INTERNATIONAL STANDARD ISO 11898-2 Second edition 2016-12-15 Road vehicles — Controller area network (CAN) — Part 2: High-speed medium access unit Véhicules routiers — Gestionnaire de réseau de communication (CAN) — Partie 2: Unité d’accès au support haute vitesse Reference number ISO 11898-2:2016(E) I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n © ISO 2016 ISO 11898-2:2016(E) COPYRIGHT PROTECTED DOCUMENT © ISO 2016, Published in Switzerland All rights reserved Unless otherwise specified, no part o f 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 o f the requester ISO copyright o ffice Ch de Blandonnet • 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 ii I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n ISO 11898-2:2016(E) Contents Page Foreword iv Introduction v Scope Normative references Terms and definitions Symbols and abbreviated terms Functional description of the HS-PMA General HS-PMA test circuit Transmitter characteristics Receiver characteristics Receiver input resistance Transmitter and receiver timing behaviour Maximum ratings of VCAN_H , VCAN_L and VDiff 11 Maximum leakage currents of CAN_H and CAN_L 12 Wake-up from low-power mode 12 5.9.1 Overview 12 5.9.2 Basic wake-up 13 5.9.3 Wake-up pattern wake-up 13 5.9.4 Selective wake-up 13 5.10 Bus biasing 18 5.10.1 Overview 18 5.10.2 Normal biasing 18 5.10.3 Automatic voltage biasing 18 5.1 5.2 5.3 5.4 5.5 5.6 5.7 5.8 5.9 Conformance 20 Annex A (informative) ECU and network design 21 Annex B (informative) PN physical layer modes 29 Bibliography 30 © ISO 2016 – All rights reserved I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n iii ISO 11898-2:2016(E) Foreword I SO (the I nternational O rganiz ation for Standardiz ation) is a worldwide federation of national s tandards bodies (ISO member bodies) The work o f preparing International Standards is normally carried out through ISO technical committees Each member body interested in a subject for which a technical committee has b een es tablished has the right to b e represented on that committee I nternational organi zation s , governmental and non-governmental, in liaison with I SO, al so take p ar t in the work ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters o f elec trotechnical s tandardi z ation T he procedures used to develop this cument and those intended for its fur ther maintenance are describ ed in the I SO/I E C D irec tives , Par t I n p ar ticu lar the different approval criteria needed for the di fferent types o f ISO documents should be noted This document was dra fted in accordance with the editorial ru les of the I SO/I E C D irec tives , Par t (see www iso org/direc tives) Attention is drawn to the possibility that some o f the elements o f this document may be the subject o f patent rights ISO shall not be held responsible for identi fying any or all such patent rights Details o f any patent rights identified during the development o f the document will be in the Introduction and/or on the I SO l is t of p atent declarations received (see www iso org/p atents) Any trade name used in this document is in formation given for the convenience o f users and does not cons titute an endors ement For an explanation on the meaning o f ISO specific terms and expressions related to formity assessment, as well as information about I SO ’s adherence to the World Trade O rganization ( WTO) principles in the Technical B arriers to Trade (TB T ) see the following URL: www.iso.org/iso/foreword html T he committee res p ons ible for this document is I SO/ TC 2 , communication Road vehicles, Sub com mittee SC , Data This second edition cancels and replaces the first edition (ISO 11898-2:2003), which has been technically revised, with the following changes: — max output current on CANH/CANL has been defined ( Table 4) ; — optional TXD timeout has been defined ( Table ) ; — receiver input res is tance range has b een changed ( Table 10) ; — Bit timing parameters for CAN FD for up to Mbps have been defined ( Table ) ; — Bit timing parameters for CAN FD for up to Mbps have been defined ( Table 14) ; — content of I SO 118 -5 and I SO 118 - has b een integrated to ens ure there is one s ingle I SO Standard for al l H S -PM A implementations; — selective wake-up (formerly ISO 11898-6) CAN FD tolerance has been defined; — wake-filter timings (formerly in ISO 11898-5) have been changed ( Table 0) — requirements and assumptions about the PMD sublayer have been shi fted to fo cus on the H S -PM A implementation A lis t of al l p ar ts in the I SO 118 series can b e found on the I S O webs ite iv I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n Annex A , to clearly ISO 11898-2:2016(E) Introduction ISO 11898 was first published as one document in 1993 It covered the CAN data link layer as well as the high-speed physical layer In the reviewed and restructured ISO 11898 series, ISO 11898-1 and ISO 11898-4 defined the CAN protocol and time-triggered CAN (TTCAN) while ISO 11898-2 defines the high-speed physical layer, and ISO 11898-3 defined the low-speed fault tolerant physical layer Figure shows the relation of the Open System Interconnection (OSI) ISO 11898-1, this document as well as ISO 11898-3 layers and its sublayers to Key AUI attachment unit interface MDI media dependant interface OSI open system interconnection F i g u r e — O v e r v i e w o f I S O 1 s p e c i f i c a t i o n s e r i e s The International Organization for Standardization (ISO) draws attention to the fact that it is claimed that compliance with this document may involve the use o f a patent concerning the selective wake-up function given in 5.9.4 ISO takes no position concerning the evidence, validity and scope o f this patent right The holder of this patent right has assured ISO that he/she is willing to negotiate licenses under reasonable and non-discriminatory terms and conditions with applicants throughout the world In this respect, the statement o f the holder o f this patent right is registered with ISO In formation may be obtained from the following: © ISO 2016 – All rights reserved I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n v ISO 11898-2 :2 016(E) Audi AG E lmos S em iconduc tor AG Renes as E lec tronics Europ e GmbH Augus t-Horch-Str Heinrich-Her tz-Str Arcadias tr 10 85 45 I ngols tadt 42 D or tmund 40 472 D üs seldorf BM W Group Freescale S emiconduc tor I nc Rob er t B osch GmbH Knorrs tr 147 65 01 W Wi l liam C anon D rive PO B ox 02 78 München Aus tin, Texas 70 42 Stuttgar t Germany Germany C ontinental Teves AG & C o oHG Germany United States Germany General Motors C orp S T M icro elec tronics Application Guerickes tr 30001 VanDyke, Bldg 2-10 60 48 Fran kfur t am M ain Warren, M I 48 -9 02 Germany DE NSO CORP 1-1, Showa-cho, Kariya-shi Germany United States of America N XP B V GmbH B ahnhofs tras se 18 85 As chheim D ornach Germany Vol ks wagen AG H igh Tech C ampus PO B ox 011/1770 Aichi-ken 48 - 61 65 AG E indhoven 43 Wol fsburg Jap an T he Netherlands Germany Attention is drawn to the possibility that some o f the elements o f this document may be the subject o f patent rights other than those identified above ISO shall not be held responsible for identi fying any or al l s uch p atent rights I SO (www iso org/p atents) maintains on-line datab ases of p atents relevant to their s tandards Users are encouraged to cons ult the datab ases for the mos t up to date information concerning p atents vi I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n INTERNATIONAL STANDARD ISO 11898-2:2016(E) Road vehicles — Controller area network (CAN) — Part 2: High-speed medium access unit Scope This document specifies the high-speed physical media attachment (HS-PMA) o f the controller area network (CAN), a serial communication protocol that supports distributed real-time control and multiplexing for use within road vehicles This includes HS-PMAs without and with low-power mode capability as well as with selective wake-up functionality The physical media dependant sublayer is not in the scope of this document Normative references The following documents are re ferred to in the text in such a way that some or all o f their content constitutes requirements o f this document For dated re ferences, only the edition cited applies For undated re ferences, the latest edition o f the re ferenced document (including any amendments) applies ISO 11898-1:2015, Road vehicles — Controller area network (CAN) — Part 1: Data link layer and physical signalling ISO 16845-2, Road vehicles — Controller area network (CAN) conformance test plan — Part 2: High-speed medium access unit with selective wake-up functionality Terms and definitions For the purposes o f this document, the terms and definitions given in ISO 11898-1 and the following apply ISO and IEC maintain terminological databases for use in standardization at the following addresses: — IEC Electropedia: available at http://www.electropedia.org/ — ISO Online browsing platform: available at http://www.iso.org/obp NOTE See Figure A.1 for a visualization o f the definitions 3.1 attachment unit interface AUI inter face between the PCS that is specified in ISO 11898-1 and the PMA that is specified in this document 3.2 ground GND electrical signal ground 3.3 legacy implementation HS-PMA implementation that has been released prior to the publication of this document © ISO 2016 – All rights reserved I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n ISO 11898-2:2016(E) 3.4 low-power mode mode in which the transceiver is not cap able of trans mitting or receiving mes s ages , excep t for the purp oses of determining if a WUP or WUF is b eing received 3.5 medium attachment unit MAU un it th at compri s e s the phys ic a l me d i a attach ment and the me d ia dep endent i nter face 3.6 media dependent interface MDI i nter face that en s ure s prop er s igna l tran s fer b e twe en the me d i a a nd the phys ica l me d i a attach ment 3.7 normal-power mode mo de i n wh ich the tran s ceiver i s fu l ly c ap ab le o f tra n s m itti ng a nd re ceivi ng me s s age s 3.8 physical coding sublayer PCS s ublayer that p er form s bit enco d i ng/de co d i ng and s ynch ron i z ation 3.9 physical media attachment PMA s ublayer that conver ts phys ica l s igna l s i nto lo gic a l s igna l s a nd vice vers a 3.10 transceiver i mplementation th at compri s e s one or more phys ic a l me d i a attach ments Symbols and abbreviated terms For the pu rp o s e s o f th i s c u ment, the s ymb ol s and ab brevi ate d term s given i n I S O 11 -1 and the fol lowi ng apply S ome o f the s e abbrevi ation s a re a l s o defi ne d i n I S O 1 -1 I f the defi n ition o f the term i n th i s c ument i s d i fferent from the defi n ition i n I S O 11 -1 , th i s defi n ition appl ie s AUI attachment unit interface DLC data length code E MC ele c tromagne tic comp atibi l ity E SD elec tro s tatic discharge GN D ground H S -PM A high- s p eed PM A M AU medium attachment unit M DI media dep endent interface PC S phys ic a l co d i ng s ublayer PM A phys ic a l me d i a attach ment I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n ISO 11898-2:2016(E) PMD WUF WUP physical media dependent wake-up frame wake-up pattern Functional description of the HS-PMA 5.1 General The HS-PMA comprises one transmitter and one receiving entity It shall be able to bias the connected physical media, an electric two-wire cable, relative to a common ground The transmitter entity shall drive a differential voltage between the CAN_H and CAN_L signals to signal a logical (dominant) or shall not drive a di fferential voltage to signal a logical (recessive) to be received by other nodes connected to the very same media These two signals are the inter face to the physical media dependent sublayer The HS-PMA shall provide an AUI to the physical coding sublayer as specified in ISO 11898-1 It comprises the TXD and RXD signals as well as the GND signal The TXD signal receives from the physical coding sublayer the bit-stream to be transmitted on the MDI The RXD signal transmits to the physical coding sublayer the bit-stream received from the MDI Implementations that comprise one or more HS-PMAs shall at least support the normal-power mode of operation Optionally, a low-power mode may be implemented Some o f the items specified in the following depend on the operation mode o f the (part o f the) implementation, in which the HS-PMA is included Table shows the possible combinations of HS-PMA operating modes and expected behaviour Table — HS-PMA operating modes and expected behaviour Operating mode Normal Low-power a Bus biasing behaviour Bus biasing active Bus biasing active or inactive Depends on input conditions as described in this document Transmitter behaviour Dominant or recessive a Recessive All parameters given in this subclause shall be fulfilled throughout the operating temperature range and supply voltage range (i f not explicitly specified for unpowered) as specified individually for every HS-PMA implementation 5.2 HS-PMA test circuit The outputs of the HS-PMA implementation to the CAN signals are called CAN_H and CAN_L, TXD is the transmit data input and RXD is the receive data output Figure shows the external circuit that defines the measurement conditions for all required voltage and current parameters RL represents the effective resistive load (bus load) for an HS-PMA implementation, when used in a network, and C represents an optional split-termination capacitor The values of RL and C vary for di fferent parameters that the HS-PMA implementation needs to meet and are given as condition in Tables to 20 © ISO 2016 – All rights reserved I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n ISO 11898-2:2016(E) Key VDiff differential voltage between CAN_H and CAN_L wires VCAN_H single ended voltage on CAN_H wire VCAN_L single ended voltage on CAN_L wire C RXD capacitive load on RXD Figure — HS-PMA test circuit 5.3 Transmitter characteristics This subclause specifies the transmitter characteristics o f a single HS-PMA implementation under the conditions as depicted in Figure 2; so no other HS-PMA implementations are connected to the media The behaviour of an HS-PM A implementation connected to other HS-PMAs is outside the scope of this subclause Refer to A.2 for consideration when multiple HS-PMAs are connected to the same media The voltages and currents that are required on the CAN_L and CAN_H signals are specified in Tables to Table specifies the output characteristics during dominant state Figure illustrates the voltage range for the dominant state I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n ISO 11898-2:2016(E) With this mechanism, it is possible to wake-up up to 64 independent groups o f ECUs with only one wake-up frame 5.10 Bus biasing 5.10.1 Overview The HS-PMA implementation shall bias CAN_H and C AN_L according to Tables and When the HS-PMA implementation features a low-power mode and selective wake-up, automatic voltage biasing is required For all other implementation, either normal biasing or automatic voltage biasing shall be implemented 5.10.2 Normal biasing Normal biasing means bus biasing is active in normal mode and inactive in low-power mode 5.10.3 Automatic voltage biasing Automatic voltage biasing means bus biasing is active in normal mode and is controlled by the differential voltage between C AN_H and CAN_L in low-power mode The following state machine illustrates the mechanism 18 I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n ISO 11898-2:2016(E) Figure 11 — Bus biasing control for automatic voltage biasing The state machine in Figure 11 f entering state 1, the optional timer, tWake, shall be reset and restarted; when entering state or 4, the timer, tSilence, shall be reset and restarted Table 20 Figure 12 the bias reaction time defi ne s the bu s bi as i ng b eh aviou r or a l l op eration mo de s When s p e ci fie s the bu s bi as i ng control ti m i ngs and © ISO 2016 – All rights reserved I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n 19 ISO 11898-2:2016(E) Table 20 — HS-PMA bus biasing control timings Parameter Value Notation CAN activity filter time, long CAN activity filter time, short a b Wa ke -up ti me outc Min Max µs µs Condition t Fi l ter 0,5 ,0 B u s voltages accordi ng to Table A t Fi l ter ,1 1,8 B u s voltages accordi ng to Table A tWa ke 800,0 10 0 , t Si lence , × 10 , × 10 O p tiona l ti me out p arameter Ti mer i s res e t and re s tar te d, when bu s Timeout for bus inactivity change s from dom i na nt to rece s s ive or vice vers a M eas u red from the s tar t of a dom i nant- B us bias re ac tion time No t defined tB i a s r e c e s s i ve - d o m i n a n t s e q u e n c e (e a c h 250,0 sym ≥ 0,1 See Figure sym as defined in Table phase µs) unti l v v The implementation does not need to meet this timing, in case the “CAN activity filter time, short” is met It should be noted that the maximum filter time has an impact to the suitable wake-up messages, especially at high bit rates For example, a 500 kbit/s system, a message shall carry at least three similar bit levels in a row in order to sa fely pass the wake-up filter Shorter filter time implementations might increase the risk for unwanted bus wake-ups due to noise The specified range is a compromise between robustness against unwanted wake-ups and freedom in message selection The implementation does not need to meet this timing, in case the “CAN activity filter time, long” is met For legacy implementations, a minimum value o f 350 µs is acceptable a b c F i g u r e — T e s t s i g n a l d e f i n i t i o n f o r b i a s r e a c t i o n t i m e m e a s u r e m e n t Conformance The formance test case definition and measurement setups to derive the parameters are outside the scop e of this cument A formance tes t plan is given in I SO 16 45 -2 For an implementation to be compliant with this document, the HS-PMA implementation shall comply with all mandatory specifications and values given in this document I f optional specifications and values are implemented, they shall comply too More in formation is given in A.4 20 I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n ISO 11898-2:2016(E) Annex A (informative) ECU and network design A.1 Implementation options This clause specifies the physical media attachment sublayer It can be implemented in a standalone CAN transceiver chip or in a system basis chip comprising additional functionality, e.g voltage regulators, wake-up logic and watchdog These implementations can also provide additional functions, which are outside the scope of this document Figure A.1 shows an optional digital processing unit, which hides CAN FD data frames to the CAN data link layer implementation Another optional feature is a galvanic isolation Note that these optional unctions cause some timing delays f Figure A.1 — Optional functions in this document, compliant transceiver and their relation to the OSI sublayers Figure A.1 shows also some optional functionality belonging to the physical media dependent sublayer This includes, for example, a ringing suppression circuitry These optional functionalities can improve the signal integrity o f the analogue signals on the bus wires (CAN_L’ and CAN_H’) NOTE These functions can have impacts on the EMC performance When implementing a ringing suppression circuitry, the di fferential internal resistance is typically 120 Ω in a bit-width interval [tBit(Bus) ] after the dominant-to-recessive edge A.2 Expectations on a CAN network This clause outlines which input voltages on VCAN_L and VCAN_H are recommended for proper operation of HS-PMA implementations connected to a media Table A.1 shows the CAN interface voltage parameters for the reception of recessive state © ISO 2016 – All rights reserved I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n 21 ISO 11898-2:2016(E) Table A.1 — Input voltage parameters for reception of recessive state Parameter Operating input voltage Differential input voltage Min Value Nom Max VCAN_H −12,0 +2,5 +12,0 VCAN_L −12,0 +2,5 +12,0 VDiff −3,0 Notation V V V Condition Measured with respect to the individual ground of each CAN node at each CAN node +0,012 Measured connected to the media The di fferential input voltage is determined by a combination o f the recessive state output voltages o f the individual CAN nodes present Therefore, V Diff is approximately zero Figure A.3 shows the voltages VCAN_H and VCAN_L in their interdependency during recessive state 22 I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n ISO 11898-2:2016(E) Figure A.2 — Valid voltage range of VCAN_H for recessive state, when VCAN_L varies from minimum to maximum common mode range Table A.2 shows the CAN interface voltage parameters for reception of dominant state © ISO 2016 – All rights reserved I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n 23 ISO 11898-2:2016(E) Table A.2 — Input voltage parameters for reception of dominant state Parameter Notation Min V Common mode voltage Differential voltage a a Value Nom Max Condition Measured with respect to the individual ground of each C AN node V V −10,8 −12,0 +3,5 +12 ,0 VC AN_L +1,5 +10,8 V Diff +1,2 +2 ,0 +3,0 VC AN_H Measured at each C AN node connected to the media Normal bus load range, no arbitration The minimum value of VC AN _H is determined by the minimum value o f VC AN _L plus the minimum value of V Diff The maximum value of VC AN _L is determined by the maximum value o f VC AN _H minus the minimum value of V Diff The bus load increases as CAN nodes are added to the media by RDiff Consequently, V Diff decreases The minimum value of V Diff determines the number of C AN nodes allowed to be connected to the media Also, the cable material, length and crosssection between the HS-PM A implementations, as well as connectors, impact the V Diff that can be measured at the receiving HS-PM A’s input Figure A.4 shows the voltages VC AN_H and VC AN_L according to Table A.2 in their interdependency during dominant state Table A.3 — Input voltage parameters for reception of dominant state during arbitration Parameter Notation Value Max VC AN_H −10,8 +12 ,0 Measured with respect to the individual ground of each C AN node VC AN_L −12,0 +10,8 — V Diff +1,2 +8,0 Measured at each C A node connected to the media V Common mode voltage Differential voltage Condition Min V The minimum value of VC AN _H is determined by the minimum value o f VC AN _L plus the minimum value of V Diff The maximum value of VC AN _L is determined by the maximum value o f VC AN _H minus the minimum value of V Diff The maximum value of V Diff is 24 I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n specified by the upper limit during arbitration plus a ground shi ft o f up to V ISO 11898-2:2016(E) Figure A.3 — Valid voltage range of VCAN_H for monitoring dominant state, when VCAN_L varies from minimum to maximum common mode range during normal mode, arbitration free scenario © ISO 2016 – All rights reserved I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n 25 ISO 11898-2:2016(E) Figure A.4 — Valid voltage range of VCAN_H for monitoring dominant state while the HS-PMA is not connected to the media, when VCAN_L varies from minimum to maximum common mode range during low-power mode 26 I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n ISO 11898-2:2016(E) A.3 Expectations on a datasheet of an HS-PMA implementation The datasheet needs to state the maximum supported bit rate according to the bit time requirements given in Tables 13 and 14 The datasheet needs to state the supported arbitration bit rates for partial networking in case selective wake-up functionality is implemented In case the implemented selective wake-up functionality is tolerant to frames in FBFF and FEFF, the maximum supported ratio of data bit rate and arbitration bit rate needs to be stated, as well as the absolute maximum data bit rate The datasheet needs to state which o f the functionalities classified as optional in this document are implemented in the particular HS-PMA implementation (e.g extended bus load range, transmit dominant timeout, CAN activity filter time, etc.) A.4 Overview of optional features and implementation choices This document offers the following options for an HS-PMA Table A.4 lists functional options that are specified in this document Table A.4 — Optional features and functions No Option Reference Support of extended bus load range Transmit dominant timeout function Support of bit rates above Mbit/s and up to Mbit/s Support of bit rates above Mbit/s and up to Mbit/s Support of extended maximum ratings for CAN_H and CAN_L Support of wake-up 5.3, Table 5.3, Table 5.6, Table 13 5.6, Table 14 5.7, Table 15 5.9, Table 17 In case the HS-PMA implementation implements low-power mode(s), then a wake-up mechanism according to Table 18 needs to be implemented Each Wake-up mechanism has options and alternatives, which are summarized in Tables A.5, A.6, A.7 and A.8 Table A.5 — Alternative timings within the wake-up features No a Alternative Alternative Alternative CAN activity filter time, long CAN activity filter time, short CAN activity filter time, long and CAN activity filter time, short Wake-up timeout, shorta Wake-up timeout, long No wake-up timeout Only applicable for legacy devices Reference 5.9, Table 17 5.9, Table 17 Table A.6 — Options of the selective wake-up functions No Support of disabling DLC matching Option Reference 5.9.4.4 Table A.7 — Alternative for handling of CAN FD frames by the selective wake-up function No Alternative Alternative No tolerance Tolerance to CAN FD frames (not recommended for new with bit rate ratio of up to 1:4 or maximum Mbit/s in designs) data phase © ISO 2016 – All rights reserved I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n Alternative Tolerance to CAN FD frames with bit rate ratio of up to 1:10 or maximum Mbit/s in data phase Reference 5.9.4.6 27 ISO 11898-2:2016(E) Table A.8 — Alternatives for TXD dominant timeout function No a 28 Alternative No timeout O n l y ap p l ic ab le I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n Alternative Timeout, fo r le gac y de vice s short a Alternative Timeout, long Reference 5.3 ISO 11898-2:2016(E) Annex B (informative) PN physical layer modes Table B.1 provide s a s um ma r y o f fe atu re s o f PN phys ic a l layer i mp lementation s Table B.1 — PN physical layer features PN-capable FD-tolerant transceiver mode Normal End of frame detection for CAN FD messages (glitch f i l t e r i n g ) , f r o m F D F = r e c e s sive to EOF, when selective wake-up is enabled - Bus wakeup detection Required when frame error WUF counting active/Not required detection when frame error counting required inactive Required when frame error WUF counting active/Not required detection when frame error counting required inactive WUF Required detection required WUP Inactive detection required Frame error counting Optional Transition normal to Optional low-power Low-power and tSilence not Required expired and bus biasing active Low-power and Inactive tSilence expired Low-power and tSilence not WUP expired and bus Inactive detection Inactive biasing inactive required (from WUP to bus bias active) Required when frame error Transition counting active/Not required WUF detec- Optional low-power to when frame error counting tion optional normal inactive © ISO 2016 – All rights reserved I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n Frame error counter value tSilence functionality Counting up/ down active Active or inactive or no change Counting up/ down active Active or inactive or no change Counting up/ down active Active Set value to zero Inactive No change Active Counting up/ down active Active or inactive or no change 29 ISO 11898-2:2016(E) Bibliography [1] [2 ] [3 ] I S O/I EC 749 -1 , Information technology — Open Systems Interconnection — Basic Reference Model: The Basic Model I S O 118 -3 , Road vehicles — Controller area network (CAN) — Part 3: Low-speed, fault-tolerant, medium-dependent interface ISO 118 - 4, communication [4] [5 ] 30 Road vehicles — Controller area network (CAN) — Part 4: Time-triggered I S O 118 -5 , Road vehicles — Controller area network (CAN) — Part 5: High-speed medium access unit with low-power mode I S O 118 - , Road vehicles — Controller area network (CAN) — Part 6: High-speed medium access unit with selective wake-up functionality I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n ISO 11898-2 :2 016(E) ICS 43.040.15 Price based on pages © ISO 2016 – All rights reserved I n tern ati o n al Org an i z ati o n fo r S tan d ard i z ati o n