ISO 15765-2:2016
Road vehicles — Diagnostic communication over Controller Area Network (DoCAN) — Part 2: Transport protocol and network layer services
ISO 15765-2:2016 specifies a transport protocol and network layer services tailored to meet the requirements of CAN‑based vehicle network systems on controller area networks as specified in ISO 11898‑1. It has been defined in accordance with the diagnostic services established in ISO 14229‑1 and ISO 15031‑5 but is not limited to use with them and is also compatible with most other communication needs for in‑vehicle networks.
ISO 11898‑1 specifies variable length CAN frames with a maximum payload size dependent on the protocol device used. A CLASSICAL CAN protocol device can transmit/receive frames with payload sizes ranging from 0 bytes to 8 bytes per frame. A CAN FD (flexible data rate) protocol device can transmit/receive frames with payload sizes from 0 bytes to 64 bytes. A CAN FD protocol device is also capable of transmitting/receiving CLASSICAL CAN frames.
The diagnostic communication over controller area network (DoCAN) protocol supports the standardized service primitive interface as specified in ISO 14229‑2 (UDS).
ISO 15765-2:2016 provides the transport protocol and network layer services to support different application-layer implementations such as
- enhanced vehicle diagnostics (emissions-related system diagnostics beyond legislated functionality, non-emissions-related system diagnostics),
- emissions-related on-board diagnostics (OBD) as specified in ISO 15031,
- world-wide harmonized on-board diagnostics (WWH-OBD) as specified in ISO 27145, and
- end of life activation on on-board pyrotechnic devices (ISO 26021).
The transport protocol specifies an unconfirmed communication.
NOTE This part of ISO 15765 does not determine whether CLASSICAL CAN, CAN FD or both are recommended or required to be implemented by other standards referencing this part of ISO 15765.
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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
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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