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