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Serial Control and Comunication CAN

SAE J1939 is a protocol that provides serial communications between electronic control units in vehicles. It uses Controller Area Network (CAN) with a 29-bit message identifier and supports applications in diesel engines, trucks, buses, agriculture equipment, and more. SAE J1939 defines addressing schemes, parameter grouping, and other protocols to enable interoperability between vehicle components.

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Aram Moreno
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191 views27 pages

Serial Control and Comunication CAN

SAE J1939 is a protocol that provides serial communications between electronic control units in vehicles. It uses Controller Area Network (CAN) with a 29-bit message identifier and supports applications in diesel engines, trucks, buses, agriculture equipment, and more. SAE J1939 defines addressing schemes, parameter grouping, and other protocols to enable interoperability between vehicle components.

Uploaded by

Aram Moreno
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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SAE J1939

Serial Control and Communications Vehicle Network


Literature

Literature on
Controller Area Network,
CANopen and SAE J1939

Page 2
What is SAE J1939 – General Aspects

• Higher-layer protocol based on Controller Area Network (CAN)

• Provides serial data communications between Electronic Control Units


(ECU) in any kind of heavy duty vehicles.
• Protocol features based on J1708 (RS485) + J1587
• Ingenious protocol design with very little protocol overhead
• Driven by data, not myriad of functions as other HLPs
• Takes full advantage of all CAN features
• Detailed documentation only available through SAE

Page 4
SAE J1939 Applications

J1939-based protocols are used in:

• Diesel power-train applications


• In-Vehicle networks for trucks and buses
• Agriculture and forestry machinery (ISO 11783)
• Truck-Trailer connections
• Military vehicles (MiLCAN)
• Fleet management systems
• Recreational vehicles
• Marine navigation systems (NMEA2000)

Page 5
What is CAN – General Aspects

• Serial Network Technology for Embedded Solutions

• Originally designed by Bosch for


automotive industry
• Became very popular in industrial
automation

• Network technology established among micro-controllers


• Well suited for high speed/real-time applications
• Replaces expensive Dual-Port RAM technology
• Excellent error detection and fault confinement
• Extremely reliable
• Max. baud rate of 1 MBit/sec – SAE J1939 uses 250 kBit/sec

© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 Page 6


SAE J1939 – Quick Reference

J1939 takes advantage of CAN features such as:

• Maximum reliability
• Excellent error detection & fault confinement
• Collision-free bus arbitration

J1939 Specifics:

• Shielded twisted pair wire


• Max. network length of 40 meters (~120 ft.)
• Standard baud rate of 250 kBit/sec
• Uses 29-Bit Message ID
• Max. 30 nodes (ECUs) in a network
Page 7
SAE J1939 – Quick Reference

J1939 Specifics:

• Does not support Master/Slave or Client/Server configuration

• Does not support node monitoring

• Features Address Claiming immediately after network start-up

• Allows “Plug&Play” feature

• Allows segmentation of messages larger than 8 bytes

Page 8
SAE J1939 – Standards Collection

SAE J1939 Standards Collection scheme is based on the


ISO/OSI 7-Layer Model

Page 9
SAE J1939 – Standards Collection
J1939
Recommended Practice for a Serial Control and Communications Vehicle Network

J1939-01
Recommended Practice for Control And Communications Network for On-Highway Equipment

J1939-02
Agricultural and Forestry Off-Road Machinery Control and Communication Network

J1939-11
Physical Layer - 250k bits/s, Twisted Shielded PairJ1939-13Off-Board Diagnostics Connector

J1939-15
Reduced Physical Layer, 250k bits/sec, Un-Shielded Twisted Pair (UTP)

J1939-21
Data Link Layer

J1939-31
Network Layer

J1939-71
Vehicle Application Layer

J1939-73
Application Layer – Diagnostics

J1939-74
Application - Configurable Messaging

J1939-75
Application Layer - Generator Sets and Industrial

J1939-81
Network Management
Page 10
( )
SAE J1939 – Message Format (J1939/21)

• CAN Standard 2.0A was extended to 2.0B to allow a 29-Bit Identifier


according to J1708 and J1587.
• IDE Bit indicates 11-Bit or 29-Bit Message Identifier
• Both formats can co-exist on the same CAN bus
• MilCAN uses J1939 29-Bit Message ID and
CANopen 11-Bit Message ID
• J1939/21 also defines the segmentation of messages larger
than 8 bytes.
Page 11
SAE J1939 – Parameter Group Number

21 Bit PGN

Page 12
SAE J1939 – Parameter Group Number

• Parameters embedded in the 29-Bit message identifier are divided into


two sections:
• PGN (Parameter Group Number)
• 8 Bit Source Address
• PGN identifies the Parameter Group (PG)
• PGs point to information of parameter assignments within 8 byte
CAN data field, repetition rate and priority
• 8672 different Parameter Groups per page
Page 13
SAE J1939 – Parameter Group Number

Priority

• First three bits represent priority during arbitration process


• Provides eight priority levels
• A value of 0 (000) = highest priority;
a value of 8 (111) = lowest priority
• High priority messages assigned to time critical data such as torque
control data from transmission to engine
• Lower level priorities suitable for non-time-critical data such as
engine configuration data

R
• Reserved for future purposes
• Should always be set to 0 when transmitting messages

Page 14
SAE J1939 – Parameter Group Number

DP – Data Page

• Page selector for PDU (Protocol Data Unit) Format (PF) field
• Currently at 0, pointing to Page 0
• Page 1 for future purposes

PDU Format (PF)

• PF = 0 - 239 (PDU1) indicates a destination address in PS


• PF = 240 - 255 (PDU2) indicates extension to PDU Format (PF)

PDU Specific (PS)

• Content interpreted according to information in PDU Format (PF)

Page 15
Example: Sending RPM

Page 16
Example: Receiving RPM

Page 17
SAE J1939 – Source Address

8 Bit
Source
Address

Page 18
SAE J1939 – Source Address

• Source Address = Last 8 bits of 29-Bit message identifier


• Source address = Address of transmitting ECU (node)
• A total of 254 addresses available
• Every address must be unique within the network
• ECUs cannot share addresses
• PGNs are independent of source address
• Every ECU is allowed to transmit any message

Note: The CAN standard in itself does not support node (ECU)
addresses, only message IDs.

Page 19
SAE J1939 – Network Management

• Network Management defined in SAE J1939/81


• Handles automatic allocation of node addresses (Plug & Play)
per Address Claiming procedure
• Address Claiming not supported per default in any other HLP
• J1939 Network Management allows to identify ECUs
and their primary function.
• Node monitoring is not defined in J1939
– must be application specific
• J1939 does not support Master/Slave or Client/Master
- must be application specific

Page 20
SAE J1939 – Address and NAME

• SAE J1939 defines 64 bit NAME to uniquely identify each ECU


• Each ECU must hold at least one name and one address for
identification purposes
• ECU address defines the source or destination for messages
• ECU name indicates ECU main function performed at ECU address
• Function instance indicator used when multiple ECUs with same main
function share the same network

Page 21
SAE J1939 – Address Claiming

• 64 bit NAME to uniquely identify nodes (ECUs)


• Necessitates unreasonable resources to maintain standard
communications
• Each ECU utilizes an 8 bit address to identify the source of a message
or to access (destination address) another ECU in the network
• Address Claim Procedure:
• Designed to assign addresses to ECUs right after the
network startup
• Assuring that assigned address is unique to ECU
• SAE J1939 Standard defines Preferred Addresses to commonly used
devices in order to minimize the rate of multiple devices demanding the
same address

Page 22
SAE J1939 – Address Claiming

Two possible scenarios:

Sending an Address Claimed message (Standard)


• ECU sends Address Claimed message into the CAN bus
• ECUs receiving address claim will record & verify claimed address with
internal address table
• In case of address conflict ECU with lowest NAME value will succeed
• Remaining ECUs must claim different address or stop transmitting to
network

Request for Address Claimed message


• Necessary procedure for ECUs powering up late (e.g. trailers,
diagnostics tools, etc.)
• Used to determine and claim available address or to find out which
ECUs are currently on the network

Page 23
SAE J1939 – Communication Methods
Destination Specific Communications:
• Use PDU1 (PF values 0 to 239)
• Destination address required

Broadcast Communications:
• Use PDU2 (PF values 240 to 255)
• Sending a message from single or multiple sources to single
destination.
• Sending a message from single or multiple sources to multiple
destinations.
Proprietary Communications*:
• Use either PDU1 or PDU2
• CAN be either Destination Specific or Broadcast
• Use proprietary PGNs
* According to SAE J1939:
“Where it is important to communicate proprietary information.” Duh!
Page 24
SAE J1939 – Network Topology

• ECUs in a J1939 network segment are connected by a single, linear,


shielded twisted pair of wires
• Wiring topology of the network should be as straight as possible to
minimize electrical reflections:
• Short stub lengths
• Avoiding complex network structures

Page 25
SAE J1939 – Network Topology

• Each bus segment should be terminated by resistors, typically 120 Ω

• Termination resistors should always be on both ends of the bus

• Dividing network into sub-networks may be necessary


(e.g. for truck and trailer)

• Segmentation requires bridges

Page 26
J1939/13 Off-Board Diagnostic Connector

J1939/13 defines a standard connector for


diagnostic purpose.
The connector is a Deutsch HD10 - 9 – 1939 (9
pins, round connector).

Page 27
Literature

Literature on
Controller Area Network,
CANopen and SAE J1939

Page 28

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