ISO-15765-4-2005.pdf

Reference number ISO 15765-4:2005(E) © ISO 2005 INTERNATIONAL STANDARD ISO 15765-4 First edition 2005-01-15 Road vehicles Diagnostics on Controller Area Networks (CAN) Part 4: Requirements for emissions-related systems Véhicules routiers Diagnostic sur gestionnaire de réseau de communication (CAN) Partie 4: Exigences applicables aux systèmes associés aux émissions ISO 15765-4:2005(E) PDF disclaimer This PDF file may contain embedded typefaces. In accordance with Adobe's licensing policy, this file may be printed or viewed but shall not be edited unless the typefaces which are embedded are licensed to and installed on the computer performing the editing. In downloading this file, parties accept therein the responsibility of not infringing Adobe's licensing policy. The ISO Central Secretariat accepts no liability in this area. Adobe is a trademark of Adobe Systems Incorporated. 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ISO copyright office Case postale 56 CH-1211 Geneva 20 Tel. + 41 22 749 01 11 Fax + 41 22 749 09 47 E-mail copyrightiso.org Web www.iso.org Published in Switzerland ii © ISO 2005 All rights reserved -,-,- ISO 15765-4:2005(E) © ISO 2005 All rights reserved iii Contents Page Forewordiv Introduction v 1 Scope1 2 Normative references .1 3 Terms, definitions, symbols and abbreviated terms.1 4 External test equipment initialization sequence2 4.1 General.2 4.2 11 bit CAN identifier verification procedure.4 4.2.1 Request message transmit procedure4 4.2.2 Response handling procedure 5 4.3 29 bit CAN identifier verification procedure.7 4.3.1 Request message transmit procedure7 4.3.2 Response handling procedure 8 5 Session layer.9 6 Network layer.10 6.1 General.10 6.2 Addressing formats 10 6.3 Data link layer interface10 6.3.1 CAN identifier requirements 10 6.3.2 Mapping of diagnostic addresses.10 6.4 Network layer parameters13 6.4.1 Network layer timing parameter values13 6.4.2 Definition of external test equipment network layer parameter values 13 6.4.3 Maximum number of legislated-OBD ECUs .14 7 Data link layer14 8 Physical layer 14 8.1 General.14 8.2 External test equipment baudrates.14 8.3 External test equipment CAN bit timing.15 8.3.1 CAN bit timing parameter values 15 8.3.2 Nominal baudrate 250 kBit/s16 8.3.3 Nominal baudrate 500 kBit/s17 8.4 External test equipment .17 8.4.1 General.17 8.4.2 CAN interface 18 8.4.3 External-test-equipment cable.20 Bibliography .21 ISO 15765-4:2005(E) iv © ISO 2005 All rights reserved Foreword ISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO member bodies). The work of preparing International Standards is normally carried out through ISO technical committees. Each member body interested in a subject for which a technical 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. ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization. International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 2. The main task of technical committees is to prepare International Standards. Draft International Standards adopted by the technical committees are circulated to the member bodies for voting. Publication as an International Standard requires approval by at least 75 % of the member bodies casting a vote. Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights. ISO shall not be held responsible for identifying any or all such patent rights. ISO 15765-4 was prepared by Technical Committee ISO/TC 22, Road vehicles, Subcommittee SC 3, Electrical and electronic equipment. ISO 15765 consists of the following parts, under the general title Road vehicles Diagnostics on Controller Area Networks (CAN): Part 1: General information Part 2: Network layer services Part 3: Implementation of unified diagnostic services (UDS on CAN) Part 4: Requirements for emissions-related systems -,-,- ISO 15765-4:2005(E) © ISO 2005 All rights reserved v Introduction This part of ISO 15765 has been established in order to define common requirements for vehicle diagnostic systems implemented on a Controller Area Network (CAN) communication link, as specified in ISO 11898. Although primarily intended for diagnostic systems, it also meets requirements from other CAN-based systems needing a network layer protocol. To achieve this, it is based on the Open Systems Interconnection (OSI) Basic Reference Model specified in ISO/IEC 7498 and ISO/IEC 10731, which structures communication systems into seven layers. When mapped on this model, the services specified by ISO 15765 are divided into unified diagnostic services (layer 7), specified in ISO 15765-3, network layer services (layer 3), specified in ISO 15765-2, CAN services (layers 1 and 2), specified in ISO 11898, in accordance with Table 1. The application layer services covered by ISO 15765-3 have been defined in compliance with diagnostic services established in ISO 14229-1 and ISO 15031-5, but are not limited to use only with them. ISO 15765-3 is also compatible with most diagnostic services defined in national standards or vehicle manufacturer's specifications. The network layer services covered by ISO 15765-2 have been defined to be independent of the physical layer implemented, and a physical layer is only specified for legislated OBD. For other application areas, ISO 15765 can be used with any CAN physical layer. Table 1 Enhanced and legislated-OBD diagnostic specifications applicable to the OSI layers Open Systems Interconnection (OSI) layers Vehicle manufacturer enhanced diagnostics Legislated on-board diagnostics (OBD) Diagnostic application User defined ISO 15031-5 Application layer ISO 15765-3 ISO 15031-5 Presentation layer N/A N/A Session layer ISO 15765-3 N/A Transport layer N/A N/A Network layer ISO 15765-2 ISO 15765-4 Data link layer ISO 11898-1 ISO 15765-4 Physical layer User defined ISO 15765-4 -,-,- -,-,- INTERNATIONAL STANDARD ISO 15765-4:2005(E) © ISO 2005 All rights reserved 1 Road vehicles Diagnostics on Controller Area Networks (CAN) Part 4: Requirements for emissions-related systems 1 Scope This part of ISO 15765 specifies requirements for the emissions-related systems of legislated-OBD-compliant controller area networks (CAN), such communications networks consisting of a road vehicle equipped with a single or multiple emissions-related ECUs and external test equipment. It is based on the specifications of ISO 15765-2, ISO 11898-1 and ISO 11898-2, while placing restrictions on those standards for legislated-OBD purposes. It does not specify in-vehicle CAN bus architecture. Legislated-OBD-compliant vehicles are to comply with external test equipment requirements. 2 Normative references The following referenced documents are indispensable for the application of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies. ISO 11898 (all parts), Road vehicles Controller area network (CAN) ISO 14229-1, Road vehicles Unified diagnostic services (UDS) Part 1: Specification and requirements 1) ISO 15765-2, Road vehicles Diagnostics on Controller Area Networks (CAN) Part 2: Network layer services ISO 15031-5, Road vehicles Communication between vehicle and external equipment for emissions-related diagnostics Part 5: Emissions-related diagnostic services 1) 3 Terms, definitions, symbols and abbreviated terms For the purposes of this document, the terms and definitions given in ISO 14229-1 and the following symbols and abbreviated terms apply. C1, C2 capacitance of a.c. termination CCAN_H capacitance between CAN_H and ground potential CCAN_L capacitance between CAN_L and ground potential CDIFF capacitance between CAN_H and CAN_L 1) To be published. ISO 15765-4:2005(E) 2 © ISO 2005 All rights reserved LCABLE max. cable length between OBD connector and external test equipment R1, R2 resistance of a.c. termination tSEG1 timing segment 1 tSEG2 timing segment 2 tSYNCSEG synchronization segment tBIT bit time tBIT_RX receive bit time tBIT_TX transmit bit time tTOOL external test equipment CAN interface propagation delay (without external test equipment cable delay) tCABLE external-test-equipment cable propagation delay (without external test equipment CAN interface delay) tQ time quantum f oscillator tolerance ECU electronic control unit OBD on-board diagnostics Prop_Seg propagation segment Phase_Seg1 phase segment 1 Phase_Seg2 phase segment 2 SA source address SJW synchronization jump width SP nominal sample point Sync_Seg synchronization segment TA target address 4 External test equipment initialization sequence 4.1 General The external test equipment shall support the initialization sequence specified in this part of ISO 15765. See Figure 1. The purpose of the external test equipment initialization sequence is to automatically detect whether the vehicle supports legislated on-board diagnostics on CAN using the physical layer specified in Clause 8. Furthermore, the initialization sequence determines the legislated-OBD ECUs (CAN Id, see 6.3) expected to respond to ISO 15031-5 service 01 hex requests. Note that for each legislated-OBD service that requires the determination of “supported” information, the external test equipment has to update its list of expected responding legislated-OBD ECUs prior to any data parameter requests (see ISO 15031-5 for applicable services). The external test equipment initialization sequence supports single baudrate initialization (e.g. 500 kBit/s) and multiple baudrate initialization (e.g. 250 kBit/s and 500 kBit/s) and is separated into ISO 15765-4:2005(E) © ISO 2005 All rights reserved 3 a) 11 bit CAN identifier verification procedure (see 4.2), and b) 29 bit CAN identifier verification procedure (see 4.3). The external test equipment initialization sequence contains provisions for legacy vehicles using either CAN (same or different physical layer as defined for legislated OBD) or a different protocol (non-CAN) on the CAN pins of the ISO 15031-3 diagnostic connector. Figure 1 Initialization sequence Overview The parameter baudrateRecord shall be used to specify the type of initialization to be performed. If the baudrateRecord parameter contains a single baudrate, then a single baudrate initialization sequence shall be performed using the specified single baudrate (e.g. 500 kBit/s). If the baudrateRecord parameter contains multiple baudrates, then a multiple baudrate initialization sequence including a baudrate detection procedure shall be performed using the specified multiple baudrates (e.g. 250 kBit/s and 500 kBit/s). -,-,- ISO 15765-4:2005(E) 4 © ISO 2005 All rights reserved By default the baudrateRecord contains all baudrates specified in 8.3. The default content of the parameter baudrateRecord can be superseded by any other list of baudrates, e.g. single 500 kBit/s baudrate as specified in 8.3.3. For legislated-OBD baudrates, the external test equipment shall use the appropriate CAN bit timing parameter values defined in 8.3. The following descriptions of the external test equipment initialization make use of the connectors A to F as shown in Figure 1 to reference certain entry and exit points. 4.2 11 bit CAN identifier verification procedure 4.2.1 Request message transmit procedure The purpose of the 11 bit CAN identifier verification procedure is to determine whether 11 bit CAN identifiers are being used in legislated-OBD communication and, if multiple baudrates are specified in the baudrateRecord parameter, to determine the baudrate to be used in such communication. The following transmit procedure shall be used to transmit the request message of the 11 bit CAN identifier verification procedure. The transmit procedure contains provisions for legacy vehicles which use either CAN (same or different physical layer as defined for legislated OBD) or a different protocol (non CAN) on the CAN pins of the ISO 15031-3 diagnostic connector. Where the vehicle uses a CAN with a physical layer different from that specified for legislated OBD (Clause 8) or a non-CAN protocol on the CAN pins of the OBD connector, the transmit procedure given as follows shall guarantee that in all cases the external test equipment will detect that the vehicle does not support CAN as specified for legislated OBD and will stop the transmission of the request message immediately. Where the vehicle uses CAN and the physical layer according to Clause 8, the transmit procedure given as follows shall guarantee that in all cases the external test equipment will detect that it uses the wrong baudrate for the transmission of the request message and will stop disturbing the CAN bus immediately. Under normal in-vehicle conditions (i.e. no error frames during in-vehicle communication when the external test equipment is disconnected), the external test equipment will disable its CAN interface prior to the situation where the internal error counters of the OBD ECU(s) reach critical values. To achieve this, the external test equipment shall support the following features. Possibility to stop sending immediately during transmission of any CAN frame. The CAN interface should be disconnected within 12 µs from reception of a bus error signal. The maximum time for the disconnection is 100 µs. With the CAN interface disconnected, the external test equipment shall not be able to transmit dominant bits on the CAN bus. Possibility to immediately detect any error on the CAN bus. The procedure shall be performed as follows. See Figure 2. a) The external test equipment shall set up its CAN interface using the first baudrate contained in the baudrateRecord. It shall use the CAN bit timing parameter values defined for this baudr