AUTOSAR CountdownAdvent Calendar 2022

ISO 15765-2:2016 Road vehicles - Diagnostic communication over Controller Area Network (DoCAN) - Part 2: Transport protocol and network layer services

Last updated at 2024-08-11Posted at 2022-02-03

ISO 15765-2:2016 Road vehicles — Diagnostic communication over Controller Area Network (DoCAN) — Part 2: Transport protocol and network layer services
https://www.iso.org/standard/66574.html

Foreword
Introduction
1 Scope
2 Normative references
3 Terms, definitions and abbreviated terms
3.1 Terms and definitions
3.2 Abbreviated terms
4 Conventions
5 Document overview.
6 ISO 11898-1 CAN data link layer extension
6.1 CLASSICAL CAN and CAN FD frame feature comparison
6.2 Illustration of CAN parameters for transport protocol and network layer services
6.3 Additional requirements for CAN FD
7 Network layer overview
7.1 General
7.2 Services provided by network layer to higher layers
7.3 Internal operation of network layer
8 Network layer services
8.1 General
8.2 Specification of network layer service primitives
8.2.1 N_USData.request
8.2.2 N_USData.confirm
8.2.3 N_USData_FF.indication
8.2.4 N_USData.indication
8.2.5 N_ChangeParameters.request
8.2.6 N_ChangeParameter.confirm
8.3 Service data unit specification
8.3.1 Mtype, message type
8.3.2 N_AI, address information
8.3.3
8.3.4
8.3.5
8.3.6
8.3.7
8.3.8
9 Transport layer protocol
9.1 Protocol functions
9.2 SingleFrame transmission
9.2.1 SingleFrame transmission with TX_DL = 8.
9.2.2 SingleFrame transmission with TX_D > 8
9.3 Multiple-frame transmission
9.4 Transport layer protocol data units
9.4.1 Protocol data unit types
9.4.2 SF N_PDU
9.4.3 FF N_PDU
9.4.4 CF N_PDU
9.4.5 FC N_PDU
9.4.6 Protocol data unit field description
9.5 Transmit data link layer data length (TX_DL) configuration
9.5.1 Definition of TX_DL configuration values
9.5.2 Creating CAN frames based on N_TAtype and TX_DL
9.5.3 Verifying the correctness of received CAN frames
9.5.4 Receiver determination RX_DL
9.6 Protocol control information specification
9.6.1 N_PCI
9.6.2 SingleFrame N_PCI parameter definition
9.6.3 FirstFrame N_PCI parameter definition
9.6.4 ConsecutiveFrame N_PCI parameter definition
9.6.5 FlowControl N_PCI parameter definition
9.7 Maximum number of FC.WAIT frame transmissions (N_WFTmax)
9.8 Network layer timing
9.8.1 Timing parameters
9.8.2 Network layer timeouts
9.8.3 Unexpected arrival of N_PDU
9.8.4 Wait frame error handling
9.9 Interleaving of messages
10 Data link layer usage
10.1 Data link layer service parameters
10.2 Data link layer interface services
10.2.1 L_Data.request
10.2.2 L_Data.confirm
10.2.3 L_Data.indication
10.3 Mapping of the N_PDU fields
10.3.1 Addressing formats
10.3.2 Normal addressing
10.3.3 Normal fixed addressing
10.3.4 Extended addressing
10.3.5 Mixed addressing
10.4 CAN frame data length code (DLC)
10.4.1 DLC parameter
10.4.2 CAN frame data
10.4.3 Data length code (DLC) error handling
Annex A (normative) Use of normal fixed and mixed addressing with data link layer
according to SAE J1939
Annex B (normative) Reserved CAN IDs
Bibliography

2 Normative references

ISO/IEC 7498-1, Information technology — Open Systems Interconnection — Basic Reference Model: The Basic Model — Part 1
ISO 11898-1:20152, Road vehicles — Controller area network (CAN) — Part 1: Data link layer and physical signalling

3 Terms, definitions and abbreviated terms

3.1 Terms and definitions

For the purposes of this document, the terms and definitions given in ISO/IEC 7498-1, ISO 11898-1 and the following apply.

3.1.1 CAN frame data length

CAN_DL
physical length of CAN frame data/payload in bytes
Note 1 to entry: See Table 3.

3.1.2 transmit data link layer data length

TX_DL
configures the maximum usable payload length in bytes of the data link layer in the transmitter for the application that implements the network layer as defined in this part of ISO 15765
Note 1 to entry: The TX_DL is a fixed configuration value on the sender side for the PDU transmission.

3.1.3 Received data link layer data length

RX_DL
retrieved maximum usable payload length in bytes of the data link layer in the receiver for the application that implements the network layer as defined in this part of ISO 15765
Note 1 to entry: The RX_DL value is retrieved from the FirstFrame (FF) CAN_DL of a segmented PDU and is used to verify the correct data length of ConsecutiveFrames (CF).

3.2 Abbreviated terms

For the purposes of this part of ISO 15765, the following abbreviated terms apply.
BRS bit rate switch
BS BlockSize
CAN controller area network
CAN_DL CAN frame data link layer data length in bytes
CAN FD controller area network with flexible data rate and larger payload as defined in ISO 11898-1
CLASSICAL CAN controller area network with static data rate and up to 8 data bytes as defined in ISO 11898-1
CF ConsecutiveFrame
CTS continue to send
DLC CAN frame data link layer data length code
DoCAN diagnostic communication over CAN
ECU electronic control unit
FC FlowControl
FF FirstFrame
FF_DL FirstFrame data length in bytes
FMI failure mode indicator
FS FlowStatus
Mtype message type
N/A not applicable
N_AE network address extension
N_AI network address information
N_Ar network layer timing parameter Ar
N_As network layer timing parameter As
N_Br network layer timing parameter Br
N_Bs network layer timing parameter Bs
N_ChangeParameter network layer service name
N_Cr network layer timing parameter Cr
N_Cs network layer timing parameter Cs
N_Data network data
N_PCI network protocol control information
N_PCItype network protocol control information type
N_PDU network protocol data unit
N_SA network source address
N_SDU network service data unit
N_TA network target address
N_TAtype network target address type
N_USData network layer unacknowledged segmented data transfer service name
NW network
NWL network layer
OBD on-board diagnostics
OSI Open Systems Interconnection
PCI protocol control information
RX_DL received data link layer data length in bytes
SF SingleFrame
SF_DL SingleFrame data length in bytes
SN SequenceNumber
SPN suspect parameter number
STmin SeparationTime minimum
TX_DL transmit data link layer data length in bytes
UDS unified diagnostic services
WWH-OBD world-wide harmonized OBD

4 Conventions

This International Standard is based on the conventions discussed in the OSI service conventions
(ISO/IEC 10731) as they apply for diagnostic services.

5 Document overview

Figure 1 illustrates the most applicable application implementations utilizing the DoCAN protocol.
Figure 1 — DoCAN document reference according to the OSI model

6 ISO 11898-1 CAN data link layer extension

6.1 CLASSICAL CAN and CAN FD frame feature comparison

ISO 11898-1 CLASSICAL CAN frames support payload lengths up to a maximum of 8 bytes. ISO 11898-1
CAN FD frames support payload lengths up to a maximum of 64 bytes. Therefore, the segmented
transfer of data using FirstFrame (FF), FlowControl (FC) and ConsecutiveFrame (CF) type frames
needs to be implemented with a variable configurable payload length without changing the original
protocol concept. The SF frame type has also been adapted to support the increased payload length
allowed with CAN FD frames.
Table 2 outlines the different features of the CAN frame types provided by ISO 11898-1.
Table 2 — CAN frame feature comparison
RefNo Feature CLASSICAL CAN CAN FD
Payload length 0..8 bytes
#1 Yes Yes
Data length code (DLC) 0..8
Payload length 8 bytes
#2 Yes No
Data length code (DLC) 9..15
Payload length 12..64 bytes
#3 No Yes
Data length code (DLC) 9..15
Different bit rates supported for the arbitration and
#4 No Yes
data phases of a CAN frame.
#5 Remote transmission request (RTR) Yes No
For CLASSICAL CAN, the DLC values 9..15 are automatically reduced to the value of 8 which leads to the maximum
possible CAN_DL for CLASSICAL CAN.
CAN FD does not support all payload lengths between 8 bytes and 64 bytes (e.g. a CAN FD frame with 10 meaningful
data bytes requires a payload length of 12 bytes); see Table 3 and 10.4.2.3.

6.2 Illustration of CAN parameters for transport protocol and network layer services

Figure 2 shows the mapping of CAN parameters onto the network/transport layer addressing
information N_AI. It illustrates the validity and applicability of network/transport layer parameters
and the resulting support of CLASSICAL CAN vs. CAN FD data link

Bibliography

[1] ISO/IEC 10731, Information technology — Open Systems Interconnection — Basic Reference Model — Conventions for the definition of OSI services
[2] ISO 11898-2, Road vehicles — Controller area network (CAN) — Part 2: High-speed medium access unit
[3] ISO 11898-3, Road vehicles — Controller area network (CAN) — Part 3: Low-speed, fault-tolerant, medium-dependent interface
[4] ISO 11898-4, Road vehicles — Controller area network (CAN) — Part 4: Time-triggered communication
[5] ISO 11898-5, Road vehicles — Controller area network (CAN) — Part 5: High-speed medium access unit with low-power mode
[6] ISO 11898-6, Road vehicles — Controller area network (CAN) — Part 6: High-speed medium access unit with selective wake-up functionality
[7] ISO 14229-1, Road vehicles — Unified diagnostic services (UDS) — Part 1: Specification and requirements
[8] ISO 14229-2, Road vehicles — Unified diagnostic services (UDS) — Part 2: Session layer services
[9] ISO 14229-3, Road vehicles — Unified diagnostic services (UDS) — Part 3: Unified diagnostic services on CAN implementation (UDSonCAN)
[10] ISO 15031-2, Road vehicles — Communication between vehicle and external equipment for emissions-related diagnostics — Part 2: Guidance on terms, definitions, abbreviations and acronyms
[11] ISO 15031-5, Road vehicles — Communication between vehicle and external equipment for emissions-related diagnostics — Part 5: Emissions-related diagnostic services
[12] ISO 15031-6, Road vehicles — Communication between vehicle and external equipment for emissions-related diagnostics — Part 6: Diagnostic trouble code definitions
[13] ISO 15765-1, Road vehicles — Diagnostic communication over Controller Area Network (DoCAN) — Part 1: General information and use case definition
[14] ISO 15765-4, Road vehicles — Diagnostic communication over Controller Area Network (DoCAN) — Part 4: Requirements for emissions-related systems
[15] ISO 27145-2, Road vehicles — Implementation of World-Wide Harmonized On-Board Diagnostics (WWH-OBD) communication requirements — Part 2: Common data dictionary
[16] ISO 27145-3, Road vehicles — Implementation of World-Wide Harmonized On-Board Diagnostics (WWH-OBD) communication requirements — Part 3: Common message dictionary
[17] ISO 27145-4, Road vehicles — Implementation of World-Wide Harmonized On-Board Diagnostics (WWH-OBD) communication requirements — Part 4: Connection between vehicle and test equipment
[18] SAE J1930, Electrical/Electronic Systems Diagnostic Terms, Definitions, Abbreviations and Acronyms
[19] SAE J1939:2011, Serial Control and Communications Heavy Duty Vehicle Network — Top Level Document
[20] SAE J1939-73:2010, Application layer — Diagnostics
[21] SAE J1979, E/E Diagnostic Test Modes
[22] SAE J2012, Diagnostic Trouble Code Definitions

参考資料

@kazuo_reve 自動車の故障診断に関連するプログラマーになりたての方が参照するとよさそうな情報
https://qiita.com/kazuo_reve/items/f773b320dcbf2ab316da

自己参照

@kazuo_reveさんの「自動車の故障診断に関連するプログラマーになりたての方が参照するとよさそうな情報」の読み方
https://qiita.com/kaizen_nagoya/items/0c6b8373f93ce52def33

ISO/IEC OSIに学ぶ
https://qiita.com/kaizen_nagoya/items/89562c52f37d6bf0a80d

IT業界における国際規格等の利用。仮説・検証（22）
https://qiita.com/kaizen_nagoya/items/0e2ab72fbddc391d4f41

OSI参照モデルの資料を作り始める（作業中）
https://qiita.com/kaizen_nagoya/items/26e1451ef4981c46b3be

自己記事一覧

Qiitaで逆リンクを表示しなくなったような気がする。時々、スマフォで表示するとあらわっることがあり、完全に削除したのではなさそう。

４月以降、せっせとリンクリストを作り、統計を取って確率を説明しようとしている。
2025年２月末を目標にしている。

物理記事　上位100
https://qiita.com/kaizen_nagoya/items/66e90fe31fbe3facc6ff

量子(0) 計算機, 量子力学
https://qiita.com/kaizen_nagoya/items/1cd954cb0eed92879fd4

数学関連記事１００
https://qiita.com/kaizen_nagoya/items/d8dadb49a6397e854c6d

統計(0)一覧
https://qiita.com/kaizen_nagoya/items/80d3b221807e53e88aba

図(0) state, sequence and timing. UML and お絵描き
https://qiita.com/kaizen_nagoya/items/60440a882146aeee9e8f

品質一覧
https://qiita.com/kaizen_nagoya/items/2b99b8e9db6d94b2e971

言語・文学記事　１００
https://qiita.com/kaizen_nagoya/items/42d58d5ef7fb53c407d6

医工連携関連記事一覧
https://qiita.com/kaizen_nagoya/items/6ab51c12ba51bc260a82

自動車　記事　１００
https://qiita.com/kaizen_nagoya/items/f7f0b9ab36569ad409c5

通信記事１００
https://qiita.com/kaizen_nagoya/items/1d67de5e1cd207b05ef7

日本語（０）一欄
https://qiita.com/kaizen_nagoya/items/7498dcfa3a9ba7fd1e68

英語(0) 一覧
https://qiita.com/kaizen_nagoya/items/680e3f5cbf9430486c7d

転職(0)一覧
https://qiita.com/kaizen_nagoya/items/f77520d378d33451d6fe

仮説（0）一覧（目標100現在40）
https://qiita.com/kaizen_nagoya/items/f000506fe1837b3590df

音楽　一覧(0)
https://qiita.com/kaizen_nagoya/items/b6e5f42bbfe3bbe40f5d

「@kazuo_reve 新人の方によく展開している有益な情報」確認一覧
https://qiita.com/kaizen_nagoya/items/b9380888d1e5a042646b

Qiita(0)Qiita関連記事一覧（自分）
https://qiita.com/kaizen_nagoya/items/58db5fbf036b28e9dfa6

鉄道（０）鉄道のシステム考察はてっちゃんがてつだってくれる
https://qiita.com/kaizen_nagoya/items/26bda595f341a27901a0

安全（0）安全工学シンポジウムに向けて: 21
https://qiita.com/kaizen_nagoya/items/c5d78f3def8195cb2409

一覧の一覧( The directory of directories of mine.) Qiita(100)
https://qiita.com/kaizen_nagoya/items/7eb0e006543886138f39

Ethernet 記事一覧　Ethernet(0)
https://qiita.com/kaizen_nagoya/items/88d35e99f74aefc98794

Wireshark 一覧 wireshark(0)、Ethernet(48)
https://qiita.com/kaizen_nagoya/items/fbed841f61875c4731d0

線網（Wi-Fi）空中線(antenna)(0) 記事一覧(118/300目標)
https://qiita.com/kaizen_nagoya/items/5e5464ac2b24bd4cd001

OSEK OS設計の基礎　OSEK(100)
https://qiita.com/kaizen_nagoya/items/7528a22a14242d2d58a3

Error一覧 error(0)
https://qiita.com/kaizen_nagoya/items/48b6cbc8d68eae2c42b8

++ Support(0)　
https://qiita.com/kaizen_nagoya/items/8720d26f762369a80514

Coding(0) Rules, C, Secure, MISRA and so on
https://qiita.com/kaizen_nagoya/items/400725644a8a0e90fbb0

coding (101) 一覧を作成し始めた。omake:最近のQiitaで表示しない5つの事象
https://qiita.com/kaizen_nagoya/items/20667f09f19598aedb68

プログラマによる、プログラマのための、統計(0)と確率のプログラミングとその後
https://qiita.com/kaizen_nagoya/items/6e9897eb641268766909

なぜdockerで機械学習するか書籍・ソース一覧作成中 (目標100)
https://qiita.com/kaizen_nagoya/items/ddd12477544bf5ba85e2

言語処理100本ノックをdockerで。python覚えるのに最適。:10+12
https://qiita.com/kaizen_nagoya/items/7e7eb7c543e0c18438c4

プログラムちょい替え（0）一覧:4件
https://qiita.com/kaizen_nagoya/items/296d87ef4bfd516bc394

Python(0)記事をまとめたい。
https://qiita.com/kaizen_nagoya/items/088c57d70ab6904ebb53

官公庁・学校・公的団体（NPOを含む）システムの課題、官（０）
https://qiita.com/kaizen_nagoya/items/04ee6eaf7ec13d3af4c3

「はじめての」シリーズ　ベクタージャパン　
https://qiita.com/kaizen_nagoya/items/2e41634f6e21a3cf74eb

AUTOSAR(0)Qiita記事一覧, OSEK(75)
https://qiita.com/kaizen_nagoya/items/89c07961b59a8754c869

プログラマが知っていると良い「公序良俗」
https://qiita.com/kaizen_nagoya/items/9fe7c0dfac2fbd77a945

LaTeX(0) 一覧　
https://qiita.com/kaizen_nagoya/items/e3f7dafacab58c499792

自動制御、制御工学一覧（０）
https://qiita.com/kaizen_nagoya/items/7767a4e19a6ae1479e6b

Rust(0) 一覧　
https://qiita.com/kaizen_nagoya/items/5e8bb080ba6ca0281927

100以上いいねをいただいた記事16選
https://qiita.com/kaizen_nagoya/items/f8d958d9084ffbd15d2a

小川清最終講義、最終講義（再）計画, Ethernet(100) 英語(100) 安全(100)
https://qiita.com/kaizen_nagoya/items/e2df642e3951e35e6a53

＜この記事は個人の過去の経験に基づく個人の感想です。現在所属する組織、業務とは関係がありません。＞
This article is an individual impression based on my individual experience. It has nothing to do with the organization or business to which I currently belong.

文書履歴(document history)

ver. 0.01 初稿　20240728

最後までおよみいただきありがとうございました。

いいね　💚、フォローをお願いします。

Thank you very much for reading to the last sentence.

Please press the like icon 💚　and follow me for your happy life.

You get articles that match your needs
You can efficiently read back useful information
You can use dark theme

What you can do with signing up