Specification of CAN Transport Layer
AUTOSAR CP R20-11
5 of 97 Document ID 14: AUTOSAR_SWS_CANTransportLayer
Table of Contents
1 Introduction and functional overview ..................................................................... 8
2 Acronyms and abbreviations................................................................................ 11
3 Related documentation ........................................................................................ 14
3.1 Input documents ............................................................................................. 14
3.2 Related standards and norms ........................................................................ 15
3.3 Related specification ...................................................................................... 15
4 Constraints and assumptions ............................................................................... 16
4.1 Limitations ...................................................................................................... 16
4.2 Applicability in automotive domain................................................................. 16
5 Dependencies on other modules ......................................................................... 17
5.1 AUTOSAR architecture basic concepts ......................................................... 17
5.1.1 CAN Transport Layer connection(s) ....................................................... 17
5.1.2 CAN Transport Layer interactions ........................................................... 17
5.1.3 Processing mode ..................................................................................... 18
5.1.4 Data consistency ..................................................................................... 18
5.1.5 Static configuration .................................................................................. 18
5.1.6 PDU Router services ............................................................................... 19
5.1.7 CAN Interface services ........................................................................... 19
5.2 File structure .................................................................................................. 19
5.2.1 Code file structure ................................................................................... 19
5.2.2 Header file structure ................................................................................ 20
5.2.3 Version check .......................................................................................... 20
5.2.4 Design Rules ........................................................................................... 20
6 Requirements traceability .................................................................................... 21
7 Functional specification ........................................................................................ 23
7.1 Services provided to upper layer ................................................................... 23
7.1.1 Initialization and shutdown ...................................................................... 23
7.1.2 Transmit request ..................................................................................... 25
7.1.3 Transmit cancellation .............................................................................. 25
7.2 Services provided to the lower layer .............................................................. 26
7.2.1 Transmit confirmation .............................................................................. 26
7.2.2 Reception indication ................................................................................ 26
7.3 Internal behavior ............................................................................................ 27
7.3.1 N-SDU Reception .................................................................................... 27
7.3.2 N-SDU Transmission............................................................................... 31
7.3.3 Buffer strategy ......................................................................................... 34
7.3.4 Protocol parameter setting services ........................................................ 37
7.3.5 Tx and Rx data flow ................................................................................. 37
7.3.6 Relationship between CAN NSduId and CAN LSduId ............................ 38
7.3.7 Concurrent connection ............................................................................ 40
7.3.8 N-PDU padding ....................................................................................... 41
7.3.9 Handling of unexpected N-PDU arrival ................................................... 43
7.4 Error classification .......................................................................................... 44
7.4.1 Development Errors ................................................................................ 45
