Specification of CAN Interface, AUTOSAR 12, R23-11, CP 

AUTOSARが2023年版、R23-11を公開しました。
https://www.autosar.org/fileadmin/standards/R23-11/CP/AUTOSAR_CP_SWS_CANInterface.pdf

R22-11
https://www.autosar.org/fileadmin/standards/R22-11/CP/AUTOSAR_SWS_CANInterface.pdf

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

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

R19-11
https://www.autosar.org/fileadmin/standards/R19-11/CP/AUTOSAR_SWS_CANInterface.pdf

文書は検索してダウンロードできます。
https://www.autosar.org/



<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 in order.

# Release Overviews
AUTOSARには現在3つの分類があります。Foundation, CAN OSEK/VDXのClassic Platform, Ethernet/TCP/IP POSIXのAdaptive Platform.

Foundation Release Overview, AUTOSAR 781, R23-11, FO
https://qiita.com/kaizen_nagoya/items/f249bdb8c313d8bff883

Classic Platform Release Overview, AUTOSAR No.0 ,R23-11, CP
https://qiita.com/kaizen_nagoya/items/9d22c8722cbc0f42b137

Adaptive Platform Release Overview, AUTOSAR 782, R23-11, AP
https://qiita.com/kaizen_nagoya/items/13a104606a34fe24fcf7

# Qiita 記事一覧
Autosar Foundation R23-11 一覧
https://qiita.com/kaizen_nagoya/items/c30674cb2dac2fcbbd04

AUTOSAR Adaptive Platform R23-11一覧
https://qiita.com/kaizen_nagoya/items/1dece8799a730367b0dc

Autosar Classic Platform R23-11 一覧
https://qiita.com/kaizen_nagoya/items/f770f6c2906e1dcbf180


# 文書変更(Document Change) 
>• Support for selective WakeUp via CAN-Controller
• Editorial changes
# 用語(terms)

|term|Description|
|:--|:--|
|CAN L-PDU| CAN Protocol Data Unit. Consists of an identifier, Data Length and data (SDU) Visible to the CAN driver.
|CAN L-SDU|CAN Service Data Unit. Data that are transported inside the CAN L-PDU. Visible to the upper layers of the CAN interface (e.g. PDU Router).
|CanDrv| CAN Driver module
|CAN FD |CAN with Flexible Data-Rate
|CanId| CAN Identifier
|CanIf| CAN Interface module
|CanNm |CAN Network Management module
|CanSm |CAN State Manager module
|CanTp |CAN Transport Layer module
|CanTrcv |CAN Transceiver Driver module
|CanTSyn| Global Time Synchronization over CAN
|ComM |Communication Manager module
|DCM |Diagnostic Communication Manager module
|EcuM |ECU State Manager module
|HOH| CAN hardware object handle
|HRH |CAN hardware receive handle
|HTH| CAN hardware transmit handle
|J1939Nm| J1939 Network Management module
|J1939Tp |J1939 Transport Layer module
|PduR| PDU Router module
|PN |Partial Networking
|SchM| Scheduler Module
|Buffer|Fixed sized memory area for a single data unit (e.g. CAN ID, Data Length, SDU, etc.) is stored at a dedicated memory address in RAM.
|CAN communication matrix|Describes the complete CAN network: • Participating nodes • Definition of all CAN PDUs (Identifier, Data Length) • Source and Sinks for PDUs
|CAN Controller|A CAN Controller is a CPU on-chip or external standalone hardware device. One CAN Controller is connected to one physical channel.
|CAN Device Driver| Generic term of CAN Driver and CAN Transceiver Driver.
|CAN Hardware Unit|A CAN Hardware Unit may consist of one or multiple CAN Controllers of the same type and one, two or multiple CAN RAM areas. The CAN Hardware Unit is located on-chip or as external device. The CAN hardware unit is represented by one CAN Driver.
|CanIf Controller mode state machine|This is not really a state machine, which may be influenced by transmission requests. This is an image of the current abstracted state of an appropriate CAN Controller. The state transitions can only be realized by upper layer modules like the CanSm or by external events like e.g. if a BusOff occurred.
|CanIf Receive L-PDU / CanIf Rx L-PDU |L-PDU of which the direction is set to "lower to upper layer".
|CanIf Receive L-PDU buffer / CanIfRxBuffer|Single element RAM buffer located in the CAN Interface module to store whole receive L-PDUs.
|CanIf Transmit L-PDU / CanIf Tx L-PDU |L-PDU of which the direction is set to "upper to lower layer".
|CanIf Transmit L-PDU buffer / CanIfTxBuffer| Single CanIfTxBuffer element located in the CanIf to store one or multiple CanIf Tx L-PDUs. If the buffersize of a single CanIfTxBuffer element is set to 0, a CanIfTxBuffer element is only used to refer a HTH.
|Hardware object / HW object |A CAN hardware object is defined as a PDU buffer inside the CAN RAM of the CAN Hardware Unit / CAN Controller.
|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 is used as a parameter by the CAN Interface Layer for i.e. 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 CAN hardware objects that are configured as CAN 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.
|Integration Code|Code that the Integrator needs to add to an AUTOSAR System, to adapt non-standardized functionalities. Examples are Callouts of the ECU State Manager and Callbacks of various other BSW modules. The I/O Hardware Abstraction is called Integration Code, too.
|Lowest In - First Out / LOFO |This is a data storage procedure, whereas always the elements with the lowest values will be extracted.
|L-PDU channel group |Group of CAN L-PDUs, which belong to just one underlying network. Usually they are handled by one upper layer module.
|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 LPDU 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.
|Tx request |Transmit request to the CAN Interface module from a upper layer module of the CanIf
# References

[1] Specification of CAN Driver AUTOSAR_CP_SWS_CANDriver
[2] Specification of CAN Transceiver Driver AUTOSAR_CP_SWS_CANTransceiverDriver
[3] Specification of CAN State Manager AUTOSAR_CP_SWS_CANStateManager
[4] Specification of CAN Network Management AUTOSAR_CP_SWS_CANNetworkManagement
[5] Specification of CAN Transport Layer AUTOSAR_CP_SWS_CANTransportLayer
[6] Specification of PDU Router AUTOSAR_CP_SWS_PDURouter
[7] Layered Software Architecture AUTOSAR_CP_EXP_LayeredSoftwareArchitecture
[8] Glossary AUTOSAR_FO_TR_Glossary
https://www.autosar.org/fileadmin/standards/R23-11/FO/AUTOSAR_FO_TR_Glossary.pdf
[9] General Specification of Basic Software Modules AUTOSAR_CP_SWS_BSWGeneral
[10] General Requirements on Basic Software Modules AUTOSAR_CP_SRS_BSWGeneral
[11] Requirements on CAN AUTOSAR_CP_SRS_CAN
[12] ISO 11898-1:2015 – Road vehicles – Controller area network (CAN)
[13] Specification of ECU State Manager AUTOSAR_CP_SWS_ECUStateManager
[14] CiA 610-1 version 1.0.0 (DSP) - CAN XL specifications and test plans - Part 1: Data link layer and physical coding sub-layer requirements http://www.can-cia.org
[15] CiA 611-1 version 1.0.0 (DSP) - CAN XL higher layer functions - Part 1:Definition of service data unit types
http://www.can-cia.org
[16] Specification of ECU Configuration AUTOSAR_CP_TPS_ECUConfiguration



## 補足資料（Additions）
祝休日・謹賀新年：2024年の目標
https://qiita.com/kaizen_nagoya/items/b659d922327a7dcdc898

2023 Countdown Calendar 主催・参加一覧
https://qiita.com/kaizen_nagoya/items/c4c2f08ac97f38d08543

CountDownCalendar月間　いいねをいただいた記事群　views　順
https://qiita.com/kaizen_nagoya/items/583c5cbc225dac23398a

Countdown Calendar 2023, 百記事目を書くにあたって。
https://qiita.com/kaizen_nagoya/items/45185a04cfd88b71256a

1年間をまとめた「振り返りページ」＠２０２３
https://qiita.com/kaizen_nagoya/items/bcd1ebd49d3a9e8c7a90

AUTOSAR 文書番号
https://qiita.com/kaizen_nagoya/items/8b894228a0b76c2265c7

AUTOSAR Countdown Calendar 2023
https://qiita.com/advent-calendar/2023/autosar

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

自動車　記事　１００
https://qiita.com/kaizen_nagoya/items/f7f0b9ab36569ad409c5

Basic principles, ボッシュ自動車handbook(英語)11版まとめ<2>
https://qiita.com/kaizen_nagoya/items/24a1ba5da3d09b2a95d1

JAXA/IPA クリティカルソフトウェアワークショップ WOCS言語関連発表(改定版)
https://qiita.com/kaizen_nagoya/items/4789832baf494cb74626

＜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 the individual's 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 初稿 　20240104
### 最後までおよみいただきありがとうございました。
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#### Thank you very much for reading to the last sentence.
Please press the like icon 💚　and follow me for your happy life.