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AUTOSAR R21-11 CanIf规范文档

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AUTOSAR R21-11 CanIf规范文档

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Specification of CAN Interface

AUTOSAR CP R21-11

Document Title Specification of CAN Interface

Document Owner AUTOSAR

Document Responsibility AUTOSAR

Document Identification No 12

Document Status published

Part of AUTOSAR Standard Classic Platform

Part of Standard Release R21-11

Document Change History

Date Release Changed by

Description

2021-11-25 R21-11

AUTOSAR

Release

Management

• Support hardware-based

timestamping

• Minor corrections/clarifications

• Editorial changes

2020-11-30 R20-11

AUTOSAR

Release

Management

• Introduction of Security Events

• Rework of Error classification

chapters

• Removal of pretended networking

• Minor corrections/clarifications

2019-11-28 R19-11

AUTOSAR

Release

Management

• Update reference to ISO

11898-1:2015

• Minor corrections

• Editorial changes

• Changed Document Status from

Final to published

2018-10-31 4.4.0

AUTOSAR

Release

Management

• BusMirroring (CONC_634)

• Receive Data Length Check per Pdu

• Remove dummy implementations for

Cancel Transmit APIs

• Header File Cleanup

2017-12-08 4.3.1

AUTOSAR

Release

Management

• Introduction of Runtime errors

• Replace Can_ReturnType with

Std_ReturnType overlay

• Minor corrections

• Editorial changes

1 of 217 Document ID 12: AUTOSAR_SWS_CANInterface

Specification of CAN Interface

AUTOSAR CP R21-11

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

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

2 of 217 Document ID 12: AUTOSAR_SWS_CANInterface

Specification of CAN Interface

AUTOSAR CP R21-11

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

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.

3 of 217 Document ID 12: AUTOSAR_SWS_CANInterface

Specification of CAN Interface

AUTOSAR CP R21-11

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

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 217 Document ID 12: AUTOSAR_SWS_CANInterface

Specification of CAN Interface

AUTOSAR CP R21-11

Disclaimer

This work (specification and/or software implementation) 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 work.

The material contained in this work is protected by copyright and other types of intel-

lectual property rights. The commercial exploitation of the material contained in this

work requires a license to such intellectual property rights.

This work 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 wor k

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

writing from the publisher.

The work has been developed for automotive applications only. It has neither been

developed, nor tested for non-automotive applications.

The word AUTOSAR and the AUTOSAR logo are registered trademarks.

5 of 217 Document ID 12: AUTOSAR_SWS_CANInterface

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