1、精選文庫整車控制器系統(tǒng)診斷規(guī)范“EV160”文件編號(hào)：“EV160-20150002014”編制：校對(duì)：審核：“業(yè)務(wù)高級(jí)經(jīng)理”會(huì)簽：“控制系統(tǒng)集成主管”批準(zhǔn)：“部長(zhǎng)”XXX年XXX月版本信息版本日期編制校對(duì)審核更新描述V1.0初始版本V1.120151127崔曉靜崔曉靜1、 修改數(shù)據(jù)鏈路層描述；2、 刪除31服務(wù)的02子服務(wù)；3、 刪除28服務(wù)的01、02子服務(wù)；4、 刪除27 03、04子服務(wù)；5、 27添加seed為四個(gè)字節(jié)的隨機(jī)數(shù)；6、 seed和key在列表中定4個(gè)字節(jié)；7、 刪除2F 02子服務(wù)；8、 刪除19 06子服務(wù)；9、 status改為僅bit0、3支持10、刪除NRC11

2、；11、F184修改為9個(gè)字節(jié)；12、添加故障碼中英文對(duì)照表；目錄版本信息21.參考文獻(xiàn)52.網(wǎng)絡(luò)拓?fù)?3.診斷接口64.診斷需求74.1.診斷協(xié)議74.1.1.物理層74.1.2.數(shù)據(jù)鏈路層74.1.3.網(wǎng)絡(luò)層74.1.4.應(yīng)用層時(shí)間參數(shù)84.2.Diagnostic Services（ISO14229-1）84.2.1.Supported Diagnostic Services94.2.2.DiagnosticSessionControl（10H）114.2.3.ECUReset (11H)134.2.4.CommunicationControl（28H）144.2.5.SecurityA

3、ccess（27H）154.2.6.TesterPresent（3EH）214.2.7.ControlDTCSetting(85H)214.2.8.ReadDataByIdentifier（22H）234.2.9.WriteDataByIdentifier (2EH)244.2.10.InputOutputControlByIdentifier (2FH)264.2.11.ClearDiagnosticInformation (14H)274.2.12.ReadDTCInformation (19H)284.2.13.RoutineControl (31H)354.2.14.RequestDo

4、wnLoad(34H)374.2.15.TransferData (36H)374.2.16.RequestTransferExit (37H)375.故障定義386.故障碼DTC中英文對(duì)照表38附錄 A: 凍結(jié)幀信息39附錄 B:41B.1 版本信息參數(shù)列表：41B.2 數(shù)據(jù)流參數(shù)列表：41B.3 版本信息參數(shù)定義43B.4 數(shù)據(jù)流參數(shù)定義45術(shù)語DTC故障診斷碼BS Block sizeSTminMinimum Separation Time C有條件的M強(qiáng)制性執(zhí)行U用戶選用TBD待定義SID服務(wù)標(biāo)識(shí)符DID數(shù)據(jù)標(biāo)識(shí)符NRC負(fù)響應(yīng)碼UDS統(tǒng)一的診斷服務(wù)Server服務(wù)器Client客戶端E

5、CU電控單元1. 參考文獻(xiàn)NO.參考文檔題目1 ISO11898-1: 2003 Road vehicles - Controller area network (CAN) Part 1:Data link layer and physical signaling 2 ISO11898-2: 2003 Road vehicles - Controller area network (CAN) Part 2: High-speed medium access unit 3 ISO11898-5: 2007 Road vehicles - Controller area network (CAN)

6、 Part 5: High-speed medium access unit with low-power mode 4 ISO15765-2: 2004 Road Vehicle - Diagnostic on CAN Part 2: Networking Layer Services 5 ISO15765-3: 2004 Road Vehicle - Diagnostic on CAN Part 3: Application Layer Services 6 ISO14229-1: 2006 Road Vehicle - Diagnostic Systems Diagnostic Serv

7、ices Specification 7 ISO15031-6: 2005 Road vehicles - Communication between vehicle and external equipment for emission-related diagnostic Part 6: Diagnostic trouble code definitions 2. 網(wǎng)絡(luò)拓?fù)洹坝删W(wǎng)絡(luò)工程師統(tǒng)一發(fā)布網(wǎng)絡(luò)拓?fù)洹盕ig 1. C70GB-2014整車網(wǎng)絡(luò)拓?fù)浣Y(jié)構(gòu)3. 診斷接口Fig 2. OBD診斷接口管腳描述1EVBUS CAN_H2/3/4接地5接地6/7/8/9EVBUS CAN_L10/1

8、1/12/13/14/15/16電源Tab 1. OBD 診斷接口針腳定義“由線束工程師統(tǒng)一發(fā)布OBD接口定義”4. 診斷需求4.1. 診斷協(xié)議4.1.1. 物理層物理層應(yīng)滿足ISO11898-2要求及北京新能源汽車股份有限公司企業(yè)標(biāo)準(zhǔn)新能源汽車高速 CAN 網(wǎng)絡(luò)節(jié)點(diǎn)級(jí)電子控制單元（ ECU）技術(shù)要求要求。4.1.2. 數(shù)據(jù)鏈路層數(shù)據(jù)鏈路層應(yīng)滿足ISO11898-1要求。所有診斷請(qǐng)求和應(yīng)答幀的數(shù)據(jù)長(zhǎng)度應(yīng)為8字節(jié)，否則電控單元將忽略該診斷請(qǐng)求幀。當(dāng)診斷響應(yīng)長(zhǎng)度不足8字節(jié)時(shí)，空余的字節(jié)應(yīng)用0xAA填充。4.1.3. 網(wǎng)絡(luò)層網(wǎng)絡(luò)層應(yīng)滿足ISO15765-2要求和下述要求：. 尋址方式可

9、以支持物理尋址和功能尋址。診斷消息ID描述見下表：控制器名稱簡(jiǎn)稱物理尋址診斷請(qǐng)求ID(Hex)診斷響應(yīng)ID(Hex)功能尋址診斷請(qǐng)求ID(Hex)實(shí)施網(wǎng)段驅(qū)動(dòng)電機(jī)控制器MCU0x7E00x7E80x7DFEVBUSTab 2. 診斷 ID列表“由網(wǎng)絡(luò)工程師統(tǒng)一發(fā)布所有診斷ID分配，各系統(tǒng)填寫各自的診斷ID至上表”. 網(wǎng)絡(luò)層時(shí)間參數(shù)ParameterValueUnit BS 8- STmin 20msParameterTimeout Performance Requirement Unit N_As/N_Ar 70 n/a ms N_Br n/a 70 ms N_Bs 150 n/

10、a ms N_Cs n/a 70 ms N_Cr 150 n/a ms Tab 3. 網(wǎng)絡(luò)層時(shí)間參數(shù)需求4.1.4. 應(yīng)用層時(shí)間參數(shù)ParameterMin Max Timeout Unit P2server 0 50 n/a msP2client n/a n/a 150 msP2*server 0 2000 n/a msP2* clientn/an/a5000msP3client_phys2 P2server n/a n/a ms P3client_func P2server_max n/a n/a ms ParameterMin Nominal Timeout Unit S3server

11、n/a n/a 5000 ms S3client 0 2000 4000 ms Tab 4. 應(yīng)用層時(shí)間參數(shù)需求4.2. Diagnostic Services（ISO14229-1）Services shall be implemented according to ISO14229-1. Additional details are specified in this section.4.2.1. Supported Diagnostic ServicesThe overview of ECU supported diagnostic services is described in th

12、e following table.Table 5 Supported diagnostic services of ECUDiagnostic Services ListSessionSecurityAccessAddressingSID (Hex)Service NameDefaultExtendedProgrammingPhysical AddressFunction Address10DiagnosticSessionControl 11EcuReset 27SecurityAccess 28CommunicationControl 3ETesterPresent 85ControlD

13、TCSetting 22ReadDataByIdentifier 2EWriteDataByIdentifier 13 2FInputOutputControlByIdentifier 114ClearDiagnosticInformation 19ReadDTCInformation 31RoutineControl 13 34RequestDownLoad336TransferData337RequestTransferExit3說明：訪問權(quán)限1表示需要擴(kuò)展安全級(jí)權(quán)限，3表示需要編程安全級(jí)權(quán)限。The services need to support suppressPositveResp

14、onseBit (SPRS) are showed in following table.Tab 5. Services supported SPRS bitDiagnostic Services ListSupportSPRS bitSID(Hex)Service Name10DiagnosticSessionControl11EcuReset27SecurityAccess28CommunicationControl3ETesterPresent85ControlDTCSetting22ReadDataByIdentifier2EWriteDataByIdentifier14ClearDi

15、agnosticInformation19ReadDTCInformation2FInputOutputContorlByIdentifier31RoutineControl34RequestDownload36TransferData37RequestTransferExitThe negativeResponseCodes (NRC) used by ECU are defined as follows:Tab 6. Negative Response CodesNRC(Hex)Description11HserviceNotSupported12HsubFunctionNotSuppor

16、ted13HincorrectMessageLengthOrInvalidFormat22HconditionsNotCorrect24HrequestSequenceError36HexceededNumberOfAttempts31HrequestOutOfRange33HsecurityAccessDenied37HrequiredTimeDelayNotExpired35HInvalidKey72HgeneralProgrammingFailure78HresponsePending7FHserviceNotSupportedInActiveSession92H/93HVoltageT

17、ooHigh / voltageTooLow7EHsubFunctionNotSupportedInActiveSessionIf two or more NRCs are reasonable, the ECU could send the negative response message according to the following priority rules： The 7Fh NRC have the highest priority; For others, the NRC with smaller number has higher priority.4.2.2. Dia

18、gnosticSessionControl（10H）This service is used by the client to enable different diagnostic sessions in the server(s). A diagnostic session enables a specific set of diagnostic services in the server(s).. Message FormatRequest：ByteNameCvtValue(hex)#1RequestServiceIdentifierM10#2Sub-function =

19、 DefaultSession ProgrammingSessionExtendedDiagnosticSession M010203Positive Response：ByteNameCvtValue#1PositiveResponseServiceIdentifierM50#2Sub-Function=DefaultSessionProgrammingSessionExtendedDiagnosticSession M010203P2server =#3byte#1M00-FF#4byte#2M00-FFP2*server =#5byte#1M00-FF#6byte#2M00-FFTimi

20、ng P2server value is provided in 1ms resolution.Timing P2*server value is provided in 10ms resolution.Negative Response：ByteNameCvtValue#1NegativeResponseServiceIdentifierM7F#2RequestServiceIdentifierM10#3NegativeResponseCodeMNRCSub-function Parameter DefinitionHEXDescription Cvt01 DefaultSessionThi

21、s diagnostic session enables the default diagnostic session in the server(s)and does not support any diagnostic application timeout handling provisions. (e.g. no TesterPresent service is necessary to keep the session active).M02ProgrammingSessionThis diagnostic session enables all diagnostic service

22、s required to supported the memory programming of a server.M03 ExtendedDiagnosticSessionThis diagnostic session can e.g. be used to enable all diagnostic services required to support the adjustment of functions like “Idle Speed, CO Value, etc.” in the servers memory. It can also be used to enable di

23、agnostic services, which are not specifically tied to the adjustment of functions.MNegative Response Codes (NRC)NRC(Hex)DescriptionCvt12 The sub-function parameter in the request message is not supported.M13 The length of the message is wrong.M22 The ECUcurrent conditions do not allow the change ofd

24、iagnostic Session.M. Implementation RulesThis service is used by the diagnostic tool to enable different types of diagnostic sessions in a server. In order to execute a diagnostic service the appropriate session has to be started first.There shall be only one diagnostic session active at a ti

25、me.Normal/Default Session (01h) shall be enabled automatically by the ECU if no diagnostic session has been requested at power up.The ECU shall return to Normal/Default Session (01h) after timeout of ExtendedDiagnostic Session.The ECU shall be capable of providing all diagnostic functionality define

26、d for the default diagnostic session under normal operating conditions.The ECU shall first send a DiagnosticSessionControl Positive Response (50h xx) message before the new session becomes active in the ECU.A DiagnosticSessionControl Positive Response (50h xx) message shall be returned by an ECU if

27、the diagnostic tool requests a session that is already running. If the ECU has already received the same request message previously and performed the requested operation, the ECU shall continue to perform the current operation (i.e. it is not a change of the session).The ECU shall remain in its curr

28、ent diagnostic session if it is not able to switch into the requested diagnostic session.The TesterPresent (3Eh) service shall be used to keep the non-default diagnostic sessions active by retriggering S3server. Also any other service request shall retrigger S3server.A functional TesterPresent (3Eh)

29、 request without response may be sent at any time, even regardless of any other service in progress.When receiving or transmitting any diagnostic messages, including 3Eh service, the S3servertimer will reset.Fig 3. Session transition diagram4.2.3. ECUReset (11H)This service requests the server to ef

30、fectively perform an ECU reset based on the content of the ResetType parameter value (suppressPosRspMsgIndicationBit (bit 7) not shown).. Message FormatRequest：ByteNameCvtValue(hex)#1RequestServiceIdentifierM11#2Sub-Function= ResetType: HardResetSoftResetM0103Positive Response：ByteNameCvtValu

31、e#1PositiveResponseServiceIdentifierM51#2Sub-Function= ResetType: HardResetSoftResetM0103Negative Response：ByteNameCvtValue#1NegativeResponseServiceIdentifierM7F#2RequestServiceIdentifierM11#3NegativeResponseCodeMNRCSub-function Parameter DefinitionOption (Hex) Description Cvt01 HardResetThis value

32、identifies a “hard reset” condition which simulates the power-on / start-up sequence typically performed after a server has been previously disconnected from its power supply (i.e. battery).M03SoftResetThis value identifies a “soft reset” condition, which causes the server to immediately restart the

33、 application program if applicable. The performed action is implementation specific and not defined by the standard. A typical action is to restart the application without reinitializing of previously learned configuration data, adaptive factors and other long-term adjustments.MNegative Response Cod

34、es (NRC)NRC (Hex) Conditions Cvt12 Sub-function parameter in the request message is not supported. M13 The length of the message is wrong M22The criteria for the ECUReset request are not met.M. Implementation RulesThe positive response shall be sent before performing the ECU reset.The executi

35、on of reset will take ms, which means the ECU cant respond to any new request sent within this time.4.2.4. CommunicationControl（28H）The service is used to “switch on/off” the transmission and/or the reception of certain messages of (a) server(s).. Message FormatRequest：ByteNameCvtValue(hex)#1

36、RequestServiceIdentifierM28#2Sub-Function = EnableRxAndTxDisableRxAndTx M0003#3CommunicationType= NormalCommunicationMessagesNetworkManagementCommunicationMessages NetworkManagementCommunicationMessagesAndNormalCommunicationMessages M010203Positive Response：ByteNameCvtValue#1PositiveResponseServiceI

37、dentifierM68#2Sub-Function = EnableRxAndTxEnableRxAndDisableTx DisableRxAndEnableTxDisableRxAndTx M00010203Negative Response：ByteNameCvtValue#1NegativeResponseServiceIdentifierM7F#2RequestServiceIdentifierM28#3NegativeResponseCodeMNRCNegative Response Codes(NRC)NRC (Hex) Conditions Cvt12 Sub-functio

38、n parameter in the request message is not supported. M13 The length of the message is wrongM22The operating conditions of the server are not met to perform the required action.M31None of the requested CommunicationType values are supported by the device.MSub-function Parameter Definition：Option(hex)

39、Description Cvt00EnableRxAndTxThis value indicates that the reception and transmission of messages shall be enabled for the specified CommunicationType.M03DisableRxAndTxThis value indicates that the reception and transmission of messages shall be disabled for the specified CommunicationType.MData Pa

40、rameter Definition：Option(hex)Description Cvt01NormalCommunicationMessagesThis value references all application-related communication (inter-application signal exchange between multiple in-vehicle servers).M02NetworkManagementCommunicationMessagesThis value references all network management related

41、communication.M03NetworkManagementCommunicationMessagesAndNormalCommunicationMessagesThis value references all network management and application-related communicationM. Implementation RulesThere are no special general implementation rules for this service.4.2.5. SecurityAccess（27H）The purpos

42、e of this service is to provide a means to access data and/or diagnostic services, which have restricted access for security or safety reasons. Diagnostic services for downloading/uploading routines or data into a server and reading specific memory locations from a server are situations where securi

43、ty access may be required. Improper routines or data downloaded into a server could potentially damage the electronics or other vehicle components or risk the vehicles compliance to safety, or security standards. The security concept uses a seed and key relationship.The client shall request the serv

44、er to unlock by sending the service SecurityAccess-RequestSeed message. The server shall respond by sending a seed. The seed is the input parameter for the key calculation algorithm. It is used by the client to calculate the corresponding key value.In a second step, the client shall request the key

45、comparison by sending the calculated key to the server using the appropriate service SecurityAccess-SendKey. The server shall compare this key to one internally stored/calculated. If the two numbers match, then the server shall enable (unlock) the clients access to specific services/data and indicat

46、e that with the service SecurityAccess-SendKey. If the two numbers do not match, this shall be considered as a false access attempt. If access is rejected for any other reason, it shall not be considered as a false access attempt. An invalid key requires the client to start over from the beginning w

47、ith a SecurityAccess-RequestSeed message.If a server supports security, but is already unlocked when a SecurityAccess-RequestSeed message is received, that server shall respond with a SecurityAccess-RequestSeed positive response message service with a seed value equal to zero (0). The client shall u

48、se this method to determine if a server is locked by checking for a non-zero seed.The Seed-Key algorithmfor SecurityAccess（Mandatory）：Key = (seed4) XOR seed)3) XOR seed)。The Security Seed is 4Bytes random numbers.Fig 4. Security Access procedure. Message Format.1. Request SeedThis serv

49、ice requests a seed from the server. Based on this seed, the client is able to calculate the corresponding key to be sent for unlocking the server.Request：ByteNameCvtValue(hex)#1RequestServiceIdentifierM27#2SecurityAccessType = RequestSeedM01，11Positive Response：ByteNameCvtValue#1PositiveResponseSer

50、viceIdentifierM67#2SecurityAccessType = RequestSeedM01，11SecuritySeed = M#3seed#1 (high byte)M00-FF#6seed#m (low byte) M00-FFNegative Response：ByteNameCvtValue#1NegativeResponseServiceIdentifierM7F#2RequestServiceIdentifierM27#3NegativeResponseCodeMNRCNegative Response Codes(NRC)NRC (Hex) Conditions

51、 Cvt12 Sub-function parameter in the request message is not supported. M13 The length of the message is wrong.M22 The criteria for the SecurityAccess request are not met.M37requiredTimeDelayNotExpiredM.2. Send KeyThis service sends a key calculated by the client to the server. The server shal

52、l compare this key to one internally stored/calculated. If the two numbers match, then the server shall enable (“unlock”) the clients access to specific services/data.Request：ByteNameCvtValue(hex)#1RequestServiceIdentifierM27#2SecurityAccessType = SendKeyM02，12SecurityKey = M#3key#1 (high byte)M00-FF#6key#m (low byte) M00-FFPositive Response：ByteNameCvtValue#1PositiveResponseServiceIdentifierM67#2Secur