©
ISO 2016
Road vehicles — Diagnostic
communication over Controller Area
Network (DoCAN) —
Part 2:
Transport protocol and network layer
services
Véhicules routiers — Communication de diagnostic sur gest ionnaire
de réseau de communication (DoCAN) —
Partie 2: Protocole de transport et services de la couche réseau
INTERNATIONAL
STANDARD
ISO
15765-2
Third edition
2016-04-01
Reference number
ISO 15765-2:2016(E)
ISO 15765-2:2016(E)
ii © ISO 2016 – All rights reserved
COPYRIGHT PROTECTED DOCUMENT
© ISO 2016, Published in Switzerland
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ISO 15765-2:2016(E)
Foreword ..........................................................................................................................................................................................................................................v
Introduction
................................................................................................................................................................................................................................ vi
1 Scope
................................................................................................................................................................................................................................. 1
2 Normative references
...................................................................................................................................................................................... 1
................................................................................................................................ 2
....................................................................................................................................................................... 2
3.2 Abbreviated terms
............................................................................................................................................................................... 2
4 Conventions
............................................................................................................................................................................................................... 3
5 Document overview
........................................................................................................................................................................................... 3
6 ISO 11898-1 CAN data link layer extension
.............................................................................................................................. 4
6.1 CLASSICAL CAN and CAN FD frame feature comparison ................................................................................... 4
.................. 5
6.3 Additional requirements for CAN FD ................................................................................................................................... 6
7 Network layer overview
................................................................................................................................................................................ 7
7.1 General ........................................................................................................................................................................................................... 7
............................................................................................ 7
..................................................................................................................................... 8
8 Network layer services
................................................................................................................................................................................ 10
8.1 General ........................................................................................................................................................................................................ 10
.................................................................................................11
8.2.1 N_USData.request .........................................................................................................................................................11
........................................................................................................................................................ 11
8.2.3 N_USData_FF.indication ..........................................................................................................................................11
8.2.4 N_USData.indication .................................................................................................................................................. 12
8.2.5 N_ChangeParameters.request ........................................................................................................................... 12
.............................................................................................................................. 13
................................................................................................................................................ 13
................................................................................................................................................. 13
8.3.2 N_AI, address information .................................................................................................................................... 13
8.3.3 <Length> .............................................................................................................................................................................. 16
8.3.4 <MessageData> .............................................................................................................................................................. 16
8.3.5 <Parameter> .....................................................................................................................................................................16
8.3.6 <Parameter_Value> ........................................................................................................................................... ..........16
8.3.7 <N_Result> .........................................................................................................................................................................16
8.3.8 <Result_ChangeParameter> ................................................................................................................................ 17
9 Transport layer protocol
...........................................................................................................................................................................18
9.1 Protocol functions ............................................................................................................................................................................. 18
9.2 SingleFrame transmission .......................................................................................................................................................... 18
9.2.1 SingleFrame transmission with TX_DL = 8.............................................................................................18
9.2.2 SingleFrame transmission with TX_D > 8 ................................................................................................ 19
9.3 Multiple-frame transmission ................................................................................................................................................... 19
................................................................................................................................... 21
.......................................................................................................................................... 21
9.4.2 SF N_PDU ............................................................................................................................................................................. 21
9.4.3 FF N_PDU ............................................................................................................................................................................. 21
9.4.4 CF N_PDU ............................................................................................................................................................................. 21
9.4.5 FC N_PDU ............................................................................................................................................................................. 21
.............................................................................................................. 22
........................................................................22
................................................................................................ 22
...................................................................23
© ISO 2016 – All rights reserved iii
Contents Page
ISO 15765-2:2016(E)
........................................................................... 23
9.5.4 Receiver determination RX_DL .........................................................................................................................25
................................................................................................................. 25
9.6.1 N_PCI
....................................................................................................................................................................................... 25
................................................................................................ 26
.................................................................................................... 28
................................................................................. 29
................................................................................................ 30
9.7 Maximum number of FC.WAIT frame transmissions (N_WFTmax)
....................................................... 33
...................................................................................................................................................................... 33
9.8.1 Timing parameters
...................................................................................................................................................... 33
.......................................................................................................................................... 37
9.8.3 Unexpected arrival of N_PDU ............................................................................................................................. 37
9.8.4 Wait frame error handling ....................................................................................................................................39
9.9 Interleaving of messages ............................................................................................................................................................. 39
10 Data link layer usage
.....................................................................................................................................................................................39
..................................................................................................................................... 39
......................................................................................................................................... 39
10.2.1 L_Data.request ................................................................................................................................................................39
................................................................................................................................................................ 39
10.2.3 L_Data.indication .......................................................................................................................................................... 40
.................................................................................................................................................... 40
10.3.1 Addressing formats .................................................................................................................................................... 40
10.3.2 Normal addressing ......................................................................................................................................................40
........................................................................................................................................ 41
10.3.4 Extended addressing ................................................................................................................................................. 41
10.3.5 Mixed addressing.......................................................................................................................................................... 42
10.4 CAN frame data length code (DLC) ..................................................................................................................................... 43
10.4.1 DLC parameter ................................................................................................................................................................ 43
10.4.2 CAN frame data ..............................................................................................................................................................43
10.4.3 Data length code (DLC) error handling ..................................................................................................... 45
Annex A (normative)
according to SAE J1939
...............................................................................................................................................................................46
Annex B (normative) Reserved CAN IDs
........................................................................................................................................................49
.............................................................................................................................................................................................................................50
iv
© ISO 2016 – All rights reserved
ISO 15765-2:2016(E)
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
committee has been established has the right to be represented on that committee. International
organizations, governmental and non-governmental, in liaison with ISO, also take part in the work.
electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular the different approval criteria needed for the
editorial rules of the ISO/IEC Directives, Part 2 (see www.iso.org/directives).
on the ISO list of patent declarations received (see www.iso.org/patents).
constitute an endorsement.
assessment, as well as information about ISO’s adherence to the WTO principles in the Technical
Barriers to Trade (TBT) see the following URL:
The committee responsible for this document is ISO/TC 22, Road vehicles, Subcommittee SC 31, Data
communication.
This third edition cancels and replaces the second edition (ISO 15765-2:2011), which has been
ISO 15765 consists of the following parts, under the general title Road vehicles — Diagnostic
communication over Controller Area Network (DoCAN)
1)
:
—
— Part 2: Transport protocol and network layer services
— Part 4: Requirements for emissions-related systems
1)
implementation (UDSonCAN)
© ISO 2016 – All rights reserved v
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