Requirements on CAN, AUTOSAR 1, R22-11, CP, 20230421

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

AUTOSARは自動車用OSの業界団体規格です。　
業務で利用する場合には、会員になることを条件にしています。

2002年から20年経ち、当初の狙いの段階に近づいてきました。

MATLABでモデルさえ記述すれば、あとは自動生成だけでソフトが完成するところまで、あと一歩です。
Ethernet, UNIXが生まれて20年で大衆化したのと同じように考えると分かりやすいでしょう。　

AUTOSARの上で動く、クラウド対応のミドルウェアが出て、開発も運用もクラウドになれば、一気にAUTOSARは大衆化するでしょう。

AUTOSAR Abstract Platformへの道 R22-11
https://qiita.com/kaizen_nagoya/items/8ac2826635a8c536c7ec

AUTOSARは、ISO、IEC、ITUと情報交換契約を結んでいません。
AUTOSAR文書には、ISO、IEC,ITU記述を全文引用することはできません。
WTO/TBT協定に基づき、国際的な調達は国際規格との差異を記述することにより文化依存しない仕様を目指します。
ISO、IEC、ITU文書を合わせて読むと技術内容は理解できます。　
CAN、OSEK/VDX OS、DIAGは、ISO定義を先に確認しましょう。　　
OSEK COM、OSEK NMなどはISOの規定から、基本的な部分でAUTOSARでは定義を変えています。
AUTOSARで変更している部分を仕様等で明記するか、ISOを改定するとよいでしょう。　

AUTOSARの参考文献欄の改定が進んでいません。　
Glossary用語定義の網羅性が低いです。
本文を読む前に確認するとよいかもしれません。
本文を読んでから確認してもよいかもしれません。

 ＜この記事は書きかけです。順次追記します。＞
 This article is not completed. I will add some words in order.

# 2023年4月URL変更
この項は2023年4月21日、AUTOSARの文書のURLが変更になった。
/classic/22-11/
が
/R22-11/CP/
過去記事で、URLでエラーが出たら書き換えてみてください。

/adaptive/22-11/
は　
/R22-11/AP/

/foundation/22-11/
は　
/R22-11/FO/
です。
## 2022年11月URL変更
2022年11月にもAUTOSAR文書のURLが変更になっている。
/user_upload/standards/classic/21-11/
を
/standards/R21-11/CP/
などに書き換えてください。

/user_upload/standards/adaptive/21-11/
を
/standards/R21-11/AP/

/user_upload/standards/foundation/21-11/
を
/standards/R21-11/FO/

お手数をおかけします。
１年に２度URLを変更するなんて、新しい記事が書ける。とても嬉しい。

# 一覧
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

R21-11
https://www.autosar.org/fileadmin/standards/R21-11/CP/AUTOSAR_SRS_CAN.pdf

R20-11
https://www.autosar.org/fileadmin/standards/R20-11/CP/AUTOSAR_SRS_CAN.pdf

R19-11
https://www.autosar.org/fileadmin/standards/R19-11/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。

2023年4月21日、AUTOSARの文書のURLが変更になった。
/classic/22-11/
が
/R22-11/CP/
過去記事で、URLでエラーが出たら書き換えてみてください。
この記事の表題の最後に「20230421」を加えます。
2023年11月にもAUTOSAR文書のURLが変更になっている。
/user_upload/standards/classic/21-11/
を
/standards/R21-11/CP/
などに書き換えてください。
お手数をおかけします。
１年に２度URLを変更するなんて、新しい記事が書ける。とても嬉しい。

＜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, CP, AUTOSAR 0, R22-11, 20230421
https://qiita.com/kaizen_nagoya/items/9d22c8722cbc0f42b137

Qiitaの記事の一覧は作成中です。

AUTOSAR R22-11 Qiita記事一覧 20230421 。
https://qiita.com/kaizen_nagoya/items/81a35774f1aa3d64d3f6

AUTOSAR R22-11 Qiita記事一覧 20230421(2)
https://qiita.com/kaizen_nagoya/items/b3b992ec1885ad29801a

## 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

ISO/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)

[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

　

Requirements on CAN, AUTOSAR R22-11, CP, No.1 新

https://qiita.com/kaizen_nagoya/items/3d8488bec5048912cf35

# 参考資料　

@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


## 自己参照　

AUTOSAR Abstract Platformへの道（詳細編）

https://qiita.com/kaizen_nagoya/items/cb217133884fa0a2c704

AUTOSAR Abstract Platform User Group Weekly Report(1) 2022.1.8

https://qiita.com/kaizen_nagoya/items/fece4f7719ef55d612bf

祝休日・謹賀新年：2023年の目標

https://qiita.com/kaizen_nagoya/items/24584ac215517a4621ee

AUTOSAR 　R22-11で　リンク切れ、表示しない文書

https://qiita.com/kaizen_nagoya/items/13edb17f6ffd45cdc690


ボッシュ自動車handbook(英語)11版(0-1) 課題と記事一覧new

https://qiita.com/kaizen_nagoya/items/a9d2887bf2a7598dc8e5

「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

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

「@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


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

https://qiita.com/kaizen_nagoya/items/912d69032c012bcc84f2

Views１万越え、もうすぐ１万記事一覧

https://qiita.com/kaizen_nagoya/items/d2b805717a92459ce853

「想定外」3.11 東日本大震災をIT技術者が振り返る

https://qiita.com/kaizen_nagoya/items/80433f4bf7fe116bddd1

# Reserachmap 

Requirements on CAN, AUTOSAR No.1, R22-11, CPRequirements on CAN, AUTOSAR No.1, R22-11, CP
https://researchmap.jp/blogs/blog_entries/view/954753/44139839bd20b2d07c1331bb15a2784c

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

＜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。＞
# 文書履歴(document history)
ver. 0.01 初稿 20230429

### 最後までおよみいただきありがとうございました。

いいね　💚、フォローをお願いします。

####  Thank you very much for reading to the last sentence.

Please press the like icon 💚　and follow me for your happy life.