TechnicalReference_CanNms
MICROSAR CAN Network Management
Technical Reference
Nm_Asr4NmCan
Version 6.02.00
Authors
Markus Schuster
Status
Released
Technical Reference MICROSAR CAN Network Management
Document Information
History
Author
Date
Version
Remarks
Markus Schuster
2012-08-08
1.00.00
ESCAN00058396 Creation
Markus Drescher
2013-05-10
1.01.00
ESCAN00063144 Updated Architecture
Overview
ESCAN00064972 Support of Variant Post-
Build-Loadable
ESCAN00065301 Improved send behavior
descriptions in chapter 3.6.3 and
Immediate Nm Transmission feature
descriptions in chapters 3.15 and 3.16
ESCAN00065574 Extended chapter 3.13
ESCAN00067271 Merged chapter
‘AUTOSAR Standard Compliance’ with
chapter 3, removed ‘Compiler Abstraction
and Memory Mapping’ chapter, various
improvements
ESCAN00067277 Adapted chapter 5.3.1.1
ESCAN00067278 Replaced
Nm_PrepareBusSleep by
Nm_PrepareBusSleepMode
Markus Drescher
2013-10-01
2.00.00
ESCAN00067700 Added Runtime
Measurement Support to ‘Features Beyond
the AUTOSAR Standard’
ESCAN00070810 Updated Architecture
Overview
Markus Drescher
2014-02-24
2.01.00
ESCAN00072375 Adapted condition for
usage of CanSM_TxTimeoutException in
chapter 5.4
ESCAN00073874 Updated Architecture
Overview
Markus Schuster
2014-05-12
3.00.00
ESCAN00075248 Add description of
dependency of Bus Load Reduction and
Partial Networking feature on the same
channel in chapter 3.6.4
Markus Schuster
2014-10-09
4.00.00
ESCAN00076763 Added description in
chapter 1, 3.1.2 and 5.3.1.1. Removed
chapter 5.2 ‘Type Definitions’
ESCAN00078817 Added description in
chapter 3.1.1
Markus Schuster
2015-06-03
5.00.00
ESCAN00082408 Updated Table 3-1 and
Table 3-3, Table 3-7
Markus Schuster
2016-03-02
6.00.00
ESCAN00086897 Adapted chapter 3.4
ESCAN00087953 Adapted chapter 3.8
ESCAN00087415 Adapted chapter 3.1.1
© 2016 Vector Informatik GmbH
Version 6.02.00
2
based on template version 5.2.0
Technical Reference MICROSAR CAN Network Management
Markus Schuster
2016-05-09
6.01.00
ESCAN00089821 Adapted chapter 3.1
ESCAN00090105 Adapted chapter 3.18.3
ESCAN00090927 Added chapter 3.5.2.1
Markus Schuster
2016-11-17
6.02.00
FEATC-58 Adapted chapter 3.11
Reference Documents
No.
Source
Title
Version
[1] AUTOSAR
AUTOSAR_SRS_NetworkManagement.pdf
3.0.0
[2] AUTOSAR
AUTOSAR_SWS_CANInterface.pdf
5.0.0
[3] AUTOSAR
AUTOSAR_SWS_CANNetworkManagement.pdf
3.3.0
[4] AUTOSAR
AUTOSAR_SWS_DiagnosticEventManager.pdf
4.2.0
[5] AUTOSAR
AUTOSAR_SWS_DevelopmentErrorTracer.pdf
3.2.0
[6] AUTOSAR
AUTOSAR_TR_BSWModuleList.pdf
1.6.0
[7] AUTOSAR
AUTOSAR_SWS_RTE.pdf
3.2.0
[8] Vector
Technical Reference MICROSAR PDU Router
See
delivery
Table 1-1 Reference Documents
Scope of the Document
This technical reference describes the specific use of the CAN Network Management
basic software.
Caution
We have configured the programs in accordance with your specifications in the
questionnaire. Whereas the programs do support other configurations than the one
specified in your questionnaire, Vector’s release of the programs delivered to your
company is expressly restricted to the configuration you have specified in the
questionnaire.
© 2016 Vector Informatik GmbH
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Contents
1. Component History ...................................................................................................... 10
2. Introduction .................................................................................................................. 11
2.1 Naming Conventions .............................................................................................. 11
2.2 Architecture Overview ............................................................................................ 12
2.2.1
Architecture of AUTOSAR Network Management .......................................... 12
3. Functional Description ................................................................................................ 14
3.1 Features ................................................................................................................. 14
3.1.1
Deviations Against AUTOSAR ....................................................................... 15
3.1.1.1
RAM Initialization .................................................................................... 15
3.1.1.2
Additional Configuration Dependencies .................................................. 15
3.1.1.3
Variant Post-Build ................................................................................... 15
3.1.2
Additions/ Extensions .................................................................................... 15
3.1.2.1
Single Channel Optimization .................................................................. 16
3.1.2.2
Memory Initialization ............................................................................... 16
3.1.2.3
Disable Transmission Error Reporting .................................................... 16
3.1.2.4
Calling CanNm_PassiveStartUp in Prepare Bus Sleep ........................... 16
3.1.2.5
Additional Development Error Codes ...................................................... 16
3.1.2.6
Variable DLC Support ............................................................................. 16
3.1.2.7
Changeability of Additional Parameters During the Post-Build Phase ..... 17
3.1.3
Limitations ..................................................................................................... 17
3.1.3.1
Ranges of Timers ................................................................................... 17
3.1.3.2
Effects of CanNm_DisableCommunication ............................................. 17
3.1.3.3
CANNM_E_NET_START_IND Development Error ................................. 17
3.2 Network Management Mechanism ......................................................................... 17
3.3 Initialization ............................................................................................................ 19
3.4 Passive Mode ......................................................................................................... 19
3.5 Operation Modes and States .................................................................................. 19
3.5.1
Network Mode ............................................................................................... 20
3.5.1.1
Repeat Message State ........................................................................... 21
3.5.1.2
Normal Operation State .......................................................................... 21
3.5.1.3
Ready Sleep State ................................................................................. 21
3.5.2
Prepare Bus-Sleep Mode .............................................................................. 21
3.5.2.1
Wait Bus Sleep Extensions ..................................................................... 22
3.5.3
Bus-Sleep Mode ............................................................................................ 23
3.5.4
Wake-up Registration .................................................................................... 23
3.5.5
User Data Handling ....................................................................................... 23
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3.6 Network Management Message Transmission and Reception ............................... 24
3.6.1
AUTOSAR CAN Interface.............................................................................. 24
3.6.2
PDU Message Layout ................................................................................... 24
3.6.3
Message Transmissions ................................................................................ 25
3.6.4
Bus Load Reduction ...................................................................................... 26
3.6.5
Support for RX PDUs with Different Lengths ................................................. 26
3.7 Node Detection ...................................................................................................... 27
3.8 NM PDU Receive Indication ................................................................................... 28
3.9 Communication Control .......................................................................................... 28
3.10 Gateway Functionality ............................................................................................ 28
3.10.1 Remote Sleep Indication and Cancellation .................................................... 28
3.10.2 Bus Synchronization ..................................................................................... 29
3.11 Coordinator Synchronization Support ..................................................................... 29
3.12 Error Handling ........................................................................................................ 29
3.12.1 Development Error Detection ........................................................................ 29
3.12.1.1 Det_ReportError ..................................................................................... 30
3.12.1.2 Parameter Checking ............................................................................... 31
3.12.2 Production Code Error Reporting .................................................................. 32
3.13 Com User Data Support ......................................................................................... 32
3.13.1 Configuration Preconditions in an AUTOSAR ECU Configuration .................. 33
3.14 Active Wake-up Handling ....................................................................................... 34
3.15 Immediate Nm Transmissions ................................................................................ 34
3.16 Immediate Restart Enabled .................................................................................... 36
3.17 Car Wake-up .......................................................................................................... 37
3.17.1 Rx-Path ......................................................................................................... 37
3.17.2 Tx-Path ......................................................................................................... 37
3.18 Partial Networking .................................................................................................. 37
3.18.1 Availability of Partial Network Request Information ....................................... 38
3.18.2 Transmission of the CRI Bit in the NM User Data .......................................... 38
3.18.3 Filter Algorithm for Received NM Messages .................................................. 38
3.18.4 Aggregation of Requested Partial Networks .................................................. 38
3.18.5 Spontaneous Sending of NM Messages........................................................ 39
3.18.5.1 Using Com Transmission on Change Mechanism .................................. 39
3.18.5.2 Using NM Request and Immediate Nm Transmission ............................. 39
4. Integration .................................................................................................................... 40
4.1 Scope of Delivery ................................................................................................... 40
4.1.1
Static Files .................................................................................................... 40
4.1.2
Dynamic Files ............................................................................................... 40
4.2 Include Structure .................................................................................................... 41
4.3 Main Functions ....................................................................................................... 42
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4.4 Critical Sections ..................................................................................................... 42
4.5 Critical Section Codes ............................................................................................ 42
5. API Description ............................................................................................................ 44
5.1 Data Types ............................................................................................................. 44
5.2 Global Constants .................................................................................................... 44
5.2.1
AUTOSAR Specification Version ................................................................... 44
5.2.2
Component Versions ..................................................................................... 44
5.2.3
Vendor and Module ID ................................................................................... 44
5.3 Services Provided by CANNM ................................................................................ 46
5.3.1
Administrative Functions ............................................................................... 46
5.3.1.1
CanNm_Init: Initialization of CAN NM ..................................................... 46
5.3.1.2
CanNm_MainFunction: Main Function for All Channel Instances ............ 46
5.3.1.3
CanNm_InitMemory: Memory Initialization ............................................. 47
5.3.2
Service Functions .......................................................................................... 47
5.3.2.1
CanNm_GetVersionInfo: Version Information API ................................... 47
5.3.2.2
CanNm_GetState: Get the State of the Network Management ............... 48
5.3.2.3
CanNm_PassiveStartUp: Wake up the Network Management................ 49
5.3.2.4
Wake-up Registration ............................................................................. 49
5.3.2.4.1 CanNm_NetworkRequest: Request the Network ............................. 49
5.3.2.4.2 CanNm_NetworkRelease: Release the Network .............................. 50
5.3.2.5
User Data Handling ................................................................................ 50
5.3.2.5.1 CanNm_SetUserData: Set User Data .............................................. 50
5.3.2.5.2 CanNm_GetUserData: Get User Data ............................................. 51
5.3.2.5.3 CanNm_GetPduData: Get NM PDU Data ........................................ 51
5.3.2.6
Node Detection....................................................................................... 52
5.3.2.6.1 CanNm_RepeatMessageRequest: Set Repeat Message
Request Bit ...................................................................................... 52
5.3.2.6.2 CanNm_GetNodeIdentifier: Get Node Identifier ............................... 53
5.3.2.6.3 CanNm_GetLocalNodeIdentifier: Get Local Node Identifier ............. 53
5.3.2.7
Bus Synchronization ............................................................................... 54
5.3.2.7.1 CanNm_RequestBusSynchronization: Synchronization of
Networks ......................................................................................... 54
5.3.2.8
Remote Sleep Indication ........................................................................ 54
5.3.2.8.1 CanNm_CheckRemoteSleepIndication: Check for Remote
Sleep Indication ............................................................................... 54
5.3.2.9
NM Message Transmission Request ...................................................... 55
5.3.2.9.1 CanNm_Transmit: Spontaneous NM Message Transmission .......... 55
5.3.2.10 Communication Control Service ............................................................. 56
5.3.2.10.1 CanNm_DisableCommunication: Disable NM Message
Transmission ................................................................................... 56
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5.3.2.10.2 CanNm_EnableCommunication: Enabled NM Message
Transmission ................................................................................... 56
5.3.2.11 Coordinator Synchronization Support ..................................................... 57
5.3.2.11.1 CanNm_SetSleepReadyBit: Set Sleep Ready Bit in the CBV .......... 57
5.4 Services Used by CANNM ..................................................................................... 58
5.5 Callback Functions ................................................................................................. 59
5.5.1
Callback Functions from CAN Interface ......................................................... 59
5.5.1.1
CanNm_TxConfirmation: NM Message Confirmation Function ............... 59
5.5.1.2
CanNm_RxIndication: NM Message Indication ....................................... 59
5.5.2
Callback Function from CAN State Manager ................................................. 60
5.5.2.1
CanNm_ConfirmPnAvailability: Notification for Activating the PN Filter
Functionality ........................................................................................... 60
6. Glossary and Abbreviations ........................................................................................ 61
6.1 Glossary ................................................................................................................. 61
6.2 Abbreviations ......................................................................................................... 61
7. Contact.......................................................................................................................... 63
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Illustrations
Figure 2-1
AUTOSAR 4.x Architecture Overview ....................................................... 12
Figure 2-2
Interfaces to adjacent modules of the CANNM ......................................... 13
Figure 3-1
State Diagram of CAN NM from SWS CAN NM [3] ................................... 18
Figure 3-2
Usual Behavior of NM Transmissions when Repeat Message is entered .. 25
Figure 3-3
Immediate Transmission due to Signal Change inside User Data I-PDU .. 33
Figure 3-4
Immediate Nm Transmissions ................................................................... 35
Figure 3-5
Behavior for NM Transmissions if Immediate Restart Enabled is ON ........ 36
Figure 4-1
Include structure ....................................................................................... 41
Tables
Table 1-1
Reference Documents ................................................................................ 3
Table 1-1
Component history.................................................................................... 10
Table 2-1
Naming Conventions ................................................................................ 11
Table 3-1
Supported AUTOSAR standard conform features ..................................... 15
Table 3-2
Not supported AUTOSAR standard conform features ............................... 15
Table 3-3
Features provided beyond the AUTOSAR standard .................................. 16
Table 3-4
PDU NM Message Layout ........................................................................ 24
Table 3-5
Control Bit Vector ...................................................................................... 25
Table 3-6
Service IDs ............................................................................................... 30
Table 3-7
Errors reported to DET ............................................................................. 31
Table 3-8
Development Error Reporting: Assignment of checks to services ............. 32
Table 3-9
Errors reported to DEM ............................................................................. 32
Table 3-10
Configuration Precondition Overview for AUTOSAR ECU Configurations . 34
Table 4-1
Static files ................................................................................................. 40
Table 4-2
Generated files ......................................................................................... 40
Table 4-3
Critical Section Codes .............................................................................. 43
Table 5-1
Specification Version API Data ................................................................. 44
Table 5-2
Component Version API Data ................................................................... 44
Table 5-3
Vendor/Module ID ..................................................................................... 45
Table 5-4
CanNm_Init .............................................................................................. 46
Table 5-5
CanNm_MainFunction .............................................................................. 47
Table 5-6
CanNm_InitMemory .................................................................................. 47
Table 5-7
CanNm_GetVersionInfo ............................................................................ 48
Table 5-8
CanNm_GetState ..................................................................................... 48
Table 5-9
CanNm_PassiveStartUp ........................................................................... 49
Table 5-10
CanNm_NetworkRequest ......................................................................... 50
Table 5-11
CanNm_NetworkRelease ......................................................................... 50
Table 5-12
CanNm_SetUserData ............................................................................... 51
Table 5-13
CanNm_GetUserData ............................................................................... 51
Table 5-14
CanNm_GetPduData ................................................................................ 52
Table 5-15
CanNm_RepeatMessageRequest ............................................................ 52
Table 5-16
CanNm_GetNodeIdentifier........................................................................ 53
Table 5-17
CanNm_GetLocalNodeIdentifier ............................................................... 54
Table 5-18
CanNm_RequestBusSynchronization ....................................................... 54
Table 5-19
CanNm_CheckRemoteSleepIndication ..................................................... 55
Table 5-20
CanNm_Transmit ...................................................................................... 56
Table 5-21
CanNm_DisableCommunication ............................................................... 56
Table 5-22
CanNm_EnableCommunication ................................................................ 57
Table 5-23
CanNm_SetSleepReadyBit ....................................................................... 57
Table 5-24
Services used by the CANNM .................................................................. 58
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Table 5-25
CanNm_TxConfirmation ........................................................................... 59
Table 5-26
CanNm_RxIndication ................................................................................ 60
Table 5-27
CanNm_ConfirmPnAvailability .................................................................. 60
Table 6-1
Glossary ................................................................................................... 61
Table 6-2
Abbreviations ............................................................................................ 62
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1. Component History
The component history gives an overview over the important milestones that are
supported in the different versions of the component.
Component Version New Features
1.00.00
Adaption to AUTOSAR Release 4
1.02.00
Support Variant Post-Build-Loadable
2.00.00
Added Runtime Measurement Support
3.00.00
Support Variant Post-Build-Selectable
Table 1-1 Component history
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Technical Reference MICROSAR CAN Network Management
2. Introduction
This document describes the functionality, API and configuration of the AUTOSAR BSW
module CANNM as specified in [1] and [3]. Also the integration of the Network
Management into the AUTOSAR stack is covered by this document.
The FlexRay Network Management, LIN Network Management and the UDP Network
Management are not covered by this document.
Please note that in this document the term Application is not used strictly for the user
software but also for any higher software layer, like e.g. the Communication Manager
(ComM). Therefore, Application refers to any of the software components using the CAN
NM.
For further information please also refer to the AUTOSAR SWS specifications, referenced
at the beginning of this document in Table: ‘Reference Documents’.
Supported AUTOSAR Release*:
4
Supported Configuration Variants:
pre-compile, post-build-loadable, post-build-selectable
Vendor ID:
CANNM_VENDOR_ID
30 decimal
(= Vector-Informatik,
according to HIS)
Module ID:
CANNM_MODULE_ID
31 decimal
(According to ref.[6])
* For the precise AUTOSAR Release 4.x please see the release specific documentation.
2.1
Naming Conventions
The names of the service functions provided by the NM Interface and CAN NM always
start with a prefix that denominates the module where the service is located. E.g. a service
that starts with ‘CanNm_’ is implemented within the CAN NM.
Naming conventions
Nm_
Services of NM Interface.
CanNm_
Services of CAN NM.
Det_
Services of Development Error Tracer.
Dem_
Services of Diagnostic Event Manager.
Table 2-1 Naming Conventions
Nodes which are configured to be passive will be also referred to as passive nodes.
Accordingly nodes that are not passive will be termed as active nodes.
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2.2
Architecture Overview
The following figure shows where the CANNM is located in the AUTOSAR architecture.
Figure 2-1 AUTOSAR 4.x Architecture Overview
2.2.1
Architecture of AUTOSAR Network Management
In the current AUTOSAR Release the standard AUTOSAR Network Management may
consist of up to five modules:
> NM Interface1
> CAN NM
> FlexRay NM1
> LIN NM1
> UDP NM1
The NM Interface schedules function calls from the application to the respective module
for each channel, e.g. for a CAN channel the corresponding CAN NM function will be
called. CAN NM exclusively interacts with the NM Interface.
The communication bus specific functionality is incorporated in the corresponding bus-
specific NM. The CAN-specific part implements the network management algorithm and is
1 Not covered by this document.
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Technical Reference MICROSAR CAN Network Management
responsible for the transmission of NM messages on the communication bus by interacting
with the AUTOSAR CAN Interface.
The next figure shows the interfaces to adjacent modules of the CAN NM. These
interfaces are described in chapter 5 ‘API Description’.
cmp Interfaces
Nm::Nm
PduR::PduR
P
N
d
m
u
_
R
C
_
b
C
k
a
n
N
m
m
N
n
a
C
CanNm_ConfirmPnAvailability
CanNm::CanNm
CanSM::CanSM
CanSM_TxTimeoutException
Det_ReportError
Det::Det
SchM::SchM
SchM_CanNm
C
a
n
N
m
_
C
b
k
If
n
a
C
CanIf::CanIf
Figure 2-2 Interfaces to adjacent modules of the CANNM
Applications do not access the services of the BSW modules directly. They use the service
ports provided by the BSW modules via the RTE. Since the CAN NM has no service ports,
the CAN NM cannot be accessed via RTE by the application.
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3. Functional Description
3.1
Features
The Network Management is a network comprehensive protocol that provides services for
the organization of the network. It is a decentralized and direct network management. That
means that every ECU transmits a special network management message, which is
reserved for the network management only.
The features listed in the following tables cover the complete functionality specified for the
CanNm.
The AUTOSAR standard functionality is specified in [3], the corresponding features are
listed in the tables
> Table 3-1 Supported AUTOSAR standard conform features
> Table 3-2 Not supported AUTOSAR standard conform features
Vector Informatik provides further CanNm functionality beyond the AUTOSAR standard.
The corresponding features are listed in the table
> Table 3-3 Features provided beyond the AUTOSAR standard
The following features specified in [3] are supported:
Supported AUTOSAR Standard Conform Features
Controlled transition of all ECU’s to bus-sleep mode and vice versa.
User Data Handling
Node Detection
Remote Sleep Indication
Coordinator Synchronization Support
Bus Synchronization
Bus Load Reduction
Immediate Tx Confirmation
Passive Mode Support
Immediate Restart
Pdu Rx Indication
State Change Indication
Repeat Message Indication
Com User Data Support
Active Wake-up Bit
Immediate Nm Transmissions
Car Wake-up
Partial Networking
Post-Build Loadable
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Supported AUTOSAR Standard Conform Features
MICROSAR Identity Manager using Post-Build Selectable
Table 3-1 Supported AUTOSAR standard conform features
3.1.1
Deviations Against AUTOSAR
The following features specified in [3] are not supported:
Category
Description
ASR
Version
Functional
Communication Scheduling ch. 7.6: The CanNmMsgCycleOffset is 4.0.3
not applied when all NM messages have been transmitted with
CanNmImmediateNmCycleTime.[CANNM335]
Functional
Initialization ch. 7.4. A call of CanNm_PassiveStartUp() in
4.0.3
PrepareBusSleep leads to a transition to Repeat Message state.
[CANNM147]
Functional/Co Error Notification ch. 7.16. CANNM_E_NETWORK_TIMEOUT is
>4.0.3
nfig
only reported if configuration switch
CANNM_DISABLE_TX_ERROR_REPORT is
enabled[CANNM193][CANNM194]
Functional
Debugging Concept ch. 7.18.3 Debugging is supported in
4.0.3
MICROSAR, but not as described in this chapter.[CANNM287]-
[CANNM290]
Table 3-2 Not supported AUTOSAR standard conform features
3.1.1.1
RAM Initialization
If RAM is not implicitly initialized at start-up, the function CanNm_InitMemory has to be
called.
3.1.1.2
Additional Configuration Dependencies
Following additional dependencies between configuration parameters are added to avoid
bad configurations:
> Com Control Enabled must be disabled for passive nodes.
> Node Detection Enabled must be disabled for passive nodes.
3.1.1.3
Variant Post-Build
Instead of the Configuration Variant Post-Build, the Variant Post-Build-Loadable is
supported.
3.1.2
Additions/ Extensions
The following extensions of the CAN NM software specifications ([3]) are available within
the Network Management embedded software components. If required, the extensions
have to be enabled during configuration.
Features Provided Beyond The AUTOSAR Standard
Single Channel Optimization
Memory Initialization
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Features Provided Beyond The AUTOSAR Standard
Disable Transmission Error Reporting
Calling CanNm_PassiveStartUp in Prepare Bus Sleep
Additional Development Error Codes
Variable DLC Support
Changeability of Additional Parameters During the Post-Build Phase
Runtime Measurement Support
Table 3-3 Features provided beyond the AUTOSAR standard
Note
Some additional non-AUTOSAR features are only available if they are explicitly
ordered by the customer.
3.1.2.1
Single Channel Optimization
For single channel systems it is possible to optimize the source code for saving precious
resources (ROM, RAM and CPU load). This optimization is only possible when source
code is available.
Please note that single channel optimization can only be enabled in pre-compile
configurations.
3.1.2.2
Memory Initialization
AUTOSAR expects the startup code to automatically initialize RAM. Not every startup
code of embedded targets reinitializes all variables correctly it is possible that the state of
a variable may not be initialized, as expected. To avoid this problem the Vector AUTOSAR
NM provides additional functions to initialize the relevant variables of the CAN NM.
Refer also to chapter 5.3.1.3 ‘CanNm_InitMemory’.
3.1.2.3
Disable Transmission Error Reporting
The error reporting for the following transmission errors can be disabled:
> CANNM_E_DEV_NETWORK_TIMEOUT
3.1.2.4
Calling CanNm_PassiveStartUp in Prepare Bus Sleep
Calling CanNm_PassiveStartUp in Prepare Bus Sleep Mode has the same effects as if it
was called in Bus Sleep Mode. This has been done to support the Synchronous Wake-up
Feature in ComM.
3.1.2.5
Additional Development Error Codes
There are additional Development Error Codes provided as Vector extension. Refer to
chapter 3.12.1.1 for details.
3.1.2.6
Variable DLC Support
CanNm supports multiple DLCs for CAN NM messages. Refer to chapter 3.6.5 for details.
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3.1.2.7
Changeability of Additional Parameters During the Post-Build Phase
In the Variant Post-Build-Loadable, the configuration parameters ‘Node Id’, ‘Rx Pdu Ref’,
‘Tx User Data Pdu Ref’, ‘Pn Filter Mask Byte Index’ and ‘Pn Filter Mask Byte Value’ are
also changeable during the post-build phase as addition to the post-build-changeable
parameters according to [3].
3.1.3
Limitations
3.1.3.1
Ranges of Timers
The range for the following timer is limited concerning the specified range:
> Remote Sleep Indication Timer: 0.001..65.535 s (if remote sleep indication is enabled)
All timers should be multiples of the main functions cycle time.
3.1.3.2
Effects of CanNm_DisableCommunication
If CanNm_DisableCommunication was called, CanNm_NetworkRelease has the same
effects as if CanNm_DisableCommunication was not called (contradicts to CANNM294
of [3]). This was done to provide a more robust implementation.
3.1.3.3
CANNM_E_NET_START_IND Development Error
The CANNM_E_NET_START_IND development error code (CANNM336 of [3]) is not
reported to the Det if an NM message has been received in Bus Sleep Mode.
The following provides a detailed description of the functional scope.
3.2
Network Management Mechanism
As described above the AUTOSAR NM is a decentralized direct network management.
This means that every network node has the same functionality and performs state and
operation mode changes self-sufficient depending on the internal state and whether
network management messages are still received.
The network management mechanism is quite simple:
> Every network node transmits its NM messages only as long as it needs to
communicate with other network nodes. Normally bus-communication is required as
long as clamp15 (ignition is turned on) is set or during follow-up.
> If there is no more network node in the whole network that need to communicate with
other network nodes, any node transmits no more NM messages.
> Each network node performs a transition to bus-sleep mode a certain time after the
last NM message has been transmitted by any node. Therefore all nodes will go to
bus-sleep mode together.
> If any network node requires bus-communication at any time it can wake up the whole
network by transmitting NM messages.
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Caution
The transmission of application messages, e.g. transmitted by the Com, does not stop
immediately after the last NM message has been transmitted.
FAQ
The application is in charge of the decision whether the bus communication is required
or not.
The following figure shows the state diagram of the CAN NM. The events are calls of CAN
NM functions by the application or data link layer or the timeout of internal timers.
stm State Machine
Nm Message received or transmitted
/Restart NM Timeout Timer
Netw ork Mode
Ready Sleep
Repeat Message Timer expires [Network released]
/Stop Transmission of NM
NM Timeout Timer expires
/Start NM Timeout Timer
Notify NetworkTimeout
Repeat Message Request or
Repeat Msg Bit Indication
Repeat Message
/Start Transmission of NM
Network released
/Stop
Transmission of
NM
Network requested
Repeat Message Timer
/Start
expires [Network requested]
Transmission of
NM
NM Timeout Timer
expires
Repeat Message Request or
/Notify
Repeat Msg Bit Indication
Normal Operation
PrepareBus-SleepMode
/Start Transmission of NM
Network requested or
PassiveStartUp
/Start NM Timeout Timer
Notify NetworkMode
Network requested/PassiveStartUp/Rx Nm Msg
Start Transmission of NM
/Start NM Timeout Timer
messages
Notify NetworkMode
Start Transmission of NM messages
NM Timeout Timer expires
Can_TriggerTransmission (immediate restart +
/Start NM Timeout Timer
Nw Req only)
Notify NetworkTimeout
Bus-Sleep Mode
Prepare-Bus-Sleep Mode
/Initialize NM
Power On
Wait Bus Sleep Timer expires
/Notify Nm_BusSleep Mode
Power Off
Nm Msg received
/Notify NetworkStart
Indication
Figure 3-1 State Diagram of CAN NM from SWS CAN NM [3]
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3.3 Initialization
Before the CAN NM can be used it has to be initialized by the application. The initialization
has to be carried out before any other functionality of the CAN NM is executed. It shall
take place after initialization of the CAN Interface and prior to initialization of the NM
Interface.
Also refer to chapter 5.3.1.1 ‘CanNm_Init: Initialization of CAN NM’.
Caution
The CAN NM assumes that some variables are initialized with zero at start-up. If the
embedded target does not initialize RAM within the start-up code the function
‘CanNm_InitMemory’ has to be called during start-up and before the initialization is
performed. Refer also to chapter 3.1.2.2 ‘Memory Initialization’.
Note
In an AUTOSAR environment where the ECU Manager Fixed is used, the initialization
is performed within the ECU Manager. If the ECU Manager Flex is used, the
initialization is usually carried out by the BswM.
3.4
Passive Mode
Nodes in passive mode cannot transmit NM messages and therefore they do not actively
participate in the network. Due to that, passive nodes cannot request the network.
This mode can be used for nodes that do not need to keep the bus awake to save
resources.
By setting 'Repeat Message Time' to a value equal to 0, the Repeat Message state is
skipped. The state does not make sense for passive nodes, since the node is only able to
receive NM messages, not to send any. Usually, there is another node that sends NM
messages in Repeat Message so there is no need for 'Repeat Message Time' being
greater than 0 for passive nodes.
Nevertheless, if 'Repeat Message Time' is configured to a value greater than 0 and
‘Timeout Time’ is greater than ‘Repeat Message Time’ and if 'Passive Mode Enabled' is
turned ON, the transition from Repeat Message to Prepare Bus Sleep only depends on the
reception of NM messages. If there is no recently received NM message, the transition to
Prepare Bus Sleep occurs after Timeout Time has elapsed.
In case ‘Repeat Message Time’ is greater than ‘Timeout Time’ and no NM message is
received a DET error will occur at least once when the Timeout Timer elapses within
Repeat Message State. The transition to Prepare Bus Sleep occurs ‘Timeout Time’ after
the last DET error call.
3.5
Operation Modes and States
The AUTOSAR NM consists of three operation modes:
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> Network Mode
> Prepare Bus-Sleep Mode
> Bus-Sleep Mode
The NM Interface is notified about changes of the operation mode by calling the following
functions:
Entering Bus-Sleep Mode:
Nm_BusSleepMode()
(5.4)
Entering Network Mode:
Nm_NetworkMode()
(5.4)
Leaving Network Mode:
Nm_PrepareBusSleepMode()
(5.4)
Information about the current state and the current mode is provided by the service call
CanNm_GetState (chapter 5.3.2.2).
The CAN NM notifies changes of the current state to the NM Interface by calling the
optional function
Nm_StateChangeNotification()
(5.4)
3.5.1
Network Mode
The Network Mode comprises three states:
> Repeat Message
> Normal Operation
> Ready Sleep
This is the mode in that the ECU is ‘online’ and participates in the network. The
participation in the network is active or passive depending on the state:
> Active participation: a node keeps the network awake (Repeat message State and
Normal Operation State).
> Passive participation: a node is ready for sleep (Ready Sleep State) and any other
node keeps the network alive.
The application is notified about entering the Network Mode by a call of the function:
Nm_NetworkMode()
(5.4)
The NM Interface notifies leaving the Network Mode to the application by a call of the
function:
Nm_PrepareBusSleepMode()
(5.4)
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Info
The Com is active during Network Mode. It is started upon entry and stopped upon exit
of Network Mode. I.e. application messages are transmitted and received within Network
Mode!
3.5.1.1 Repeat Message State
The Repeat Message State is entered:
> If a NM message has been received in Prepare Bus-Sleep Mode.
> If the network has been requested by a call of CanNm_NetworkRequest() in Bus-
Sleep or Prepare Bus-Sleep Mode.
> If the network is woken up from Bus-Sleep Mode or from Prepare Bus-Sleep Mode by
a call of CanNm_PassiveStartUp().
> If any network node (including itself) has requested node detection in Ready Sleep or
Normal Operation State.
In Repeat Message State the NM messages are transmitted cyclically regardless whether
bus load reduction is enabled or disabled.
The Repeat Message State is left after a certain customizable time.
Depending on the bus-communication need of the application Normal Operation State or
Ready Sleep State is entered upon exit of Repeat Message State.
3.5.1.2 Normal Operation State
The network management stays in Normal Operation State until the bus-communication is
released. The local bus-communication request of the application is distributed in the
network by the transmission of NM messages.
3.5.1.3 Ready Sleep State
The network management stays in Ready Sleep State as long as the application does not
request bus-communication and the application of any other node still requests bus-
communication (by transmitting NM messages).
A certain customizable time after the last network node has released bus-communication a
transition to Prepare Bus-Sleep Mode is performed (i.e. Network Mode is left).
3.5.2
Prepare Bus-Sleep Mode
The transmission of application messages is stopped when entering Prepare Bus-Sleep
Mode. The bus activity is calmed down (pending message are still transmitted) in this
mode and finally there is no more activity on the bus.
After the ‘wait bus sleep time’ the drop out of Prepare Bus-Sleep Mode to Bus-Sleep Mode
the NM Interface is notified by the service call:
Nm_BusSleepMode()
(5.4)
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Caution
When entering Bus-Sleep Mode the physical bus interface has to be put into sleep
mode.
On CAN channels the transceiver and the CAN-Controller have to be put in sleep
mode. This information is forwarded by this callback to the ComM.
Note
If both NmOsek and CanNm are used on the same channel, CanNm is aware of the
prolonged shutdown of the NmOsek in case of a Limphome condition if the Wait Bus
Sleep Extensions feature is turned ON. For details see the following chapter 3.5.2.1.
The Prepare Bus-Sleep Mode is left to Network Mode upon successful reception of a NM
message or if the network has been requested by a call of CanNm_NetworkRequest()
or if the network has been woken up by a call of CanNm_PassiveStartUp().
3.5.2.1
Wait Bus Sleep Extensions
If both NmOsek and CanNm are coordinated on the same channel, the internal state of
NmOsek influences the shutdown behavior of the CanNm.
> NmOsek transitions from state NmNormal to NmWaitBusSleep
In this case the CanNm applies its normal shutdown time by using the CanNm’s “wait bus
sleep time”.
> NmOsek transitions from state NmLimpHome to NmWaitBusSleep
In this case the CanNm applies a longer shutdown time by using “TErrorWaitBusSleep”
configured in NmOsek.
Note
This feature is automatically enabled when NmOsek and CanNm are configured
on the same channel and “Wait Bus Sleep Extensions” feature is enabled in
NmOsek.
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3.5.3
Bus-Sleep Mode
All network nodes perform a transition to bus-sleep mode at almost the same time, if no
NM message is lost and there hasn’t been a wake-up by any node.
The bus-sleep mode is left (wake-up) by a call of
CanNm_PassiveStartUp()
(5.3.2.3)
or if the network has been requested by a call of
CanNm_NetworkRequest()
(5.3.2.4.1)
In both cases Repeat Message State will be entered (see Chapter 3.5.1.1 ‘Repeat
Message State’).
If a NM message is received in Bus-Sleep Mode the service
Nm_NetworkStartIndication()
(5.4)
is called by CAN NM.
3.5.4
Wake-up Registration
The network management needs to know whether the application requires bus
communication. Per default the network management does not actively participate in the
network. The active participation in the network is requested by the service
CanNm_NetworkRequest()
(5.3.2.4.1)
Calling this function in Bus-Sleep Mode starts the network and leads to a transition to
Repeat Message State (see Chapter 3.5.3 ‘Bus-Sleep Mode’).
If bus communication is not required anymore it can be released with the service
CanNm_NetworkRelease()
(5.3.2.4.2)
Caution
When the communication control service is used the bus-communication shall not be
released as long as the NM message transmission ability is disabled.
Note that a bus-communication request is handled within the next task. Nevertheless it is
ensured that a communication request always leads to start-up even if the communication
is released before the next task is executed. Within Network Mode a fast toggling (i.e.
without task execution in between) of the communication status does not lead to any
action.
3.5.5
User Data Handling
The user data for the NM message transmitted next on the bus can be set by the service:
CanNm_SetUserData()
(5.3.2.5.1)
The service
CanNm_GetUserData()
(5.3.2.5.2)
allows reading the user data of the last received message on the bus.
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As the NM PDU layout is completely configurable, the user data placement depends on
the given configuration.
The PDU layout and the content of the user data itself are OEM specific and therefore
provided by the OEM.
Note that for setting of NM user data a second possibility can be configured. Refer to
chapter 3.13 ‘Com User Data Support’ for more information. If the feature ‘Com User Data
Support’ is used the API CanNm_SetUserData() is not available.
3.6
Network Management Message Transmission and Reception
3.6.1
AUTOSAR CAN Interface
The network management requests the transmission of NM messages by calling the
service CanIf_Transmit [2]. The application has to take care of the user data. For
details refer to chapter 3.5.5 ‘User Data Handling’.
The successful transmission of every network management message is confirmed by the
CAN Interface with the service
CanNm_TxConfirmation()
(5.5.1.1)
The CAN Interface indicates the reception of NM message by calling the service
CanNm_RxIndication()
(5.5.1.2)
3.6.2
PDU Message Layout
The default PDU Message Layout is described in the following table:
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Byte 7
User data 5
Byte 6
User data 4
Byte 5
User data 3
Byte 4
User data 2
Byte 3
User data 1
Byte 2
User data 0
Byte 1
Control Bit Vector
Byte 0
Source Node Identifier
Table 3-4 PDU NM Message Layout
The number of User Data Bytes as well as the positions of the Control Bit Vector and
Source Node Identifier can be configured arbitrarily but depend on the availability of the
corresponding features (User Data Support / Node Detection Enabled / Node Identifier).
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Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Byte 1
Reserved Cluster
Reserved Active
NM
Reserved Reserved Repeat
(default)
Request
Wake-up
Coordina
Message
Information
Bit
tor Sleep
Request
Bit2
Ready
Table 3-5 Control Bit Vector
The Repeat Message Request Bit is only used if the ‘Node Detection’ feature is active.
Refer to chapter 3.7 for more information.
The NM Coordinator Sleep Ready Bit is only used if the ‘Coordinator Synchronization
Support’ is active. See chapter 3.11 for more details.
The Active Wake-up Bit is used for the ‘Active Wake-up Handling’ (chapter 3.14).
The Cluster Request Information Bit is used for ‘Partial Networking’ (chapter 3.18).
All bits inside the Control Bit Vector are optionally used and depend on the setting of these
features. If the feature is not used, the bit value is 0.
3.6.3
Message Transmissions
A standard sequence for NM message transmissions when Repeat Message is entered is
depicted in Figure 3-2.
Usual behavior without immediate transmissions
Bus Sleep or
Repeat Message
t
Prepare Bus Sleep
0
CanNm_PassiveStartUp or
CanNm_NetworkRequest
...
Msg Cycle Offset
Msg Cycle Time
Msg Cycle Time
NM Message Transmissions
Figure 3-2 Usual Behavior of NM Transmissions when Repeat Message is entered
The first NM message is transmitted when ‘Msg Cycle Offset’ ms has been elapsed after
Repeat Message has been entered. The next NM message will be transmitted after Msg
Cycle Time has been elapsed. The configuration settings that influence this behavior are:
> ‘Msg Cycle Offset’: time before the transmission of the first NM message
> ‘Msg Cycle Time’: time between each message transmission
> ‘Immediate Restart Enabled’: if enabled, an additional NM message will be sent
immediately upon an active request (CanNm_NetworkRequest was called) from
Prepare Bus Sleep to Repeat Message (see also chapter 3.16) in case ‘Msg Cycle
Offset’ is greater than zero
2 This bit is also called ‘Partial Network Information Bit’
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> ‘Immediate Nm Transmissions’: if this setting is greater than zero, an immediate NM
message will be sent when Repeat Message is entered due to an active request. The
interval between NM messages will be different for the next (‘Immediate Nm
Transmissions’ - 1) NM messages to be sent. Refer to chapter 3.15 for more details.
> ‘Repeat Message Time’: this setting determines for how long CanNm shall keep the
Repeat Message state. If the node has been requested passively, the next state will be
Ready Sleep.
Note that the NM message is sent as long as the NM state is ‘Repeat Message’ or ‘Normal
Operation’. For details about these states, see also chapter 3.5.1.
Note
The lower layer (e.g. CAN Interface) may reject the send request if Network Mode has
just been entered.
CanNm usually does not retry to issue the send request of the NM message. There are
features, which may enable retries in certain conditions:
If ‘Immediate Nm Transmissions’ are greater than zero, the rejected send request is not
considered as ‘Immediate Transmission’ (see chapter 3.15).
3.6.4
Bus Load Reduction
The bus load reduction is started automatically if enabled and when Normal Operation
state is entered. When Normal Operation state is left, bus load reduction algorithm is
stopped. For more information refer to chapter 7.7 of [3].
Note
Bus Load Reduction cannot be used on the channel if Partial Networking is used on the
same channel and vice versa. However setups like Bus Load Reduction is active on
the one channel and Partial Networking is active on the other channel is allowed.
3.6.5
Support for RX PDUs with Different Lengths
The CAN NM supports messages with different lengths (DLCs). This support can be
enabled by disabling the ‘CanIf Range Config DLC Check’ setting in the module
configuration.
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Note
The setting is enabled, if a macro definition of
CANNM_CANIF_RANGE_CONFIG_DLC_CHECK can be found in CanNm_Cfg.h.
In case the ‘CanIf Range Config DLC Check’ setting is disabled, it is assumed that the
CanIf module accepts NM messages with different DLCs. The minimum DLC for NM
messages may be configured in the CanIf module, messages with a DLC less than the
configured value for the DLC check will be discarded. Messages with the same DLC or
greater DLC will be received and forwarded to CanNm.
However, the maximum number of bytes that is evaluated from the received message is
equal to the ‘Pdu Length’ setting of the corresponding channel. For messages with a
length n smaller than ‘Pdu Length’, the bytes n … (‘Pdu Length’ - 1) are considered as
being zero.
Examples:
The length of a received message is 8, ‘Pdu Length’ is configured to 6. In this case, the
last two user data bytes are not further processed by CanNm (e.g. CanNm_GetUserData
does not return data for these two bytes).
The length of a received message is 4, ‘Pdu Length’ is configured to 6. In this case, bytes
4 and 5 are considered as being zero (e.g. CanNm_GetUserData returns 0 for these
bytes).
The minimum required number of bytes for a received NM message that should be
processed by CanNm may be configured by using the CanIf DLC Check feature [2].
If the ‘CanIf Range Config DLC Check’ setting is enabled, either the CanIf DLC feature
must be enabled to accept only NM messages with a DLC greater than or equal to the
‘Pdu Length’ setting or there must not be any ECU that sends NM messages with a DLC
less than the ‘Pdu Length’ setting. Otherwise, the behavior of the CanNm will be arbitrary.
3.7
Node Detection
In order to detect which nodes are currently present within the network, this mechanism
can be used. If a network node requests node detection, the requesting node performs a
transition to Repeat Message State and sets the Repeat Message Bit within the NM PDU.
Upon reception of the Repeat Message Bit all network nodes perform a transition to
Repeat Message State. This allows the requesting node to collect all source node
identifiers from active nodes.
The local source node identifier can be retrieved by the service
CanNm_GetLocalNodeIdentifier()
(5.3.2.6.3)
The source node identifier from the last received message can be retrieved by the service
CanNm_GetNodeIdentifier()
(5.3.2.6.2)
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3.8
NM PDU Receive Indication
The NM Interface is notified about the reception of an NM message by the optional
function
Nm_PduRxIndication()
(5.4)
In case more than one BusNm is configured on the same channel, a BusNm specific
reception notification is called.
Nm_CanNm_PduRxIndication()
(5.4)
The CAN NM notifies the callback directly to the NM Interface in context of the function
CanNm_RxIndication (see chapter 5.5.1.2).
3.9
Communication Control
In order to support ISO 14229 Communication Control Service $28 the network
management has a message transmission control status, which allows disabling the
transmission of NM messages while bus-communication is requested. Therefore the
function
CanNm_DisableCommunication()
(5.3.2.10.1)
can be called. The transmission of NM messages will be stopped within the next CAN NM
main function call.
The NM PDU transmission ability is enabled again by the service
CanNm_EnableCommunication()
(5.3.2.10.2)
Caution
An ECU shall not shut down if the NM PDU transmission ability is disabled.
3.10 Gateway Functionality
3.10.1 Remote Sleep Indication and Cancellation
In order to synchronize networks it might be necessary to get an indication whether no
more network nodes require bus-communication. This is the so-called ‘Remote Sleep
Indication’. The start of the remote sleep indication is indicated by
Nm_RemoteSleepIndication()
(5.4)
If any NM message is received during Normal Operation State or Ready Sleep State after
the remote sleep indication the service ‘Remote Sleep Cancellation’ is called:
Nm_RemoteSleepCancellation()
(5.4)
It is also possible to retrieve the current remote sleep state by calling the service:
CanNm_CheckRemoteSleepIndication()
(5.3.2.8.1)
Remote sleep indication can only be checked in Ready Sleep state and Normal Operation
state.
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3.10.2 Bus Synchronization
In order to synchronize networks for a synchronized shutdown it might be necessary to
transmit an asynchronous NM message to reset the network timers. This can be done by
calling the service:
CanNm_RequestBusSynchronization()
(5.3.2.7.1)
However this service shall only be called within Network Mode.
3.11 Coordinator Synchronization Support
For supporting the NM Interface Coordinator Synchronization with more than one
coordinator connected to the same channel it is necessary to provide one additional bit in
the CBV. Therefore the service call
CanNm_SetSleepReadyBit()
(5.3.2.11.1)
allows to set and clear the Nm Coordinator Sleep Ready Bit (see chapter 3.6.2 for further
information). Each call of this API triggers the immediate transmission of an NM message
can be sent according to the current state in the CanNm State Machine (see Figure 3-1) in
order to propagate the change of the Sleep Ready Bit as soon as possible.
Caution
The ‘Coordinator Synchronization Support’ requires the Control Bit Vector.
Therefore this feature has to be enabled if the Coordination Synchronization Support is
used.
3.12 Error Handling
3.12.1 Development Error Detection
By default, development errors are reported to the DET using the service
Det_ReportError() as specified in [5], if development error reporting is enabled (i.e.
pre-compile parameter CANNM_DEV_ERROR_DETECT==STD_ON).
If another module is used for development error reporting, the function prototype for
reporting the error can be configured by the integrator, but must have the same signature
as the service Det_ReportError().
The reported CANNM ID is 31.
The reported service IDs identify the services which are described in 5.3 and 5.5. The
following table presents the service IDs and the related services:
Service ID
Service
0x00
CanNm_Init
0x01
CanNm_PassiveStartUp
0x02
CanNm_NetworkRequest
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Service ID
Service
0x03
CanNm_NetworkRelease
0x04
CanNm_SetUserData
0x05
CanNm_GetUserData
0x06
CanNm_GetNodeIdentifier
0x07
CanNm_GetLocalNodeIdentifier
0x08
CanNm_RepeatMessageRequest
0x0A
CanNm_GetPduData
0x0B
CanNm_GetState
0x0C
CanNm_DisableCommunication
0x0D
CanNm_EnableCommunication
0x13
CanNm_MainFunction
0x14
CanNm_Transmit
0x16
CanNm_ConfirmPnAvailability
0x17
CanNm_SetSleepReadyBit
0x40
CanNm_TxConfirmation
0x42
CanNm_RxIndication
0xC0
CanNm_RequestBusSynchronization
0xD0
CanNm_CheckRemoteSleepIndication
0xF1
CanNm_GetVersionInfo
Table 3-6 Service IDs
3.12.1.1 Det_ReportError
Development errors are reported by the service
Det_ReportError()
(5.4)
Please refer to the documentation of the development error tracer [5] for further
information and a detailed description of the API. The module Id, API Ids and error Ids can
be found within the software components’ header file.
The errors reported to DET are described in the following table:
Error Code
Description
0x01 CANNM_E_NO_INIT
API service used without module initialization.
0x02 CANNM_E_INVALID_CHANNEL
API service used with wrong channel handle.
0x03 CANNM_E_INVALID_PDUID
API service used with wrong PDU ID
0x04 CANNM_E_NET_START_IND
Reception of NM Message in Bus Sleep Mode
0x05 CANNM_E_INIT_FAILED
CAN NM initialization has failed.
0x11 CANNM_E_NETWORK_TIMEOUT
NM-Timeout Timer has abnormally expired
outside of the Ready Sleep State.
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Error Code
Description
0x12 CANNM_E_PARAM_POINTER3
Null pointer has been passed as an argument.
0x20 CANNM_E_RXINDICATION_DLC_ERROR4 DLC of received NM message does not match
with configured PDU Length.
0x21 CANNM_E_PDUR_TRIGGERTX_ERROR4
Call of function PduR_TriggerTransmit failed.
0x22 CANNM_E_ALREADY_INITIALIZED
CAN NM initialization done more than once.
0x33 CANNM_E_INVALID_GENDATA
Invalid write access due to wrong
configuration data.
Table 3-7 Errors reported to DET
3.12.1.2 Parameter Checking
AUTOSAR requires that API functions check the validity of their parameters. The checks in
Table 3-8 are internal parameter checks of the API functions. These checks are for
development error reporting. The error reporting of CANNM_E_NETWORK_TIMEOUT can be
en-/disabled separately by the configuration switch ‘Disable Tx Err Report’. The Parameter
CANNM_DEV_ERROR_DETECT dis-/ enables the call of Det_ReportError() for all checks
globally.
The following table shows which parameter checks are performed on which services:
Check
Service
CANNM_E_NO_INIT
CANNM_E_INVALID_CHANNEL
CANNM_E_NULL_POINTER
CANNM_E_INVALID_PDUID
CANNM_E_NET_START_IND
CANNM_E_INIT_FAILED
CANNM_E_NETWORK_TIMEOUT
CANNM_E_RXINDICATION_DLC_
ERROR
CANNM_E_PDUR_TRIGGERTX_ER
ROR
CanNm_Init
5
CanNm_PassiveStartUp
6
CanNm_NetworkRequest
6,7
CanNm_NetworkRelease
6,7
CanNm_SetUserData
7
6,7
7
CanNm_GetUserData
6,7
CanNm_GetPduData
6,7
CanNm_RepeatMessageRequest
5,7 6,7
CanNm_GetNodeIdentifier
6,7
CanNm_GetLocalNodeIdentifier
6,7
3 Error does not apply to the function CanNm_Init.
4 Vector extension
5 Only checked if CANNM_DEV_ERROR_DETECT is STD_ON
6 Only checked if CANNM_OPTIMIZE_CHANNEL_ENABLED is not defined (‘Api Optimization’ is OFF)
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Check
Service
CANNM_E_NO_INIT
CANNM_E_INVALID_CHANNEL
CANNM_E_NULL_POINTER
CANNM_E_INVALID_PDUID
CANNM_E_NET_START_IND
CANNM_E_INIT_FAILED
CANNM_E_NETWORK_TIMEOUT
CANNM_E_RXINDICATION_DLC_
ERROR
CANNM_E_PDUR_TRIGGERTX_ER
ROR
CanNm_RequestBusSynchronization
7
6,7
CanNm_CheckRemoteSleepIndication
7
6,7
7
CanNm_GetState
6,7
CanNm_GetVersionInfo
5
CanNm_Transmit
7
7
5,7
CanNm_EnableCommunication
7 6,7,7
CanNm_DisableCommunication
7
6,7
CanNm_ConfirmPnAvailability
6,7
CanNm_SetSleepReadyBit
6,7
CanNm_RxIndication
5
5
CanNm_MainFunction
6,7
5
5
CanNm_TxConfirmation
7
5,7
Table 3-8 Development Error Reporting: Assignment of checks to services
3.12.2 Production Code Error Reporting
By default, production code related errors are reported to the DEM using the service
Dem_ReportErrorStatus() as specified in [4], if production error reporting is enabled.
If another module is used for production code error reporting, the function prototype for
reporting the error can be configured by the integrator, but must have the same signature
as the service Dem_ReportErrorStatus().
The errors reported to DEM are described in the following table:
Error Code
Description
N/A
Currently no DEM errors are specified
Table 3-9 Errors reported to DEM
3.13 Com User Data Support
The CAN NM supports the possibility to write the NM user data via Com signals. Therefore
the signals have to be provided within an additional I-PDU in the configuration. The CAN
7 Only checked if CANNM_PASSIVE_MODE_ENABLED is STD_OFF
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NM updates its transmission buffer each time before sending a NM message with the
current data. Therefore it calls the function:
PduR_CanNmTriggerTransmit()
(5.4)
When the NM message has been successfully transmitted the confirmation is forwarded to
PduR by calling the function:
PduR_CanNmTxConfirmation()
(5.4)
Depending on the signal and I-PDU configuration a signal change can lead to a request for
an immediate NM message transmission by calling the function
CanNm_Transmit()
(5.3.2.9.1)
The CAN NM then transmits the changed data in the next main function when the
transmission of NM messages is allowed. Afterwards the message cycle timer is restarted,
i.e. the cyclic message transmission raster changes.
The spontaneous transmission through CanNm_Transmit is allowed in the NM states
Repeat Message and Normal Operation if and only if
> ‘Pn Enabled’ is ON and ‘Pn Handle Multiple Network Requests’ is OFF AND/OR
> ‘Car Wake Up Rx Enabled’ is ON.
Behavior with CanNm_Transmit usage
...
Repeat Message
Normal Operation
t
0
CanNm_Transmit
CanNm_Transmit
...
Msg Cycle Offset
Msg Cycle Time
Msg Cycle Time
Msg Cycle Time
NM Message Transmissions
Figure 3-3 Immediate Transmission due to Signal Change inside User Data I-PDU
The following chapters describe more detailed the configuration preconditions of this
feature.
Note that some additional configuration for this feature has to be done in the PDU Router.
Refer to [10] for details.
3.13.1 Configuration Preconditions in an AUTOSAR ECU Configuration
For using the feature ‘Com User Data Support’ some additional configuration content
within the AUTOSAR system description / ECU Extract is necessary. The following table
provides an overview of the items that have to be added to the system description.
Configuration Element
Description
Signal I-PDU
For each NM message one signal I-PDU must be configured. An
appropriate signal mapping to the I-Signals has to be defined here. I-
PDUs are defined in the ECU-specific part.
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Configuration Element
Description
I-Signal
Multiple system signals can be defined for each NM message. At
least one signal is required. I-Signals are defined in the ECU-specific
part and refer to a system signal.
System Signal
For each I-Signal a corresponding system signal is necessary which
defines length, data type and init value.
I-PDU Port
For each I-PDU an I-PDU port with the communication direction
‘OUT’ is required.
Signal Port
For each signal a signal port with the communication direction ‘OUT’
is required.
I-PDU Triggering
For each I-PDU an I-PDU triggering is required that references to the
corresponding I-PDU port and the signal I-PDU.
Signal Triggering
For each I-Signal a signal triggering is required that references to the
corresponding signal port and I-Signal.
Table 3-10 Configuration Precondition Overview for AUTOSAR ECU Configurations
Additionally, a reference from the NM PDU to the related I-PDU with the signals must be
established by adding ‘ISignalToIPduMappings’ to the NM PDU. The following example
demonstrates how this should be done:
<NM-PDU>
<SHORT-NAME>NM_PDU</SHORT-NAME>
<LENGTH>8</LENGTH>
<I-SIGNAL-TO-I-PDU-MAPPINGS>
<I-SIGNAL-TO-I-PDU-MAPPING>
<SHORT-NAME>NM_USR_DT </SHORT-NAME>
<I-SIGNAL-REF DEST="I-
SIGNAL">/ISignal/NM_USR_DT_SIGNAL</I-SIGNAL-REF>
<PACKING-BYTE-ORDER>MOST-SIGNIFICANT-BYTE-LAST</PACKING-
BYTE-ORDER>
<START-POSITION>32</START-POSITION>
</I-SIGNAL-TO-I-PDU-MAPPING>
</I-SIGNAL-TO-I-PDU-MAPPINGS>
</NM-PDU>
3.14 Active Wake-up Handling
The mode change from Bus-Sleep Mode or Prepare Bus-Sleep Mode to Network Mode
triggered by CanNm_NetworkRequest() is specified as “Active Wake-up”. Upon an Active
Wake-up the CAN NM sets the active wake-up bit within the Control Bit Vector at bit
position 4.
This feature is optional and has to be configured.
3.15 Immediate Nm Transmissions
If an Active Wake-up occurs the CAN NM transmits the first NM message immediately (the
NM message offset time is ignored) when entering Repeat Message State. For the next
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NM messages CAN NM uses a faster NM message cycle time. Afterwards it uses the
normal NM message cycle time. This behavior is illustrated in Figure 3-4.
Behavior with n := Immediate Nm Transmissions > 0
Any state except
Repeat Message
t
Repeat Message
0
CanNm_NetworkRequest
1st
2nd
...
3rd
(n-1)th
nth
...
Immediate Nm
Immediate Nm
Immediate Nm
Msg Cycle Time
CycleTime
CycleTime
CycleTime
NM Message Transmissions
Figure 3-4 Immediate Nm Transmissions
The number of ‘Immediate Nm Transmissions’ is the number that is configured for this
parameter. As it can be seen in Figure 3-4, after the first Immediate Nm Transmission the
interval between the NM messages is ‘Immediate Nm CycleTime’ for (n-1) times. Then, the
usual interval ‘Msg Cycle Time’ is used again.
Note that “Any state except Repeat Message” in Figure 3-4 refers to ‘Bus Sleep’ and
‘Prepare Bus Sleep’. If the setting ‘Pn Handle Multiple Network Requests’ is ON, it also
refers to ‘Ready Sleep’ and ‘Normal Operation’.
This feature is optional and has to be enabled in the configuration. The amount of
messages that are transmitted faster (‘Immediate Nm Transmissions’) and the fast
message cycle time (‘Immediate Nm Cycle Time’) can also be configured.
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Note
This feature should not be confused with the possibility for an immediate transmission if
the ‘Com User Data Support’ feature is on (chapter 3.13) and should also not be
confused with the ‘Immediate Restart Enabled’ feature described in the following
chapter.
Note
If the send request of an ‘immediate transmission’ is rejected by the lower layer (e.g.
CanIf), the rejected send request is not considered as ‘immediate transmission’. That
means that the counter that counts the number of ‘immediate transmissions’
ImmediateNmMsgCount is not decremented.
Example: Let ‘Immediate Nm Transmissions’ := 2. The initial counter value of
ImmediateNmMsgCount is 1.
1. When Repeat Message has just been entered, the first transmission request
TReqA is rejected. ImmediateNmMsgCount is not decremented.
2. CanNm waits ‘Immediate Msg CycleTime’ (first interval tint1st).
3. CanNm sends the NM message successfully. ImmediateNmMsgCount is
decremented to 0.
4. CanNm waits ‘Immediate Msg CycleTime’ again (second interval tint2nd).
5. CanNm sends the next NM message successfully.
6. Then ‘Msg Cycle Time’ is waited until the next NM message is sent because
ImmediateNmMsgCount is already 0.
If the first NM transmission request TReqA was successful (step 1), the second interval
time tint2nd would be ‘Msg Cycle Time’ instead of ‘Immediate Msg CycleTime’.
3.16 Immediate Restart Enabled
This feature enables the possibility to send an additional NM message upon the transition
from Prepare Bus Sleep to Repeat Message if and only if the network is requested actively
(e.g. there is a request for Full Communication in ComM).
Behavior with Immediate Restart Enabled
Prepare Bus Sleep
Repeat Message
t
0
CanNm_NetworkRequest
...
Msg Cycle Offset
Msg Cycle Time
Msg Cycle Time
NM Message Transmissions
Figure 3-5 Behavior for NM Transmissions if Immediate Restart Enabled is ON
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This behavior is depicted in Figure 3-5. Note that the only difference to the standard
transmission behavior (i.e. ‘Immediate Restart Enabled’ would be OFF, for the behavior
see also chapter 3.6.3) is the additional NM message right after Repeat Message has
been entered.
Note
The additional NM message is only sent if the ‘Msg Cycle Offset’ setting is greater than
0 and if ‘Immediate Nm Transmissions’ = 0 (refer to chapter 3.15 for details).
3.17 Car Wake-up
Every ECU shall be able to wake up all other ECUs of the car. This wake-up request
information is contained in the NM message user data of an ECU. The central gateway
ECU evaluates the Car Wake-up request information and wakes up all connected
communication channels.
This feature is optional and has to be configured.
3.17.1 Rx-Path
If the CAN NM receives a NM message it evaluates the user data content. If the Car
Wake-up Bit is set and the Node ID passes a filter (if Node ID filter is enabled) the CAN
NM notifies the NM via the following callback function:
Nm_CarWakeUpIndication()
(5.4)
3.17.2 Tx-Path
For the transmission of the Car Wake-up Bit it has to be set at the corresponding location
within the NM user data. If the feature ‘Com User Data Support’ is used and the
corresponding signal and I-PDU are configured for directly transmitting a changed signal
the information is sent immediately. Refer also to chapter 3.13 ‘Com User Data Support’.
Info
It is recommended to use the feature ‘Com User Data Support’ for the transmission
path.
3.18 Partial Networking
To reduce the power consumption of ECUs it shall be possible to switch off the
communication stack during active bus communication. To control the shutdown and
wake-up of such ECUs the CAN NM provides an additional algorithm. The NM message
user data contains the information which partial networks (PN) are requested. This
information is evaluated by the CAN NM and provided to the upper layer in an aggregated
form by updating the content of additional I-PDUs in the Com.
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Algorithm details are described in the following sub-chapters.
This feature and all of its sub-features are optional and have to be configured
3.18.1 Availability of Partial Network Request Information
To distinguish between NM messages containing PN cluster request information (CRI) and
NM messages without CRI a special bit in the control bit vector (bit 6) is used. Only if this
bit is set the NM message contains PN information and will be processed by the algorithm.
3.18.2 Transmission of the CRI Bit in the NM User Data
The CAN NM sets the CRI Bit at bit position 6 in the Control Bit Vector to 1 for each
channel if the Partial Networking feature is enabled on the corresponding channel.
3.18.3 Filter Algorithm for Received NM Messages
NM messages that are not relevant for an ECU with PN must be dropped. Therefore the
content of received NM messages is evaluated after the filter algorithm described in this
section has been activated. Otherwise the usual way of receiving messages is being used.
The filter is disabled after the initialization of the CAN NM module. The message reception
filter is being activated after a call of CanNm_ConfirmPnAvailability (refer to chapter
5.5.2.1 ‘CanNm_ConfirmPnAvailability: Notification for Activating the PN Filter
Functionality’ for further details). The filter is disabled in case the channel is started again,
by either an internal or external event and ‘CanNm_ConfirmPnAvailability’ was not called.
The filter algorithm works as follows:
If the CRI bit is cleared the NM message is not relevant for the ECU.
If the CRI bit is set the CAN NM evaluates the CRI content of the NM message. The
location and the length of the CRI in the NM user data can be configured. Each bit within
the CRI content represents one cluster. The corresponding cluster is being requested if
and only if the bit that belongs to the cluster is set. Because not every cluster is relevant
for the ECU a configurable PN filter mask is applied to the CRI content. Irrelevant cluster
requests can be ignored by setting the corresponding bit in the filter to 0. If at least one bit
within the received PN information matches with a bit in the PN filter mask the NM
message is relevant for the ECU, otherwise the NM message is not relevant for the ECU.
If a NM message is not relevant and the configuration parameter ’All Nm Messages Keep
Awake’ is true the standard NM message reception handling is done, otherwise the NM
message is ignored.
If a NM message is relevant the CAN NM performs the standard NM message reception
and additionally the filtered PN content of this message is used for the further PN
algorithm.
3.18.4 Aggregation of Requested Partial Networks
The CAN NM aggregates requested PN information by two slightly different algorithms.
First the external (received) and internal (sent) PN requests are aggregated over all
networks (channels) to a combined state called External Internal Requests Aggregated
(EIRA). Second only the external (received) PN requests are aggregated for each network
to the so called External Requests Aggregated (ERA) state. Both algorithms can be
activated independently in the configuration.
For the EIRA algorithm every received or sent NM message on any network is evaluated
and the relevant PN information (according to the PN filter mask and the CRI bit) is
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combined to one aggregated state. Therefore this state contains the information which
partial networks are active on the whole ECU.
The ERA algorithm performs the evaluation of the received NM messages and storage of
the relevant PN information (according to the PN filter mask and the CRI bit) per network.
Therefore the ERA state contains for each network the information which partial networks
are requested by other ECUs and have to be active due to external needs.
Whenever a cluster is requested the first time (i.e. a bit is set the first time within this PN
information) the new request is stored and a timer is started. When the request is repeated
before the timer elapses the timer is restarted. When the timer elapses the request is
deleted.
Any change (storing or deleting a request) within the EIRA or ERA leads to an update of
the content of the EIRA or ERA I-PDU in the Com. Therefore the following function is
called with the corresponding EIRA or ERA PDU handle:
PduR_CanNmRxIndication()
(5.4)
Note that one ERA I-PDU exists for each network.
3.18.5 Spontaneous Sending of NM Messages
When a new PN is internally requested the corresponding bit in the NM message user
data will be set. This request must be immediately visible on the bus by sending the
updated user data content as fast as possible. Therefore two mechanisms can be used.
3.18.5.1 Using Com Transmission on Change Mechanism
When the NM user data is set via Com the signals can be configured for immediate
transmission on change. This would lead to one additional NM message transmission
whenever the content of the signal changes. Refer also to chapter 3.13 ‘Com User Data
Support’.
To enable this behavior, the setting ‘Pn Handle Multiple Network Requests’ has to be
turned OFF.
3.18.5.2 Using NM Request and Immediate Nm Transmission
When CAN NM is in Network Mode and the upper layer requests network again by calling
the function ‘CanNm_NetworkRequest’ (see chapter 5.3.2.4.1‘CanNm_NetworkRequest:
Request the Network’ for details) the CAN NM performs a state transition to Repeat
Message. This leads to an immediate transmission of the NM message followed by
several transmissions with a faster cycle time.
Caution
Note that the feature ‘Immediate Nm Transmission’ (refer to chapter 3.15 ‘Immediate
Nm Transmissions’) must be enabled when using this mechanism for spontaneous
sending of NM messages.
Note that this mechanism will only be active if PN feature is enabled.
To enable this behavior, the setting ‘Pn Handle Multiple Network Requests’ has to be
turned ON.
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4. Integration
This chapter gives necessary information for the integration of the MICROSAR CANNM
into an application environment of an ECU.
4.1 Scope of Delivery
The delivery of the CANNM contains the files which are described in the chapters 4.1.1
and 4.1.2:
4.1.1
Static Files
File Name
Source
Object
Description
Code
Code
Delivery Delivery
CanNm.c
Source code of CAN NM.
The user must not change this file!
CanNm.h
API of CAN NM.
The user must not change this file!
CanNm_Cbk.h
API of CAN NM callback functions.
The user must not change this file!
Table 4-1 Static files
Do not edit manually
The static files listed above must not be edited by the user!
4.1.2
Dynamic Files
The dynamic files are generated by the configuration tool DaVinci Configurator.
File Name
Description
CanNm_Cfg.c
Pre-compile variant configuration source file.
The user must not change this file!
CanNm_Cfg.h
Configuration header file for CAN NM.
The user must not change this file!
CanNm_Lcfg.c
Link-time variant Configuration source file.
The user must not change this file!
CanNm_Pbcfg.c
Post-build variant Configuration source file.
The user must not change this file!
Table 4-2 Generated files
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Do not edit manually
The dynamic files listed above must not be edited by the user! They should be
generated with the configuration tool to guarantee valid parameters.
4.2 Include Structure
class IncludeStructure
CanSM_TxTimeOutException.h
SchM_CanNm.h
CanNm_Cbk.h
«include»
«include»
«include»
«include»
CanNm_Cfg.h
PduR_CanNm.h
CanNm.c
«include»
«include»
«include»
CanNm.h
«include»
«include»
«include»
«include»
CanIf.h
Nm_Cbk.h
CanNm_Lcfg.c
CanNm_PBcfg.c
«include»
ComM_Types.h
ComM_Nm.h
«include»
Figure 4-1 Include structure
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4.3
Main Functions
The CAN NM contains one main function that has to be called cyclically on task level. The
default timing value is 10 milliseconds. The call cycle time value for the main function has
to be set in the configuration settings (Setting: ‘Main Function Period’).
Note
In an AUTOSAR environment where the BSW Scheduler (SchM) is used the main
functions are called by the SchM and must not be called by the application.
4.4
Critical Sections
Critical Sections are handled by the RTE [7]. They are automatically configured by the
DaVinci Configurator. User interaction is only necessary by updating the internal behavior
using the solving action in DaVinci Configurator. It is signaled as a Warning in the
Validation tab.
The CAN NM calls the following function when entering a critical section:
SchM_Enter_CanNm_CANNM_EXCLUSIVE_AREA_i()
(5.4)
When the critical section is left the following function is called by the CAN NM:
SchM_Enter_CanNm_CANNM_EXCLUSIVE_AREA_i()
(5.4)
Details which section needs what kind of interrupt lock are provided in chapter 4.5 ‘Critical
Section Codes’.
4.5
Critical Section Codes
The CAN NM provides several critical section codes which must lead to corresponding
interrupt locks, described in the following table:
Critical Section Define
Interrupt Lock
CANNM_EXCLUSIVE_AREA_0 No interruption by any interrupt is allowed. Therefore this section
must always lock global interrupts.
CANNM_EXCLUSIVE_AREA_1 No interruption of CanNm_MainFunction by CanNm_SetUserData
or CanNm_SetSleepReadyBit allowed.
This means that global interrupts have to be used for this section
only if CanNm_MainFunction can be interrupted by one of the
following functions:
> CanNm_SetUserData
> CanNm_SetSleepReadyBit
Otherwise no interrupt locks are necessary.
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CANNM_EXCLUSIVE_AREA_2 No interruption of CanNm_SetUserData by CanNm_MainFunction
allowed.
This means that global interrupts must be locked if
CanNm_SetUserData can be interrupted by the following functions:
> CanNm_MainFunction
Otherwise no interrupt locks are necessary.
CANNM_EXCLUSIVE_AREA_3 No interruption of CanNm_SetSleepReadyBit by
CanNm_MainFunction allowed
This means that global interrupts must be locked if
CanNm_SetSleepReadyBit can be interrupted by the following
functions:
> CanNm_MainFunction
Otherwise no interrupt locks are necessary.
CANNM_EXCLUSIVE_AREA_4 No interruption of CanNm_RxIndication by CanNm_GetUserData or
CanNm_GetPduData allowed
This means that global interrupts must be locked if
CanNm_RxIndication can be interrupted by the following functions:
> CanNm_GetUserData
> CanNm_GetPduData
Otherwise no interrupt locks are necessary.
CANNM_EXCLUSIVE_AREA_5 No interruption of CanNm_GetUserData or CanNm_GetPduData by
CanNm_RxIndication allowed
This means that global interrupts must be locked if
CanNm_GetUserData or CanNm_GetPduData can be interrupted
by the following functions:
> CanNm_RxIndication
Otherwise no interrupt locks are necessary.
Table 4-3 Critical Section Codes
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5. API Description
For an interfaces overview please see Figure 2-2.
5.1
Data Types
The software module CAN NM uses the standard AUTOSAR data types that are defined
within Std_Types.h and the platform specific data types that are defined within
Platform_Types.h
and the Communication Stack Types defined within
ComStack_Types.h. Furthermore the standard AUTOSAR NM Stack Types defined
within NmStack_Types.h are used.
CAN NM also uses the Communication Stack Types defined within ComStack_Types.h.
5.2
Global Constants
5.2.1
AUTOSAR Specification Version
The version of AUTOSAR specification on which the appropriate implementation is based
on is provided by three BCD coded defines:
Name
Type Description
CANNM_AR_RELEASE_MAJOR_VERSION
BCD Contains the major specification version
number.
CANNM_AR_RELEASE_MINOR_VERSION
BCD Contains the minor specification version
number.
CANNM_AR_RELEASE_REVISION_VERSION BCD Contains the patch level specification
version number.
Table 5-1 Specification Version API Data
5.2.2
Component Versions
The source code versions of CAN NM are provided by three BCD coded macros (and
additionally as constants):
Name
Type Description
CANNM_SW_MAJOR_VERSION
BCD Contains the major component version number.
(CanNm_MainVersion)
CANNM_SW_MINOR_VERSION
BCD Contains the minor component version number.
(CanNm_SubVersion)
CANNM_SW_PATCH_VERSION
BCD Contains the patch level component version number.
(CanNm_ReleaseVersion)
Table 5-2 Component Version API Data
These constants are declared as external and can be read by the application at any time.
5.2.3
Vendor and Module ID
CAN NM provides the vendor identifier according to AUTOSAR as defines:
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Name
Type Description
Value
CANNM_VENDOR_ID
-
Vendor ID according to AUTOSAR.
30
CANNM_MODULE_ID
-
Module ID according to AUTOSAR.
31
Table 5-3 Vendor/Module ID
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5.3 Services Provided by CANNM
5.3.1
Administrative Functions
5.3.1.1
CanNm_Init: Initialization of CAN NM
Prototype
void CanNm_Init (const CanNm_ConfigType * const cannmConfigPtr)
Parameter
cannmConfigPtr
Configuration structure for initializing the module
Return code
-
-
Functional Description
Initialization of the CAN Network Management (CANNM041) and its internal state machine. By default the
NM starts in the Bus-Sleep Mode.
Particularities and Limitations
> Service ID: see table 'Service IDs'
> The function CanNm_Init() has to be called before any other CanNm service function is called
(except CanNm_InitMemory()).
> During the execution of the function CanNm_Init(), it has to be ensured that the execution is
not interrupted by any other function of the CanNm module. This can for instance be
accomplished by
> global interrupt locks OR
> CAN interrupt locks.
> In Variant post-build-selectable and post-build-loadable a valid configuration pointer has to be
passed in the CanNm_Init function call.
> This function is non-reentrant.
> This function is synchronous.
Expected Caller Context
> Task level
Table 5-4 CanNm_Init
5.3.1.2
CanNm_MainFunction: Main Function for All Channel Instances
Prototype
void CanNm_MainFunction (void)
Parameter
-
-
Return code
-
-
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Functional Description
Main function of the CanNm which processes the NM algorithm. This function is responsible to handle all
CanNm instances. (CANNM234).
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is non-reentrant.
> This function is synchronous.
> This function is called by SchM.
Expected Caller Context
> Task level
Table 5-5 CanNm_MainFunction
5.3.1.3
CanNm_InitMemory: Memory Initialization
Prototype
void CanNm_InitMemory (void)
Parameter
-
-
Return code
-
-
Functional Description
Initialize Memory, so that expected start values are set.
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is non-reentrant.
> This function is synchronous.
> This function is called by the Application.
Expected Caller Context
> System startup
Table 5-6 CanNm_InitMemory
5.3.2
Service Functions
5.3.2.1
CanNm_GetVersionInfo: Version Information API
Prototype
void CanNm_GetVersionInfo (Std_VersionInfoType *versioninfo)
Parameter
versioninfo
Pointer to where to store the version information of this module
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Return code
-
-
Functional Description
CanNm_GetVersionInfo() returns version information, vendor ID and AUTOSAR module ID of the
component.
The versions are BCD-coded.
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is reentrant.
> This function is synchronous.
> This function is available if CANNM_VERSION_INFO_API is STD_ON
Expected Caller Context
> Task level
Table 5-7 CanNm_GetVersionInfo
5.3.2.2
CanNm_GetState: Get the State of the Network Management
Prototype
Std_ReturnType CanNm_GetState ( const NetworkHandleType nmChannelHandle,
Nm_StateType * const
nmStatePtr,
Nm_ModeType * const
nmModePtr)
Parameter
nmChannelHandle
Index of the network channel
nmStatePtr
Pointer where the state of the Network Management shall be copied to
nmModePtr
Pointer where the mode of the Network Management shall be copied to
Return code
Std_ReturnType
E_OK
- No error
E_NOT_OK - Getting the NM state has failed
Functional Description
Return current state and mode of the network management (CANNM223).
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is reentrant.
> This function is synchronous.
> This function is called by NM Interface.
Expected Caller Context
> Task and interrupt level
Table 5-8 CanNm_GetState
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5.3.2.3
CanNm_PassiveStartUp: Wake up the Network Management
Prototype
Std_ReturnType CanNm_PassiveStartUp (const NetworkHandleType nmChannelHandle)
Parameter
nmChannelHandle
Index of the network channel
Return code
Std_ReturnType
E_OK
- No error
E_NOT_OK - Start of network management has failed
Functional Description
Starts the NM from the Bus Sleep Mode and triggers a transition to the Network Mode (Repeat Message
State) (CANNM211). This service has no effect if the current state is not equal to Bus Sleep Mode or
Prepare Bus Sleep Mode. In that case E_NOT_OK is returned.
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is reentrant.
> This function is asynchronous.
> This function is called by NM Interface.
Expected Caller Context
> Task and interrupt level
Table 5-9 CanNm_PassiveStartUp
5.3.2.4
Wake-up Registration
5.3.2.4.1
CanNm_NetworkRequest: Request the Network
Prototype
Std_ReturnType CanNm_NetworkRequest (const NetworkHandleType nmChannelHandle)
Parameter
nmChannelHandle
Index of the network channel
Return code
Std_ReturnType
E_OK
- No error
E_NOT_OK - Requesting bus-communication has failed
Functional Description
Request the network, since ECU needs to communicate on the bus (CANNM213).
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is reentrant.
> This function is asynchronous.
> This function is called by NM Interface.
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Expected Caller Context
> Task and interrupt level
Table 5-10 CanNm_NetworkRequest
5.3.2.4.2
CanNm_NetworkRelease: Release the Network
Prototype
Std_ReturnType CanNm_NetworkRelease (const NetworkHandleType nmChannelHandle)
Parameter
nmChannelHandle
Index of the network channel
Return code
Std_ReturnType
E_OK
- No error
E_NOT_OK - Releasing bus-communication has failed
Functional Description
Release the network, since ECU doesn't have to communicate on the bus (CANNM214).
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is reentrant.
> This function is asynchronous.
> This function is called by NM Interface.
Expected Caller Context
> Task and interrupt level
Table 5-11 CanNm_NetworkRelease
5.3.2.5
User Data Handling
5.3.2.5.1
CanNm_SetUserData: Set User Data
Prototype
Std_ReturnType CanNm_SetUserData ( const NetworkHandleType nmChannelHandle,
const uint8 * const
nmUserDataPtr)
Parameter
nmChannelHandle
Index of the network channel
nmUserDataPtr
Pointer to User data for the next transmitted NM message shall be copied
from
Return code
Std_ReturnType
E_OK
- No error
E_NOT_OK - Setting of user data has failed
Functional Description
Set user data for NM messages transmitted next on the bus (CANNM217).
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Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is non-reentrant.
> This function is synchronous.
> This function is called from NM Interface.
Expected Caller Context
> Task and interrupt level
Table 5-12 CanNm_SetUserData
5.3.2.5.2
CanNm_GetUserData: Get User Data
Prototype
Std_ReturnType CanNm_GetUserData ( const NetworkHandleType nmChannelHandle,
uint8 * const
nmUserDataPtr)
Parameter
nmChannelHandle
Index of the network channel
nmUserDataPtr
Pointer where user data out of the last received NM message shall be copied
to
Return code
Std_ReturnType
E_OK
- No error
E_NOT_OK - Getting of user data has failed
Functional Description
Get user data out of the last NM messages received from the bus (CANNM218).
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is reentrant.
> This function is synchronous.
> This function is called from NM Interface.
Expected Caller Context
> Task and interrupt level
Table 5-13 CanNm_GetUserData
5.3.2.5.3
CanNm_GetPduData: Get NM PDU Data
Prototype
Std_ReturnType CanNm_GetPduData ( const NetworkHandleType
nmChannelHandle,
uint8 * const
nmPduDataPtr)
Parameter
nmChannelHandle
Index of the network channel
nmPduDataPtr
Pointer where PDU Data out of the most recently received NM message shall
be copied to
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Return code
Std_ReturnType
E_OK
- No error
E_NOT_OK - Getting the PDU data has failed
Functional Description
Get the whole PDU data out of the last NM message received from the bus (CANNM138).
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is reentrant.
> This function is asynchronous.
> This function is called from NM Interface.
Expected Caller Context
> Task and interrupt level
Table 5-14 CanNm_GetPduData
5.3.2.6 Node Detection
5.3.2.6.1
CanNm_RepeatMessageRequest: Set Repeat Message Request Bit
Prototype
Std_ReturnType CanNm_RepeatMessageRequest (
const NetworkHandleType
nmChannelHandle)
Parameter
nmChannelHandle
Index of the network channel
Return code
Std_ReturnType
E_OK
- No error
E_NOT_OK - Repeat Message Request has failed
Functional Description
Request state change to Repeat Message State (CANNM221).
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is reentrant.
> This function is asynchronous.
> This function is called from NM Interface
Expected Caller Context
> Task and interrupt level
Table 5-15 CanNm_RepeatMessageRequest
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5.3.2.6.2
CanNm_GetNodeIdentifier: Get Node Identifier
Prototype
Std_ReturnType CanNm_GetNodeIdentifier ( const NetworkHandleType
nmChannelHandle,
uint8 * const nmNodeIdPtr)
Parameter
nmChannelHandle
Index of the network channel
nmNodeIdPtr
Pointer where node identifier from the last received NM message shall be
copied to
Return code
Std_ReturnType
E_OK
- No error
E_NOT_OK - Getting of node identifier has failed
Functional Description
Get node identifier of the last received NM message (CANNM219).
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is reentrant.
> This function is synchronous.
> This function is called from NM Interface
Expected Caller Context
> Task and interrupt level
Table 5-16 CanNm_GetNodeIdentifier
5.3.2.6.3
CanNm_GetLocalNodeIdentifier: Get Local Node Identifier
Prototype
Std_ReturnType CanNm_GetLocalNodeIdentifier ( const NetworkHandleType
nmChannelHandle,
uint8 * const nmNodeIdPtr)
Parameter
nmChannelHandle
Index of the network channel
nmNodeIdPtr
Pointer where node identifier of the local node shall be copied to
Return code
Std_ReturnType
E_OK
- No error
E_NOT_OK - Getting of local node identifier has failed
Functional Description
Get node identifier configured for the local node (CANNM220).
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Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is reentrant.
> This function is synchronous.
> This function is called from NM Interface
Expected Caller Context
> Task and interrupt level
Table 5-17 CanNm_GetLocalNodeIdentifier
5.3.2.7
Bus Synchronization
5.3.2.7.1
CanNm_RequestBusSynchronization: Synchronization of Networks
Prototype
Std_ReturnType CanNm_RequestBusSynchronization ( const NetworkHandleType
nmChannelHandle)
Parameter
nmChannelHandle
Index of the network channel
Return code
Std_ReturnType
E_OK
- No error
E_NOT_OK - Requesting bus synchronization has failed
Functional Description
Request bus synchronization (CANNM226) (Transmission of an asynchronous NM message to support
coordination of coupled networks).
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is non-reentrant.
> This function is synchronous.
> This function is called from NM Interface
Expected Caller Context
> Task level
Table 5-18 CanNm_RequestBusSynchronization
5.3.2.8
Remote Sleep Indication
5.3.2.8.1
CanNm_CheckRemoteSleepIndication: Check for Remote Sleep
Indication
Prototype
Std_ReturnType CanNm_CheckRemoteSleepIndication ( const NetworkHandleType
nmChannelHandle,
boolean * const
nmRemoteSleepIndPtr)
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Parameter
nmChannelHandle
Index of the network channel
nmRemoteSleepIndPtr Pointer where PDU Data out of the most recently received NM message shall
be copied to
Return code
Std_ReturnType
E_OK
- No error
E_NOT_OK - Checking remote sleep indication has failed
Functional Description
Check if remote sleep was indicated or not (CANNM227).
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is reentrant.
> This function is synchronous.
> This function is called from NM Interface
Expected Caller Context
> Task and interrupt level
Table 5-19 CanNm_CheckRemoteSleepIndication
5.3.2.9
NM Message Transmission Request
5.3.2.9.1
CanNm_Transmit: Spontaneous NM Message Transmission
Prototype
Std_ReturnType CanNm_Transmit ( PduIdType CanNmTxPduId,
const PduInfoType *PduInfoPtr)
Parameter
CanNmTxPduId
L-PDU handle of CAN L-PDU to be transmitted. This handle specifies the
corresponding CAN LPDU ID and implicitly the CAN Driver instance as well as
the corresponding CAN controller device.
PduInfoPtr
Pointer to a structure with CAN L-PDU related data: DLC and pointer to CAN
L-SDU buffer.
Return code
Std_ReturnType
E_OK
- No error
E_NOT_OK - transmit request has not been accepted due to wrong state
Functional Description
This function is used by the PduR to trigger a spontaneous transmission of an NM message with the
provided NM User Data (CANM331).
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Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is reentrant.
> This function is synchronous.
> This function is called from PduR
Expected Caller Context
> Task and interrupt level
Table 5-20 CanNm_Transmit
5.3.2.10 Communication Control Service
5.3.2.10.1 CanNm_DisableCommunication: Disable NM Message Transmission
Prototype
Std_ReturnType CanNm_DisableCommunication (
const NetworkHandleType
nmChannelHandle)
Parameter
nmChannelHandle
Index of the network channel
Return code
Std_ReturnType
E_OK
- No error
E_NOT_OK - Disable NM Message transmission control status has failed
Functional Description
Disable NM message transmission control status (CANNM215).
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is reentrant.
> This function is asynchronous.
> This function is called from NM Interface
Expected Caller Context
> Task and interrupt level
Table 5-21 CanNm_DisableCommunication
5.3.2.10.2 CanNm_EnableCommunication: Enabled NM Message Transmission
Prototype
Std_ReturnType CanNm_EnableCommunication ( const NetworkHandleType
nmChannelHandle)
Parameter
nmChannelHandle
Index of the network channel
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Return code
Std_ReturnType
E_OK
- No error
E_NOT_OK - Enabling NM Message transmission control status has failed
Functional Description
Enable NM message transmission control status (CANNM216).
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is reentrant.
> This function is asynchronous.
> This function is called from NM Interface
Expected Caller Context
> Task and interrupt level
Table 5-22 CanNm_EnableCommunication
5.3.2.11 Coordinator Synchronization Support
5.3.2.11.1 CanNm_SetSleepReadyBit: Set Sleep Ready Bit in the CBV
Prototype
Std_ReturnType CanNm_SetSleepReadyBit ( const NetworkHandleType
nmChannelHandle,
const boolean nmSleepReadyBit)
Parameter
nmChannelHandle
Index of the network channel
nmSleepReadyBit
Value written to Ready Sleep Bit in CBV
Return code
Std_ReturnType
E_OK
- No error
E_NOT_OK - Writing of Sleep Ready Bit has failed
Functional Description
Set the NM Coordinator Sleep Ready bit in the Control Bit Vector (CANNM338).
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is non-reentrant.
> This function is synchronous.
> This function is called from NM Interface
Expected Caller Context
> Task level
Table 5-23 CanNm_SetSleepReadyBit
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5.4 Services Used by CANNM
In the following table services provided by other components, which are used by the
CANNM are listed. For details about prototype and functionality refer to the documentation
of the providing component.
Component
API
CanIf
CanIf_Transmit8
CanSM
CanSM_TxTimeoutException9
DET
Det_ReportError10
NM
Nm_CarWakeUpIndication11
Nm_BusSleepMode
Nm_CoordReadyToSleepIndication12
Nm_CoordReadyToSleepCancellation12
Nm_NetworkMode
Nm_NetworkStartIndication
Nm_PduRxIndication13
Nm_CanNm_PduRxIndication14
Nm_PrepareBusSleepMode
Nm_RemoteSleepCancellation15
Nm_RemoteSleepIndication15
Nm_RepeatMessageIndication16
Nm_StateChangeNotification17
Nm_TxTimeoutException8,18
PduR
PduR_CanNmTriggerTransmit8,19
PduR_CanNmTxConfirmation8,19,20
PduR_CanNmRxIndication21
SchM
SchM_Enter_CanNm_CANNM_EXCLUSIVE_AREA_i
SchM_Exit_CanNm_CANNM_EXCLUSIVE_AREA_i
for i=0,…,5
Table 5-24 Services used by the CANNM
8 Service only used if the feature ‘Passive Mode’ is disabled
9 Service only used if ‘Immediate Tx Conf Enabled’ is disabled and ‘Pn Enabled’ is enabled and if CanSM
provides this function
10 Service only used if the feature ‘Dev Error Detect’ is enabled
11 Service only used if the feature ‘Car Wake Up Rx Enabled’ is enabled.
12 Service only used if the feature ‘Coordinator Sync Support’ is enabled.
13 Service only used if the feature ‘Pdu Rx Indication Enabled’ is enabled.
14 Service only used if the feature ‘Bus Nm Specific Pdu Rx Indication Enabled‘ is enabled in NmIf.
15 Service only used if the feature ‘Remote Sleep Ind Enabled’ is enabled.
16 Service only used if the feature ‘Repeat Msg Ind Enabled’ is enabled.
17 Service only used if the feature ‘State Change Ind Enabled’ is enabled.
18 Service only used if the feature ‘Immediate Tx Conf Enabled’ is enabled.
19 Service only used if the feature ‘Com User Data Support’ is enabled.
20 Service only used if the feature ‘Immediate Txconf Enabled’ is disabled.
21 Service only used if the features ‘Pn Eira Calc Enabled’ or ‘Pn Era Calc Enabled’ is enabled.
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5.5
Callback Functions
5.5.1
Callback Functions from CAN Interface
5.5.1.1
CanNm_TxConfirmation: NM Message Confirmation Function
Prototype
void CanNm_TxConfirmation (PduIdType TxPduId)
Parameter
TxPduId
ID of CAN NM PDU that has been transmitted
Return code
-
-
Functional Description
This function is called by the CAN Interface after a CAN NM PDU has been successfully transmitted
(CANNM228).
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is reentrant.
> This function is asynchronous.
> This function is called from data link layer
Expected Caller Context
> Task and interrupt level
Table 5-25 CanNm_TxConfirmation
5.5.1.2
CanNm_RxIndication: NM Message Indication
Prototype
void CanNm_RxIndication (PduIdType RxPduId, const PduInfoType *PduInfoPtr)
Parameter
RxPduId
ID of CAN NM PDU that has been received
PduInfoPtr
Pointer to a PduInfoType containing the received CAN NM SDU and its length
Return code
-
-
Functional Description
This function is called by the CAN Interface after a CAN L-PDU has been received (CANNM231).
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is non-reentrant.
> This function is synchronous.
> This function is called from data link layer
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Expected Caller Context
> Task and interrupt level
Table 5-26 CanNm_RxIndication
5.5.2
Callback Function from CAN State Manager
5.5.2.1
CanNm_ConfirmPnAvailability: Notification for Activating the PN Filter
Functionality
Prototype
void CanNm_ConfirmPnAvailability (const NetworkHandleType nmChannelHandle)
Parameter
nmChannelHandle
Index of the network channel
Return code
-
-
Functional Description
Enables the PN filter functionality on the indicated NM channel (CANM344).
Particularities and Limitations
> Service ID: see table 'Service IDs'
> This function is reentrant.
> This function is synchronous.
> This function is called by CanSM
Expected Caller Context
> Task and interrupt level
Table 5-27 CanNm_ConfirmPnAvailability
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6. Glossary and Abbreviations
6.1
Glossary
Term
Description
Confirmation
Notification by the data link layer on asynchronous successful
transmission of a CAN message
Identifier
Identifies a CAN message
Indication
Notification by the data link layer on asynchronous reception of a CAN
message
Message
One or more signals are assigned to each message.
Signal
Signals describe the significance of the individual data segments within a
message. Typically bits, bytes or words are used for data segments but
individual bit combinations are also possible. In the CAN database, each
data segment is assigned a symbolic name, a value range, a conversion
formula and a physical unit, as well as a list of receiving nodes.
Table 6-1 Glossary
6.2
Abbreviations
Abbreviation
Description
API
Application Programming Interface
AUTOSAR
Automotive Open System Architecture
BswM
Basic Software Mode Manager
CAN
Controller Area Network
CanIf
Can Interface
CCL
Communication Control Layer
ComM
Communication Manager
CRI
Partial Network Cluster Request Information
DET
Development Error Tracer
DEM
Diagnostic Event Manager
DLC
Data Length Code (Number of data bytes of a CAN message)
DLL
Data link layer
ECU
Electronic Control Unit
EIRA
External Internal Requests Aggregated
ERA
External Requests Aggregated
FIBEX
Field Bus Exchange
ID
Identifier (of a CAN message)
IL
Interaction Layer
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I-PDU
Interaction Layer Protocol Data Unit
ISR
Interrupt Service Routine
LIN
Local Interconnect Network
MISRA
Motor Industry Software Reliability Association
NM
Network Management
PDU
Protocol Data Unit
PN
Partial Network / Partial Networking
RAM
Random Access Memory
RI
Reference Implementation
(Reference Implementation of the CAN-Driver High Level part)
ROM
Read Only Memory
SchM
Schedule Manager (BSW Scheduler)
SRS
System Requirements Specification (used for AUTOSAR documents)
SWS
Software Specification (used for AUTOSAR documents)
UDP
User Datagram Protocol
Table 6-2 Abbreviations
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7. Contact
Visit our website for more information on
> News
> Products
> Demo software
> Support
> Training data
> Addresses
www.vector.com
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Document Outline
- 1. Component History
- 2. Introduction
- 3. Functional Description
- 3.1 Features
- 3.1.1 Deviations Against AUTOSAR
- 3.1.2 Additions/ Extensions
- 3.1.2.1 Single Channel Optimization
- 3.1.2.2 Memory Initialization
- 3.1.2.3 Disable Transmission Error Reporting
- 3.1.2.4 Calling CanNm_PassiveStartUp in Prepare Bus Sleep
- 3.1.2.5 Additional Development Error Codes
- 3.1.2.6 Variable DLC Support
- 3.1.2.7 Changeability of Additional Parameters During the Post-Build Phase
- 3.1.3 Limitations
- 3.2 Network Management Mechanism
- 3.3 Initialization
- 3.4 Passive Mode
- 3.5 Operation Modes and States
- 3.6 Network Management Message Transmission and Reception
- 3.7 Node Detection
- 3.8 NM PDU Receive Indication
- 3.9 Communication Control
- 3.10 Gateway Functionality
- 3.11 Coordinator Synchronization Support
- 3.12 Error Handling
- 3.13 Com User Data Support
- 3.14 Active Wake-up Handling
- 3.15 Immediate Nm Transmissions
- 3.16 Immediate Restart Enabled
- 3.17 Car Wake-up
- 3.18 Partial Networking
- 3.1 Features
- 4. Integration
- 5. API Description
- 5.1 Data Types
- 5.2 Global Constants
- 5.3 Services Provided by CANNM
- 5.3.1 Administrative Functions
- 5.3.2 Service Functions
- 5.3.2.1 CanNm_GetVersionInfo: Version Information API
- 5.3.2.2 CanNm_GetState: Get the State of the Network Management
- 5.3.2.3 CanNm_PassiveStartUp: Wake up the Network Management
- 5.3.2.4 Wake-up Registration
- 5.3.2.5 User Data Handling
- 5.3.2.6 Node Detection
- 5.3.2.7 Bus Synchronization
- 5.3.2.8 Remote Sleep Indication
- 5.3.2.9 NM Message Transmission Request
- 5.3.2.10 Communication Control Service
- 5.3.2.11 Coordinator Synchronization Support
- 5.4 Services Used by CANNM
- 5.5 Callback Functions
- 6. Glossary and Abbreviations
- 7. Contact