FlexRay Communications System Protocol Specification Version 3.0.1 FlexRay Protocol Specification Disclaimer Disclaimer This specification and the material contained in it, as released by the FlexRay Consortium, is for the purpose of information only. The FlexRay Consortium and the companies that have contributed to it shall not be liable for any use of the specification. The material contained in this specification is protected by copyright and other types of Intellectual Property Rights. The commercial exploitation of the material contained in this specification requires a license to such Intellectual Property Rights. This specification may be utilized or reproduced without any modification, in any form or by any means, for informational purposes only. For any other purpose, no part of the specification may be utilized or reproduced, in any form or by any means, without permission in writing from the publisher. Important Information 1. The FlexRay™ specifications V2.1 and V3.0.1 and the corresponding FlexRay™ Conformance Test specifications (hereinafter together "FlexRay™ specifications") have been developed for automotive applications only. They have neither been developed nor tested for non-automotive applications. 2. The FlexRay™ specifications are retrievable on the FlexRay Website www.flexray.com for information purposes only and without obligation. 3. The technical expertise provided in the FlexRay™ specifications is subject to continu- ous further development. The FlexRay™ specifications serve exclusively as an infor- mation source to enable to manufacture and test products which comply with the FlexRay™ specifications ("FlexRay™ compliant products"). Observation of the FlexRay™ specifications does neither guarantee the operability and safety of the FlexRay™ compliant products, nor does it guarantee the safe cooperation of multiple FlexRay™ compliant products with each other or with other products. Therefore, the members of the former FlexRay™ Consortium are not able to assume liability for the operability and safety of such products and the safe cooperation of multiple FlexRay™ compliant products with each other or with other products. 4. The FlexRay™ specifications V3.0.1 were submitted to ISO in order to be published as a standard for road vehicles. The word FlexRay and the FlexRay logo are registered trademarks. Copyright © 2006 - 2010. All rights reserved. The Core Partners of the FlexRay Consortium are Adam Opel GmbH, Bayerische Motoren Werke AG, Daimler AG, Freescale Halbleiter Deutschland GmbH, NXP B.V., Robert Bosch GmbH, and Volkswagen AG. Version 3.0.1 October 2010 Page 2 of 341 FlexRay Protocol Specification Table of Contents Table of Contents Disclaimer..............................................................................................................................................2 Chapter 1 Introduction.............................................................................................................. 12 1.1 Scope .............................................................................................................................................12 1.2 References .....................................................................................................................................12 1.2.1 FlexRay consortium documents ........................................................................................... 12 1.2.2 Non-consortium documents.................................................................................................. 12 1.3 Revision history ..............................................................................................................................13 1.4 Terms and definitions .....................................................................................................................16 1.5 Acronyms and abbreviations ..........................................................................................................22 1.6 Notational conventions ...................................................................................................................24 1.6.1 Parameter prefix conventions............................................................................................... 24 1.6.2 Color coding ......................................................................................................................... 25 1.6.3 Implementation dependent behavior .................................................................................... 25 1.7 SDL conventions ............................................................................................................................25 1.7.1 General................................................................................................................................. 25 1.7.2 SDL notational conventions.................................................................................................. 26 1.7.3 SDL extensions .................................................................................................................... 26 1.7.3.1 Microtick, macrotick and sample tick timers ................................................................. 26 1.7.3.2 Microtick behavior of the 'now' - expression ................................................................. 27 1.7.3.3 Channel-specific process replication ............................................................................ 27 1.7.3.4 Handling of priority input symbols................................................................................. 27 1.7.3.5 Signals to non-instantiated processes.......................................................................... 28 1.7.3.6 Exported and imported signals ..................................................................................... 28 1.8 Bit rates ..........................................................................................................................................28 1.9 Roles of a node in a FlexRay cluster..............................................................................................28 1.10 Synchronization methods .............................................................................................................29 1.10.1 TT-D synchronization method ............................................................................................ 29 1.10.2 TT-L synchronization method ............................................................................................. 29 1.10.3 TT-E synchronization method............................................................................................. 30 1.11 Network topology considerations..................................................................................................32 1.11.1 Passive bus topology.......................................................................................................... 33 1.11.2 Active star topology ............................................................................................................ 33 1.11.3 Active star topology combined with a passive bus topology............................................... 35 1.12 Example node architecture...........................................................................................................37 1.12.1 Objective............................................................................................................................. 37 1.12.2 Overview............................................................................................................................. 37 1.12.3 Host - communication controller interface .......................................................................... 37 1.12.4 Communication controller - bus driver interface ................................................................. 38 1.12.5 Bus driver - host interface................................................................................................... 39 1.12.5.1 Hard wired signals (option A) ..................................................................................... 39 1.12.5.2 Serial peripheral interface (SPI) (option B)................................................................. 39 1.12.6 Bus driver - power supply interface (optional) .................................................................... 40 1.12.7 Time gateway interface ...................................................................................................... 40 1.13 Testability requirements ...............................................................................................................40 Chapter 2 Protocol Operation Control .................................................................................... 41 Version 3.0.1 October 2010 Page 3 of 341 FlexRay Protocol Specification Table of Contents 2.1 Principles ........................................................................................................................................41 2.1.1 Communication controller power moding ............................................................................. 41 2.2 Description......................................................................................................................................42 2.2.1 Operational overview............................................................................................................ 43 2.2.1.1 Host commands...........................................................................................................