Requirements on CAN, 2022-11, CP, No.1
AUTOSAR Countdown Calendar 2022
2022/12/01日の投稿です。
AUTOSARが、今年の版、R22-11をまもなく公開します。
下記は想定URLです。まだ公開していなければごめんなさい。
文書は検索してダウンロードできます。
AUTOSAR R22-11記事一覧はこちら。
AUTOSAR 22-11, 今日から一覧作成
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 CAN
SO/CD 11898-1
Road vehicles — Controller area network (CAN) — Part 1: Data link layer and physical coding sub-layer
I## SO/DIS 11898-2
Road vehicles — Controller area network (CAN) — Part 2: High-speed medium access unit
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
Bosch
ISOになる前の文書をBoschが公開している。
どの記事も、12/8の公開行事以降に最新文書に対応した書き換えを順次行います。
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
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)
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
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)
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。
参考資料
AUTOSAR References to ISO, IEC, ITU, IEEE, RFC and SEA etc.
https://qiita.com/kaizen_nagoya/items/d7d252211e10a79516df
更新記事
Requirements on CAN, AUTOSAR 1, R22-11, CP, 20230421
https://qiita.com/kaizen_nagoya/items/85cb2870896e55cf0c34
Requirements on CAN, AUTOSAR 1, R22-11, CP (2)
文書履歴(document history)
ver. 0.01 初稿 20221201 公開用として投稿
ver. 0.02 まだ未公開であることを追記 20221201
ver. 0.03 R22-11, CAN XL 参照追記 20221208
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