SAE J 2284-4-2016 High-Speed CAN (HSC) for Vehicle Applications at 500 kbps with CAN FD Data at 2 Mbps.pdf

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1、_SAE Technical Standards Board Rules provide that: “This report is published by SAE to advance the state of technical and engineering sciences. The use of this report is entirely voluntary, and its applicability and suitability for any particular use, including any patent infringement arising theref

2、rom, is the sole responsibility of the user.”SAE reviews each technical report at least every five years at which time it may be revised, reaffirmed, stabilized, or cancelled. SAE invites your written comments and suggestions.Copyright 2016 SAE InternationalAll rights reserved. No part of this publi

3、cation may be reproduced, stored in a retrieval system or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of SAE.TO PLACE A DOCUMENT ORDER: Tel: 877-606-7323 (inside USA and Canada)Tel: +1 724-776-4970 (out

4、side USA)Fax: 724-776-0790Email: CustomerServicesae.orgSAE WEB ADDRESS: http:/www.sae.orgSAE values your input. To provide feedbackon this Technical Report, please visithttp:/www.sae.org/technical/standards/J2284/4_201606 SURFACE VEHICLERECOMMENDED PRACTICEJ2284-4 JUN2016Issued 2016-06High-Speed CAN

5、 (HSC) for Vehicle Applications at 500 kbpswith CAN FD Data at 2 MbpsRATIONALEFacilitate usage of the CAN with Flexible Data Rate (CAN FD) message format for in-vehicle data communication use cases.FOREWORDThe objective of SAE J2284-4 is to define a level of standardization in the implementation of

6、a 500 kbps arbitration bus with CAN FD Data at 2 Mbps vehicle communication network using the Controller Area Network (CAN) protocol. The goal is to achieve a standard Electronic Control Unit (ECU) Physical Layer, Data Link Layer, and Media Design Criteria which will allow ECU and tool manufacturers

7、 to satisfy the needs of multiple end users with minimum modification to a basic design. Likewise, end users will benefit in lower ECU cost achieved from the high volumes of the basic design.TABLE OF CONTENTS1. SCOPE 32. REFERENCES 32.1 Applicable Documents 33. DEFINITIONS . 44. ACRONYMS . 95. SYSTE

8、M LEVEL ATTRIBUTES OF THE NETWORK 95.1 Message Format . 95.2 Communication Rate. 105.3 Basic Communication Network Parameters . 105.4 Topology and Termination 105.5 Unshielded Media . 115.6 Communication/Survivability Under Faulted Conditions. 125.7 EMC Criteria 135.8 Tools 13SAE INTERNATIONAL J2284

9、-4 JUN2016 Page 2 of 286. ECU REQUIREMENTS. 136.1 Absolute Maximum Ratings 136.2 DC Operating Parameters. 146.3 ECU Internal Capacitance 176.4 Termination . 176.5 Connector Parameters 176.6 Bit Timing Requirements. 186.7 Message Transmission and Reception. 206.8 ECU Configuration Requirements. 206.9

10、 ElectroMagnetic Compatibility (EMC) . 217. CAN COMPONENT REQUIREMENTS 217.1 BUS TRANSCEIVER REQUIREMENTS 217.2 BUS CONTROLLER REQUIREMENTS. 267.3 MICROCONTROLLER REQUIREMENTS AND PREFERENCES. 278. NOTES 288.1 Revision Indicator 28FIGURE 1 MULTIPLE ON-BOARD ECU CONFIGURATION 11TABLE 1 BASIC COMMUNIC

11、ATION NETWORK PARAMETERS 10TABLE 2 MULTIPLE ON-BOARD ECU TOPOLOGY REQUIREMENTS 11TABLE 3 PHYSICAL MEDIA PARAMETERS FOR UNSHIELDED TWISTED PAIR 12TABLE 4 FAULT BEHAVIOR . 12TABLE 5 ECU MAXIMUM BUS WIRE VOLTAGE - NO DAMAGE TO ECU (12 V SYSTEM) 13TABLE 6 ECU OPERATING PARAMETERS CAN DATA COMMUNICATION

12、14TABLE 7 ECU DC PARAMETERS - OUTPUT BEHAVIOR RECESSIVE - BUS DISCONNECTED 15TABLE 8 ECU DC PARAMETERS - OUTPUT BEHAVIOR DOMINANT - BUS DISCONNECTED 15TABLE 9 ECU DC PARAMETERS - INPUT BEHAVIOR - ECU UNPOWERED/BUS BIAS OFF -BUS DISCONNECTED. 16TABLE 10 ECU DC PARAMETERS - INPUT BEHAVIOR - BUS DISCON

13、NECTED 16TABLE 11 ECU AC PARAMETERS - OUTPUT BEHAVIOR - BUS DISCONNECTED 16TABLE 12 ECU DC PARAMETERS - RECESSIVE BUS STATE - BUS CONNECTED. 16TABLE 13 ECU DC PARAMETERS - DOMINANT BUS STATE - BUS CONNECTED 17TABLE 14 ECU INTERNAL CAPACITANCE - ECU DISCONNECTED 17TABLE 15 ECU TERMINATION CHARACTERIS

14、TICS 17TABLE 16 ECU CONNECTOR CHARACTERISTICS . 18TABLE 17 ECU CAN BIT TIMING - MIN/MAX . 19TABLE 18 ECU CAN REGISTER SETTINGS FOR FIRST STANDARD TIME QUANTA. 19TABLE 19 ECU CAN REGISTER SETTINGS FOR SECOND STANDARD TIME QUANTA 19TABLE 20 ECU - BASIC CAN INTERFACE FUNCTIONAL REQUIREMENTS 20TABLE 21

15、BUS TRANSCEIVER - BASIC REQUIREMENTS 22TABLE 22 BUS TRANSCEIVER - MAXIMUM BUS PIN VOLTAGE - NO DAMAGE TO TRANSCEIVER (12 V SYSTEM). 22TABLE 23 BUS TRANSCEIVER - GENERAL OPERATING CONDITIONS 23TABLE 24 BUS TRANSCEIVER - DC PARAMETERS - OUTPUT BEHAVIOR - RECESSIVE/OFF STATE. 23TABLE 25 BUS TRANSCEIVER

16、 - DC PARAMETERS - OUTPUT BEHAVIOR - DOMINANT STATE. 24TABLE 26 BUS TRANSCEIVER - DC PARAMETERS - INPUT BEHAVIOR/THRESHOLD -SLEEP MODE ABSENT . 24TABLE 27 BUS TRANSCEIVER - DC PARAMETERS - INPUT BEHAVIOR/THRESHOLD -SLEEP MODE PRESENT. 25TABLE 28 BUS TRANSCEIVER - AC PARAMETERS 25TABLE 29 CAN CONTROL

17、LER - BASIC REQUIREMENTS. 26SAE INTERNATIONAL J2284-4 JUN2016 Page 3 of 281. SCOPEThis SAE Recommended Practice will define the Physical Layer and portions of the Data Link Layer of the Open Systems Interconnection model (ISO 7498) for a 500 kbps arbitration bus with CAN FD Data at 2 Mbps High-Speed

18、 CAN (HSC) protocol implementation. Both ECU and media design requirements for networks will be specified. Requirements will primarily address the CAN physical layer implementation.Requirements will focus on a minimum standard level of performance from the HSC implementation. All ECUs and media shal

19、l be designed to meet certain component level requirements in order to ensure the HSC implementation system level performance at 500 kbps arbitration bus with CAN FD Data at 2 Mbps. The minimum performance level shall be specified by system level performance requirements or characteristics described

20、 in detail in Section 6 of this document.This document is designed such that if the Electronic Control Unit (ECU) requirements defined in Section 6 are met, then the system level attributes should be obtainable.This document will address only requirements which may be tested at the ECU and media lev

21、el. No requirements which apply to the testing of the HSC implementation as integrated into a vehicle are contained in this document. However, compliance with all ECU and media requirements will increase the possibility of communication compatibility between separately procured components and will g

22、reatly simplify the task of successfully integrating a HSC communication system in a vehicle.2. REFERENCESThis specification takes precedence over all conflicts in the documents cited in this section.2.1 Applicable DocumentsThe following publications form a part of this specification to the extent s

23、pecified herein. Unless otherwise indicated, the latest issue of SAE publications shall apply.2.1.1 SAE PublicationsAvailable from SAE International, 400 Commonwealth Drive, Warrendale, PA 15096-0001, Tel: 877-606-7323 (inside USA and Canada) or +1 724-776-4970 (outside USA), www.sae.org.SAE J551-15

24、 Vehicle Electromagnetic Immunity Electrostatic Discharge (ESD)SAE J1213-1 Glossary of Vehicle Networks for Multiplexing and Data CommunicationsSAE J1930 Electrical/Electronic Systems Diagnostic Terms, Definitions, Abbreviations, and AcronymsSAE J1962 Diagnostic ConnectorSAE J2190 Enhanced E/E Diagn

25、ostic Test ModesSAE J2962-2 Communication Transceivers Qualification Requirements CANSAE 970295 CAN Bit Timing RequirementsSAE INTERNATIONAL J2284-4 JUN2016 Page 4 of 282.1.2 ISO PublicationsCopies of these documents are available online at http:/webstore.ansi.org/ISO 7498 Data processing systems -

26、Open systems interconnection standard reference modelISO 7637-1 Road vehicles - Electrical disturbance by conduction and couplingISO 10605 Road vehicles - Test methods for electrical disturbances from electrostatic dischargeISO 11451-2 Road vehicles - Vehicle test methods for electrical disturbances

27、 from narrowband radiated electromagnetic energy - Part 2: Off-vehicle radiation sourcesISO 11452-4 Road vehicles - Component test methods for electrical disturbances from narrowband radiated electromagnetic energy - Part 4: Harness excitation methodsISO 11898-1:2015(E) Road vehicles - Interchange o

28、f digital information - Controller area network (CAN),Part 1: Data link layer and physical signallingISO 11898-2 :2016(E) Road vehicles - Interchange of digital information - Controller area network (CAN),Part 2: High-speed medium access unitISO 14229 Road vehicles - Diagnostic systems - Specificati

29、on of diagnostic servicesISO 26262 Road vehicles - Functional safety2.1.3 Other PublicationsCISPR 25 Limits and Methods of Measurement of Radio Disturbance Characteristics for the Protection of Receivers Used On-Board VehiclesAUTOSAR Release 4.2.2 www.autosar.org3. DEFINITIONSThe definitions provide

30、d in SAE J1213-1 apply to this document. Additional or modified definitions, acronyms, and abbreviations included in this document or relevant to the communication of information in a vehicle are catalogued in this section.3.1 ARBITRATION BIT TIMESee Nominal Bit Time.3.2 CAN_HThe CAN_H bus wire is f

31、ixed to a mean voltage level during the recessive state and is driven in a positive voltage direction during the dominant bit state.3.3 CAN_LThe CAN_L bus wire is fixed to a mean voltage level during the recessive state and is driven in a negative voltage direction during the dominant bit state.3.4

32、CAN ACTIVITY FILTER TIMEDuration for which the bus needs to be continuously in the same state to enable the signal to pass the bus wake-up filter.SAE INTERNATIONAL J2284-4 JUN2016 Page 5 of 283.5 CAN BUSSubnet where a number of ECUs communicate via a two-wire link (CAN_H, CAN_L) and where the Contro

33、ller Area Network protocol is used as data link layer (DLL).3.6 CAN IDENTIFIERBit pattern of 11 bits or 29 bits, located at the beginning of a message that denotes message content and also reflects message priority.3.7 CLASSICAL CAN MESSAGEBus message according to ISO 11898:1993/Amd.1:1995(E). Bus m

34、essage according to ISO 11898-1 :2015(E) where the FDF bit is dominant, also known as CAN 2.0.3.8 CAN FD MESSAGEBus message according to ISO 11898-1:2015(E) where the FDF bit is recessive. A CAN FD message typically employs different bit rates in the data field and in the arbitration field.3.9 DATA

35、BIT TIMELength of a single bit in those parts of CAN FD messages where a dedicated separately configurable data bit time is used. The data bit time is not used anywhere in Classical CAN messages and is not used in those CAN FD messages where the BRS bit is dominant.3.10 DATA LINK LAYERProvides the r

36、eliable transfer of information across the Physical Layer. This includes message qualification and error control.3.11 DATA SAMPLE POINT (tSAMPLE)The sample point is the time within the bit period at which the single data sample captures the state of the bus. The programmable sample point is located

37、between tSEG1 and tSEG2. Equation 1 shows the relationship of tSAMPLE to tSEG2:(Eq. 1)3.12 DIAGNOSTIC CONNECTORProvides the electrical connection between Off-Board and On-Board ECUs. For some vehicles, the diagnostic connectoris the SAE J1962 connector.3.13 DISABLING OF DLC MATCHINGWhen this functio

38、nality is supported and active, then the bus transceiver will not compare message data length code (DLC) values as to whether or not they match to configured DLC values when scanning messages for presence of valid wake-up requests.3.14 DOMINANT STATEThe dominant state is represented by a differentia

39、l voltage greater than a minimum threshold between the CAN_L and CAN_H bus wires. The dominant state overwrites the recessive state and represents a logic “0” bit value.3.15 ELECTRONIC CONTROL UNIT (ECU)An On- or Off-vehicle electronic assembly from which CAN SAE J2284-4 messages may be sent and/or

40、received.tSAMPLE tBIT tSEG2=SAE INTERNATIONAL J2284-4 JUN2016 Page 6 of 283.16 ECU Delay (tECU)An ECUs loop delay includes the following four delays:a. Transmitter Propagation Delay (tTX, this includes device delay and slew)b. Receiver Propagation Delay (tRX)c. Receiver Logic Delay (tLOGIC)d. Common

41、 Mode Choke (tCHK, optional, Includes both Tx and Rx choke delays)(Eq. 2)3.17 FD_Receive / FD_TransmitStatus flags indicating whether the bus controller employs CAN FD data bit timing presently. 3.18 HANDLEHardware object label of one or multiple LLC frames (LPDU). Identifies hardware element used f

42、or transaction. Used to facilitate cancellation of pending message transmission requests.3.19 MEDIAThe physical entity which conveys the electrical (or equivalent means of communication) transmission between ECUs on the network (e.g., unshielded twisted pair wires). Media is defined as all elements

43、between the connector pins of the communicating ECUs through which the signals pass.3.20 MEDIA DELAY (tBUS)Media delay is defined as the time required for a signal to pass through the media at the longest specified distance (seeTable 1 in 5.3, Table 2 in 5.4, and Table 3 in 5.5).3.21 MUSTThe word “M

44、ust” is used to indicate that a binding requirement exists on components or devices which are outside the scope of this specification.3.22 NOMINAL BIT TIMELength of a single bit in Classical CAN messages. Length of a single bit in CAN FD messages except where data bit timing applies. Also known as a

45、rbitration bit time.3.23 PCS STATUSIndicates what logical level is presently being received or transmitted and whether or not CAN FD data bit timing applies presently. For details see ISO 11898-1 :2015(E).tECU tTX tRX tLOGIC tCHK+ + + =SAE INTERNATIONAL J2284-4 JUN2016 Page 7 of 283.24 PHYSICAL LAYE

46、RConcerns the transmission of an unstructured bit stream over physical media: deals with the mechanical, electrical, functional, and procedural characteristics to access the physical media.3.25 PROTOCOLFormal set of conventions or rules for the exchange of information between ECUs. This includes the

47、 specification of frame administration, frame transfer, and physical layer.3.26 RADIATED EMISSIONSRadiated Emissions consists of energy that emanate from the CAN bus wires. Electric field strength in dbPV/m is the typical measure of radiated emissions.3.27 RADIATED IMMUNITYA property that ensures th

48、at the CAN bus wires will not suffer degraded functional operation within its intended electromagnetic environment. 3.28 RECESSIVE STATEThe recessive state is represented by an inactive state differential voltage that is approximately 0. The recessive state represents a logic “1” bit value.3.29 PROP

49、AGATION DELAY (tPROP)Part of bit cell that serves compensation of data signal delay times in a network. Because CAN is an arbitrating protocol, the propagation delay must take into account the time required for a signal to make a complete round trip from one CAN controller to another and back. This translates to Equation 3 or 4.(Eq. 3)or(Eq. 4)3.30 SECONDARY SAMPLE POINT (SSP)Sample point that applies to data bit timing in C