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LIN2.1规范.pdf
LIN2.1.book
Specification Package
Revision history
Table of contents
1.1 LIN
1.1.1 Scope
1.1.2 Features and possibilities
1.1.3 Work flow concept
1.1.4 Node concept
1.1.5 Concept of operation
1.1.5.1 Master and slave
1.1.5.2 Frames
1.1.5.3 Data transport
1.1.5.4 Schedule table
1.1.6 Document overview
1.1.7 History and background
1.1.7.1 Compatibility with LIN 1.3
1.1.7.2 Compatibility with LIN 2.0
1.1.7.3 Changes between LIN 1.3 and LIN 2.0
1.1.7.4 Changes between LIN 2.0 and LIN 2.1
1.1.8 References
1.2 LIN Glossary
Protocol Specification
2.1 Introduction
2.2 Signal Management
2.2.1 Signal types
2.2.2 Signal consistency
2.2.3 Signal packing
2.2.4 Signal reception and transmission
2.3 Frame Transfer
2.3.1 Frame structure
2.3.1.1 Break field
2.3.1.2 Sync byte field
2.3.1.3 Protected identifier field
2.3.1.4 Data
2.3.1.5 Checksum
2.3.2 Frame length
2.3.3 Frame types
2.3.3.1 Unconditional frame
2.3.3.2 Event triggered frame
2.3.3.3 Sporadic frame
2.3.3.4 Diagnostic frames
2.3.3.5 Reserved frames
2.4 Schedule tables
2.4.1 Time definitions
2.4.2 frame Slot
2.4.3 Schedule table handling
2.5 Task Behavior Model
2.5.1 Master task state machine
2.5.2 Slave task state machine
2.5.2.1 Break/sync field sequence detector
2.5.2.2 Frame processor
2.6 Network Management
2.6.1 slave communication state diagram
2.6.2 Wake up
2.6.3 Go to sleep
2.7 Status Management
2.7.1 Concept
2.7.2 Event triggered frames
2.7.3 Reporting to the cluster
2.7.4 Reporting within own node
2.8 Appendices
2.8.1 Table of numerical properties
2.8.2 Table of valid frame identifiers
2.8.3 Example of checksum calculation
2.8.4 Syntax and mathematical symbols used in this standard
Transport Layer Specification
3.1 Introduction
3.2 Transport layer
3.2.1 PDU structure
3.2.1.1 Overview
3.2.1.2 NAD
3.2.1.3 PCI
3.2.1.4 LEN
3.2.1.5 SID
3.2.1.6 D1 to D6
3.2.2 Communication
3.2.2.1 Single Frame Transmission
3.2.2.2 Multiple Frame Transmission
3.2.3 Error Handling
3.2.4 Defined requests
3.2.5 timing constraints
Node configuration and Identification Specification
4.1 Introduction
4.2 Node configuration and identification
4.2.1 LIN product identification
4.2.1.1 Wildcards
4.2.2 Slave Node model
4.2.2.1 Initial NAD
4.2.3 PDU structure
4.2.3.1 Overview
4.2.3.2 NAD
4.2.3.3 PCI
4.2.3.4 SID
4.2.3.5 RSID
4.2.3.6 D1 to D5
4.2.4 Node configuration and identification
4.2.5 Node configuration services
4.2.5.1 Assign NAD
4.2.5.2 Conditional change NAD
4.2.5.3 Data dump
4.2.5.4 Save Configuration
4.2.5.5 Assign frame ID range
4.2.6 Identification
4.2.6.1 Read by identifier
Diagnostic specification
5.1 Introduction
5.1.1 using the transport layer
5.1.2 LIN master
5.1.3 slave nodes
5.2 Diagnostic classes
5.2.1 Diagnostic Class I
5.2.1.1 Transport protocol
5.2.1.2 Diagnostic services
5.2.2 Diagnostic Class II
5.2.2.1 Transport protocol
5.2.2.2 Diagnostic services
5.2.3 Diagnostic Class III
5.2.3.1 Addressing
5.2.3.2 Transport protocol
5.2.3.3 Diagnostic services
5.2.4 Summary of slave node classes
5.2.5 Master node requirements
5.2.5.1 Transport protocol
5.2.5.2 Fault management, sensor reading, I/O control
5.2.6 User defined diagnostics
5.3 Requirements for Signal based Diagnostics
5.4 Transport Protocol handling in LIN- master
5.4.1 Diagnostic master request schedule
5.4.2 Diagnostic slave response schedule
5.4.3 Diagnostic schedule execution
5.4.3.1 Diagnostics Interleaved Mode
5.4.3.2 Diagnostics Only Mode
5.4.4 Transmission handler requirements
5.4.4.1 Master node transmission handler
5.5 Slave node transmission handler
5.6 Slave diagnostic timing requirements
Physical Layer Specification
6.1 Introduction
6.2 Physical Layer Compatibility
6.3 Bit rate Tolerance
6.4 Timing Requirements
6.4.1 Bit Timing Requirements
6.4.2 Synchronization Procedure
6.4.3 Bit Sample Timing
6.5 Line Driver/Receiver
6.5.1 General Configuration
6.5.2 Definition of Supply Voltages for the Physical Interface
6.5.3 Signal Specification
6.5.4 Electrical DC parameters
6.5.4.1 Electrical AC Parameters
6.5.5 Line Characteristics
6.5.6 Performance in non-operation supply voltage range
6.5.7 Performance during fault modes
6.5.7.1 Loss of supply voltage connection or ground connection
6.5.7.2 Bus wiring short to battery or ground
6.5.8 ESD/EMI compliance
Application Program Interface Specification
7.1 Introduction
7.1.0.1 LIN cluster generation
7.1.1 Concept of operation
7.1.1.1 LIN core API
7.1.1.2 LIN node configuration and identification API
7.1.1.3 LIN transport layer API
7.2 Core API
7.2.1 Driver and cluster management
7.2.1.1 l_sys_init
7.2.2 Signal interaction
7.2.2.1 Signal types
7.2.2.2 Scalar signal read
7.2.2.3 Scalar signal write
7.2.2.4 Byte array read
7.2.2.5 Byte array write
7.2.3 Notification
7.2.3.1 l_flg_tst
7.2.3.2 l_flg_clr
7.2.4 Schedule management
7.2.4.1 l_sch_tick
7.2.4.2 l_sch_set
7.2.5 Interface management
7.2.5.1 l_ifc_init
7.2.5.2 l_ifc_goto_sleep
7.2.5.3 l_ifc_wake_up
7.2.5.4 l_ifc_ioctl
7.2.5.5 l_ifc_rx
7.2.5.6 l_ifc_tx
7.2.5.7 l_ifc_aux
7.2.5.8 l_ifc_read_status
7.2.6 User provided call-outs
7.2.6.1 l_sys_irq_disable
7.2.6.2 l_sys_irq_restore
7.3 Node configuration and identification
7.3.1 Node configuration
7.3.1.1 ld_is_ready
7.3.1.2 ld_check_response
7.3.1.3 ld_assign_frame_id_range
7.3.1.4 ld_assign_NAD
7.3.1.5 ld_save_configuration
7.3.1.6 ld_read_configuration
7.3.1.7 ld_set_configuration
7.3.2 ld_conditional_change_NAD
7.3.3 Identification
7.3.3.1 ld_read_by_id
7.3.3.2 ld_read_by_id_callout
7.4 Transport layer
7.4.1 Raw and Cooked API
7.4.2 Initialization
7.4.3 Raw API
7.4.3.1 ld_put_raw
7.4.3.2 ld_get_raw
7.4.3.3 ld_raw_tx_status
7.4.3.4 ld_raw_rx_status
7.4.4 Cooked API
7.4.4.1 ld_send_message
7.4.4.2 ld_receive_message
7.4.4.3 ld_tx_status
7.4.4.4 ld_rx_status
7.5 Examples
7.5.1 Master node example
7.5.2 Slave node example
Node Capability Language Specification
8.1 Introduction
8.1.1 Plug and play workflow
8.1.1.1 LIN cluster Generation
8.1.1.2 LIN cluster design
8.1.1.3 Debugging
8.2 Node capability file definition
8.2.1 Global definition
8.2.1.1 Node capability language version number definition
8.2.2 Node definition
8.2.3 General definition
8.2.3.1 LIN protocol version number definition
8.2.3.2 LIN Product Identification
8.2.3.3 Bit rate
8.2.3.4 Sends wake up signal
8.2.4 Diagnostic definition
8.2.5 Frame definition
8.2.5.1 Frame properties
8.2.5.2 Signal definition
8.2.5.3 Signal encoding type definition
8.2.6 Status management
8.2.7 Free text definition
8.3 Overview of Syntax
8.4 Example file
Configuration Language Specification
9.1 Introduction
9.2 LIN description file definition
9.2.1 Global definition
9.2.1.1 LIN protocol version number definition
9.2.1.2 LIN language version number definition
9.2.1.3 LIN speed definition
9.2.1.4 Channel postfix name definition
9.2.2 Node definition
9.2.2.1 Participating nodes
9.2.2.2 Node attributes
9.2.2.3 Node composition definition
9.2.3 Signal definition
9.2.3.1 Standard signals
9.2.3.2 Diagnostic signals
9.2.3.3 Signal groups
9.2.4 Frame definition
9.2.4.1 Unconditional frames
9.2.4.2 Sporadic frames
9.2.4.3 Event triggered frames
9.2.4.4 Diagnostic frames
9.2.5 Schedule table definition
9.2.6 Additional information
9.2.6.1 Signal encoding type definition
9.2.6.2 Signal representation definition
9.3 Overview of Syntax
9.4 Examples
9.4.1 LIN description file
LIN Specification Package
Revision 2.1
November 24, 2006; Page 1
LIN
Specification Package
Revision 2.1
© LIN Consortium, 2006.
This specification as released by the LIN Consortium is intended for the purpose of
information only and is provided on an "AS IS" basis only and cannot be the basis for
any claims. The LIN Consortium will not be liable for any use of this Specification. The
unauthorized use, e.g. copying, displaying or other use of any content from this docu-
ment is a violation of the law and intellectual property rights.
LIN is a registered Trademark ®. All rights reserved.
All distributions are registered.
Website: www.lin-subbus.org Contact: Technical-Contact@lin-subbus.org
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REVISION HISTORY
Date
Issue
LIN 1.0
LIN 1.1
LIN 1.2
LIN 1.3
LIN 2.0
1999-07-01
2000-03-06
2000-11-17
2002-12-13
2003-09-16
LIN Specification Package
Revision 2.1
November 24, 2006; Page 2
Remark
Initial Version of the LIN Specification
Major Revision Step
LIN 2.1
2006-11-24
Clarifications, configuration modified, transport layer
enhanced and diagnostics added.
Website: www.lin-subbus.org Contact: Technical-Contact@lin-subbus.org
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LIN Specification Package
Revision 2.1
November 24, 2006; Page 3
TABLE OF CONTENTS
Specification Package
1.1
1.1.1
1.1.2
1.1.3
1.1.4
1.1.5
1.1.5.1
1.1.5.2
1.1.5.3
1.1.5.4
1.1.6
1.1.7
1.1.7.1
1.1.7.2
1.1.7.3
1.1.7.4
1.1.8
1.2
LIN ....................................................................................................10
Scope ...........................................................................................10
Features and possibilities .............................................................10
Work flow concept ........................................................................11
Node concept ...............................................................................12
Concept of operation ....................................................................12
Master and slave ..........................................................................12
Frames .........................................................................................13
Data transport...............................................................................13
Schedule table..............................................................................14
Document overview ......................................................................14
History and background................................................................14
Compatibility with LIN 1.3 .............................................................15
Compatibility with LIN 2.0 .............................................................16
Changes between LIN 1.3 and LIN 2.0 ........................................17
Changes between LIN 2.0 and LIN 2.1 ........................................17
References ...................................................................................18
LIN Glossary .....................................................................................19
Protocol Specification
2.1
2.2
2.2.1
2.2.2
2.2.3
2.2.4
2.3
2.3.1
2.3.1.1
2.3.1.2
2.3.1.3
2.3.1.4
2.3.1.5
2.3.2
2.3.3
2.3.3.1
2.3.3.2
Introduction .......................................................................................24
Signal Management..........................................................................25
Signal types ..................................................................................25
Signal consistency........................................................................25
Signal packing ..............................................................................25
Signal reception and transmission................................................26
Frame Transfer .................................................................................28
Frame structure ............................................................................28
Break field.....................................................................................29
Sync byte field ..............................................................................29
Protected identifier field ................................................................30
Data ..............................................................................................30
Checksum.....................................................................................31
Frame length ................................................................................31
Frame types..................................................................................32
Unconditional frame......................................................................32
Event triggered frame ...................................................................32
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LIN Specification Package
Revision 2.1
November 24, 2006; Page 4
2.3.3.3
2.3.3.4
2.3.3.5
2.4
2.4.1
2.4.2
2.4.3
2.5
2.5.1
2.5.2
2.5.2.1
2.5.2.2
2.6
2.6.1
2.6.2
2.6.3
2.7
2.7.1
2.7.2
2.7.3
2.7.4
2.8
2.8.1
2.8.2
2.8.3
2.8.4
Sporadic frame .............................................................................35
Diagnostic frames.........................................................................36
Reserved frames ..........................................................................37
Schedule tables ................................................................................38
Time definitions ............................................................................38
frame Slot .....................................................................................38
Schedule table handling ...............................................................39
Task Behavior Model ........................................................................40
Master task state machine............................................................40
Slave task state machine..............................................................40
Break/sync field sequence detector..............................................40
Frame processor ..........................................................................41
Network Management.......................................................................44
slave communication state diagram .............................................44
Wake up .......................................................................................45
Go to sleep ...................................................................................46
Status Management..........................................................................47
Concept ........................................................................................47
Event triggered frames .................................................................47
Reporting to the cluster ................................................................47
Reporting within own node ...........................................................48
Appendices .......................................................................................49
Table of numerical properties .......................................................49
Table of valid frame identifiers......................................................50
Example of checksum calculation ................................................52
Syntax and mathematical symbols used in this standard.............53
Transport Layer Specification
3.1
3.2
3.2.1
3.2.1.1
3.2.1.2
3.2.1.3
3.2.1.4
3.2.1.5
3.2.1.6
3.2.2
3.2.2.1
3.2.2.2
3.2.3
Introduction .......................................................................................55
Transport layer..................................................................................56
PDU structure ...............................................................................56
Overview.......................................................................................57
NAD ..............................................................................................57
PCI................................................................................................57
LEN...............................................................................................58
SID................................................................................................58
D1 to D6 .......................................................................................58
Communication.............................................................................58
Single Frame Transmission..........................................................59
Multiple Frame Transmission .......................................................59
Error Handling ..............................................................................59
Website: www.lin-subbus.org Contact: Technical-Contact@lin-subbus.org
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LIN Specification Package
Revision 2.1
November 24, 2006; Page 5
3.2.4
3.2.5
Defined requests ..........................................................................60
timing constraints..........................................................................60
Node configuration and Identification Specification
4.1
4.2
4.2.1
4.2.1.1
4.2.2
4.2.2.1
4.2.3
4.2.3.1
4.2.3.2
4.2.3.3
4.2.3.4
4.2.3.5
4.2.3.6
4.2.4
4.2.5
4.2.5.1
4.2.5.2
4.2.5.3
4.2.5.4
4.2.5.5
4.2.6
4.2.6.1
Introduction .......................................................................................64
Node configuration and identification................................................65
LIN product identification ..............................................................65
Wildcards......................................................................................65
Slave Node model ........................................................................66
Initial NAD.....................................................................................67
PDU structure ...............................................................................68
Overview.......................................................................................69
NAD ..............................................................................................69
PCI................................................................................................69
SID................................................................................................70
RSID .............................................................................................70
D1 to D5 .......................................................................................70
Node configuration and identification ...........................................71
Node configuration services .........................................................71
Assign NAD ..................................................................................71
Conditional change NAD ..............................................................72
Data dump ....................................................................................73
Save Configuration .......................................................................73
Assign frame ID range..................................................................74
Identification .................................................................................75
Read by identifier..........................................................................75
Diagnostic specification
5.1
5.1.1
5.1.2
5.1.3
5.2
5.2.1
5.2.1.1
5.2.1.2
5.2.2
5.2.2.1
5.2.2.2
5.2.3
5.2.3.1
Introduction .......................................................................................78
using the transport layer ...............................................................78
LIN master ....................................................................................79
slave nodes ..................................................................................79
Diagnostic classes ............................................................................80
Diagnostic Class I.........................................................................80
Transport protocol ........................................................................80
Diagnostic services.......................................................................80
Diagnostic Class II........................................................................80
Transport protocol ........................................................................80
Diagnostic services.......................................................................81
Diagnostic Class III.......................................................................81
Addressing....................................................................................81
Website: www.lin-subbus.org Contact: Technical-Contact@lin-subbus.org
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LIN Specification Package
Revision 2.1
November 24, 2006; Page 6
5.2.3.2
5.2.3.3
5.2.4
5.2.5
5.2.5.1
5.2.5.2
5.2.6
5.3
5.4
5.4.1
5.4.2
5.4.3
5.4.3.1
5.4.3.2
5.4.4
5.4.4.1
5.5
5.6
Transport protocol ........................................................................81
Diagnostic services.......................................................................82
Summary of slave node classes...................................................82
Master node requirements............................................................83
Transport protocol ........................................................................83
Fault management, sensor reading, I/O control ...........................83
User defined diagnostics ..............................................................84
Requirements for Signal based Diagnostics.....................................85
Transport Protocol handling in LIN-master .......................................87
Diagnostic master request schedule ............................................87
Diagnostic slave response schedule ............................................88
Diagnostic schedule execution .....................................................89
Diagnostics Interleaved Mode ......................................................90
Diagnostics Only Mode.................................................................92
Transmission handler requirements .............................................94
Master node transmission handler ...............................................95
Slave node transmission handler....................................................100
Slave diagnostic timing requirements .............................................104
Physical Layer Specification
6.1
6.2
6.3
6.4
6.4.1
6.4.2
6.4.3
6.5
6.5.1
6.5.2
6.5.3
6.5.4
6.5.4.1
6.5.5
6.5.6
6.5.7
6.5.7.1
6.5.7.2
6.5.8
Introduction .....................................................................................107
Physical Layer Compatibility...........................................................108
Bit rate Tolerance ...........................................................................109
Timing Requirements......................................................................111
Bit Timing Requirements ............................................................111
Synchronization Procedure ........................................................111
Bit Sample Timing ......................................................................111
Line Driver/Receiver .......................................................................114
General Configuration ................................................................114
Definition of Supply Voltages for the Physical Interface .............114
Signal Specification ....................................................................116
Electrical DC parameters............................................................117
Electrical AC Parameters ...........................................................119
Line Characteristics ....................................................................121
Performance in non-operation supply voltage range..................122
Performance during fault modes ................................................122
Loss of supply voltage connection or ground connection...........122
Bus wiring short to battery or ground..........................................122
ESD/EMI compliance..................................................................123
Application Program Interface Specification
Website: www.lin-subbus.org Contact: Technical-Contact@lin-subbus.org
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LIN Specification Package
Revision 2.1
November 24, 2006; Page 7
7.1
7.1.0.1
7.1.1
7.1.1.1
7.1.1.2
7.1.1.3
7.2
7.2.1
7.2.1.1
7.2.2
7.2.2.1
7.2.2.2
7.2.2.3
7.2.2.4
7.2.2.5
7.2.3
7.2.3.1
7.2.3.2
7.2.4
7.2.4.1
7.2.4.2
7.2.5
7.2.5.1
7.2.5.2
7.2.5.3
7.2.5.4
7.2.5.5
7.2.5.6
7.2.5.7
7.2.5.8
7.2.6
7.2.6.1
7.2.6.2
7.3
7.3.1
7.3.1.1
7.3.1.2
7.3.1.3
7.3.1.4
7.3.1.5
7.3.1.6
7.3.1.7
Introduction .....................................................................................125
LIN cluster generation ................................................................125
Concept of operation ..................................................................125
LIN core API ...............................................................................125
LIN node configuration and identification API.............................126
LIN transport layer API ...............................................................126
Core API .........................................................................................127
Driver and cluster management .................................................127
l_sys_init.....................................................................................127
Signal interaction ........................................................................127
Signal types ................................................................................128
Scalar signal read.......................................................................128
Scalar signal write ......................................................................128
Byte array read ...........................................................................129
Byte array write...........................................................................129
Notification..................................................................................130
l_flg_tst .......................................................................................130
l_flg_clr .......................................................................................131
Schedule management...............................................................131
l_sch_tick....................................................................................131
l_sch_set ....................................................................................132
Interface management................................................................133
l_ifc_init.......................................................................................133
l_ifc_goto_sleep..........................................................................134
l_ifc_wake_up.............................................................................134
l_ifc_ioctl.....................................................................................135
l_ifc_rx ........................................................................................135
l_ifc_tx ........................................................................................136
l_ifc_aux .....................................................................................137
l_ifc_read_status ........................................................................137
User provided call-outs...............................................................140
l_sys_irq_disable ........................................................................140
l_sys_irq_restore ........................................................................141
Node configuration and identification..............................................142
Node configuration .....................................................................142
ld_is_ready .................................................................................142
ld_check_response.....................................................................143
ld_assign_frame_id_range .........................................................143
ld_assign_NAD...........................................................................144
ld_save_configuration.................................................................144
ld_read_configuration .................................................................145
ld_set_configuration ...................................................................145
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LIN Specification Package
Revision 2.1
November 24, 2006; Page 8
7.3.2
7.3.3
7.3.3.1
7.3.3.2
7.4
7.4.1
7.4.2
7.4.3
7.4.3.1
7.4.3.2
7.4.3.3
7.4.3.4
7.4.4
7.4.4.1
7.4.4.2
7.4.4.3
7.4.4.4
7.5
7.5.1
7.5.2
ld_conditional_change_NAD ......................................................146
Identification ...............................................................................147
ld_read_by_id .............................................................................147
ld_read_by_id_callout.................................................................148
Transport layer................................................................................149
Raw and Cooked API .................................................................149
Initialization.................................................................................149
Raw API......................................................................................150
ld_put_raw ..................................................................................150
ld_get_raw ..................................................................................150
ld_raw_tx_status.........................................................................151
ld_raw_rx_status ........................................................................151
Cooked API ................................................................................152
ld_send_message ......................................................................152
ld_receive_message...................................................................153
ld_tx_status ................................................................................154
ld_rx_status ................................................................................154
Examples ........................................................................................156
Master node example .................................................................156
Slave node example ...................................................................158
Node Capability Language Specification
8.1
8.1.1
8.1.1.1
8.1.1.2
8.1.1.3
8.2
8.2.1
8.2.1.1
8.2.2
8.2.3
8.2.3.1
8.2.3.2
8.2.3.3
8.2.3.4
8.2.4
8.2.5
8.2.5.1
8.2.5.2
8.2.5.3
Introduction .....................................................................................162
Plug and play workflow...............................................................162
LIN cluster Generation................................................................162
LIN cluster design.......................................................................163
Debugging ..................................................................................163
Node capability file definition ..........................................................164
Global definition..........................................................................164
Node capability language version number definition ..................164
Node definition............................................................................164
General definition .......................................................................164
LIN protocol version number definition .......................................165
LIN Product Identification ...........................................................165
Bit rate ........................................................................................165
Sends wake up signal.................................................................165
Diagnostic definition ...................................................................165
Frame definition..........................................................................166
Frame properties ........................................................................167
Signal definition ..........................................................................167
Signal encoding type definition...................................................168
Website: www.lin-subbus.org Contact: Technical-Contact@lin-subbus.org
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