GB/T 41588.4-2022 English PDF (GBT41588.4-2022)

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GB/T 41588.4-2022: Road vehicles - Controller area network(CAN) - Part 4: Time-triggered communication
GB/T 41588.4-2022
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 43.020
CCS T 35
GB/T 41588.4-2022 / ISO 11898-4:2004
Road Vehicles – Controller Area Network (CAN) – Part 4:
Time-Triggered Communication
(ISO 11898-4:2004, IDT)
ISSUED ON: JULY 11, 2022
IMPLEMENTED ON: FEBRUARY 01, 2023
Issued by: State Administration for Market Regulation;
Standardization Administration of the People’s Republic of China.
Table of Contents
Foreword ... 4
Introduction ... 5
1 Scope ... 6
2 Normative References ... 6
3 Terms and Definitions ... 7
4 Abbreviated Terms ... 12
5 Basic Concepts of Time-Triggered CAN ... 13
5.1 General conventions ... 13
5.2 General principle of protocol ... 14
5.3 Reference message ... 17
6 Timing and Synchronisation Features ... 19
6.1 Levels 1 and 2 ... 19
6.2 Generation of local time ... 19
6.3 Cycle_ Time parameter ... 21
6.4 Synchronisation in Level 2 ... 21
6.5 Global time in Level 2 (local time + local offset) ... 22
6.6 External clock Synchronisation ... 22
7 Sending and Receiving ... 23
7.1 General ... 23
7.2 Transmission of messages ... 23
7.3 Reception of messages ... 26
7.4 Transmission of reference messages ... 27
8 Initialization and Fault Tolerance of Time Masters ... 28
8.1 General ... 28
8.2 Initialization procedure ... 28
8.3 Failure of current time master ... 30
8.4 Shutdown ... 31
9 Failure Handling ... 31
9.1 General ... 31
9.2 Message status count ... 32
9.3 Interrupt_Status_Vector ... 33
9.4 Master state ... 34
10 Visible Interfaces ... 37
10.1 Configuration interfaces ... 37
10.2 Application interfaces ... 40
10.3 Optional interfaces ... 43
Bibliography ... 45
Foreword
This Document was drafted as per the rules specified in GB/T 1.1-2020 Directives for
Standardization – Part 1: Rules for the Structure and Drafting of Standardizing Documents.
This Document is Part 4 of GB/T 41588 Road Vehicles – Controller Area Network. GB/T 41588
has published the following parts:
--- Part 1: Data Link Layer and Physical Signaling;
--- Part 2: High-Speed Medium Access Unit;
--- Part 3: Low-Speed Fault-Tolerant, Medium-Dependent Interface;
--- Part 4: Time-Triggered Communication.
This Document equivalently adopts ISO 11898-4:2004 Road Vehicles – Controller Area
Network (CAN) – Part 4: Time-Triggered Communication.
This Document was proposed by Ministry of Industry and Information Technology of People’s
Republic of China.
This Document shall be under the jurisdiction of National Technical Committee of Auto
Standardization (SAC/TC 114).
Drafting organizations of this Document: China Automotive Technology and Research Center
Co., Ltd.; Geely Automobile Research Institute (Ningbo) Co., Ltd.; Xingkedi Technology
(Taizhou) Co., Ltd.; Great Wall Motor Company Limited; China FAW Group Co., Ltd.;
Huizhou Desay SV Automotive Co., Ltd.; FAW-Volkswagen Automotive Co., Ltd.; Dongfeng
Motor Group Company Limited; SAIC GM Wuling Automobile Company Limited; Neusoft
Group (Dalian) Co., Ltd.; Pan-Asia Technical Automotive Center Co., Ltd.; CATARC (Tianjin)
Automotive Engineering Research Institute Co., Ltd.; and CATARC Automotive Test Center
(Tianjin) Co., Ltd.
Chief drafting staffs of this Document: Zhu Tong, Ji Guotian, Zhen Haichuan, Ji Jiemei, Jiao
Mingshun, Shi Xiaomi, Liu Bin, Li Changlong, Wu Yuzhi, Lv Liang, Fang Zhirong, Qin
Huaqiang, Meng Lingjun, Sun Wang, Han Guangsheng, Liu Le, Tan Tingyue, Tang Wei, Wang
Li, Wen Qingjie, and Sun Jing.
Road Vehicles – Controller Area Network (CAN) – Part 4:
Time-Triggered Communication
1 Scope
This Document specifies time-triggered communication in the controller area network (CAN):
a serial communication protocol that supports distributed real-time control and multiplexing for
use within road vehicles.
This Document is applicable to setting up a time-triggered interchange of digital information
between electronic control units (ECU) of road vehicles equipped with CAN; and specifies the
frame Synchronisation entity that coordinates the operation of both logical link and media
access controls in accordance with ISO 11898-1, to provide the time-triggered communication
schedule.
NOTE: Time-triggered CAN is a higher-level protocol layer additional to the CAN protocol itself, which
remains unchanged within the time-triggered communication. Time-triggered communication keeps the
latency time of each message at a specified value independent of the CAN bus load. Time-triggered CAN
ls implemented on two levels: Level 1 is restricted to the cyclic message transfer, while Level 2, in
addition, supports a global system time. Time-triggered CAN's cyclic, periodical communication is based
on reference messages transmitted by a time master. Each period starting with a reference message is
called a basic cycle and is subdivided into several time windows. The reference messages are used to
synchronize and calibrate the time bases of all nodes to the time master's time base, providing a global
time for the network. A mechanism is provided for alternative time masters to substitute for a failing time
master.
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 11898-1 Road Vehicles – Controller Area Network (CAN) – Part 1: Data Link Layer
and Physical Signaling
NOTE: GB/T 41588.1-2022 Road Vehicles – Controller Area Network (CAN) – Part 1: Data Link
Layer and Physical Signaling (ISO 11898-1:2015, IDT)
ISO 11898-2 Road Vehicles – Controller Area Network (CAN) – Part 2: High-Speed
Medium Access Unit
NOTE: GB/T 41588.2-2022 Road Vehicles – Controller Area Network (CAN) – Part 2: High-Speed
Medium Access Unit (ISO 11898-2:2016, IDT)
ISO 11898-3 Road Vehicles – Controller Area Network (CAN) – Part 3: Low-Speed Fault-
Tolerant, Medium Dependent Interface
NOTE: GB/T 41588.3-2022 Road Vehicles – Controller Area Network (CAN) – Part 3: Low-Speed
Fault-Tolerant, Medium Dependent Interface (ISO 11898-3:2006, IDT)
3 Terms and Definitions
For the purposes of this Document, the terms and definitions given in ISO 11898-1, ISO 11898-
2 and ISO 11898-3, and the following apply.
3.1 Application watchdog
Entity which verifies that the application is operating properly.
3.2 Arbitrating time window
Time window assigned to messages that share the same time window.
3.3 Basic_cycle
Row of the system matrix of several consecutive time windows.
3.4 Cycle_Time
Difference between the local time of an FSE and its Ref- Mark.
3.5 Cycle_Count
Number of the current basic cycle of the matrix cycle.
3.6 Cycle_Count_Max
Value of Cycle_Count of the last basic cycle in the given system matrix of the network.
3.7 Cycle_Offset
Parameter specifying, within a matrix cycle, the first basic cycle for which an Rx_ Trigger or
Tx_Trigger is valid.
3.8 Disc_Bit