AUTOSAR Classic CAN

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

This function de - initializes the module.

This function disables all interrupts for this CAN controller.

This function enables all allowed interrupts.

This service obtains the error state of the CAN controller.

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

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.

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.

This function returns the version information of this module.

This function initializes the module.

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

This function performs the polling of CAN controller mode transitions.

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

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

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

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

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

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

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.

States that are used by the several Controller Mode functions.

Error states of a CAN controller.

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.

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

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.

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

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

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

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

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

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

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

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

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

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.

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

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.

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

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.

This service is performed to validate a previous wakeup event.

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

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

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

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

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

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.

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

De-initializes the CanIf module.

Enables or disables mirroring for a CAN controller.

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.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

This function shall call CanTrcv_SetTrcvWakeupMode.

Requests transmission of a PDU.

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

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.

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

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.

Type CanIf_NotifStatusType.

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.

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).

Check if remote sleep indication takes place or not.

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

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.

De - initializes the Can Nm module.

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

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

Get node identifier configured for the local node.

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

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

Returns the state and the mode of the network management.

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

This service returns the version information of this module.

Initialize the Can Nm module.

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

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

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

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.

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.

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

Request bus synchronization.

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

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

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

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

Requests transmission of a PDU.

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.

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

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

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

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

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

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

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

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.

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

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

This service de - initializes the Can SM module.

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

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

This service initializes the Can SM module

Scheduled function of the Can SM

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

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.

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

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

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

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

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

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.

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

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

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

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

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

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

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

This function initializes the Can Tp module.

The main function for scheduling the CAN TP.

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

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

This function is called to shutdown the Can Tp module.

Requests transmission of a PDU.

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

Data structure type for the post - build configuration parameters.

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

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

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

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

De - initializes the Can Trcv module.

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

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

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.

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

Initializes the Can Trcv module.

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

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

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

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

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

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.

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

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.

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

Provides the state of a flag in the transceiver hardware.

Operating modes of the CAN Transceiver Driver.

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

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

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

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

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

Cancels the time mark.

Disables the time mark interrupt.

Enables the time mark interrupt.

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

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.

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.

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.

Gets the synchronization quality.

Gets the IRQ status of the time mark.

Sets the value of "global time preset".

Polls the interrupt flags specific to TTCAN

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.

Signals the end of a gap.

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".

Sets the "Next_is_Gap" bit.

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

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

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

Error level (S0-S3)

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

Master-Slave Mode

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

Sync mode

Time source

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

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.

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

Reports an application watchdog error.

Cancels the time mark.

Disables the time mark interrupt.

Enables the time mark interrupt.

Reports the occurrence of a gap.

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

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.

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.

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.

Gets the synchronization quality.

Gets the IRQ status of the time mark.

Sets the value of "global time preset".

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

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

Signals the end of a gap.

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".

Sets the "Next_is_Gap" bit.

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

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

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

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

Reports the start of a basic cycle.

Reports a time discontinuity.

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

Error level (S0-S3)

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

Event that causes a Timing/Error IRQ

Master-Slave Mode

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

Event that causes a severe error

Sync mode

Time source of time values in TTCAN

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

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