Specification of CAN Network Management
AUTOSAR Release 4.2.2
1 of 98 Document ID 013: AUTOSAR_SWS_CANNetworkManagement
- AUTOSAR confidential -
Document Change History
Release
Changed by
Change Description
4.2.2
AUTOSAR
Release
Management
Clarification NM message transmission start
Clarification of configuration dependencies
Clarification NM timers while communication is
disabled
4.2.1
AUTOSAR
Release
Management
Removed obsolete configuration parameters
Partial Network Handling Improvements
Const usage in APIs reworked
4.1.3
AUTOSAR
Release
Management
Rewording and improving Partial Networking
Algorithm Requirements
Remote Sleep Indication Timeout handling
corrected
Network Release handling during
communication control clarified
4.1.2
AUTOSAR
Release
Management
Fixed Message Cycle Time Offset Handling
Corrected Active Wakeup Handling
Editorial changes
Removed chapter(s) on change documentation
4.1.1
AUTOSAR
Administration
Partial Network Handling corrected
Coordinator Support improved
Start-up Handling from Prepare-Bus Sleep
clarified
4.0.3
AUTOSAR
Administration
Support for Partial Networking
Support for Car Wakeup
Immediate Transmission of NM-PDUs
Support of a coordinated shutdown with multiple
connected gateways
4.0.1
AUTOSAR
Administration
Changed Signature of RxIndication and
TriggerTransmit
Faster NM wakeup
3.1.4
AUTOSAR
Administration
Nm User Data accessible through PduR
Changed PDU handle ID exchange with CanIf
No more instance specific
CanNm_MainFunction() APIs
Legal disclaimer revised
Document Title
Specification of CAN Network
Management
Document Owner
AUTOSAR
Document Responsibility
AUTOSAR
Document Identification No
013
Document Classification
Standard
Document Status
Final
Part of AUTOSAR Release
4.2.2
Specification of CAN Network Management
AUTOSAR Release 4.2.2
2 of 98 Document ID 013: AUTOSAR_SWS_CANNetworkManagement
- AUTOSAR confidential -
Document Change History
Release
Changed by
Change Description
3.1.1
AUTOSAR
Administration
Legal disclaimer revised
3.0.2
AUTOSAR
Administration
Merge CAN NM and Generic NM
Document meta information extended
Small layout adaptations made
2.1.15
AUTOSAR
Administration
Post build and link-time configuration variant
introduced
Configurable NMPDU format introduced
Passive mode introduced
Legal disclaimer revised
Release Notes added
“Advice for users” revised
“Revision Information” added
1.0
AUTOSAR
Administration
Initial Release
Specification of CAN Network Management
AUTOSAR Release 4.2.2
3 of 98 Document ID 013: AUTOSAR_SWS_CANNetworkManagement
- AUTOSAR confidential -
Disclaimer
This specification and the material contained in it, as released by AUTOSAR, is for
the purpose of information only. AUTOSAR and the companies that have contributed
to it shall not be liable for any use of the specification.
The material contained in this specification is protected by copyright and other types
of Intellectual Property Rights. The commercial exploitation of the material contained
in this specification requires a license to such Intellectual Property Rights.
This specification may be utilized or reproduced without any modification, in any form
or by any means, for informational purposes only. For any other purpose, no part of
the specification may be utilized or reproduced, in any form or by any means, without
permission in writing from the publisher.
The AUTOSAR specifications have been developed for automotive applications only.
They have neither been developed, nor tested for non-automotive applications.
The word AUTOSAR and the AUTOSAR logo are registered trademarks.
Advice for users
AUTOSAR specifications may contain exemplary items (exemplary reference
models, "use cases", and/or references to exemplary technical solutions, devices,
processes or software).
Any such exemplary items are contained in the specifications for illustration purposes
only, and they themselves are not part of the AUTOSAR Standard. Neither their
presence in such specifications, nor any later documentation of AUTOSAR
conformance of products actually implementing such exemplary items, imply that
intellectual property rights covering such exemplary items are licensed under the
same rules as applicable to the AUTOSAR Standard.
Specification of CAN Network Management
AUTOSAR Release 4.2.2
4 of 98 Document ID 013: AUTOSAR_SWS_CANNetworkManagement
- AUTOSAR confidential -
Table of Contents
1 Introduction and Functional Overview ................................................................. 7
2 Acronyms and abbreviations ............................................................................... 8
3 Related documentation........................................................................................ 9
3.1 Input documents ............................................................................................ 9
3.2 Related standards and norms ....................................................................... 9
3.3 Related specification ..................................................................................... 9
4 Constraints and assumptions ............................................................................ 10
4.1 Limitations ................................................................................................... 10
4.2 Applicability to car domains ......................................................................... 10
5 Dependencies to other modules ........................................................................ 11
5.1 File Structure ............................................................................................... 12
5.1.1 Code File Structure ............................................................................... 12
5.1.2 Header File Structure ............................................................................ 12
6 Requirements traceability .................................................................................. 14
7 Functional specification ..................................................................................... 24
7.1 Coordination algorithm ................................................................................ 24
7.2 Operational Modes ...................................................................................... 25
7.2.1 Network Mode ....................................................................................... 25
7.2.2 Prepare Bus-Sleep Mode ...................................................................... 28
7.2.3 Bus-Sleep Mode ................................................................................... 29
7.3 Network states ............................................................................................. 30
7.4 Initialization .................................................................................................. 30
7.5 Execution ..................................................................................................... 31
7.5.1 Processor architecture .......................................................................... 31
7.5.2 Timing parameters ................................................................................ 32
7.6 Network Management PDU Structure ......................................................... 32
7.7 Communication Scheduling ......................................................................... 34
7.7.1 Transmission......................................................................................... 34
7.7.2 Reception .............................................................................................. 36
7.8 Bus Load Reduction Mechanism ................................................................. 36
7.9 Additional features ....................................................................................... 38
7.9.1 Detection of Remote Sleep Indication ................................................... 38
7.9.2 User Data .............................................................................................. 38
7.9.3 Passive Mode ....................................................................................... 39
7.9.4 Network Management PDU Rx Indication ............................................. 40
7.9.5 State change notification ....................................................................... 40
7.9.6 Communication Control ........................................................................ 40
7.9.7 Coordinator Synchronization Support ................................................... 41
7.10 Car Wakeup ............................................................................................. 41
7.10.1 Rx Path .............................................................................................. 41
7.10.2 Tx Path .............................................................................................. 42
7.11 Partial Networking .................................................................................... 42
Specification of CAN Network Management
AUTOSAR Release 4.2.2
5 of 98 Document ID 013: AUTOSAR_SWS_CANNetworkManagement
- AUTOSAR confidential -
7.11.1 Rx Handling of NM PDUs .................................................................. 42
7.11.2 Tx Handling of NM PDUs ................................................................... 43
7.11.3 NM PDU Filter Algorithm ................................................................... 43
7.11.4 Aggregation of Internal and External Requested Partial Networks .... 44
7.11.5 Aggregation of External Requested Partial Networks ........................ 46
7.11.6 Spontaneous Transmission of NM PDUs via CanNm_NetworkRequest
47
7.12 Transmission Error Handling .................................................................... 48
7.13 Functional requirements on CanNm API .................................................. 48
7.14 Error classification .................................................................................... 50
7.15 Error detection .......................................................................................... 50
7.16 Error notification ....................................................................................... 50
7.17 Scheduling of the main function ............................................................... 51
7.18 Application notes ...................................................................................... 51
7.18.1 Wakeup notification ........................................................................... 51
7.18.2 Coordination of coupled networks ..................................................... 51
7.18.3 Debugging Concept ........................................................................... 52
7.19 Summary of CanNm Timing Requirements .............................................. 52
8 API specification ................................................................................................ 53
8.1 Imported Types ........................................................................................... 53
8.2 Type Definitions ........................................................................................... 53
8.2.1 CanNm_ConfigType ............................................................................. 53
8.3 CanNm Functions called by the Nm ............................................................ 54
8.3.1 CanNm_Init ........................................................................................... 54
8.3.2 CanNm_PassiveStartUp ....................................................................... 54
8.3.3 CanNm_NetworkRequest ..................................................................... 55
8.3.4 CanNm_NetworkRelease ..................................................................... 55
8.3.5 CanNm_DisableCommunication ........................................................... 56
8.3.6 CanNm_EnableCommunication ............................................................ 56
8.3.7 CanNm_SetUserData ........................................................................... 57
8.3.8 CanNm_GetUserData ........................................................................... 58
8.3.9 CanNm_Transmit .................................................................................. 58
8.3.10 CanNm_GetNodeIdentifier ................................................................ 59
8.3.11 CanNm_GetLocalNodeIdentifier ........................................................ 59
8.3.12 CanNm_RepeatMessageRequest ..................................................... 60
8.3.13 CanNm_GetPduData ......................................................................... 61
8.3.14 CanNm_GetState .............................................................................. 61
8.3.15 CanNm_GetVersionInfo ..................................................................... 62
8.3.16 CanNm_RequestBusSynchronization................................................ 62
8.3.17 CanNm_CheckRemoteSleepIndication ............................................. 63
8.3.18 CanNm_SetSleepReadyBit ............................................................... 64
8.4 CanNm functions called by the CanIf .......................................................... 64
8.4.1 CanNm_TxConfirmation ....................................................................... 64
8.4.2 CanNm_RxIndication ............................................................................ 65
8.5 Called by CanSM......................................................................................... 65
8.5.1 CanNm_ConfirmPnAvailability .............................................................. 65
8.6 Scheduled Functions ................................................................................... 66
8.6.1 CanNm_MainFunction .......................................................................... 66
8.7 Expected Interfaces ..................................................................................... 66
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