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1、.整车控制器 系统诊断规范 “EV160”文件编号：“ EV160-20150002014”编制：校对：审核： “业务高级经理”会签： “控制系统集成主管”批准： “部长”XXX 年 XXX 月;.版本信息版本日期编制校对审核更新描述V1.0初始版本1、修改数据链路层描述；2、删除 31 服务的 02 子服务；3、删除 28 服务的 01、02 子服务；4、删除 27 03、 04 子服务；5、 27 添加 seed为四个字节的随机数；V1.1 20151127崔晓静崔晓静6、 seed和 key 在列表中定4 个字节；7、删除 2F 02 子服务；8、删除 19 06 子服务；9、 stat
2、us改为仅 bit0 、3 支持10、删除 NRC11；11、F184 修改为 9 个字节；12、添加故障码中英文对照表；;.目录版本信息21. 参考文献52. 网络拓扑53. 诊断接口64. 诊断需求74.1. 诊断协议74.1.1. 物理层74.1.2. 数据链路层74.1.3. 网络层74.1.4. 应用层时间参数84.2. Diagnostic Services（ISO14229-1）84.2.1. Supported Diagnostic Services94.2.2. DiagnosticSessionControl（10H）114.2.3. ECUReset (11H)134.2
3、.4. CommunicationControl（28H）144.2.5. SecurityAccess（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. ReadDTCInformatio
4、n (19H)284.2.13. RoutineControl (31H)354.2.14. RequestDownLoad(34H)374.2.15. TransferData (36H)374.2.16. RequestTransferExit (37H)375. 故障定义386. 故障码 DTC中英文对照表38附录 A: 冻结帧信息40附录 B:42B.1 版本信息参数列表：42;.B.2 数据流参数列表：42B.3 版本信息参数定义44B.4 数据流参数定义46;.术语DTC故障诊断码BSBlock sizeSTminMinimum Separation TimeC有条件的M强制性执行
5、U用户选用TBD待定义SID服务标识符DID数据标识符NRC负响应码UDS统一的诊断服务Server服务器Client客户端ECU电控单元1. 参考文献NO.参考文档题目1 ISO11898-1:Road vehicles - Controller area network (CAN)2003Part 1:Data link layer and physical signaling2 ISO11898-2:Road vehicles - Controller area network (CAN)2003Part 2: High-speed medium access unit3 ISO1189
6、8-5:Road vehicles - Controller area network (CAN)2007Part 5: High-speed medium access unit with low-power mode4 ISO15765-2:Road Vehicle - Diagnostic on CAN2004Part 2: Networking Layer Services5 ISO15765-3:Road Vehicle - Diagnostic on CAN2004Part 3: Application Layer Services6 ISO14229-1:Road Vehicle
7、 - Diagnostic Systems Diagnostic Services2006Specification7 ISO15031-6:Road vehicles - Communication between vehicle and2005external equipment for emission-related diagnosticPart 6: Diagnostic trouble code definitions2. 网络拓扑;.“由网络工程师统一发布网络拓扑”Fig 1. C70GB-2014整车网络拓扑结构3. 诊断接口Fig 2.OBD 诊断接口管脚描述1EVBUS C
8、AN_H2/;.3/4接地5接地6/7/8/9EVBUS CAN_L10/11/12/13/14/15/16电源Tab 1.OBD 诊断接口针脚定义“由线束工程师统一发布OBD接口定义”4. 诊断需求4.1.诊断协议4.1.1. 物理层物理层应满足 ISO11898-2 要求及北京新能源汽车股份有限公司企业标准新能源汽车高速 CAN 网络节点级电子控制单元（ ECU）技术要求要求。4.1.2. 数据链路层数据链路层应满足ISO11898-1要求。所有诊断请求和应答帧的数据长度应为 8 字节，否则电控单元将忽略该诊断请求帧。当诊断响应长度不足 8 字节时，空余的字节应用 0xAA 填充。4.1.
9、3. 网络层网络层应满足 ISO15765-2要求和下述要求：;.4.1.3.1. 寻址方式可以支持物理寻址和功能寻址。诊断消息 ID 描述见下表：控制器名称简称物理寻址诊断请求诊断响应功能寻址诊断请求实施网段ID(Hex)ID(Hex)ID(Hex)驱动电机控制器MCU0x7E00x7E80x7DFEVBUSTab 2.诊断ID 列表“由网络工程师统一发布所有诊断ID 分配，各系统填写各自的诊断ID 至上表”4.1.3.2. 网络层时间参数ParameterValueUnitBS8-STmin20msParameterTimeoutPerformance RequirementUnitN_A
10、s/N_Ar70n/amsN_Brn/a70msN_Bs150n/amsN_Csn/a70msN_Cr150n/amsTab 3.网络层时间参数需求4.1.4. 应用层时间参数ParameterMinMaxTimeoutUnitP2server050n/amsP2clientn/an/a150msP2*server02000n/amsP2* clientn/an/a5000msP3client_phys2P2servern/an/amsP3client_funcP2server_maxn/an/amsParameterMinNominalTimeoutUnitS3servern/an/a500
11、0msS3client020004000msTab 4.应用层时间参数需求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 the following tabl
12、e.Table 5 Supported diagnostic services of ECUDiagnostic Services ListSessionSecurAddressingSIDDefaExtenProgramityPhysicalFunctionService NamemingAcce(Hex)ultdedssAddressAddress10DiagnosticSessionControl11EcuReset27SecurityAccess28CommunicationControl3ETesterPresent85ControlDTCSetting22ReadDataByIde
13、ntifier2EWriteDataByIdentifie1r32FInputOutputControlB1yIdentifier14ClearDiagnosticInformation19ReadDTCInformation31RoutineControl1334RequestDownLoad336TransferData337RequestTransferExit3说明：访问权限 1 表示需要扩展安全级权限， 3 表示需要编程安全级权限。The services need to support suppressPositveResponseBit (SPRS) are showed in
14、following table.Tab 5. Services supported SPRS bit Diagnostic Services ListSupportSIDService NameSPRS bit(Hex)10DiagnosticSessionControl;.Tab 6.Diagnostic Services ListSupportSIDService NameSPRS bit(Hex)11EcuReset27SecurityAccess28CommunicationControl3ETesterPresent85ControlDTCSetting22ReadDataByIde
15、ntifier2EWriteDataByIdentifier14ClearDiagnosticInformation19ReadDTCInformation2FInputOutputContorlByIdentifier31RoutineControl34RequestDownload36TransferData37RequestTransferExitThe negativeResponseCodes (NRC) used by ECU are defined as follows:Negative Response CodesNRC(Hex)Description11HserviceNot
16、Supported12HsubFunctionNotSupported13HincorrectMessageLengthOrInvalidFormat22HconditionsNotCorrect24HrequestSequenceError36HexceededNumberOfAttempts31HrequestOutOfRange33HsecurityAccessDenied37HrequiredTimeDelayNotExpired35HInvalidKey72HgeneralProgrammingFailure78HresponsePending7FHserviceNotSupport
17、edInActiveSession92H/93HVoltageTooHigh / 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 nu
18、mber has higher priority.4.2.2. DiagnosticSessionControl （10H ）This service is used by the client to enable different diagnostic sessionsin the server(s). A diagnostic session enables a specific set of diagnostic services in the server(s).4.2.2.1. Message FormatRequest：ByteName#1RequestServiceIdenti
19、fierSub-function = CvtValue(hex)M10#2DefaultSessionProgrammingSessionExtendedDiagnosticSession 01M0203Positive Response：ByteName#1PositiveResponseServiceIdentifierSub-Function=#2DefaultSessionProgrammingSessionExtendedDiagnosticSession P2server =#3byte#1#4byte#2P2*server =#5byte#1#6byte#2Timing P2se
20、rver value is provided in 1ms resolution.Timing P2*server value is provided in 10ms resolution.CvtValueM50M 010203M00-FFM00-FFM 00-FFM00-FFNegative Response：ByteNameCvtValue#1NegativeResponseServiceIdentifierM7F#2RequestServiceIdentifierM10#3NegativeResponseCodeMNRCSub-function Parameter DefinitionH
21、EXDescriptionCvt01DefaultSessionMThis 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).02ProgrammingSessionMThis diagnostic s
22、ession enables all diagnostic services required tosupported the memory programming of a server.03ExtendedDiagnosticSessionMThis diagnostic session can e.g. be used to enable all diagnosticservices required to support the adjustment of functions like“ IdleSpeed, CO Value, etc.” in the server s memory
23、. It can also be usedto enable diagnostic services, which are not specifically tied to theadjustment of functions.Negative Response Codes (NRC)NRC(Hex)DescriptionCvt12The sub-function parameter in the request message is not supported.M13The length of the message is wrong.M22The ECUcurrent conditions
24、 do not allow the change ofdiagnosticMSession.4.2.2.2. 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 diagno
25、stic session active at a time.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 diag
26、nostic functionality defined 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 shal
27、l be returned by an ECU if 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 E
28、CU shall remain in its current 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 fun
29、ctional TesterPresent(3Eh) 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
30、 requests the server to effectively perform an ECU reset based on the content of the ResetType parameter value (suppressPosRspMsgIndicationBit(bit 7) not shown).4.2.3.1. Message FormatRequest：ByteNameCvtValue(hex)#1RequestServiceIdentifierM11Sub-Function= #2ResetType: HardResetM01SoftReset03Positive
31、 Response：ByteNameCvtValue#1PositiveResponseServiceIdentifierM51Sub-Function=#2ResetType: HardResetM01SoftReset03Negative Response：ByteNameCvtValue#1NegativeResponseServiceIdentifierM7F#2RequestServiceIdentifierM11#3NegativeResponseCodeMNRCSub-function Parameter DefinitionOption (Hex)DescriptionCvt0
32、1HardResetMThis value identifies a“ hard reset” condition which simulates the;.power-on / start-up sequence typically performed after a server has beenpreviously disconnected from its power supply (i.e. battery).03SoftResetMThis value identifies a“ softndition,reset which” causes the server toimmedi
33、ately restart the application program if applicable. The performedaction is implementation specific and not defined by the standard. Atypical action is to restart the application without reinitializing ofpreviously learned configuration data, adaptive factors and other long-termadjustments.Negative
34、Response Codes (NRC)NRC (Hex)ConditionsCvt12Sub-function parameter in the request message is not supported.M13The length of the message is wrongM22The criteria for the ECUReset request are not met.M4.2.3.2. Implementation RulesThe positive response shall be sent before performing the ECU reset.The e
35、xecution of reset will take ms, which means the ECU cantrespond 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).4.2.4.1. Message FormatRequest：ByteNameCvtVal
36、ue(hex)#1RequestServiceIdentifierM28Sub-Function = #2EnableRxAndTxM00DisableRxAndTx 03CommunicationType= NormalCommunicationMessagesNetworkManagementCommunication01#3MessagesM02NetworkManagementCommunicationMessages03AndNormalCommunicationMessages Positive Response：ByteNameCvtValue#1PositiveResponseServiceIdentifierM68Sub-Function = EnableRxAndTx00#2EnableRxAndDisableTxM01DisableRxAndEnableTx02DisableRxAndTx 03;.Negative Response：ByteNameCvtValue#1NegativeRe