Specification of CAN Driver, No.11, AUTOSAR R21-11(159) CP

Specification of CAN Driver, No.11, 2021-11

https://www.autosar.org/fileadmin/standards/classic/21-11/AUTOSAR_SWS_CANDriver.pdf


AUTOSAR R21-11記事一覧はこちら。

AUTOSAR 21-11, 140文書読んだ。2022年5月末に半分到達予定。

https://qiita.com/kaizen_nagoya/items/4043e8414f850ce266a4

AUTOSAR R21-11(0) 仕様ダウンロード一覧。単語帳。参考文献資料作成

https://qiita.com/kaizen_nagoya/items/9b3a1b9b8d1e8d7e288e

# 用語(terms)


|Term|Description|
|:--|:--|
|CAN controller| A CAN controller serves exactly one physical channel.
|CAN Hardware Unit|A CAN Hardware Unit may consists of one or multiple CAN controllers of the same type and one or multiple CAN RAM areas. The CAN Hardware Unit is either on-chip, or an external device. The CAN Hardware Unit is represented by one CAN driver.
|CAN L-PDU| Data Link Layer Protocol Data Unit. Consists of Identifier, Data Length and Data (SDU). (see[19])
|CAN L-SDU |Data Link Layer Service Data Unit. Data that is transported inside the LPDU. (see[19])
|DLC| Data Length Code (part of CAN message describes the SDU length)
|Hardware Object| A CAN hardware object is defined as a PDU buffer inside the CAN RAM of the CAN hardware unit / CAN controller. A Hardware Object is defined as L-PDU buffer inside the CAN RAM of the CAN Hardware Unit.
|Hardware Receive Handle (HRH)|The Hardware Receive Handle (HRH) is defined and provided by the CAN Driver. Each HRH typically represents just one hardware object. The HRH can be used to optimize software filtering.
|Hardware Transmit Handle (HTH)|The Hardware Transmit Handle (HTH) is defined and provided by the CAN Driver. Each HTH typically represents just one or multiple hardware objects that are configured as hardware transmit buffer pool.
|Inner Priority Inversion|Transmission of a high-priority L-PDU is prevented by the presence of a pending low-priority L-PDU in the same transmit hardware object.
|ISR| Interrupt Service Routine
|L-PDU Handle |The L-PDU handle is defined and placed inside the CanIf module layer. Typically each handle represents an L-PDU, which is a constant structure with information for Tx/Rx processing.
|MCAL| Microcontroller Abstraction Layer
|Outer Priority Inversion|A time gap occurs between two consecutive transmit L-PDUs. In this case a lower priority L-PDU from another node can prevent sending the own higher priority L-PDU. Here the higher priority L-PDU cannot participate in arbitration during network access because the lower priority L-PDU already won the arbitration.
|Physical Channel| A physical channel represents an interface from a CAN controller to the CAN Network. Different physical channels of the CAN hardware unit may access different networks.
|Priority |The Priority of a CAN L-PDU is represented by the CAN Identifier. The lower the numerical value of the identifier, the higher the priority.
|SFR |Special Function Register. Hardware register that controls the controller behavior.
|SPAL| Standard Peripheral Abstraction Layer

## 英日
日本語は仮訳

T.B.D.

# 参考(reference)

[1] Layered Software Architecture
AUTOSAR_EXP_LayeredSoftwareArchitecture.pdf
[2] General Requirements on Basic Software Modules
AUTOSAR_SRS_BSWGeneral.pdf
[3] General Requirements on SPAL
AUTOSAR_SRS_SPALGeneral.pdf
[4] Requirements on CAN
AUTOSAR_SRS_CAN.pdf
[5] Specification of CAN Interface
AUTOSAR_SWS_CANInterface.pdf
[6] Specification of Default Error Tracer
AUTOSAR_SWS_DefaultErrorTracer.pdf
[7] Specification of ECU State Manager
AUTOSAR_SWS_ECUStateManager.pdf
[8] Specification of MCU Driver
AUTOSAR_SWS_MCUDriver.pdf
[9] Specification of Operating System
AUTOSAR_SWS_OS.pdf
[10] Specification of ECU Configuration
AUTOSAR_TPS_ECUConfiguration.pdf
[11] Specification of SPI Handler/Driver
AUTOSAR_SWS_SPIHandlerDriver.doc.pdf
[12] Specification of Memory Mapping
AUTOSAR_SWS_MemoryMapping.pdf
[13] Specification of BSW Scheduler
AUTOSAR_SWS_BSW_Scheduler.pdf
[14] Basic Software Module Description Template
AUTOSAR_TPS_BSWModuleDescriptionTemplate.pdf
[15] List of Basis Software Modules
AUTOSAR_TR_BSWModuleList.pdf
[16] General Specification of Basic Software Modules
AUTOSAR_SWS_BSWGeneral.pdf
[17] Specification of Time Synchornization over CAN
AUTOSAR_SWS_TimeSyncOverCAN.pdf
[18] ISO11898 – Road vehicles - Controller area network (CAN)
[19] ISO/IEC 7498-1 – OSI Basic Reference Model
[20] CiA601-2 Node and system design Part 2: CAN controller interface
specification
[21] CiA603 – CAN Frame time-stamping