SAE-J1939-21-2006.pdf
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1、 J1939-21 REV. DEC2006 SURFACE VEHICLE RECOMMENDED PRACTICE Issued 1994-07 Revised 2006-12 Superseding J1939-21 APR2001 Data Link Layer RATIONALE This SAE Recommended Practice revision incorporates changes to the assigned SAE Reserved Bit to be the Extended Data Page Bit, Acknowledgement sections, t
2、he new proprietary A2 PGN (PGN 126720) and includes new SPN assignments in Appendix D. The Reserved bit of the 29-bit of J1939 header has been defined as the Extended Data Page (EDP) bit. The J1939 Subcommittee has concerns there might be existing and developing components for J1939 that dont verify
3、 the Reserved/EDP bit is zero (0) before processing the 29-bit header per the J1939-21 structure. It is important that existing and future J1939 applications examine the values of the EDP and DP bits before interpreting the remaining 24 bits per the PDU Format (PF), PDU Specific (PS), and Source Add
4、ress (SA) structure specified in J1939-21. Backward compatibility is maintained during this change by specifying the Extended Data Page bit value of zero for all existing J1939 PGNs. Prior to this functional change, J1939-21 required the Reserved bit to be set to zero (0) in all J1939 PGN Data Frame
5、 headers. FOREWORD This series of SAE Recommended Practices have been developed by the Truck and Bus Control and Communications Network Subcommittee of the Truck and Bus Electrical and Electronics Committee. The objectives of the subcommittee are to develop information reports, recommended practices
6、, and standards concerned with the requirements, design, and usage of devices that transmit electronic signals and control information among vehicle components. The usage of these Recommended Practices is not limited to truck and bus applications; other applications may be accommodated with immediat
7、e support being provided for construction and agricultural equipment, and stationary power systems. These SAE Recommended Practices are intended as a guide toward standard practice and are subject to change so as to keep pace with experience and technical advances. This data link layer is used for a
8、ll SAE J1939 applications. It is the characteristic that is common across all SAE J1939 applications. _ SAE Technical Standards Board Rules provide that: “This report is published by SAE to advance the state of technical and engineering sciences. The use of this report is entirely voluntary, and its
9、 applicability and suitability for any particular use, including any patent infringement arising therefrom, is the sole responsibility of the user.” SAE reviews each technical report at least every five years at which time it may be reaffirmed, revised, or cancelled. SAE invites your written comment
10、s and suggestions. Copyright 2006 SAE International All rights reserved. No part of this publication may be reproduced, stored in a retrieval system or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of SAE
11、. TO PLACE A DOCUMENT ORDER: Tel: 877-606-7323 (inside USA and Canada) Tel: 724-776-4970 (outside USA) Fax: 724-776-0790 Email: CustomerServiceSAE.org SAE WEB ADDRESS: http:/www.SAE.org SAE J1939-21 Revised December 2006 Page 2 of 47 TABLE OF CONTENTS 1. Scope4 2. References4 2.1 Applicable Publicat
12、ions.4 2.1.1 SAE Publications.4 2.2 Related Publications .4 2.2.1 ISO Publications4 3. Definitions .4 4. Abbreviations(R) .4 5. Technical Requirements.5 5.1 Message/Frame Format5 5.1.1 SAE J1939 Message Frame Format (“CAN 2.0B” Extended Frame Format) (R)6 5.1.2 Parameter Group Number (PGN).6 5.1.3 S
13、AE J1939 Support of “CAN 2.0B” Standard Frame Format Messages10 5.2 Protocol Data Unit (PDU)11 5.2.1 Priority (P) .11 5.2.2 Extended Data Page (EDP) (R)11 5.2.3 Data Page (DP) (R).11 5.2.4 PDU Format (PF)14 5.2.5 PDU Specific (PS).14 5.2.5.1 Destination Address (DA) .14 5.2.5.2 Group Extension (GE).
14、14 5.2.6 Source Address (SA) 14 5.2.7 Data Field15 5.2.7.1 Data from 0 to 8 Bytes 15 5.2.7.2 Data from 9 Up to 1785 Bytes.15 5.3 Protocol Data Unit (PDU) Formats .15 5.3.1 PDU1 Format (R).16 5.3.2 PDU2 Format(R).17 5.4 Message Types.18 5.4.1 Command18 5.4.2 Request.18 5.4.3 Broadcast/Response.21 5.4
15、.4 Acknowledgment (R).21 5.4.5 Group Function .23 5.4.6 Request2.25 5.4.7 Transfer.26 5.5 Message Priority .27 5.6 Bus Access .28 5.7 Contention-Based Arbitration28 5.8 Error Detection28 5.9 Assignment Process for Source Addresses and Parameter Group Numbers .28 5.9.1 Address Assignment Criteria 28
16、5.9.2 Parameter Group Assignment Criteria29 5.9.3 Data Field Definition30 5.10 Transport Protocol Functions30 5.10.1 Packetization and Reassembly.30 5.10.1.1 Message Packets30 5.10.1.2 Sequence Numbers 30 5.10.1.3 Packetization.30 5.10.1.4 Reassembly 31 5.10.2 Connection Management31 5.10.2.1 Multip
17、acket Broadcast.31 5.10.2.2 Connection Initiation .31 5.10.2.3 Data Transfer31 -,-,- SAE J1939-21 Revised December 2006 Page 3 of 47 5.10.2.4 Connection Closure 32 5.10.3 Transport ProtocolConnection Management Messages.33 5.10.3.1 Connection Mode Request to Send (TP.CM_RTS)34 5.10.3.2 Connection Mo
18、de Clear to Send (TP.CM_CTS).35 5.10.3.3 End of Message Acknowledgment (TP.CM_EndOfMsgACK)35 5.10.3.4 Connection Abort (TP.Conn_Abort)35 5.10.3.5 Broadcast Announce Message (BAM)36 5.10.4 Transport ProtocolData Transfer Message (TP.DT).36 5.10.5 Connection Constraints.37 5.10.5.1 Number and Type of
19、Connections a Node Must Support.37 5.10.5.2 Intended Transport Protocol Use37 5.10.5.3 Concurrent PGN Reception37 5.11 PDU Processing Requirements37 5.12 Application Notes38 5.12.1 High Data Rates38 5.12.2 Request Scheduling38 5.12.3 Device Response Time and Timeout Defaults .38 5.12.4 Required Resp
20、onses 38 5.12.5 Transmission of PGNs to Specific or Global Destinations38 5.12.6 CTS Number of Packet Recommendation39 6. Notes.39 6.1 Marginal Indicia.39 APPENDIX A SAE J1939 PDU ProcessingTypical Receive Routine40 APPENDIX B Communication Message Types.41 APPENDIX C Transport Protocol Transfer Seq
21、uences.42 APPENDIX D Assignments of SPNs for J1939-2147 LIST OF FIGURES Figure 1 CAN Data Frames(R) 7 Figure 2 Application of OSI Model by SAE J1939(R)8 Figure 3 Protocol Data Unit(R).11 Figure 4 SAE J1939 Parameter Group Number Template(R).13 Figure 5 Available PDU Formats(R) 16 Figure 6 PDU1 Forma
22、t (R)17 Figure 7 PDU2 Format(R)18 Figure 8 Request PGN Definition (R).19 Figure 9 Acknowledgment PGN Definition (R) 23 Figure 10 Proprietary A PGN Definition (R).24 Figure 11 Proprietary A2 PGN definition (R) .25 Figure 12 Proprietary B PGN Definition (R).25 Figure 13 Request2 PGN Format (R)26 Figur
23、e 14 Transfer PGN Format (R)27 Figure 15 Format of Messages for Transport Protocol (R).33 Figure 16 Transport ProtocolData Transfer Message (TP.DT) (R)36 Figure A1 Typical Receive Routine40 Figure B1 Example of Communication Message Types (R)41 Figure C1 Data Transfer without Errors.42 Figure C2 Dat
24、a Transfer with Errors43 Figure C3 Broadcast Data Transfer.44 Figure C4 Data Transfer Utilizing RTS Maximum Number of Packets Capability.45 Figure C5 Data Transfer Not Able to Utilize RTS Maximum Number of Packets Capability.46 LIST OF TABLES Table 1 Mapping of SAE J1939 into CANs Arbitration and Co
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