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Template For ENG STDS

WORLDWIDE

ENGINEERING

STANDARDS

General Specification GMW17753

GM Extension to SAE J2534 Standard to Support CAN FD

January 2017

Page 1 of 16

1 Introduction

Note: Nothing in this standard supercedes applicable laws and regulations.

Note: In the event of conflict between the English and domestic language, the English language shall take

precedence.

1.1 Purpose. This purpose of this standard is to define an implementation of the Controller Area Network with

Flexible Data (CAN FD) protocol within the framework of SAE J2534-2, V04.04. This implementation utilizes the

manufacture discretionary features defined in the SAE J2534 standard. The intent is to add support of the

CAN FD protocol with minimal changes to existing applications and interfaces. The CAN FD protocol

implemented two (2) strategies to increase data throughput of a Controller Area Network (CAN) 2.0 network:

• Increased frame payload size to 64 Bytes.

• Higher Baudrates (5 Mpbs).

Also included in this standard are enhancements to the ISO 15765-2 protocol that were necessary to support

CAN FD:

• Configurable Frame Size.

• Increased Message Size.

1.2 Applicability. This document describes hardware and software changes required to add CAN FD to an

SAE J2534-1/SAE J2534-2 interface. It also serves a reference guide for application developers that wish to add

CAN FD support while staying within the framework of J2534, V04.04.

1.3 Remarks.

• References to “J1962” throughout the document relate to the SAE J1962 Diagnostic Connecter for On-Board

Diagnostic purposes.

• References to “J2284” throughout the document relate to SAE J2284 and are use-case specific. Care should

be exercised to apply the proper specification (see 2.1) for each application.

• References to “J2534” throughout the document relate to SAE J2534 and are use-case specific. Care should

be exercised to apply the proper specification (see 2.1) for each application.

2 References

Note: Only the latest approved standards are applicable unless otherwise specified.

2.1 External Standards/Specifications.

ISO 11898-1

SAE J1962

SAE J2284-1

SAE J2284-4

ISO 11898-2

SAE J2534-1

SAE J2284-2

SAE J2284-5

ISO 15765-2

SAE J2534-2

SAE J2284-3

2.2 GM Standards/Specifications.

GMW3059

2.3 Additional References.

Bosch CAN FD specification: CAN with Flexible Data-Rate, Specification Version 1.0 (released April 17, 2012)

Provided by IHS Markit under license with General Motors Company

Order Number: W2064747

Sold to:SHANGHAI DING AUTOMATION LLC. [213189100001] - CHANGMAO.WU@DING-AUTO.COM

Not for Resale,2018-02-13 01:36:59 UTC

Reproduction, distribution or publication of these standards is expressly prohib

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GM WORLDWIDE ENGINEERING STANDARDS

Template For ENG STDS

GMW17753

January 2017

Page 2 of 16

3 Requirements

Unless indicated otherwise, the SAE J2534, V04.04 definitions of requirements, restrictions and error conditions

for Controller Area Network Pin Select (CAN_PS) and ISO15765_PS protocols will apply to CAN_FD_PS and

ISO15765_FD_PS channels. For CAN FD the ISO 15765-2 Extended Data (ED) standard has been extended

to support larger message sizes.

3.1 Hardware Requirements.

3.1.1 CAN FD Channels. The Pass-Thru Interface shall have the ability of supporting at least two (2) concurrent

ISO 11898-1/ISO 11898-2 CAN FD channels.

3.1.2 J1962 Pin Usage. See Table 1.

Table 1: Pin Usage

Channel Required CAN(+) CAN(-)

CH1 Yes 6 14

CH2 Yes 1 9

CH3 Optional 3 11

CH4 Optional 12 13

3.1.3 Termination Resistor. The Pass-Thru Interface have the capability of connecting a 120 Ω termination

resistor across the J1962 pins of each channel. The state of the termination resistor shall be controlled by the

application.

3.2 Protocol Identification (ProtocolID) Values. In order to identify Pass-Thru Device(s) that support CAN FD

protocol, the device manufacture shall include the following Protocol Registry key in the J2534_V0404 registry

hive. The value of the KEY shall be selected from the manufacture specific range and assigned to the Key in the

J2534 registry. See Table 2.

Table 2: ProtocolID Registry Keys

Registry Key Value Comment

ISO15765_FD_PS 0×1000C This is the value used by the GM Pass-Thru Interface

CAN_FD_PS 0×1000D This is the value used by the GM Pass-Thru Interface

3.3 Message Structure. The following defines how the J2534 Pass-Thru message type definition (typedef)

structure (struct) elements that are used by the CAN_FD_PS and ISO15765_FD_PS protocol:

typedef struct {

unsigned long ProtocolID;

unsigned long RxStatus;

unsigned long TxFlags;

unsigned long Timestamp;

unsigned long DataSize;

unsigned long ExtraDataIndex;

unsigned char Data[4128];

} PASSTHRU_MSG;

3.3.1 CAN_FD_PS Message Structure. The message structure parameters used for a CAN_FD_PS channel

are very similar to CAN_PS (SAE J2534-2, V04.04). The following describes valid settings for each parameter;

using any other settings will cause the Pass-Thru Interface to return an ERR_INVALID_MSG.

Provided by IHS Markit under license with General Motors Company

Order Number: W2064747

Sold to:SHANGHAI DING AUTOMATION LLC. [213189100001] - CHANGMAO.WU@DING-AUTO.COM

Not for Resale,2018-02-13 01:36:59 UTC

Reproduction, distribution or publication of these standards is expressly prohib

--``````,,,,,,`,``,`,``-`-``,```,,,`---

GM WORLDWIDE ENGINEERING STANDARDS

Template For ENG STDS

GMW17753

January 2017

Page 3 of 16

• ProtocolID: Shall be set to CAN_FD_PS.

• DataSize: The <DataSize> for a CAN FD formatted message must set to a valid value 4 thru 12, 16, 20, 24,

28, 36, 52, or 68 bytes, else the J2534 Application Programming Interface (API) shall return

ERR_INVALID_MSG. The <DataSize> for a CAN 2.0 formatted message must be within the range of 4 bytes

to 12 bytes.

• Transmit (Tx) Flags: Table 3 identifies the valid TxFlags for a CAN_FD_PS message. Setting any other

Flag for a CAN_FD_PS message will cause the Pass-Thru Interface to return an ERR_INVALID_MSG.

Table 3: CAN_FD_PS TxFlags

Definition Bit Value

CAN_FD_PS 24

0 = The message shall be transmitted with the data phase at the arbitration speed.

Note 1

1 = The message shall be transmitted with the data phase at the

CAN_FD_DATA_PHASE_RATE.

Note 1

CAN_FD_FORMAT 25 0 = The message shall be transmitted the all using the CAN 2.0 format.

1 = The message shall be transmitted the all using the CAN FD format.

CAN_29BIT_ID 8 As defined by CAN in J2534, V04.04.

Note 1: This flag will be ignored unless CAN_FD_FORMAT flag is set to 1.

• Receive (Rx) Status: Table 4 identifies the valid RxStatus bits for a received message, and shows, which

bits are used as indications.

Table 4: CAN_FD_PS RxStatus Bits

Definition Bit IND Value

CAN_FD_BRS 24 - This flag reflects the value of the BRS bit of the last frame in the received

message.

Note 1

0 = The data phase of the last frame in the message was received at arbitration

speed.

1 = The data phase of the last frame in the message was received at the CAN FD

data phase rate.

CAN_FD_FORMAT 25 - 0 = The message was received in CAN 2.0 format.

1 = The message was received in CAN FD format.

CAN_FD_ESI 26 -

This flag reflects the value of the ESI bit of the message.

Note 2

0 = ESI bit is active in received CAN FD frame. The sender is in the Error Active

State.

1 = ESI bit is passive in received CAN FD frame. The sender is in the Error

Passive State.

CAN_29BIT_ID 8 - As defined by CAN in J2534, V04.04.

ERROR_IND 4 X Indicates that the Pass-Thru Interface detected an error while receiving or

transmitting a message.

TX_MSG_TYPE 0 - As defined by CAN in J2534, V04.04.

Note: BRS = Baud Rate Switch, ESI = Error State Indicator, IND = Indication, MSG = Message.

Note 1: It is possible to receive a Multi-Frame message where the BRS bit is different for some frames. This flag shall be zero (0) if

CAN_FD_FORMAT is not set.

Note 2: This flag must be zero when CAN_FD_FORMAT is 0.

Provided by IHS Markit under license with General Motors Company

Order Number: W2064747

Sold to:SHANGHAI DING AUTOMATION LLC. [213189100001] - CHANGMAO.WU@DING-AUTO.COM

Not for Resale,2018-02-13 01:36:59 UTC

Reproduction, distribution or publication of these standards is expressly prohib

--``````,,,,,,`,``,`,``-`-``,```,,,`---

GM WORLDWIDE ENGINEERING STANDARDS

Template For ENG STDS

GMW17753

January 2017

Page 4 of 16

3.3.2 ISO15765_FD_PS Message Structure. The message structure used for ISO15765_FD_PS is identical to

ISO15765_PS (SAE J2534-1, V04.04) with the exception of:

1. The Pass-Thru Interface shall permit the usage of Mixed Format Frames on an ISO15765_FD_PS

channel. This allows the simultaneous reception and transmission of ISO15765_FD_PS messages and

unformatted CAN FD frames on the ISO15765_FD channel. In Mixed mode, the ProtocolID (in the

PASSTHRU_MSG structure) is used to identify if the ISO_15765 transport layer is applicable for the

associated message.

2. API calls that cause a message transmission of an ISO15765_FD_PS message shall limit the maximum

frames size to the value defined by CAN_FD_TX_DATA_LENGTH. All frames containing more than 8

(eight) data bytes shall be padded out to the next valid frame boundary with the value of

ISO15765_PAD_VALUE. Frames with less than 8 (eight) data bytes may also be padded out to 8 (eight)

data bytes if the TxFlag ISO15765_FRAME_PAD is set.

• ProtocolID: Shall be set to ISO15765_FD_PS.

• DataSize: The minimum value for the <DataSize> of an ISO15765_FD_PS message is dependent on the

<TxFlag> ISO15765_ADDR_TYPE. See Table 5.

Table 5: <DataSize> ISO15765_FD_PS

ISO15765_ADDR_TYPE Minimum Value of <DataSize> Maximum Value of <DataSize>

0 4

4128

Note 1

1 5

4128

Note 1

Note 1: The maximum value for the <DataSize> of an ISO15765_FD_PS message is limited by the Pass-Thru message structure to

4128 bytes. However, it is possible for an application to transmit and receive larger messages through an extended message buffer.

• TxFlags: The following table identifies the valid TxFlags for an ISO15765_FD_PS message. Setting any

other Flag for a CAN_FD_PS message will cause the Pass-Thru Interface to return an ERR_INVALID_MSG.

See Table 6.

Table 6: <TxFlags> ISO15765_FD_PS

Definition Bit Value

CAN_FD_BRS 24 0 = All the frames of the message shall be transmitted with the data phase at the

arbitration speed.

Note 1

1 = All the frames of the message shall be transmitted with the data phase at the

CAN_FD_DATA_PHASE_RATE.

Note 1

CAN_FD_FORMAT 25 0 = All the frames of the message shall be transmitted using the CAN 2.0 format.

1 = All the frames of the message shall be transmitted using the CAN FD format.

CAN_29BIT_ID 8 As defined by CAN in J2534, V04.04.

ISO15765_ADDR_TYPE 7 As defined by CAN in J2534, V04.04.

ISO15765_FRAME_PAD 6 As defined by CAN in J2534, V04.04 for frames less than 8 (eight) data bytes.

Frames with more than 8 (eight) data bytes shall use default CAN FD padding.

(The frames are padded to the next CAN FD frame boundary.)

Note 1: This flag will be ignored unless CAN_FD_FORMAT flag is set to 1.

• RxStatus: Table 7 identifies the valid RxStatus bits for a received message and shows which bits are used

as indications.

Provided by IHS Markit under license with General Motors Company

Order Number: W2064747

Sold to:SHANGHAI DING AUTOMATION LLC. [213189100001] - CHANGMAO.WU@DING-AUTO.COM

Not for Resale,2018-02-13 01:36:59 UTC

Reproduction, distribution or publication of these standards is expressly prohib

--``````,,,,,,`,``,`,``-`-``,```,,,`---

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内容反馈

heshanxingzhe

2020-08-18

是有用的，但同时也应该参考J2534™-2 JAN2019
gu_ude_god

2020-07-29

和网上别的文档一样

godfather118

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