January 9, 2009BAE 5030-363 In-Vehicle Networking Lecture 3 ISO 11783 Part 3 / J1939-21 Data Link Layer BAE 5030 - 363 Spring 2009 Instructor: Marvin Stone

January 9, 2009 BAE 5030-363

In-Vehicle Networking

Lecture 3 ISO 11783 Part 3 / J1939-21 Data Link LayerBAE 5030 - 363

Spring 2009Instructor: Marvin Stone

Biosystems and Agricultural EngineeringOklahoma State University

January 9, 2009 BAE 5030-363

ISO 11783/J1939 communications systemN

etw

ork

Ma

na

ge

me

ntN

etw

ork

Ma

na

ge

me

nt

Application Layer

Presentation Layer

Session Layer

Transport Layer

Network Layer

Physical Layer

Application Layer

Presentation Layer

Session Layer

Transport Layer

Network Layer

Physical Layer

CAN CAN Data Link LayerData Link Layer

ISO 7498 – Open Systems Interconnection (OSI)

January 9, 2009 BAE 5030-363

J1939 Document numbering

NetworkManagement

NetworkManagement

PHYSICAL

DATA LINK

NETWORK

TRANSPORT

SESSION

PRESENTATION

APPLICATION

PHYSICAL

DATA LINK

NETWORK

TRANSPORT

SESSION

PRESENTATION

APPLICATION

PHYSICAL TRANSMISSION MEDIA

APPLICATION'X'

APPLICATION'Y'OSI NETWORK

MODEL LAYER

7

6

5

4

3

21

J1939 - Layer #

7

6

5

4

3

2

1

8

J1939 - Layer # Type #

OU

TG

OIN

GF

RA

ME

CO

NS

TR

UC

TIO

N INC

OM

ING

FR

AM

E

RE

DU

CT

ION

January 9, 2009 BAE 5030-363

ISO 11783 Document Status (9-10-2007)

Part TitleCurrent Status

Date Remarks

1 General Standard for mobile data IS 2007-06-15 ISO 11783-1 General standard.pdfcommunication

2 Physical Layer IS 2002-04-15 Systematic review initiated by ISO/CS in April 07 SR: 2007-09-17 ISO 11783-2 Physical Layer.pdfCorrigendum Physical Layer Corr 1 IS 2003-07-01 ISO 11783-2 Technical Corrigendum 1.pdf

AMD1 Physical Layer Amd 1 IS 2006-04-01 ISO 11783-2 Physical Layer AMD1.pdf

3 Data Link Layer FDIS 2006-08-12 FDIS approved (with comments) IS: 2007-09-21 ISO FDIS 11783-3 Data link layer.pdf

4 Network Layer NP 2001-05-01 NWIP for revision approved (with comments) CD 2008-09-01 ISO 11783-4 Network layer.pdf

5 Network Management Layer NP 2001-05-01 NWIP for revision (approved with comments) CD 2008-09-01 ISO 11783-5 Network management.pdfCorrigendum Network Management Layer Corr 1 IS 2002-06-15 ISO 11783-5 Technical Corrigendum.pdf

6 Virtual Terminal (first edition - VT Version 2) IS 2004-06-15 ISO IS 11783-6 Virtual Terminal (first edition).pdfRevision Virtual Terminal (VT Version 3) CD 2007-07-11 CD approved (with comments) DIS: 2007-10-20 ISO DIS 11783-6 Virtual terminal (revision).pdf

Waiting for DIS enquiry FDIS: 2008-10-20IS: 2009-02-20

7 Implement messages (first edition) IS 2002-09-01 ISO IS 11783-7 Implement Messages (first edition).pdfCorrigendum Implement messages Corr 1 IS 2004-05-14 ISO IS 11783-7 Technical Corrigendum 1.pdf

Revision Implement messages DIS 2007-08-17 DIS approved (with comments) FDIS 2007-09-31 ISO DIS 11783-7 Implement messages (revision).pdfIS: 2008-03-31

8 Power train messages IS 2006-02-01 ISO 11783-8 Power train messages.pdf

9 Tractor ECU IS 2002-07-01 Systematic review initiated by ISO/CS in April 07 SR: 2007-09-17 ISO 11783-9 Tractor ECU.pdf

10 Task Controller DIS 2006-01-25 Waiting for 2nd FDIS enquiry FDIS: 2007-?? ISO FDIS 11783-10 Task Controller.pdf

11 Mobile Element Data Dictionary IS 2007-04-01 ISO 11783-11 Mobile data element dictionary.pdfOnline Data-Dictionary: www.isobus.net

12 Diagnostics DIS 2007-03-22 Waiting for FDIS enquiry FDIS: 2007-10-03 ISO DIS 11783-12 Diagnotics.pdfIS: 2008-04-03

13 File Server IS 2007-05-15 ISO 11783-13 File Server.pdf

14 Sequence Control NP 2006-04-07 CD draft in preparation by WG 1 CD: 2007-03-30 ISO WD 11783-14 Sequence Control.pdfDIS: 2007-09-30

FDIS: 2008-09-30IS: 2009-03-30

Abbreviations:NP: New project Amd: AmendmentNWIP: New Work Item Proposal (voting period: 3 months) Corr: Technical CorrigendaAWI: Active Work Item ed: editorial commentsWD: Working Draft ge: general commentsCD: Committee Draft (voting period: 3 months) te: technical commentsDIS: Draft International Standard (voting period: 5 months) SR: Systematic review (3 and 5 year period); initiated from ISO/CS FDIS: Final Draft International Standard (voting period: 2 months) PROOF: Proof exemplar by ISO/CS Author: G. Henninger, VDMA (SC 19 Secretariat)IS: International Standard (publication by ISO/CS) ISO/CS: ISO Central Secretariat Date: 2007-09-10

ISO 11783 documents on VDMA Quickplace platformTarget dates

draft doc availability

January 9, 2009 BAE 5030-363

Document Status (out of date!)

DOCUMENT STATUS SAE J1939 / ISO 11783 (August 2001)SAE J1939 ISO 11783

Doc. # Title Sponsor Pub. Draft Document Status

J1939 Recommended Practice for a SerialControl & Communications VehicleNetwork

L. Armstrong 04/00

J1939-01 RP for Control and CommunicationsNetwork for Truck & Bus Application

L. Armstrong 10/00

J1939-02 Off Road Machinery Control andCommunications Network

M. Stone N259 ISO 11783 Part 1 WD

J1939-11 Recommended Practice for PhysicalLayer – 250k bits/s, ShieldedTwisted Pair

C. Nelli 10/99

J1939-12 Physical Layer, 250k bit/s, TwistedQuad

D. Brandon 12/97

(ISO)

ISO 11783 Part 2 FDIS

J1939-13 Off-Board Diagnostic ConnectorC. Nelli 7/99 ISO 11783 Part 2 FDIS

J1939-15 Reduced Physical Layer, 250 k bit/s,Unshielded twisted pair

K. Brown 1/00

For numbering only

January 9, 2009 BAE 5030-363



J1939-21 Data Link Layer M. Stepper 7/98 4/01 ISO 11783 Part 3 IS

J1939-31 Network Layer C. Luebke 12/97 ISO 11783 Part 4 FDIS

J1939-71

Application Layer G. Gillham 10/98 ISO 11783 Part 8 WD

J1939-71 DATABASE REPORT (Mtgs held thru May01) Application Layer

G. Gillham 1/00

(last)

ISO 11783 Part 8 WD

J1939-72 Virtual Terminal M. Stone 5/00 ISO 11783 Part 6 FDIS

J1939-73 Application Layer – Diagnostics M. Stepper 10/98 1/00

J1939-81 Recommended Practice Network Management Protocol

M. Stone 7/97 5/01 ISO 11783 Part 5 FDIS

J1939-82 Compliance W. Miller

J1939-83 Tutorial D. Brandon 10/00

- Basic Implement Messages B. Benneweis

ISO 11783 Part 7 DIS

- Tractor ECU B. Benneweis

ISO 11783 Part 9 DIS

- Task Controller B. Benneweis

N257 ISO 11783 Part 10

WD

- Data Dictionary B. Benneweis

ISO 11783 Part 11

CD

January 9, 2009 BAE 5030-363

- Diagnostic Services B. Benneweis

ISO 11783 Part 12 CD

- File Server B. Benneweis

ISO 11783 Part 14 FDIS



January 9, 2009 BAE 5030-363

ISO 11783 Data Link Layer - General

– Based on CAN 2.0b 29 bit identifiers• Defines the identifier meaning

• Physical Addressing ( 256 addresses)

• Independent priority field

• Data content identifier independent of sender

• Two message structures– Type 1 - Destination Specific - both source and destination– Type 2 - Extended - Only source address

– Defines requests and acknowledgement– Defines proprietary message structure– Includes a Transport Protocol with two modes

» Managed Connection» BAM

January 9, 2009 BAE 5030-363

Message Capabilities

• Two identifier types (PDUs)– ECU to ECU– ECU to All

P P P R GPDU 1

PDU 2 P P P R G

Reserved First 8 BitsBetween 240 and 255

Source AddressDestination Addr

Page Bit

TYPE

Priority

Parameter Group

Source Address-- PDU Format -- Group Extension -

Parameter Group

January 9, 2009 BAE 5030-363

P P P

P P P

Destination Addr.

Source Address

Source Address

PDU Format

Parameter Group IdentifiesData

PDU SpecificR D

R D PDU Format

Source AddressIdentifiesSender

PDU2

PDU1

Priority

8670 Parameter Groups can be defined480 PDU1, 8190 PDU2

Identifier Structure

January 9, 2009 BAE 5030-363

PGN - Parameter Group Number

Parameter Group Number (PGN)

P P P

Destination Address orGroup Extension

Source AddressR PDU Format (PF)

PDU Format (PF) R DP

If (PS > 239)LS Byte = PF

Else LS Byte = 0

LS Byte

DP PDU Specific (PS)

0 0 0 0 0 0

Byte 2 LS ByteMS Byte

Parameter Group Number (PGN) arranged for transmission as an 8 byte parameter

Byte 2 LS Byte

Identifier

PGN

PGN

CAN dataMS Byte

January 9, 2009 BAE 5030-363


P P PPDU1

One to ManySOURCE

DESTINATION

OR

P P PPDU2

--------- 255 ---------

- Source Address --

- Source Address --

-- Parameter Group --

-- Parameter Group --

Global

January 9, 2009 BAE 5030-363


PDU1

One to One

SOURCE DESTINATION

-- Parameter Group -- Source AddressDestination Addr.PP P

January 9, 2009 BAE 5030-363


P P P

AcknowledgementSOURCE DESTINATION

SEND

ACKNOWLEDGE

P P P

Command

SourceDestination

AcknowledgeACK / NACK ECU AECU B

Control Byte Reserved

1 2-5

Acknowledged orRequested PGN

Data

OrNormal Broadcast

0 = Positive Acknowledgement1 = Negative Acknowledgement2 = Access Denied3 = Cannot Respond Now No Acknowledge on Global Requests

----------- 59392 -------------

ECU A ECU B

PGN

6-8

Not in 11783

January 9, 2009 BAE 5030-363

0 1 1

PDU1

Requests

SOURCE

Destination Address

SOURCE

Source Address -

OR

DESTINATIONS

PDU1

Global

Specific

1

DataPGN lsb PGN

2 3

------- 255 ----------

Global

Request

Request

PGN msb

----------- 59904 -----------

----------- 59904 ----------- Source Address -

1

DataPGN lsb PGN

2 3

PGN msb

0 1 1


January 9, 2009 BAE 5030-363

Reply’s to Requests

PDUFormat

DataLength

RequestType

Response TP Used

1 < 8 bytes DA Specific DA Specific NA1 < 8 bytes DA Global DA Global NA1 > 8 bytes DA Specific DA Specific RTS/CTS1 > 8 bytes DA Global DA Global BAM2 < 8 bytes DA Specific PDU2 Global NA2 < 8 bytes DA Global PDU2 Global NA2 > 8 bytes DA Specific DA Specific RTS/CTS2 > 8 bytes DA Global DA Global BAM

January 9, 2009 BAE 5030-363

P P P

---------- 239 ----------

PDU1

Proprietary

SOURCE

Destination Address

SOURCE

Source Address

OR

P P P

----------255------------

PDU2

DESTINATIONS

--- user defined ---- Source Address

0

0

0

0


January 9, 2009 BAE 5030-363

1 0 0

TP.CM_RTSRequest to Send

Source Address -Destination Address

Multi-PacketMessages

SOURCE

DESTINATION

Connection Mode

Connection Mode - START and DATA PACKETS

10

TP Control No. of Segments

161 byte

Data

1 byte 2 bytesNo. of Bytes Message PGN

3 bytes

1 0 0

TP.CM_CTSClear to Send

10

TP Control Next Segment

171 byte

Data

1 byteSegments to

Send1 byte

TP.DTPacket Data

Packetized Data7 bytes

Reserved1 byte

SENDERRECEIVER

SENDER RECEIVER

Sequence No.1 byte

TP Conn. Mgt.

--------- 236 -----------

Source Address -Destination Address--------- 236 -----------

Message PGN3 bytes

Reserved2 byte

1 0 010

SENDER RECEIVER TP Data Xfer.

Source Address -Destination Address--------- 235 --------

Data

TP Conn. Mgt.

January 9, 2009 BAE 5030-363

TP.EndOf MesgACKACKNOWLEDGE

TP.ConnAbortAbort Connection


Connection Mode

Connection Mode - ACKNOWLEDGE or ABORT

SOURCE

DESTINATION

1 0 0 Source Address -Destination Address10

SENDERRECEIVER TP Conn. Mgt.

--------- 236 -----------



--------- 236 -----------


191 byte

Data


3 bytesReserved

1 byte

TP Control

255

Data

1 byteMessage PGN

3 bytesReserved

4 bytes


January 9, 2009 BAE 5030-363

200 ms between data packets!

TP.CM_BAMBroadcastRequest to Send


SOURCE

DESTINATIONBroadcast Mode



--------- 236 -----------


321 byte

Data


3 bytesReserved

1 byte

TP.DTPacket Data

Packetized DataSequence No.1 byte

1 0 010

SENDER RECEIVER TP Data Xfer.

Source Address -Destination Address--------- 235 -----------

Data

7 bytes


January 9, 2009 BAE 5030-363

Design Recommendations

• REQUEST SCHEDULING– The scheduling of a request should be canceled if

information requested is received prior to request being sent. Parameter Groups should not be requested if they are recommended to be broadcast.

January 9, 2009 BAE 5030-363


• DEVICE RESPONSE TIME AND TIME-OUT DEFAULTS– All devices, when required to provide a response, must do

so within 0.20 s. All devices expecting a response must wait at least 1.25 s before giving up or retrying.

January 9, 2009 BAE 5030-363


• REQUIRED RESPONSES– A response is required for a global request from all

devices that have the requested PG, even the requester. Acknowledgments are not allowed for global requests. There is no restriction on minimum response time!

January 9, 2009 BAE 5030-363


• CTS NUMBER OF PACKET RECOMMENDATION – During normal vehicle operation it is recommended that

the maximum number of packets that can be sent per CTS be set to 16.

Documents

January 9, 2009BAE 5030-363 In-Vehicle Networking Lecture 3 ISO 11783 Part 3 / J1939-21 Data Link Layer BAE 5030 - 363 Spring 2009 Instructor: Marvin Stone