TechnicalReference_CanXcps

Technical Reference XCP on CAN

XCP on CAN
Technical Reference

XCP on CAN Transport Layer for MICROSAR CanIf
Version 1.10.00

Status
Released

© 2016 Vector Informatik GmbH
Version 1.10.00
1
based on template version 5.1.0

Technical Reference XCP on CAN
Document Information
History
Date
Version
Remarks
2007-01-26
1.00.00  ESCAN00017890: Creation of Cp_XcpOnCanAsr based on
Cp_XcpOnCan
2008-08-05
1.01.00  Adaptations to AUTOSAR R3
2009-12-17
1.02.00  Support of a2l export.
2010-01-14
1.03.00  ESCAN00040120: Support MultiChannel
Removed Section 3.3
2010-03-30
1.04.00  ESCAN00041935: Add feature to disable XcpOnCanAsr in serial
production ECUs
ESCAN00043225: Missing limitation for Multiple Identity with
several CAN channels
2011-01-04
1.05.00  ESCAN00046305: AR3-297 AR3-894: Support PduInfoType instead
of the DataPtr
2011-03-22
1.06.00  ESCAN00049434: Support Monitoring Hooks for AUTOSAR 4
2012-04-10
1.06.01  ESCAN00052061: Added InitMemory function to chapter 8.2
Added Option for AMD Runtime Measurement
2013-03-25
1.06.02  ESCAN00063622: Remove PduInfoType from TechRef
2013-05-27
1.07.00  ESCAN00066189: Change API CanXcp_Transmit to CanXcp_Send
ESCAN00070335: Remove Monitoring Hooks defined in ASR4
ESCAN00069044: Critical Section Description is missing
2014-08-15
1.07.01  ESCAN00077233: AR3-2679: Description BCD-coded return-value
of CanXcp_GetVersionInfo() in TechRef
2016-02-10
1.08.00  ESCAN00082594: CAN-FD: Document support of mode 2
2016-09-07
1.09.00  ESCAN00091770: FEAT-1980: Add Multi Client / Multi Connection
support
2016-10-28
1.10.00  Editorial changes
Reference Documents
No.
Title
[1]
ASAM_XCP_Part1-Overview_V1-1-0.pdf
[2]
ASAM_AE_MCD-1-XCP_AS_CAN-Transport-Layer_V1-2-0.pdf
[3]
Technical Reference XCP Protocol Layer, Version 2.04.00
[4]
AUTOSAR_SWS_DevelopmentErrorTracer.pdf V3.0.0
Abbreviations
Abbreviations
Complete expression
A2L
File Extension for an ASAM 2MC Language File
AML
ASAM 2 Meta Language
© 2016 Vector Informatik GmbH
Version 1.10.00
2
based on template version 5.1.0

Technical Reference XCP on CAN
API
Application Programming Interface
ASAM
Association for Standardization of Automation and Measuring Systems
CAN
Controller Area Network
CANape
Calibration and Measurement Data Acquisition for Electronic Control
Systems
CMD
Command
CTO
Command Transfer Object
DAQ
Synchronous Data Acquisition
DLC
Data Length Code ( Number of data bytes of a CAN message )
DLL
Data link layer
DTO
Data Transfer Object
ECU
Electronic Control Unit
ID
Identifier (of a CAN message)
Identifier
Identifies a CAN message
ISR
Interrupt Service Routine
MCS
Master Calibration System
Message
One or more signals are assigned to each message.
MRB
Multi receive buffer
MRC
Multi receive channel
OEM
Original equipment manufacturer (vehicle manufacturer)
RES
Command Response Packet
SRB
Single receive buffer
SERV
Service Request Packet
STIM
Stimulation
XCP
Universal Measurement and Calibration Protocol
VI
Vector Informatik GmbH

Naming Conventions
The names of the access functions provided by the CanXcp always start with a prefix that
includes the characters ‘CanXcp’. The characters ‘CanXcp’ are surrounded by an
abbreviation which refers to the service or to the layer which requests a XCP service. The
designation of the main services is listed below:
Naming conventions
CanXcp…
It is mandatory to use all functions beginning with Xcp…
These services are called by either the data link layer, XCP Protocol Layer or
the application.
They are e.g. used for the transmission of messages.

© 2016 Vector Informatik GmbH
Version 1.10.00
3
based on template version 5.1.0

Technical Reference XCP on CAN

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
Version 1.10.00
4
based on template version 5.1.0

Technical Reference XCP on CAN

© 2016 Vector Informatik GmbH
Version 1.10.00
7
based on template version 5.1.0

Technical Reference XCP on CAN
1  Overview
This document  describes  the features, API,  configuration  and  integration  of the  CanXcp.
The XCP Protocol Layer, which is already described within a separate document [3], is not
covered by this document.
Please  also  refer  to  “The  Universal  Measurement  and  Calibration  Protocol  Family”
specification by ASAM e.V.
XCP on CAN is a hardware independent protocol that can be ported to almost any CAN
controller.  Due  to  there  are  numerous  combinations  of  micro  controllers,  compilers  and
memory  models  it  cannot  be  guaranteed  that  it  will  run  properly  on  any  of  the  above
mentioned combinations.
Please  note  that  in  this  document  the  term  Application  is  not  used  strictly  for  the  user
software but also for any higher software layer. Therefore, Application refers to any of the
software components using XCP on CAN.
The API of the functions is described in a separate chapter at the end of this document.
Referred functions are always shown in the single channel mode.

© 2016 Vector Informatik GmbH
Version 1.10.00
8
based on template version 5.1.0

Technical Reference XCP on CAN
2  Functional Description
2.1
Overview of the Functional Scope
The transmission and reception of XCP Packets is managed by the XCP Transport Layers.
These use the AUTOSAR CanIf for the transmission and reception of XCP Packets.

The message length depends on the PDU size and can be 8  Bytes on CAN or up to 64
Bytes on CAN-FD (Mode 2).
2.2
Reception and Transmission of XCP Packets
Upon reception of any XCP message the function
void Xcp_CanIfRxIndication ( PduIdType CanCanXcpRxPduId,
const PduInfoType *CanSduPtr )
(4.3.1)
is called by the CAN Interface and the XCP Packet is passed to the XCP Protocol Layer.
After the command has been processed by the Protocol Layer the XCP Response Packet
is passed to the Transport Layer by the service
void CanXcp_Send (uint8 Xcp_Channel, uint8 len, MEMORY_ROM
BYTEPTR msg )
(4.2.1)
The XCP message is transmitted via the CAN Interface’s service
uint8 CanIf_Send ( PduIdType CanTxPduId,
const PduInfoType *PduInfoPtr )
The successful transmission is confirmed by the CAN Interface by a call of
void Xcp_CanIfTxConfirmation ( PduIdType CanTxPduId )
(4.3.2)
The confirmation is passed from the XCP on Can Transport Layer to the Protocol Layer by
the XcpSendCallback.
Asynchronous XCP Packet transmission like e.g. SERV, EV and DAQ are also transmitted
and confirmed by the above described sequence.
Please  note  that  after  Initialization  the  XCP  is  in  PDU  Mode  CANXCP_SET_OFFLINE.
Normally it is enabled by the CAN State Manager. If the State Manager is not present or a
State Manager from another vendor is used this has to be enabled manually by using the
following API with CANXCP_SET_ONLINE:
void CanXcp_SetPduMode ( NetworkHandleType XcpNwH,
CanXcp_PduSetModeType PduMode )
(4.5.3)
If this is not done, the XCP will not send anything!

© 2016 Vector Informatik GmbH
Version 1.10.00
9
based on template version 5.1.0

Technical Reference XCP on CAN
3  Integration into the Application
This chapter describes the steps for  the integration of the XCP on CAN Transport Layer
into an application environment of an ECU.
3.1
Files
The XCP on CAN Transport Layer consists of the following files:
Files of the XCP on CAN Transport Layer
CanXcp.c
XCP on CAN Transport Layer.
This file must not be changed by the user!

CanXcp.h
API of the XCP on CAN Transport Layer.
This file must not be changed by the application!

This file has to be included prior to XcpProf.h.
CanXcp_Types.h  Type definitions of the XCP on CAN Transport Layer.
This file must not be changed by the application!

This file is handled internally and must not be included
separately.

Additionally the following files are generated by the generation tool GENy.
Files generated by GENy
CanXcp_Cfg.h
Configuration file for XCP on CAN.
External declarations for the parameters.

CanXcp_Lcfg.c
Link time parameter definition for the XCP on CAN.

CanXcp_PBcfg.c  Post build parameter definition for the XCP on CAN.

Note  that  all files  of  XCP  on  CAN must  not be  changed manually  except  if  not  GENy  is
used for he configuration of the AUTOSAR CAN Interface. In this case only the generated
files CanXcp_Cfg.h, CanXcp_Lcfg.c and CanXcp_PBcfg.c are relevant.

3.2
Version Changes
Changes and the release versions of the XCP on CAN Transport Layer are  listed at  the
beginning of the header and source code.

© 2016 Vector Informatik GmbH
Version 1.10.00
10
based on template version 5.1.0

Technical Reference XCP on CAN
3.3
MainFunction
Normally the CanXcp_MainFunction is called cyclically by the Schedule Manager (SchM).
If  no  SchM  is  present  or  a  3rd  party  SchM  is  used  the  CanXcp_MainFunction  must  be
called  cyclically  by  the  application.  The  purpose  of  the  MainFunction  is  to  send  queued
messages that failed to be sent immediately. Therefore the call cycle is not very critical. A
call cycle of 5 or 10ms is sufficient in most cases.
3.4
Critical Sections / Exclusive Areas
The XCP makes use of interrupt locking to guarantee atomic operation of critical sections.
For this purpose one exclusive area is defined
  CANXCP_EXCLUSIVE_AREA_0
The exclusive area must be mapped to interrupt lock and unlock functions which can be
called nested. The exclusive areas are used in the following cases:

3.4.1
CANXCP_EXCLUSIVE_AREA_0
This area is used whenever the services Xcp_Event, Xcp_SendCallBack,
Xcp_MainFunction  and  Xcp_Command can interrupt each other.
Please read the Technical Reference XCP Protocol Layer [3] for further information.
3.5
Activation and Deactivation
The XCP provides functionality to disable the component during runtime. This is useful if
the component shall remain in series production ECUs where XCP is disabled by default
and can be enabled by, e.g. a Diagnosis service.
By  default  XCP  is  enabled.  The  functionality  of  the  XCP  can  be  disabled  by  calling  the
Macro:
XCP_DEACTIVATE()
(4.6.2)
It can be enabled again by calling the respective Macro:
  XCP_ACTIVATE()                                                                     (4.6.1)

© 2016 Vector Informatik GmbH
Version 1.10.00
11
based on template version 5.1.0

Technical Reference XCP on CAN
4  Description of the API
The API of XCP on CAN consists of services, which are realized by function calls. These
services are called wherever they are required. They transfer information to- or take over
information  from  XCP  on  CAN.  This  information  is  stored  in  XCP  on  CAN  until  it  is  not
required anymore, respectively until it is changed by other operations.
Examples for calling the services  of XCP on CAN can be found in the description of the
services.
4.1
Version of the Source Code
The  source  code  version  of  the  XCP  on  CAN Transportation  Layer  is  provided  by  three
BCD coded constants:

CONST(uint8, CANXCP_CONST) kXcpOnCanAsrMainVersion =
(uint8)(CP_XCPONCANASR_VERSION >> 8);
CONST(uint8, CANXCP_CONST) kXcpOnCanSubAsrVersion =
(uint8)(CP_XCPONCANASR_VERSION & 0x00ff);
CONST(uint8, CANXCP_CONST) kXcpOnCanAsrReleaseVersion =
(uint8)(CP_XCPONCANASR_RELEASE_VERSION);

Example
Version 1.00.00 is registered as:

kXcpOnCanAsrMainVersion = 0x01;
kXcpOnCanAsrSubVersion = 0x00;
kXcpOnCanAsrReleaseVersion = 0x00;

These constants are declared as external and can be read by the application at any time.

4.2
XCP on CAN Transport Layer services called by the Protocol Layer
The following XCP on CAN Transport Layer functions are called by the Protocol Layer.
The API of these functions can be found in the header of the XCP on CAN component.

4.2.1
CanXcp_Send: Transmission of XCP Packets
CanXcp_Send
Prototype
void CanXcp_Send ( uint8 Xcp_Channel, uint8 len, const uint8* msg )
© 2016 Vector Informatik GmbH
Version 1.10.00
12
based on template version 5.1.0

Technical Reference XCP on CAN
Parameter
Xcp_Channel
Logical channel of the protocol layer. Depending whether Multi Client is
enabled this parameter will always be 0 (Multi Client disabled) or reflect the
logical Xcp channel (Multi Client enabled).
len
Length of the XCP Packet that has to be transmitted.
(with len = 1 ... 8 on CAN and 1..64 on CAN-FD)
msg
Pointer to the XCP Packet data.
Return code
-
-
Functional Description
Request for the transmission of a DTO or CTO message.

Particularities and Limitations
  Not re-entrant
  Call context of: XcpEvent, XcpBackground and context of CAN Interface

4.2.2
CanXcp_MainFunction: Main Function of XCP on CAN Transport Layer
CanXcp_MainFunction
Prototype
void CanXcp_MainFunction ( void )
Parameter
-
-
Return code
-
-
Functional Description
Main function of XCP on CAN Transport Layer.

Particularities and Limitations
  Not re-entrant

© 2016 Vector Informatik GmbH
Version 1.10.00
13
based on template version 5.1.0

Technical Reference XCP on CAN
4.3
XCP Transport Layer for CAN services called by the CAN Interface
The following  XCP  on  CAN Transport  Layer  functions  are  called by  the AUTOSAR  CAN
Interface. The API  of  these functions  can be  found  in  the  header  of  the  CAN  Interface’s
parameter file.

4.3.1
Xcp_CanIfRxIndication: XCP Message Indication Function
Xcp_CanIfRxIndication
Prototype
void Xcp_CanIfRxIndication ( PduIdType CanCanXcpRxPduId, const
PduInfoType * PduInfoPtr)
Parameter
CanCanXcpRxPduId
Target PDU ID of CAN L-PDU that has been received
PduInfoPtr
Contains pointer and length to received XCP L-SDU
Return code
-
-
Functional Description
Rx Indication for reception of CTO and DTO Packets.
This function is configured in the generation tool.
Particularities and Limitations
  Not re-entrant
  Call context of CAN Interface

4.3.2
Xcp_CanIfTxConfirmation: XCP Message Confirmation

Xcp_CanIfTxConfirmation
Prototype
void Xcp_CanIfTxConfirmation ( PduIdType CanTxPduId )
Parameter
CanTxPduId
PDU ID of CAN L-PDU transmitted successfully
Return code
-
-
Functional Description
Tx Confirmation for successful transmission of CTO and DTO Packets.
This function is configured in the generation tool.
Particularities and Limitations
  Not re-entrant
  Call context of CAN Interface

© 2016 Vector Informatik GmbH
Version 1.10.00
14
based on template version 5.1.0

Technical Reference XCP on CAN
4.4
XCP Protocol Layer services called by the XCP on CAN Transport Layer
The following XCP Protocol Layer services are called by the XCP on CAN Transport Layer:
-
void Xcp_Command( uint8 Xcp_Channel, const uint32* pCommand )
-
void Xcp_SendCallBack( uint8 Xcp_Channel )
-
void Xcp_SetActiveTl( uint8 Xcp_Channel, uint8 Tl )
-
uint8 Xcp_GetActiveTl( uiont8 Xcp_Channel )
-
uint8 Xcp_GetSessionStatus( uint8 Xcp_Channel )

For  a  description  of  the API  and  the  functionality  of  these  functions  please  refer  to  the
Technical Reference XCP Protocol Layer [3].

4.5
XCP on CAN Transport Layer services called by other layers
The following XCP on CAN Transport Layer functions have to be called from other layers.
4.5.1
CanXcp_Init: Initialization of XCP on CAN Transport Layer
CanXcp_Init
Prototype
void CanXcp_Init (const CanXcp_ConfigType * ConfigPtr )
Parameter
ConfigPtr
Pointer to the post build configuration
Return code
-
-
Functional Description
Initialization of the XCP on Transport Layer.

Particularities and Limitations
  Must be called during system initialization
  Not re-entrant
  Parameter ‘ConfigPtr’ is only evaluated for post build configurations.

4.5.2
CanXcp_GetVersionInfo: Request version information of XCP on CAN
Transport Layer
CanXcp_Init
Prototype
void CanXcp_GetVersionInfo (Std_VersionInfoType * Versioninfo )
Parameter
Versioninfo
Pointer to store the version information
© 2016 Vector Informatik GmbH
Version 1.10.00
15
based on template version 5.1.0

Technical Reference XCP on CAN
Return code
-
-
Functional Description
CanXcp_GetVersionInfo() returns version information, vendor ID and AUTOSAR module ID of the
component. The versions are BCD-coded.
Particularities and Limitations
 none

4.5.3
CanXcp_SetPduMode: set Transmission mode
CanXcp_SetPduMode
Prototype
void CanXcp_SetPduMode( NetworkHandleType XcpNwH, CanXcp_PduSetModeType PduMode
);
Parameters [in/out/both]
XcpNwH [in]
The Network Handle which is usually 0
PduMode
This is the new state. It can either be

CANXCP_SET_ONLINE

CANXCP_SET_OFFLINE
Return code
-
-
Service ID
Service ID
7
Functional Description
With this service it is possible to prevent transmission of XCP frames, e.g. when the bus is offline. The
frames are not lost but stored in the Send Queue until overrun occurs or transmission is enabled again.
Preconditions
-
Postconditions
-
Particularities and Limitations

Call context: task level

Not re-entrant

Synchronous

4.6
Macros
4.6.1
XCP_ACTIVATE: Enable the Protocol and Transport Layer
XCP_ACTIVATE
© 2016 Vector Informatik GmbH
Version 1.10.00
16
based on template version 5.1.0

Technical Reference XCP on CAN
Prototype
XCP_ACTIVATE();
Parameters [in/out/both]
Command [in]
-
Return code
-
-
Service ID
Service ID
-
Functional Description
With this service it is possible to enable all functionality of the XCP Protocol and Transport Layer during
runtime to prevent erroneous execution.
Preconditions
-
Postconditions
-
Particularities and Limitations

Call context: task level

Not re-entrant

Synchronous

4.6.2
XCP_DEACTIVATE: Disable the Protocol and Transport Layer
XCP_DEACTIVATE
Prototype
XCP_DEACTIVATE();
Parameters [in/out/both]
Command [in]
-
Return code
-
-
Service ID
Service ID
-
Functional Description
With this service it is possible to lock all functionality of the XCP Protocol and Transport Layer during runtime
to prevent erroneous execution.
Preconditions
-
Postconditions
-
© 2016 Vector Informatik GmbH
Version 1.10.00
17
based on template version 5.1.0

Technical Reference XCP on CAN
Particularities and Limitations

Call context: task level

Not re-entrant

Synchronous

4.6.3
A2L File
GENy exports an a2l file for easier configuration of the XCP Master (e.g.  CANape). This
file is called CanXCPAsr.a2l and contains the XCP_ON_CAN IF_DATA section which can
be included by a master template a2l file.
Hint!
 The following abstract can be used to include the generated a2l:

  /begin IF_DATA XCP
  ……..
  /include "CanXCPAsr.a2l"
  /end IF_DATA

© 2016 Vector Informatik GmbH
Version 1.10.00
18
based on template version 5.1.0

Technical Reference XCP on CAN
5  Limitations
5.1.1
Assignment of CAN identifiers to DAQ Lists is not supported
The assignment of CAN identifiers to DAQ lists is not supported. There is only one CAN
identifier  for  CMD/STIM  and  one  CAN  identifier  for  RES/EV/DAQ.  The  command
GET/SET_DAQ_ID is not supported.
5.1.2
Detection of all XCP Slaves within a Network
The detection of all XCP slaves within a network with the command GET_SLAVE_ID is not
supported.
5.1.3
Multiple Identity only supported for single channel configuration
Multiple Identities for AUTOSAR XCP on CAN is only available for a single CAN channel
configuration.

© 2016 Vector Informatik GmbH
Version 1.10.00
19
based on template version 5.1.0

Technical Reference XCP on CAN
6  FAQ
6.1
Transmit Queue of CAN Interface is Disabled

FAQ
How to operate XCP on CAN if the transmit queue of CanIf is disabled.

If the transmit queue of CanIf is disabled, at any time it might not be possible to transmit
the  XCP  Slave  message  due  to  an  on-going  message  transmission.  Therefore  the
message transmission might have to be requested several times.
This  is  done  with  the  service  CanXcp_MainFunction().  This  service  has  to  be  called
cyclically  with  a  recommended  call  cycle  of  1ms.  The  faster  it  gets  called  the  faster  the
XCP Slave message will participate in the arbitration on the bus.
6.2
Additions & Extension
6.2.1
CanXcp_InitMemory
The function CanXcp_InitMemory is an extension to AUTOSAR and must be used when
the memory is not initialized by the startup code.

© 2016 Vector Informatik GmbH
Version 1.10.00
20
based on template version 5.1.0

Technical Reference XCP on CAN
7  Contact
Visit our website for more information on

>  News
>  Products
>  Demo software
>  Support
>  Training data
>  Addresses

www.vector.com
© 2016 Vector Informatik GmbH
Version 1.10.00
21
based on template version 5.1.0

Document Outline

Last modified July 6, 2025: Initial commit (97b4320)