Bosch Presentation of Diagnostic Communication

Diagnosti Diagnosti c Communic ation of Vehicles

Electronic Elec tronic Transmission Transmission Control Electronic GSGS-TC/ENCTC/ENC-Bp Piroska, Lá Lászl ó 1

GS-TC/ENC-Bp | 2008-03-27 | © Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier-und W eitergaberecht, bei uns.

Debreceni Egyetem - Inform atikai Napok

Main Functionality of an Automotive Control Unit     

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Main task: Fulfill its controlling functionality (e.g. control transmission unit) Measure and collect the needed data for its main tasks Check and filter the incoming / measured signals Detect and log errors In case of error – according to the type – surmount error, or restrict functionality Configuration interface Automatic adaptation to environment Protection against stealing / manipulation Fulfill international and local standards Programmable / Patchable Provide information to other control units Communicate with an external tester


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Goals of the Diagnostic Communication I.

3



Main task: Fulfill its controlling functionality



Measure and collect the needed data for its main task 

Continuous observation of the control unit



Check reactions of the control unit



Check and filter the incoming / measured signals



Detect and log errors 

Read error memory (source of the error, art and status)



Check reliability of incoming / measured signals



Goals of the Diagnostic Communication II. 

In case of error: surmount error or restrict own functionality according to the type of error Read out error code Provide information to find the source of the error After fixing error clear error memory Provide information to other control units Configuration interface Read and write configurable parameters (adapting to the other control units or local law) Automatic adaptation to environment Be able to clear learning values 

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GS-TC/ENC-Bp | 2008-03-27 | © Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Schutzrechtsanmeldungen. Jede












Goal of the Diagnostic Communication III. 

Protection against stealing / manipulation Authentification Authentification of ignition key and other control units Chip-tuning protection Programmable / Patchable The main part of the control unit SW can be reprogrammed Should fulfill international and local standards CARB (Californian Air Resource Board) / OBD (OnBoard Diagnostic) EOBD (European (European OnBoard Diagnostic) KOBD (Korean OnBoard OnBoard Diagnostic) ISO 14229 / ISO 14230 / ISO 15031 / ISO 15765 / ISO 11898 …  

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Debreceni Egyetem - Infor Infor matikai Napok

Vehicl Vehicle e Networ Network k Archit Architect ecture ure in a High High End End Car Car D-CAN

E/E-Infrastructure FlexRay

CGW

CAN

Ethernet

BCM1

BCM2

W-LAN USB Ethernet

THU MOST

VMM

TV

LRR

ESP

SRR1

EPB

SRR2

EPS

Video

DLC

AMP Instr.

DAB/ SDARS

Disp. LIN

CAN

ETC S/G

... Disp.

EPM

PSM

CAN

BM

CDC PSI5

ARS

Body & Comfort Electronics

6

Infotainment & Cockpit Electronics

Vehicle Motion Electronics

Passive Safety Electronics

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Power Train Electronics












Communication System in the Vehicle Position Lever Unit

Porsch e Cayman Cayman

Engine Control Unit

Brake Control Unit

Display Unit Transmission Control Unit

7

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8

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K-Line Layer 1 Vehicle

Tester

Batteryy (~14,4 Batter (~14,4V) V) K-Line ECU1

ECU2

ECUn

GND

9

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K-Line Layer 1 



10

Logical 0: 

K-Line is under 20% of battery voltage at transmitter side



K-Line is under 30% of battery voltage at receiver side

Logical 1: 

K-Line is above 80% of battery voltage at transmitter side



K-Line is above 70% of battery voltage at receiver side













K-Line Layer 2: Overview 



No communication between the control units



Each host has one or more fix addresses; multicasting is also possible

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No continuous communication: must be initialized by tester (WUP or 5BaudInit)

Fixed Baud-rate at start of the communication (10.4 kBaud), it can be changed (until 250kBaud) Defined but configurable timeout values for communication session, request request – response, response, response response – next request request separation separation time Initialization phase determines several format parameters parameters of the further communication Arbitration: CSMA/CD



K-Line Layer 2: Initialization WUP

StartComm

Communication

25ms

50ms

Client WUP

Server StartComm

Communication

25ms

50ms

Client 12

ServerX

Serrver Se er1 1 Ser erv ver er2 2 Se Serrve verN rN















K-Line Layer 2: Message Structure Header

Fmt Tgt

1)

Src

1)

Data bytes bytes

Len

1)

SId

2)

max. 4 bytes

2)

Data

max. 255 bytes

Checksum

CS

1 byte

Checksum calculation 1) Byte is optional optional,, depending depending on format format byte. byte. 2) Service identification, identification, part of data bytes.

F F L L L L L L

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KWP2000 – K-Line, Layer Layer 5-7: Service IDs Header Fmt Tgt 1) Src 1) Len 1) SId 2)

max. 4 bytes

Data bytes bytes 2)

Data

max. 255 bytes

Checksum

CS

1 byte












KWP2000 – K-Line, Layer 5-7: Service IDs: Example Example

15

Tester

C1

33

F1

TCU

83

F1

18 18

Tester

C2

33

F1

TCU

8x

F1

18

61

XX

…

XX

CS

Motronic

8x

F1

10

61

XX

…

XX

CS

ECUx

83

F1

XX

7F

21

31

81 C1

21

CS XX

XX

XX

CS

CS

CS



K-Line 

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Reserved for diagnostic communication Longer data packets can be transmitted Configurable communication

CAN 



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Diagnostic & continuous communication between ECUs A CAN frame is max. 8 bytes: bytes: encapsulation of request required Fixed speed: because of the












CAN Layer 1 and Layer2 

17

Defined by ISO 11898



CAN Layer 3 and Layer4 CAN ID

dlc

SF

0xXXX

2-8

FF

0xXXX

8

FC

0 XXX

38

Data N_PCI 0xXX 0xXX 0xXX 0xXX 0xXX 0xXX 0xXX N_PCI N PCI

0xXX 0xXX 0xXX 0xXX 0xXX 0xXX












KWP2000 over CAN CAN ID dlc

Data

Tx

0x7DF

8

0x02

0x10 0x81 0xXX 0xXX 0xXX 0xXX 0xXX

Rx

0x7E9

8

0x02


Tx

0x7DF

8

0x02


Rx

0x7E9

8

0x10

0x0A 0x61 0x81 0x01 0x02 0x03 0x04

Tx

0x7E1

8

0x30


Rx

0x7E9

8

0x21

0x05 0x06 0x07 0x08 0xXX 0xXX 0xXX

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Purpose of the Services 

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Diagnostic and Communication Management



Data Transmission



Stored Data Transmission



Input / Output Control



Remote Activation of Routine



Upload / Download



CARB / OBD / EOBD / KOBD


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KWP2000

UDS

StartDiagnosticSession (0x10)

DiagnosticSessionControl (0x10)





Sets diagnostic session: this session determines the availability of other services Prepares jump to other SW parts of the ECU

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Sets diagnostic session: this session determines the availability of other services Prepares jump to other SW parts of the ECU














KWP2000

UDS

ECUReset (0x11)

ECUReset (0x11)





After checking preconditions preconditions restarts the ECU software Reset type may be hard or key-onoff

TesterPresent (0x3E) 

23

Keeps communication alive: avoid communication timeout



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After checking preconditions preconditions restarts the ECU software Reset type may be hard, key-on-off, soft, enable / disable rapidPowerDown

TesterPresent (0x3E) 

Keeps communication alive: avoid communication timeout













KWP2000 ReadECUI ReadECUIdentif dentif icati on (0x1A) (0x1A)  

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The tester requests only a LocalID The ECU provides information about itself, e.g. SW and HW IDs, versions, other logistic data













UDS Contro lDTCSettin lDTCSettin gs (0x85)  

Activate / Deactivate storing storing of errors into error memory Used at flash programming and development

ResponseOnEvent (0x86) 



Configures the ECU to send a response without a request in case of a defined event Permanent and temporally configuration

LinkControl (0x87) 

27

Configures communication speed, if the medium is configurable













Purpose of the Services  

29

Diagnostic and Communication Management Data Transmission



Stored Data Transmission



Input / Output Control



Remote Activation of Routine



Upload / Download



CARB / OBD / EOBD / KOBD













KWP2000 ReadDataByLocalIdentif ReadDataByLocalIdentif icati on (0x21) (0x21)    

 

The tester requests one or more LocalIDs LocalIDs (1 byte long ID) A localID identifies a part of memory (not necessarily necessarily in one block) The ECU – if authentif authentificatio ication n level allows allows – reads out out the block block These IDs identifies mainly pre-defined memory parts, but dynamic definition is also allowed A localID must not be unique within a vehicle LocalID LocalID can be read out periodically periodically

WriteDataByLocalIdentification (0x3B)

31

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The tester sends a localID localID (1 byte long ID) and a data string



The ECU writes the data string into its memory















KWP2000

UDS

ReadDataByCommonID (0x22)

ReadDataBy ReadDataBy ID (0x22)





Similar to readDataByLocalID (0x21) CommonID CommonID is 2 bytes long, long, but unique or means the same for more ECUs

ReadScaleing DataID (0x2D) (0x2D) 



Descendant of KWP2000 0x1A, 0x21 and 0x22 The same as KWP2000 0x22, but periodical read not supported

WriteDataByComm WriteDataByComm onID (0x2E) (0x2E) 



Similar to writeDataByLocalID writeDataByLocalID (0x3B) CommonID CommonID is 2 bytes long, long, but unique or means the same for more ECUs

WriteDataByID (0x2E) 

The same as KWP2000 0x2E












UDS ReadDataByPeriodicID (0x2D) 

Similar to ReadDataByID



The response is periodical












Onboard Diagnostic Start Signal is analog or digital

Input Signal Signal Reliable?

Yes

Fulfills filter criteria; open/shortcircuited, timeout

No

Inc. counter

Dec. counter No

Cnt. threshold reached? Yes

Write error to error memory

Beside the error code the type of the error, the actual status; and actual value of some related signals are also stored












KWP2000 and UDS ClearDiagnosticInformation (0x14) 

Clears one, a group of, or all the stored errors from error memory












KWP2000

UDS

InputOutputControlByLocalID (0x30)

InputOutputControlByIdentifier (0x2F)

InputOutputControlByCommonI D (0x2F)



Can directly control the actuator signals







Access to actuators actuators is applicationspecific

Can directly control the actuator signals Access to actuators actuators is applicationspecific














KWP2000

UDS

StartRoutin eByLoc alID (0x31) (0x31)

Routin eControl (0x31) (0x31)

StartRoutineByAddress (0x38)



Controls routines, as erasing memory, calculate checksum,












KWP2000 and UDS RequestDownload (0x34) (0x34) 

The tester specifies an address and a length (not one byte), but no data Specifies compressing methods

Bosch Presentation of Diagnostic Communication

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