You can reference the code of imx_28_obds_release_v1_0.tar.gz.
It is standalone On-Board Diagnostic Suit for the i.MX28.
After you decompress the package, you can find "User Guide for i.MX28 On-Board Diagnostics Suite (OBDS)"
You can download the package from www.freescale.com
i.MX281 Product Summary Page
Lab and Test Software (1)
IMX_OBDS
: On-Board Diagnostic Suit for the i.MX28.
Size (K): 10097 Format: gz Rev #: 1 Modified: 3/3/2011