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> 함수

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

Can_CheckWakeup 함수

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

Std_ReturnType Can_CheckWakeup (uint8 Controller);

Can_DeInit 함수

This function de - initializes the module.

void Can_DeInit (void);

Can_DisableControllerInterrupts 함수

This function disables all interrupts for this CAN controller.

void Can_DisableControllerInterrupts (uint8 Controller);

Can_EnableControllerInterrupts 함수

This function enables all allowed interrupts.

void Can_EnableControllerInterrupts (uint8 Controller);

Can_GetControllerErrorState 함수

This service obtains the error state of the CAN controller.

Std_ReturnType Can_GetControllerErrorState (uint8 ControllerId, Can_ErrorStateType* ErrorStatePtr);

Can_GetControllerMode 함수

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

Std_ReturnType Can_GetControllerMode (uint8 Controller, Can_ControllerStateType* ControllerModePtr);

Can_GetControllerRxErrorCounter 함수

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 함수

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 함수

This function returns the version information of this module.

void Can_GetVersionInfo (Std_VersionInfoType* versioninfo);

Can_Init 함수

This function initializes the module.

void Can_Init (const Can_ConfigType* Config);

Can_MainFunction_BusOff 함수

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 함수

This function performs the polling of CAN controller mode transitions.

void Can_MainFunction_Mode (void);

Can_MainFunction_Read 함수

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

void Can_MainFunction_Read (void);

Can_MainFunction_Wakeup 함수

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 함수

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

void Can_MainFunction_Write (void);

Can_SetBaudrate 함수

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 함수

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

Std_ReturnType Can_SetControllerMode (uint8 Controller, Can_ControllerStateType Transition);

Can_Write 함수

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 타입

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 타입

States that are used by the several Controller Mode functions.

Can_ErrorStateType 타입

Error states of a CAN controller.

Can_ErrorType 타입

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 타입

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 타입

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 타입

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 타입

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> 함수

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> 함수

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> 함수

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

void <User_ConfirmPnAvailability> (uint8 TransceiverId);

<User_ControllerBusOff> 함수

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> 함수

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> 함수

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

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

<User_TrcvModeIndication> 함수

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> 함수

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> 함수

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> 함수

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 함수

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

Std_ReturnType CanIf_CheckTrcvWakeFlag (uint8 TransceiverId);

CanIf_CheckTrcvWakeFlagIndication 함수

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 함수

This service is performed to validate a previous wakeup event.

Std_ReturnType CanIf_CheckValidation (EcuM_WakeupSourceType WakeupSource);

CanIf_CheckWakeup 함수

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 함수

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

Std_ReturnType CanIf_ClearTrcvWufFlag (uint8 TransceiverId);

CanIf_ClearTrcvWufFlagIndication 함수

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 함수

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 함수

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 함수

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 함수

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 함수

De-initializes the CanIf module.

void CanIf_DeInit (void);

CanIf_EnableBusMirroring 함수

Enables or disables mirroring for a CAN controller.

Std_ReturnType CanIf_EnableBusMirroring (uint8 ControllerId, boolean MirroringActive);

CanIf_ErrorNotification 함수

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 함수

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 함수

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 함수

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 함수

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 함수

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

Std_ReturnType CanIf_GetPduMode (uint8 ControllerId, CanIf_PduModeType* PduModePtr);

CanIf_GetTrcvMode 함수

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 함수

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 함수

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 함수

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

void CanIf_GetVersionInfo (Std_VersionInfoType* VersionInfo);

CanIf_Init 함수

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

void CanIf_Init (const CanIf_ConfigType* ConfigPtr);

CanIf_ReadRxNotifStatus 함수

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 함수

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 함수

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 함수

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 함수

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 함수

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 함수

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

void CanIf_SetDynamicTxId (PduIdType CanIfTxSduId, Can_IdType CanId);

CanIf_SetPduMode 함수

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 함수

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 함수

This function shall call CanTrcv_SetTrcvWakeupMode.

Std_ReturnType CanIf_SetTrcvWakeupMode (uint8 TransceiverId, CanTrcv_TrcvWakeupModeType TrcvWakeupMode);

CanIf_Transmit 함수

Requests transmission of a PDU.

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

CanIf_TrcvModeIndication 함수

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 함수

Std_ReturnType CanIf_TriggerTransmit (PduIdType TxPduId, PduInfoType* PduInfoPtr);

CanIf_TxConfirmation 함수

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

void CanIf_TxConfirmation (PduIdType CanTxPduId);

CanIf_ConfigType 타입

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 타입

Type CanIf_NotifStatusType.

CanIf_PduModeType 타입

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 함수

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 함수

Check if remote sleep indication takes place or not.

Std_ReturnType CanNm_CheckRemoteSleepIndication(NetworkHandleType nmChannelHandle, boolean* nmRemoteSleepIndPtr);

CanNm_ConfirmPnAvailability 함수

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 함수

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 함수

De - initializes the Can Nm module.

void CanNm_DeInit(void);

CanNm_DisableCommunication 함수

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

Std_ReturnType CanNm_DisableCommunication(NetworkHandleType nmChannelHandle);

CanNm_EnableCommunication 함수

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

Std_ReturnType CanNm_EnableCommunication(NetworkHandleType nmChannelHandle);

CanNm_GetLocalNodeIdentifier 함수

Get node identifier configured for the local node.

Std_ReturnType CanNm_GetLocalNodeIdentifier(NetworkHandleType nmChannelHandle, uint8* nmNodeIdPtr);

CanNm_GetNodeIdentifier 함수

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

Std_ReturnType CanNm_GetNodeIdentifier(NetworkHandleType nmChannelHandle, uint8* nmNodeIdPtr);

CanNm_GetPduData 함수

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

Std_ReturnType CanNm_GetPduData(NetworkHandleType nmChannelHandle, uint8* nmPduDataPtr);

CanNm_GetState 함수

Returns the state and the mode of the network management.

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

CanNm_GetUserData 함수

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

Std_ReturnType CanNm_GetUserData(NetworkHandleType nmChannelHandle, uint8* nmUserDataPtr);

CanNm_GetVersionInfo 함수

This service returns the version information of this module.

void CanNm_GetVersionInfo(Std_VersionInfoType* versioninfo);

CanNm_Init 함수

Initialize the Can Nm module.

void CanNm_Init(const CanNm_ConfigType* cannmConfigPtr);

CanNm_MainFunction 함수

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

void CanNm_MainFunction(void);

CanNm_NetworkRelease 함수

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

Std_ReturnType CanNm_NetworkRelease(NetworkHandleType nmChannelHandle);

CanNm_NetworkRequest 함수

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

Std_ReturnType CanNm_NetworkRequest(NetworkHandleType nmChannelHandle);

CanNm_PassiveStartUp 함수

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 함수

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 함수

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

Std_ReturnType CanNm_RepeatMessageRequest(NetworkHandleType nmChannelHandle);

CanNm_RequestBusSynchronization 함수

Request bus synchronization.

Std_ReturnType CanNm_RequestBusSynchronization(NetworkHandleType nmChannelHandle);

CanNm_RequestSynchronizedPncShutdown 함수

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 함수

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

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

CanNm_SetSleepReadyBit 함수

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

Std_ReturnType CanNm_SetSleepReadyBit(NetworkHandleType nmChannelHandle, boolean nmSleepReadyBit);

CanNm_SetUserData 함수

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

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

CanNm_Transmit 함수

Requests transmission of a PDU.

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

CanNm_TriggerTransmit 함수

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 함수

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 타입

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

CanSM

<User_Get Bus Off Delay> 함수

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 함수

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 함수

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 함수

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

void CanSM_ConfirmCtrlPnAvailability(uint8 ControllerId);

CanSM_ConfirmPnAvailability 함수

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

void CanSM_ConfirmPnAvailability(uint8 TransceiverId);

CanSM_ControllerBusOff 함수

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 함수

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

void CanSM_ControllerModeIndication(uint8 ControllerId, Can_ControllerStateType ControllerMode);

CanSM_CurrentIcomConfiguration 함수

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 함수

This service de - initializes the Can SM module.

void CanSM_DeInit(void);

CanSM_GetCurrentComMode 함수

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 함수

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 함수

This service initializes the Can SM module

void CanSM_Init(const CanSM_ConfigType* ConfigPtr);

CanSM_MainFunction 함수

Scheduled function of the Can SM

void CanSM_MainFunction(void);

CanSM_RequestComMode 함수

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 함수

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 함수

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 함수

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 함수

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

Std_ReturnType CanSM_StartWakeupSource(NetworkHandleType network);

CanSM_StopWakeupSource 함수

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

Std_ReturnType CanSM_StopWakeupSource(NetworkHandleType network);

CanSM_TransceiverModeIndication 함수

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

void CanSM_TransceiverModeIndication(uint8 TransceiverId, CanTrcv_TrcvModeType TransceiverMode);

CanSM_TxTimeoutException 함수

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 타입

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

CanSM_ConfigType 타입

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 타입

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

CanTp

CanTp_CancelReceive 함수

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

Std_ReturnType CanTp_CancelReceive (PduIdType RxPduId);

CanTp_CancelTransmit 함수

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

Std_ReturnType CanTp_CancelTransmit (PduIdType TxPduId);

CanTp_ChangeParameter 함수

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

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

CanTp_GetVersionInfo 함수

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

void CanTp_GetVersionInfo (Std_VersionInfoType* versioninfo);

CanTp_Init 함수

This function initializes the Can Tp module.

void CanTp_Init (const CanTp_ConfigType* CfgPtr);

CanTp_MainFunction 함수

The main function for scheduling the CAN TP.

void CanTp_MainFunction (void);

CanTp_ReadParameter 함수

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 함수

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

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

CanTp_Shutdown 함수

This function is called to shutdown the Can Tp module.

void CanTp_Shutdown (void);

CanTp_Transmit 함수

Requests transmission of a PDU.

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

CanTp_TxConfirmation 함수

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 타입

Data structure type for the post - build configuration parameters.

CanTrcv

CanTrcv_CheckWakeFlag 함수

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

Std_ReturnType CanTrcv_CheckWakeFlag (uint8 Transceiver);

CanTrcv_CheckWakeup 함수

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

Std_ReturnType CanTrcv_CheckWakeup (uint8 Transceiver);

CanTrcv_ClearTrcvTimeoutFlag 함수

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 함수

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 함수

De - initializes the Can Trcv module.

void CanTrcv_DeInit (void);

CanTrcv_GetBusWuReason 함수

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

Std_ReturnType CanTrcv_GetBusWuReason (uint8 Transceiver, CanTrcv_TrcvWakeupReasonType* reason);

CanTrcv_GetOpMode 함수

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

Std_ReturnType CanTrcv_GetOpMode (uint8 Transceiver, CanTrcv_TrcvModeType* OpMode);

CanTrcv_GetTrcvSystemData 함수

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 함수

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

void CanTrcv_GetVersionInfo (Std_VersionInfoType* versioninfo);

CanTrcv_Init 함수

Initializes the Can Trcv module.

void CanTrcv_Init (const CanTrcv_ConfigType* ConfigPtr);

CanTrcv_MainFunction 함수

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

void CanTrcv_MainFunction (void);

CanTrcv_MainFunctionDiagnostics 함수

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

void CanTrcv_MainFunctionDiagnostics (void);

CanTrcv_ReadTrcvSilenceFlag 함수

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 함수

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 함수

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

Std_ReturnType CanTrcv_SetOpMode (uint8 Transceiver, CanTrcv_TrcvModeType OpMode);

CanTrcv_SetPNActivationState 함수

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 함수

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 타입

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 타입

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

CanTrcv_TrcvFlagStateType 타입

Provides the state of a flag in the transceiver hardware.

CanTrcv_TrcvModeType 타입

Operating modes of the CAN Transceiver Driver.

CanTrcv_TrcvWakeupModeType 타입

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

CanTrcv_TrcvWakeupReasonType 타입

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 함수

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 함수

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 함수

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

void Can_TTAckTimeMark(uint8 Controller);

Can_TTCancelTimeMark 함수

Cancels the time mark.

void Can_TTCancelTimeMark(uint8 Controller);

Can_TTDisableTimeMarkIRQ 함수

Disables the time mark interrupt.

void Can_TTDisableTimeMarkIRQ(uint8 Controller);

Can_TTEnableTimeMarkIRQ 함수

Enables the time mark interrupt.

void Can_TTEnableTimeMarkIRQ(uint8 Controller);

Can_TTGetControllerTime 함수

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 함수

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 함수

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 함수

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 함수

Gets the synchronization quality.

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

Can_TTGetTimeMarkIRQStatus 함수

Gets the IRQ status of the time mark.

void Can_TTGetTimeMarkIRQStatus(uint8 Controller, boolean* Can_TTIRQStatus);

Can_TTGlobalTimePreset 함수

Sets the value of "global time preset".

void Can_TTGlobalTimePreset(uint8 Controller, Can_TTTimeType Can_TTGlobalTimePreset);

Can_TTMainFunction_IRQ 함수

Polls the interrupt flags specific to TTCAN

void Can_TTMainFunction_IRQ(void);

Can_TTReceive 함수

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 함수

Signals the end of a gap.

void Can_TTSetEndOfGap(uint8 Controller);

Can_TTSetExtClockSyncCommand 함수

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 함수

Sets the "Next_is_Gap" bit.

void Can_TTSetNextIsGap(uint8 Controller);

Can_TTSetNTUAdjust 함수

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 함수

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 함수

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 타입

Error level (S0-S3)

Can_TTErrorLevelType 타입

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

Can_TTMasterSlaveModeType 타입

Master-Slave Mode

Can_TTMasterStateType 타입

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

Can_TTSyncModeEnumType 타입

Sync mode

Can_TTTimeSourceType 타입

Time source

Can_TTTimeType 타입

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

TtcanIf

<User_TriggerTransmit> (TtcanIf) 함수

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

CanIf_TTAckTimeMark 함수

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

Std_ReturnType CanIf_TTAckTimeMark(uint8 ControllerId);

CanIf_TTApplWatchdogError 함수

Reports an application watchdog error.

Std_ReturnType CanIf_TTApplWatchdogError(uint8 ControllerId);

CanIf_TTCancelTimeMark 함수

Cancels the time mark.

Std_ReturnType CanIf_TTCancelTimeMark(uint8 ControllerId);

CanIf_TTDisableTimeMarkIRQ 함수

Disables the time mark interrupt.

Std_ReturnType CanIf_TTDisableTimeMarkIRQ(uint8 ControllerId);

CanIf_TTEnableTimeMarkIRQ 함수

Enables the time mark interrupt.

Std_ReturnType CanIf_TTEnableTimeMarkIRQ(uint8 ControllerId);

CanIf_TTGap 함수

Reports the occurrence of a gap.

Std_ReturnType CanIf_TTGap(uint8 ControllerId);

CanIf_TTGetControllerTime 함수

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 함수

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 함수

Std_ReturnType CanIf_TTGetMasterState(uint8 ControllerId, CanIf_TTMasterStateType* CanIf_TTMasterState);

CanIf_TTGetNTUActual 함수

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 함수

Gets the synchronization quality.

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

CanIf_TTGetTimeMarkIRQStatus 함수

Gets the IRQ status of the time mark.

Std_ReturnType CanIf_TTGetTimeMarkIRQStatus(uint8 ControllerId, boolean* CanIf_TTIRQStatus);

CanIf_TTGlobalTimePreset 함수

Sets the value of "global time preset".

Std_ReturnType CanIf_TTGlobalTimePreset(uint8 ControllerId, CanIf_TTTimeType CanIf_TTGlobalTimePreset);

CanIf_TTJobListExec_Controller 함수

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

void CanIf_TTJobListExec_<Controller>(void);

CanIf_TTMasterStateChange 함수

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

Std_ReturnType CanIf_TTMasterStateChange(uint8 ControllerId, CanIf_TTMasterStateType CanIf_TTMasterState);

CanIf_TTSetEndOfGap 함수

Signals the end of a gap.

Std_ReturnType CanIf_TTSetEndOfGap(uint8 ControllerId);

CanIf_TTSetExtClockSyncCommand 함수

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 함수

Sets the "Next_is_Gap" bit.

Std_ReturnType CanIf_TTSetNextIsGap(uint8 ControllerId);

CanIf_TTSetNTUAdjust 함수

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 함수

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 함수

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 함수

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 함수

Reports the start of a basic cycle.

Std_ReturnType CanIf_TTStartOfCycle(uint8 ControllerId, uint8 CanIf_TTCycleCount);

CanIf_TTTimeDisc 함수

Reports a time discontinuity.

Std_ReturnType CanIf_TTTimeDisc(uint8 ControllerId);

CanIf_TTTimingError 함수

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 타입

Error level (S0-S3)

CanIf_TTErrorLevelType 타입

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

CanIf_TTEventEnumType 타입

Event that causes a Timing/Error IRQ

CanIf_TTMasterSlaveModeType 타입

Master-Slave Mode

CanIf_TTMasterStateType 타입

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

CanIf_TTSevereErrorEnumType 타입

Event that causes a severe error

CanIf_TTSyncModeEnumType 타입

Sync mode

CanIf_TTTimeSourceType 타입

Time source of time values in TTCAN

CanIf_TTTimeType 타입

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

CanIf_TTTimingErrorIRQType 타입

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

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클러스터 가이드AI 생성

CAN을 위한 하드웨어 드라이버, 인터페이스 추상화, 세그먼트화 및 트랜시버 제어를 제공한다.

AI 생성 미검증 모델: claude-opus-5-5 · 노력: high · 온도: 제어 불가 · 프롬프트: fa3308e420a5 출처 열린 질문 (2)

독일어 가이드에서 번역됨gemini-3.8-flash-low · 2026-10-13 · 독일어 원문

CAN을 위한 하드웨어 드라이버, 인터페이스 추상화, 세그먼트화 및 트랜시버 제어를 제공한다.

이 클러스터는 CAN 드라이버, CAN Interface, ISO 15765-2에 따른 트랜스포트 프로토콜 및 트랜시버 드라이버를 결합하여 CAN 통신 스택의 하위 부분을 구성한다. 상위 계층은 CanIf_Transmit()을 통해 전송한다. CanIf는 L-PDU를 하드웨어 객체에 매핑하고, 하드웨어가 사용 중일 때 이를 버퍼링하며 수신 및 확인 메시지를 분배한다 [SWS_CANIF_00005]. CanTp는 대형 메시지를 세그먼트화하고 PduR을 통해 데이터를 점진적으로 가져온다 [SWS_CanTp_00086]. 컨트롤러가 CAN_CS_STARTED 상태이고 PDU 채널이 전송 준비가 된 경우에만 전송이 수행되며, 모드는 CanSM이 CanIf를 통해 제어한다.

이 클러스터는 CAN 통신 스택의 하위 부분을 형성한다. Can은 컨트롤러와 메일박스를 제어하고, CanIf는 드라이버, 컨트롤러 및 트랜시버를 추상화하며, CanTp는 ISO 15765-2에 따라 세그먼트화하고, CanTrcv는 트랜시버의 작동 모드를 관리한다. CanIf는 드라이버 서비스를 통해서만 하드웨어 버퍼에 접근한다 [SWS_CANIF_00023]. 상위 계층을 위해 ControllerId 및 TransceiverId에 대한 통합된 범위를 제공한다 [SWS_CANIF_00653] [SWS_CANIF_00655].

컨텍스트 다이어그램: CanIf는 한편으로는 PduR, CanTp, CanSM 및 EcuM 사이에서, 다른 한편으로는 드라이버 Can 및 CanTrcv 사이에서 매개 역할을 수행한다. 출처: [SWS_CANIF_00005] [SWS_CANIF_00006] [SWS_CANIF_00358]

전송 시 CanIf_Transmit()은 적절한 HTH를 사용하여 Can_Write()를 호출한다 [SWS_CANIF_00318]. 드라이버가 CAN_BUSY를 보고하면 CanIf는 L-PDU를 버퍼링한다 [SWS_CANIF_00381]. 전송 확인(TxConfirmation) 중에 가장 높은 우선순위를 갖는 버퍼링된 엔트리를 후속 전송한다 [SWS_CANIF_00668]. 수신된 L-PDU는 CanIf에서 소프트웨어 필터링 및 데이터 길이 검사를 거친 후 CanIf가 이를 CanTp 또는 PduR로 전달한다 [SWS_CANIF_00389] [SWS_CANIF_00390]. CanTp는 페이로드 데이터를 자체 버퍼링하지 않고, PduR_CanTpCopyTxData()를 통해 가져오거나 PduR_CanTpCopyRxData()를 통해 전달한다 [SWS_CanTp_00086] [SWS_CanTp_00269].

시퀀스 다이어그램: 직접 전송 또는 CAN_BUSY 시 버퍼링, 이어서 CanIf_TxConfirmation에서 버퍼로부터의 후속 전송. 출처: [SWS_CANIF_00381] [SWS_CANIF_00183]

Can은 인터럽트 기반 또는 자체 MainFunctions를 통한 폴링 기반으로 동작한다 [SWS_Can_00225] [SWS_Can_00226]. CanTp_RxIndication()은 인터럽트 컨텍스트에서 호출 가능해야 하며 [SWS_CanTp_00235], CanTp_MainFunction()은 프로토콜 타임아웃을 모니터링한다 [SWS_CanTp_00164]. CanIf는 선점형 접근으로부터 공유 버퍼를 보호한다 [SWS_CANIF_00064].

초기화 후 모든 CanIf 채널은 CANIF_OFFLINE 상태가 된다 [SWS_CANIF_00864]. CanSM은 CanIf_SetControllerMode()를 통해 컨트롤러를 전환한다 [SWS_CANIF_00308]. SLEEP은 CANIF_OFFLINE을 강제하고, STOPPED 또는 BusOff는 CANIF_TX_OFFLINE을 강제한다 [SWS_CANIF_00865] [SWS_CANIF_00866]. CanIf는 BusOff를 CanSM에 보고한다 [SWS_CANIF_00724]. 오류는 DET로 전달되며, CanTrcv는 CANTRCV_E_BUS_ERROR를 DEM에 추가로 보고한다 [SWS_CanTrcv_00206]. CanTp는 타임아웃 발생 시 부정 확인과 함께 세션을 중단한다 [SWS_CanTp_00310].

시스템 아키텍처 및 클러스터의 역할

클러스터 \"CAN Communication\"은 CAN을 위한 AUTOSAR 통신 스택의 하위 부분을 형성한다. 이는 하드웨어 근접 CAN 드라이버부터 PduR 및 DCM이 기반으로 삼는 트랜스포트 프로토콜까지 아우른다. 핵심은 상위 계층을 드라이버 및 하드웨어 세부 정보로부터 분리하는 CAN Interface이다. 이는 오직 드라이버의 서비스를 통해서만 하드웨어 특정 통신 버퍼에 접근한다 [SWS_CANIF_00023]. 여러 드라이버 인스턴스의 컨트롤러 및 트랜시버를 ControllerId 및 TransceiverId의 자체 범위를 통해 추상화한다 [SWS_CANIF_00653] [SWS_CANIF_00655].

모듈	클러스터에서의 역할	증거
`Can`	CAN 컨트롤러 및 메일박스에 대한 접근, `Can_Write()`을(를) 통한 전송, 컨트롤러별 상태 머신	[SWS_Can_00233] [SWS_Can_91013]
`CanIf`	L-PDU의 HTH/HRH 매핑, 소프트웨어 필터링, 전송 버퍼, 컨트롤러·PDU 채널·트랜시버 모드 관리	[SWS_CANIF_00662] [SWS_CANIF_00137]
`CanTp`	ISO 15765-2에 따른 세그먼트화 및 재조립, 흐름 제어, 다중 병렬 연결	[SWS_CanTp_00033] [SWS_CanTp_00096]
`CanTrcv`	동작 모드 NORMAL, STANDBY 및 SLEEP, 웨이크업 원인, 트랜시버 진단	[SWS_CanTrcv_00102] [SWS_CanTrcv_00107]

CanIf는 송신 객체를 위한 HTH와 수신 객체를 위한 HRH라는 두 가지 유형의 핸들을 통해 하드웨어를 주소 지정한다 [SWS_CANIF_00291] [SWS_CANIF_00292]. CanIf는 드라이버별 함수 포인터를 통해 여러 CAN 드라이버를 연동한다 [SWS_CANIF_00378]. 콜백 시 CanIf는 Can_HwType 구조체의 ControllerId를 통해 호출 드라이버를 식별한다 CanIf 68쪽. 각 트랜시버 하드웨어 타입마다 정확히 하나의 CanTrcv 인스턴스가 존재한다 [SWS_CanTrcv_00016].

컨텍스트 다이어그램: CanIf는 상위 계층(PduR, CanTp, CanSM, EcuM)과 드라이버 Can 및 CanTrcv 사이의 중앙 허브이다. 출처: [SWS_CANIF_00005] [SWS_CANIF_00006] [SWS_CANIF_00358] [SWS_CANIF_00724] [SWS_CanTp_00216] [SWS_CanTrcv_00206]

상호작용 및 인터랙션 경로

전송: 상위 계층이 CanIf_Transmit()을(를) 호출한다 [SWS_CANIF_00005]. CanIf는 TxPduId에 해당하는 HTH를 확인하고 Can_PduType 구조체와 함께 Can_Write()을(를) 호출한다 [SWS_CANIF_00318] [SWS_Can_00415]. Can_Write()이(가) E_OK를 반환하면 CanIf_Transmit() 역시 E_OK를 반환한다 [SWS_CANIF_00162]. 사용 가능한 송신 객체가 없으면 드라이버는 CAN_BUSY를 보고한다 [SWS_Can_00039]. 전송 버퍼링이 활성화된 경우 CanIf는 L-PDU를 CanIfTxBuffer에 저장한다 [SWS_CANIF_00381] [SWS_CANIF_00063] CanIf 138쪽.

전송 확인: 전송이 성공한 후 Can은 CanIf_TxConfirmation()을(를) 호출한다 [SWS_CANIF_00007]. 이를 위해 드라이버는 Can_Write() Can 40쪽의 swPduHandle을 기억해 둔다. 이때 CanIf는 비워진 HTH에 대해 버퍼링된 엔트리가 있는지 확인한다. ISO 11898-1에 따라 가장 높은 우선순위를 갖는 엔트리를 후속 전송하고 버퍼에서 즉시 제거한다 [SWS_CANIF_00386] [SWS_CANIF_00070] [SWS_CANIF_00668] [SWS_CANIF_00183]. 그 후 상위 계층은 <User_TxConfirmation>(E_OK) [SWS_CANIF_00383]을(를) 수신한다.

시퀀스 다이어그램: 직접 전송 또는 CAN_BUSY 시 버퍼링을 포함한 전송 요청과 전송 확인 중 버퍼로부터의 후속 전송. 출처: [SWS_CANIF_00318] [SWS_CANIF_00381] [SWS_CANIF_00668] [SWS_CANIF_00183] CanIf 157쪽

수신: Can은 CanIf_RxIndication()을(를) 통해 수신된 L-PDU를 보고한다 [SWS_CANIF_00006]. BasicCAN-HRH의 경우 CanIf는 먼저 소프트웨어 필터링을 수행한 다음 데이터 길이 검사를 수행한다 [SWS_CANIF_00389] [SWS_CANIF_00390] [SWS_CANIF_00663]. 그 후 CanTp_RxIndication [SWS_CANIF_00448] 또는 PduR_CanIfRxIndication [SWS_CANIF_00442] 등 구성된 수신자에게 인디케이션을 전달한다 [SWS_CANIF_00415] [SWS_CANIF_00056].

트랜스포트 프로토콜: 데이터가 하나의 N-PDU에 맞지 않는 경우 CanTp_Transmit() [SWS_CanTp_00212]이(가) 세그먼트화된 전송을 시작한다 [SWS_CanTp_00232]. CanTp는 페이로드 데이터를 자체 버퍼링하지 않고, 모든 SF, FF 및 CF에 대해 PduR_CanTpCopyTxData() [SWS_CanTp_00086] [SWS_CanTp_00298]을(를) 통해 데이터를 가져온다. 프레임은 CanIf_Transmit() [SWS_CanTp_00216]을(를) 통해 전달한다. SF 또는 FF 수신 시 CanTp는 PduR_CanTpStartOfReception()을(를) 사용하여 사용 가능한 버퍼를 조회한다 [SWS_CanTp_00079] [SWS_CanTp_00080]. 각 CF는 PduR_CanTpCopyRxData() [SWS_CanTp_00269](으)로 복사한다. 다음 블록을 위한 버퍼가 충분하지 않으면 CanTp는 Flow Control WAIT를 전송한다 [SWS_CanTp_00082] [SWS_CanTp_00325] CanTp 37쪽.

트랜시버: CanIf_SetTrcvMode()은(는) 모드 요청을 CanTrcv_SetOpMode()(으)로 전달한다 [SWS_CANIF_00358]. 전환 후 CanTrcv는 CanIf_TrcvModeIndication()을(를) 호출하고 [SWS_CanTrcv_00158], CanIf는 이 보고를 CanSM으로 전달한다 [SWS_CANIF_00712]. 마찬가지로 CanIf_GetTrcvWakeupReason() 및 CanIf_SetTrcvWakeupMode()도 CanTrcv로 위임한다 [SWS_CANIF_00368] [SWS_CANIF_00372].

동기화, 재진입성 및 태스크 컨텍스트

CanIf_Transmit()은(는) 서로 다른 PduId에 대해 재진입 가능(reentrant)하지만 동일한 PduId에 대해서는 재진입할 수 없다 [SWS_CANIF_00005]. CanIf는 공유 리소스에 대한 선점형 접근을 상호 보호해야 한다 [SWS_CANIF_00064]. 이는 특히 송신 버퍼 [SWS_CANIF_00033], CanIf_SetDynamicTxId() [SWS_CANIF_00673] 중 동적 L-PDU의 CanId, 그리고 CanIf_ReadRxPduData() [SWS_CANIF_00199] 중 수신 버퍼에 해당한다.

Can은 인터럽트 및 폴링 동작을 지원한다. MainFunctions는 구성에 따라 전송 확인, 수신, BusOff, 웨이크업 및 컨트롤러 모드를 폴링한다 [SWS_Can_00225] [SWS_Can_00226] [SWS_Can_00227] [SWS_Can_00228] [SWS_Can_00368] CanIf 152쪽. 따라서 CanIf_ControllerBusOff()과(와) 같은 콜백은 인터럽트 레벨 또는 태스크 레벨에서 선택적으로 실행된다 CanIf 119쪽. Can_DisableControllerInterrupts() 및 Can_EnableControllerInterrupts()은(는) 중첩되어 작동하므로 각 잠금(Lock)마다 고유한 해제(Unlock)가 필요하다 [SWS_Can_00231] [SWS_Can_00232] Can 61쪽.

CanTp_RxIndication() 및 CanTp_TxConfirmation()은(는) 인터럽트 컨텍스트에서 호출 가능해야 한다 [SWS_CanTp_00235] [SWS_CanTp_00236]. CanTp_MainFunction()은(는) 타이머 N_As, N_Bs, N_Cs, N_Ar, N_Br, N_Cr 및 STmin을 주기적으로 처리한다 [SWS_CanTp_00213] [SWS_CanTp_00164]. 해당 클록은 CanTpMainFunctionPeriod 파라미터를 따른다 [SWS_CanTp_00300]. 해석: 이 주기는 달성 가능한 타임아웃의 분해능을 결정할 것으로 추정된다. 각 연결은 자체 버퍼, 타이머 및 자체 상태 머신을 사용한다 [SWS_CanTp_00122] CanTp 42쪽. CanTrcv_MainFunction()은(는) STANDBY 및 SLEEP 상태인 버스에서 웨이크업 이벤트를 주기적으로 검색한다 [SWS_CanTrcv_00013] [SWS_CanTrcv_00112]. 질문 Q-6ee587d8a8f38bff (열림)

수명 주기 및 동작 모드

EcuM은 CanIf_Init()(으)로 CanIf를 초기화하고 드라이버 Can 및 CanTrcv를 각각 개별적으로 초기화한다 CanIf 40쪽 [SWS_Can_00223] [SWS_CanTrcv_00001]. CanTrcv_Init()은(는) 구성에 따라 각 트랜시버를 SLEEP 또는 STANDBY 상태로 전환한다 [SWS_CanTrcv_00148]. CanTrcv가 사용하는 드라이버는 사전에 준비되어 있어야 한다 [SWS_CanTrcv_00099]. 초기화 후 CanIf는 컨트롤러가 STOPPED 상태일 것으로 예상하며 모든 채널을 CANIF_OFFLINE으로 전환한다 [SWS_CANIF_00864]. CanIf는 초기화 전 서비스 호출을 거부한다 [SWS_CANIF_00661]. 해석: 따라서 Can 및 CanTrcv는 CanIf보다 먼저 초기화되어야 할 것으로 보인다. 질문 Q-4af03fca13da9a5b (열림) CanTp는 CanTp_Init()을(를) 통해 CANTP_OFF에서 CANTP_ON으로 전환된다 [SWS_CanTp_00027] [SWS_CanTp_00170]. 세그먼트화는 CANTP_ON 상태에서만 수행된다 [SWS_CanTp_00238] CanTp 27쪽.

모드 전환은 CanSM이 제어한다: CanIf_SetControllerMode()이(가) Can_SetControllerMode()을(를) 호출한다 [SWS_CANIF_00003] [SWS_CANIF_00308]. 완료는 Can이 CanIf_ControllerModeIndication()을(를) 통해 비동기로 보고하고 CanIf가 이를 CanSM으로 전달한다 [SWS_CANIF_00699] [SWS_CANIF_00711]. 컨트롤러 상태는 UNINIT, STOPPED, STARTED 및 SLEEP이다 [SWS_Can_91013] Can 38쪽. 그 위에 CanIf의 PDU 채널 모드가 위치한다 [SWS_CANIF_00137]. CanIf_SetPduMode()은(는) CAN_CS_STARTED 상태에서만 수락된다 [SWS_CANIF_00874]. SLEEP은 CANIF_OFFLINE을 강제하고, STOPPED 또는 BusOff는 CANIF_TX_OFFLINE을 강제한다 [SWS_CANIF_00865] [SWS_CANIF_00866].

상태 다이어그램: CanIf의 PDU 채널 모드는 CanIf_SetPduMode 및 컨트롤러 모드 전환에 의해 결정된다. 출처: [SWS_CANIF_00137] [SWS_CANIF_00864] [SWS_CANIF_00865] [SWS_CANIF_00866] [SWS_CANIF_00874] CanIf 61쪽

웨이크업을 위해 CanIf_CheckWakeup()은(는) Can_CheckWakeup() 또는 CanTrcv_CheckWakeup()을(를) 통해 드라이버를 쿼리한다 [SWS_CANIF_00395] [SWS_Can_00360] [SWS_CanTrcv_00143]. CanIf_CheckValidation()은(는) 웨이크업 이후 유효한 수신이 저장된 경우에만 <User_ValidateWakeupEvent>에 웨이크업 이벤트를 보고한다 [SWS_CANIF_00178] [SWS_CANIF_00179] [SWS_CANIF_00286] CanIf 102쪽. Partial Networking의 경우 PnTxFilter는 CAN_CS_SLEEP 이후 PN 필터 PDU를 제외한 모든 전송을 차단한다. 전송 확인 또는 수신이 발생해야만 차단이 해제된다 [SWS_CANIF_00749] [SWS_CANIF_00750] [SWS_CANIF_00751] [SWS_CANIF_00896]. 저전력 모드로 전환하기 전에 CanSM은 프레임 웨이크업이 누락되지 않도록 CanIf_ClearTrcvWufFlag()을(를) 통해 WUF 플래그를 지운다 [SWS_CANIF_00766] [SWS_CanTrcv_00194] [SWS_CanTrcv_00195] CanTrcv 57쪽. 모듈은 Can_DeInit(), CanIf_DeInit() 및 CanTrcv_DeInit()을(를) 통해 종료된다 [SWS_Can_91002] [SWS_CANIF_91002] [SWS_CanTrcv_91001].

오류 처리, DET 추적 및 성능 저하

클러스터의 모든 모듈은 개발 오류를 DET에 보고한다. CanIf는 유효하지 않은 TxPduId나 널 포인터가 발생할 때 이를 수행한다 [SWS_CANIF_00319] [SWS_CANIF_00320]. 이때 CanTp는 추가로 E_NOT_OK를 반환하며 [SWS_CanTp_00294], Can 및 CanTrcv는 자체 오류 코드를 사용한다 [SWS_Can_91019] [SWS_CanTrcv_00050]. 런타임 오류는 거부된 데이터 길이 [SWS_CANIF_00168], CANIF_OFFLINE 모드 채널에서의 전송 시도 [SWS_CANIF_00382], 유실된 수신 메시지 [SWS_Can_91020] 및 트랜시버와의 통신 누락 [SWS_CanTrcv_00113] 등에 관련된다.

검토된 근거 문서 중에서 CanTrcv만이 DEM 엔트리를 언급한다: CanTrcv_MainFunctionDiagnostics()은(는) BUSERR 플래그에 따라 CANTRCV_E_BUS_ERROR를 FAILED 또는 PASSED로 설정한다 [SWS_CanTrcv_00218] [SWS_CanTrcv_00206] [SWS_CanTrcv_00227] CanTrcv 48쪽.

Can은 CanIf_ControllerBusOff()을(를) 통해 BusOff를 보고합니다 [SWS_CANIF_00218]. 이에 따라 CanIf는 채널을 CANIF_TX_OFFLINE으로 설정하고 CanSM에 알립니다 [SWS_CANIF_00866] [SWS_CANIF_00724] CanIf 147쪽. CAN_CS_STOPPED에 진입할 때 CanIf는 전송 버퍼를 비우고 미해결 전송들을 부정적으로 확인(confirm)합니다 [SWS_CANIF_00485] [SWS_CANIF_00739]. 복구를 위해 CanSM은 마지막 컨트롤러 시작 이후 전송 확인(TxConfirmation)이 발생했는지 CanIf_GetTxConfirmationState()을(를) 통해 질의할 수 있습니다 [SWS_CANIF_00734] [SWS_CANIF_00740] CanIf 103쪽. 오류 상태 및 오류 카운터는 CanIf를 통해 질의할 수 있습니다 [SWS_CANIF_91001] [SWS_Can_91003] [SWS_CANIF_91003]. 보안 이벤트 보고가 활성화된 경우 CanIf는 버스 오류뿐만 아니라 Error-Passive 및 BusOff 이벤트를 IdsM에 보고합니다 [SWS_CANIF_00913] [SWS_CANIF_00915] [SWS_CANIF_00917] [SWS_CANIF_00918].

시퀀스 다이어그램: BusOff 메시지는 컨트롤러에서 Can 및 CanIf를 거쳐 CanSM으로 전달되며, 이때 CanIf는 전송 경로를 차단하고 전송 버퍼를 초기화합니다. 출처: [SWS_CANIF_00218] [SWS_CANIF_00724] [SWS_CANIF_00866] [SWS_CANIF_00918] [SWS_CANIF_00734] CanIf 147쪽

CanTp는 타임아웃 발생 시 세션을 중단하고 상위 계층에 부정적으로 통지하는데, 예를 들어 N_As, N_Bs 또는 N_Cr의 경우입니다 [SWS_CanTp_00310] [SWS_CanTp_00316] [SWS_CanTp_00313]. CanTp는 WFTmax회의 연속적인 FC(WAIT) 이후 [SWS_CanTp_00223] 또는 Overflow가 발생한 FC의 경우에도 동일하게 처리합니다 [SWS_CanTp_00309]. 성능 저하 모드(Degradation Mode)로서 CanIf는 CANIF_TX_OFFLINE_ACTIVE 모드에서 버스로 전송하지 않고 상위 계층에 전송을 확인합니다 [SWS_CANIF_00072].

Can, CanIf, CanTp 및 CanTrcv 모듈의 AUTOSAR 사양(Classic Platform R20-11)을 기반으로 AI가 생성한 가이드입니다. 링크된 요구사항만이 규범적이며, 해석으로 표시된 진술은 출처를 통해 입증되지 않았습니다.

AUTOSAR Classic CAN

주제 맵

Can

CanIf

CanNm

CanSM

CanTp

CanTrcv

CanXL

Ttcan

TtcanIf

상세 보기

Can

CanIf

CanNm

CanSM

CanTp

CanTrcv

CanXL

Ttcan

TtcanIf

클러스터 가이드AI 생성

시스템 아키텍처 및 클러스터의 역할

상호작용 및 인터랙션 경로

동기화, 재진입성 및 태스크 컨텍스트

수명 주기 및 동작 모드

오류 처리, DET 추적 및 성능 저하

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

주제 맵

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수명 주기 및 동작 모드

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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)

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