ISO 16845-1:2016
(Main)Road vehicles — Controller area network (CAN) conformance test plan — Part 1: Data link layer and physical signalling
Road vehicles — Controller area network (CAN) conformance test plan — Part 1: Data link layer and physical signalling
ISO 16845-1:2016 specifies the conformance test plan for the CAN data link layer and the physical signalling as standardized in ISO 11898‑1. This includes the Classical CAN protocols as well as the CAN FD protocols.
Véhicules routiers — Plan d'essai de conformité du gestionnaire de réseau de communication (CAN) — Partie 1: Couche liaison de données et signalisation physique
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INTERNATIONAL ISO
STANDARD 16845-1
First edition
2016-11-01
Road vehicles — Controller area
network (CAN) conformance test
plan —
Part 1:
Data link layer and physical signalling
Véhicules routiers — Plan d’essai de conformité du gestionnaire de
réseau de communication (CAN) —
Partie 1: Couche liaison de données et signalisation physique
Reference number
©
ISO 2016
© ISO 2016, Published in Switzerland
All rights reserved. Unless otherwise specified, no part of 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 of
the requester.
ISO copyright office
Ch. de Blandonnet 8 • 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 © ISO 2016 – All rights reserved
Contents Page
Foreword .vii
Introduction .viii
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Abbreviated terms . 3
5 Global overview . 4
5.1 Scope of test plan . 4
5.2 Architecture of test plan . 4
5.3 Organization . 5
5.3.1 General organization . 5
5.3.2 Test case organization . 6
5.3.3 Hierarchical structure of tests . 7
6 LT parameters . 8
6.1 Overview . 8
6.2 Description of parameters . 8
6.2.1 Communication parameters . 8
6.2.2 Application parameters . 9
6.2.3 Bit rate configuration parameter variation for bit timing tests .10
7 Test type 1, received frame .10
7.1 Test class 1, valid frame format .10
7.1.1 Identifier and number of data test in base format.10
7.1.2 Identifier and number of data test in extended format .11
7.1.3 Reception after arbitration lost .12
7.1.4 Acceptance of non-nominal bit in base format frame .13
7.1.5 Acceptance of non-nominal bit in extended format frame .13
7.1.6 Protocol exception behaviour on non-nominal bit . .14
7.1.7 Minimum time for bus idle after protocol exception handling .15
7.1.8 DLC greater than 8 .15
7.1.9 Absent bus idle — Valid frame reception .16
7.1.10 Stuff acceptance test in base format frame .16
7.1.11 Stuff acceptance test in extended format frame .17
7.1.12 Message validation .18
7.2 Test class 2, error detection .19
7.2.1 Bit error in data frame .19
7.2.2 Stuff error for basic frame .19
7.2.3 Stuff error for extended frame .20
7.2.4 Stuff error for FD frame payload bytes .21
7.2.5 CRC error .22
7.2.6 Combination of CRC error and form error .23
7.2.7 Form error in data frame at “CRC delimiter” bit position .24
7.2.8 Form error at fixed stuff bit in FD frames .24
7.2.9 Form error in data frame at “ACK delimiter” bit position .25
7.2.10 Form error in data frame at “EOF” .25
7.2.11 Message non-validation .26
7.3 Test class 3, error frame management .26
7.3.1 Error flag longer than 6 bits .26
7.3.2 Data frame starting on the third bit of intermission field .27
7.3.3 Bit error in error flag . .27
7.3.4 Form error in error delimiter .28
7.4 Test class 4, overload frame management .28
7.4.1 MAC overload generation during intermission field .28
7.4.2 Last bit of EOF .29
7.4.3 Eighth bit of an error and overload delimiter .29
7.4.4 Bit error in overload flag .30
7.4.5 Form error in overload delimiter .30
7.4.6 MAC overload generation during intermission field following an error frame .31
7.4.7 MAC overload generation during intermission field following an
overload frame . .31
7.5 Test class 5, passive error state class .32
7.5.1 Passive error flag completion test 1 .32
7.5.2 Data frame acceptance after passive error frame transmission .33
7.5.3 Acceptance of 7 consecutive dominant bits after passive error flag .33
7.5.4 Passive state unchanged on further errors .34
7.5.5 Passive error flag completion — Test case 2 .34
7.5.6 Form error in passive error delimiter .35
7.5.7 Transition from active to passive ERROR FLAG .35
7.6 Test class 6, error counter management.36
7.6.1 REC increment on bit error in active error flag .36
7.6.2 REC increment on bit error in overload flag .37
7.6.3 REC increment when active error flag is longer than 13 bits .37
7.6.4 REC increment when overload flag is longer than 13 bits .38
7.6.5 REC increment on bit error in the ACK field .38
7.6.6 REC increment on form error in CRC delimiter.38
7.6.7 REC increment on form error in ACK delimiter .39
7.6.8 REC increment on form error in EOF field .39
7.6.9 REC increment on stuff error .40
7.6.10 REC increment on CRC error .41
7.6.11 REC increment on dominant bit after end of error flag .41
7.6.12 REC increment on form error in error delimiter .42
7.6.13 REC increment on form error in overload delimiter.42
7.6.14 REC decrement on valid frame reception .43
7.6.15 REC decrement on valid frame reception during passive state .43
7.6.16 REC non-increment on last bit of EOF field .44
7.6.17 REC non-increment on 13-bit length overload flag .44
7.6.18 REC non-increment on 13-bit length error flag .45
7.6.19 REC non-increment on last bit of error delimiter .
...
INTERNATIONAL ISO
STANDARD 16845-1
First edition
2016-11-01
Road vehicles — Controller area
network (CAN) conformance test
plan —
Part 1:
Data link layer and physical signalling
Véhicules routiers — Plan d’essai de conformité du gestionnaire de
réseau de communication (CAN) —
Partie 1: Couche liaison de données et signalisation physique
Reference number
©
ISO 2016
© ISO 2016, Published in Switzerland
All rights reserved. Unless otherwise specified, no part of 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 of
the requester.
ISO copyright office
Ch. de Blandonnet 8 • 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 © ISO 2016 – All rights reserved
Contents Page
Foreword .vii
Introduction .viii
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Abbreviated terms . 3
5 Global overview . 4
5.1 Scope of test plan . 4
5.2 Architecture of test plan . 4
5.3 Organization . 5
5.3.1 General organization . 5
5.3.2 Test case organization . 6
5.3.3 Hierarchical structure of tests . 7
6 LT parameters . 8
6.1 Overview . 8
6.2 Description of parameters . 8
6.2.1 Communication parameters . 8
6.2.2 Application parameters . 9
6.2.3 Bit rate configuration parameter variation for bit timing tests .10
7 Test type 1, received frame .10
7.1 Test class 1, valid frame format .10
7.1.1 Identifier and number of data test in base format.10
7.1.2 Identifier and number of data test in extended format .11
7.1.3 Reception after arbitration lost .12
7.1.4 Acceptance of non-nominal bit in base format frame .13
7.1.5 Acceptance of non-nominal bit in extended format frame .13
7.1.6 Protocol exception behaviour on non-nominal bit . .14
7.1.7 Minimum time for bus idle after protocol exception handling .15
7.1.8 DLC greater than 8 .15
7.1.9 Absent bus idle — Valid frame reception .16
7.1.10 Stuff acceptance test in base format frame .16
7.1.11 Stuff acceptance test in extended format frame .17
7.1.12 Message validation .18
7.2 Test class 2, error detection .19
7.2.1 Bit error in data frame .19
7.2.2 Stuff error for basic frame .19
7.2.3 Stuff error for extended frame .20
7.2.4 Stuff error for FD frame payload bytes .21
7.2.5 CRC error .22
7.2.6 Combination of CRC error and form error .23
7.2.7 Form error in data frame at “CRC delimiter” bit position .24
7.2.8 Form error at fixed stuff bit in FD frames .24
7.2.9 Form error in data frame at “ACK delimiter” bit position .25
7.2.10 Form error in data frame at “EOF” .25
7.2.11 Message non-validation .26
7.3 Test class 3, error frame management .26
7.3.1 Error flag longer than 6 bits .26
7.3.2 Data frame starting on the third bit of intermission field .27
7.3.3 Bit error in error flag . .27
7.3.4 Form error in error delimiter .28
7.4 Test class 4, overload frame management .28
7.4.1 MAC overload generation during intermission field .28
7.4.2 Last bit of EOF .29
7.4.3 Eighth bit of an error and overload delimiter .29
7.4.4 Bit error in overload flag .30
7.4.5 Form error in overload delimiter .30
7.4.6 MAC overload generation during intermission field following an error frame .31
7.4.7 MAC overload generation during intermission field following an
overload frame . .31
7.5 Test class 5, passive error state class .32
7.5.1 Passive error flag completion test 1 .32
7.5.2 Data frame acceptance after passive error frame transmission .33
7.5.3 Acceptance of 7 consecutive dominant bits after passive error flag .33
7.5.4 Passive state unchanged on further errors .34
7.5.5 Passive error flag completion — Test case 2 .34
7.5.6 Form error in passive error delimiter .35
7.5.7 Transition from active to passive ERROR FLAG .35
7.6 Test class 6, error counter management.36
7.6.1 REC increment on bit error in active error flag .36
7.6.2 REC increment on bit error in overload flag .37
7.6.3 REC increment when active error flag is longer than 13 bits .37
7.6.4 REC increment when overload flag is longer than 13 bits .38
7.6.5 REC increment on bit error in the ACK field .38
7.6.6 REC increment on form error in CRC delimiter.38
7.6.7 REC increment on form error in ACK delimiter .39
7.6.8 REC increment on form error in EOF field .39
7.6.9 REC increment on stuff error .40
7.6.10 REC increment on CRC error .41
7.6.11 REC increment on dominant bit after end of error flag .41
7.6.12 REC increment on form error in error delimiter .42
7.6.13 REC increment on form error in overload delimiter.42
7.6.14 REC decrement on valid frame reception .43
7.6.15 REC decrement on valid frame reception during passive state .43
7.6.16 REC non-increment on last bit of EOF field .44
7.6.17 REC non-increment on 13-bit length overload flag .44
7.6.18 REC non-increment on 13-bit length error flag .45
7.6.19 REC non-increment on last bit of error delimiter .
...
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