International ISO Standard IS0 11898-1 Third edition Road vehicles Controller area 2024-05 network (CAN) - Part 1: Data link layer and physical coding sublayer Véhicules routiers - Gestionnaire de réseau de communication (CAN) - Partie 1: Couche liaison de données et sous-couche de codage physique Reference number IS0 11898-1:2024(en) @ ISO 2024 @IS02024 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 of the requester. ISO copyright office CP 40i : Ch. de Blandonnet 8 CH-1214Vernier,Geneva Phone: +41 22 749 01 11 Email: [email protected] Website: www.iso.org Published in Switzerland @ IS0 2024- All rights reserved i Contents Page Foreword. V Introduction .vi Scope. 1 .1 2 Normative references ..1 3 Terms and definitions. ..1 4 Symbols and abbreviated terms. .6 5 Basic concepts of CAN .8 .8 CAN properties.. 5.1 5.2 Frame transmissions .9 5.3 Bus access method. .11 5.4 Information routing .11 5.5 Network flexibility .11 5.6 Remote data request .11 5.7 Error detection. .11 ..11 5.8 Error signalling and recovery time. 5.9 Fault confinement 12 5.10 Error-active. ..12 5.11 Error-passive. 12 5.12 Bus-off. 12 5.13 ACK. 12 ..12 5.14 Repetition of transmission attempts. 5.15 .12 Network-wide data consistency 5.16 Switchable operating modes of the PMA 13 5.17 Bus states and MAC sub-layer phases.. .13 .14 6 CAN DLL specification 6.1 General. .14 6.2 Time stamping. .14 DLL protocol. 6.3 .14 6.4 LLC sub-layer. ..15 6.4.1 Overview .15 6.4.2 Notifications .16 6.4.3 Structure of LLC frames .16 6.4.4 Limited LLC frames.. .17 6.4.5 Services of LLC sub-layer .17 6.5 Functions of the LLC sub-layer. .21 .21 6.5.1 General Flow control on re-arbitration. .21 6.5.2 6.5.3 Flow control on retransmission .21 .22 6.5.4 Frame acceptance filtering 22 6.5.5 Overloadnotification. 6.5.6 Recovery management .22 6.5.7 Time stamping. 22 MAC sub-layer 6.6 23 6.6.1 Functions and rules. 23 23 6.6.2 Services of the MAC sub-layer. 6.6.3 Time reference points 23 23 6.6.4 Functional model of MAC sub-layer architecture 6.6.5 .27 Specification of EF. 6.6.6 Specification of OF 28 6.6.7 Inter-frame space specification 28 6.6.8 SOF 30 .30 6.6.9 Elements of the MAC frame. MAC frame in CBFF and CEFF .31 6.6.10 @ IS0 2024 - All rights reserved iii