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AUTOSAR R21-11 CanDriver规范文档
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AUTOSAR R21-11 CanDriver规范文档
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Specification of CAN Driver
AUTOSAR CP R21-11
1 of 120 Document ID 11: AUTOSAR_SWS_CANDriver
Document Change History
Date
Release
Changed by
Change Description
2021-11-25
R21-11
AUTOSAR
Release
Management
Timestamp requirements were
added
Removed SWS_Can_00485 and
ECUC_Can_00466
Changed the scope of CanIndex
from local to ECU global
Minor corrections / clarifications /
editorial changes
2020-11-30
R20-11
AUTOSAR
Release
Management
Removed Pretended Networking
CanDrv_CONSTR_00512 was
added
Updated ECUC_Can_00471
descripton
Add new parameter:
CanObjectPayloadLength
A note was added to
SWS_Can_00403
SWS_Can_00222 was changed
Minor corrections / clarifications /
editorial changes;
Added Reporting of CAN Error
Types chapter. Requirement
SWS_Can_91021 was added.
CanEnableSecurityEventReporting
container was added
2019-11-28
R19-11
AUTOSAR
Release
Management
Minor corrections / clarifications /
editorial changes;
Changed Document Status from
Final to published
Document Title
Specification of CAN Driver
Document Owner
AUTOSAR
Document Responsibility
AUTOSAR
Document Identification No
11
Document Status
published
Part of AUTOSAR Standard
Classic Platform
Part of Standard Release
R21-11
Specification of CAN Driver
AUTOSAR CP R21-11
2 of 120 Document ID 11: AUTOSAR_SWS_CANDriver
Document Change History
Date
Release
Changed by
Change Description
2018-10-31
4.4.0
AUTOSAR
Release
Management
MCALMulticoreDistribution
(CONC_639) as DRAFT
BusMirroring (CONC_634)
Header file cleanup
Replaced ChannelId with
ShortName for multiple main
functions ([SWS_Can_00441] and
[SWS_Can_00442])
Minor corrections / clarifications /
editorial changes; For details please
refer to the ChangeDocumentation
2017-12-08
4.3.1
AUTOSAR
Release
Management
Added Support to Tx/RxProcessing
per Controller
Incompatible return types are
corrected to E_NOT_OK and E_OK
Can_StateTransitionType is
removed
Runtime error is added and
Rephrased from "default error" to
"development error"
SWS_CAN_00504 and
SWS_Can_00416 is modified
Specification of CAN Driver
AUTOSAR CP R21-11
3 of 120 Document ID 11: AUTOSAR_SWS_CANDriver
Document Change History
Date
Release
Changed by
Change Description
2016-11-30
4.3.0
AUTOSAR
Release
Management
Added API’s
Can_GetControllerErrorState
Can_DeInit,
Can_GetControllerMode, Types
Can_ControllerStateType,
Can_ErrorStateType and new
requirements Can_91002 to
SWS_Can_91018.
Modified minimum range of
MainFunctionPeriod parameters and
replaced Word “DLC” by “Data
Length”.
Removed unresolved BSW SRS
references, definition of the
"configuration variants",
Can_StateTransitionType,
WAKEUP related,
Can_ChangeBaudrate API support,
MISRA references, requirements
related to module initialization check
for scheduled functions.
Small improvements and minor bug-
fixes.
2015-07-31
4.2.2
AUTOSAR
Release
Management
CanHwObjectCount parameter
multiplicity is changed to 1
Error Classification has changed
Improved 8.4.2 Enabling/Disabling
wakeup notification
DET has been renamed from
"Development Error Tracer" to
"Default Error Tracer
Small improvements and minor bug-
fixes
Specification of CAN Driver
AUTOSAR CP R21-11
4 of 120 Document ID 11: AUTOSAR_SWS_CANDriver
Document Change History
Date
Release
Changed by
Change Description
2014-10-31
4.2.1
AUTOSAR
Release
Management
Full CAN FD Support (incl. Trigger
Transmit)
Removed
CanIf_CancelTxConfirmation
Time-out and wake up event
handling
Small improvements and minor bug-
fixes
2014-03-31
4.1.3
AUTOSAR
Release
Management
Added new reqirements
SWS_CAN_00497,
SWS_CAN_00498,
SWS_CAN_00499, and
SWS_CAN_00496
Modified reqirements
ECUC_Can_00445,
SWS_CAN_00487,
SWS_CAN_00469,
SWS_CAN_00475, and
SWS_CAN_00479
Removed reqirements
SWS_CAN_00476, and
SWS_Can_00414
2013-10-31
4.1.2
AUTOSAR
Release
Management
Removed the 'Timing' row from the
API table(s) of chapter 'Scheduled
Functions'
Modified range of Can_IdType and
CAN_CHANGE_BAUDRATE_SUP
PORT to
CAN_CHANGE_BAUDRATE_API
Editorial changes
Removed chapter(s) on change
documentation
Specification of CAN Driver
AUTOSAR CP R21-11
5 of 120 Document ID 11: AUTOSAR_SWS_CANDriver
Document Change History
Date
Release
Changed by
Change Description
2013-03-15
4.1.1
AUTOSAR
Administration
Added support for Pretended
Networking
Add DET error
CAN_E_PARAM_BAUDRATE to
the error classification table
Corrected the sequence for
EcuM_SetWakeupEvent in section
7.7
Updated Can_CheckWakeup as
Configurable API
Added support to have more than
one CanMailbox per HRH in order to
receive back to back messages
Can_ChangeBaudrate and
Can_CheckBaudrate API are
deprecated and will be replaced by
Can_SetBaudrate API
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