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
Group meetings
Sub-group meetings
Minutes
Title | Date | Status | Size | Published | Action |
---|---|---|---|---|---|
IG CAN FD | 2017-06-20 | Minutes | 18.6 MiB | 2017-07-17 | Login |
IG CAN FD TF ringing suppression | 2017-07-12 | Minutes | 13.6 MiB | 2017-07-17 | Login |
IG CAN FD | 2017-02-10 | Minutes | 9.4 MiB | 2017-07-17 | Login |
IG CAN FD | 2016-10-21 | Minutes | 2.5 MiB | 2017-07-17 | Login |
IG CAN FD | 2016-06-01 | Minutes | 5.6 MiB | 2017-07-17 | Login |
IG CAN FD | 2016-04-22 | Minutes | 656 KiB | 2017-07-17 | Login |
IG CAN FD | 2016-03-22 | Minutes | 4.9 MiB | 2017-07-17 | Login |
IG CAN FD | 2016-02-16 | Minutes | 4.2 MiB | 2017-07-17 | Login |
IG CAN FD | 2016-07-13 | Minutes | 139 KiB | 2017-07-17 | Login |
IG CAN FD | 2016-09-15 | Minutes | 770 KiB | 2017-07-17 | Login |
IG CAN FD TF ringing suppression | 2017-08-16 | Minutes | 361 KiB | 2017-08-22 | Login |
IG CAN FD TF ringing suppression | 2017-08-23 | Minutes | 17.3 MiB | 2017-09-04 | Login |
IG CAN FD TF ringing suppression | 2017-08-23 | Minutes | 133 KiB | 2017-09-11 | Login |
IG CAN FD TF bit-timing | 2017-09-07 | Minutes | 613 KiB | 2017-09-14 | Login |
IG CAN FD TF common mode choke | 2017-09-12 | Minutes | 1.3 MiB | 2017-09-18 | Login |
IG CAN FD TF cable | 2017-09-11 | Minutes | 14.2 MiB | 2017-09-18 | Login |
IG CAN FD TF common mode choke | 2017-10-26 | Minutes | 2.2 MiB | 2017-11-06 | Login |
IG CAN FD TF ringing suppression | 2017-10-17 | Minutes | 3.2 MiB | 2017-11-06 | Login |
IG CAN FD TF safety | 2017-11-08 | Minutes | 22 MiB | 2017-11-14 | Login |
IG CAN FD TF common mode choke | 2017-11-27 | Minutes | 160 KiB | 2017-12-01 | Login |
IG CAN FD TF ringing suppression | 2017-12-06 | Minutes | 12.8 MiB | 2017-12-15 | Login |
IG CAN FD TF cable | 2017-12-13 | Minutes | 879 KiB | 2017-12-21 | Login |
IG CAN FD TF ringing suppression | 2018-01-24 | Minutes | 6.3 MiB | 2018-01-30 | Login |
IG CAN FD TF cable | 2018-02-05 | Minutes | 776 KiB | 2018-02-06 | Login |
IG CAN FD TF common-mode choke | 2018-02-26 | Minutes | 2.0 MiB | 2018-02-27 | Login |
IG CAN FD TF common mode choke | 2018-04-12 | Minutes | 1.3 MiB | 2018-04-18 | Login |
IG CAN FD TF signal improvement | 2018-04-11 | Minutes | 8.2 MiB | 2018-04-23 | Login |
IG CAN FD TF bit-timing | 2018-05-09 | Minutes | 1.3 MiB | 2018-05-14 | Login |
IG CAN FD TF signal improvement | 2018-06-11 | Minutes | 4.2 MiB | 2018-06-22 | Login |
IG CAN FD TF common mode choke | 2018-06-12 | Minutes | 503 KiB | 2018-06-22 | Login |
IG CAN FD TF cable | 2018-06-22 | Minutes | 334 KiB | 2018-06-26 | Login |
IG CAN FD TF signal improvement | 2018-09-11 | Minutes | 4.9 MiB | 2018-09-19 | Login |
IG CAN FD TF common mode choke | 2018-10-09 | Minutes | 5.7 MiB | 2018-10-15 | Login |
IG layer 1/2 TF signal improvement | 2018-11-09 | Minutes | 2.7 MiB | 2018-11-14 | Login |
IG layer 1/2 TF common-mode choke | 2018-11-21 | Minutes | 1.7 MiB | 2018-11-22 | Login |
IG layer 1/2 TF signal improvement | 2018-12-14 | Minutes | 341 KiB | 2019-01-02 | Login |
IG layer 1/2 TF signal improvement | 2019-01-18 | Minutes | 1.4 MiB | 2019-01-23 | Login |
IG layer 1/2 TF cable | 2019-02-07 | Minutes | 440 KiB | 2019-02-14 | Login |
IG layer 1/2 TF signal improvement | 2019-02-25 | Minutes | 2.0 MiB | 2019-03-12 | Login |
IG layer 1/2 TF common-mode choke | 2019-04-04 | Minutes | 652 KiB | 2019-04-09 | Login |
IG layer 1/2 TF signal improvement | 2019-05-10 | Minutes | 266 KiB | 2019-05-29 | Login |
SIG CAN XL | 2019-06-06 | Minutes | 6.4 MiB | 2019-06-28 | Login |
SIG CAN XL TF higher layer | 2019-06-04 | Minutes | 3.5 MiB | 2019-07-11 | Login |
SIG CAN XL | 2019-03-27 | Minutes | 1.6 MiB | 2019-07-11 | Login |
SIG CAN XL TF physical layer | 2019-06-05 | Minutes | 13.2 MiB | 2019-07-11 | Login |
SIG CAN XL | 2018-12-18 | Minutes | 1.2 MiB | 2019-07-12 | Login |
SIG CAN XL TF higher layer | 2019-07-24 | Minutes | 142 KiB | 2019-08-05 | Login |
IG layer 1/2 TF common-mode choke | 2019-08-28 | Minutes | 804 KiB | 2019-09-09 | Login |
SIG CAN XL TF higher layer | 2019-10-02 | Minutes | 4.6 MiB | 2019-10-22 | Login |
SIG CAN XL TF physical layer | 2019-10-18 | Minutes | 1.4 MiB | 2019-10-29 | Login |
SIG CAN XL | 2019-11-08 | Minutes | 2.7 MiB | 2019-11-18 | Login |
SIG CAN XL attachments | 2019-11-08 | Minutes | 3.8 MiB | 2019-11-18 | Login |
SIG CAN XL TF higher layer | 2019-11-26 | Minutes | 2.5 MiB | 2019-12-19 | Login |
SIG CAN XL TF physical layer | 2019-12-03 | Minutes | 8.3 MiB | 2020-01-09 | Login |
SIG CAN XL TF higher layer | 2020-01-28 | Minutes | 2.2 MiB | 2020-02-13 | Login |
SIG CAN XL | 2020-03-03 | Minutes | 1.9 MiB | 2020-03-04 | Login |
IG lower layers | 2020-09-23 | Minutes | 1.4 MiB | 2020-10-07 | Login |
IG lower layers TF common mode choke | 2020-02-10 | Minutes | 2.2 MiB | 2020-11-02 | Login |
IG lower layers TF common mode choke | 2020-11-19 | Minutes | 2.2 MiB | 2020-12-09 | Login |
SIG CAN XL | 2019-02-01 | Minutes | 6.6 MiB | 2019-02-12 | Login |
SIG CAN XL TF XL physical layer | 2019-02-22 | Minutes | 2.7 MiB | 2019-02-25 | Login |
SIG CAN XL TF XL physical layer | 2019-03-12 | Minutes | 214 KiB | 2019-03-13 | Login |
SIG CAN XL TF XL physical layer | 2019-03-15 | Minutes | 4.7 MiB | 2019-03-26 | Login |
SIG CAN XL TF higher layer | 2019-04-12 | Minutes | 1.0 MiB | 2019-04-29 | Login |
SIG CAN XL TF physical layer | 2019-04-12 | Minutes | 1.3 MiB | 2019-04-29 | Login |
SIG CAN XL TF higher layer | 2019-04-30 | Minutes | 4.2 MiB | 2019-05-09 | Login |
SIG CAN XL | 2019-06-06 | Minutes | 6.4 MiB | 2019-06-28 | Login |
SIG CAN XL TF higher layer | 2019-06-04 | Minutes | 3.5 MiB | 2019-07-11 | Login |
SIG CAN XL | 2019-03-27 | Minutes | 1.6 MiB | 2019-07-11 | Login |
SIG CAN XL TF physical layer | 2019-06-05 | Minutes | 13.2 MiB | 2019-07-11 | Login |
SIG CAN XL | 2018-12-18 | Minutes | 1.2 MiB | 2019-07-12 | Login |
SIG CAN XL TF higher layer | 2019-07-24 | Minutes | 142 KiB | 2019-08-05 | Login |
SIG CAN XL | 2019-10-01 | Minutes | 9.2 MiB | 2019-10-10 | Login |
SIG CAN XL TF higher layer | 2019-10-02 | Minutes | 4.6 MiB | 2019-10-22 | Login |
SIG CAN XL TF physical layer | 2019-10-18 | Minutes | 1.4 MiB | 2019-10-29 | Login |
SIG CAN XL | 2019-11-08 | Minutes | 2.7 MiB | 2019-11-18 | Login |
SIG CAN XL attachments | 2019-11-08 | Minutes | 3.8 MiB | 2019-11-18 | Login |
SIG CAN XL TF higher layer | 2019-11-26 | Minutes | 2.5 MiB | 2019-12-19 | Login |
SIG CAN XL TF physical layer | 2019-12-03 | Minutes | 8.3 MiB | 2020-01-09 | Login |
SIG CAN XL TF higher layer | 2020-01-28 | Minutes | 2.2 MiB | 2020-02-13 | Login |
SIG CAN XL TF higher layer | 2020-03-04 | Minutes | 122 KiB | 2020-04-16 | Login |
SIG CAN XL TF physical layer | 2020-04-27 | Minutes | 4.8 MiB | 2020-04-29 | Login |
SIG CAN XL | 2020-05-05 | Minutes | 392 KiB | 2020-05-15 | Login |
SIG CAN XL | 2020-05-29 | Minutes | 112 KiB | 2020-06-03 | Login |
SIG CAN XL | 2019-12-04 | Minutes | 1.9 MiB | 2020-06-08 | Login |
SIG CAN XL TF physical layer | 2020-03-10 | Minutes | 3.8 MiB | 2020-06-08 | Login |
SIG CAN XL | 2020-03-17 | Minutes | 1.9 MiB | 2020-06-08 | Login |
SIG CAN XL TF physical layer | 2020-03-31 | Minutes | 2.1 MiB | 2020-06-08 | Login |
SIG CAN XL | 2020-04-01 | Minutes | 170 KiB | 2020-06-08 | Login |
SIG CAN XL TF higher layer | 2020-04-21 | Minutes | 109 KiB | 2020-06-08 | Login |
SIG CAN XL | 2020-05-28 | Minutes | 1.8 MiB | 2020-06-08 | Login |
SIG CAN XL TF physical layer | 2020-05-27 | Minutes | 4.5 MiB | 2020-06-08 | Login |
SIG CAN XL TF security | 2020-04-22 | Minutes | 1.6 MiB | 2020-06-09 | Login |
SIG CAN XL TF higher layer | 2020-05-25 | Minutes | 524 KiB | 2020-06-09 | Login |
SIG CAN XL TF physical layer | 2020-06-15 | Minutes | 1.8 MiB | 2020-07-01 | Login |
SIG CAN XL TF physical layer | 2020-07-08 | Minutes | 9.7 MiB | 2020-07-20 | Login |
SIG CAN XL | 2020-06-30 | Minutes | 3.3 MiB | 2020-07-20 | Login |
SIG CAN XL | 2020-07-10 | Minutes | 1.9 MiB | 2020-07-20 | Login |
SIG CAN XL | 2020-07-17 | Minutes | 1.4 MiB | 2020-07-22 | Login |
SIG CAN XL | 2020-08-06 | Minutes | 3.9 MiB | 2020-08-13 | Login |
SIG CAN XL TF physical layer | 2020-08-12 | Minutes | 3.1 MiB | 2020-08-27 | Login |
SIG CAN XL TF security | 2020-06-23 | Minutes | 1.2 MiB | 2020-09-01 | Login |
SIG CAN XL TF higher layer | 2020-09-15 | Minutes | 3.5 MiB | 2020-09-28 | Login |
SIG CAN XL TF security | 2020-09-23 | Minutes | 1.1 MiB | 2020-09-30 | Login |
SIG CAN XL TF physical layer | 2020-09-24 | Minutes | 1.3 MiB | 2020-10-05 | Login |
SIG CAN XL | 2020-10-02 | Minutes | 329 KiB | 2020-10-07 | Login |
SIG CAN XL TF physical layer | 2020-10-16 | Minutes | 2.1 MiB | 2020-10-28 | Login |
SIG CAN XL TF higher layer | 2020-10-22 | Minutes | 1.8 MiB | 2020-10-30 | Login |
SIG CAN XL | 2020-10-14 | Minutes | 1.9 MiB | 2020-11-03 | Login |
SIG CAN XL | 2020-10-16 | Minutes | 1.5 MiB | 2020-11-03 | Login |
SIG CAN XL TF physical layer | 2020-11-18 | Minutes | 2.2 MiB | 2020-11-23 | Login |
SIG CAN XL | 2020-11-27 | Minutes | 2.2 MiB | 2020-12-15 | Login |
SIG CAN XL TF physical layer | 2020-12-07 | Minutes | 749 KiB | 2020-12-15 | Login |
SIG CAN XL TF security | 2020-11-12 | Minutes | 104 KiB | 2021-01-12 | Login |
SIG CAN FD light | 2020-06-22 | Minutes | 1.2 MiB | 2020-08-24 | Login |
SIG CAN FD light | 2020-07-29 | Minutes | 5.6 MiB | 2020-08-24 | Login |
SIG CAN FD light | 2020-05-19 | Minutes | 2.3 MiB | 2020-08-24 | Login |
SIG CAN FD light | 2020-09-30 | Minutes | 1.0 MiB | 2020-10-08 | Login |
SIG CAN FD light | 2020-10-19 | Minutes | 1.5 MiB | 2020-11-04 | Login |
SIG CAN FD light | 2020-12-02 | Minutes | 2.7 MiB | 2020-12-15 | Login |
Specifications
Title | Details | Status Size |
Published Action |
---|---|---|---|
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 | DS694 KiB | 2017-02-01Login |
CiA 601-2 version 1.0.0CAN FD Node and system design – Part 2: CAN controller interface specification | 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 | DS0.9 MiB | 2019-09-06Login |
CiA 601-3 version 1.0.0CAN FD Node and system design – Part 3: System design recommendation | DescriptionThis set of documents recommends the usage of CAN FD hardware implementations. It consist of the following parts: Part 1: Physical interface implementation, Part 2: CAN controller interface specification, Part 3: System design recommendation, Part 4: Signal improvement. This part provides recommendations for CAN FD network design, especially, bit-timing setting rules and guidelines are given. Keywordsn/a | DS1.3 MiB | 2019-09-06Login |
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 | DS1.2 MiB | 2019-09-06Login |
CiA 601-6 version 1.0.0CAN FD Node and system design – Part 6: CAN FD 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 | DS454 KiB | 2019-09-06Login |
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 MiB | 2019-09-06Login |
CiA 601-4 version 2.0.1CAN FD node and system design Part 4: Signal improvement | Descriptionn/a Keywordsn/a | WD3.6 MiB | 2020-11-12Login |
CiA 602-1 version 0.0.6.CAN FD for commercial vehicles – Part 1: Physical layer | Descriptionn/a Keywordsn/a | WD264 KiB | 2015-10-30Login |
CiA 602-2 version 1.1.0CAN FD for commercial vehicles – Part 2: Application layer | DescriptionThis series of documents specifies the in-vehicle communication between ECUs (electronic control units) for commercial vehicles based on the CAN FD data link layer as defined in ISO 11898-1. Commercial vehicles include trucks, heavy-duty trucks, buses as well as off-road and off-highway vehicles. The CAN FD for commercial vehicles specification series consists of the following parts: Part 1: Physical layer, Part 2: Application layer. This part specifies the application layer protocols based on the SAE J1939 surface vehicle recommended practice series. It includes Autosar compliant protocol data units, which comprises parameter groups as specified in SAE J1939-21 and SAE J1939-71 as well as an optional safety/security field. Keywordsn/a | DSP184 KiB | 2017-06-10Login |
CiA 603 version 1.0.0CAN Frame time-stamping – Requirements for 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 | DSP263 KiB | 2017-03-22Login |
CiA 110 version 0.0.14CAN physical layer - Common mode choke | Descriptionn/a Keywordsn/a | WD700 KiB | 2020-11-30Login |
CiA 610-2 version 0.0.0.3CAN XL Part 2: Data link layer and physical signaling conformance test plan | Descriptionn/a Keywordsn/a | WDP0.9 MiB | 2020-11-03Login |
CiA 610-1 version 0.0.2CAN XL specifications and test plans Part 1: Data link layer and physical signaling | Descriptionn/a Keywordsn/a | WD1.1 MiB | 2020-12-12Login |
CiA 610-3 version 0.0.8CAN XL specifications and test plans - Part 3: Physical media attachment sub-layer requirements | Descriptionn/a Keywordsn/a | WD7.8 MiB | 2021-01-08Login |
CAN XL MICI Implementation Guide version 1.0.0CAN XL MICI Implementation Guide | Descriptionn/a Keywordsn/a | WDP1.0 MiB | 2020-12-17Login |
CiA 611-1 version 0.0.5CAN XL - Part 1: Definition of SDU types | Descriptionn/a Keywordsn/a | WD2.4 MiB | 2020-12-15Login |
IG lower layers groups
Name | Description |
---|---|
SIG CAN XL | ScopeThe SIG develops and maintains the next generation of CAN data link and physical layer, providing an extra large payload, and supporting in the data-phase bit-rates exceeding 8 Mbit/s. Additionally, the SIG develops and maintains related conformance test plans. ChairmanDr. Arthur Mutter, Robert Bosch |
SIG CAN FD Light | ScopeDevelopment of a CAN FD based protocol for price-sensitive sensor and actuator networks including a conformance test plan. Application notes and network design recommendations are also in the scope of this SIG.
ChairmanFred Rennig, STMicroelectronics |