Requirements on CAN, AUTOSAR 1, R22-11, CP (2)

see R23-11
https://qiita.com/kaizen_nagoya/items/8d889efc2663396c99d5

Requirements on CAN, AUTOSAR 1, 2022-11, CP

AUTOSARが、2022年の版、R22-11を公開しています。
https://www.autosar.org/fileadmin/standards/R22-11/CP/AUTOSAR_SRS_CAN.pdf
https://www.autosar.org/

文書は検索してダウンロードできます。

ただし、R20-11以降だけになったらしい。

＜この項は書きかけです。順次、追記します。＞
https://www.autosar.org/nc/document-search/

AUTOSAR R22-11 Classic Platform 一覧はこちら。

Classic Platform Release Overview, AUTOSAR R22-11, CP, No.0(2)
https://qiita.com/kaizen_nagoya/items/80636f4ca7c16501803b

AUTOSAR R22-11 マラソン
https://qiita.com/kaizen_nagoya/items/988aa405a6fdd794fe53

Qiitaの記事の一覧は作成中です。

AUTOSAR R22-11 一覧（２）
https://qiita.com/kaizen_nagoya/items/6b0615884e954c65fb43

## Bosch Controller Area Network
https://web.archive.org/web/20151211125301/http://www.bosch-semiconductors.de/media/ubk_semiconductors/pdf_1/canliteratur/can_fd_spec.pdf

BoschがISO規格寸前の版を公開している。

![CANFD.png](https://qiita-image-store.s3.ap-northeast-1.amazonaws.com/0/51423/071df73f-c84e-3c7a-70d7-acafba96c94a.png)

© Copyright 2011, Robert Bosch GmbH, Robert Bosch Platz 1, 70839 Gerlingen, Germany

# ISO CAN
## SO/CD 11898-1
Road vehicles — Controller area network (CAN) — Part 1: Data link layer and physical coding sub-layer
https://www.iso.org/standard/83292.html

I## SO/DIS 11898-2
Road vehicles — Controller area network (CAN) — Part 2: High-speed medium access unit
https://www.iso.org/standard/85120.html

###   Normative references
ISO 11898-1:2015, Road vehicles — Controller area network (CAN) — Part 1: Data link layer and physical signalling
ISO 16845-2, Road vehicles — Controller area network (CAN) conformance test plan — Part 2: High-speed medium access unit — Conformance test plan

### Bibliography
[1]	ISO/IEC 7498-1, Information technology — Open Systems Interconnection — Basic Reference Model: The Basic Model
[2]	ISO 11898-3, Road vehicles — Controller area network (CAN) — Part 3: Low-speed, fault-tolerant, medium-dependent interface
[3]	ISO 11898-4, Road vehicles — Controller area network (CAN) — Part 4: Time-triggered communication


# Abstract Platform との関係　
文書全体で、どう統合するとよいかの指針を示すとよい。　

案：
1  RequirementおよびSpecificationの基本事項はすべてAbstract Platformに記載する。　
2　国際規格との関係はすべてAbstract Platformに記載する。
3  Model類はAbstract Platform Modelから導出するようにする。
4 文書、ARXML,json, Manifest 類のTemplateは基本Abstract Platformで記述する。
5 C++ Template 機能について、OS、通信規約、制御用を提案する。

ISO 各種規格に基づいた診断、通信の抽象的な定義をする。

必要があれば国際規格を改定する。
# 目的と成果(Purpose and Outcome)

|item|description|
|:--|:--|
|who|CAN user|
|what|there are few differences with ISO|
|importance|  high|
|others| |
|comment| Please read v.2 or v.3, there are initiaters.|

# 用語(terms)

|Term|Description|
|:--|:--|
|CAN Communication Matrix|Describes the complete CAN network: - Participating nodes - Definition of all CAN PDUs (Identifier, DLC) - Source and Sinks for PDUs Format is defined in other AUTOSAR workpackage
|Physical Channel| A physical channel represents an interface to the CAN Network. Different physical channels of the CAN Hardware Unit may access different networks.
|L-PDU |CAN (Data Link Layer) Protocol Data Unit. Consists of Identifier, DLC and Data (L-SDU).
|L-SDU| CAN (Data Link Layer) Service Data Unit. Data that is transported inside the LPDU.
|Hardware Object |A Hardware Object is defined as message buffer inside the CAN RAM of the CAN Hardware Unit. Also often called Message Object
|Hardware Object Handle|The hardware object handle (HOH) is defined and provided by the CAN Driver. Typically each HOH represents a hardware object. The HOH is used as parameter by the CAN Interface Layer for transmit and read requests to the CAN Driver.
|L-PDU Handle |The L-PDU handle is defined and placed inside the CAN Interface Layer. Typically each handle represents a L-PDU or a range of L-PDUs, and is a constant structure with information for Tx/Rx processing.
|CAN Controller |A CAN controller serves exactly one physical channel. See Figure "Typical CAN HW Unit" in CAN Interface SWS.
|CAN Hardware Unit|A CAN hardware unit may consist of one or multiple CAN controllers of the same type and one or multiple CAN RAM areas. The CAN hardware unit is either onchip, or an external device. The CAN hardware unit is represented by one CAN Driver. See Figure "Typical CAN HW Unit" in CAN Interface SWS.
|Multiplexed Transmission|Usage of three TX HW objects, which are represented as one transmit entity (Hardware Object Handle) to the upper layer. Used for Outer Priority Inversion avoidance
|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 physical channel.
|Outer Priority Inversion|Occurs when a time gap is between two consecutive TX L-PDU transmissions. In this case a lower priority L-PDU from another node can prevent sending the next L-PDU because the higher priority L-PDU can't participate in the running bus arbitration because it comes too late.
|Bus |A bus represents a CAN or LIN network. A bus has a given physical behavior (e.g. CAN low-speed or high-speed). A bus may support wakeup via bus or is “always on”.
|N-PDU |Network Protocol Data Unit of the CAN Transport Layer
|N-SDU |Service Data Unit of the CAN Transport Layer. Data that is transported inside the N-PDU.
|static configuration |Configuration, that is not changeable during runtime. This means that a configuration is typically done once during startup phase of the ECU. This concern is independent from the possibilities to introduce the configuration parameters into the ECU itself: Pre-Compile-Time, Link-Time or Post-Build-Time
|STmin| Separation Time min
|BS |Block Size
|HTH |CAN hardware transmit handle

## 英日単語帳
日本語は仮訳
T.B.D.

# 参考(reference)
Glossary も　参考に入れましょう。
https://www.autosar.org/fileadmin/standards/R22-11/FO/AUTOSAR_TR_Glossary.pdf

[Can] Specification of CAN Driver
AUTOSAR_SWS_CANDriver.pdf

[CanIf] Specification of CAN Interface
AUTOSAR_SWS_CANInterface.pdf

[CanSM] Specification of CAN State Manager
AUTOSAR_SWS_CANStateManager.pdf

[CanTp] Specification of CAN Transport Layer
AUTOSAR_SWS_CANTransportLayer.pdf

[CanTrcv] Specification of CAN Transceiver Driver
AUTOSAR_SWS_CANTransceiverDriver.pdf

[SrsSpal] General Requirements on SPAL
AUTOSAR_SRS_SPALGeneral.pdf

[SrsGeneral] General Requirements on Basic Software Modules
AUTOSAR_SRS_BSWGeneral.pdf

[TPS_STDT_0078] Software Standardization Template
AUTOSAR_TPS_StandardizationTemplate.pdf

# 7.2 Related standard and norms
## 7.2.1 ISO
### [1] ISO 15765-2(2004-10-12), Road vehicles — Diagnostics on Controller Area Networks (CAN) — Part2: Network layer services

ISO 15765-2:2016 Road vehicles — Diagnostic communication over Controller Area Network (DoCAN) — Part 2: Transport protocol and network layer services
https://www.iso.org/standard/66574.html

2   Normative references
ISO/IEC 7498-1, Information technology — Open Systems Interconnection — Basic Reference Model: The Basic Model — Part 1
ISO 11898-1:20152, Road vehicles — Controller area network (CAN) — Part 1: Data link layer and physical signalling

Bibliography

[1]	ISO/IEC 10731, Information technology — Open Systems Interconnection — Basic Reference Model — Conventions for the definition of OSI services
[2]	ISO 11898-2, Road vehicles — Controller area network (CAN) — Part 2: High-speed medium access unit
[3]	ISO 11898-3, Road vehicles — Controller area network (CAN) — Part 3: Low-speed, fault-tolerant, medium-dependent interface
[4]	ISO 11898-4, Road vehicles — Controller area network (CAN) — Part 4: Time-triggered communication
[5]	ISO 11898-5, Road vehicles — Controller area network (CAN) — Part 5: High-speed medium access unit with low-power mode
[6]	ISO 11898-6, Road vehicles — Controller area network (CAN) — Part 6: High-speed medium access unit with selective wake-up functionality
[7]	ISO 14229-1, Road vehicles — Unified diagnostic services (UDS) — Part 1: Specification and requirements
[8]	ISO 14229-2, Road vehicles — Unified diagnostic services (UDS) — Part 2: Session layer services
[9]	ISO 14229-3, Road vehicles — Unified diagnostic services (UDS) — Part 3: Unified diagnostic services on CAN implementation (UDSonCAN)
[10]	ISO 15031-2, Road vehicles — Communication between vehicle and external equipment for emissions-related diagnostics — Part 2: Guidance on terms, definitions, abbreviations and acronyms
[11]	ISO 15031-5, Road vehicles — Communication between vehicle and external equipment for emissions-related diagnostics — Part 5: Emissions-related diagnostic services
[12]	ISO 15031-6, Road vehicles — Communication between vehicle and external equipment for emissions-related diagnostics — Part 6: Diagnostic trouble code definitions
[13]	ISO 15765-1, Road vehicles — Diagnostic communication over Controller Area Network (DoCAN) — Part 1: General information and use case definition
[14]	ISO 15765-4, Road vehicles — Diagnostic communication over Controller Area Network (DoCAN) — Part 4: Requirements for emissions-related systems
[15]	ISO 27145-2, Road vehicles — Implementation of World-Wide Harmonized On-Board Diagnostics (WWH-OBD) communication requirements — Part 2: Common data dictionary
[16]	ISO 27145-3, Road vehicles — Implementation of World-Wide Harmonized On-Board Diagnostics (WWH-OBD) communication requirements — Part 3: Common message dictionary
[17]	ISO 27145-4, Road vehicles — Implementation of World-Wide Harmonized On-Board Diagnostics (WWH-OBD) communication requirements — Part 4: Connection between vehicle and test equipment
[18]	SAE J1930, Electrical/Electronic Systems Diagnostic Terms, Definitions, Abbreviations and Acronyms
[19]	SAE J1939:2011, Serial Control and Communications Heavy Duty Vehicle Network — Top Level Document
[20]	SAE J1939-73:2010, Application layer — Diagnostics
[21]	SAE J1979, E/E Diagnostic Test Modes
[22]	SAE J2012, Diagnostic Trouble Code Definitions
1 ISO 15765-3 Implementation of unified diagnostic services (UDS on CAN) has been withdrawn and replaced by ISO 14229-3 Road vehicles — Unified diagnostic services (UDS) — Part 3: Unified diagnostic services on CAN implementation (UDSonCAN)
2 The dated reference is to the first version of ISO 11898-1 that includes the definition of CAN FD. Versions after the dated reference are also valid. Future dated references are valid for CAN FD.

### [2] ISO 15765-3(2004-10-06), Road vehicles — Diagnostics on Controller Area Networks (CAN) — Part3: Implementation of diagnostic services
 
Revised by 

ISO 14229-3:2022 Road vehicles — Unified diagnostic services (UDS) — Part 3: Unified diagnostic services on CAN implementation (UDSonCAN)

https://www.iso.org/standard/77323.html

2   Normative references

ISO 11898-1, Road vehicles — Controller area network (CAN) — Part 1: Data link layer and physical signalling
ISO 14229-1, Road vehicles — Unified diagnostic services (UDS) — Part 1: Application layer
ISO 14229-2, Road vehicles — Unified diagnostic services (UDS) — Part 2: Session layer services
ISO 15765-2, Road vehicles — Diagnostic communication over Controller Area Network (DoCAN) — Part 2: Transport protocol and network layer services
ISO 15765-5, Road vehicles — Diagnostic communication over Controller Area Network (DoCAN) — Part 5: Specification for an in-vehicle network connected to the diagnostic link connector

Bibliography

[1]	ISO/IEC 7498-1, Information technology — Open Systems Interconnection — Basic Reference Model: The Basic Model
[2]	ISO/IEC 10731, Information technology — Open Systems Interconnection — Basic Reference Model — Conventions for the definition of OSI services
[3]	ISO 15765-4, Road vehicles — Diagnostic communication over Controller Area Network (DoCAN) — Part 4: Requirements for emissions-related systems

### [3] ISO 15765-4(2005-01-04), Road vehicles — Diagnostics on Controller Area Networks (CAN) — Part4: Requirements for emissions-related systems

Revised by 

ISO 15765-4:2021
Road vehicles — Diagnostic communication over Controller Area Network (DoCAN) — Part 4: Requirements for emissions-related systems
https://www.iso.org/standard/78384.html

2   Normative references

ISO/IEC 7498-1, Information technology — Open Systems Interconnection — Basic Reference Model: The Basic Model
ISO 11898-1, Road vehicles — Controller area network (CAN) — Part 1: Data link layer and physical signalling
ISO 11898-2, Road vehicles — Controller area network (CAN) — Part 2: High-speed medium access unit
ISO 14229-2, Road vehicles — Unified diagnostic services (UDS) — Part 2: Session layer services
ISO 15031-3, Road vehicles — Communication between vehicle and external equipment for emissions-related diagnostics — Part 3: Diagnostic connector and related electrical circuits: Specification and use
ISO 15765-2, Road vehicles — Diagnostic communication over Controller Area Network (DoCAN) — Part 2: Transport protocol and network layer services

Bibliography

[1]	ISO/IEC 10731, Information technology — Open Systems Interconnection — Basic Reference Model — Conventions for the definition of OSI services
[2]	ISO 15031-5, Road vehicles — Communication between vehicle and external equipment for emissions-related diagnostics — Part 5: Emissions-related diagnostic services
[3]	ISO 27145-3, Road vehicles — Implementation of World-Wide Harmonized On-Board Diagnostics (WWH-OBD) communication requirements — Part 3: Common message dictionary
[4]	SAE J1979, E/E Diagnostic Test Modes — OBDonEDS
[5]	SAE J1979-2, E/E Diagnostic Test Modes — OBDonUDS
[6]	SAE J1979-DA, Digital Annex of E/E Diagnostic Test Modes
[7]	SAE J2178-1, Class B data communication network messages detailed header formats and physical address assignments

### [4] CiA 611-1 CAN XL - Part 1: Definition of SDU types


# 7.3 Related Example Transceiver Data Sheets 
See current data sheets for e.g. ST L9669, Freescale MC33389, Philips TJA1054 (CAN LowSpeed), TJA1041 (CAN HighSpeed)

ST L9669, 

http://www.datasheet.hk/download.php?id=1235192&pdfid=D61EA27AA6C2672CA2674FDF8CB6957A&file=0136\l9669_1262580.pdf

Freescale MC33389

https://datasheetspdf.com/pdf-file/549195/Motorola/MC33389/1

Philips TJA1054 (CAN LowSpeed)

https://www.nxp.com/docs/en/data-sheet/TJA1054.pdf

Philips TJA1041 (CAN HighSpeed)

https://www.nxp.com/docs/en/data-sheet/TJA1041.pdf

# Letter to th AUTOSAR

参照文書が21-11では古かった。22-11でも更新していない。


# 関連文書(Related document)
「はじめてのCAN/CANFD 」 ベクタージャパン ＜エンジニア夏休み企画>【読書感想文】
https://qiita.com/kaizen_nagoya/items/1fee270be00ef90ca4ec

三方良し　Udemy 車載LAN入門講座 CAN通信編
https://qiita.com/kaizen_nagoya/items/bed038c52510fea72c0a

詳解 車載ネットワーク CAN, CAN FD, LIN, CXPI, Ethernetの仕組みと設計のために(1) 著者　 ＜エンジニア夏休み企画 読書感想文＞
https://qiita.com/kaizen_nagoya/items/e9971698a108c3dba794

詳解 車載ネットワーク CAN, CAN FD, LIN, CXPI, Ethernetの仕組みと設計のために(2)参考文献 ＜エンジニア夏休み企画>【読書感想文】
https://qiita.com/kaizen_nagoya/items/e156cbdd5fce9263776e

詳解 車載ネットワーク CAN、CAN FD、LIN、CXPI、Ethernetの仕組みと設計のために
https://qiita.com/kaizen_nagoya/items/44a9e6b0f5363b4a5b35

AUTOSAR References to ISO, IEC, ITU, IEEE, RFC and SEA etc.
https://qiita.com/kaizen_nagoya/items/d7d252211e10a79516df

Requirements on CAN, AUTOSAR R22-11 CP No.1,
https://qiita.com/kaizen_nagoya/items/7f790487900b0f0cd7ad

<この項は書きかけです。順次追記します。>
This article is not completed. I will add some words and/or centences in order.
# 自己記事一覧
Qiitaで逆リンクを表示しなくなったような気がする。時々、スマフォで表示するとあらわっることがあり、完全に削除したのではなさそう。

４月以降、せっせとリンクリストを作り、統計を取って確率を説明しようとしている。
2025年２月末を目標にしている。

一覧の一覧( The directory of directories of mine.) Qiita(100)
https://qiita.com/kaizen_nagoya/items/7eb0e006543886138f39

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# 関連資料
' @kazuo_reve 私が効果を確認した「小川メソッド」
https://qiita.com/kazuo_reve/items/a3ea1d9171deeccc04da

' @kazuo_reve 新人の方によく展開している有益な情報
https://qiita.com/kazuo_reve/items/d1a3f0ee48e24bba38f1

' @kazuo_reve Vモデルについて勘違いしていたと思ったこと
https://qiita.com/kazuo_reve/items/46fddb094563bd9b2e1e


## Engineering Festa 2024前に必読記事一覧
programの本質は計画だ。programは設計だ。
https://qiita.com/kaizen_nagoya/items/c8545a769c246a458c27

登壇直後版 色使い(JIS安全色) Qiita Engineer Festa 2023〜私しか得しないニッチな技術でLT〜 スライド編 0.15
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「何を」よりも「誰を」。１０年後のために今見習いたい人たち
https://qiita.com/kaizen_nagoya/items/8045978b16eb49d572b2

Qiitaの記事に３段階または５段階で到達するための方法
https://qiita.com/kaizen_nagoya/items/6e9298296852325adc5e

出力(output)と呼ばないで。これは状態(state)です。
https://qiita.com/kaizen_nagoya/items/80b8b5913b2748867840

coding (101) 一覧を作成し始めた。omake:最近のQiitaで表示しない5つの事象
https://qiita.com/kaizen_nagoya/items/20667f09f19598aedb68

あなたは「勘違いまとめ」から、勘違いだと言っていることが勘違いだといくつ見つけられますか。人間の間違い(human error(125))の種類と対策
https://qiita.com/kaizen_nagoya/items/ae391b77fffb098b8fb4

プログラマの「プログラムが書ける」思い込みは強みだ。３つの理由。仮説（168）統計と確率(17) , OSEK(79)
https://qiita.com/kaizen_nagoya/items/bc5dd86e414de402ec29

出力(output)と呼ばないで。これは状態(state)です。
https://qiita.com/kaizen_nagoya/items/80b8b5913b2748867840

これからの情報伝達手段の在り方について考えてみよう。炎上と便乗。
https://qiita.com/kaizen_nagoya/items/71a09077ac195214f0db

ISO/IEC JTC1 SC7 Software and System Engineering
https://qiita.com/kaizen_nagoya/items/48b43f0f6976a078d907

アクセシビリティの知見を発信しよう！（再び）
https://qiita.com/kaizen_nagoya/items/03457eb9ee74105ee618

統計論及確率論輪講（再び）
https://qiita.com/kaizen_nagoya/items/590874ccfca988e85ea3

読者の心をグッと惹き寄せる7つの魔法
https://qiita.com/kaizen_nagoya/items/b1b5e89bd5c0a211d862

「@kazuo_reve 新人の方によく展開している有益な情報」確認一覧
https://qiita.com/kaizen_nagoya/items/b9380888d1e5a042646b

ソースコードで議論しよう。日本語で議論するの止めましょう（あるプログラミング技術の議論報告）
https://qiita.com/kaizen_nagoya/items/8b9811c80f3338c6c0b0

脳内コンパイラの3つの危険
https://qiita.com/kaizen_nagoya/items/7025cf2d7bd9f276e382

心理学の本を読むよりはコンパイラ書いた方がよくね。仮説（34）
https://qiita.com/kaizen_nagoya/items/fa715732cc148e48880e

NASAを超えるつもりがあれば読んでください。
https://qiita.com/kaizen_nagoya/items/e81669f9cb53109157f6

データサイエンティストの気づき!「勉強して仕事に役立てない人。大嫌い!!」『それ自分かも?』ってなった!!! 
https://qiita.com/kaizen_nagoya/items/d85830d58d8dd7f71d07

「ぼくの好きな先生」「人がやらないことをやれ」プログラマになるまで。仮説（37）　
https://qiita.com/kaizen_nagoya/items/53e4bded9fe5f724b3c4

なぜ経済学徒を辞め、計算機屋になったか（経済学部入学前・入学後・卒業後対応） 転職(1)  
https://qiita.com/kaizen_nagoya/items/06335a1d24c099733f64    

プログラミング言語教育のXYZ。 仮説（52） 
https://qiita.com/kaizen_nagoya/items/1950c5810fb5c0b07be4

【24卒向け】9ヶ月後に年収１０００万円を目指す。二つの関門と三つの道。
https://qiita.com/kaizen_nagoya/items/fb5bff147193f726ad25

「【25卒向け】Qiita Career Meetup for STUDENT」予習の勧め
https://qiita.com/kaizen_nagoya/items/00eadb8a6e738cb6336f

大学入試不合格でも筆記試験のない大学に入って卒業できる。卒業しなくても博士になれる。
https://qiita.com/kaizen_nagoya/items/74adec99f396d64b5fd5

全世界の不登校の子供たち「博士論文」を書こう。世界子供博士論文遠隔実践中心 安全(99)
https://qiita.com/kaizen_nagoya/items/912d69032c012bcc84f2

小川メソッド　覚え（書きかけ）
https://qiita.com/kaizen_nagoya/items/3593d72eca551742df68

DoCAP（ドゥーキャップ）って何ですか？
https://qiita.com/kaizen_nagoya/items/47e0e6509ab792c43327

views 20,000越え自己記事一覧
https://qiita.com/kaizen_nagoya/items/58e8bd6450957cdecd81

Views１万越え、もうすぐ１万記事一覧 最近いいねをいただいた213記事
https://qiita.com/kaizen_nagoya/items/d2b805717a92459ce853

amazon 殿堂入りNo1レビュアになるまで。仮説(102)
https://qiita.com/kaizen_nagoya/items/83259d18921ce75a91f4

100以上いいねをいただいた記事16選
https://qiita.com/kaizen_nagoya/items/f8d958d9084ffbd15d2a

小川清最終講義、最終講義（再）計画, Ethernet(100) 英語(100) 安全(100)
https://qiita.com/kaizen_nagoya/items/e2df642e3951e35e6a53

＜この記事は個人の過去の経験に基づく個人の感想です。現在所属する組織、業務とは関係がありません。＞
This article is an individual impression based on my individual experience. It has nothing to do with the organization or business to which I currently belong.
### 文書履歴(document history)
ver. 0.01 CAN 標準との関係記載予定 20230103
ver. 0.02 ありがとう追記 20230429
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####  Thank you very much for reading to the last sentence.
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