srs diagnosis epb m139 oem v2.3

SiemensVDO Automotive AG

Software Requirements Specification Diagnosis

Bosch Engineering GmbH

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 EB PM

Designation

Status Released

Documentkey

Siemens Confidential Pages

1 of 35 Siemens VDO Automotive AG Copyright ( C ) Siemens AG 2006

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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




srs_diagnosis_epb_m139_oem.doc EPB Maserati M139

15 November 2006 Page 2 / 35

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






$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






- parameter number of DTCs explained for services $17 and $18

2.3 2006-10-24 Ali Poursohi Siemens VDO Update the release date






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






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






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.






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.






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






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.






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


#1 SecurityAccess#1 service positive response MAND $67


#3 to #6 SEED =

Highest byte seed / High byte seed / Low byte seed / Lowest byte seed.

MAND $xx...$xx

$xx / $xx / $xx / $xx






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




#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


#1 SecurityAccess#2 MAND $27


#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


#1 SecurityAccess#2 service positive response MAND $67


#3 securityAccessStatus = [securityAccessAllowed] MAND $34

SecurityAccess#2 Negative Responses




#3 Response code (conditions not correct, sent if current diagnostic session Id is equal to $81 or security access sequence error)

MAND $22









#3 Response code (invalid key, sent in case received and computed key do not match)

MAND $35




#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.






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.


Software Requirements Specification Diagnosis Bosch Engineering GmbH



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


$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


$20 stopDiagnosticSession $20 SID $60 pos. Response Note, that a ECU reset may be performed if IoCtrlByLocalId command has been issued before.

Level 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






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


$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






$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






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


$1A ReadECUIdentification Drawing number

$1A SID $91 ECUDN

$5A pos. Response $91 ECUDN $XX(11) Drawing number(ASCII)

Level 0


$1A ReadECUIdentification ECU hardware number

$1A SID $92 ECUHWN

$5 pos. Response $92 ECUHWN $XX(11) (ASCII)

Level 0


$1A ReadECUIdentification ECU hardware version

$1A SID $93 ECUHWV

$5A pos. Response $93 ECUHWV $XX(1) Hardware Version (UNSIGN)

Level 0


$1A ReadECUIdentification ECU software number

$1A SID $94 ECUSWN

$5A pos. Response $94 ECUSWN $XX(11) Software number (ASCII)

Level 0


$1A ReadECUIdentification ECU software version

$1A SID $95 ECUSWV

$5A pos. Response $95 ECHUSWV $XX(2) Software Version (UNSIGN)

Level 0


$1A ReadECUIdentification Homologation number

$1A SID $96

$5A pos. Response $96 $XX(6) Homologation number (ASCII)

Level 0






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


$1A ReadECUIdentification Tester code

$1A SID $98

$5A pos. Response $98 $XX(10) Tester code (ASCII)

Level 0


$1A ReadECUIdentification Programming date

$1A SID $99 PD

$5A pos. Response $99 PD $XX(4) YYYYMMDD (BCD)

Level 0





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


$21 ReadDataByLocalIdentifier ECU serial number

$21 SID $83 RLI

$61 pos. Response $83 RLI $xx(4) Serial No. (ASCII)

Level 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


$21 ReadDataByLocalIdentifier VIN

$21 SID $90 RLI

$61 pos. Response $90 RLI $xx(17) VIN (ASCII)

Level 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







$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







$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


$21 ReadDataByLocalIdentifier Software version slave C

$21 SID $B7 RLI

$61 pos. Response $B7 RLI $xx(3) SW_VERSION

Level 0


$21 ReadDataByLocalIdentifier Software version FBL

$21 SID $BD RLI

$61 pos. Response $B7 RLI $xx(2) FBL_VERSION

Level 0







$3B WriteDataByLocalIdentifier SincomAndFactory

$3B SID $82 RLI $XX(3) Sincom $XX(2) Factory $XX Series

$7B pos. Response $82 RLI

Level 1


$3B WriteDataByLocalIdentifier VIN

$3B SID $90 RLI $XX(17) VIN $XX(4) Password

$7B pos. Response $90 RLI

Level 1


$3B WriteDataByLocalIdentifier Tester Code

$3B SID $98 RLI= TC $XX(10) TC

$7B SID $98 RLI= TC

Level 1


$3B WriteDataByLocalIdentifier Download / Production Date

$3B SID $99 RLI= DATE $XX(4) Date(BCD)

$7B SID $99 RLI= DATE

Level 1






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



Stop Control (refer to [6] for preconditions)


Return control to ECU = Stop control


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


Level 0








Status Request (refer to [6] for preconditions)


Report current state = Status request


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


Level 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)


$AA Commanhas been issued

Level 0








Stop Control (vehicle must stand still / no under or over-voltage error must be present)






Level 0



Status Request (vehicle must stand still / no under or over-voltage error must be present)






Level 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)



Level 0



Stop Control (vehicle must stand still / no under or over-voltage error must be present)






Level 0








Status Request (vehicle must stand still / no under or over-voltage error must be present)






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





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.





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





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





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.






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






Environmental Byte

Byt

es

Bitp


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






Environmental Byte

Byt

es

Bitp


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

srs diagnosis epb m139 oem v2.3

Documents

ali poursohi siemens

heiko meyer vector informatik

heiko meyer vector io

poursohi sv c bc p1

strll sv c bc p1 eb

chapter garage braking

engelhard sv c bc p1

release date