Road vehicles -- Controller area network (CAN) conformance test plan

This document specifies the conformance test plan for the CAN physical layer as standardized in ISO 11898‑2:2016. It specifies static and dynamic tests. The dynamic tests includes the test cases for the partly implemented Classical CAN protocol and CAN FD protocol as standardized in ISO 11898‑1:2015. The static tests describe the data to be given in datasheets.

Véhicules routiers -- Gestionnaire de réseau de communication (CAN) plan d'essai de conformité

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Status
Published
Publication Date
16-Jul-2018
Current Stage
6060 - International Standard published
Start Date
01-Apr-2018
Completion Date
17-Jul-2018
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INTERNATIONAL ISO
STANDARD 16845-2
Second edition
2018-07
Road vehicles — Controller area
network (CAN) conformance test
plan —
Part 2:
High-speed medium access unit —
Conformance test plan
Véhicules routiers — Gestionnaire de réseau de communication (CAN)
plan d'essai de conformité —
Partie 2: Unité d’accès au medium haute vitesse — Plan d'essai de
conformit
Reference number
ISO 16845-2:2018(E)
ISO 2018
---------------------- Page: 1 ----------------------
ISO 16845-2:2018(E)
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ii © ISO 2018 – All rights reserved
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ISO 16845-2:2018(E)
Contents Page

Foreword ........................................................................................................................................................................................................................................vi

Introduction ..............................................................................................................................................................................................................................vii

1 Scope ................................................................................................................................................................................................................................. 1

2 Normative references ...................................................................................................................................................................................... 1

3 Terms and definitions ..................................................................................................................................................................................... 1

4 Symbols and abbreviated terms ........................................................................................................................................................... 2

5 Global overview ..................................................................................................................................................................................................... 3

5.1 OSI conformance test method .................................................................................................................................................... 3

5.2 General organization ......... ................................................................................................................................................................. 7

5.3 Test case organization ...................................................................................................................................................................... 7

5.3.1 Overview ................................................................................................................................................................................. 7

5.3.2 Setup state ............................................................................................................................................................................. 7

5.3.3 Test state ................................................................................................................................................................................. 8

5.3.4 Test frame definition for protocol related test cases ........................................................................ 8

5.3.5 Hierarchical structure of tests .............................................................................................................................. 9

5.3.6 Elementary tests ...........................................................................................................................................................10

5.3.7 Applicable test cases for IUTs with enhanced voltage biasing ..............................................10

6 Test type 1, static test cases ...................................................................................................................................................................10

7 Test type 2, normal CAN communication acceptance .................................................................................................15

7.1 Test class 1, valid frame format .............................................................................................................................................15

7.1.1 ID test in CBFF messages .......................................................................................................................................15

7.1.2 ID test in CEFF messages .......................................................................................................................................16

7.1.3 WUP element of WUF ...............................................................................................................................................17

7.1.4 WUF element of another valid frame — CBFF message .............................................................18

7.1.5 WUF element of another valid frame — CEFF message .............................................................19

7.1.6 Acceptance of no nominal "SRR" in CEFF message .........................................................................19

7.1.7 Absent bus idle after data frame .....................................................................................................................20

7.1.8 Stuff acceptance test 1 .............................................................................................................................................20

7.1.9 Stuff acceptance test 2 .............................................................................................................................................21

7.1.10 Acceptance of Sync Sequence ............................................................................................................................22

7.1.11 Idle detection after CAN FD frame (FD tolerant implementation only) ........................23

7.2 Test class 2, error detection ......................................................................................................................................................24

7.2.1 Stuff error test 1 ............................................................................................................................................................24

7.2.2 Stuff error test 2 ............................................................................................................................................................25

7.2.3 CRC error test ..................................................................................................................................................................26

7.2.4 Form error in data frame .......................................................................................................................................26

7.3 Test class 3, error frame management ............................................................................................................................27

7.3.1 Absent bus idle after error scenario ............................................................................................................27

7.3.2 Active error condition during ignored frames after switching on the bias ................28

7.3.3 Passive error condition during ignored frames after switching on the bias .............28

7.4 Test class 4, CAN bit decoding.................................................................................................................................................29

7.4.1 Correct sampling of the 10th bit after the last dominant edge causing resync ......29

7.4.2 Correct sampling of the 10th bit after the last dominant edge after hard sync .....30

7.4.3 IUT robustness against dominant bit extensions .............................................................................31

7.4.4 IUT robustness against dominant bit shortening .............................................................................31

7.4.5 Correct sampling after bit deformation and hard sync ...............................................................32

7.4.6 No frame constant bit deformation due to loss of arbitration or ringing effects ..33

7.4.7 Glitch filtering test in idle state ........................................................................................................................34

7.4.8 Glitch filtering test after FD format frame after IFS and EOF (FD tolerant

implementation only) ...............................................................................................................................................34

7.4.9 Glitch filtering test in CAN FD data phase (FD tolerant implementation only) ......35

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ISO 16845-2:2018(E)
7.4.10 Bit (glitch) detection test in CAN FD data phase (FD tolerant

implementation only) ...............................................................................................................................................36

7.4.11 Clock tolerance test ....................................................................................................................................................36

7.4.12 Not constant network timing due to loss of arbitration .............................................................37

8 Test type 3, WUF evaluation ...................................................................................................................................................................38

8.1 Test class 1, CAN message ID filter test ...........................................................................................................................38

8.1.1 Message filter / CBFF – test 1 ............................................................................................................................38

8.1.2 Message filter / CBFF – test 2 ............................................................................................................................39

8.1.3 Message filter / CBFF – test 3 ............................................................................................................................40

8.1.4 Message filter / CBFF – test 4 ............................................................................................................................41

8.1.5 Message filter / CEFF – test 1 ............................................................................................................................42

8.1.6 Message filter / CEFF – test 2 ............................................................................................................................43

8.1.7 Message filter / CEFF – test 3 ............................................................................................................................44

8.1.8 Message filter / CEFF – test 4 ............................................................................................................................45

8.2 Test class 2, CAN message data filter test .....................................................................................................................46

8.2.1 Message data filter – matching data field ................................................................................................46

8.3 Test class 3, CAN message DLC filter tests ...................................................................................................................47

8.3.1 Message DLC filter test ............................................................................................................................................47

8.4 Test class 4, optional data mask bit tests ......................................................................................................................48

8.4.1 Message filter / CBFF – test 1 while DLC matching condition disabled ........................48

8.4.2 Message filter / CBFF – test 2 while DLC matching condition disabled ........................49

8.4.3 Message filter / CBFF – test 3 while DLC matching condition disabled ........................50

8.4.4 Message filter / CBFF – test 4 while DLC matching condition disabled ........................51

8.4.5 Message filter / CEFF – test 1 while DLC matching condition disabled ........................52

8.4.6 Message filter / CEFF – test 2 while DLC matching condition disabled ........................53

8.4.7 Message filter / CEFF – test 3 while DLC matching condition disabled ........................54

8.4.8 Message filter / CEFF – test 4 while DLC matching condition disabled ........................55

8.4.9 Acceptance of frames independent of the DLC while DLC matching

condition disabled .......................................................................................................................................................56

8.4.10 Acceptance of remote frames independent of the DLC while DLC matching

condition disabled .......................................................................................................................................................57

8.5 Test class 5, non-acceptance of remote frames ........................................................................................................58

8.5.1 Non-acceptance of remote frames .................................................................................................................58

9 Test type 4, FEC management ...............................................................................................................................................................59

9.1 General ........................................................................................................................................................................................................59

9.2 Test class 1, valid frame format .............................................................................................................................................59

9.2.1 FEC decrement on valid frame presence ..................................................................................................59

9.2.2 FEC no increment on form error in error delimiter .......................................................................60

9.2.3 FEC no increment on sixth bit of error delimiter..............................................................................61

9.2.4 FEC no increment on ACK error ......................................................................................................................62

9.2.5 FEC no increment on form error in ACK delimiter ..........................................................................63

9.2.6 FEC no increment on form error in EOF field ......................................................................................64

9.2.7 FEC no increment on glitches ............................................................................................................................65

9.2.8 FEC no increment on classical CAN frames with not nominal "FDF, r0".......................66

9.2.9 FEC no increment on CAN FD frames (FD tolerant implementation only).................67

9.3 Test class 2, error detection ......................................................................................................................................................69

9.3.1 FEC increment on form error in CRC delimiter ..................................................................................69

9.3.2 FEC increment on stuff error..............................................................................................................................70

9.3.3 FEC increment on CRC error ...............................................................................................................................71

9.3.4 FEC incremented once when active error flag length is 13 bit .............................................72

9.3.5 FEC incremented once when active error flag is longer than 13 bit ................................72

9.4 Test class 3, HS-PMA handling ................................................................................................................................................73

9.4.1 FEC reset after expiration of t .........................................................................................................73

SILENCE

9.4.2 FEC reset on enabling selective wake-up function ..........................................................................74

9.4.3 FEC no reset during change from normal to low-power mode (optional) .................75

9.4.4 FEC evaluation direct after WUP presence ............................................................................................76

10 Test type 5, HS-PMA implementation ..........................................................................................................................................77

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ISO 16845-2:2018(E)

10.1 Test class 1, WUP ................................................................................................................................................................................77

10.1.1 Wake-up after valid WUP ......................................................................................................................................77

10.1.2 No wake-up after invalid WUP ..........................................................................................................................78

10.1.3 No wake-up after expiration of optional timer t ...................................................................79

Wake

10.1.4 Reset of the optional timer t ...................................................................................................................80

Wake

10.1.5 No wake-up due to not stabilized recessive bus state ..................................................................81

10.2 Test class 2, low-power mode operation .......................................................................................................................82

10.2.1 Reset of the timer t ...................................................................................................................................82

SILENCE

10.2.2 Expiration of the timer t AND implementation in low-power mode..............83

SILENCE

10.2.3 Biasing independency from V availability..........................................................................................84

10.2.4 Transmitter in low-power mode .....................................................................................................................85

10.2.5 Wake-up independency from V availability ......................................................................................86

Bibliography .............................................................................................................................................................................................................................87

© ISO 2018 – All rights reserved v
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ISO 16845-2:2018(E)
Foreword

ISO (the International Organization for Standardization) is a worldwide federation of national standards

bodies (ISO member bodies). The work of preparing International Standards is normally carried out

through ISO technical committees. Each member body interested in a subject for which a technical

committee has been established has the right to be represented on that committee. International

organizations, governmental and non-governmental, in liaison with ISO, also take part in the work.

ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of

electrotechnical standardization.

The procedures used to develop this document and those intended for its further maintenance are

described in the ISO/IEC Directives, Part 1. In particular the different approval criteria needed for the

different types of ISO documents should be noted. This document was drafted in accordance with the

editorial rules of the ISO/IEC Directives, Part 2 (see www .iso .org/directives).

Attention is drawn to the possibility that some of the elements of this document may be the subject of

patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of

any patent rights identified during the development of the document will be in the Introduction and/or

on the ISO list of patent declarations received (see www .iso .org/patents).

Any trade name used in this document is information given for the convenience of users and does not

constitute an endorsement.

For an explanation on the voluntary nature of standards, the meaning of ISO specific terms and

expressions related to conformity assessment, as well as information about ISO's adherence to the

World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT) see the following

URL: www .iso .org/iso/foreword .html.

This document was prepared by ISO/TC 22, Road vehicles, Subcommittee SC 31, Data communication.

This second edition cancels and replaces the first edition (ISO 16845-2:2014), which has been technically

revised and includes the following changes:

— several clauses, subclauses, tables and figures have been technically revised. In particular, the test

cases and test requirements to verify if the CAN transceiver with implemented selective wake-up

functions conform to the specified functionalities within ISO 11898-6:2013 were extended. This was

done to provide a conformance test plan for the whole CAN medium access unit implementations

compliant with ISO 11898-2:2016 (which is the result of the merge of ISO 11898-2:2003,

ISO 1898-5:2007 and ISO 11898-6:2013).
A list of all the parts in the ISO 16845 series can be found on the ISO website.
vi © ISO 2018 – All rights reserved
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ISO 16845-2:2018(E)
Introduction

ISO 16845 was first published in 2004 to provide a test plan for conformance testing of the CAN data

link layer and physical signalling as standardized in ISO 11898-1. With ISO 11898-6:2013, CAN high-

speed medium access units were standardized, which partly implements a CAN data link layer, in order

to provide selective wake-up functionality. This standard was merged together with ISO 11898-5:2007

and ISO 11898-2:2003 to produce ISO 11898-2:2016. In order to provide a conformance test plan for

CAN medium access unit implementations compliant with ISO 11898-2:2016, this document has been

developed. It comprises static tests and dynamic tests.
© ISO 2018 – All rights reserved vii
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INTERNATIONAL STANDARD ISO 16845-2:2018(E)
Road vehicles — Controller area network (CAN)
conformance test plan —
Part 2:
High-speed medium access unit — Conformance test plan
1 Scope

This document specifies the conformance test plan for the CAN physical layer as standardized in

ISO 11898-2:2016. It specifies static and dynamic tests. The dynamic tests includes the test cases for the

partly implemented Classical CAN protocol and CAN FD protocol as standardized in ISO 11898-1:2015.

The static tests describe the data to be given in datasheets.
2 Normative references

The following documents are referred to in the text in such a way that some or all of their content

constitutes requirements of this document. For dated references, only the edition cited applies. For

undated references, the latest edition of the referenced document (including any amendments) applies.

ISO 11898-1:2015, Road vehicles — Controller area network (CAN) — Part 1: Data link layer and physical

signalling

ISO 11898-2:2016, Road vehicles — Controller area network (CAN) — Part 2: High-speed medium access unit

3 Terms and definitions

For the purposes of this document, the terms and definitions given in ISO 11898-2:2016 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 https: //www .iso .org/obp
3.1
implementation under test
IUT
HS-PMA which will be conformance tested according to this document
EXAMPLE Standalone transceiver or SBC.
3.2
lower tester

part of the test system, which emulates the interfaces of the underlying OSI layer from sight of the IUT

3.3
normal mode

mode, in which biasing as well as RX and TX are enabled and low-power mode is disabled

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ISO 16845-2:2018(E)
3.4
system under test
SUT

system, which embeds the IUT as a part or contains the IUT, because it cannot operate as a stand-alone

component
3.5
test system

system, which fulfils in this case all requirements to perform the tests defined in this specification

3.6
upper tester

part of the test system, which emulates the interfaces of the overlying OSI layer from sight of the IUT

3.7
valid frame
syntactically correct CAN frame
3.8
invalid frame
syntactically incorrect CAN frame with CAN conform error treatment
3.9
sync frame

syntactically correct CAN frame which is present on the bus while the IUT is in low power mode.

Note 1 to entry: It could be a WUF or non WUF.
3.10
sync sequence

group of sync frames which the IUT may use to calibrate or fine tune internal parameter to be prepared

to detect a WUF
4 Symbols and abbreviated terms
The following symbols and abbreviated terms are used in this document:
ACK acknowledge
ASP abstract service primitives
CAN controller area network
CBFF classical base frame format
CEFF classical extended frame format
CRC cyclic redundancy check
DLC data length code
EOF end of frame
FBFF FD base frame format
FEC frame error counter
FEFF FD extended frame format
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ISO 16845-2:2018(E)
ID identifier
IMF intermission field
MAC medium access control
OSI open system interconnection
PCO point of control and observation
PHS physical signalling
PL physical layer
PMA physical medium attachment
SBC system base chip
SOF start of frame
WUF wake-up frame
WUP wake-up pattern
5 Global overview
5.1 OSI conformance test method

OSI conformance testing was mainly introduced by the ISO 9646, ISO 9646-1 and ISO 9646-2, for the

purpose of regulating and harmonizing impartial tests. In general information about the internal

structure of the implementation as well as source code is not available to the party performing the

tests. This explains why the preferred OSI conformance testing methodology is black box testing and

consequently does not take into account any implementation details.

Figure 1 — The OSI coordinated test method depicts the OSI coordinated test method.

© ISO 2018 – All rights reserved 3
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ISO 16845-2:2018(E)
Key
ASP abstract service primitives
IUT implementation under test
LOG logger
LT lower tester
PCO point of control and observation
SUT system under test
TCP test coordination procedure
TS test system
UT upper tester
Figure 1 — The OSI coordinated test method

OSI conformance testing proposes many test methods suitable for different sorts of IUT, providing

different points of control and observation.

A coordinated test method which provides a simple interface to the IUT is the most suitable for HS-

PMA, i.e. the CAN network itself, and a flexible test coordination protocol using CAN messages between

the LT as part of the TS and the UT in the SUT. The LT controls and observes the IUT lower service

boundary indirectly via the underlying service provider, using the ASPs of the CAN protocol. The UT

controls and observes the IUT upper service boundary. The TCPs ensure the cooperation between the

LT and the UT.

In case of IUTs with partial networking functionalities, influencing variables from the UT side are the

digital CAN signals (RXD and TXD), host interface signals and I/O signals like INH or wake. The LT

influencing variables are the analogue bus interface with the signals CAN_H and CAN_L and the supply

power. Figure 2 depicts the influencing variables on the IUT.
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ISO 16845-2:2018(E)
Key
CAN_H CAN high signal
CAN_L CAN low signal
INH inhibit output
IUT implementation under test
I/O input/output
RXD receive data output
TXD transmit data input
V battery supply input
BAT
V supply input
Wake mode signalling output
Figure 2 — Influencing variables on IUT

To realise all services stimulating the IUT and recording the responses of the IUT regarding all

influencing variables, abstract logical devices are defined as followed.
Figure 3 — Abstract logical devices of UT and LT depicts abst
...

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