Specification of CAN Transport Layer, AUTOSAR 22-11, CP, No.14

Specification of CAN Transport Layer, AUTOSAR 22-11, CP, No.14

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Abstract Platform との関係　

ISO 各種規格に基づいた診断、通信の抽象的な定義をする。

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文書変更(Document Change)

Clarification of PduR result value in case of transmit error

用語(terms)

Term	Description
I-	Relative to AUTOSAR COM Interaction Layer
L-	Relative to the CAN Interface module which is equivalent to the Logical Link Control (the upper part of the Data Link Layer - the lower part is called Media Access Control)
N-	Relative to the CAN Transport Layer which is equivalent to the OSI Network Layer.
CAN L-SDU	This is the SDU of the CAN Interface module. It is similar to CAN N-PDU but from the CAN Interface module point of view.
CAN LSduId	This is the unique identifier of a SDU within the CAN Interface. It is used for referencing L-SDU’s routing properties. Consequently, in order to interact with the CAN Interface through its API, an upper layer uses CAN LSduId to refer to a CAN L-SDU Info Structure.
CAN N-PDU	This is the PDU of the CAN Transport Layer. It contains a unique identifier, data length and data (protocol control information plus the whole N-SDU or a part of it).
CAN N-SDU	This is the SDU of the CAN Transport Layer. In the AUTOSAR architecture, it is a set of data coming from the PDU Router.
CAN N-SDU Info Structure	This is a CAN Transport Layer internal constant structure that contains specific CAN Transport Layer information to process transmission, reception, segmentation and reassembly of the related CAN N-SDU.
CAN NSduId	Unique SDU identifier within the CAN Transport Layer. It is used to reference N-SDU’s routing properties. Consequently, to interact with the CAN Transport Layer via its API, an upper layer uses CAN NSduId to refer to a CAN N-SDU Info Structure.
I-PDU	This is the PDU of the AUTOSAR COM module.
PDU	In layered systems, it refers to a data unit that is specified in the protocol of a given layer. This contains user data of that layer (SDU) plus possible protocol control information. Furthermore, the PDU of layer X is the SDU of its lower layer X-1 (i.e. (X)-PDU = (X-1)-SDU).
PduInfoType	This type refers to a structure used to store basic information to process the transmission\reception of a PDU (or a SDU), namely a pointer to its payload in RAM and the corresponding length (in bytes).
SDU	In layered systems, this refers to a set of data that is sent by a user of the services of a given layer, and is transmitted to a peer service user, whilst remaining semantically unchanged.
BS	Block Size
Can	CAN Driver module
CAN CF	CAN Consecutive Frame N-PDU
CAN FC	CAN Flow Control N-PDU
CAN FF	CAN First Frame N-PDU
CAN SF	CAN Single Frame N-PDU
CanIf	CAN Interface
CanTp	CAN Transport Layer
CanTrcv	CAN Transceiver module
CF	See “CAN CF”
Com	AUTOSAR COM module
Dcm	Diagnostic Communication Manager module
DEM	Diagnostic Event Manager
DET	Default Error Tracer
DLC	Data Length Code (part of CAN PDU that describes the SDU length)
FC	See “CAN FC”
FF	See “CAN FF”
FIM	Function Inhibition Manager
Mtype	Message Type (possible value: diagnostics, remote diagnostics)
N_AI	Network Address Information (see ISO 15765-2).
N_Ar	Time for transmission of the CAN frame (any N-PDU) on the receiver side (see ISO 15765-2 [1]).
N_As	Time for transmission of the CAN frame (any N-PDU) on the sender side (see ISO 15765-2 [1]).
N_Br	Time until transmission of the next flow control N-PDU (see ISO 15765-2 [1]).
N_Bs	Time until reception of the next flow control N-PDU (see ISO 15765-2 [1]).
N_Cr	Time until reception of the next consecutive frame N-PDU (see ISO 15765-2 [1]).
N_Cs	Time until transmission of the next consecutive frame N-PDU (see ISO 15765-2 [1]).
N_Data	Data information of the transport layer
N_PCI	Protocol Control Information of the transport layer
N_SA	Network Source Address (see ISO 15765-2 [1]).
N_TA	Network Target Address (see ISO 15765-2 [1]). It might already contain the N_TAtype(physical/ function) in case of ExtendedAddressing.
N_TAtype	Network Target Address type (see ISO 15765-2 [1]).
OBD	On-Board Diagnostic
PDU	Protocol Data Unit
PduR	PDU Router
SDU	Service Data Unit
FS	Flow Status
CAN FD	CAN flexible data rate
CAN_DL	CAN frame data length
TX_DL	Transmit data link layer data length
RX_DL	Received data link layer data length
SF_DL	SingleFrame data length in bytes
Default Error Tracer	The Default Error Tracer is merely a support to SW development and integration and is not contained in the production code. The API is defined, but the functionality can be chosen and implemented by the developer according to his specific needs.
Diagnostic Event Manager	The Diagnostic Event Manager is a standard AUTOSAR module which is available in the production code and whose functionality is specified in the AUTOSAR project.
Extended addressing format	A unique CAN identifier is assigned to each combination of N_SA and Mtype. A unique address is filed to each combination of N_TA and N_TAtype in the first data byte of the CAN frame data field. N_PCI and N_Data are filed in the remaining bytes of the CAN frame data field.
Function Inhibition Manager	The Function Inhibition Manager (FIM) stands for the evaluation and assignment of events to the required actions for Software Components (e.g. inhibition of specific “monitoring functions”). The DEM informs and updates the Function Inhibition Manager (FIM) upon changes of the event status in order to stop or release functional entities according to assigned dependencies. An interface to the functional entities is defined and supported by the Mode Manager. The FIM is not part of the DEM.
Functional addressing	In the transport layer, functional addressing refers to N-SDU, of which parameter N_TAtype (which is an extension to the N_TA parameter [1] used to encode the communication model) has the value functional. This means the N-SDU is used in 1 to n communications. Thus with the CAN protocol, functional addressing will only be supported for Single Frame communication. In terms of application, functional addressing is used by the external (or internal) tester if it does not know the physical address of an ECU that should respond to a service request or if the functionality of the ECU is implemented as a distributed server over several ECUs. When functional addressing is used, the communication is a communication broadcast from the external tester to one or more ECUs (1 to n communication). Use cases are (for example) broadcasting messages, such as “ECUReset” or “Communication Control” OBD communication will always be performed as part of functional addressing.
Mixed addressing format	A unique CAN identifier is assigned to each combination of N_SA, N_TA, N_TAtype. N_AE is placed in the first data byte of the CAN frame data field. N_PCI and N_Data are placed in the remaining bytes of the CAN frame data field.
Multiple connection	The CAN Transport Layer should manage several transport protocol communication sessions at a time.
Normal addressing format	A unique CAN identifier is assigned to each combination of N_SA, N_TA, N_TAtype and Mtype. N_PCI and N_Data are filed in the CAN frame data field.
Physical addressing	In the transport layer, physical addressing refers to N-SDU, of which parameter N_TAtype (which is an extension of the N_TA parameter [1] used to encode the communication model) has the value physical. This means the N-SDU is used in 1 to 1 communication, thus physical addressing will be supported for all types of network layer messages. In terms of application, physical addressing is used by the external (or internal) tester if it knows the physical address of an ECU that should respond to a service request. When physical addressing is used, a point to point communication takes place (1 to 1 communication). Use cases are (for example) messages, such as ”ReadDataByIdentifier” or ”InputOutputControl ByIdentifier”
Single connection	The CAN Transport Layer will only manage one transport protocol communication session at a time.
Connection channel	The CAN Transport Layer is handling resources used by multiple connections in order to save RAM. When a connection becames active, the channel that is used by this connection will be unavailable for other connections.
Connection	A transport protocol session, either is a transmission or a reception session on a N-SDU

英日単語帳

日本語は仮訳

T.B.D.

参考(reference)

[1] 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] Diagnostics on controller area network (CAN) – Part 4: Requirements for emission-related systems (Release 2005 01-04)

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

[3] Glossary, AUTOSAR_TR_Glossary

[4] General Specification of Basic Software Modules

AUTOSAR_SWS_BSWGeneral

[5] Specification of PDU Router

AUTOSAR_SWS_PDURouter

[6] Specification of CAN Interface

AUTOSAR_SWS_CANInterface

[7] General Requirements on Basic Software Modules

AUTOSAR_SRS_BSWGeneral

[8] Requirements on CAN

AUTOSAR_SRS_CAN

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Specification of CAN Transport Layer, AUTOSAR 14, 22-11, CP 20230421

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