北京新能源汽车整车控制器系统诊断规范

1、北京新能源汽车股份有限公司 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 V1.1 20151127 崔晓静 崔晓静 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； 6、seed和key在列表中疋 4个 字节； 7、删除2F 02子服务； 11、F184修

2、改为9个字节； 12、添加故障码中英文对照表； 目录 版本信息2. 1. 参考文献5. 2. 网络拓扑5. 3. 诊断接口 6. 4. 诊断需求7. 4.1. 诊断协议Z. 4.1.1. 物理层7. 4.1.2. 数据链路层 7. 4.1.3. 网络层7. 4.1.4. 应用层时间参数8 4.2. Diag no Stic Services (ISO14229-1) 8 4.2.1. Supported Diag no Stic Services9. 4.2.2. DiagnosticSessionControl(10H) 1 1 4.2.3. ECUReset (11H)13. 4.2.4.

3、 CommunicationControl (28H) 1 4 4.2.5. SecurityAccess(27H) 1.5 4.2.6. TesterPresent(3EH) 21 4.2.7. ControlDTCSetting(85H)21 4.2.8. ReadDataByldentifier (22H)23 4.2.9. WriteDataByIdentifier (2EH)24 4.2.10. InputOutputControlByldentifier (2FH)26 4.2.11. ClearDiagnosticInformation (14H)27 4.2.12. ReadD

4、TC In formation (19H)28 4.2.13. Rout in eC on trol (31H)35 4.2.14. RequestDownLoad(34H)37 4.2.15. TransferData (36H)37 4.2.16. RequestTransferExit (37H).37. 5. 故障定义38 6. 故障码DTC中英文对照表 .38 附录A:冻结帧信息 .4.0 附录B:4.2 B.1版本信息参数列表：42 B.2数据流参数列表： 42 B.3版本信息参数定义 44 B.4数据流参数定义 46 术语 DTC 故障诊断码 BS Block size STmi

5、 n Minimum Separation Time C 有条件的 M 强制性执行 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 Clie nt 客户端 ECU 电控单元 1. 参考文献 NO. 参考文档 题目 1 ISO11898-1: 2003 Road vehicles - Con troller area n etwork (CAN) Part 1:Data link layer and physical sig nali ng 2 ISO11898-2: 2003 Road vehicles -

6、Con troller area n etwork (CAN) Part 2: High-speed medium access un it 3 ISO11898-5: 2007 Road vehicles - Con troller area n etwork (CAN) Part 5: High-speed medium access unit with low-power mode 4 ISO15765-2: 2004 Road Vehicle - Diagnostic on CAN Part 2: Networki ng Layer Services 5 ISO15765-3: 200

7、4 Road Vehicle - Diagnostic on CAN Part 3: Applicati on Layer Services 6 ISO14229-1: 2006 Road Vehicle - Diag no stic Systems Diag no stic Services Specificati on 7 ISO15031-6: 2005 Road vehicles - Communi cati on betwee n vehicle and external equipment for emission-related diagnostic Part 6: Diagno

8、 stic trouble code defi niti ons 2. 网络拓扑 由网络工程师统一发布网络拓扑” C70GB项目2014年度型整车网络拓扑结构 JSO VBU5 SWhg CS011898-2 ! 3血低 unUMi BM5： 5远话，豪屯鸟4： * VCD： _ * - - - ei.VfflL3- g 林 dVEK-JL * BOS.车常忡整廉； 1* 龟H， DLC. $#( * i Kt. For others, the NRC with smaller number has higher priority. 422 DiagnosticSessionControl 1

9、0H) This service is used by the clie nt to en able differe nt diag no stic sessi ons in the server(s). A diagnostic session enables a specific set of diagnostic services in the server(s). 5. Message Format Request Byte Name Cvt Value(hex) #1 RequestServiceIde ntifier M 10 #2 Sub-fu nction = DefaultS

10、essi on Programmi ngSessi on Exte ndedDiag no sticSessi on M 01 02 03 Positive Resp onse Byte Name Cvt Value #1 PositiveResp on seServiceIde ntifier M 50 #2 Sub-F unction= DefaultSessi on Programmi ngSessi on Exte ndedDiag no sticSessi on M 01 02 03 P2server= #3 byte#1 M 00-FF #4 byte#2 M 00-FF P2*s

11、erver= #5 byte#1 M 00-FF #6 byte#2 M 00-FF Timing P2server value is provided in 1ms resolution. Timing P2*server value is provided in 10ms resolution. Negative Resp onse Byte Name Cvt Value #1 NegativeResp on seServiceIde ntifier :M 7F #2 RequestServiceIde ntifier M 10 #3 NegativeResp on seCode M NR

12、C Sub-function Parameter Definition HEX Descripti on Cvt 01 DefaultSessi on This diag no stic sessi on en ables the default diag no stic sessi on in the server(s)and does not support any diagnostic application timeout han dli ng provisi ons. (e.g. no TesterPrese nt service is M n ecessary to keep th

13、e sessi on active). 02 Programmi ngSessio n This diag no stic sessi on en ables all diag no stic services required to supported the memory program ming of a server. M 03 Exte ndedDiag no sticSessi on This diag no stic sessi on can e.g. be used to en able all diag no stic services required to support

14、 the adjustme nt of functions like Speed, CO Value, etc.” in the serveran mlembryuUed to enable diagnostic services, which are not specifically tied to the adjustme nt of fun cti ons. M Idle Negative Respo nse Codes (NRC) NRC(Hex) Descripti on Cvt 12 The sub-fu nction parameter in the request messag

15、e is not supported. M 13 The len gth of the message is wrong. M 22 The ECUcurre nt con diti ons do not allow the cha nge ofdiag no stic Sessi on. M 4222 Implementation Rules This service is used by the diag no stic tool to en able differe nt types of diag no stic sessions in a server. In order to ex

16、ecute a diagnostic service the appropriate session has to be started first.There shall be only one diagnostic session active at a time. Normal/Default Session (01h) shall be en abled automatically by the ECU if no diag no stic sessi on has bee n requested at power up. The ECU shall return to Normal/

17、Default Session (01h) after timeout of Exte ndedDiag no stic Sessi on. The ECU shall be capable of providing all diagnostic functionality defined for the default diag no stic sessi on un der no rmal operati ng con diti ons. The ECU shall first send a Diag no sticSessio nCon trol Positive Resp onse (

18、50h xx) message before the new sessi on becomes active in the ECU. A DiagnosticSessionControl Positive Response (50h xx) message shall 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 perf

19、ormed the requested operatio n, the ECU shall con ti nue to perform the curre nt operatio n (i.e. it is not a cha nge of the sessi on). The ECU shall rema in in its curre nt diag no stic sessi on if it is not able to switch into the requested diag no stic sessi on. The TesterPrese nt (3Eh) service s

20、hall be used to keep the non-default diag no stic sessi ons active by retriggeri ng S3server. Also any other service request shall retrigger S3server. A functional TesterPresent(3Eh) request without responsemay be sent at any time, eve n regardless of any other service in progress. Whe n recei ving

21、or tran smitt ing any diag no stic messages, in cludi ng 3Eh service, the S3servertimer will reset. Default 03 10 03 Extended 10 01 Programmtng 11 03 111 03 11001 Fig 3. Sessi on tran siti on diagram 423 ECUReset (11H) This service requests the server to effectively perform an ECU reset based on the

22、 content of the ResetType parameter value (suppressPosRspMsgIndicationBit(bit 7) not show n). 423.1. Message Format Request Byte Name Cvt Value(hex) #1 RequestServicelde ntifier M 11 #2 Sub-F un cti on= ResetType: HardReset SoftReset M 01 03 Positive Resp onse Byte Name Cvt Value #1 PositiveResp on

23、seServicelde ntifier M 51 #2 Sub-F un cti on= ResetType: HardReset SoftReset M 01 03 Negative Resp onse Byte Name Cvt Value #1 NegativeResp on seServicelde ntifier M 7F #2 RequestServicelde ntifier M 11 #3 NegativeResp on seCode M NRC Sub-function Parameter Definition Optio n (Hex) Descriptio n Cvt

24、01 HardReset This value identifies a “ hard reset ” condition which simulate M s the power- on / start-up seque nee typically performed after a server has bee n previously disc onn ected from its power supply (i.e. battery). 03 SoftReset This value identifies a“ soft reset” condition, which causes i

25、mmediately restart the application program if applicable. The performed action is implementation specific and not defined by the standard. A typical action is to restart the applicati on without rein itializ ing of previously lear ned con figurati on data, adaptive factors and other Ion g-term adjus

26、tme nts. M he serv Negative Respo nse Codes (NRC) NRC (Hex) Con diti ons Cvt 12 Sub-fu ncti on parameter in the request message is not supported. M 13 The len gth of the message is wrong M 22 The criteria for the ECUReset request are not met. M 4232 Implementation Rules The positive resp onse shall

27、be sent before perform ing the ECU reset. The executi on of reset will take ms, which means the ECU caresp ond to any new request sent with in this time. 424 Communicationcontrol (28H) The service is used to “ switch on/off ” the transmission and/or the reception of certa in messages of (a) server(s

28、). 4.2.4.1. Message Format Req uest Byte Name Cvt Value (hex) #1 RequestServicelde ntifier M 28 #2 Sub-F unction = En ableRxA ndTx DisableRxA ndTx M 00 03 #3 Commun icati on Type= NormalCom muni cati onM essagesNetworkMa nageme ntCom muni cati on Messages NetworkMa nageme ntCom muni cati onM essages

29、 An dNormalCom muni catio nM essages M 01 02 03 Positive Resp onse Byte Name Cvt Value #1 PositiveResp on seServicelde ntifier M 68 Sub-F unction = En ableRxA ndTx 00 #2 En ableRxA ndDisableTx M 01 DisableRxA ndE nableTx 02 DisableRxA ndTx 03 Negative Resp onse Byte Name Cvt Value #1 NegativeResp on

30、 seServicelde ntifier M 7F #2 RequestServicelde ntifier M 28 #3 NegativeResp on seCode M NRC Negative Respo nse Codes(NRC) NRC (Hex) Con diti ons Cvt 12 Sub-fu ncti on parameter in the request message is not supported. M 13 The len gth of the message is wrong M 22 The operati ng con diti ons of the

31、server are not met to perform the required action. M 31 None of the requested Communi cati on Type values are supported by the device. M Sub-function Parameter Definition： Optio n( hex) Descripti on Cvt 00 En ableRxA ndTx This value in dicates that the recepti on and tran smissi on of messages shall

32、 be en abled for the specified Communi catio nType. M 03 DisableRxA ndTx This value in dicates that the recepti on and tran smissi on of messages shall be disabled for the specified Communi cati on Type. M Data Parameter Defi nition： Optio n( hex) Descriptio n Cvt 01 NormalCom mun icati onM essages

33、This value references all applicati on-related com muni cati on (inter-application signal exchange between multiple in-vehicle servers). M 02 NetworkMa nageme ntCom muni cati onM essages This value references all n etwork man ageme nt related com muni cati on. M 03 NetworkMa nageme ntCom muni cati o

34、nM essagesA ndNormalCommu ni cati onM essages This value references all n etwork man ageme nt and application-related com munication M 4242 Implementation Rules There are no special general implementation rules for this service. 425 SecurityAccess( 27H) The purpose of this service is to provide a me

35、ans to access data an d/or diag no stic services, which have restricted access for security or safety reasons. Diagnostic services for dow nl oad in g/upload ing routi nes or data into a server and readi ng specific memory locati ons from a server are situati ons where security access may be require

36、d. Improper rout ines or data dow nl oaded in to a server could pote ntially damage the electronics or other vehicle components or risk the vehicle s complianee to safety, or security sta ndards. The security con cept uses a seed and key relati on ship. The client shall request the server to uniock

37、by sending the service SecurityAccess-RequestSeedmessage.The server shall resp ond by sending a seed. The seed is the in put parameter for the key calculati on algorithm. It is used by the clie nt to calculate the corresp onding key value. In a second step, the client shall request the key compariso

38、n by sending the calculated key to the server using the appropriate service SecurityAccess-Se ndKey. The server shall compare this key to one internally stored/calculated. If the two nu mbers match, the n the server shall en able (uni ock) the clie nt acsessto specific services/dataand indicate that

39、 with the service SecurityAccess-SendKey.If the two nu mbers do not match, this shall be con sidered as a false access attempt. If access is rejected for any other reas on, it shall not be con sidered as a false access attempt. An in valid key requires the clie nt to start over from the beg inning w

40、ith a SecurityAccess-RequestSeed message. If a server supports security, but is already uni ocked whe n a SecurityAccess-RequestSeedmessageis received, that server shall respond with a SecurityAccess-RequestSeecpositive response messageservice with a seed value equal to zero (0). The clie nt shall u

41、se this method to determ ine if a server is locked by check ing for a non-zero seed. The Seed-Key algorithmfor SecurityAccess (Man datory)： Key = (seed4) XOR seed)3) XOR seed) The Security Seed is4 Bytes ran dom nu mbers. Tester ECU Compute Key R -Secuity Acces， 間昨 Seed-$27； s $xx opspOnse cosi t i

42、ve Res-p- 略一_d $67 $xx Y Send 沖 $6 Gen erate Seed Compute Key Compare Key QPOnse/ 一一一一 $67 $yy/ Accept 矽$7尸 $27 $35 Rj ect Key $7 Fig 4. Security Access procedure 4213.1. Message Format 422.1. Request Seed This service requests a seed from the server. Based on this seed, the client is able to calcul

43、ate the corresponding key to be sent for uniocking the server. Request Byte Name Cvt Value(hex) #1 RequestServicelde ntifier M 27 #2 SecurityAccessType = RequestSeed M 01, 11 Positive Resp onse Byte Name Cvt Value #1 PositiveResp on seServicelde ntifier M 67 #2 SecurityAccessType = RequestSeed M 01,

44、 11 SecuritySeed = M #3 seed#1 (high byte) M 00-FF #6seed#m (low byte) M OO-FF Negative Resp onse Byte Name Cvt Value #1 NegativeResp on seServicelde ntifier M 7F #2 RequestServicelde ntifier M 27 #3 NegativeResp on seCode M NRC Negative Respo nse Codes(NRC) NRC (Hex) Con diti ons Cvt 12 Sub-fu ncti

45、on parameter in the request message is not supported. M 13 The len gth of the message is wrong. M 22 The criteria for the SecurityAccess request are not met. M 37 requiredTimeDelayNotExpired M 425.12Send Key This service sends a key calculated by the client to the server. The server shall compare th

46、is key to one in ternally stored/calculated. If the two nu mbers match, the n the server shall enabl 2) the user optio nal Rout ineCon trolOpti on Record contains in valid data for therequested rout in elde ntifier. 33 The corresp onding security is not yet gran ted to perform the required service.

47、Sub-function Parameter Definition： Optio n (Hex) Descriptio n Cvt 01 StartRouti ne This parameter specifies that the server shall start the rout ine specified by therouti nelde ntifier. M 03 RequestRouti neResults This parameter specifies that the server shall return result values of the rout in esp

48、ecified by the routi nelde ntifier. M Data Parameter Defin iti on： Rout in elde ntifier (Hex) Descripti on 0203 CheckPreprogramC on dito n This value shall be used to check the server pseprogram condition before reprogrammi ng the ECU. FF00 eraseMemory This value shall be used to start the servers m

49、emory erase routi ne. FF01 checkProgram min gDepe nden cies This value shall be used to check the server s memory pr( depe nden cies. 0202 CheckDataI ntegrity This value shall be used to check the serverdata in segveyicityis recomme nded to use CRC32 algorithms. 42132Impleme ntatio n Rule It is the

50、system supplier s responsibility that the server conditions are met when perform ing any action request by this service. Please specify other rules in your module. 4214 RequestDownLoad(34H) 参见北汽新能源Bootloader刷新规范。 4215 TransferData (36H) 参见北汽新能源Bootloader刷新规范。 4216 RequestTransferExit (37H) 参见北汽新能源Bo

51、otloader刷新规范 故障定义 序号 故障名称 故障码DTC 2 MCU相电流过流故障 P113519 3 电机超速故障 P0A4400 具体参见北汽新能源XXXXX系统故障定义。 6.故障码DTC中英文对照表 序号 故障码DTC 故障中文名称 故障英文名称 2 P113519 MCU相电流过流故障 3 P0A4400 电机超速故障 北京新能源汽车股份有限公司 北京新能源汽车股份有限公司 附录A:冻结帧信息（附录A与正文进行“分隔符下一页“设置，纸张大小设置A3,纸张方向设置横向，在下表格属性设置“在 各页顶端以标题形式重复出现”）（冻结帧编号代表冻结帧涉及不同 DID的组合，如果组合一样

52、，则为同一编号，编号为16进制Hex, 从01FF （以下表格以MCU为例进行设计，各分系统应根据各自故障库对冻结帧信息进行设计） 编号 故障码 DTC 是否 冻结 DID组合 0202 0212 0203 0213 0200 0201 0204 0206 0205 0207 0214 0215 0216 0208 0209 020C 020E 020D 020F 020A 020B 0217 0218 0210 1 P116016 是 V V V V V V V V V V V V V V V V V V V V V V V V P116116 P116216 2 P113519 是 V V

53、 V V V V V V V V V V V V V V V V V V V V V V 3 P0A4400 是 V V V V V V V V V V V V V V V V V V V V V V V V 4 P114017 是 V V V V V V V V V V V V V V V V V V V V V V V V 5 P114016 是 V V V V V V V V V V V V V V V V V V V V V V V V 6 P117098 是 V V V V V V V V V V V V V V V V V V V V V V V V P117198 P117298

54、 7 P117F98 是 V V V V V V V V V V V V V V V V V V V V V V V V 8 P0A2F98 是 V V V V V V V V V V V V V V V V V V V V V V V V 9 P112164 是 V V V V V V V V V V V V V V V V V V V V V V V V 10 P118A12 是 V V V V V V V V V V V V V V V V V V V V V V V V P118B12 P118C12 11 P0A3F00 是 V V V V V V V V V V V V V V V

55、 V V V V V V V V V 12 P11801C 是 V V V V V V V V V V V V V V V V V V V V V V V V P11811C P11821C 13 P11881C 是 V V V V V V V V V V V V V V V V V V V V V V V V 14 P0A001C 是 V V V V V V V V V V V V V V V V V V V V V V V V 15 P11841C 是 V V V V V V V V V V V V V V V V V V V V V V V V 编号 故障码 DTC 是否 冻结 DID组

56、合 0202 0212 0203 0213 0200 0201 0204 0206 0205 0207 0214 0215 0216 0208 0209 020C 020E 020D 020F 020A 020B 0217 0218 0210 16 P0A5101 是 V V V V V V V V V V V V V V V V V V V V V V V V 17 P113064 是 V V V V V V V V V V V V V V V V V V V V V V V V 18 U040186 是 V V V V V V V V V V V V V V V V V V V V V V

57、 V V 19 U010087 是 V V V V V V V V V V V V V V V V V V V V V V V V 20 P0A0A94 是 V V V V V V V V V V V V V V V V V V V V V V V V 21 U300317 是 V V V V V V V V V V V V V V V V V V V V V V V V 22 U300316 是 V V V V V V V V V V V V V V V V V V V V V V V V 23 P11A01C 是 V V V V V V V V V V V V V V V V V V V

58、V V V V V 24 P118A28 否 P118B28 P118C28 25 P118D28 否 26 P060444 否 27 P060545 否 28 P062F46 否 北京新能源汽车股份有限公司 附录B:参数定义（附录B与上文附录A进行“分隔 符下一页“设置，纸张大小设置A4,纸张方向设置纵 向，在下表格属性设置“在各页顶端以标题形式重复 出现”） B.1版本信息参数列表: 编 号 名称 DID(Hex) Read Write 备注 1 VIN F190 V V 2 零件号 F187 V 3 应用软件指纹 F184 V V 4 供应商代码 F18A V 5 ECU硬件版本号 F1

59、91 V 6 ECU软件版本号 F195 V 7 编程日期 F199 V V B.2数据流参数列表: （以下表格为MCU涉及DID,各分系统应根据各自情况设计 DID） 编 号 名称 DID(Hex) Read Write 备注 1 驱动电机工作模式命令 0202 V 2 整车行驶状态命令 0212 V 3 驱动电机控制器工作状态 0203 V 编 号 名称 DID(Hex) Read Write 备注 4 整车State状态 0213 V 5 直流母线电压 0200 V 6 直流母线电流 0201 V 7 驱动电机目标转矩命令 0204 V 8 驱动电机目标转速命令 0206 V 9 驱动电

60、机当前转矩 0205 V 10 驱动电机当前转速 0207 V 11 MCU IGBT 温度（A 相） 0214 V 12 MCU IGBT 温度（B 相） 0215 V 13 MCU IGBT 温度（C 相） 0216 V 14 MCU温度 0208 V 15 驱动电机温度 0209 V 16 Id给定值 020C V 17 Id反馈值 020E V 18 Iq给定值 020D V 19 Iq反馈值 020F V 20 Ud 020A V 21 Uq 020B V 22 转子位置电角度 0217 V 23 转子位置初始角度 0218 V 24 MCU低压电源电压 0210 V 北京新能源汽车