SAE+J1939-21-2001

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J1939-21
Issued 1994-07
Revised 2001-04
Superseding J1939-21 Jul98

TABLE OF CONTENTS
1 SCOPE (R) .............................................................................................................................................. 5
2 REFERENCES ........................................................................................................................................ 5
2.1 APPLICABLE PUBLICATIONS................................................................................................................. 5
2.1.1 SAE Publications.............................................................................................................................. 5
2.2 RELATED PUBLICATIONS...................................................................................................................... 5
2.2.1 ISO Publications............................................................................................................................... 5
3 DEFINITIONS.......................................................................................................................................... 5
4 ABBREVIATIONS................................................................................................................................... 5
5 TECHNICAL REQUIREMENTS.............................................................................................................. 6
5.1 MESSAGE/FRAME FORMAT .................................................................................................................. 6
5.1.1 SAE J1939 Message Frame Format (“CAN 2.0B” Extended Frame Format) ................................. 7
5.1.2 Parameter Group Number (PGN) (R) .............................................................................................. 7
5.1.3 SAE J1939 Support of “CAN 2.0B” Standard Frame Format Messages....................................... 10
5.2 PROTOCOL DATA UNIT (PDU)............................................................................................................ 10
5.2.1 Priority (P) ...................................................................................................................................... 11
5.2.2 Reserved Bit (R)............................................................................................................................. 11
5.2.3 Data Page (DP).............................................................................................................................. 11
5.2.4 PDU Format (PF) ........................................................................................................................... 13
5.2.5 PDU Specific (PS).......................................................................................................................... 13
5.2.5.1 Destination Address (DA)........................................................................................................ 13
5.2.5.2 Group Extension (GE) ............................................................................................................. 13
5.2.6 Source Address (SA) ..................................................................................................................... 14
5.2.7 Data Field....................................................................................................................................... 14
5.2.7.1 Data from 0 to 8 Bytes............................................................................................................. 14
5.2.7.2 Data from 9 Up to 1785 Bytes ................................................................................................. 14
5.3 PROTOCOL DATA UNIT (PDU) FORMATS............................................................................................ 14
5.3.1 PDU1 Format ................................................................................................................................. 15
5.3.2 PDU2 Format ................................................................................................................................. 16
5.4 MESSAGE TYPES............................................................................................................................... 17
5.4.1 Command....................................................................................................................................... 17
5.4.2 Request.......................................................................................................................................... 17
5.4.3 Broadcast/Response...................................................................................................................... 20
5.4.4 Acknowledgment............................................................................................................................ 20
5.4.5 Group Function .............................................................................................................................. 21
5.4.6 Request2 (R).................................................................................................................................. 22
5.4.7 Transfer (R).................................................................................................................................... 23
5.5 MESSAGE PRIORITY........................................................................................................................... 24
5.6 BUS ACCESS..................................................................................................................................... 25
5.7 CONTENTION-BASED ARBITRATION .................................................................................................... 25
5.8 ERROR DETECTION............................................................................................................................ 25
5.9 ASSIGNMENT PROCESS FOR SOURCE ADDRESSES AND PARAMETER GROUP NUMBERS ....................... 25
5.9.1 Address Assignment Criteria ......................................................................................................... 26
5.9.2 Parameter Group Assignment Criteria........................................................................................... 26
5.9.3 Data Field Definition....................................................................................................................... 27
5.10 TRANSPORT PROTOCOL FUNCTIONS ................................................................................................. 27
5.10.1 Packetization and Reassembly...................................................................................................... 27
5.10.1.1 Message Packets .................................................................................................................... 27
5.10.1.2 Sequence Numbers................................................................................................................. 27
5.10.1.3 Packetization ........................................................................................................................... 27
5.10.1.4 Reassembly............................................................................................................................. 28
5.10.2 Connection Management............................................................................................................... 28
5.10.2.1 Multipacket Broadcast ............................................................................................................. 28
5.10.2.2 Connection Initiation ................................................................................................................ 28
5.10.2.3 Data Transfer........................................................................................................................... 29
5.10.2.4 Connection Closure................................................................................................................. 29
5.10.3 Transport Protocol—Connection Management Messages (R)...................................................... 30
5.10.3.1 Connection Mode Request to Send (TP.CM_RTS) ................................................................ 32
5.10.3.2 Connection Mode Clear to Send (TP.CM_CTS) ..................................................................... 33
5.10.3.3 End of Message Acknowledgment (TP.CM_EndOfMsgACK)................................................. 33
5.10.3.4 Connection Abort (TP.Conn_Abort) ........................................................................................ 33
5.10.3.5 Broadcast Announce Message (BAM) .................................................................................... 34
5.10.4 Transport Protocol—Data Transfer Message (TP.DT) .................................................................. 34
5.10.5 Connection Constraints.................................................................................................................. 35
5.10.5.1 Number and Type of Connections a Node Must Support ....................................................... 35
5.10.5.2 Intended Transport Protocol Use ............................................................................................ 35
5.10.5.3 Concurrent PGN Reception..................................................................................................... 35
5.11 PDU PROCESSING REQUIREMENTS .................................................................................................. 35
5.12 APPLICATION NOTES ........................................................................................................................ 36
5.12.1 High Data Rates............................................................................................................................. 36
5.12.2 Request Scheduling....................................................................................................................... 36
5.12.3 Device Response Time and Timeout Defaults .............................................................................. 36
5.12.4 Required Responses ..................................................................................................................... 36
5.12.5 Transmission of PGNs to Specific or Global Destinations............................................................. 36
5.12.6 CTS Number of Packet Recommendation..................................................................................... 37
6 NOTES .................................................................................................................................................. 37
6.1 MARGINAL INDICIA............................................................................................................................. 37
APPENDIX A SAE J1939 PDU PROCESSINGTYPICAL RECEIVE ROUTINE ................................... 38
APPENDIX B COMMUNICATION MESSAGE TYPES.............................................................................. 39
APPENDIX C TRANSPORT PROTOCOL TRANSFER SEQUENCES .................................................... 40
APPENDIX D ASSIGNMENTS OF SPNs FOR J1939-21 (R) .................................................................. 45

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