1 Hardware Requirements. 3.1.1 CAN FD Channels. The Pass-Thru Interface shall have the ability of supporting at least two (2) concurrent ISO 11898-1/ISO 11898-2 CAN FD channels. 3.1.2 J1962 Pin Usage. See Table 1. Table 1: Pin Usage Channel CH1 CH2 CH3 CH4 Required Yes Yes Optional Optional CAN(+) CAN(-) 6 1 3 12 14 9 11 13 3.1.3 Termination Resistor. The Pass-Thru Interface have the capability of connecting a 120 Ω termination resistor across the J1962 pins of each channel. The state of the termination resistor shall be controlled by the application. 3.2 Protocol Identification (ProtocolID) Values. In order to identify Pass-Thru Device(s) that support CAN FD protocol, the device manufacture shall include the following Protocol Registry key in the J2534_V0404 registry hive. The value of the KEY shall be selected from the manufacture specific range and assigned to the Key in the J2534 registry. See Table 2. Registry Key ISO15765_FD_PS CAN_FD_PS Value 0×1000C 0×1000D Table 2: ProtocolID Registry Keys Comment This is the value used by the GM Pass-Thru Interface This is the value used by the GM Pass-Thru Interface 3.3 Message Structure. The following defines how the J2534 Pass-Thru message type definition (typedef) structure (struct) elements that are used by the CAN_FD_PS and ISO15765_FD_PS protocol: typedef struct { unsigned long ProtocolID; unsigned long RxStatus; unsigned long TxFlags; unsigned long Timestamp; unsigned long DataSize; unsigned long ExtraDataIndex; unsigned char Data[4128]; } PASSTHRU_MSG; 3.3.1 CAN_FD_PS Message Structure. The message structure parameters used for a CAN_FD_PS channel are very similar to CAN_PS (SAE J2534-2, V04.04). The following describes valid settings for each parameter; using any other settings will cause the Pass-Thru Interface to return an ERR_INVALID_MSG. © Copyright 2017 General Motors Company All Rights Reserved Page 2 of 16 January 2017 Copyright General Motors Company Provided by IHS Markit under license with General Motors CompanyOrder Number: W2064747Sold to:SHANGHAI DING AUTOMATION LLC. [213189100001] - CHANGMAO.WU@DING-AUTO.COMNot for Resale,2018-02-13 01:36:59 UTCReproduction, distribution or publication of these standards is expressly prohib--``````,,,,,,`,``,`,``-`-``,```,,,`---
    GM WORLDWIDE ENGINEERING STANDARDS Template For ENG STDS GMW17753 • ProtocolID: Shall be set to CAN_FD_PS. • DataSize: The for a CAN FD formatted message must set to a valid value 4 thru 12, 16, 20, 24, 28, 36, 52, or 68 bytes, else the J2534 Application Programming Interface (API) shall return ERR_INVALID_MSG. The for a CAN 2.0 formatted message must be within the range of 4 bytes to 12 bytes. • Transmit (Tx) Flags: Table 3 identifies the valid TxFlags for a CAN_FD_PS message. Setting any other Flag for a CAN_FD_PS message will cause the Pass-Thru Interface to return an ERR_INVALID_MSG. Table 3: CAN_FD_PS TxFlags Value Definition CAN_FD_PS Bit 24 CAN_FD_FORMAT 25 0 = The message shall be transmitted with the data phase at the arbitration speed. Note 1 1 = The message shall be transmitted with the data phase at the CAN_FD_DATA_PHASE_RATE. Note 1 0 = The message shall be transmitted the all using the CAN 2.0 format. 1 = The message shall be transmitted the all using the CAN FD format. As defined by CAN in J2534, V04.04. 8 CAN_29BIT_ID Note 1: This flag will be ignored unless CAN_FD_FORMAT flag is set to 1. • Receive (Rx) Status: Table 4 identifies the valid RxStatus bits for a received message, and shows, which bits are used as indications. Definition CAN_FD_BRS Bit 24 IND - CAN_FD_FORMAT 25 CAN_FD_ESI 26 - - CAN_29BIT_ID ERROR_IND 8 4 - X Table 4: CAN_FD_PS RxStatus Bits Value This flag reflects the value of the BRS bit of the last frame in the received message. Note 1 0 = The data phase of the last frame in the message was received at arbitration speed. 1 = The data phase of the last frame in the message was received at the CAN FD data phase rate. 0 = The message was received in CAN 2.0 format. 1 = The message was received in CAN FD format. This flag reflects the value of the ESI bit of the message. Note 2 0 = ESI bit is active in received CAN FD frame. The sender is in the Error Active State. 1 = ESI bit is passive in received CAN FD frame. The sender is in the Error Passive State. As defined by CAN in J2534, V04.04. Indicates that the Pass-Thru Interface detected an error while receiving or transmitting a message. As defined by CAN in J2534, V04.04. 0 TX_MSG_TYPE Note: BRS = Baud Rate Switch, ESI = Error State Indicator, IND = Indication, MSG = Message. Note 1: It is possible to receive a Multi-Frame message where the BRS bit is different for some frames. This flag shall be zero (0) if CAN_FD_FORMAT is not set. Note 2: This flag must be zero when CAN_FD_FORMAT is 0. - © Copyright 2017 General Motors Company All Rights Reserved Page 3 of 16 January 2017 Copyright General Motors Company Provided by IHS Markit under license with General Motors CompanyOrder Number: W2064747Sold to:SHANGHAI DING AUTOMATION LLC. [213189100001] - CHANGMAO.WU@DING-AUTO.COMNot for Resale,2018-02-13 01:36:59 UTCReproduction, distribution or publication of these standards is expressly prohib--``````,,,,,,`,``,`,``-`-``,```,,,`---
    GM WORLDWIDE ENGINEERING STANDARDS Template For ENG STDS GMW17753 3.3.2 ISO15765_FD_PS Message Structure. The message structure used for ISO15765_FD_PS is identical to ISO15765_PS (SAE J2534-1, V04.04) with the exception of: 1. The Pass-Thru Interface shall permit the usage of Mixed Format Frames on an ISO15765_FD_PS channel. This allows the simultaneous reception and transmission of ISO15765_FD_PS messages and unformatted CAN FD frames on the ISO15765_FD channel. In Mixed mode, the ProtocolID (in the PASSTHRU_MSG structure) is used to identify if the ISO_15765 transport layer is applicable for the associated message. 2. API calls that cause a message transmission of an ISO15765_FD_PS message shall limit the maximum frames size to the value defined by CAN_FD_TX_DATA_LENGTH. All frames containing more than 8 (eight) data bytes shall be padded out to the next valid frame boundary with the value of ISO15765_PAD_VALUE. Frames with less than 8 (eight) data bytes may also be padded out to 8 (eight) data bytes if the TxFlag ISO15765_FRAME_PAD is set. • ProtocolID: Shall be set to ISO15765_FD_PS. • DataSize: The minimum value for the of an ISO15765_FD_PS message is dependent on the ISO15765_ADDR_TYPE. See Table 5. Table 5: ISO15765_FD_PS ISO15765_ADDR_TYPE Minimum Value of Maximum Value of 0 1 4 5 4128 Note 1 4128 Note 1 Note 1: The maximum value for the of an ISO15765_FD_PS message is limited by the Pass-Thru message structure to 4128 bytes. However, it is possible for an application to transmit and receive larger messages through an extended message buffer. • TxFlags: The following table identifies the valid TxFlags for an ISO15765_FD_PS message. Setting any other Flag for a CAN_FD_PS message will cause the Pass-Thru Interface to return an ERR_INVALID_MSG. See Table 6. Definition CAN_FD_BRS Table 6: ISO15765_FD_PS Value Bit 24 0 = All the frames of the message shall be transmitted with the data phase at the arbitration speed. Note 1 1 = All the frames of the message shall be transmitted with the data phase at the CAN_FD_DATA_PHASE_RATE. Note 1 CAN_FD_FORMAT CAN_29BIT_ID ISO15765_ADDR_TYPE ISO15765_FRAME_PAD 25 0 = All the frames of the message shall be transmitted using the CAN 2.0 format. 1 = All the frames of the message shall be transmitted using the CAN FD format. As defined by CAN in J2534, V04.04. As defined by CAN in J2534, V04.04. As defined by CAN in J2534, V04.04 for frames less than 8 (eight) data bytes. Frames with more than 8 (eight) data bytes shall use default CAN FD padding. (The frames are padded to the next CAN FD frame boundary.) 8 7 6 Note 1: This flag will be ignored unless CAN_FD_FORMAT flag is set to 1. • RxStatus: Table 7 identifies the valid RxStatus bits for a received message and shows which bits are used as indications. © Copyright 2017 General Motors Company All Rights Reserved January 2017 Page 4 of 16 Copyright General Motors Company Provided by IHS Markit under license with General Motors CompanyOrder Number: W2064747Sold to:SHANGHAI DING AUTOMATION LLC. [213189100001] - CHANGMAO.WU@DING-AUTO.COMNot for Resale,2018-02-13 01:36:59 UTCReproduction, distribution or publication of these standards is expressly prohib--``````,,,,,,`,``,`,``-`-``,```,,,`---
    GM WORLDWIDE ENGINEERING STANDARDS Template For ENG STDS GMW17753 Definition CAN_FD_BRS Bit 24 Table 7: ISO15765_FD_PS IND - Value CAN_FD_FORMAT CAN_FD_ESI 25 26 - - RX_MSG_TRUNCATED 27 - CAN_28BIT_ID ISO15765_ADDR_TYPE ERROR_IND 8 7 4 - - X This flag reflects the value of the BRS bit of the last frame in the received message. Note 1 0 = The data phase of the last frame in the message was received at arbitration speed. 1 = The data phase of the last frame in the message was received at CAN_FD_DATA_PHASE_RATE. 0 = All frames of the message were received in CAN 2.0 format. 1 = All frames of the message were received in CAN FD format. This flag reflects the value of the ESI bit of the last frame in the received message. Note 2 0 = ESI bit is active in received CAN FD frame. The sender is in the Error Active State. 1 = ESI bit is passive in received CAN FD frame. The sender is in the Error Passive State. The Rx message length exceeded 4128 bytes of data and the Pass-Thru Interface has truncated the message. The remaining data bytes can be read from the extended Rx Buffer. 0 = The entire message has been returned in the array. 1 = 4128 bytes of the message have returned in the array the remaining bytes must be read from the Extended Data array. As defined by ISO 15765 in J2534, V04.04. As defined by ISO 15765 in J2534, V04.04. This bit was redefined from J2534, ISO 15765 Padding Error. Indicates that the Pass-Thru Interface detected an error while receiving or transmitting a message. As defined by ISO 15765 in J2534, V04.04. As defined by ISO 15765 in J2534, V04.04. Indicates the first frame of a received message has been received. 3 0 1 X - X TX_INDICATION TX_MSG_TYPE START_OF_MESSAGE Note: BRS = Baud Rate Switch, ESI = Error State Indicator, IND = Indication, MSG = Message, Rx = Receive. Note 1: It is possible to receive a Multi-Frame message where the BRS bit is different for some frames. This flag shall be zero (0) if CAN_FD_FORMAT is not set. Note 2: This flag must be zero (0) when CAN_FD_FORMAT bit is 0. 3.3.2.1 If the of a Pass-Thru message exceeds 4128 bytes then the application must use an Extended Data array to exchange the additional data with the Pass-Thru Interface. Refer to the Input/Output Control WRITE_MSG_EXTENSION for details on transferring extended data of a transmit message to the Pass-Thru Interface. After the application has transferred then extended data PassThruWriteMsgs() will allow the of the message to exceed 4128 bytes by the number of bytes in the extended data. Refer to the READ_MSG_EXTENSION for details obtaining the extended data of a received message. © Copyright 2017 General Motors Company All Rights Reserved Page 5 of 16 January 2017 Copyright General Motors Company Provided by IHS Markit under license with General Motors CompanyOrder Number: W2064747Sold to:SHANGHAI DING AUTOMATION LLC. [213189100001] - CHANGMAO.WU@DING-AUTO.COMNot for Resale,2018-02-13 01:36:59 UTCReproduction, distribution or publication of these standards is expressly prohib--``````,,,,,,`,``,`,``-`-``,```,,,`---
    GM WORLDWIDE ENGINEERING STANDARDS Template For ENG STDS GMW17753 3.4 Indications. The Pass-Thru Interface shall only set one indication bit in the . • shall reflect the time the associated indication occurred. • shall match the of the channel. • shall be 0. • shall be 0. • minimum value shall be 4. 3.4.1 CAN_FD_PS Indications. ERROR_IND This Indication shall be generated when the Pass-Thru Interface has detected an error condition. See Table 8. With this Indication, the first 4 bytes of the array in the PASSTHRU_MSG structure shall identify the ErrorCode for the indicator. (Most Significant Byte First). shall be 4. All status bits shall be 0. Error Codes for ERROR_IND CAN_OVERFLOW BUS_OFF 2 Table 8: Error Codes for ERROR_IND Value 1 Description The Pass-Thru interface was not able to keep up with the network traffic and frames have been dropped. The Pass-Thru interface has gone BUS_OFF. 3.4.2 ISO15765_FD_PS Indications. ISO15765_FD_PS also inherits CAN_FD_PS indications regardless if Mixed Mode is not enabled. See Table 9. START_OF_MESSAGE The Start Indication shall be generated after receiving the First Frame (FF) of a Segmented Message that is able to be queued in the Receive Buffer. shall reflect the attributes associated with the First Frame (FF) of the message. shall indicate the number of bytes in the indication, 8 bytes for Normal Addressing, 9 bytes for Extended Addressing. The array shall contain the CAN ID and possibly the extended address of the message being received, followed by the number of data bytes required to receive the message. The Pass-Thru interface shall report the number of data bytes that are required to receive the message as a 4 byte unsigned integer most significant byte first. As defined by ISO 15765 in SAE J2534-1 This Indication shall be generated when the Pass-Thru Interface has detected an error condition. With this Indication, the first 4 bytes of the array in the PASSTHRU_MSG structure shall identify the ErrorCode for the indicator. (Most Significant Byte First). shall be 4. All status bits shall be 0. TX_INDICATION ERROR_IND © Copyright 2017 General Motors Company All Rights Reserved January 2017 Page 6 of 16 Copyright General Motors Company Provided by IHS Markit under license with General Motors CompanyOrder Number: W2064747Sold to:SHANGHAI DING AUTOMATION LLC. [213189100001] - CHANGMAO.WU@DING-AUTO.COMNot for Resale,2018-02-13 01:36:59 UTCReproduction, distribution or publication of these standards is expressly prohib--``````,,,,,,`,``,`,``-`-``,```,,,`---
    GM WORLDWIDE ENGINEERING STANDARDS Template For ENG STDS GMW17753 Error Codes for ERROR_IND CAN_OVERFLOW BUS_OFF RX_ERROR TX_FAILED Table 9: Error Codes for ERROR_IND Value Description 1 2 3 4 As defined by CAN_FD_PS As defined by CAN_FD_PS The Pass-Thru Interface terminated the message reception because the maximum frame separation time was exceeded. (N_CR_MAX) or it detected one (1) of the following conditions on an incoming message: • Invalid Frame Size: The consecutive frame size of the Rx message does not match the size of the first frame. Note Invalid Frame Format: The consecutive frame format does not match the format of the first frame. Invalid Sequence number in a consecutive frame. • The Pass-Thru Interface terminated message transmission for one (1) of the following reasons. • There was No Flow Control frame received or the Flow Control message was improperly formatted. • • Wait Flow Control (FC) limit was exceeded. Note: The last frame of the message may be shorter than the first frame. 3.5 J2534 API Functions. The following does not define new API functions, it simply identifies where changes are required to support CAN FD. 3.5.1 PassThruConnect(). PassThruConnect opens a CAN_FD_PS or ISO15765_FD_PS channel on the Pass- Thru Interface. Note: Currently there are two (2) version of CAN FD available Bosch CAN FD (see 2.3) and International Standards Organization (ISO) CAN FD. ISO CAN FD offers improved error detection and will eventually supersede the Bosch version. By default, the Pass-Thru Device shall support ISO CAN FD, but may optionally provide provisions to enable Bosch CAN FD compatibility mode. (See CAN_FD_TYPE for additional details). When PassThruConnect is called with either the CAN_FD_PS or ISO15765_FD_PS , the physical layer remains disconnected until J1962_PINS is set with valid pins. It is recommended that applications specify CAN_FD_DATA_PHASE_RATE and CAN_FD_TYPE if using Bosch CAN FD prior to setting the J1962_PINS to avoid bus errors. PROTOCOLID The Pass-Thru Interface may be configured to transmit and receive Raw CAN FD or use a transport layer as specified by ISO 15765. • CAN_FD_PS • The flags shown in Table 10 are applicable for ISO15765_FD_PS and CAN_FD_PS. ISO15765_FD_PS FLAGS Table 10: Connect Flags Flag CAN_ID_BOTH CAN_29_BIT_ID Bit Position 11 8 Description As defined by SAE J2534-1 As defined by SAE J2534-1 © Copyright 2017 General Motors Company All Rights Reserved January 2017 Page 7 of 16 Copyright General Motors Company Provided by IHS Markit under license with General Motors CompanyOrder Number: W2064747Sold to:SHANGHAI DING AUTOMATION LLC. [213189100001] - CHANGMAO.WU@DING-AUTO.COMNot for Resale,2018-02-13 01:36:59 UTCReproduction, distribution or publication of these standards is expressly prohib--``````,,,,,,`,``,`,``-`-``,```,,,`---
    GM WORLDWIDE ENGINEERING STANDARDS Template For ENG STDS GMW17753 BaudRate Specifying a value for the provides a method for the application to initialize the Arbitration data rate of the network. The is expressed in Bits per Second (bps). See Table 11. Table 11: Arbitration Baud Rates Value 500 000 250 000 125 000 Description 500 Kbps 250 Kbps 125 Kbps 3.5.1.1 Return Values. As defined by SAE J2534-1. 3.5.2 PassThruStartMsgFilter().For the most part PassThruStartMsgFilter shall function as defined by SAE J2534-2. CAN_FD_PS will follow the same logic as CAN_PS and ISO15765_FD_PS will follow the same logic flows and ISO15765_PS. The following only defines the differences. 3.5.2.1 Return Values. As defined by SAE J2534-1. 3.5.2.2 PassThruStartMsgFilter(): Parameters. See Table 12. Table 12: Supported Filter Types Filter Type PASS_FILTER BLOCK_FILTER FLOW_CONTROL_FILTER Usage As defined by SAE J2534-1 As defined by SAE J2534-1 As defined by SAE J2534-1 (ISO15765_FD_PS only) pPatternMsg pMaskMsg RXstatus flags of the Pattern Message are not part of the filtering algorithm. The TxFlag CAN_29BIT_ID is used to determine if the Pattern Message’s CANID is 29bit or 11bit. If the is ISO15765_FD_PS then the TxFlag ISO15765_ADDR_TYPE is used to determine if Extended Addressing is valid for the CANID. All filters are intended to be insensitive to the CAN Format of the message being filtered. The Pass-Thru Interface shall confirm the of an incoming message is greater than the of the Pattern Message. RXstatus flags of the Mask Message are not part of the filtering algorithm. The , and of the Mask message, shall be equal to the values provided in the Pattern Message. pFlowControlMsg This parameter shall always be set to NULL for a pattern message with a of CAN_FD_PS. For ISO15765_FD_PS, this structure is used to define the properties of the flow control handshake from the Pass-Thru Interface. If set to NULL the Pass-Thru Interface shall not send a flow control. The shall be ISO15765_FD_PS. An ERR_INVALID_MSG shall be returned if the Flow Control Message is configured to use a different Address Type than the Pattern Message or if is set to an undefined value (see 3.5.2.2.1). © Copyright 2017 General Motors Company All Rights Reserved January 2017 Page 8 of 16 Copyright General Motors Company Provided by IHS Markit under license with General Motors CompanyOrder Number: W2064747Sold to:SHANGHAI DING AUTOMATION LLC. [213189100001] - CHANGMAO.WU@DING-AUTO.COMNot for Resale,2018-02-13 01:36:59 UTCReproduction, distribution or publication of these standards is expressly prohib--``````,,,,,,`,``,`,``-`-``,```,,,`---
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