IG lower layers

Scope

The Interest Group (IG) lower layers, preceeding IG lower layers, is responsible for all CAN lower layers specifications. The IG develops additional specifications, recommendations and implementation guidelines for CAN FD. This covers CAN FD physical layer recommendations with special regard to topology and bit timing, recommendations with regard to system design as well as with regard to CAN FD controller interfaces, additional requirements for HS-PMA implementations compliant with ISO 11898-1: 2015 and ISO 11898-2:2016 with the signal improvement capability (SIC), requirements and test methods of the mechanical and electrical parameters for cables to be used in CAN FD networks and for common-mode chokes to be used in Classical CAN networks and CAN FD networks. Furthermore, the IG devolops specifications and test plans for CAN XL. It is intended to cover data link layer and physical signaling, physical media attachment sub-layer, node and sytem design recommendations, and etc.

Chairman

Holger Zeltwanger, CiA

Date Time UTC+2, Berlin, Rome, Stockholm time Location
2021-09-17 13:00 - 16:00 SIG CAN XL TF higher layer e-meeting
2021-09-23 13:00 - 15:00 SIG EMC e-meeting
2021-09-28 13:00 - 15:00 SIG CAN XL TF physical layer e-meeting
2021-10-05 14:30 - 16:30 IG lower layers e-meeting
2021-10-08 13:00 - 16:00 SIG CAN FD light e-meeting
2021-10-13 13:00 - 16:00 SIG CAN XL e-meeting
*UTC+1, Berlin, Rome, Stockholm time

Minutes

Title Date Status Size Published Action
IG CAN FD2017-06-20Minutes18.6 MiB2017-07-17Login
IG CAN FD TF ringing suppression2017-07-12Minutes13.6 MiB2017-07-17Login
IG CAN FD2017-02-10Minutes9.4 MiB2017-07-17Login
IG CAN FD2016-10-21Minutes2.5 MiB2017-07-17Login
IG CAN FD2016-06-01Minutes5.6 MiB2017-07-17Login
IG CAN FD2016-04-22Minutes656 KiB2017-07-17Login
IG CAN FD2016-03-22Minutes4.9 MiB2017-07-17Login
IG CAN FD2016-02-16Minutes4.2 MiB2017-07-17Login
IG CAN FD2016-07-13Minutes139 KiB2017-07-17Login
IG CAN FD2016-09-15Minutes770 KiB2017-07-17Login
IG CAN FD TF ringing suppression2017-08-16Minutes361 KiB2017-08-22Login
IG CAN FD TF ringing suppression2017-08-23Minutes17.3 MiB2017-09-04Login
IG CAN FD TF ringing suppression2017-08-23Minutes133 KiB2017-09-11Login
IG CAN FD TF bit-timing2017-09-07Minutes613 KiB2017-09-14Login
IG CAN FD TF common mode choke2017-09-12Minutes1.3 MiB2017-09-18Login
IG CAN FD TF cable2017-09-11Minutes14.2 MiB2017-09-18Login
IG CAN FD TF common mode choke2017-10-26Minutes2.2 MiB2017-11-06Login
IG CAN FD TF ringing suppression2017-10-17Minutes3.2 MiB2017-11-06Login
IG CAN FD TF safety2017-11-08Minutes22 MiB2017-11-14Login
IG CAN FD TF common mode choke2017-11-27Minutes160 KiB2017-12-01Login
IG CAN FD TF ringing suppression2017-12-06Minutes12.8 MiB2017-12-15Login
IG CAN FD TF cable2017-12-13Minutes879 KiB2017-12-21Login
IG CAN FD TF ringing suppression2018-01-24Minutes6.3 MiB2018-01-30Login
IG CAN FD TF cable2018-02-05Minutes776 KiB2018-02-06Login
IG CAN FD TF common-mode choke2018-02-26Minutes2.0 MiB2018-02-27Login
IG CAN FD TF common mode choke2018-04-12Minutes1.3 MiB2018-04-18Login
IG CAN FD TF signal improvement2018-04-11Minutes8.2 MiB2018-04-23Login
IG CAN FD TF bit-timing2018-05-09Minutes1.3 MiB2018-05-14Login
IG CAN FD TF signal improvement2018-06-11Minutes4.2 MiB2018-06-22Login
IG CAN FD TF common mode choke2018-06-12Minutes503 KiB2018-06-22Login
IG CAN FD TF cable2018-06-22Minutes334 KiB2018-06-26Login
IG CAN FD TF signal improvement2018-09-11Minutes4.9 MiB2018-09-19Login
IG CAN FD TF common mode choke2018-10-09Minutes5.7 MiB2018-10-15Login
IG layer 1/2 TF signal improvement2018-11-09Minutes2.7 MiB2018-11-14Login
IG layer 1/2 TF common-mode choke2018-11-21Minutes1.7 MiB2018-11-22Login
IG layer 1/2 TF signal improvement2018-12-14Minutes341 KiB2019-01-02Login
IG layer 1/2 TF signal improvement2019-01-18Minutes1.4 MiB2019-01-23Login
IG layer 1/2 TF cable2019-02-07Minutes440 KiB2019-02-14Login
IG layer 1/2 TF signal improvement2019-02-25Minutes2.0 MiB2019-03-12Login
IG layer 1/2 TF common-mode choke2019-04-04Minutes652 KiB2019-04-09Login
IG layer 1/2 TF signal improvement2019-05-10Minutes266 KiB2019-05-29Login
SIG CAN XL2019-06-06Minutes6.4 MiB2019-06-28Login
SIG CAN XL TF higher layer2019-06-04Minutes3.5 MiB2019-07-11Login
SIG CAN XL2019-03-27Minutes1.6 MiB2019-07-11Login
SIG CAN XL TF physical layer2019-06-05Minutes13.2 MiB2019-07-11Login
SIG CAN XL2018-12-18Minutes1.2 MiB2019-07-12Login
SIG CAN XL TF higher layer2019-07-24Minutes142 KiB2019-08-05Login
IG layer 1/2 TF common-mode choke2019-08-28Minutes804 KiB2019-09-09Login
SIG CAN XL TF higher layer2019-10-02Minutes4.6 MiB2019-10-22Login
SIG CAN XL TF physical layer2019-10-18Minutes1.4 MiB2019-10-29Login
SIG CAN XL2019-11-08Minutes2.7 MiB2019-11-18Login
SIG CAN XL attachments2019-11-08Minutes3.8 MiB2019-11-18Login
SIG CAN XL TF higher layer2019-11-26Minutes2.5 MiB2019-12-19Login
SIG CAN XL TF physical layer2019-12-03Minutes8.3 MiB2020-01-09Login
SIG CAN XL TF higher layer2020-01-28Minutes2.2 MiB2020-02-13Login
SIG CAN XL2020-03-03Minutes1.9 MiB2020-03-04Login
IG lower layers2020-09-23Minutes1.4 MiB2020-10-07Login
IG lower layers TF common mode choke2020-02-10Minutes2.2 MiB2020-11-02Login
IG lower layers TF common mode choke2020-11-19Minutes2.2 MiB2020-12-09Login
IG lower layers2021-03-16Minutes71 KiB2021-05-17Login
IG lower layers2021-05-17Minutes654 KiB2021-05-21Login
SIG CAN FD light2021-06-15Minutes10.0 MiB2021-07-14Login
SIG CAN XL2019-02-01Minutes6.6 MiB2019-02-12Login
SIG CAN XL TF XL physical layer2019-02-22Minutes2.7 MiB2019-02-25Login
SIG CAN XL TF XL physical layer2019-03-12Minutes214 KiB2019-03-13Login
SIG CAN XL TF XL physical layer2019-03-15Minutes4.7 MiB2019-03-26Login
SIG CAN XL TF higher layer2019-04-12Minutes1.0 MiB2019-04-29Login
SIG CAN XL TF physical layer2019-04-12Minutes1.3 MiB2019-04-29Login
SIG CAN XL TF higher layer2019-04-30Minutes4.2 MiB2019-05-09Login
SIG CAN XL2019-06-06Minutes6.4 MiB2019-06-28Login
SIG CAN XL TF higher layer2019-06-04Minutes3.5 MiB2019-07-11Login
SIG CAN XL2019-03-27Minutes1.6 MiB2019-07-11Login
SIG CAN XL TF physical layer2019-06-05Minutes13.2 MiB2019-07-11Login
SIG CAN XL2018-12-18Minutes1.2 MiB2019-07-12Login
SIG CAN XL TF higher layer2019-07-24Minutes142 KiB2019-08-05Login
SIG CAN XL2019-10-01Minutes9.2 MiB2019-10-10Login
SIG CAN XL TF higher layer2019-10-02Minutes4.6 MiB2019-10-22Login
SIG CAN XL TF physical layer2019-10-18Minutes1.4 MiB2019-10-29Login
SIG CAN XL2019-11-08Minutes2.7 MiB2019-11-18Login
SIG CAN XL attachments2019-11-08Minutes3.8 MiB2019-11-18Login
SIG CAN XL TF higher layer2019-11-26Minutes2.5 MiB2019-12-19Login
SIG CAN XL TF physical layer2019-12-03Minutes8.3 MiB2020-01-09Login
SIG CAN XL TF higher layer2020-01-28Minutes2.2 MiB2020-02-13Login
SIG CAN XL TF higher layer2020-03-04Minutes122 KiB2020-04-16Login
SIG CAN XL TF physical layer2020-04-27Minutes4.8 MiB2020-04-29Login
SIG CAN XL2020-05-05Minutes392 KiB2020-05-15Login
SIG CAN XL2020-05-29Minutes112 KiB2020-06-03Login
SIG CAN XL2019-12-04Minutes1.9 MiB2020-06-08Login
SIG CAN XL TF physical layer2020-03-10Minutes3.8 MiB2020-06-08Login
SIG CAN XL2020-03-17Minutes1.9 MiB2020-06-08Login
SIG CAN XL TF physical layer2020-03-31Minutes2.1 MiB2020-06-08Login
SIG CAN XL2020-04-01Minutes170 KiB2020-06-08Login
SIG CAN XL TF higher layer2020-04-21Minutes109 KiB2020-06-08Login
SIG CAN XL2020-05-28Minutes1.8 MiB2020-06-08Login
SIG CAN XL TF physical layer2020-05-27Minutes4.5 MiB2020-06-08Login
SIG CAN XL TF security2020-04-22Minutes1.6 MiB2020-06-09Login
SIG CAN XL TF higher layer2020-05-25Minutes524 KiB2020-06-09Login
SIG CAN XL TF physical layer2020-06-15Minutes1.8 MiB2020-07-01Login
SIG CAN XL TF physical layer2020-07-08Minutes9.7 MiB2020-07-20Login
SIG CAN XL2020-06-30Minutes3.3 MiB2020-07-20Login
SIG CAN XL2020-07-10Minutes1.9 MiB2020-07-20Login
SIG CAN XL2020-07-17Minutes1.4 MiB2020-07-22Login
SIG CAN XL2020-08-06Minutes3.9 MiB2020-08-13Login
SIG CAN XL TF physical layer2020-08-12Minutes3.1 MiB2020-08-27Login
SIG CAN XL TF security2020-06-23Minutes1.2 MiB2020-09-01Login
SIG CAN XL TF higher layer2020-09-15Minutes3.5 MiB2020-09-28Login
SIG CAN XL TF security2020-09-23Minutes1.1 MiB2020-09-30Login
SIG CAN XL TF physical layer2020-09-24Minutes1.3 MiB2020-10-05Login
SIG CAN XL2020-10-02Minutes329 KiB2020-10-07Login
SIG CAN XL TF physical layer2020-10-16Minutes2.1 MiB2020-10-28Login
SIG CAN XL TF higher layer2020-10-22Minutes1.8 MiB2020-10-30Login
SIG CAN XL2020-10-14Minutes1.9 MiB2020-11-03Login
SIG CAN XL2020-10-16Minutes1.5 MiB2020-11-03Login
SIG CAN XL TF physical layer2020-11-18Minutes2.2 MiB2020-11-23Login
SIG CAN XL2020-11-27Minutes2.2 MiB2020-12-15Login
SIG CAN XL TF physical layer2020-12-07Minutes749 KiB2020-12-15Login
SIG CAN XL TF security2020-11-12Minutes104 KiB2021-01-12Login
SIG CAN XL TF higher layer2020-12-04Minutes102 KiB2021-01-28Login
SIG CAN XL TF physical layer2021-01-19Minutes1.5 MiB2021-02-01Login
SIG CAN XL2021-01-22Minutes3.7 MiB2021-02-03Login
SIG CAN XL TF security2021-01-14Minutes472 KiB2021-02-08Login
SIG CAN XL TF physical layer2021-02-25Minutes1.9 MiB2021-03-01Login
SIG CAN XL TF higher layer2021-01-29Minutes241 KiB2021-03-04Login
SIG CAN XL TF higher layer2021-02-10Minutes737 KiB2021-03-04Login
SIG CAN XL2021-02-26Minutes2.0 MiB2021-03-05Login
SIG CAN XL TF higher layer2021-03-05Minutes1.7 MiB2021-03-12Login
TF physical layer2021-03-25Minutes268 KiB2021-04-13Login
TF higher layer2021-04-16Minutes879 KiB2021-04-19Login
TF security2021-03-18Minutes678 KiB2021-04-26Login
SIG CAN XL plugfest preparation2021-05-21Minutes443 KiB2021-05-26Login
SIG CAN XL2021-05-05Minutes1.8 MiB2021-05-26Login
TF physical layer2021-05-06Minutes4.2 MiB2021-05-27Login
TF higher layer2021-05-20Minutes413 KiB2021-05-28Login
TF security2021-04-30Minutes768 KiB2021-06-25Login
SIG CAN XL2021-06-30Minutes3.1 MiB2021-07-16Login
SIG CAN XL2021-06-30Minutes3.1 MiB2021-07-19Login
TF higher layer2021-07-09Minutes1.4 MiB2021-08-19Login
TF physical layer2021-07-20Minutes7.4 MiB2021-08-24Login
SIG CAN XL2021-08-10Minutes1.3 MiB2021-08-25Login
TF security2021-07-08Minutes1.5 MiB2021-09-15Login
SIG CAN FD light2020-06-22Minutes1.2 MiB2020-08-24Login
SIG CAN FD light2020-07-29Minutes5.6 MiB2020-08-24Login
SIG CAN FD light2020-05-19Minutes2.3 MiB2020-08-24Login
SIG CAN FD light2020-09-30Minutes1.0 MiB2020-10-08Login
SIG CAN FD light2020-10-19Minutes1.5 MiB2020-11-04Login
SIG CAN FD light2020-12-02Minutes2.7 MiB2020-12-15Login
SIG CAN FD light2021-02-17Minutes1.6 MiB2021-03-05Login
SIG CAN FD light2021-03-19Minutes0.9 MiB2021-03-26Login
SIG CAN FD light2021-04-29Minutes4.2 MiB2021-05-06Login
SIG CAN FD light2021-05-21Minutes4.0 MiB2021-05-28Login
SIG CAN FD light2021-06-15Minutes10.0 MiB2021-07-14Login
SIG CAN FD light2021-07-30Minutes677 KiB2021-08-24Login
SIG EMC2021-03-17Minutes1.6 MiB2021-08-26Login
SIG EMC2021-04-13Minutes2.0 MiB2021-08-26Login
SIG EMC2021-05-19Minutes1.6 MiB2021-08-26Login

Specifications

Title Details
Status
Size
Published
Action
CAN FD bit-timing configuration and evaluation tool, version 1.0Attachment to the CiA 601-3 v. 1.0.0
DescriptionThis spreadsheet is an attachment to the CiA 601-3 v. 1.0.0. It helps to perform the CAN clock tolereance calculation, the bit-timing evaluation and optimization, the bit asymmetries calculation, and the evaluation of the robustness.
Keywordsn/a
TR1.2 MiB2019-09-06Login
CiA 601-4 version 2.0.0CAN FD Node and system design – Part 4: Signal improvement
DescriptionThis set of documents specifies and recommends the usage of CAN FD hardware implementations. It consists of the following parts: Part 1: Physical interface implementation, Part 2: Controller interface specification, Part 3: System design recommendation, Part 4: Signal improvement, Part 6: CAN FD cable. This document specifies additional requirements for HS-PMA implementations compliant with ISO 11898-1:2015 and ISO 11898-2:2016 for the purpose to reduce differential and common-mode ringing on the CAN_H and CAN_L wires, especially for the transition from dominant to recessive state. The intent of this specification is to enable larger topology flexibility and higher bit rates for CAN networks. The HS-PMA implementations with additional signal improvement functionalities support communication in the presence of defined unterminated wire stubs without requiring configuration, for example bit-rate settings. Furthermore, this document specifies EMC tests for HS-PMA implementations with additional signal improvement functionalities.
Keywordsn/a
DS3.4 MiB2019-09-06Login
CiA 601-1 version 2.0.0CAN FD node and system design - Part 1: Physical interface implementation
DescriptionThis set of documents specifies and recommends the usage of CAN FD hardware implementations. It consists of the following parts: Part 1: Physical interface implementation, Part 2: Controller interface specification, Part 3: System design recommendation, Part 4: Ringing suppression. This part provides specifications and guidelines on the physical layer interface design for automotive electronic control units and non-automotive devices supporting the CAN FD data link layer as defined in ISO 11898-1 and the CAN high-speed physical layer as defined in the harmonized ISO 11898-2 standard, which includes the specification of high-speed transceivers with low-power mode (formerly known as ISO 11898-5) and/or with selective wake-up functionality (formerly known as ISO 11898-6).
Keywordsn/a
TR831 KiB2021-03-08Login
CiA 601-3 version 1.0.0CAN FD node and system design - Part 3: System design recommendations
Descriptionn/a
Keywordsn/a
TR774 KiB2021-03-08Login
CiA 601-6 version 1.0.0CAN FD node and system design - Part 6: Cable
DescriptionThis set of documents specifies and recommends the usage of CAN FD hardware implementations. It consists of the following parts: Part 1: Physical interface implementation, Part 2: Controller interface specification, Part 3: System design recommendation, Part 4: Signal improvement, Part 6: CAN FD cable. This part specifies the requirements and test methods of the mechanical and electrical parameters for cables to be used in CAN FD networks.
Keywordsn/a
DS232 KiB2019-09-06Login
CiA 601-2 version 1.0.0CAN FD node and system design - Part 2: Protocol controller interface
DescriptionThis set of documents specifies and recommends the usage of CAN FD hardware implementations. It consists of the following parts: Part 1: Physical interface implementation, Part 2: Controller interface specification, Part 3: System design recommendation, Part 4: Ringing suppression. This part describes the specified interface between the protocol controller implementing the CAN FD data link layer protocol and the host controller including necessary configuration registers. Such a harmonized interface reduces the effort for adapting the low-level driver software to different implementations.
Keywordsn/a
DS478 KiB2019-09-06Login
CiA 601-4 version 2.0.2CAN FD node and system design Part 4: Signal improvement
Descriptionn/a
Keywordsn/a
WD1.0 MiB2021-04-22Login
CiA 602-1 version 0.0.6.CAN FD for commercial vehicles – Part 1: Physical layer
Descriptionn/a
Keywordsn/a
WD264 KiB2015-10-30Login
CiA 603 version 1.0.0CAN network time management
DescriptionThis documents specifies the time-stamping when transmitting or receiving Classical CAN or CAN FD data frames. This time-stamping can be used to introduce a synchronized time-base in a network segment, particularly in AUTOSAR systems. The synchronized time-base is suitable for but not limited to advanced driver assistance systems (ADAS), event data recording, and synchronizing actuations.
Keywordsn/a
DSP369 KiB2017-03-22Login
CiA 604-1 version 1.0.0CAN FD Light - Part 1: Data link layer and physical coding sub-layer requirements of responder nodes
DescriptionThis document specifies the requirements of the data link layer and the physical coding sub-layer of a responder node. It contains detailed requirements for: the logical link control sub-layer; the medium access control sub-layer; and the physical coding sub-layer.
Keywordsn/a
DSP364 KiB2021-09-06Login
CiA 110 version 1.0.0CAN common mode choke
DescriptionThis document specifies the requirements and the test methods of the mechanical and electrical parameters of common mode chokes to be used in Classical CAN networks and CAN FD networks. The electromagnetic compatibility evaluation complies with the IEC 62228-3:2019 standard.
Keywordsn/a
DSP485 KiB2021-03-25Login
CAN XL MICI Implementation Guide version 1.0.0CAN XL MICI Implementation Guide
Descriptionn/a
Keywordsn/a
WDP1.0 MiB2020-12-17Login
CiA 610-2 version 0.0.1CAN XL Part 2: Data link layer and physical signaling conformance test plan
Descriptionn/a
Keywordsn/a
WD1.4 MiB2021-06-28Login
CiA 610-3 version 0.0.11CAN XL specifications and test plans - Part 3: Physical media attachment sub-layer requirements
Descriptionn/a
Keywordsn/a
WD1.0 MiB2021-08-09Login
CiA 610-1 version 0.0.4CAN XL specifications and test plans Part 1: Data link layer and physical coding sub-layer requirements
Descriptionn/a
Keywordsn/a
WD839 KiB2021-08-23Login
CiA 611-2 version 0.0.2CAN higher layer functions - Part 2: Multi-PDU
Descriptionn/a
Keywordsn/a
WD319 KiB2021-02-15Login
CiA 611-1 version 0.0.9CAN XL higher layer functions - Part 1: Definition of service data unit types
Descriptionn/a
Keywordsn/a
WD286 KiB2021-06-07Login
CiA 613-2 version 0.0.4CAN XL add-on services Part 2: Security
Descriptionn/a
Keywordsn/a
WD584 KiB2021-06-09Login
CiA 613-3 version 0.0.1CAN XL add-on services Part 3: LLC Frame Fragmentation
Descriptionn/a
Keywordsn/a
WD325 KiB2021-05-18Login