AUTOSAR Classic CAN

Das CAN-Cluster (Controller Area Network) stellt hardwarenahe Treiber, standardisierte Hardware-Abstraktion (CanIf), State-Management und ISO 15765-2 Transportprotokolle (CanTp) für klassische CAN-, CAN FD- und CAN XL-Netzwerke bereit.

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Can

<LPDU_CalloutName> function

boolean <LPDU_CalloutName> (uint8 Hrh, Can_IdType CanId, uint8 CanDataLegth, const uint8* CanSduPtr);

Can_CheckWakeup function

This function checks if a wakeup has occurred for the given controller.

Std_ReturnType Can_CheckWakeup (uint8 Controller);

Can_DeInit function

This function de - initializes the module.

void Can_DeInit (void);

Can_DisableControllerInterrupts function

This function disables all interrupts for this CAN controller.

void Can_DisableControllerInterrupts (uint8 Controller);

Can_EnableControllerInterrupts function

This function enables all allowed interrupts.

void Can_EnableControllerInterrupts (uint8 Controller);

Can_GetControllerErrorState function

This service obtains the error state of the CAN controller.

Std_ReturnType Can_GetControllerErrorState (uint8 ControllerId, Can_ErrorStateType* ErrorStatePtr);

Can_GetControllerMode function

This service reports about the current status of the requested CAN controller.

Std_ReturnType Can_GetControllerMode (uint8 Controller, Can_ControllerStateType* ControllerModePtr);

Can_GetControllerRxErrorCounter function

Returns the Rx error counter for a CAN controller. This value might not be available for all CAN controllers, in which cas e E_ NOT_ OK would be returned. Please note that the value of the counter might not be correct at the moment the API returns it, because the Rx counter is handled asynchronously in hardware. Applications should not trust this value for any assumption about the current bus state.

Std_ReturnType Can_GetControllerRxErrorCounter (uint8 ControllerId, uint8* RxErrorCounterPtr);

Can_GetControllerTxErrorCounter function

Returns the Tx error counter for a CAN controller. This value might not be available for all CAN controllers, in which case E_ NOT_ OK would be returned. Please note that the value of the counter might not be correct at the moment the API returns it, because the Tx counter is handled asynchronously in hardware. Applications should not trust this value for any assumption about the current bus state.

Std_ReturnType Can_GetControllerTxErrorCounter (uint8 ControllerId, uint8* TxErrorCounterPtr);

Can_GetVersionInfo function

This function returns the version information of this module.

void Can_GetVersionInfo (Std_VersionInfoType* versioninfo);

Can_Init function

This function initializes the module.

void Can_Init (const Can_ConfigType* Config);

Can_MainFunction_BusOff function

This function performs the polling of bus - off events that are configured statically as 'to be polled'.

void Can_MainFunction_BusOff (void);

Can_MainFunction_Mode function

This function performs the polling of CAN controller mode transitions.

void Can_MainFunction_Mode (void);

Can_MainFunction_Read function

This function performs the polling of RX indications when CAN_ RX_ PROCESSING is set to POLLING.

void Can_MainFunction_Read (void);

Can_MainFunction_Wakeup function

This function performs the polling of wake - up events that are configured statically as 'to be polled'.

void Can_MainFunction_Wakeup (void);

Can_MainFunction_Write function

This function performs the polling of TX confirmation when CAN_ TX_ PROCESSING is set to POLLING.

void Can_MainFunction_Write (void);

Can_SetBaudrate function

This service shall set the baud rate configuration of the CAN controller. Depending on necessary baud rate modifications the controller might have to reset.

Std_ReturnType Can_SetBaudrate (uint8 Controller, uint16 BaudRateConfig ID); ⚠️

Can_SetControllerMode function

This function performs software triggered state transitions of the CAN controller State machine.

Std_ReturnType Can_SetControllerMode (uint8 Controller, Can_ControllerStateType Transition);

Can_Write function

This function is called by Can If to pass a CAN message to Can Drv for transmission.

Std_ReturnType Can_Write (Can_HwHandleType Hth, const Can_PduType* PduInfo);

Can_ConfigType type

This is the type of the external data structure containing the overall initialization data for the CAN driver and SFR settings affecting all controllers. Furthermore it contains pointers to controller configuration structures. The contents of the initializ ation data structure are CAN hardware specific.

Can_ControllerStateType type

States that are used by the several Controller Mode functions.

Can_ErrorStateType type

Error states of a CAN controller.

Can_ErrorType type

The enumeration represents a superset of CAN Error Types which typical CAN HW is able to report. That means not all CAN HW will be able to support the complete set.

Can_HwHandleType type

Represents the hardware object handles of a CAN hardware unit. For CAN hardware units with more than 255 HW objects use extended range.

Can_HwType type

This type defines a data structure which clearly provides an Hardware Object Handle including its corresponding CAN Controller and therefore Can Drv as well as the specific Can Id.

Can_IdType type

Represents the Identifier of an L - PDU. The two most significant bits specify the frame type: 00 CAN message with Standard CAN ID 01 CAN FD frame with Standard CAN ID 10 CAN message with Extended CAN ID 11 CAN FD frame with Extended CAN ID

Can_PduType type

This type unites Pdu Id (sw Pdu Handle), Sdu Length (length), Sdu Data (sdu), and Can Id (id) for any CAN L - SDU.

CanIf

<User_CheckTrcvWakeFlagIndication> function

This service indicates that the wake up flag in the CAN transceiver is set. This function is called in CanIf_CheckTrcvWakeFlagIndication.

void <User_CheckTrcvWakeFlagIndication> (uint8 TransceiverId);

<User_ClearTrcvWufFlagIndication> function

This service indicates that the CAN transceiver has cleared the WufFlag. This function is called in CanIf_ClearTrcvWufFlagIndication.

void <User_ClearTrcvWufFlagIndication> (uint8 TransceiverId);

<User_ConfirmPnAvailability> function

This service indicates that the CAN transceiver is running in PN communication mode.

void <User_ConfirmPnAvailability> (uint8 TransceiverId);

<User_ControllerBusOff> function

This service indicates a bus-off event to the corresponding upper layer module (mainly the CAN State Manager module).

void <User_ControllerBusOff> (uint8 ControllerId);

<User_ControllerModeIndication> function

This service indicates a CAN controller state transition to the corresponding upper layer module (mainly the CAN State Manager module).

void <User_ControllerModeIndication> (uint8 ControllerId, Can_ControllerStateType ControllerMode);

<User_RxIndication> function

Indication of a received PDU from a lower layer communication interface module.

void <User_RxIndication> (PduIdType RxPduId, const PduInfoType* PduInfoPtr);

<User_TrcvModeIndication> function

This service indicates a CAN transceiver state transition to the corresponding upper layer module (mainly the CAN State Manager module).

void <User_TrcvModeIndication> (uint8 TransceiverId, CanTrcv_TrcvModeType TransceiverMode);

<User_TriggerTransmit> function

Within this API, the upper layer module (called module) shall check whether the available data fits into the buffer size reported by PduInfoPtr->SduLength. If it fits, it shall copy its data into the buffer provided by PduInfoPtr->SduDataPtr and update the length of the actual copied data in PduInfoPtr->SduLength. If not, it returns E_NOT_OK without changing PduInfoPtr.

Std_ReturnType <User_TriggerTransmit> (PduIdType TxPduId, PduInfoType* PduInfoPtr);

<User_TxConfirmation> function

The lower layer communication interface module confirms the transmission of a PDU, or the failure to transmit a PDU.

void <User_TxConfirmation> (PduIdType TxPduId, Std_ReturnType result);

<User_ValidateWakeupEvent> function

This service indicates if a wake up event initiated from the wake up source (CAN controller or transceiver) after a former request to the CAN Driver or CAN Transceiver Driver module is valid.

void <User_ValidateWakeupEvent> (EcuM_WakeupSourceType sources);

CanIf_CheckTrcvWakeFlag function

Requests the CanIf module to check the Wake flag of the designated CAN transceiver.

Std_ReturnType CanIf_CheckTrcvWakeFlag (uint8 TransceiverId);

CanIf_CheckTrcvWakeFlagIndication function

This service indicates that the check of the transceiver's wake-up flag has been finished by the corresponding CAN transceiver with the abstract CanIf TransceiverId. This indication is used to cope with the asynchronous transceiver communication.

void CanIf_CheckTrcvWakeFlagIndication (uint8 TransceiverId);

CanIf_CheckValidation function

This service is performed to validate a previous wakeup event.

Std_ReturnType CanIf_CheckValidation (EcuM_WakeupSourceType WakeupSource);

CanIf_CheckWakeup function

This service checks, whether an underlying CAN driver or a CAN transceiver driver already signals a wakeup event.

Std_ReturnType CanIf_CheckWakeup (EcuM_WakeupSourceType WakeupSource);

CanIf_ClearTrcvWufFlag function

Requests the CanIf module to clear the WUF flag of the designated CAN transceiver.

Std_ReturnType CanIf_ClearTrcvWufFlag (uint8 TransceiverId);

CanIf_ClearTrcvWufFlagIndication function

This service indicates that the transceiver has cleared the WufFlag referring to the corresponding CAN transceiver with the abstract CanIf TransceiverId.

void CanIf_ClearTrcvWufFlagIndication (uint8 TransceiverId);

CanIf_ConfirmPnAvailability function

This service indicates that the transceiver is running in PN communication mode referring to the corresponding CAN transceiver with the abstract CanIf TransceiverId.

void CanIf_ConfirmPnAvailability (uint8 TransceiverId);

CanIf_ControllerBusOff function

This service indicates a Controller BusOff event referring to the corresponding CAN Controller with the abstract CanIf ControllerId.

void CanIf_ControllerBusOff (uint8 ControllerId);

CanIf_ControllerErrorStatePassive function

The function derives the ErrorCounterTreshold from RxErrorCounter/ TxErrorCounter values and reports it to the IdsM as security event CANIF_SEV_ERRORSTATE_PASSIVE to the IdsM. It also prepares the context data for the respective security event.

void CanIf_ControllerErrorStatePassive (uint8 ControllerId, uint16 RxErrorCounter, uint16 TxErrorCounter);

CanIf_ControllerModeIndication function

This service indicates a controller state transition referring to the corresponding CAN controller with the abstract CanIf ControllerId.

void CanIf_ControllerModeIndication (uint8 ControllerId, Can_ControllerStateType ControllerMode);

CanIf_DeInit function

De-initializes the CanIf module.

void CanIf_DeInit (void);

CanIf_EnableBusMirroring function

Enables or disables mirroring for a CAN controller.

Std_ReturnType CanIf_EnableBusMirroring (uint8 ControllerId, boolean MirroringActive);

CanIf_ErrorNotification function

The function shall derive the bus error source rx or tx from the parameter CanError and report the bus error as security event CANIF_SEV_TX_ERROR_DETECTED or CANIF_SEV_RX_ ERROR_DETECTED. It also prepares the context data for the respective security event.

void CanIf_ErrorNotification (uint8 ControllerId, Can_ErrorType Can_ErrorType);

CanIf_GetControllerErrorState function

This service calls the corresponding CAN Driver service for obtaining the error state of the CAN controller.

Std_ReturnType CanIf_GetControllerErrorState (uint8 ControllerId, Can_ErrorStateType* ErrorStatePtr);

CanIf_GetControllerMode function

This service calls the corresponding CAN Driver service for obtaining the current status of the CAN controller.

Std_ReturnType CanIf_GetControllerMode (uint8 ControllerId, Can_ControllerStateType* ControllerModePtr);

CanIf_GetControllerRxErrorCounter function

This service calls the corresponding CAN Driver service for obtaining the Rx error counter of the CAN controller.

Std_ReturnType CanIf_GetControllerRxErrorCounter (uint8 ControllerId, uint8* RxErrorCounterPtr);

CanIf_GetControllerTxErrorCounter function

This service calls the corresponding CAN Driver service for obtaining the Tx error counter of the CAN controller.

Std_ReturnType CanIf_GetControllerTxErrorCounter (uint8 ControllerId, uint8* TxErrorCounterPtr);

CanIf_GetPduMode function

This service reports the current mode of a requested PDU channel.

Std_ReturnType CanIf_GetPduMode (uint8 ControllerId, CanIf_PduModeType* PduModePtr);

CanIf_GetTrcvMode function

This function invokes CanTrcv_GetOpMode and updates the parameter TransceiverModePtr with the value OpMode provided by CanTrcv.

Std_ReturnType CanIf_GetTrcvMode (uint8 TransceiverId, CanTrcv_TrcvModeType* TransceiverModePtr);

CanIf_GetTrcvWakeupReason function

This service returns the reason for the wake up of the transceiver TransceiverId, via calling the corresponding CAN Transceiver Driver service.

Std_ReturnType CanIf_GetTrcvWakeupReason (uint8 TransceiverId, CanTrcv_TrcvWakeupReasonType* TrcvWuReasonPtr);

CanIf_GetTxConfirmationState function

This service reports, if any TX confirmation has been done for the whole CAN controller since the last CAN controller start.

CanIf_NotifStatusType CanIf_GetTxConfirmationState (uint8 ControllerId);

CanIf_GetVersionInfo function

This service returns the version information of the called CAN Interface module.

void CanIf_GetVersionInfo (Std_VersionInfoType* VersionInfo);

CanIf_Init function

This service Initializes internal and external interfaces of the CAN Interface for the further processing.

void CanIf_Init (const CanIf_ConfigType* ConfigPtr);

CanIf_ReadRxNotifStatus function

This service returns the indication status (indication occurred or not) of a specific CAN Rx L-PDU, requested by the CanIfRxSduId.

CanIf_NotifStatusType CanIf_ReadRxNotifStatus (PduIdType CanIfRxSduId);

CanIf_ReadRxPduData function

This service provides the Data Length and the received data of the requested CanIfRxSduId to the calling upper layer.

Std_ReturnType CanIf_ReadRxPduData (PduIdType CanIfRxSduId, PduInfoType* CanIfRxInfoPtr);

CanIf_ReadTxNotifStatus function

This service returns the confirmation status (confirmation occurred or not) of a specific static or dynamic CAN Tx L-PDU, requested by the CanIfTxSduId.

CanIf_NotifStatusType CanIf_ReadTxNotifStatus (PduIdType CanIfTxSduId);

CanIf_RxIndication function

This service indicates a successful reception of a received CAN Rx L-PDU to the CanIf after passing all filters and validation checks.

void CanIf_RxIndication (const Can_HwType* Mailbox, const PduInfoType* PduInfoPtr);

CanIf_SetBaudrate function

This service shall set the baud rate configuration of the CAN controller. Depending on necessary baud rate modifications the controller might have to reset.

Std_ReturnType CanIf_SetBaudrate (uint8 ControllerId, uint16 BaudRateConfigID);

CanIf_SetControllerMode function

This service calls the corresponding CAN Driver service for changing of the CAN controller mode.

Std_ReturnType CanIf_SetControllerMode (uint8 ControllerId, Can_ControllerStateType ControllerMode);

CanIf_SetDynamicTxId function

This service reconfigures the corresponding CAN identifier of the requested CAN L-PDU.

void CanIf_SetDynamicTxId (PduIdType CanIfTxSduId, Can_IdType CanId);

CanIf_SetPduMode function

This service sets the requested mode at the L-PDUs of a predefined logical PDU channel.

Std_ReturnType CanIf_SetPduMode (uint8 ControllerId, CanIf_PduModeType PduModeRequest);

CanIf_SetTrcvMode function

This service changes the operation mode of the tansceiver TransceiverId, via calling the corresponding CAN Transceiver Driver service.

Std_ReturnType CanIf_SetTrcvMode (uint8 TransceiverId, CanTrcv_TrcvModeType TransceiverMode);

CanIf_SetTrcvWakeupMode function

This function shall call CanTrcv_SetTrcvWakeupMode.

Std_ReturnType CanIf_SetTrcvWakeupMode (uint8 TransceiverId, CanTrcv_TrcvWakeupModeType TrcvWakeupMode);

CanIf_Transmit function

Requests transmission of a PDU.

Std_ReturnType CanIf_Transmit (PduIdType TxPduId, const PduInfoType* PduInfoPtr);

CanIf_TrcvModeIndication function

This service indicates a transceiver state transition referring to the corresponding CAN transceiver with the abstract CanIf TransceiverId.

void CanIf_TrcvModeIndication (uint8 TransceiverId, CanTrcv_TrcvModeType TransceiverMode);

CanIf_TriggerTransmit function

Std_ReturnType CanIf_TriggerTransmit (PduIdType TxPduId, PduInfoType* PduInfoPtr);

CanIf_TxConfirmation function

This service confirms a previously successfully processed transmission of a CAN TxPDU.

void CanIf_TxConfirmation (PduIdType CanTxPduId);

CanIf_ConfigType type

This type defines a data structure for the post build parameters of the CAN interface for all underlying CAN drivers. At initialization the CanIf gets a pointer to a structure of this type to get access to its configuration data, which is necessary for initialization.

CanIf_NotifStatusType type

Type CanIf_NotifStatusType.

CanIf_PduModeType type

The PduMode of a channel defines its transmit or receive activity. Communication direction (transmission and/or reception) of the channel can be controlled separately or together by upper layers.

CanNm

CanNm_ActivateTxPnShutdownMsg function

NM indicate to activate the transmission of PN shutdown messages on the given NM - Channel. This results in transmission of a NM - PD U with PNSR bit set to 1 (PN shutdown message).

Std_ReturnType CanNm_ActivateTxPnShutdownMsg(NetworkHandleType nmChannelHandle);

CanNm_CheckRemoteSleepIndication function

Check if remote sleep indication takes place or not.

Std_ReturnType CanNm_CheckRemoteSleepIndication(NetworkHandleType nmChannelHandle, boolean* nmRemoteSleepIndPtr);

CanNm_ConfirmPnAvailability function

Enables the PN filter functionality on the indicated NM channel. Availability: The API is only available if Can Nm Global Pn Support is TRUE.

void CanNm_ConfirmPnAvailability(NetworkHandleType nmChannelHandle);

CanNm_DeactivateTxPnShutdownMsg function

NM indicate to deactive the transmission of PN shutdown messages on the given NM - Channel. This result in transmission of a usual NM - PDUs with PNSR bit set to 0.

Std_ReturnType CanNm_DeactivateTxPnShutdownMsg(NetworkHandleType nmChannelHandle);

CanNm_DeInit function

De - initializes the Can Nm module.

void CanNm_DeInit(void);

CanNm_DisableCommunication function

Disable the NM PDU transmission ability due to a ISO14229 Communication Control (28hex) service

Std_ReturnType CanNm_DisableCommunication(NetworkHandleType nmChannelHandle);

CanNm_EnableCommunication function

Enable the NM PDU transmission ability due to a ISO14229 Communication Control (28hex) service

Std_ReturnType CanNm_EnableCommunication(NetworkHandleType nmChannelHandle);

CanNm_GetLocalNodeIdentifier function

Get node identifier configured for the local node.

Std_ReturnType CanNm_GetLocalNodeIdentifier(NetworkHandleType nmChannelHandle, uint8* nmNodeIdPtr);

CanNm_GetNodeIdentifier function

Get node identifier out of the most recently received N M PDU.

Std_ReturnType CanNm_GetNodeIdentifier(NetworkHandleType nmChannelHandle, uint8* nmNodeIdPtr);

CanNm_GetPduData function

Get the whole PDU data out of the most recently received NM PDU.

Std_ReturnType CanNm_GetPduData(NetworkHandleType nmChannelHandle, uint8* nmPduDataPtr);

CanNm_GetState function

Returns the state and the mode of the network management.

Std_ReturnType CanNm_GetState(NetworkHandleType nmChannelHandle, Nm_StateType* nmStatePtr, Nm_ModeType* nmModePtr);

CanNm_GetUserData function

Get user data out of the most recently received NM PDU.

Std_ReturnType CanNm_GetUserData(NetworkHandleType nmChannelHandle, uint8* nmUserDataPtr);

CanNm_GetVersionInfo function

This service returns the version information of this module.

void CanNm_GetVersionInfo(Std_VersionInfoType* versioninfo);

CanNm_Init function

Initialize the Can Nm module.

void CanNm_Init(const CanNm_ConfigType* cannmConfigPtr);

CanNm_MainFunction function

Main function of the Can Nm which processes the algorithm describes in that document.

void CanNm_MainFunction(void);

CanNm_NetworkRelease function

Release the network, since ECU doesn't have to communicate on the bus.

Std_ReturnType CanNm_NetworkRelease(NetworkHandleType nmChannelHandle);

CanNm_NetworkRequest function

Request the network, since ECU needs to communicate on the bus.

Std_ReturnType CanNm_NetworkRequest(NetworkHandleType nmChannelHandle);

CanNm_PassiveStartUp function

Passive startup of the AUTOSAR CAN NM. It triggers the transition from Bus - Sleep Mode or Prepare Bus Sleep Mode to the Network Mode in Repeat Message State. Caveats: Can Nm is initia lized correctly.

Std_ReturnType CanNm_PassiveStartUp(NetworkHandleType nmChannelHandle);

CanNm_PnLearningRequest function

Set Repeat Message Request Bit and Partial Network Learning Bit for NM messages transmitted next on the bus. This will force all nodes to enter the PNC Learning Phase. This is needed for the optional Dynamic PNC - to - channel - mapping feature.

Std_ReturnType CanNm_PnLearningRequest(NetworkHandleType nmChannelHandle);

CanNm_RepeatMessageRequest function

Set Repeat Message Request Bit for NM PDUs transmitted next on the bus.

Std_ReturnType CanNm_RepeatMessageRequest(NetworkHandleType nmChannelHandle);

CanNm_RequestBusSynchronization function

Request bus synchronization.

Std_ReturnType CanNm_RequestBusSynchronization(NetworkHandleType nmChannelHandle);

CanNm_RequestSynchronizedPncShutdown function

Requests transmission of a NM - PDU with PNSR bit set to 1 (PN shutdown message) Tags: atp.Status=draft

Std_ReturnType CanNm_RequestSynchronizedPncShutdown(NetworkHandleType nmChannelHandle, PNCHandleType pncId);

CanNm_RxIndication function

Indication of a receive d PDU from a lower layer communication interface module.

void CanNm_RxIndication(PduIdType RxPduId, const PduInfoType* PduInfoPtr);

CanNm_SetSleepReadyBit function

Set the NM Coordinator S leep Ready bit in the Control Bit Vector

Std_ReturnType CanNm_SetSleepReadyBit(NetworkHandleType nmChannelHandle, boolean nmSleepReadyBit);

CanNm_SetUserData function

Set user data for NM PDUs transmitted next on the bus.

Std_ReturnType CanNm_SetUserData(NetworkHandleType nmChannelHandle, const uint8* nmUserDataPtr);

CanNm_Transmit function

Requests transmission of a PDU.

Std_ReturnType CanNm_Transmit(PduIdType TxPduId, const PduInfoType* PduInfoPtr);

CanNm_TriggerTransmit function

Within this API, the upper layer module (called module) shall check whether the available data fits into the buffer size reported by Pdu Info Ptr - >Sdu Length. If it fits, it shall copy its data into the buffer provided by Pdu Info Ptr - >Sdu Data Ptr and update the length of the actual copied data in Pdu Info Ptr - >Sdu Length. If not, it returns E_ NOT_ OK without changing Pdu Info Ptr.

Std_ReturnType CanNm_TriggerTransmit(PduIdType TxPduId, PduInfoType* PduInfoPtr);

CanNm_TxConfirmation function

The lower layer communication interface module confirms the transmission of a PDU, or the failure to transmit a PDU.

void CanNm_TxConfirmation(PduIdType TxPduId, Std_ReturnType result);

CanNm_ConfigType type

This type shall contain at least all parameters that are post - build able according to chapter 10.

CanSM

<User_Get Bus Off Delay> function

This callout function returns the number of Can SM base cycles to wait additionally to L1/ L2 after a Bus Off occurred.

void <User_Get Bus Off Delay>(NetworkHandleType network, uint8* delayCyclesPtr);

CanSM_CheckTransceiverWakeFlagIndication function

This callback function indicates the Can If_ Check Trcv Wake Flag API process end for the notified CAN Transceiver.

void CanSM_CheckTransceiverWakeFlagIndication(uint8 Transceiver);

CanSM_ClearTrcvWufFlagIndication function

This callback function shall indicate the Can If_ Clear Trcv Wuf Flag API process end for the notified CAN Transceiver.

void CanSM_ClearTrcvWufFlagIndication(uint8 Transceiver);

CanSM_ConfirmCtrlPnAvailability function

This callback function indicates that the controller is running in PN communication mode. Tags: atp.Status=draft

void CanSM_ConfirmCtrlPnAvailability(uint8 ControllerId);

CanSM_ConfirmPnAvailability function

This callback function indicates that the transceiver is running in PN communication mode.

void CanSM_ConfirmPnAvailability(uint8 TransceiverId);

CanSM_ControllerBusOff function

This callback function notifies the Can SM about a bus - off event on a certain CAN controller, which needs to be considered with the specified bus - off recovery handling for th e impacted CAN network.

void CanSM_ControllerBusOff(uint8 ControllerId);

CanSM_ControllerModeIndication function

This callback shall notify the Can SM module about a CAN controller mode change.

void CanSM_ControllerModeIndication(uint8 ControllerId, Can_ControllerStateType ControllerMode);

CanSM_CurrentIcomConfiguration function

This service shall inform about the change of the Icom Configuration of a CAN network.

void CanSM_CurrentIcomConfiguration(uint8 ControllerId, IcomConfigIdType ConfigurationId, IcomSwitch_ErrorType Error);

CanSM_DeInit function

This service de - initializes the Can SM module.

void CanSM_DeInit(void);

CanSM_GetCurrentComMode function

This service shall put out the current communication mode of a CAN network.

Std_ReturnType CanSM_GetCurrentComMode(NetworkHandleType network, ComM_ModeType* ComM_ModePtr);

CanSM_GetVersionInfo function

This service puts out the version information of this module (module ID, vendor ID, vendor specific version numbers related to BSW00407)

void CanSM_GetVersionInfo(Std_VersionInfoType* VersionInfo);

CanSM_Init function

This service initializes the Can SM module

void CanSM_Init(const CanSM_ConfigType* ConfigPtr);

CanSM_MainFunction function

Scheduled function of the Can SM

void CanSM_MainFunction(void);

CanSM_RequestComMode function

This service shall change the communication mode of a CAN network to the requested one.

Std_ReturnType CanSM_RequestComMode(NetworkHandleType network, ComM_ModeType ComM_Mode);

CanSM_SetBaudrate function

This service shall start an asynchronous process to change the baud rate for the configured CAN controllers of a certain CAN network. Depending on necessary baud rate modifications the controllers might have to reset.

Std_ReturnType CanSM_SetBaudrate(NetworkHandleType Network, uint16 BaudRateConfig ID); ⚠️

CanSM_SetEcuPassive function

Service Name Can SM_ Set Ecu Passive Syntax Std_ Return Type Can SM_ Set Ecu Passive ( boolean Can SM_ Passive ) Service ID [hex] 0x13 Sync/ Async Synchronous Reentrancy Non Reentrant Parameters (in) Can SM_ Passive TRUE: set all Can SM channels to passive, i.e. receive only FALSE: set all Can SM channels back to non - passive Parameters (inout) None Parameters (out) None Return value Std _ Return - E_ OK: Request accepted Type E_ NOT_ OK: Request not accepted Descr iption This function can be used to set all Can SM channels of the ECU to a receive only mode. Available via Can SM.h

Std_ReturnType CanSM_SetEcuPassive(boolean CanSM_Passive);

CanSM_SetIcomConfiguration function

This service shall change the Icom Configuration of a CAN network to the requested one.

Std_ReturnType CanSM_SetIcomConfiguration(NetworkHandleType Network, IcomConfigIdType ConfigurationId);

CanSM_StartWakeupSource function

This function shall be called by Ecu M when a wakeup source shall be started.

Std_ReturnType CanSM_StartWakeupSource(NetworkHandleType network);

CanSM_StopWakeupSource function

This function shall be called by Ecu M when a wakeup source shall be stopped.

Std_ReturnType CanSM_StopWakeupSource(NetworkHandleType network);

CanSM_TransceiverModeIndication function

This callback shall notify the Can SM module about a CAN transceiver mode change.

void CanSM_TransceiverModeIndication(uint8 TransceiverId, CanTrcv_TrcvModeType TransceiverMode);

CanSM_TxTimeoutException function

This function shall notify the Can SM module, that the Can Nm has detected for the affected partial CAN network a tx timeout exception, which shall be recovered within the respective network state machine of the Can SM module.

void CanSM_TxTimeoutException(NetworkHandleType Channel);

CanSM_BswMCurrentStateType type

Can specific communication modes / states notified to the Bsw M module

CanSM_ConfigType type

This type defines a data structure for the post build parameters of the Can SM. At initialization the Can SM gets a pointer to a structure of this type to get access to its configuration data, which is neces sary for initialization. Available Can SM.h via

CanSM_StateType type

Defines the values of the internal states of the Can SM module

CanTp

CanTp_CancelReceive function

Requests cancellation of an ongoing reception of a PDU in a lower layer transport protocol module.

Std_ReturnType CanTp_CancelReceive (PduIdType RxPduId);

CanTp_CancelTransmit function

Requests cancellation of an ongoing transmission of a PDU in a lower layer communication module.

Std_ReturnType CanTp_CancelTransmit (PduIdType TxPduId);

CanTp_ChangeParameter function

Request to change a specific transport protocol parameter (e.g. block size).

Std_ReturnType CanTp_ChangeParameter (PduIdType id, TPParameterType parameter, uint16 value);

CanTp_GetVersionInfo function

This function returns the version information of the Can Tp module.

void CanTp_GetVersionInfo (Std_VersionInfoType* versioninfo);

CanTp_Init function

This function initializes the Can Tp module.

void CanTp_Init (const CanTp_ConfigType* CfgPtr);

CanTp_MainFunction function

The main function for scheduling the CAN TP.

void CanTp_MainFunction (void);

CanTp_ReadParameter function

This service is used to read the current value of reception parameters BS and STmin for a specified N - SDU.

Std_ReturnType CanTp_ReadParameter (PduIdType id, TPParameterType parameter, uint16* value);

CanTp_RxIndication function

Indication of a received PDU from a lower layer communication interface module.

void CanTp_RxIndication (PduIdType RxPduId, const PduInfoType* PduInfoPtr);

CanTp_Shutdown function

This function is called to shutdown the Can Tp module.

void CanTp_Shutdown (void);

CanTp_Transmit function

Requests transmission of a PDU.

Std_ReturnType CanTp_Transmit (PduIdType TxPduId, const PduInfoType* PduInfoPtr);

CanTp_TxConfirmation function

The lower layer communication interface module confirms the transmission of a PDU, or the failure to transmit a PDU.

void CanTp_TxConfirmation (PduIdType TxPduId, Std_ReturnType result);

CanTp_ConfigType type

Data structure type for the post - build configuration parameters.

CanTrcv

CanTrcv_CheckWakeFlag function

Requests to check the status of the wakeup flag from the transceiver hardware.

Std_ReturnType CanTrcv_CheckWakeFlag (uint8 Transceiver);

CanTrcv_CheckWakeup function

Service is called by underlying CANIF in case a wake up interrupt is detected.

Std_ReturnType CanTrcv_CheckWakeup (uint8 Transceiver);

CanTrcv_ClearTrcvTimeoutFlag function

Clears the status of the timeout flag in the transceiver hardware. This API shall exist only if Can Trcv Hw Pn Support = TRUE.

Std_ReturnType CanTrcv_ClearTrcvTimeoutFlag (uint8 Transceiver);

CanTrcv_ClearTrcvWufFlag function

Clears the WUF flag in the transceiver hardware. This API shall exist only if Can Trcv Hw Pn Support = TRUE.

Std_ReturnType CanTrcv_ClearTrcvWufFlag (uint8 Transceiver);

CanTrcv_DeInit function

De - initializes the Can Trcv module.

void CanTrcv_DeInit (void);

CanTrcv_GetBusWuReason function

Gets the wakeup reason for the Transceiver and returns it in parameter Reason.

Std_ReturnType CanTrcv_GetBusWuReason (uint8 Transceiver, CanTrcv_TrcvWakeupReasonType* reason);

CanTrcv_GetOpMode function

Gets the mode of the Transceiver and returns it in Op Mode.

Std_ReturnType CanTrcv_GetOpMode (uint8 Transceiver, CanTrcv_TrcvModeType* OpMode);

CanTrcv_GetTrcvSystemData function

Reads the transceiver configuration/ status data and returns it through parameter Trcv Sys Data. This API shall exist only if Can Trcv Hw Pn Support = TRUE.

Std_ReturnType CanTrcv_GetTrcvSystemData (uint8 Transceiver, uint32* TrcvSysData);

CanTrcv_GetVersionInfo function

Gets the version of the module and returns it in Version Info.

void CanTrcv_GetVersionInfo (Std_VersionInfoType* versioninfo);

CanTrcv_Init function

Initializes the Can Trcv module.

void CanTrcv_Init (const CanTrcv_ConfigType* ConfigPtr);

CanTrcv_MainFunction function

Service to scan all busses for wake up events and perform these event.

void CanTrcv_MainFunction (void);

CanTrcv_MainFunctionDiagnostics function

Reads the transceiver diagnostic status periodically and sets product/ development accordingly.

void CanTrcv_MainFunctionDiagnostics (void);

CanTrcv_ReadTrcvSilenceFlag function

Reads the status of the silence flag from the transceiver hardware. This API shall exi st only if Can Trcv Hw Pn Support = TRUE.

Std_ReturnType CanTrcv_ReadTrcvSilenceFlag (uint8 Transceiver, CanTrcv_TrcvFlagStateType* FlagState);

CanTrcv_ReadTrcvTimeoutFlag function

Reads the status of the tim eout flag from the transceiver hardware. This API shall exist only if Can Trcv Hw Pn Support = TRUE.

Std_ReturnType CanTrcv_ReadTrcvTimeoutFlag (uint8 Transceiver, CanTrcv_TrcvFlagStateType* FlagState);

CanTrcv_SetOpMode function

Sets the mode of the Transceiver to the value Op Mode.

Std_ReturnType CanTrcv_SetOpMode (uint8 Transceiver, CanTrcv_TrcvModeType OpMode);

CanTrcv_SetPNActivationState function

The API configures the wake - up of the transceiver for Standby and Sleep Mode: Either the CAN transceiver is woken up by a remote wake - up pattern (standard CAN wake - up) or by the configured remote wake - up frame.

Std_ReturnType CanTrcv_SetPNActivationState (CanTrcv_PNActivationType ActivationState);

CanTrcv_SetWakeupMode function

En ables, disables or clears wake - up events of the Transceiver according to Trcv Wakeup Mode.

Std_ReturnType CanTrcv_SetWakeupMode (uint8 Transceiver, CanTrcv_TrcvWakeupModeType TrcvWakeupMode);

CanTrcv_ConfigType type

This is the type of the external data structure containing the overall initialization data for the CAN transceiver driver and settings affecting all transceivers. Furthermore it contains pointers to transceiver configuration structures. The con tents of the initialization data structure are CAN transceiver hardware specific.

CanTrcv_PNActivationType type

Datatype used for describing whether PN wakeup functionality in Can Trcv is enabled or disabled.

CanTrcv_TrcvFlagStateType type

Provides the state of a flag in the transceiver hardware.

CanTrcv_TrcvModeType type

Operating modes of the CAN Transceiver Driver.

CanTrcv_TrcvWakeupModeType type

This type shall be used to control the CAN transceiver concerning wake up events and wake up notifications.

CanTrcv_TrcvWakeupReasonType type

This type denotes the wake up reason detected by the CAN transceiver in detail. AUTOSAR CP R20 - of Document ID : AUTOSAR_SWS_CANTransceiverDriver

CanXL

CanXL_ImmediateTransmit function

Request transmission of an Ethernet frame, where each upper layer a header part as element of a single linked list. All headers together with the payload form an entire Ethernet frame Tags: atp.Status=draft

Std_ReturnType CanXL_ImmediateTransmit(uint8 CtrlIdx, Eth_BufIdxType TxHandleId, uint8 Priority, ListElemStructType* HeaderListPtr, uint8* PayloadPtr, uint16 PayloadLength);

CanXL_ReleaseRxBuffer function

Indication from the upper layer to release the reception buffer (ingress queue element) of the given physical Ethernet controller. Tags: atp.Status=draft

void CanXL_ReleaseRxBuffer(uint8 CtrlIdx, Eth_BufIdxType RxHandleId);

Ttcan

Can_TTAckTimeMark function

Acknowledges the time mark interrupt by resetting the flag in the interrupt vector register.

void Can_TTAckTimeMark(uint8 Controller);

Can_TTCancelTimeMark function

Cancels the time mark.

void Can_TTCancelTimeMark(uint8 Controller);

Can_TTDisableTimeMarkIRQ function

Disables the time mark interrupt.

void Can_TTDisableTimeMarkIRQ(uint8 Controller);

Can_TTEnableTimeMarkIRQ function

Enables the time mark interrupt.

void Can_TTEnableTimeMarkIRQ(uint8 Controller);

Can_TTGetControllerTime function

Gets the current values for the global, local and cycle time and the cycle count of the controller

void Can_TTGetControllerTime(uint8 Controller, Can_TTTimeType* Can_TTGlobalTime, Can_TTTimeType* Can_TTLocalTime, Can_TTTimeType* Can_TTCycleTime, uint8* Can_TTCycleCount);

Can_TTGetErrorLevel function

Gets the error level. This includes the severity of the error level (S0-S3) and the minimum and maximum value of the message status count.

void Can_TTGetErrorLevel(uint8 Controller, Can_TTErrorLevelType* Can_TTErrorLevel);

Can_TTGetMasterState function

Gets the master state. The master state includes the sync mode (sync_off, synchronizing, in_ gap, in_schedule) the master-slave mode (master_off, slave, backup_master, current_master) and the current value for ref trigger offset.

void Can_TTGetMasterState(uint8 Controller, Can_TTMasterStateType* Can_TTMasterState);

Can_TTGetNTUActual function

Gets the actual value of NTU (network time unit). Together with the local oscillator period, the actual value of NTU can be derived from the actual value of TUR.

void Can_TTGetNTUActual(uint8 Controller, Can_TTTURType* Can_TTTURAct);

Can_TTGetSyncQuality function

Gets the synchronization quality.

void Can_TTGetSyncQuality(uint8 Controller, boolean* Can_TTClockSpeed, boolean* Can_TTGlobalTimePhase);

Can_TTGetTimeMarkIRQStatus function

Gets the IRQ status of the time mark.

void Can_TTGetTimeMarkIRQStatus(uint8 Controller, boolean* Can_TTIRQStatus);

Can_TTGlobalTimePreset function

Sets the value of "global time preset".

void Can_TTGlobalTimePreset(uint8 Controller, Can_TTTimeType Can_TTGlobalTimePreset);

Can_TTMainFunction_IRQ function

Polls the interrupt flags specific to TTCAN

void Can_TTMainFunction_IRQ(void);

Can_TTReceive function

Reads received data from the controller by returning the pointer of the CanID, the DLC and the Data of the message in the requested HRH.

void Can_TTReceive(uint8 Controller, uint8 Hrh, Can_IdType* CanId, uint8* CanDlc, uint8* CanSduPtr);

Can_TTSetEndOfGap function

Signals the end of a gap.

void Can_TTSetEndOfGap(uint8 Controller);

Can_TTSetExtClockSyncCommand function

Adjusts the NTU (network time unit) according to the value given by "NTU adjust". Together with the local oscillator period, "TUR adjust" can be derived from "NTU adjust".

void Can_TTSetExtClockSyncCommand(uint8 Controller);

Can_TTSetNextIsGap function

Sets the "Next_is_Gap" bit.

void Can_TTSetNextIsGap(uint8 Controller);

Can_TTSetNTUAdjust function

Sets the value of "NTU adjust". Together with the local oscillator period, "TUR adjust" can be derived from "NTU adjust".

void Can_TTSetNTUAdjust(uint8 Controller, Can_TTTURType Can_TTTURAdjust);

Can_TTSetTimeCommand function

Adjusts the global time at the beginning of the next basic cycle by the amount of "global time preset"

void Can_TTSetTimeCommand(uint8 Controller);

Can_TTSetTimeMark function

Sets a new value for the time mark for the given time source.

void Can_TTSetTimeMark(uint8 Controller, Can_TTTimeType Can_TTTimeMark, Can_TTTimeSourceType Can_TTTimeSource);

Can_TTErrorLevelEnumType type

Error level (S0-S3)

Can_TTErrorLevelType type

TTCAN error level including min and max values of message status count

Can_TTMasterSlaveModeType type

Master-Slave Mode

Can_TTMasterStateType type

Master state type including sync mode, master-slave mode and current ref trigger offset

Can_TTSyncModeEnumType type

Sync mode

Can_TTTimeSourceType type

Time source

Can_TTTimeType type

16 bit value representing time values of TTCAN, e.g. cycle, local or global time

TtcanIf

<User_TriggerTransmit> (TtcanIf) function

Std_ReturnType <User_TriggerTransmit>(PduIdType TxPduId, PduInfoType* PduInfoPtr);

CanIf_TTAckTimeMark function

Acknowledges the time mark interrupt by resetting the flag in the interrupt vector register.

Std_ReturnType CanIf_TTAckTimeMark(uint8 ControllerId);

CanIf_TTApplWatchdogError function

Reports an application watchdog error.

Std_ReturnType CanIf_TTApplWatchdogError(uint8 ControllerId);

CanIf_TTCancelTimeMark function

Cancels the time mark.

Std_ReturnType CanIf_TTCancelTimeMark(uint8 ControllerId);

CanIf_TTDisableTimeMarkIRQ function

Disables the time mark interrupt.

Std_ReturnType CanIf_TTDisableTimeMarkIRQ(uint8 ControllerId);

CanIf_TTEnableTimeMarkIRQ function

Enables the time mark interrupt.

Std_ReturnType CanIf_TTEnableTimeMarkIRQ(uint8 ControllerId);

CanIf_TTGap function

Reports the occurrence of a gap.

Std_ReturnType CanIf_TTGap(uint8 ControllerId);

CanIf_TTGetControllerTime function

Gets the current values for the global, local and cycle time and the cycle count of the controller

Std_ReturnType CanIf_TTGetControllerTime(uint8 ControllerId, CanIf_TTTimeType* CanIf_TTGlobalTime, CanIf_TTTimeType* CanIf_TTLocalTime, CanIf_TTTimeType* CanIf_TTCycleTime, uint8* CanIf_TTCycleCount);

CanIf_TTGetErrorLevel function

Gets the error level. This includes the severity of the error level (S0-S3) and the minimum and maximum value of the message status count.

Std_ReturnType CanIf_TTGetErrorLevel(uint8 ControllerId, CanIf_TTErrorLevelType* CanIf_TTErrorLevel);

CanIf_TTGetMasterState function

Std_ReturnType CanIf_TTGetMasterState(uint8 ControllerId, CanIf_TTMasterStateType* CanIf_TTMasterState);

CanIf_TTGetNTUActual function

Gets the actual value of NTU (network time unit). Together with the local oscillator period, the actual value of NTU can be derived from the actual value of TUR.

Std_ReturnType CanIf_TTGetNTUActual(uint8 ControllerId, float32 CanIf_TTNTUAct);

CanIf_TTGetSyncQuality function

Gets the synchronization quality.

Std_ReturnType CanIf_TTGetSyncQuality(uint8 ControllerId, boolean* CanIf_TTClockSpeed, boolean* CanIf_TTGlobalTimePhase);

CanIf_TTGetTimeMarkIRQStatus function

Gets the IRQ status of the time mark.

Std_ReturnType CanIf_TTGetTimeMarkIRQStatus(uint8 ControllerId, boolean* CanIf_TTIRQStatus);

CanIf_TTGlobalTimePreset function

Sets the value of "global time preset".

Std_ReturnType CanIf_TTGlobalTimePreset(uint8 ControllerId, CanIf_TTTimeType CanIf_TTGlobalTimePreset);

CanIf_TTJobListExec_Controller function

Processes the job list of the TTCAN controller <Controller>.

void CanIf_TTJobListExec_<Controller>(void);

CanIf_TTMasterStateChange function

Reports change of the master state between potential and current master.

Std_ReturnType CanIf_TTMasterStateChange(uint8 ControllerId, CanIf_TTMasterStateType CanIf_TTMasterState);

CanIf_TTSetEndOfGap function

Signals the end of a gap.

Std_ReturnType CanIf_TTSetEndOfGap(uint8 ControllerId);

CanIf_TTSetExtClockSyncCommand function

Adjusts the NTU (network time unit) according to the value given by "NTU adjust". Together with the local oscillator period, "TUR adjust" can be derived from "NTU adjust".

Std_ReturnType CanIf_TTSetExtClockSyncCommand(uint8 ControllerId);

CanIf_TTSetNextIsGap function

Sets the "Next_is_Gap" bit.

Std_ReturnType CanIf_TTSetNextIsGap(uint8 ControllerId);

CanIf_TTSetNTUAdjust function

Sets the value of "NTU adjust". Together with the local oscillator period, "TUR adjust" can be derived from "NTU adjust".

Std_ReturnType CanIf_TTSetNTUAdjust(uint8 ControllerId, float32 CanIf_TTNTUAdjust);

CanIf_TTSetTimeCommand function

Adjusts the global time at the beginning of the next basic cycle by the amount of "global time preset"

Std_ReturnType CanIf_TTSetTimeCommand(uint8 ControllerId);

CanIf_TTSetTimeMark function

Sets a new value for the time mark for the given time source.

Std_ReturnType CanIf_TTSetTimeMark(uint8 ControllerId, CanIf_TTTimeType CanIf_TTTimeMark, CanIf_TTTimeSourceType CanIf_TTTimeSource);

CanIf_TTSevereError function

Reports one of the following errors: • failed to serve appl. watchdog • config error • watch trigger reached

void CanIf_TTSevereError(uint8 ControllerId, CanIf_TTSevereErrorEnumType CanIf_TTSevereError);

CanIf_TTStartOfCycle function

Reports the start of a basic cycle.

Std_ReturnType CanIf_TTStartOfCycle(uint8 ControllerId, uint8 CanIf_TTCycleCount);

CanIf_TTTimeDisc function

Reports a time discontinuity.

Std_ReturnType CanIf_TTTimeDisc(uint8 ControllerId);

CanIf_TTTimingError function

Reports one of the following errors: • Change of error level • Tx overflow / underflow • Synchronization failed • Init watch trigger

Std_ReturnType CanIf_TTTimingError(uint8 ControllerId, CanIf_TTTimingErrorIRQType CanIf_TTTimingErrorIRQ);

CanIf_TTErrorLevelEnumType type

Error level (S0-S3)

CanIf_TTErrorLevelType type

TTCAN error level including min and max values of message status count

CanIf_TTEventEnumType type

Event that causes a Timing/Error IRQ

CanIf_TTMasterSlaveModeType type

Master-Slave Mode

CanIf_TTMasterStateType type

Master state type including sync mode, master-slave mode and current ref trigger offset

CanIf_TTSevereErrorEnumType type

Event that causes a severe error

CanIf_TTSyncModeEnumType type

Sync mode

CanIf_TTTimeSourceType type

Time source of time values in TTCAN

CanIf_TTTimeType type

16 bit value representing time values of TTCAN, e.g. cycle, local or global time

CanIf_TTTimingErrorIRQType type

Combines all events that are reported by CanIf_TTTimingError (event indication and error level)

Click an entry to see its relations.

Cluster guideAI-GENERATED

Provides hardware drivers, interface abstraction, segmentation, and transceiver control for CAN.

AI-GENERATED unreviewed Model: claude-opus-5-5 · Effort: high · Temperature: not controllable · Prompt: fa3308e420a5 Provenance Open questions (2)

translated from the German guidegemini-3.8-flash-low · 2026-10-13 · German original

Provides hardware drivers, interface abstraction, segmentation, and transceiver control for CAN.

The cluster connects CAN driver, CAN Interface, the transport protocol according to ISO 15765-2, and the transceiver driver into the lower part of the CAN communication stack. Upper layers transmit via CanIf_Transmit(). CanIf maps the L-PDUs to hardware objects, buffers them when hardware is busy, and distributes reception and confirmation messages [SWS_CANIF_00005]. CanTp segments large messages and fetches the data step by step via PduR [SWS_CanTp_00086]. Transmission takes place only if the controller is in state CAN_CS_STARTED and the PDU channel is ready to transmit; the modes are controlled by CanSM via CanIf.

The cluster forms the lower part of the CAN communication stack. Can controls controllers and mailboxes, CanIf abstracts drivers, controllers, and transceivers, CanTp segments according to ISO 15765-2, and CanTrcv manages the operating modes of the transceiver. CanIf accesses hardware buffers exclusively via driver services [SWS_CANIF_00023]. For upper layers, it provides unified ranges for ControllerId and TransceiverId [SWS_CANIF_00653] [SWS_CANIF_00655].

Context diagram: CanIf mediates between PduR, CanTp, CanSM, and EcuM on the one hand and the drivers Can and CanTrcv on the other. Sources: [SWS_CANIF_00005] [SWS_CANIF_00006] [SWS_CANIF_00358]

During transmission, CanIf_Transmit() calls Can_Write() with the appropriate HTH [SWS_CANIF_00318]. If the driver reports CAN_BUSY, CanIf buffers the L-PDU [SWS_CANIF_00381]. During the transmit confirmation, it retransmits the highest-priority buffered entry [SWS_CANIF_00668]. Received L-PDUs pass through software filtering and data length check in CanIf before CanIf forwards them to CanTp or PduR [SWS_CANIF_00389] [SWS_CANIF_00390]. CanTp does not buffer payload data itself, but fetches it via PduR_CanTpCopyTxData() or passes it via PduR_CanTpCopyRxData(), respectively [SWS_CanTp_00086] [SWS_CanTp_00269].

Sequence diagram: direct transmission or buffering upon CAN_BUSY, followed by subsequent transmission from the buffer in CanIf_TxConfirmation. Sources: [SWS_CANIF_00381] [SWS_CANIF_00183]

Can operates interrupt-driven or polling-driven via its MainFunctions [SWS_Can_00225] [SWS_Can_00226]. CanTp_RxIndication() must be callable in interrupt context [SWS_CanTp_00235], while CanTp_MainFunction() monitors protocol timeouts [SWS_CanTp_00164]. CanIf protects shared buffers against preemptive access [SWS_CANIF_00064].

After initialization, all CanIf channels are set to CANIF_OFFLINE [SWS_CANIF_00864]. CanSM switches the controllers via CanIf_SetControllerMode() [SWS_CANIF_00308]. SLEEP forces CANIF_OFFLINE; STOPPED or BusOff force CANIF_TX_OFFLINE [SWS_CANIF_00865] [SWS_CANIF_00866]. CanIf reports a BusOff to CanSM [SWS_CANIF_00724]. Errors are sent to DET; CanTrcv additionally reports CANTRCV_E_BUS_ERROR to DEM [SWS_CanTrcv_00206]. CanTp aborts sessions upon timeouts with a negative confirmation [SWS_CanTp_00310].

System architecture and role of the cluster

The cluster \"CAN Communication\" forms the lower part of the AUTOSAR communication stack for CAN. It extends from the hardware-oriented CAN driver up to the transport protocol on which PduR and DCM build. The core is the CAN Interface, which decouples upper layers from driver and hardware details. It accesses hardware-specific communication buffers exclusively via the services of the driver [SWS_CANIF_00023]. It abstracts controllers and transceivers of multiple driver instances via dedicated ranges for ControllerId and TransceiverId [SWS_CANIF_00653] [SWS_CANIF_00655].

Module	Role in the cluster	Evidence
`Can`	Access to CAN controllers and mailboxes, transmission via `Can_Write()`, state machine per controller	[SWS_Can_00233] [SWS_Can_91013]
`CanIf`	Mapping of L-PDUs to HTH/HRH, software filtering, transmit buffers, management of modes of controllers, PDU channels, and transceivers	[SWS_CANIF_00662] [SWS_CANIF_00137]
`CanTp`	Segmentation and reassembly according to ISO 15765-2, flow control, multiple parallel connections	[SWS_CanTp_00033] [SWS_CanTp_00096]
`CanTrcv`	Operating modes NORMAL, STANDBY, and SLEEP, wake-up reasons, diagnostics of the transceiver	[SWS_CanTrcv_00102] [SWS_CanTrcv_00107]

CanIf addresses the hardware via two types of handles: HTH for transmit objects and HRH for receive objects [SWS_CANIF_00291] [SWS_CANIF_00292]. CanIf integrates multiple CAN drivers via function pointers per driver [SWS_CANIF_00378]. In callbacks, CanIf identifies the calling driver by the ControllerId in the Can_HwType structure CanIf p. 68. Exactly one CanTrcv instance exists for each transceiver hardware type [SWS_CanTrcv_00016].

Context diagram: CanIf is the central hub between the upper layers (PduR, CanTp, CanSM, EcuM) and the drivers Can and CanTrcv. Sources: [SWS_CANIF_00005] [SWS_CANIF_00006] [SWS_CANIF_00358] [SWS_CANIF_00724] [SWS_CanTp_00216] [SWS_CanTrcv_00206]

Interaction and interaction paths

Transmission: An upper layer calls CanIf_Transmit() [SWS_CANIF_00005]. CanIf determines the HTH for the TxPduId and calls Can_Write() with a Can_PduType structure [SWS_CANIF_00318] [SWS_Can_00415]. If Can_Write() returns E_OK, CanIf_Transmit() also returns E_OK [SWS_CANIF_00162]. If no transmit object is free, the driver reports CAN_BUSY [SWS_Can_00039]. If transmit buffering is enabled, CanIf then stores the L-PDU in the CanIfTxBuffer [SWS_CANIF_00381] [SWS_CANIF_00063] CanIf p. 138.

Transmit confirmation: After successful transmission, Can calls CanIf_TxConfirmation() [SWS_CANIF_00007]. For this purpose, the driver remembers the swPduHandle from Can_Write() Can p. 40. CanIf checks whether entries are buffered for the vacated HTH. It retransmits the entry with the highest priority according to ISO 11898-1 and removes it immediately from the buffer [SWS_CANIF_00386] [SWS_CANIF_00070] [SWS_CANIF_00668] [SWS_CANIF_00183]. Subsequently, the upper layer receives <User_TxConfirmation>(E_OK) [SWS_CANIF_00383].

Sequence diagram: transmit request with direct transmission or buffering upon CAN_BUSY and subsequent transmission from the buffer during the transmit confirmation. Sources: [SWS_CANIF_00318] [SWS_CANIF_00381] [SWS_CANIF_00668] [SWS_CANIF_00183] CanIf p. 157

Reception: Can reports a received L-PDU via CanIf_RxIndication() [SWS_CANIF_00006]. For BasicCAN HRHs, CanIf first performs software filtering and then the data length check [SWS_CANIF_00389] [SWS_CANIF_00390] [SWS_CANIF_00663]. Afterwards, it forwards the indication to the configured receiver [SWS_CANIF_00415] [SWS_CANIF_00056], such as to CanTp_RxIndication [SWS_CANIF_00448] or to PduR_CanIfRxIndication [SWS_CANIF_00442].

Transport protocol: CanTp_Transmit() [SWS_CanTp_00212] starts a segmented transmission if the data does not fit into an N-PDU [SWS_CanTp_00232]. CanTp does not buffer the payload data itself, but fetches it for each SF, FF, and CF via PduR_CanTpCopyTxData() [SWS_CanTp_00086] [SWS_CanTp_00298]. It passes the frames via CanIf_Transmit() [SWS_CanTp_00216]. Upon receiving an SF or FF, CanTp queries the available buffer using PduR_CanTpStartOfReception() [SWS_CanTp_00079] [SWS_CanTp_00080]. It copies each CF with PduR_CanTpCopyRxData() [SWS_CanTp_00269]. If the buffer is insufficient for the next block, CanTp transmits Flow Control WAIT [SWS_CanTp_00082] [SWS_CanTp_00325] CanTp p. 37.

Transceiver: CanIf_SetTrcvMode() forwards mode requests to CanTrcv_SetOpMode() [SWS_CANIF_00358]. After the transition, CanTrcv calls CanIf_TrcvModeIndication() [SWS_CanTrcv_00158], and CanIf forwards the notification to CanSM [SWS_CANIF_00712]. Likewise, CanIf_GetTrcvWakeupReason() and CanIf_SetTrcvWakeupMode() delegate to CanTrcv [SWS_CANIF_00368] [SWS_CANIF_00372].

Synchronization, reentrancy and task contexts

CanIf_Transmit() is reentrant for different PduIds, but not for the same PduId [SWS_CANIF_00005]. CanIf must protect preemptive accesses to shared resources against each other [SWS_CANIF_00064]. This applies in particular to the transmit buffers [SWS_CANIF_00033], the CanId of dynamic L-PDUs during CanIf_SetDynamicTxId() [SWS_CANIF_00673], and the receive buffer during CanIf_ReadRxPduData() [SWS_CANIF_00199].

Can supports interrupt and polling operation. Depending on the configuration, the MainFunctions poll transmit confirmations, reception, BusOff, wakeup, and the controller mode [SWS_Can_00225] [SWS_Can_00226] [SWS_Can_00227] [SWS_Can_00228] [SWS_Can_00368] CanIf p. 152. Callbacks such as CanIf_ControllerBusOff() therefore execute either at interrupt level or at task level CanIf p. 119. Can_DisableControllerInterrupts() and Can_EnableControllerInterrupts() act in a nested manner: each lock requires a dedicated release [SWS_Can_00231] [SWS_Can_00232] Can p. 61.

CanTp_RxIndication() and CanTp_TxConfirmation() must be callable in interrupt context [SWS_CanTp_00235] [SWS_CanTp_00236]. CanTp_MainFunction() cyclically services the timers N_As, N_Bs, N_Cs, N_Ar, N_Br, N_Cr, and STmin [SWS_CanTp_00213] [SWS_CanTp_00164]. Its period follows the parameter CanTpMainFunctionPeriod [SWS_CanTp_00300]. Interpretation: This period presumably determines the achievable resolution of the timeouts. Question Q-6ee587d8a8f38bff (open) Each connection uses dedicated buffers, timers, and an own state machine [SWS_CanTp_00122] CanTp p. 42. CanTrcv_MainFunction() cyclically scans buses in STANDBY and SLEEP for wake-up events [SWS_CanTrcv_00013] [SWS_CanTrcv_00112].

Lifecycles and operating modes

EcuM initializes CanIf with CanIf_Init() and the drivers Can and CanTrcv each separately CanIf p. 40 [SWS_Can_00223] [SWS_CanTrcv_00001]. CanTrcv_Init() sets each transceiver to SLEEP or STANDBY depending on configuration [SWS_CanTrcv_00148]. The drivers used by CanTrcv must be ready beforehand [SWS_CanTrcv_00099]. After initialization, CanIf expects the controllers to be in state STOPPED and sets all channels to CANIF_OFFLINE [SWS_CANIF_00864]. CanIf rejects service calls before initialization [SWS_CANIF_00661]. Interpretation: Therefore, Can and CanTrcv are likely to be initialized before CanIf. Question Q-4af03fca13da9a5b (open) CanTp switches from CANTP_OFF to CANTP_ON with CanTp_Init() [SWS_CanTp_00027] [SWS_CanTp_00170]. Segmentation only takes place in state CANTP_ON [SWS_CanTp_00238] CanTp p. 27.

CanSM controls mode changes: CanIf_SetControllerMode() calls Can_SetControllerMode() [SWS_CANIF_00003] [SWS_CANIF_00308]. Can reports the completion asynchronously via CanIf_ControllerModeIndication(), and CanIf forwards it to CanSM [SWS_CANIF_00699] [SWS_CANIF_00711]. The controller states are UNINIT, STOPPED, STARTED, and SLEEP [SWS_Can_91013] Can p. 38. Above these lie the PDU channel modes of CanIf [SWS_CANIF_00137]. CanIf_SetPduMode() is accepted only in state CAN_CS_STARTED [SWS_CANIF_00874]. SLEEP forces CANIF_OFFLINE; STOPPED or BusOff force CANIF_TX_OFFLINE [SWS_CANIF_00865] [SWS_CANIF_00866].

State diagram: The PDU channel modes of CanIf are determined by CanIf_SetPduMode and by changes of the controller mode. Sources: [SWS_CANIF_00137] [SWS_CANIF_00864] [SWS_CANIF_00865] [SWS_CANIF_00866] [SWS_CANIF_00874] CanIf p. 61

For wake-up, CanIf_CheckWakeup() queries the drivers via Can_CheckWakeup() or CanTrcv_CheckWakeup(), respectively [SWS_CANIF_00395] [SWS_Can_00360] [SWS_CanTrcv_00143]. CanIf_CheckValidation() reports a wake-up event to <User_ValidateWakeupEvent> only if a valid reception has been stored since the wake-up [SWS_CANIF_00178] [SWS_CANIF_00179] [SWS_CANIF_00286] CanIf p. 102. In partial networking, the PnTxFilter blocks all transmissions except the PN filter PDUs after CAN_CS_SLEEP. Only a transmit confirmation or a reception clears the lock [SWS_CANIF_00749] [SWS_CANIF_00750] [SWS_CANIF_00751] [SWS_CANIF_00896]. Prior to switching to a low-power mode, CanSM clears the WUF flag via CanIf_ClearTrcvWufFlag() so that no frame wake-up is lost [SWS_CANIF_00766] [SWS_CanTrcv_00194] [SWS_CanTrcv_00195] CanTrcv p. 57. The modules are terminated with Can_DeInit(), CanIf_DeInit(), and CanTrcv_DeInit() [SWS_Can_91002] [SWS_CANIF_91002] [SWS_CanTrcv_91001].

Error Handling, DET Tracing, and Degradation

All modules in the cluster report development errors to DET. CanIf does so, for example, in case of an invalid TxPduId or a null pointer [SWS_CANIF_00319] [SWS_CANIF_00320]. In this case, CanTp additionally returns E_NOT_OK [SWS_CanTp_00294]; Can and CanTrcv use dedicated error codes [SWS_Can_91019] [SWS_CanTrcv_00050]. Runtime errors concern, among others, rejected data lengths [SWS_CANIF_00168], transmission attempts on channels in CANIF_OFFLINE mode [SWS_CANIF_00382], lost received messages [SWS_Can_91020], and missing communication with the transceiver [SWS_CanTrcv_00113].

Of the examined references, only CanTrcv cites a DEM entry: CanTrcv_MainFunctionDiagnostics() sets CANTRCV_E_BUS_ERROR to FAILED or PASSED depending on the BUSERR flag [SWS_CanTrcv_00218] [SWS_CanTrcv_00206] [SWS_CanTrcv_00227] CanTrcv p. 48.

Can reports a BusOff via CanIf_ControllerBusOff() [SWS_CANIF_00218]. CanIf then sets the channel to CANIF_TX_OFFLINE and informs CanSM [SWS_CANIF_00866] [SWS_CANIF_00724] CanIf p. 147. Upon entering CAN_CS_STOPPED, CanIf flushes the transmit buffers and negatively confirms pending transmissions [SWS_CANIF_00485] [SWS_CANIF_00739]. For recovery, CanSM can query via CanIf_GetTxConfirmationState() whether a transmit confirmation has occurred since the last controller start [SWS_CANIF_00734] [SWS_CANIF_00740] CanIf p. 103. Error state and error counters can be queried via CanIf [SWS_CANIF_91001] [SWS_Can_91003] [SWS_CANIF_91003]. If security event reporting is activated, CanIf reports bus errors as well as Error Passive and BusOff events to IdsM [SWS_CANIF_00913] [SWS_CANIF_00915] [SWS_CANIF_00917] [SWS_CANIF_00918].

Sequence diagram: The BusOff notification travels from the controller via Can and CanIf to CanSM; CanIf blocks the transmit path and resets the transmit buffers. Sources: [SWS_CANIF_00218] [SWS_CANIF_00724] [SWS_CANIF_00866] [SWS_CANIF_00918] [SWS_CANIF_00734] CanIf p. 147

CanTp aborts sessions upon timeouts and notifies the upper layer negatively, for example in case of N_As, N_Bs, or N_Cr [SWS_CanTp_00310] [SWS_CanTp_00316] [SWS_CanTp_00313]. CanTp proceeds in the same way after WFTmax consecutive FC(WAIT) [SWS_CanTp_00223] or upon an FC with overflow [SWS_CanTp_00309]. As a degradation mode, CanIf confirms transmissions to the upper layers in mode CANIF_TX_OFFLINE_ACTIVE without transmitting on the bus [SWS_CANIF_00072].

AI-generated guide based on the AUTOSAR specifications of the modules Can, CanIf, CanTp, and CanTrcv (Classic Platform R20-11). Only the linked requirements are normative; statements identified as interpretations are not substantiated by the sources.

AUTOSAR Classic CAN

Topic map

Can

CanIf

CanNm

CanSM

CanTp

CanTrcv

CanXL

Ttcan

TtcanIf

Detail view

Can

CanIf

CanNm

CanSM

CanTp

CanTrcv

CanXL

Ttcan

TtcanIf

Cluster guideAI-GENERATED

System architecture and role of the cluster

Interaction and interaction paths

Synchronization, reentrancy and task contexts

Lifecycles and operating modes

Error Handling, DET Tracing, and Degradation

Module im Cluster

CAN Driver (Can)

CAN Interface (CanIf)

CAN Network Management (CanNm)

CAN State Manager (CanSM)

CAN Transport Layer (CanTp)

CAN Transceiver Driver (CanTrcv)

CAN XL Driver (CanXL)

CAN XL Transceiver Driver (CanXLTrcv)

TTCAN Driver (Ttcan)

TTCAN Interface (TtcanIf)

AUTOSAR Classic CAN

Topic map

Detail view

Cluster guideAI-GENERATED🔍

System architecture and role of the cluster

Interaction and interaction paths

Synchronization, reentrancy and task contexts

Lifecycles and operating modes

Error Handling, DET Tracing, and Degradation

Module im Cluster

CAN Driver (Can)

CAN Interface (CanIf)

CAN Network Management (CanNm)

CAN State Manager (CanSM)

CAN Transport Layer (CanTp)

CAN Transceiver Driver (CanTrcv)

CAN XL Driver (CanXL)

CAN XL Transceiver Driver (CanXLTrcv)

TTCAN Driver (Ttcan)

TTCAN Interface (TtcanIf)

Cluster guideAI-GENERATED