SNIP_CLASSIC_CANIF_FIGURE_Figure_1_1

Figure 1.1: AUTOSAR CAN Layer Model (see [7]) The CAN Interface module consists of all CAN hardware independent tasks, which belongs to the CAN communication device drivers of the corresponding ECU. Those functionality is implemented once in the CAN Interface module, so that underlying CAN device drivers only focus on access and control of the corresponding specific CAN hardware device. CanIf fulfils main control flow and data flow requirements of the PDU Router and upper layer communication modules of the AUTOSAR COM stack: transmit request processing, transmit confirmation / receive indication / error notification and start / stop of a CAN Controller and thus waking up / participating on a network . Its data processing and notification API is based on CAN L-SDUs , whereas APIs for control and mode handling provides a CAN Controller related view. In case of Transmit Requests CanIf completes the L-PDU transmission with corresponding parameters and relays the CAN L-PDU via the appropriate CanDrv to the