Ilker Demirkol

ilker.demirkol@upc.edu
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No. of
ISO/OSI ref model CAN protocol specification
layer

7 Application Application specific

6 Presentation

5 Session Higher Layer Protocols (HLP)

4 Transport

3 Network

2 Data Link
CAN protocol
(with free choice of medium)
1 Physical
 Transportation of messages > 8 bytes

 Networking through gateways

 Session-based communication

 Flow control

 …
 On-board diagnostics:
 Self-diagnosis of ECUs, when the car is on the move
 Errors are recorded as Diagnostic Trouble Codes (DTCs)

 Off-board diagnostics:
 Communication between on-board ECU and an off-board tester
▪ Done at the service shop: Inspection, test, and configuration

 Legislated vs. Manufacturer Enhanced vs.

World-wide Harmonized [REF]

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 Guarantees standardized access to vehicle information for:
 fault diagnostics by repair shop
 emission inspection by technical inspection agencies

 Mandatory in Europe for:

 gasoline vehicles manufactured: 2001
 diesel vehicles manufactured: 2003

 Needs a standard protocol

 to communicate
 1980-88: Several proprietary OBD solutions
 1991-94: California Air Resources Board (CARB) requires:
 All vehicles sold from 1991 have OBD capability (OBD-I)
 In 1994, OBD-II was released, which includes the specification of
the connector
 1996: OBD-II is mandatory for all cars sold in US
 2001: EU makes EOBD mandatory for all gasoline vehicles
 2008: All cars sold in the United States are required to use
the ISO 15765-4 (and therefore ISO-TP)

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 Defines:
 Connector specification and its pin-out
▪ A pin in the connector provides battery, so the connector
can power anything connected to it
 Electrical signaling
 Message format
 Located close to the steering column, hidden
but accessible

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Off-board
Diagnostic
Tester ECU ECU
Vehicle
Gateway

ECU ECU

Pin mapping

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No. of
ISO/OSI ref model CAN protocol specification
layer

7 Application Application specific

6 Presentation

5 Session Higher Layer Protocols (HLP)

4 Transport

3 Network

2 Data Link
CAN protocol
(with free choice of medium)
1 Physical
 Transmission of packets over multiple intermediate hops
 Example protocols: IPv4, IPv6, … ISO/OSI ref model

Application
 Main functions: Presentation
 Global addressing Session
 Routing, e.g. Flooding, Link State Routing, … Transport

 Fragmentation Network

 Quality of Service Data Link

Physical
 Defines end-to-end logical connection
 Protocols: ISO-TP, TCP, UDP, … ISO/OSI ref model
 Main functions: Application
 Reliability: Presentation
▪ Reliable (e.g. TCP) vs. Unreliable communication (e.g. UDP)
Session
 Flow control: Overload at receivers Transport
 Congestion control: Overload of the network Network

Data Link

Physical
 Session Layer:
 Opening, closing and managing a session between end ISO/OSI ref model
points
Application
▪ Connection-oriented vs. Connectionless
Presentation

Session
 Presentation Layer:
Transport
 Converts the data to a common representation used by the
Network
end systems
Data Link

Physical
 General-purpose HLPs
 ISO Transport Protocol (ISO-TP)

 Special-purpose HLPs
 Vehicle-Diagnostics:
▪ Unified Diagnostic Services (UDS)
▪ On-Board Diagnostics (OBD)
 Vehicle-Operational:
▪ Proprietary: TP2.0 (VW), Volcano (Volvo), GMLAN (for General Motors), …
▪ CANopen
▪ SAE J1939 (heavy road vehicles), …
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 Industrial apps:
 DeviceNet, CANopen, Profibus, …

 Maritime:
 Small boats: CAN-Kingdom, …
 Large boards: CANopen, …

 Agricultural machinery:
 ISOBUS

 Aviation:
 CANaerospace, ARINC 825

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 ISO-TP = ISO Transport Protocol
 Covers layers 3 (network layer) and 4 (transport layer)
 Standardized under ISO 15765 “Road vehicles – Diagnostic Comm.
over CAN (DoCAN)”
▪ Designed to run ISO vehicle diagnostics protocols over CAN
▪ Part 2: “Transport protocol and network layer services”
▪ Part 4: “Requirements for emissions-related systems”
 Most common application:
▪ Vehicle-diagnostics
 Lightweight protocol with few but essential features:
 Segmentation: Transmission of up to 4095 bytes of DATA

 … before the other features …

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 The scenario:
 We have a CAN bus
 A variable size application DATA: between 1 and 120 B, let’s say
 How would you do this?

 Note: You cannot change the CAN standard

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 Lightweight protocol with few but essential features:
 Segmentation: Transmission of up to 4095 bytes of DATA
 Optional higher-layer addressing (for gateway-based bus systems)

 … before the other features …

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 The scenario:
 We have a CAN bus
 We want to send a message to a specific CAN ID
 However, we want to ask the GW to forward it to other buses
 How would you do this?

 Note: You cannot change the CAN standard

 Hint: Indicate the GW’s ID somewhere

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 Lightweight protocol with few but essential features:
 Segmentation: Transmission of up to 4095 bytes of DATA
 Optional higher-layer addressing (for gateway-based bus systems)
 Flow Control
 Unreliable connection-oriented transport protocol
 Uses a part of CAN data payload as ISO-TP header
 Called Protocol Control Information (PCI)
 Can take 1-3 bytes

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 End point addresses!
 No automatic addressing, i.e., have to be predefined and statically
assigned

 Addressing scheme examples (6 defined in the std.) :

 Normal Addressing:
▪ Addresses are the CAN identifiers
 Extended Addressing (for gateways):
▪ 1 PCI Byte (first byte of CAN payload) for gateway address
 1 CAN Frame Data Payload
 Frame Types: 4 bit 4 bit 8 bit 8 bit
…
Single Frame: 0x0 Data Length 0..7 Data Bytes
Standard frame for unsegmented data
First Frame: 0x1 Data Length Data Length 6 Data Bytes
Initial frame in a sequence of frames
Consecutive Frame: 0x2 Seq Number 1..7 Data Bytes
Subsequent frame in the sequence (SN modulo 24)
Flow Control Frame: 0x3 Flow Status Block Size Separation Time
Response of the receiver specifying min. delay and
max. buffer size (=block size) for consecutive frames
• Flow Status: 0 = Clear To Send, 1 = Wait, 2 = Overflow/abort
• Block Size (BS): # of frames that can be sent before waiting for the
0-127ms
next flow control frame 0-127ms
• Separation Time (ST): 0..127 => 0..127 ms, 241-249 =>100..900 μs 0-127ms

 In case of error (timeout or wrong sequence number):

 Application layer is informed but not the sender of the message

…
Remaining size to be sent @Tx

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 On-board diagnostics:
 Self-diagnosis of ECUs, when the car is on the move
▪ State of functions performed by the subsystems, sensors, actuators
 The errors are recorded in the memory as Diagnostic Trouble Codes
(DTCs)

 Off-board diagnostics:
 Communication between an on-board ECU and an off-board
diagnostic tester to facilitate inspection, test, and configuration
▪ Done at the service shop

 Legislated vs. Manufacturer Enhanced vs.

World-wide Harmonized [REF]
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 OSI Layer Legislated On-Board Manufacturer Enhanced Legislated WWH-OBD
Diagnostics (OBD) Diagnostics
ISO 14229-1 (UDS)/
Application (layer 7) ISO 15031 (OBD) ISO 14229-1 (UDS)
ISO 27145

Presentation (layer 6) ISO 15031 (OBD) Manufacturer specific ISO 27145

Session (layer 5) ISO 14229-2 (UDS)

Transport (layer 4)
ISO 15765-2 (ISO-TP)
Network (layer 3)
Data link (layer 2)
CAN, LIN, FlexRay,… or Manufacturer specific
Physical (layer 1)

UDS: Unified Diagnostic Services

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 For “Manufacturer Enhanced Diagnostics”
 Enables interoperability between off-board diagnostic tester and on-
board ECU

 Client-Server with simple request-response communication

 Client (=diagnostic tester) initiates request and waits for
confirmation
 Server (=ECU) receives indication and sends response
 Service Request
Service ID Request Parameters
SID

Positive Response
SID + 40 Response Parameters

Negative Response
Error ID (7F) SID Error Code
 Service Request
Service ID Parameter ID Request Parameters
SID PID

 Service Identifier (SID):

 1-10 for OBD. Examples:
▪ 1: Request current diagnostic data Note: These are different than CAN ID!
▪ 2: Request freeze frame data • 11-bit CAN ID for OBD Request and Response:
▪ 3: Show stored DTCs Initial Request: 0x7DF
▪ 9: Request vehicle information Response: 0x7E8 - 0x7EF
 >= 16 for non-OBD UDS

 Parameter Identifier (PID):

 Ex: SID 1, PID 0C requests the engine RPM
 Example services (SIDs) defined:
 Diagnostic Management: Control of diagnostic sessions (SID 0x10)
▪ "Programming Session" used to upload software
▪ "Safety system diagnostic session" to test safety-critical functions, such as
airbag tests
 Data Transmission Services: Read from and write to ECUs
▪ Read Memory By Address (SID 0x23)
…
 Black box for the cars
 2015 and newer vehicles are required to equip
 Constantly records last ~20 sec info about:
 Vehicle's speed
 Braking
 Tilt of the vehicle on the road
 Airbag deployment
 Seat belt status
 …
 A crash data retrieval (CDR) tool will use OBD to pull this data
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 Here you see OBD2, CAN, ISO-TP in action:
 https://www.youtube.com/watch?v=OhShoU_E-
0g&feature=emb_logo

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