车联网CAN网络UDS诊断基础协议ISO14229
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2019-04-11
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© 2016 Softing Automotive Electronics GmbH. Despite all due care and attention, Softing accepts no liability and extends no guarantee for the correctness, completeness or currentness of the information.
Order additional copies: info.automotive@softing.com / www.automotive.softing.com
For one or two setup and start Requests one or two initial Responses are given, followed by 0 to n event-driven Responses
depending on the number of occurrences of tracked events. The distance between several events is non-deterministic.
• The RoE mechanism can be activated in any Session, including the Default-Session
• It does not need Tester Present messages to stay active
Generic Event-Driven Communication Flow Example: DTC Status Change Communication Flow
Pre-defined values for parameter Event Type (6 Bits)
$0 Stop Event-Logic
$1 Event on change of error memory, e. g. number of errors matching to mask has increased
$3 Event on change of measurement’s value, which is described by a data identifi er
$5 Start Event-Logic
$6 Clear Event-Logic
UDS Unifi ed Diagnostic Services - ISO 14229
Services without Sub-Function-Byte: $14, $23, $24, $2A, $2E, $2F, $34, $35, $36, $37, $3D, $84
Bit 7: suppressPosRspMsgIndicationBit
This Bit defi nes whether a positive response of the ECU is wanted
‚0‘ = FALSE: the ECU shall send a response, that is, no suppression of a positive response shall be done
‚1‘ = TRUE: Suppression of the positive response, that is, the ECU must not send a positive response
Negative responses shall be send by the ECU independent of this bit
Bit 6 to 0: sub-function parameter value
The Bits 0 to 6 contain the value for a Sub-Function parameter for diagnostic services
Remark:
A service, which uses the suppressPosRspMsgIndicationBit only, shall set the value of the Sub-Function
parameter to 0 to support the sending of the bit 7
The Bits 0 to 6 are meaningless then
Suppress Positive Response
Message Indication Bit
Bit 7 Sub-Function (Bit 6 to 0)
Services with Sub-Function Byte: $10, $11,
$19, $27, $28, $2C, $31, $3E, $83, $85, $87
Services with Sub-Function Byte and
Storage State Parameter : $86
Bit 7 Bit 6 Sub-Function (Bit 5 to 0)
Storage State
The Sub-Function Byte of UDS
International Standard Organization‘s Open System Interconnect 7 Layer Communication Model
Layer Description Standards for UDS Standards for OBD
“8” Diagnostic Application User ISO 15031-5
7 Application Layer
ISO 14229-1
ISO 15765-3
ISO 15031-5
6 Presentation Layer Not applicable Not applicable
5 Session Layer ISO 15765-3 Not applicable
4 Transport layer ISO 15765-2 Not applicable
3 Network Layer ISO 15765-2 ISO 15765-4
2 Data Link Layer ISO 11898-1 ISO 15765-4
1 Physical Layer
ISO 11898-2
*
ISO 11898-3
ISO 15765-4
*) The bus physics used is to be selected by the user
Therefore, several standards for different physical layer for e.g. High-Speed- (ISO 11898-2) or
Fault-Tolerant-CAN (ISO 11898-3) can be used
UDS and OBD Positioning in the ISO/OSI Layer Model
UDS Response Handling
Hex Mnemonic Description
10 GR General reject
11 SNS Service not supported
12 SFNS Sub-Function not supported
13 IMLOIF Incorrect message length or invalid format
14 RTL Response too long
21 BRR Busy repeat request
22 CNC Conditions not correct
24 RSE Request sequence error
25 NRFSC No response from sub-net component
26 FPEORA Failure prevents execution of requested action
31 ROOR Request out of range
33 SAD Security access denied
35 IK Invalid key
36 ENOA Exceeded number of attempts
37 RTDNE Required time delay not expired
38-4F RBEDLSD Reserved by Extended Data Link Security Document
70 UDNA Upload/Download not accepted
71 TDS Transfer data suspended
72 GPF General programming failure
73 WBSC Wrong Block Sequence Counter
78 RCRRP Request correctly received, but response is pending
7E SFNSIAS Sub-Function not supported in active session
7F SNSIAS Service not supported in active session
All values not described are reserved for future defi nition
Common Response Codes
Response on Event – RoE (Service $86)
Hex Mnemonic Description
81 RPMTH rpm too high
82 RPMTL rpm too low
83 EIR Engine is running
84 EINR Engine is not running
85 ERTTL Engine run-time too low
86 TEMPTH Temperature too high
87 TEMPTL Temperature too low
88 VSTH Vehicle speed too high
89 VSTL Vehicle speed too low
8A TPTH Throttle/Pedal too high
8B TPTL Throttle/Pedal too low
8C TRNIN Transmission range not in neutral
8D TRNIG Transmission range not in gear
8F BSNC Brake switch(es) not closed
90 SLNIP Shifter lever not in park
91 TCCL Torque converter clutch locked
92 VTH Voltage too high
93 VTL Voltage too low
All values not described are reserved for future defi nition
Specifi c conditions driven Response Codes
1) Erase Error Memory ($14 Clear Diagnostic Information)
Parameter 1: Service ID = $14
Parameter 2: Diagnostic Trouble Code (DTC) with three byte length
2) Sub-Functions for Service $19 Read DTC Information
Hex Description
01 Report number of DTC by Status Mask
02 Report DTC by Status Mask
03 Report DTC Snapshot Identifi cation
04 Report DTC Snapshot Record by DTC number
05 Report DTC Snapshot Record by Record number
06 Report DTC Extended Data Record by DTC number
07 Report number of DTC by Severity Mask Record
08 Report DTC by Severity Mask Record
09 Report Severity Information of DTC
0A Report Supported DTC
0B Report First Test Failed DTC
0C Report First Confi rmed DTC
0D Report Most Recent Test Failed DTC
0E Report Most Recent Confi rmed DTC
0F Report Mirror Memory DTC by Status Mask
10 Report Mirror Memory DTC Extended Data Record by DTC number
11 Report number of Mirror Memory DTC by Status Mask
12 Report number of Emissions Related OBD DTC by Status Mask
13 Report Emissions Related OBD DTC by Status Mask
14 Report DTC Fault Detection Counter
15 Report DTC with Permanent Status
Error Memory Functions
Responses in a CAN data fi eld according to ISO 15765-3
Unacknowledged Segmented Data Transfer (USDT)
Type 1
Type 2
Unacknowledged Unsegmented Data Transfer (UUDT)
Type 1
Type 2
Responses can be of two different formats/types:
Type 1: with Response Service Identifi er
Type 2: without Response Service Identifi er
The type is respected by the Service $2A Read Data by Periodic Identifi er
PCI
Response Service
Identfi er
Periodic Data
Identfi er
Data (≤ 5 Byte in
single frame)
PCI
Periodic Data
Identfi er
Data (≤ 6 Byte in single frame)
Response Service
Identfi er
Periodic Data
Identfi er
Data (≤ 6 Byte)
Periodic Data
Identfi er
Data (≤ 7 Byte)
Periodic Message Types of UDS
Functional Unit SID
Available in
Default Session
Available for
RoE
Has
Sub-Function
Service Name Mnemonic
Diagnostic and
Communication
Management
$10
ü ü
Diagnostic Session Control DSC
$11
ü
ü
ECU Reset ER
$27
ü
Security Access SA
$28
ü
Communication Control CC
$3E
ü
ü
Tester Present TP
$83
ü
Access Timing Parameter ATP
$84 Secured Data Transmission SDT
$85
ü
Control DTC Setting CDTCS
$86
ü
ü
Response On Event ROE
$87
ü
Link Control LC
Data Transmission
$22
ü
ü
Read Data By Identifi er RDBI
$23
ü
Read Memory By Address RMBA
$24
ü
Read Scaling Data By Identifi er RSDBI
$2A Read Data By Periodic Identifi er RDBPI
$2C
ü
ü
Dynamically Defi ne Data Identifi er DDDI
$2E
ü
Write Data By Identifi er WDBI
$3D
ü
Write Memory By Address WMBA
Stored Data
Transmission
$14
ü
Clear Diagnostic Information CDTCI
$19
ü ü ü
Read DTC Information RDTCI
Input Output
Control
$2F
ü
Input Output Control By Identifi er IOCBI
Remote Activation
of Routine
$31
ü ü ü
Routine Control RC
Upload
Download
$34
Request Download RD
$35 Request Upload RU
$36 Transfer Data TD
$37 Request Transfer Exit RTE
Service Overview
Request without Sub-Function
or Positive Response
Requests with Sub-Function
Byte
UUDT-Responses
Negative Responses
Service
Identfi er
Data Parameter
Service
Identfi er
Sub-Function
Byte
Data Parameter
Data Parameter
Negative
Response
SID
Request
Service
Identifi er
Response
Code
Diagnostic Messages - Structures and Types
Session Handling
PowerOn
of the ECU
TesterRequest other Session
⇒ Reset Event-Logic
Request Default Session
⇒ Reset Event-Logic
⇒ Enable Security
⇒ Stop Periodic Transmission
⇒ Reset Communication State
⇒ Reset Measurements and Settings
Request Default Session
⇒
Complete Reset
Request same or other
Session
⇒ Reset Event-Logic
⇒ Enable Security
Default
Session
Non-Default
Session
Timeout
Standardized values of Parameter „Diagnostic Session Type“
$01 Default Session
$02 Programming Session
$03 Extended Diagnostic Session
$04 Safety System Diagnostic Session
Simple/Polling Diagnostic Services
These services consist of one request and one response (max.) for physical addressing, or a group of responses for functional addressing
Three Potential Polling Communication Flows Erroneous Communication with Sub-Function Byte
when using the Sub-Function Byte 1. Positive Response
Suppression requested (Bit 7 of Byte 2 is set to “1”, but response is sent by the ECU
1. Positive Response
2. Negative Response No Suppression requested, response correctly sent by ECU
2. Negative Response
3. Response suppressed
Bit
7
Bit
6
Bit
5
Bit
4
Bit
3
Bit
2
Bit
1
Bit
0
0 0 0 1 0 0 0 0
Bit
7
Bit
6
Bit
5
Bit
4
Bit
3
Bit
2
Bit
1
Bit
0
1 0 0 0 0 0 1 1
$10 $83
10,83
50,83
10,03
50,03
Request
Positive Response
Request
Negative Response
Request
10,03
7F, 10, 12
Specifi cs
• All services, which have a parameter "Sub-Function",
support the "Response-Suppression-Handling"
• All services to read data do not support this feature
• A service, which uses the suppressPosRspMsgIndicationBit
of the Sub-Function Byte only, must set the other bits of
the Sub-Function Byte to 0, to support the transmission of the Bit 7
• SuppressPositiveResponseMsgIndicationBit = TRUE
⇒ Suppression of the positive response
⇒ All negative responses are send nevertheless
• For functional requests, some specifi c negative responses are
always to be suppressed, independent of the value of
the Suppress Positive Response Message Indication Bit:
⇒ Service not supported (NRC $11)
⇒ Subfunction not supported (NRC $12)
"Respond-to"-Services
• ReadDataByIdentifi er ($22)
• ReadDTCInformation ($19)
• RoutineControl ($31)
• InputOutputControlByIdentifi er ($2F)
Periodic Service Execution (Service $2A)
For one Request follows one initial Response. After that, periodically more responses will follow. The sending can be stopped by using a simple diagnostic service
Service parameter "Transmission Mode"
The frequency of the data transmission can be confi gured using the the Transmission Mode. The UDS-Standard defi nes abstract values as:
Slow = $01
Medium = $02
Fast = $03
Stop sending = $04
The real values in Hertz for each frequency need to be defi ned between OEM and ECU supplier
Generic Periodic Communication Flow Type 1 Communication Flow Type 2 Communication Flow
A Response Service-ID is sent by the ECU NO Response Service-ID is sent by the ECU
1. Setup Periodic Transmission 1. Setup Periodic Transmission for
two Measurements ($0C, $0D)
2. Getting Periodic Responses 2. Getting periodic Measurements
3. Stop Transmission 3. Stop Transmission
of Measurement $0C only
Request
Initial Positive Response
Positive Response
Request
Positive Response
Positive Response
Positive Response
2A, 03, 0C, 0D
6A
0C, 0A, F0
2A, 04, 0C
0D, 82
0C, 0A, F0
0D, 82
6A
2A, 03, 0C, 0D
6A
6A, 0C, 0A, F0
2A, 04, 0C
6A, 0D, 82
6A, 0C, 0A, F0
6A, 0D, 82
6A
6A, 0D, 82
∆ t
rate
0D, 82
Initial Positive Response
∆ t
Event
Start Event-Logic Request
Positive Response
Event Driven Response
Final Response
t
1
t
3
t
2
t
0
86, 01, 06, 01, 19, 01, 01
C6, 01, 00, 06, 01, 19, 01, 01
86, 05, 06
C6, 05, 00, 06
59, 0F, 01, 00, 01
2
nd
Step
4
th
Step
3
rd
Step
1
st
Step
C6, 01, 01, 06, 01, 19, 01, 01
Setup Event-Logic Request
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