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Date Department
Designed by [email protected] 17.11.2006 SV C BC P1 EB SW
Released by [email protected] 17.11.2006 SV C BC P1
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Document Name: Software Requirements Specification Diagnosis
Project: EPB Maserati M139
Document Maturity: Released
Release Date: 17.11.2006
Number of Pages: 35
File Name: srs_diagnosis_epb_m139_oem.doc
Author: Heiko Meyer, Vector Informatik
Revision: 2.3
Siemens VDO Name: Department: Phone: Date: Signature:
1st Author: Heiko Meyer Vector Informatik
2nd Author: A. Poursohi SV C BC P1 EB SW 0941-790-3765
Check: H. Strll SV C BC P1 EB SW 0941-790-5909
Release: W. Engelhard SV C BC P1 EB PM 0941-790-5941
Bosch Engineering GmbH Name: Department: Phone: Date:
Signature:
Release: J. Grieser 07062-911-6769
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1 History Revision Date Author Company Reason 0.1 2005-12-05 Ali
Poursohi Siemens VDO First version.
0.2 2005-12-13 Heiko Meyer Vector Diagnostic details added.
0.3 2006-01-12 Ali Poursohi Siemens VDO Update the services
0.4 2006-01-26 Harald Strll Siemens VDO Updated services and
security access levels.
0.5 2006-01-27 Ali Poursohi Siemens VDO Updated 6.1 and 6.2.2
and 6.2.3 and via info from vector.
0.6 2006-02-03 Ali Poursohi Siemens VDO Update the garage
braking via M139_SP051102_DIH_Bedding_EPB_procedure.doc
0.7 2006-03-30 Heiko Meyer Vector Update IO control by local
ID
0.8 2006-04-03 Ali Poursohi Siemens VDO Update the environmental
condition for DTCs
Change the definition of the garage braking
Add the section for the behavior of the EPB after the execution
of the IO control services
0.9 2006-05-22 Ali Poursohi Siemens VDO Excluded the chapter
Garage braking
BEG required a separate document for the garage braking Mr.
Jager-Angelo (BEG/ECF2)
1.0 2006-06-19 Ali Poursohi Siemens VDO Completed the condition
for the ignition off and corrected $30 11
1.1 2006-07-17 Heiko Meyer Vector IO Control, EPB Reset,
Ignition Detection and other features described more detailed
Req.-Ids added
1.2 2006-07-20 Harald Strll Siemens VDO Changed document status
to released
1.3 2006-07-26 Harald Strll Siemens VDO Corrected environmental
conditions table in chapter 7.1.2 after comparison with
software.
1.4 2006-08-07 Heiko Meyer Vector Garage Braking described in
more details
List of supported negative response codes added.
1.5 2006-08-16 Heiko Meyer Vector Under / overvoltage protection
for garage breaking and brake control
1.7 2006-09-15 Harald Strll Siemens VDO Corrected value "total
number of context bytes" in chapter 7.2.1.
Corrected Security Access positive response.
1.8 2006-09-28 Ali Poursohi Siemens VDO Inserted the value of
the following parameters for the service ReadDataByLocalIdentifier
EPB internal data frame 1 $xx(1) EPB button state
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$00 Neutral $01 Pressed $02 Pressed failure $03 Neutral failure
$0A Under/Over voltage $xx(1) EPB state $00 Undefined position $01
Applied $02 Released $03 Target reached (by the release to small
force
e.g.: 1500N -> 800N) $04 During apply $05 During release $06
During calibration $07 Stop job (via diagnosis
service) $xx(1) Brake pedal state $00 Brake pedal not pressed
$01 Brake pedal not pressed
Email from Mr. Cristian Bellei from Maserat on 28.09.2006
1.9 2006-09-28 Heiko Meyer Vector Informatik GmbH
Service WDLID MD Factory Data $3B $B3 moved to SRS Diagnosis
SV
2.0 2006-10-17 Heiko Meyer Vector Informatik GmbH
- Cablebedding added
- Detailed description of garage braking, cablebedding and brake
contol IO services That is requested from Mr. Cavallotti in the
telecon on 10.10.2006
- Inserted the value of the following parameters for the service
ReadDataByLocalIdentifier EPB internal data frame 2 $xx(1) ECU
operating phase $04 Main wakeup nominal $05 Main wakeup
degraded
$xx(1) ESP request status $00 No action $01 Locking request $02
Unlocking request $03 - $07 Invalid request
$xx(1) Motor position
= ($xx * $08 ) $E0 )[1/4 Rotation] (Min. value= -224 [1/4
Rotation], Max. value = 1816 [1/4 Rotation]) Email from Mr. van
Uffelen on 16.10.2006
2.1 2006-10-24 Ali Poursohi Siemens VDO Update the information
the brake pedal in RLI $A1
2.2 2006-11-08 Heiko MEyer Vector Informatik GmbH
Review results added:
- list of references updated
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- parameter number of DTCs explained for services $17 and
$18
2.3 2006-10-24 Ali Poursohi Siemens VDO Update the release
date
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2 Table of Content
1 History
...........................................................................................................................
2
2 Table of Content
...........................................................................................................
5
3 Terms and
Abbreviations.............................................................................................
6
4 References
....................................................................................................................
7
5
Overview........................................................................................................................
7
6 Protocol Service
...........................................................................................................
8 6.1 Services
Overview..........................................................................................................
8 6.2 Bus Protocol
...................................................................................................................
8
6.2.1 Protocol Type
..........................................................................................................
8 6.2.2 Stop of Diagnostic
Session......................................................................................
8 6.2.3 Transport Protocol Parameters
...............................................................................
9 6.2.4 CAN Parameters
.....................................................................................................
9
6.3
Conversions..................................................................................................................
10 6.4 Diagnostic Modes
.........................................................................................................
10 6.5 Access Rights. Access Levels
......................................................................................
11 6.6 Security Access
............................................................................................................
11 6.7 Ignition ON/OFF Detection
...........................................................................................
13 6.8 ECU Reset Behavior
....................................................................................................
14 6.9 Diagnostic Services
(Detail)..........................................................................................
14 6.10 Negative Return Codes:
...............................................................................................
31
7 Data
Formats...............................................................................................................
32 7.1 Read Status of DTC Output Format
.............................................................................
32
7.1.1 Output Format Sequence
......................................................................................
32 7.1.2 Environment Byte Description Table
.....................................................................
32 7.1.3 Environment Byte DTC
Symptom..........................................................................
34
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3 Terms and Abbreviations BCD Binary Coded Decimal EPB
Electrical Parking Brake NPB Node Parking Brake = EPB DTC
Diagnostic Trouble Code RLI Record Local Identifier SID Diagnosis
Service ID ST Separation Time SRS Software Requirements
Specification TPDU Transport Protocol Data Unit USN Unsigned
numeric (Motorola-Format H/L) applies, except
differently indicated USNi Unsigned numeric (Intel-Format L/H)
used e.g. for internal
parameters VIN Vehicle Information Number RCD/RCW Remote Control
Wakeup ASCII American Standard Code for Information BCD Binary
Coded Decimal
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4 References Title Version or Release Date
/1/ 07234: General Diagnosis Specification Ed.6, 16.06.2003
/2/ 07274: FIAT Standard Diagnostic Protocol on CAN Ed.4,
18.04.2003
/4/ Network Specification & Message Map (C-CAN), F141,
M139AD, M139AL Ed.3 Rev.B 07.07.2006
/5/ srs_power_management_epb_m139.doc Ed.1.4, 08.09.2006
/6/ srs_garage_braking_epb_m139.doc Ed.9, 20.10.2006
5 Overview This document describes the customer specific
diagnosis interface of the ECU EPB M139 Maserati.
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6 Protocol Service
6.1 Services Overview
ID (Hex
Value)
Diagnostic Service Name After sale diagnostic
session
$10 $81+$83
ECU flash re-programming
Services
$10 $85
System supplier defined
sessions
$10 $FA-$FE
10 startDiagnosticSession X X X 20 stopDiagnosticSession X X X
27 securityAccess X X X 3E TesterPresent X X X 1A
readECUIdentification X X 21 readDataByLocalIdentifier X X X 3B
writeDataByLocalIdentifier X X X 18
readDiagnosticTroubleCodesByStatus X X 17
readStatusOfDiagnosticTroubleCodes X X 12 readFreezeFrameData 14
clearDiagnosticInformation X X 30
inputOutputControlByLocalIdentifier X X 31
startRoutineByLocalIdentifier X X X 32 stopRoutineByLocalIdentifier
X X X 33 requestRoutineResultByLocalIdentifier X X 34
requestDownload X 36 TransferData X 37 requestTransferExit X
6.2 Bus Protocol
6.2.1 Protocol Type All diagnostic request telegrams (Tester)
and response telegrams (ECU) will use the KWP2000 protocol and
transport protocol specified in /2/.
6.2.2 Stop of Diagnostic Session There are several reasons why
the diagnostic session is stopped:
StopDiagnosticSession command is sent by tester This is the
normal way for ending diagnostics. The StopDiagnosticSession
command (0x20) has to be sent once if the ECU is in the default
session (0x81) or twice if the ECU is in one of the high layer
sessions.
Ignition is switched OFF Ignition off means for the EPB system
that the EPB is not in the main wake up state and in the main wake
up degraded state. (see in /5/ and section 6.7 Ignition ON/OFF
Detection) If during a diagnostic session ignition is turned off,
the diagnostic session is terminated. If ignition is off, no
diagnostic session may be started.
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Tester sends no tester present If the timeout for the receiving
of tester present is set the EPB leaves the diagnosis mode.
6.2.3 Transport Protocol Parameters Parameter Value
Description
TPDU.TA 23h ECU Target Address
Tester Address (TA) F1h Tester Target Address
TPDU.BS 255 Block Size
TPDU.ST 0 Separation Time
cCN_Timeout 200 ms Max. time between first frame and flow
control
cCF_Timeout 200 ms Max. time between FC/CF and next CF
E_tmo_rx 10 s Timeout between transmission of diagnostic
response and reception of next request
E_dly_tx
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6.3 Conversions In this chapter the units and conversions
factors used in this document are described.
Parameter Unit Conversion Form Description
Applied force Target force
N 6 [6N] Target force = value x 6N
e.g.: value = 100 -> target force = 600N
Motor speed RPM 375 [375 RPM] Motor speed = Frequency value in
RPM
e.g.: Frequency value = 10 -> Motor speed = 3750RPM
Motor circuit voltage V 0.1 [0.1V] Motor circuit voltage = value
x 0.1V
e.g.: value = 100 -> motor circuit voltage = 10V
ECU temperature C 1 [C] ECU temperature = value C
e.g.: value = 20 -> Temperature = 20C
6.4 Diagnostic Modes Diagnostic modes are used to group
diagnostic services and limit the access to the service groups
needed for production, testing and manufacturing via the security
access feature. If the tester tool wants access to the protected
services it needs to unlock the ECU by following the security
access "unlocking" protocol. The following diagnostic modes are
supported by the EPB M139 ECU.
Session ID diagnosticMode Access Level
$81 defaultMode-StandardDiagnosticMode-OBDIIMode Level 0
$83 endOfLineVehicleManufacturerMode Level 1
$85 ECUProgrammingMode Level 2
$FA ECUSupplierDevelopmentMode Level 5
$FB ECUSupplierSeriesMode Level 4
$FD ActuatorSupplierSeriesMode Level 3
$FE ECUSupplierIOControlMode Level 6
Note, that on starting of the ECU Programming Mode the EPB
performs a reset and jumps into the Flash Boot Loader immediately.
From that point of time on the diagnostic commands described within
this document are no longer relevant. Refer to the FIAT Flash Boot
Loader description for a list of commands supported in the boot
loader.
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6.5 Access Rights. Access Levels The following flowchart
explains the access level scheme applied for the diagnostic
servides assigned to the diagnostic modes.
The access level hierarchy permits services to be accessed
according to the current access level. If the current access level
is >= service minimum required access level then the service is
permitted otherwise the negative response code $22 "Conditions Not
Correct" will be sent to the tester. For each service the minimum
required access level is specified.
6.6 Security Access The algorithm for the key calculation
is:
Key = f(Seed) = ((Seed XOR 0xaa559966) + Constant)
The parameter Constant has to be selected according to the
security access to be activated. See chapter 6.4 for a list of
available security access types. The value Seed is a random number
generated by the ECU. The security access constants are listed in a
separate document. SecurityAccess#1 Request Message
Byte No Service and parameters Conv. Code (HEX)
#1 SecurityAccess#1 MAND $27
#2 AccessMode MAND $03
SecurityAccess#1 Positive Response
Byte No Service and parameters Conv. Code (HEX)
#1 SecurityAccess#1 service positive response MAND $67
#2 AccessMode MAND $03
#3 to #6 SEED =
Highest byte seed / High byte seed / Low byte seed / Lowest byte
seed.
MAND $xx...$xx
$xx / $xx / $xx / $xx
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SecurityAccess#1 Negative Responses Byte No Service and
parameters Conv. Code (HEX)
#1 Negative response MAND $7F
#2 Security access request service Id MAND $27
#3 Response code (conditions not correct, sent if current
diagnostic session Id is equal to $81 or security access sequence
error)
MAND $22
Byte No Service and parameters Conv. Code (HEX)
#1 Negative response MAND $7F
#2 Security access request service Id MAND $27
#3 Response code (required time delay not expired, sent in case
of wrong key entry during earlier security acceess request)
MAND $37
SecurityAccess#2 Request Message
Byte No Service and parameters Conv. Code (HEX)
#1 SecurityAccess#2 MAND $27
#2 AccessMode MAND $04
#3 to #6 KEY = f(SEED) =
Highest byte key / High byte key / Low byte key / Lowest byte
key.
MAND $xx...$xx=
$xx / $xx / $xx / $xx
SecurityAccess#2 Positive Response
Byte No Service and parameters Conv. Code (HEX)
#1 SecurityAccess#2 service positive response MAND $67
#2 AccessMode MAND $04
#3 securityAccessStatus = [securityAccessAllowed] MAND $34
SecurityAccess#2 Negative Responses
Byte No Service and parameters Conv. Code (HEX)
#1 Negative response MAND $7F
#2 Security access request service Id MAND $27
#3 Response code (conditions not correct, sent if current
diagnostic session Id is equal to $81 or security access sequence
error)
MAND $22
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Byte No Service and parameters Conv. Code (HEX)
#1 Negative response MAND $7F
#2 Security access request service Id MAND $27
#3 Response code (invalid key, sent in case received and
computed key do not match)
MAND $35
Byte No Service and parameters Conv. Code (HEX)
#1 Negative response MAND $7F
#2 Security access request service Id MAND $27
#3 Response code (required time delay not expired, sent in case
of wrong key entry during earlier security acceess request)
MAND $37
6.7 Ignition ON/OFF Detection The EPB assumes the vehicle
ignition to be switched ON, if the internal power management state
machine is in the main wake-up NOMINAL or DEGRADED states. A
diagnostic session can only be opened and remains active if the EPB
power manager is in one of these two states. The EPB does observe
one dedicated CAN signal or one discrete HW line in order to
determine whether ignition is switched ON or OFF but it observes a
combination of HW line (RCD wake-up line) and different CAN
signals. The NOMINAL state is entered in case the RCD wake-up line
is high and the EPB receives a valid main wake-up request via
STATUS_B_CAN2 message. Whenever there is an inconsistency detected
between CAN bus signals and RCD wake-up line the EPB enters the
DEGRADED state. This is the case e.g. if the vehicle does not stand
still but the EPB receives a no main wake-up request via
STATUS_B_CAN2 message. Please refer to [5] for further details of
the power management. A diagnostic session can only be opened or
remains open in the NOMINAL and DEGRADED power manager states (i.e.
if ignition is assumed to be switch ON). If the EPB leaves the
NOMINAL state towards to PARTIAL wake-up state or the DEGRADED
state towards TRANSITORY state, any active diagnostic session will
be closed and new sessions cannot be opened. Since these transition
are not performed immediately after the actual vehicle ignition
off, it may take some time before the session is closed. This is
because the EPB needs time to validate or de-validate the involved
HW and CAN signals. The exact timing is given in [5]. If finally
the EPB has left the NOMINAL or DEGRADED wake-up states, then the
EPB will not answer to any diagnostic request till ignition is
switched on again and the power manager is back in the NOMINAL or
DEGRADED state.
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6.8 ECU Reset Behavior There are several cases in which the EPB
performs a reset on reception of a dedicated diagnostic command or
timeout:
ECU Reset is initiated via StartRoutineByLocalId command
the ECU Programming Mode is started via StartDiagnostic session
command
Garage Braking via IoControlByLocalId command has been activated
before and is now stopped (refer to /6/ for list of reasons for
leaving the garage braking mode)
Brake Control or Cablebedding via IoControlByLocalId command has
been activated and diagnostic session ends either due to
StopDiagnosticSession command or tester present timeout or ignition
is switched off.
Note, that the diagnostic tester may run into a timeout if one
of the conditions above is true. The EPB indicates via CAN signal
IODiagnosticCmdActive in the EPB message that IO Control has been
granted to EPB diagnostics and that therefore a ECU reset is
required on stop of diagnostics. This signal may be used by the
tester or other ECU to prevent timeout entries. An EPB reset after
activation of one of the three IO control services (brake control,
cablebedding or garage braking) cannot be avoided since this is
part of the safety concept of the EPB. Normally the control of the
actuator is granted to the CAN interface, i.e. the ESP that sends
its commands (apply or release brake) to the EPB. Whenever an IO
control service is activated via diagnostic tester, the EPB
application does not accept further commands from the ESP. Now the
only instance that can control the actuator is the diagnostic
tester. This is in order to ensure that the ESP does not interfere
with the tester during maintenance action in a garage which can
endanger the service stuff working on the car. A switch back of the
control to the ESP is not implemented in the EPB application SW.
Once the EPB application SW has handed over control to another
instance, only an EPB reset can bring back the control to the ESP.
Any external ECU that supervises one of the application messages or
signals sent by the EPB must take into account that the time for a
reset of the EPB is about 300 ms. I.e. it is strongly recommended
not to use timeouts shorter than 500 ms. Otherwise it may happen
that an external ECU detects a timeout, enters a timeout error into
its fault memory which finally lead to switching on of a
malfunction indicator lamp on the instrument. In order to prevent
such a situation it is also recommended to erase fault memory of
all ECUs after one of the three IO control services (brake control,
cablebedding or garage braking) has been activated via diagnostic
tester.
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6.9 Diagnostic Services (Detail) (only relevant services and
sub-functions for OEM are listed hereafter)
Requ.-ID SID Diagnostic Service Request Message Response Message
Minimum Security Access Level
Diagnostic Management SWR_DI_ OEM_0001 V1.0
$10 startDiagnosticSession
defaultMode-StandardDiagnosticMode-OBDIIMode
$10 SID $81 Mode
$50 pos. Response $81 Mode
Level 0
SWR_DI_ OEM_0002 V1.0
$10 startDiagnosticSession endOfLineVehicle ManufacturerMode
$10 SID $83 Mode
$50 pos. Response $83 Mode
Level 0
SWR_DI_ OEM_0003 V1.0
$10 startDiagnosticSession ECUProgrammingMode
$10 SID $85 Mode
$50 pos. Response $85 Mode Note, that normal diagnostic ends on
receiving of this command and that the EPB jumps into the Flash
Boot Loader.
Level 0
SWR_DI_ OEM_0004 V1.0
$20 stopDiagnosticSession $20 SID $60 pos. Response Note, that a
ECU reset may be performed if IoCtrlByLocalId command has been
issued before.
Level 0
SWR_DI_ OEM_0005 V1.0
$3E TesterPresent $3E SID $7E pos. Response Note, that a ECU
reset may be performed if IoCtrlByLocalId command has been issued
before and tester present timeout occurs.
Level 0
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Requ.-ID SID Diagnostic Service Request Message Response Message
Minimum Security Access Level
Error Memory read/erase SWR_DI_ OEM_0006 V1.0
$14 ClearDiagnosticInformation AllGrous
$14 SID $FF00 Group
$54 pos. Response $FF00 Group Note, that clearing of the fault
memory may need some time since also the slave controller is
involved in the function. The EPB sends response pending in case
the time for a immediate answer expires.
Level 0
SWR_DI_ OEM_0007 V1.0
$17 ReadStatusOfDTC DTC
$17 SID $XXXX DTC
$57 pos. Response xx number of DTC xxxx DTC xx Error state
(SODTC) xx EvC1 xx EvC2 xx EvC3 xx EvC4 xx EvC5 xx EvC6 xx Event
counter. (FRCNT) Note, that if parameter number of DTC is equal to
zero, no further DTC information will follow within the response
message. This will happen if the requested DTC is not supported by
EPB or it is supported but currently not active (present in failure
memory).
Level 0
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SWR_DI_ OEM_0008 V1.0
$18 ReadDTCByStatus RequIdentifiedDtcAndState AllGroups
$18 SID $00 StatusOfDtc $FF00 Group
$58 pos. Response xx Number of DTCs xxxx Error code (DTC#1) xx
Error state (SODTC#1) xxxx Error code n (DTC#n) xx Error state n
(SODTC#n) Note, that if parameter number of DTC is equal to zero,
no further DTC information will follow within the response message.
This will happen if currently there is no DTC present in failure
memory. If parameter number of DTC is equal to one or more, three
bytes are following per active DTC.
Level 0
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Requ.-ID SID Diagnostic Service Request Message Response Message
Minimum Security Access Level
ECU-Identification SWR_DI_ OEM_0009 V1.0
$1A ReadECUIdentification ECU-ID
$1A SID $80 ECUIDT
$5A pos. Response $80 ECUIDT $XX(61) Data of Sub service $91 -
$99
Level 0
SWR_DI_ OEM_0010 V1.0
$1A ReadECUIdentification Drawing number
$1A SID $91 ECUDN
$5A pos. Response $91 ECUDN $XX(11) Drawing number(ASCII)
Level 0
SWR_DI_ OEM_0011 V1.0
$1A ReadECUIdentification ECU hardware number
$1A SID $92 ECUHWN
$5 pos. Response $92 ECUHWN $XX(11) (ASCII)
Level 0
SWR_DI_ OEM_0012 V1.0
$1A ReadECUIdentification ECU hardware version
$1A SID $93 ECUHWV
$5A pos. Response $93 ECUHWV $XX(1) Hardware Version
(UNSIGN)
Level 0
SWR_DI_ OEM_0013 V1.0
$1A ReadECUIdentification ECU software number
$1A SID $94 ECUSWN
$5A pos. Response $94 ECUSWN $XX(11) Software number (ASCII)
Level 0
SWR_DI_ OEM_0014 V1.0
$1A ReadECUIdentification ECU software version
$1A SID $95 ECUSWV
$5A pos. Response $95 ECHUSWV $XX(2) Software Version
(UNSIGN)
Level 0
SWR_DI_ OEM_0015 V1.0
$1A ReadECUIdentification Homologation number
$1A SID $96
$5A pos. Response $96 $XX(6) Homologation number (ASCII)
Level 0
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Requ.-ID SID Diagnostic Service Request Message Response Message
Minimum Security Access Level
ECU-Identification SWR_DI_ OEM_0016 V1.0
$1A ReadECUIdentification ISO Code
$1A SID $97
$5A pos. Response $97 $XX(5) ISO Code (UNSIGN)
Level 0
SWR_DI_ OEM_0017 V1.0
$1A ReadECUIdentification Tester code
$1A SID $98
$5A pos. Response $98 $XX(10) Tester code (ASCII)
Level 0
SWR_DI_ OEM_0018 V1.0
$1A ReadECUIdentification Programming date
$1A SID $99 PD
$5A pos. Response $99 PD $XX(4) YYYYMMDD (BCD)
Level 0
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Requ.-ID SID Diagnostic Service Request Message Response Message
Minimum
Security Access Level
EPB SPECIFIC DATA read/write SWR_DI_ OEM_0019 V1.0
$21 ReadDataByLocalIdentifier SincomAndFactory
$21 SID $82 RLI
$61 pos. Response $82 RLI $XX(3) Sincom (ASCII) $XX(2) Factory
(ASCII) $XX Series
Level 0
SWR_DI_ OEM_0020 V1.0
$21 ReadDataByLocalIdentifier ECU serial number
$21 SID $83 RLI
$61 pos. Response $83 RLI $xx(4) Serial No. (ASCII)
Level 0
SWR_DI_ OEM_0021 V1.0
$21 ReadDataByLocalIdentifier EMC type approval references
$21 SID $8F RLI
$61 pos. Response $8F RLI $xx(1) Supplier (BOSH code) $xx(16)
Component initials (ASCII) $xx(5) Free field (ASCII) $xx(1) EMC
index
Level 0
SWR_DI_ OEM_0022 V1.0
$21 ReadDataByLocalIdentifier VIN
$21 SID $90 RLI
$61 pos. Response $90 RLI $xx(17) VIN (ASCII)
Level 0
SWR_DI_ OEM_0023 V1.0
$21 ReadDataByLocalIdentifier EPB cycles counter
$21 SID $A0 RLI
$61 pos. Response $A0 RLI $xx(3) EPB cycles counter apply (most
... less significant) $xx(3) EPB cycles counter apply max effort
(most less significant)
Level 0
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Requ.-ID SID Diagnostic Service Request Message Response Message
Minimum Security Access Level
EPB SPECIFIC DATA read/write SWR_DI_ OEM_0024 V1.0
$21 ReadDataByLocalIdentifier EPB internal data frame 1
$21 SID $A1 RLI
$61 pos. Response $A1 RLI $xx(1) Vehicle Speed [km/h] $xx(1) EPB
button state $00 Neutral $01 Pressed $02 Pressed failure $03
Neutral failure $0A Under/Over voltage $xx(1) EPB state $00
Undefined position $01 Applied $02 Released $03 Target reached (by
the release to small force
e.g.: 1500N -> 800N) $04 During apply $05 During release $06
During calibration $07 Stop job (via diagnosis service) $xx(1)
Brake pedal state $00 Brake pedal not pressed $01 Brake pedal
pressed $xx(1) Battery voltage (KL30) [0.1V] $xx(1) RCD line
voltage (KL15) [0.1V] $xx(1) ECU temperature [C] $xx(1) Motor
temperature [C]
Level 0
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Requ.-ID SID Diagnostic Service Request Message Response Message
Minimum Security Access Level
EPB SPECIFIC DATA read/write SWR_DI_ OEM_0025 V1.0
$21 ReadDataByLocalIdentifier EPB internal data frame 2
$21 SID $A2 RLI
$61 pos. Response $A2 RLI $xx(1) Applied force [6N] $xx(1)
Target force [6N] $xx(1) Motor circuit voltage [0.1V] $xx(1) RCD
line state [1 high / 0 low] $xx(1) Motor speed requested by ESP
[0...100%] $xx(1) Motor speed [375 RPM] $xx(1) ECU operating phase
$04 Main wakeup nominal $05 Main wakeup degraded $xx(1) ESP request
status $00 No action $01 Locking request $02 Unlocking request $03
- $07 Invalid request $xx(1) Motor position = ($xx * $08 ) $E0
)[1/4 Rotation]
(Min. value= -224 [1/4 Rotation], Max. value = 1816 [1/4
Rotation])
Level 0
SWR_DI_ OEM_0026 V1.0
$21 ReadDataByLocalIdentifier Software version slave C
$21 SID $B7 RLI
$61 pos. Response $B7 RLI $xx(3) SW_VERSION
Level 0
SWR_DI_ OEM_0027 V1.0
$21 ReadDataByLocalIdentifier Software version FBL
$21 SID $BD RLI
$61 pos. Response $B7 RLI $xx(2) FBL_VERSION
Level 0
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Requ.-ID SID Diagnostic Service Request Message Response Message
Minimum Security Access Level
EPB SPECIFIC DATA read/write SWR_DI_ OEM_0028 V1.0
$3B WriteDataByLocalIdentifier SincomAndFactory
$3B SID $82 RLI $XX(3) Sincom $XX(2) Factory $XX Series
$7B pos. Response $82 RLI
Level 1
SWR_DI_ OEM_0029 V1.0
$3B WriteDataByLocalIdentifier VIN
$3B SID $90 RLI $XX(17) VIN $XX(4) Password
$7B pos. Response $90 RLI
Level 1
SWR_DI_ OEM_0030 V1.0
$3B WriteDataByLocalIdentifier Tester Code
$3B SID $98 RLI= TC $XX(10) TC
$7B SID $98 RLI= TC
Level 1
SWR_DI_ OEM_0031 V1.0
$3B WriteDataByLocalIdentifier Download / Production Date
$3B SID $99 RLI= DATE $XX(4) Date(BCD)
$7B SID $99 RLI= DATE
Level 1
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Requ.-ID SID Diagnostic Service Request Message Response Message
Minimum Security Access Level
EPB IO CONTROL SWR_DI_ OEM_0033 V1.0
$30 InputOutputControl-ByLocalIdentifier GarageBraking
Start Control (refer to [6] for preconditions)
$30 SID $01 IOLI GarageBraking $07 PARAPIL1 (Input output
control parameter)
Shot term adjustment = Start control $xx PARAPIL2 (Input output
control state) $00 Release the parking brake $FF Tightening of the
parking brake $xx PARAPIL3 (Input output control state) $xx =
GarageBrakingForce [6N] (see below table for further details)
$70 SID $01 IOLI GarageBraking $07 STATPIL1 (Input output
control parameter)
Shot term adjustment = Start control $xx STATPIL2 (Input output
control status) $00 Control could not be started $01 Control in
progress $02 Control ended $04 Problem $11 Command processing
stopped
$AA Command has been issued
Level 0
SWR_DI_ OEM_0033 V1.0
$30 InputOutputControl-ByLocalIdentifier GarageBraking
Stop Control (refer to [6] for preconditions)
$30 SID $01 IOLI GarageBraking $00 PARAPIL1 (Input output
control parameter)
Return control to ECU = Stop control
$70 SID $01 IOLI GarageBraking $00 STATPIL1 (Input output
control parameter)
Return control to ECU = Stop control $xx STATPIL2 (Input output
control status) $00 Control could not be started $01 Control in
progress $02 Control ended $04 Problem $11 Command processing
stopped
$AA Command has been issued
Level 0
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Requ.-ID SID Diagnostic Service Request Message Response Message
Minimum Security Access Level
EPB IO CONTROL SWR_DI_ OEM_0034 V1.0
$30 InputOutputControl-ByLocalIdentifier GarageBraking
Status Request (refer to [6] for preconditions)
$30 SID $01 IOLI GarageBraking $01 PARAPIL1 (Input output
control parameter)
Report current state = Status request
$70 SID $01 IOLI GarageBraking $01 STATPIL1 (Input output
control parameter)
Report current state = Status request $xx STATPIL2 (Input output
control status) $00 Control could not be started $01 Control in
progress $02 Control ended $04 Problem $11 Command processing
stopped
$AA Command has been issued
Level 0
SWR_DI_ OEM_0035 V1.0
$30 InputOutputControl-ByLocalIdentifier BrakeControl
Start Control (vehicle must stand still / no under or
over-voltage error must be present)
$30 SID $11 IOLI BrakeControl $07 PARAPIL1 (Input output control
parameter)
Shot term adjustment = Start control $xx PARAPIL2 (Input output
control state) $00 Release the parking brake $01 Setting up for
mounting/ un-mounting $02 Readjustment $FF Tightening of the
parking brake (see below table for further details)
$70 SID $11 IOLI BrakeControl $07 STATPIL1 (Input output control
parameter)
Shot term adjustment = Start control $xx STATPIL2 (Input output
control status) $00 Control could not be started $01 Control in
progress $02 Control ended $04 Problem $11 Command processing
stopped
$AA Commanhas been issued
Level 0
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Requ.-ID SID Diagnostic Service Request Message Response Message
Minimum Security Access Level
EPB IO CONTROL SWR_DI_ OEM_0035 V1.0
$30 InputOutputControl-ByLocalIdentifier BrakeControl
Stop Control (vehicle must stand still / no under or
over-voltage error must be present)
$30 SID $11 IOLI BrakeControl $00 PARAPIL1 (Input output control
parameter)
Return control to ECU = Stop control
$70 SID $11 IOLI BrakeControl $00 STATPIL1 (Input output control
parameter)
Return control to ECU = Stop control $xx STATPIL2 (Input output
control status) $00 Control could not be started $01 Control in
progress $02 Control ended $04 Problem $11 Command processing
stopped
$AA Command has been issued
Level 0
SWR_DI_ OEM_0036 V1.0
$30 InputOutputControl-ByLocalIdentifier BrakeControl
Status Request (vehicle must stand still / no under or
over-voltage error must be present)
$30 SID $11 IOLI BrakeControl $01 PARAPIL1 (Input output control
parameter)
Report current state = Status request
$70 SID $11 IOLI BrakeControl $01 STATPIL1 (Input output control
parameter)
Report current state = Status request $xx STATPIL2 (Input output
control status) $00 Control could not be started $01 Control in
progress $02 Control ended $04 Problem $11 Command processing
stopped
$AA Command has been issued
Level 0
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Requ.-ID SID Diagnostic Service Request Message Response Message
Minimum Security Access Level
EPB IO CONTROL SWR_DI_ OEM_0037 V1.0
$30 InputOutputControl-ByLocalIdentifier Cablebedding
Start Control (vehicle must stand still / no under or
over-voltage error must be present)
$30 SID $12 IOLI Cablebedding $07 PARAPIL1 (Input output control
parameter)
Shot term adjustment = Start control $xx PARAPIL2 (Input output
control state) $xx delay time between apply and
release command and vice versa in steps of 20 ms (range 0 ms to
5100 ms)
$xx PARAPIL 3 (Input output control parameter) $xx number of
apply release cycles
(range 1 t0 20 cycles / 0 = 5 cycles) (see below table for
further details)
$70 SID $12 IOLI Cablebedding $07 STATPIL1 (Input output control
parameter)
Shot term adjustment = Start control $xx STATPIL2 (Input output
control status) $00 Control could not be started $01 Control in
progress $02 Control ended $04 Problem $11 Command processing
stopped
$AA Command has been issued
Level 0
SWR_DI_ OEM_0037 V1.0
$30 InputOutputControl-ByLocalIdentifier Cablebedding
Stop Control (vehicle must stand still / no under or
over-voltage error must be present)
$30 SID $12 IOLI Cablebedding $00 PARAPIL1 (Input output control
parameter)
Return control to ECU = Stop control
$70 SID $12 IOLI Cablebedding $00 STATPIL1 (Input output control
parameter)
Return control to ECU = Stop control $xx STATPIL2 (Input output
control status) $00 Control could not be started $01 Control in
progress $02 Control ended $04 Problem $11 Command processing
stopped
$AA Command has been issued
Level 0
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Requ.-ID SID Diagnostic Service Request Message Response Message
Minimum Security Access Level
EPB IO CONTROL SWR_DI_ OEM_0038 V1.0
$30 InputOutputControl-ByLocalIdentifier Cablebedding
Status Request (vehicle must stand still / no under or
over-voltage error must be present)
$30 SID $12 IOLI Cablebedding $01 PARAPIL1 (Input output control
parameter)
Report current state = Status request
$70 SID $12 IOLI Cablebedding $01 STATPIL1 (Input output control
parameter)
Report current state = Status request $xx STATPIL2 (Input output
control status) $00 Control could not be started $01 Control in
progress $02 Control ended $04 Problem $11 Command processing
stopped
$AA Command has been issued
Level 0
Explanation of return value STATPIL2 (brake control,
cablebedding and garage braking):
$00 Control could not be started IO control is not allowed and
cannot be started therefore $01 Control in progress IO control
command has been issued and is no been processed by slave C $02
Control ended IO control command has been successfully finished $04
Problem problem in IO control command processing $11 Command
processing stopped IO control command processing has been stopped
via Stop Control command $AA Command has been issued IO control
command has just been issued and is not transferred to slave C
Explanation of parameter value PARAPIL2 (brake control and garage
braking):
$00 Apply brake apply brake to 150 daN (brake control) and
PARAPIL3 daN for garage braking $01 Setup for mounting set EPB in
the cable mounting position (brake control only) $02 Readjustment
re-calibrate EPB by performing single apply release cycle (brake
control only) $FF Release brake release EPB to 0 daN
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Explanation of parameter value PARAPIL3 (garage braking):
$xx Force force [6N] to which the EPB is applied on apply garage
braking command (for ranges and default values ref. To [6])
Explanation of parameter value PARAPIL2 (cablebedding):
$xx Delay Time time [20ms] between single apply-release and
release-apply commands (no restrictions) Explanation of parameter
value PARAPIL3 (cablebedding):
$xx Cycles number of apply to 150 daN and release to 0 daN
cycles (0 = default = 5 cycles, max. = 20 cycles)
Common behavior for all three IO control services (brake
control, cablebedding and garage braking):
On stop diagnostic session, test present timeout and key off
detection the EPB will perform a reset
Only one of the three IO control services can be active at a
time. If one service is started, then the activation of the other
services will be rejected by return code 0x22 (Conditions not
correct)
The services can only be started if the preconditions mentioned
in the tables above are fulfilled.
Common behavior of garage braking and cablebedding:
Preconditions are not only checked on entering of the service
but they are continuously monitored. If during run of a the service
a precondition is no longer fulfilled then the service is stopped
and the brake is released. This is not the case for the brake
control service, i.e. brake control will continue if already
started even if the preconditions are no longer true.
The brake is always release when the service ends independent on
the stop reason. This is also not valid for the brake control
service, i.e. on stop of brake control the currently active command
is aborted and the actuator stays at the current position.
Common behavior of brake control and garage braking:
If the services are stopped via IO control command then the EPB
remains in the currently active diagnostic session with actuator
control enabled. This leads to a EPB reset if later diagnostic
session ends. For garage braking the behaviour is different. Here
the EPB immediately leaves diagnostics and performs a reset, i.e.
diagnostic processing cannot be continued.
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Exit criteria for brake control functions:
IO control stop command is sent ($30 $11 $00) (no EPB reset)
default diagnostic session is closed -> EPB is reset
tester present timeout -> EPB is reset
ignition is switched off -> EPB is reset
Exit criteria for cablebedding:
IO control stop command is sent ($30 $12 $00) -> EPB is
released (no EPB reset)
vehicle speed is exceeds 10 km/h -> EPB is released (no EPB
reset)
default diagnostic session is closed -> EPB is released ->
EPB is reset
tester present timeout -> EPB is released -> EPB is
reset
ignition is switched off -> EPB is released > EPB is
reset
Exit criteria for garage braking:
ref. to [6] for list of garage braking exit conditions -> EPB
is always released independent of exit reason -> EPB is always
reset independent of exit reason
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SID Diagnostic Service Request Message Response Message
Minimum
Security Access Level
EPB SPECIFIC ROUTINES SWR_DI_ OEM_0037 V1.0
$31 StartRoutineByLocalIdentifier ECU Reset
$31 SID $03 RLI $B0 LogicalReset
$71 pos. Response $03 RLI
Level 0
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6.10 Negative Return Codes: The EPB supports the following
negative return codes, that are used in the explained error
conditions:
0x11: The whole diagnostic service is not supported by EPB.
0x12: A only a specific sub-function of a service is not supported
or the length of the request message is incorrect or a parameter
value is
outside of allowed values. 0x22: Service and sub-function are
supported in general but currently the environmental conditions do
not allow the execution of the
request. 0x33: Security access is requested for this
sub-function. 0x35: Invalid key to unlock security access 0x78: The
EPB need time to respond. A positive response will follow. 0x80:
Service or sub-function is not supported in the currently active
diagnostic mode. 0x87: Writing error, e.g. during write access to
EEPOROM.
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7 Data Formats 7.1 Read Status of DTC Output Format
7.1.1 Output Format Sequence Byte Name Content
#1..2 DTC 2 bytes
#3 Status of DTC See chapter 7.1.3
#4 Env1 INPUT_VOLTAGE_KLEMMEN_BUTTON
#5 Env2 FORCE
#6 Env3 MOTOR_SPEED
#7 Env4 ACTUATOR_STATES
#8 Env5 APPL_STATES
#9 Env6 ERROR_CAN_SIGNAL
#10 Event Counter 0..40
7.1.2 Environment Byte Description Table Environmental Byte
Byt
es
Bitp
os Environmental Text Scaling Comments
0-3 DTC Symptoms Status of DTC
4 Readiness bit 0/1 0: DTC is detectable 1: DTC is not
detectable
5 Stored bit 0/1 0: DTC is not stored 1: DTC is already
stored
6 Filtered present bit 0/1 0: DTC is actual not present 1: DTC
is actual present
SYMPTOMS 1
7 reserved 0/1 reserved
0-3 KL30_Motor_Voltage 1,6 V KL30_Mot
4-5 Button_state Numeric value:
0: switch pressed 1: switch pressed and fault 2: switch released
3: switch released and fault
Button states
INPUT_ VOLTAGE_ KLEMMEN_BUTTON
1
6 Ignition 0/1 RCD line
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Environmental Byte
Byt
es
Bitp
os Environmental Text Scaling Comments
7 Undervoltage 0/1 0: KL30_E > 8 V 1: KL30_E < 7.6 V
0-3 Actual force 96 N Actual force FORCE 1
4-7 Target force 96 N Requested force by ESP
0-2 Target speed by ESP Assignment:
0: 35 % 1: 50 % 2: 100 % 3: < 10 % 4: > 100 % 5: < 35 %
6: < 50 % 7: < 100 %
MOTOR_SPEED 1
3-7 Motor Speed 400 rpm 0-12000 rpm
0 Unknown 0/1
1 Applied 0/1
2 Released 0/1
3 TargetReached 0/1
4 DuringApply 0/1
5 DuringRelease 0/1
6 DuringCalibration 0/1
ACTUATOR_STATES 1
7 Stopped 0/1
Actuator states
0..2 Internal EPB states Numeric value:
0: InitWakeUp
1: TransitoryWakeUp
2: PartialWakeUp
3: MainWakeUpNominal
4: MainWakeUpDegraded
5: MainWakeUpIep
6: SwitchOff
7:InvalidWakeUp
Internal wake up states
3..5 ESP_Request Numeric value:
0: no request
1: apply requested
2: release requested
7: invalid signal
Request from ESP
6 Apply_Permission 0: V > V Apply_Allowed
1: V < V_Apply_Allowed
V_APPLY_ALLOWED = 10km/h
APPL_STATES 1
7 reserved 0/1 Reserved bit
ERROR_CAN_SIGNAL 1 0 Main Wakeup 0/1 1: invalid
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Environmental Byte
Byt
es
Bitp
os Environmental Text Scaling Comments
1 EPB request 0/1
2 Vehicle Speed 0/1
3 Engine rpm 0/1
4 0/1
5 0/1
6 0/1
7 0/1
0: valid
Event Counter 1 Event Counter 0..40
Total number of context bytes
8
7.1.3 Environment Byte DTC Symptom
DTC Fault Symptom Value
above max 0001
below min 0010
no signal 0100
invalid signal 1000