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AUTOSAR_SWS_CANInterface

autosar

can

4.3.0

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官方规范 4.3.0 The CAN Interface module provides a unique interface to manage different CAN hard- ware device types like CAN Controllers and CAN Transceivers used by the defined ECU hardware layout. Thus multiple underlying internal and external CAN Controller- s/CAN Transceivers can be controlled by the CAN State Managers module based on a physical CAN channel related view.

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Specification of CAN Interface

AUTOSAR CP Release 4.3.0

Document Title Specification of CAN Interface

Document Owner AUTOSAR

Document Responsibility AUTOSAR

Document Identification No 012

Document Classification Standard

Document Status Final

Part of AUTOSAR Standard Classic Platform

Part of Standard Release 4.3.0

Document Change History

Date Release Changed by

Description

2016-11-30 4.3.0

AUTOSAR

Release

Management

• Remove CCMSM

• Rework MetaData handling

• Reliable TxConfirmation

• Error Active/Passive State API

2015-07-31 4.2.2

AUTOSAR

Release

Management

• Clarified wakeup, buffering, transmit,

and variants

• Removed deprecated APIs

• Editorial changes

2014-10-31 4.2.1

AUTOSAR

Release

Management

• Full CAN FD Support

• Global Time Synchronization over

CAN

• Removed

CanIf_CancelTxConfirmation

• Small improvements

2014-03-31 4.1.3

AUTOSAR

Release

Management

• Removed BSW Exclusive areas

• Set ICOM support to optional

• Can_IdType handling

• Small improvements

2013-10-31 4.1.2

AUTOSAR

Release

Management

• Restricted PDU mode changes

• Removed critical section handling

description in chapter 9

• Set CanIfInitRefCfgSet oboslete

• Pretended Networking section

• Small improvements

1 of 215

— AUTOSAR CONFIDENTIAL —

Document ID 012: AUTOSAR_SWS_CANInterface

Specification of CAN Interface

AUTOSAR CP Release 4.3.0

2013-03-15 4.1.1

AUTOSAR

Administration

• CAN FD (without DLC extension)

• Pretended Networking (ICOM)

• Heavy Duty Vehicle (J1939) support

• PduModes and PnTxFilter for clean

wake-up

• Relation between PDUs & HOHs

• Post-build loadable concept

2011-12-22 4.0.3

AUTOSAR

Administration

• Partial Networking Support

• Improved Transmit Buffering

• Improved Error Detection

2009-12-18 4.0.1

AUTOSAR

Administration

• Updated chapters "Version

Checking" and "Published

Information"

• Multiple CAN IDs could optionally be

assigned to one I-PDU

• Wake-up validation optionally only

via NM PDUs

• Asynch. mode indication call-backs

instead of synch. mode changes

• No automatic PDU channel mode

change when CC mode changes

• TxConfirmation state entered for

BusOff Recovery

• WakeupSourceRefIn and

WakeupSourceRefOut

• PduInfoPtr instead of SduDataPtr

• Introduction of Can_GeneralTypes.h

and Can_HwHandleType

• Transceiver types of chapter 8.

shifted to transceiver SWS

2 of 215

— AUTOSAR CONFIDENTIAL —

Document ID 012: AUTOSAR_SWS_CANInterface

Specification of CAN Interface

AUTOSAR CP Release 4.3.0

2010-02-02 3.1.4

AUTOSAR

Administration

• HOH definition

• abstracted ControllerId and

TransceiverId

• No changing of baudrate via CanIf

and CanIf_ControllerInit

• Dispatcher adapted because of CDD

• TxBuffering: only one buffer per

L-PDU

• Wake up mechanism adapted to

environment behavior (network ->

controller/transceiver;

wakeupSource)

• Mode changes made asynchronous

• no complete state machine in CanIf,

just buffered states per controller

• Legal disclaimer revised

2008-08-13 3.1.1

AUTOSAR

Administration

Legal disclaimer revised

2008-02-01 3.0.2

AUTOSAR

Administration

• Replaced chapter 10 content with

generated tables from AUTOSAR

MetaModel.

2008-02-01 3.0.2

AUTOSAR

Administration

• Interface abstraction: network

related interface changed into a

controller related one

• Wakeup mechanism completely

reworked, APIs added & changed for

Wakeup

• Initialization changed (flat

initialization)

• Scheduled main functions skipped

due to changed BSW Scheduler

responsibility

• Document meta information

extended

• Small layout adaptations made

3 of 215

— AUTOSAR CONFIDENTIAL —

Document ID 012: AUTOSAR_SWS_CANInterface

Specification of CAN Interface

AUTOSAR CP Release 4.3.0

2007-12-21 3.0.1

AUTOSAR

Administration

• Header file structure changed

• Support of mixed mode operation

(Standard CAN & Extended CAN in

parallel on one network) added

• Support of CAN Transceiver API

<User>_DlcErrorNotification deleted

• Pre-compile/Link-Time/Post-Built

definition for configuration

parameters partly changed

• Re-entrant interface call allowed for

certain APIs

• Support of AUTOSAR BSW

Scheduler added

• Support of memory mapping added

• Configuration container structure

reworked

• Various of clarification extensions

and corrections

2006-05-16 2.0.0

AUTOSAR

Administration

Second Release

2005-05-31 1.0.0

AUTOSAR

Administration

Initial Release

4 of 215

— AUTOSAR CONFIDENTIAL —

Document ID 012: AUTOSAR_SWS_CANInterface

Specification of CAN Interface

AUTOSAR CP Release 4.3.0

Disclaimer

This specification and the material contained in it, as released by AUTOSAR, is for the

purpose of information only. AUTOSAR and the companies that have contributed to it

shall not be liable for any use of the specification.

The material contained in this specification is protected by copyright and other types of

Intellectual Property Rights. The commercial exploitation of the material contained in

this specification requires a license to such Intellectual Property Rights.

This specification may be utilized or reproduced without any modification, in any form

or by any means, for informational purposes only. For any other purpose, no part of

the specification may be utilized or reproduced, in any form or by any means, without

permission in wr iting from the publisher.

The AUTOSAR specifications have been developed for automotive applications only.

They have neither been developed, nor tested for non-automotive applications.

The word AUTOSAR and the AUTOSAR logo are registered trademarks.

Advice for users

AUTOSAR specifications may contain exemplary items (exemplary reference models,

"use cases", and/or references to exemplary technical solutions, devices, processes or

software).

Any such exemplary items are contained in the specifications for illustration purposes

only, and they themselves are not part of the AUTOSAR Standard. Neither their pres-

ence in such specifications, nor any later documentation of AUTOSAR conformance of

products actually implementing such exemplary items, imply that intellectual property

rights covering such exemplary items are licensed under the same rules as applicable

to the AUTOSAR Standard.

5 of 215

— AUTOSAR CONFIDENTIAL —

Document ID 012: AUTOSAR_SWS_CANInterface

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