GB/T 41588.1-2022Road vehicles - Controller area network(CAN) - Part 1: Data link layer and physical signalling (English PDF)

1 Scope

This Document specifies the characteristics of setting up an interchange of digital information between modules implementing the CAN data link layer. Controller area network is a serial communication protocol, which supports distributed real-time control and multiplexing for use within road vehicles and other control applications.

This Document specifies the Classical CAN frame format and the newly introduced CAN Flexible Data Rate Frame format. The Classical CAN frame format allows bit rates up to 1

Mbit/s and payloads up to 8 byte per frame. The Flexible Data Rate frame format allows bit rates higher than 1 Mbit/s and payloads longer than 8 byte per frame.

This Document describes the general architecture of CAN in terms of hierarchical layers according to the ISO reference model for open systems interconnection (OSI) according to

ISO/IEC 7498-1.The CAN data link layer is specified according to ISO/IEC 8802-2 and

ISO/IEC 8802-3.

This Document contains detailed specifications of the following (see Figure 2).

--- logical link control sub-layer;

--- medium access control sub-layer;

--- physical coding sub-layer.

There are three implementation options. They are the following.

--- support of the Classical CAN frame format only, not tolerating the Flexible Data Rate frame format;

--- support of the Classical CAN frame format and tolerating the Flexible Data Rate frame format;

--- support of the Classical CAN frame format and the Flexible Data Rate frame format.

The last option is recommended to be implemented for new designs.

NOTE. Implementations of the first option can communicate with implementations of the third option only as long as the Flexible Data Rate frame format is not used; otherwise, Error Frames are generated.

There are opportunities to run implementations of the first option also in CAN networks using the

Flexible Data Rate frame format, but these are not in the scope of this Document.

2 Normative References

The provisions in following documents become the essential provisions of this Document through reference in this Document. For the dated documents, only the versions with the dates indicated are applicable to this Document; for the undated documents, only the latest version (including all the amendments) is applicable to this Document.

ISO/IEC 7498-1 Information Technology - Open Systems Interconnection - Basic

Reference Model. The Basic Model

NOTE. GB/T 9387.1-1998 Information Technology - Open Systems Interconnection - Basic

Reference Model - Part 1.The Basic Model (ISO/IEC 7498-1.1994, IDT)

ISO/IEC 8802-2 Information Technology - Telecommunications and Information

Exchange between Systems - Local and Metropolitan Area Networks - Specific

Requirements - Part 2.Logical Link Control

NOTE. GB/T 15629.2-2008 Information Technology - Telecommunications and Information

Exchange between Systems - Local and Metropolitan Area Networks - Specific Requirements - Part

2 Logical Link Control (ISO/IEC 8802-2.1998, IDT)

ISO/IEC 8802-3 Information Technology - Telecommunications and Information

Exchange between Systems - Local and Metropolitan Area Networks - Specific

Requirements - Part 3.Standard for Ethernet

NOTE. GB/T 15629.3-2014 Information Technology - Telecommunications and Information

Exchange between Systems - Local and Metropolitan Area Networks - Specific Requirements - Part

3.Carrier Sense Multiple Access with Collision Detection (CSMA/CD) Access Method and

Physical Layer (ISO/IEC 8802-3.2000, MOD)

3 Terms and Definitions

For the purposes of this Document, the following terms and definitions apply.