Specification of TTCAN Interface

AUTOSAR CP Release 4.4.0

Document Title Specification of TTCAN Interface

Document Owner AUTOSAR
Document Responsibility AUTOSAR
Document Identification No 433

Document Status Final

Part of AUTOSAR Standard Classic Platform
Part of Standard Release 4.4.0

Document Change History

Date Release Changed by Description
AUTOSAR
2018-10-31 4.4.0 Release • Header File Cleanup
Management
AUTOSAR • Replace Can_ReturnType with
2017-12-08 4.3.1 Release Std_ReturnType overlay
Management • Editorial changes
AUTOSAR • Remove CCMSM
2016-11-30 4.3.0 Release • Dem API update
Management • Editorial changes
AUTOSAR
2015-07-31 4.2.2 Release • Fixed error section
Management • Editorial changes

AUTOSAR • Improved extended production error

2014-10-31 4.2.1 Release description
Management • Updated disclaimer
• Editorial changes
AUTOSAR • Adapted description of exported
2014-03-31 4.1.3 Release TTCAN EcuC containers
Management • Editorial changes
AUTOSAR
2013-10-31 4.1.2 Release • Editorial changes
Management

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• Updated scope of parameters

• Formal update for traceability
AUTOSAR analysis
2013-03-15 4.1.1
Administration • Aligned to General Documents
• Adapted Production Error
Specification
• Updated
<User_TriggerTransmit>
AUTOSAR function with generated artifact from
2011-12-22 4.0.3 ComStack harmonization
Administration
• Described behaviour of negative
return value of
<User_TriggerTransmit>
AUTOSAR
2010-02-02 3.1.4 • Initial Release
Administration

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Disclaimer

This work (specification and/or software implementation) and the material contained in
it, as released by AUTOSAR, is for the purpose of information only. AUTOSAR and the
companies that have contributed to it shall not be liable for any use of the work.
The material contained in this work is protected by copyright and other types of intel-
lectual property rights. The commercial exploitation of the material contained in this
work requires a license to such intellectual property rights.
This work may be utilized or reproduced without any modification, in any form or by
any means, for informational purposes only. For any other purpose, no part of the work
may be utilized or reproduced, in any form or by any means, without permission in
writing from the publisher.
The work has been developed for automotive applications only. It has neither been
developed, nor tested for non-automotive applications.
The word AUTOSAR and the AUTOSAR logo are registered trademarks.

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Table of Contents
1 Introduction and functional overview 7

2 Acronyms and Abbreviations 9

3 Related documentation 11
3.1 Input documents & related standards and norms . . . . . . . . . . . . 11
3.2 Related specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4 Constraints and assumptions 12

5 Dependencies to other modules 13

5.1 Additional TTCAN specific dependencies to other modules . . . . . . . 13
5.1.1 AUTOSAR Operating System . . . . . . . . . . . . . . . . . . 13
5.1.2 AUTOSAR PDU router . . . . . . . . . . . . . . . . . . . . . 13
5.1.3 Upper Protocol Layers . . . . . . . . . . . . . . . . . . . . . . 13
5.1.4 TTCAN Driver . . . . . . . . . . . . . . . . . . . . . . . . . . 13
6 Requirements Tracing 14

7 Functional specification 16
7.1 General Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
7.2 TTCAN Interface State Machine . . . . . . . . . . . . . . . . . . . . . . 16
7.3 TTCAN Job List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
7.4 TTCAN Job List Execution Function . . . . . . . . . . . . . . . . . . . . 17
7.5 Data communication via TTCAN . . . . . . . . . . . . . . . . . . . . . . 18
7.6 TTCAN Controller mode . . . . . . . . . . . . . . . . . . . . . . . . . . 19
7.7 Error classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
7.7.1 Development Errors . . . . . . . . . . . . . . . . . . . . . . . 20
7.7.2 Runtime Errors . . . . . . . . . . . . . . . . . . . . . . . . . . 20
7.7.3 Transient Faults . . . . . . . . . . . . . . . . . . . . . . . . . 20
7.7.4 Production Errors . . . . . . . . . . . . . . . . . . . . . . . . 20
7.7.5 Extended Production Errors . . . . . . . . . . . . . . . . . . . 20
8 API specification 21
8.1 Imported types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
8.2 Type definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
8.2.1 CanIf_TTTimeType . . . . . . . . . . . . . . . . . . . . . . . 21
8.2.2 CanIf_TTMasterSlaveModeType . . . . . . . . . . . . . . . . 22
8.2.3 CanIf_TTSyncModeEnumType . . . . . . . . . . . . . . . . . 22
8.2.4 CanIf_TTMasterStateType . . . . . . . . . . . . . . . . . . . 22
8.2.5 CanIf_TTErrorLevelEnumType . . . . . . . . . . . . . . . . . 23
8.2.6 CanIf_TTErrorLevelType . . . . . . . . . . . . . . . . . . . . 23
8.2.7 CanIf_TTSevereErrorEnumType . . . . . . . . . . . . . . . . 24
8.2.8 CanIf_TTTimeSourceType . . . . . . . . . . . . . . . . . . . 24
8.2.9 CanIf_TTEventEnumType . . . . . . . . . . . . . . . . . . . . 24

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8.2.10 CanIf_TTTimingErrorIRQType . . . . . . . . . . . . . . . . . 25
8.3 Function definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
8.3.1 CanIf_TTGetControllerTime . . . . . . . . . . . . . . . . . . 25
8.3.2 CanIf_TTGetMasterState . . . . . . . . . . . . . . . . . . . . 26
8.3.3 CanIf_TTGetNTUActual . . . . . . . . . . . . . . . . . . . . . 27
8.3.4 CanIf_TTGetErrorLevel . . . . . . . . . . . . . . . . . . . . . 28
8.3.5 CanIf_TTSetNextIsGap . . . . . . . . . . . . . . . . . . . . . 29
8.3.6 CanIf_TTSetEndOfGap . . . . . . . . . . . . . . . . . . . . . 30
8.3.7 CanIf_TTSetTimeCommand . . . . . . . . . . . . . . . . . . 31
8.3.8 CanIf_TTGlobalTimePreset . . . . . . . . . . . . . . . . . . . 31
8.3.9 CanIf_TTSetExtClockSyncCommand . . . . . . . . . . . . . 32
8.3.10 CanIf_TTSetNTUAdjust . . . . . . . . . . . . . . . . . . . . . 33
8.4 Optional Function definitions . . . . . . . . . . . . . . . . . . . . . . . . 34
8.4.1 CanIf_TTJobListExec_<Controller> . . . . . . . . . . . . . . 34
8.4.2 CanIf_TTGetSyncQuality . . . . . . . . . . . . . . . . . . . . 35
8.4.3 CanIf_TTSetTimeMark . . . . . . . . . . . . . . . . . . . . . 36
8.4.4 CanIf_TTCancelTimeMark . . . . . . . . . . . . . . . . . . . 37
8.4.5 CanIf_TTAckTimeMark . . . . . . . . . . . . . . . . . . . . . 37
8.4.6 CanIf_TTEnableTimeMarkIRQ . . . . . . . . . . . . . . . . . 38
8.4.7 CanIf_TTDisableTimeMarkIRQ . . . . . . . . . . . . . . . . . 39
8.4.8 CanIf_TTGetTimeMarkIRQStatus . . . . . . . . . . . . . . . 40
8.5 Scheduled Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
8.6 Callback Notifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
8.6.1 CanIf_TTApplWatchdogError . . . . . . . . . . . . . . . . . . 41
8.6.2 CanIf_TTTimingError . . . . . . . . . . . . . . . . . . . . . . 42
8.6.3 CanIf_TTSevereError . . . . . . . . . . . . . . . . . . . . . . 42
8.6.4 CanIf_TTGap . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
8.6.5 CanIf_TTStartOfCycle . . . . . . . . . . . . . . . . . . . . . . 44
8.6.6 CanIf_TTTimeDisc . . . . . . . . . . . . . . . . . . . . . . . . 45
8.6.7 CanIf_TTMasterStateChange . . . . . . . . . . . . . . . . . . 45
8.7 Expected interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
8.7.1 Mandatory interfaces . . . . . . . . . . . . . . . . . . . . . . 46
8.7.2 Optional Interfaces . . . . . . . . . . . . . . . . . . . . . . . . 47
8.7.3 Configurable Interfaces . . . . . . . . . . . . . . . . . . . . . 48
8.7.3.1 <User_TriggerTransmit> . . . . . . . . . . . . . . . . 48
9 Sequence diagrams 50
9.1 Transmission with JobList (TriggerTransmit with decoupled buffer access) 50
9.2 Reception with Joblist . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
9.3 Job List Execution Function . . . . . . . . . . . . . . . . . . . . . . . . 52
10 Configuration specification 53
10.1 Containers and configuration parameters . . . . . . . . . . . . . . . . . 53
10.1.1 CanIfTTGeneral . . . . . . . . . . . . . . . . . . . . . . . . . 53
10.1.2 CanIfTTDemEventParameterRefs . . . . . . . . . . . . . . . 55
10.1.3 CanIfTTTxFrameTriggering . . . . . . . . . . . . . . . . . . . 56
10.1.4 CanIfTTRxFrameTriggering . . . . . . . . . . . . . . . . . . . 57

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10.2 Published information . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

A Not applicable requirements 60

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1 Introduction and functional overview

This specification describes the functionality, API and the configuration for the
AUTOSAR Basic Software module TTCAN Interface (called "‘TtcanIf"’ in this docu-
ment).
The base for this document is [1, ISO 11898-4]. It is assumed that the reader is familiar
with this specification. This document will not describe TTCAN functionality again.
TtcanIf is located in the communication hardware abstraction under the communica-
tion service layers (i.e. TTCAN State Manager, TTCAN Network Management, TTCAN
Transport Protocol, PDU Router). It represents the interface to the services of the
TTCAN Driver for the upper communication layers.
TtcanIf is an extension of the [2, CAN Interface module (CanIf)] so this document
shall only provide information and specifications which differ from CanIf.

Figure 1.1: AUTOSAR TTCAN Layer Model (see [3])

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Messages, which are configured for Exclusive Time Windows, will be transmit-
ted periodically with every Tx_Trigger configured for this message (Continuous
Transmission).
Messages, which are configured for Arbitrating Time Windows, will be transmit-
ted only once per Transmit Request (Single Shot).
TtcanIf consists of all TTCAN hardware independent tasks, which belong to the
TTCAN communication device drivers of the corresponding ECU. This functionality is
implemented once in TtcanIf, so that underlying TTCAN device drivers only focus
on access and control of the corresponding specific TTCAN hardware device.
TtcanIf fulfils main control flow and data flow requirements of the PDU Router and
upper layer communication modules of the AUTOSAR COM stack: transmit request
processing, transmit confirmation / receive indication / error notification and start / stop
of a TTCAN Controller and thus waking up / participating on a network. Its data
processing and notification API is based on CAN L-PDUs, whereas the APIs for control
and mode handling provide a TTCAN Controller related view.
In case of transmit requests TtcanIf completes the L-PDU transmission with corre-
sponding parameters and relays the CAN L-PDU via the appropriate TTCAN Driver
to the TTCAN Controller. At reception TtcanIf distributes the received L-PDUs
to the upper layer. The assignment between receive L-PDU and upper layer is stati-
cally configured. At transmit confirmation TtcanIf is responsible for the notification of
upper layers about successful transmission.
TtcanIf provides TTCAN communication abstracted access to the lower layer ser-
vices for control and supervision of the TTCAN network. TtcanIf forwards the status
change requests from the CAN State Manager downwards to the lower layer TTCAN
device drivers, and upwards the lower layer events are forwarded by TtcanIf to e.g.
the corresponding NM module.

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2 Acronyms and Abbreviations

The glossary below includes acronyms and abbreviations relevant to TtcanIf that are
not included in the [4, AUTOSAR glossary].
Abbreviation / Acronym: Description:
"‘at system configuration static configuration parameters stored in TtcanIf; may be defined
time"’ after compilation of the code of TtcanIf, but have to be defined
before the first execution of TtcanIf code.
Arbitrating Time Window See [1, ISO 11898-4]
Basic Cycle See [1, ISO 11898-4]
BSW Basic Software
CanIf CAN Interface
Communication Job A TTCAN Communication Job defines the specific communication
operation and the assigned execution time.
Continuous Transmission Contrary to Single Shot a message will be transmitted cyclically
even without a new transmit request.
Controller A (TTCAN-)Controller is a CPU on-chip or external standalone
hardware device. One Controller is connected to one physical
channel.
Cycle Time See [1, ISO 11898-4]
Dem Diagnostic Event Manager
DLC Data Length Code (part of L-PDU that describes the SDU length)
DLL Data Link Layer
EcuM ECU Manager
Exclusive Time Window See [1, ISO 11898-4]
Gap See [1, ISO 11898-4]
Global Time See [1, ISO 11898-4]
Hardware Object A CAN hardware object is defined as a PDU buffer inside the CAN
RAM of the CAN hardware unit / CAN Controller.
ISR Interrupt Service Routine
JLEF (TTCAN) Job List Execution Function
Job List A TTCAN Job List is a list of (maybe different) Communication
Jobs sorted according to their respective execution start time.
L-PDU Protocol Data Unit for the Data Link Layer (DLL)
Local Time See [1, ISO 11898-4]
Matrix Cycle See [1, ISO 11898-4]
MCAL Microcontroller Abstraction Layer
NTU See [1, ISO 11898-4]
OS (AUTOSAR) Operating System
PduR PDU Router
Reference Message See [1, ISO 11898-4]
SDU Service Data Unit
Single Shot A message will be transmitted only once contrary to Continuous
Transmission.
System Matrix See [1, ISO 11898-4]
Time Gap See [1, ISO 11898-4]
Time Master See [1, ISO 11898-4]
Time Window See [1, ISO 11898-4]
Transmission Column See [1, ISO 11898-4]
TtcanDrv CAN Driver module with enabled TTCAN functionality
TtcanIf CAN Interface module with enabled TTCAN functionality
CanNm CAN Network Management

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CanSM CAN State Manager

CanTp CAN Transport Protocol
TX Transmission or transmit
Tx_Trigger See [1, ISO 11898-4]
UL Upper layer

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3 Related documentation
All documents of the referenced CAN Interface document [2] are also valid for this
document.

3.1 Input documents & related standards and norms

Bibliography
[1] ISO 11898-4:2004 - Road vehicles - Controller area network (CAN) - Part 4: Time-
triggered communication
[2] Specification of CAN Interface
AUTOSAR_SWS_CANInterface
[3] Layered Software Architecture
AUTOSAR_EXP_LayeredSoftwareArchitecture
[4] Glossary
AUTOSAR_TR_Glossary
[5] General Specification of Basic Software Modules
AUTOSAR_SWS_BSWGeneral

3.2 Related specification

AUTOSAR provides a General Specification on Basic Software modules [5, SWS BSW
General], which is also valid for TTCAN Interface.
Thus, the specification SWS BSW General shall be considered as additional and re-
quired specification for TtcanIf.

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4 Constraints and assumptions

The constraints and assumptions of TtcanIf are the same as for CanIf [2].

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5 Dependencies to other modules

5.1 Additional TTCAN specific dependencies to other modules

This section describes the relations to other modules within the AUTOSAR basic soft-
ware architecture. It contains brief descriptions of configuration information and ser-
vices, which are additional required by TtcanIf from other modules. The dependen-
cies described in the referenced CanIf [2] also apply for TtcanIf.

5.1.1 AUTOSAR Operating System

It’s possible to use dedicated Job List Execution Functions (JLEF) for each
TTCAN Controller.
Whether the optional JLEF runs in a task concept or in an ISR is implementation
specific. Refer to section 7.3.

5.1.2 AUTOSAR PDU router

Additional to the data access through CanIf, as described in [2], TtcanIf can call
a JLEF synchronously to the TTCAN Local Time. This shall ensure the request for
data to be sent occur synchronously to the TTCAN Local Time. Within the JLEF
TtcanIf calls the callback function <UL_TriggerTransmit> of PduR in order to
start the copy operation of PDU data. Additionally the JLEF can be used to read out
received data synchronoulsy to the TTCAN Local Time.

5.1.3 Upper Protocol Layers

Inside the AUTOSAR BSW architecture the Upper Layers (UL) of TtcanIf are rep-
resented by the PduR, CanNm, CanTp, CanSM, and EcuM.
If the respective upper layer BSW module does not operate synchronously to the
TTCAN Local Time, all occurrences are asynchronous to the code execution of this
BSW module.

5.1.4 TTCAN Driver

TtcanIf provides additional notification services used by TtcanDrv (refer to sec-

tion 8.5).

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6 Requirements Tracing

Requirement Description Satisfied by

[SRS_BSW_00337] Classification of development errors [SWS_TtCanIf_00007]
[SWS_TtCanIf_00008]
[SWS_TtCanIf_00145]
[SRS_Can_01121] CAN Interface shall be the interface layer [SWS_TtCanIf_00065]
between the underlying CAN Driver(s) and CAN [SWS_TtCanIf_00067]
transceiver Driver(s) and Upper Layers [SWS_TtCanIf_00069]
[SWS_TtCanIf_00070]
[SWS_TtCanIf_00072]
[SWS_TtCanIf_00073]
[SWS_TtCanIf_00074]
[SWS_TtCanIf_00075]
[SWS_TtCanIf_00076]
[SWS_TtCanIf_00077]
[SWS_TtCanIf_00080]
[SWS_TtCanIf_00082]
[SWS_TtCanIf_00083]
[SWS_TtCanIf_00084]
[SWS_TtCanIf_00085]
[SWS_TtCanIf_00086]
[SWS_TtCanIf_00087]
[SWS_TtCanIf_00101]
[SWS_TtCanIf_00102]
[SWS_TtCanIf_00103]
[SWS_TtCanIf_00104]
[SWS_TtCanIf_00105]
[SWS_TtCanIf_00106]
[SWS_TtCanIf_00107]
[SWS_TtCanIf_00108]
[SWS_TtCanIf_00109]
[SWS_TtCanIf_00110]
[SWS_TtCanIf_00112]
[SWS_TtCanIf_00113]
[SWS_TtCanIf_00114]
[SWS_TtCanIf_00115]
[SWS_TtCanIf_00116]
[SWS_TtCanIf_00117]
[SWS_TtCanIf_00119]
[SRS_Can_01131] The CAN Interface module shall provide the [SWS_TtCanIf_00089]
possibility to have polling and callback [SWS_TtCanIf_00090]
notification mechanism in parallel [SWS_TtCanIf_00091]
[SWS_TtCanIf_00092]
[SWS_TtCanIf_00093]
[SWS_TtCanIf_00094]
[SRS_TtCan_41010] A Job List shall be configurable. [SWS_TtCanIf_00002]
[SWS_TtCanIf_00141]
[SWS_TtCanIf_00143]

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[SRS_TtCan_41011] If a Job List is available (see SRS_Tt [SWS_TtCanIf_00004]

Can_41010) it shall be executed by a separate [SWS_TtCanIf_00006]
Job List Execution Function. [SWS_TtCanIf_00007]
[SWS_TtCanIf_00032]
[SWS_TtCanIf_00033]
[SWS_TtCanIf_00079]
[SWS_TtCanIf_00145]
[SRS_TtCan_41013] An occurred severe error (S3) shall be [SWS_TtCanIf_00120]
processed as a BusOff (see SRS_Can_01029 [SWS_TtCanIf_00121]
of CAN SRS) [SWS_TtCanIf_00122]

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7 Functional specification

7.1 General Functionality

Time-triggered CAN is a higher level protocol layer additional to the CAN protocol itself,
which remains unchanged within the time-triggered communication.
This functional specification only provide specifications, which are additional to the
CAN stack, to realize the mode Time Triggered CAN (TTCAN). Nevertheless the im-
plementation shall provide the Standard CAN mode anyway.

7.2 TTCAN Interface State Machine

TtcanIf use the same states as CanIf.

Figure 7.1: Exemplary Startup of TTCAN

7.3 TTCAN Job List

A TTCAN Job List is a list of Communication Jobs sorted according to their re-
spective execution start time.
The TTCAN Job List shall be used if a synchronized copy operation into the Con-
troller is required and/or a synchronized readout of the Controller (optional fea-
ture) shall be realized. Otherwise the normal CAN procedure without a Job List can
be used.
[SWS_TtCanIf_00002] d The Copy Operation into/from the TTCAN Controller shall
be scheduled within a Job List. c(SRS_TtCan_41010)
[SWS_TtCanIf_00143] d For each Controller that is controlled by TtcanIf one
dedicated Job List and one dedicated JLEF (refer to section 7.3) shall be used.
It’s possible to mixture both variants, with and without the usage of a Job List. c
(SRS_TtCan_41010)

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7.4 TTCAN Job List Execution Function

[SWS_TtCanIf_00004] d If a Job List is used, the TTCAN Job List Exe-
cution Function (JLEF) shall execute the Communication Jobs of the Job
List synchronously to the Controller time (i.e. at well-defined points in time). c
(SRS_TtCan_41011)
The execution of JLEF is implementation specific.
[SWS_TtCanIf_00006] d The API names of the JLEF shall obey the following pattern:
• CanIf_TTJobListExec_0() for Controller # 0
• CanIf_TTJobListExec_1() for Controller # 1
• CanIf_TTJobListExec_2() for Controller # 2
• CanIf_TTJobListExec_3() for Controller # 3
• ... and so on, if more than 4 Controllers are supported.
c(SRS_TtCan_41011)
[SWS_TtCanIf_00007] d If the JLEF lost synchronisa-
tion to the Local Time of the TTCAN Controller then
the function Dem_SetEventStatus(CANIF_TT_E_JLE_SYNC,
DEM_EVENT_STATUS_FAILED) shall be called. c(SRS_TtCan_41011,
SRS_BSW_00337)
[SWS_TtCanIf_00145] d If the JLEF was executed successfully,
then the function Dem_SetEventStatus(CANIF_TT_E_JLE_SYNC,
DEM_EVENT_STATUS_PASSED) shall be called. c(SRS_TtCan_41011,
SRS_BSW_00337)
Exemplary the JLEF performs the following steps:
1. Retrieve the cycle time of the Controller by calling
Can_TTGetControllerTime().
• If the cycle time cannot be retrieved
(a) Call Dem_SetEventStatus(CANIF_TT_E_JLE_SYNC,
DEM_EVENT_STATUS_FAILED)
(b) Terminate the execution of JLEF.
• Otherwise, the JLEF continues with step 2.
2. Check whether the JLEF was called by start of new Basic cycle.
• If it is false, continue with step 3.
• Otherwise check whether the next job is scheduled for this Basic cycle.

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– If it is TRUE, set the interrupt timer to the next job’s start time in order to
invoke the JLEF again and terminate the execution of JLEF
– Otherwise terminate execution of JLEF.
3. If the cycle Time delay compared to the job start time is larger than a maxi-
mum delay (configuration parameter CanIfTTMaxIsrDelay), the execution of
the Job List is considered to be asynchronous to the local time and thus the
following actions are performed:
(a) Call Dem_SetEventStatus(CANIF_TT_E_JLE_SYNC,
DEM_EVENT_STATUS_FAILED)
(b) Add some ’safety margin’ (i.e. some timespan which takes jitter into account)
(c) Search the Job List for the subsequent job, i.e. that job with an invocation
time greater than the current Local Time + safety margin.
(d) Search for the next Job List entry, which is valid for the current Basic
Cycle. If the end of the Job List is reached, wrap around to the next
Basic Cycle and continue the search for that respective Basic Cycle.
(e) If the next job is scheduled for this Basic Cycle:
• Schedule next job, exemplary by using the time mark interrupt
• Otherwise disable timer interrupt
(f) Terminate the execution of JLEF.
Otherwise, the JLEF continues with step 4.
4. Retrieve the sorted list of Communication Operations of the current Job pointed
to by the current job pointer and execute the retrieved communication operations
in the configured order.
5. Search for the next Job List entry, which is valid for the current Basic Cycle.
If the end of the Job List is reached, wrap around to the next Basic Cycle
and continue the search for that respective Basic Cycle.
6. If the next job is scheduled for this Basic cycle set the interrupt timer to this job’s
start time Otherwise disable timer interrupt
7. Call Dem_SetEventStatus(CANIF_TT_E_JLE_SYNC,
DEM_EVENT_STATUS_PASSED)
8. Terminate the execution of JLEF.

7.5 Data communication via TTCAN

TTCAN is a deterministic time driven communication system. Each datum that should
be transmitted or received has to be scheduled at system configuration time.

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A detailed description of Synchronization, Transmission Triggering, Reception Trigger-

ing, Initialization and Failure handling can be found in [1, ISO 11898-4].
Additional TTCAN specific requirements:
[SWS_TtCanIf_00141] d If a Job List is configured for a Tx L-PDU (see CanI-
fTTJoblist), a function call of CanIf_Transmit() (see SWS_CanIf_00318) shall
not directly call Can_Write(). The information that a call of CanIf_Transmit()
occurred has to be buffered within TtcanIf until the data is transmitted by the Job
List. c(SRS_TtCan_41010)
Note: The kind of buffering the information of [SWS_TtCanIf_00141] is implementation
specific.
Rationale for [SWS_TtCanIf_00141]: A Job List needs to be configured for HW Ob-
jects which transmit in BasicCAN mode, where one HW Object can be used to
serve different time slots within the TTCAN system matrix. In this case a Job List
has to take care, which message is available in the HW Object at the correct time. A
Can_Write() call directly after CanIf_Transmit() can violate this.

7.6 TTCAN Controller mode

This chapter corresponds to the chapter "‘CAN Controller mode"’ of the [2, CAN Inter-
face SWS].
[SWS_TtCanIf_00120] d If a CanIf Controller mode state machine is either
in state CAN_CS_STARTED, CAN_CS_STOPPED or CAN_CS_SLEEP when func-
tion CanIf_TTSevereError() is called, then CanIf shall call the function
CanSM_ControllerBusOff() for the CAN Network assigned to parameter Con-
troller of CanIf_TTSevereError(). c(SRS_TtCan_41013)
[SWS_TtCanIf_00121] d If a CanIf Controller mode state machine is in state
CAN_CS_STARTED when the function CanIf_TTSevereError(ControllerId,
CanIf_TTSevereError) is called with parameter ControllerId refer-
encing that CanIf Controller mode state machine, then CanIf shall call
Can_SetControllerMode(Controller, CAN_CS_STOPPED) and CanIf shall
call CanSM_ControllerBusOff(ControllerId) of CanSM. c(SRS_TtCan_41013)
These APIs are mapped to a BusOff API of CanSM, because, they indicate a severe
error of the TTCAN Controller. The handling and recovery of such an error is equal
to BusOff.

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7.7 Error classification

7.7.1 Development Errors

There are no development errors.

7.7.2 Runtime Errors

There are no runtime errors.

7.7.3 Transient Faults

There are no transient faults.

7.7.4 Production Errors

There are no production errors.

7.7.5 Extended Production Errors

[SWS_TtCanIf_00008] d Extended Production Errors of TtcanIf are defined in 7.1.

c(SRS_BSW_00337)

Error Name: CANIF_TT_E_JLE_SYNC

Short Description: Lost Synchronization
Long Description: Job List Execution Function lost synchronization to the TTCAN
Local Time.
Detection Criteria: Fail If the JLEF lost synchronization to the Local Time of the TTCAN
Controller (see [SWS_TtCanIf_00007]), e.g.:
• If the cycle time cannot be retrieved
• If the cycle time delay compared to the job start time is larger
than a maximum delay

Pass JLEF was executed without synchronization loss

Secondary Parameters: -
Time Required: depends on cause (e.g. CanIfTTMaxIsrDelay)
Monitor Frequency: continuous (see [SWS_TtCanIf_00007])

Table 7.1: Definition of Extended Production Errors

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8 API specification
In the following sections, the TTCAN specific APIs and types are described.

8.1 Imported types

Additional TTCAN specific imported types
[SWS_TtCanIf_00124] d
Module Header File Imported Type
Can Ttcan.h Can_TTErrorLevelType
Ttcan.h Can_TTMasterStateType
Ttcan.h Can_TTTURType
Ttcan.h Can_TTTimeSourceType
Ttcan.h Can_TTTimeType
Can_GeneralTypes Can_GeneralTypes.h Can_IdType
ComStack_Types ComStackTypes.h PduIdType
ComStackTypes.h PduInfoType
Dem Rte_Dem_Type.h Dem_EventIdType
Rte_Dem_Type.h Dem_EventStatusType
Std_Types StandardTypes.h Std_ReturnType

Table 8.1: TtcanIf_ImportedTypes

c()
Note: PduIdType is missing as of ComStack_Types.

8.2 Type definitions

Additional TTCAN specific type definitions

8.2.1 CanIf_TTTimeType

[SWS_TtCanIf_00059] d
Name: CanIf_TTTimeType
Type: uint16
Description: 16 bit value representing time values of TTCAN, e.g. cycle, local or global
time
Available TtcanIf.h
via:

Table 8.2: CanIf_TTTimeType

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8.2.2 CanIf_TTMasterSlaveModeType

[SWS_TtCanIf_00096] d
Name: CanIf_TTMasterSlaveModeType
Type: Enumeration
Range: CANIF_TT_BACKUP_MASTER – Master-Slave Mode: Backup
master
CANIF_TT_CURRENT_MASTER – Master-Slave Mode: Current
master
CANIF_TT_MASTER_OFF – Master-Slave Mode: Master off
CANIF_TT_SLAVE – Master-Slave Mode: Slave
Description: Master-Slave Mode
Available TtcanIf.h
via:

Table 8.3: CanIf_TTMasterSlaveModeType

c()

8.2.3 CanIf_TTSyncModeEnumType

[SWS_TtCanIf_00097] d
Name: CanIf_TTSyncModeEnumType
Type: Enumeration
Range: CANIF_TT_IN_GAP – Sync mode: In_Gap
CANIF_TT_IN_SCHEDULE – Sync mode: In_Schedule
CANIF_TT_SYNC_OFF – Sync mode: Sync_Off
CANIF_TT_SYNCHRONIZING – Sync mode: Synchronizing
Description: Sync mode
Available TtcanIf.h
via:

Table 8.4: CanIf_TTSyncModeEnumType

c()

8.2.4 CanIf_TTMasterStateType

[SWS_TtCanIf_00060] d
Name: CanIf_TTMasterStateType
Type: Structure
Element: CanIf_TTMaster masterSlaveMode –
SlaveModeType

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uint8 refTriggerOffset current value of ref trigger

offset
CanIf_TTSyncMode syncMode –
EnumType
Description: Master state type including sync mode, master-slave mode and current ref
trigger offset
Available TtcanIf.h
via:

Table 8.5: CanIf_TTMasterStateType

c()

8.2.5 CanIf_TTErrorLevelEnumType

[SWS_TtCanIf_00098] d
Name: CanIf_TTErrorLevelEnumType
Type: Enumeration
Range: CANIF_TT_ERROR_S0 – Error level S0: No Error
CANIF_TT_ERROR_S1 – Error level S1: Warning
CANIF_TT_ERROR_S2 – Error level S2: Error
CANIF_TT_ERROR_S3 – Error level S3: Fatal Error
Description: Error level (S0-S3)
Available TtcanIf.h
via:

Table 8.6: CanIf_TTErrorLevelEnumType

c()

8.2.6 CanIf_TTErrorLevelType

[SWS_TtCanIf_00061] d
Name: CanIf_TTErrorLevelType
Type: Structure
Element: CanIf_TTErrorLevel errorLevel Error Level (S0-S3)
EnumType
uint8 maxMessageStatus Max value of message sta-
Count tus count (0-7)
uint8 minMessageStatus Min value of message sta-
Count tus count (0-7)
Description: TTCAN error level including min and max values of message status count
Available TtcanIf.h
via:

Table 8.7: CanIf_TTErrorLevelType

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8.2.7 CanIf_TTSevereErrorEnumType

[SWS_TtCanIf_00137] d
Name: CanIf_TTSevereErrorEnumType
Type: Enumeration
Range: CANIF_TT_CONFIG_ERROR – Event: see ISO11898-4
CANIF_TT_WATCH_TRIGGER_REACH – Event: Watch Trigger reached
ED
CANIF_TT_APPL_WATCHDOG – Event: see ISO 11898-4
Description: Event that causes a severe error
Available TtcanIf.h
via:

Table 8.8: CanIf_TTSevereErrorEnumType

c()

8.2.8 CanIf_TTTimeSourceType

[SWS_TtCanIf_00063] d
Name: CanIf_TTTimeSourceType
Type: Enumeration
Range: CANIF_TT_CYCLE_TIME – Time source: Cycle Time
CANIF_TT_GLOBAL_TIME – Time source: Global Time
CANIF_TT_LOCAL_TIME – Time source: Local Time
CANIF_TT_UNDEFINED – Time source: Undefined
Description: Time source of time values in TTCAN
Available TtcanIf.h
via:

Table 8.9: CanIf_TTTimeSourceType

c()

8.2.9 CanIf_TTEventEnumType

[SWS_TtCanIf_00099] d
Name: CanIf_TTEventEnumType
Type: Enumeration
Range: CANIF_TT_ERROR_LEVEL_CHANGED – Event: Error Level changed
CANIF_TT_INIT_WATCH_TRIGGER – Event: Init Watch Trigger reached
CANIF_TT_NO_ERROR – No error
CANIF_TT_SYNC_FAILED – Event: Sync failed

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CANIF_TT_TX_OVERFLOW – Event: Tx Overflow

CANIF_TT_TX_UNDERFLOW – Event: Tx Underflow
Description: Event that causes a Timing/Error IRQ
Available TtcanIf.h
via:

Table 8.10: CanIf_TTEventEnumType

c()

8.2.10 CanIf_TTTimingErrorIRQType

[SWS_TtCanIf_00064] d
Name: CanIf_TTTimingErrorIRQType
Type: Structure
Element: CanIf_TTErrorLevel errorLevel Current error level
Type
CanIf_TTEventEnum event Event that caused the IRQ
Type
Description: Combines all events that are reported by CanIf_TTTimingError (event
indication and error level)
Available TtcanIf.h
via:

Table 8.11: CanIf_TTTimingErrorIRQType

c()

8.3 Function definitions

Additional TTCAN specific function definitions

8.3.1 CanIf_TTGetControllerTime

[SWS_TtCanIf_00065] d
Service name: CanIf_TTGetControllerTime
Syntax: Std_ReturnType CanIf_TTGetControllerTime(
uint8 ControllerId,
CanIf_TTTimeType* CanIf_TTGlobalTime,
CanIf_TTTimeType* CanIf_TTLocalTime,
CanIf_TTTimeType* CanIf_TTCycleTime,
uint8* CanIf_TTCycleCount
)
Service ID[hex]: 0x33
Sync/Async: Synchronous

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Reentrancy: Non Reentrant

Parameters (in): ControllerId Controller from which the time information shall be
retrieved
Parameters (inout): None
Parameters (out): CanIf_TTGlobal Address to store return value: Global time
Time
CanIf_TTLocalTime Address to store return value: Local time
CanIf_TTCycleTime Address to store return value: Cycle time
CanIf_TTCycle Address to store return value: Cycle count value
Count
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Gets the current values for the global, local and cycle time and the cycle
count of the controller
Available via: TtcanIf.h

Table 8.12: CanIf_TTGetControllerTime

c(SRS_Can_01121)
[SWS_TtCanIf_00101] d The function CanIf_TTGetControllerTime() shall
call Can_TTGetControllerTime(Controller, Can_TTGlobalTime, CanTT-
LocalTime, Can_TTCycleTime, Can_TTCycleCount). c(SRS_Can_01121)
[SWS_TtCanIf_00010] d If parameter Controller of
CanIf_TTGetControllerTime() has an invalid value and if development
error detection is enabled (i.e. CANIF_DEV_ERROR_DETECT equals ON), the
function CanIf_TTGetControllerTime() shall report development error code
CANIF_E_PARAM_CONTROLLER to the Det_ReportError service of the DET
module. c()
[SWS_TtCanIf_00011] d Caveats of CanIf_TTGetControllerTime(): TtcanIf
has to be initialized before this API service may be called. c()
[SWS_TtCanIf_00066] d If development error detection for TtcanIf is en-
abled: The function CanIf_TTGetControllerTime() shall raise the error
CANIF_E_PARAM_POINTER and shall return E_NOT_OK if one of the parame-
ter CanIf_TTCycleCount, CanIf_TTGlobalTime, CanIf_TTLocalTime and
CanIf_TTCycleTime is a NULL pointer. c()

8.3.2 CanIf_TTGetMasterState

[SWS_TtCanIf_00067] d
Service name: CanIf_TTGetMasterState
Syntax: Std_ReturnType CanIf_TTGetMasterState(
uint8 ControllerId,
CanIf_TTMasterStateType* CanIf_TTMasterState
)
Service ID[hex]: 0x34

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Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller
Parameters (inout): None
Parameters (out): CanIf_TTMaster Address to store return value: Master state
State
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Gets the master state. The master state includes the sync mode
(sync_off, synchronizing, in_gap, in_schedule) the master-slave mode
(master_off, slave, backup_master, current_master) and the current
value for ref trigger offset.
Available via: TtcanIf.h

Table 8.13: CanIf_TTGetMasterState

c(SRS_Can_01121)
[SWS_TtCanIf_00102] d The function CanIf_TTGetMasterState() shall
call Can_TTGetMasterState(Controller, Can_TTMasterState). c
(SRS_Can_01121)
[SWS_TtCanIf_00012] d If parameter Controller of
CanIf_TTGetMasterState() has an invalid value and if development er-
ror detection is enabled (i.e. CANIF_DEV_ERROR_DETECT equals ON), the
function CanIf_TTGetMasterState() shall report development error code
CANIF_E_PARAM_CONTROLLER to the Det_ReportError service of the DET
module. c()
[SWS_TtCanIf_00013] d Caveats of CanIf_TTGetMasterState(): TtcanIf has
to be initialized before this API service may be called. c()
[SWS_TtCanIf_00068] d If development error detection for TtcanIf is
enabled: The function CanIf_TTGetMasterState() shall raise the er-
ror CAN_E_PARAM_POINTER and shall return E_NOT_OK if the parameter
CanIf_TTMasterState is a NULL pointer. c()

8.3.3 CanIf_TTGetNTUActual

[SWS_TtCanIf_00069] d
Service name: CanIf_TTGetNTUActual
Syntax: Std_ReturnType CanIf_TTGetNTUActual(
uint8 ControllerId,
float32 CanIf_TTNTUAct
)
Service ID[hex]: 0x35
Sync/Async: Synchronous

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Reentrancy: Non Reentrant

Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller
Parameters (inout): None
Parameters (out): CanIf_TTNTUAct Address to store return value: Actual value of NTU.
Value is given in microseconds
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Gets the actual value of NTU (network time unit).
Together with the local oscillator period, the actual value of NTU can be
derived from the actual value of TUR.
Available via: TtcanIf.h

Table 8.14: CanIf_TTGetNTUActual

c(SRS_Can_01121)
[SWS_TtCanIf_00103] d The function CanIf_TTGetNTUActual() shall call
Can_TTGetNTUActual(Controller, Can_TTTURAct). c(SRS_Can_01121)
[SWS_TtCanIf_00014] d If parameter Controller of CanIf_TTGetNTUActual()
has an invalid value and if development error detection is enabled (i.e.
CANIF_DEV_ERROR_DETECT equals ON), the function CanIf_TTGetNTUActual()
shall report development error code CANIF_E_PARAM_CONTROLLER to the
Det_ReportError service of the DET module. c()
[SWS_TtCanIf_00015] d Caveats of CanIf_TTGetNTUActual(): TtcanIf has to
be initialized before this API service may be called. c()

8.3.4 CanIf_TTGetErrorLevel

[SWS_TtCanIf_00070] d
Service name: CanIf_TTGetErrorLevel
Syntax: Std_ReturnType CanIf_TTGetErrorLevel(
uint8 ControllerId,
CanIf_TTErrorLevelType* CanIf_TTErrorLevel
)
Service ID[hex]: 0x36
Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller from which the error level shall be re-
trieved
Parameters (inout): None
Parameters (out): CanIf_TTErrorLevel Address to store return value: Error level
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred

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Description: Gets the error level. This includes the severity of the error level (S0-S3)
and the minimum and maximum value of the message status count.
Available via: TtcanIf.h

Table 8.15: CanIf_TTGetErrorLevel

c(SRS_Can_01121)
[SWS_TtCanIf_00104] d The function CanIf_TTGetErrorLevel() shall
call Can_TTGetErrorLevel(Controller, Can_TTErrorLevel). c
(SRS_Can_01121)
[SWS_TtCanIf_00016] d If parameter Controller of CanIf_TTGetErrorLevel()
has an invalid value and if development error detection is enabled (i.e.
CANIF_DEV_ERROR_DETECT equals ON), the function CanIf_TTGetErrorLevel()
shall report development error code CANIF_E_PARAM_CONTROLLER to the
Det_ReportError service of the DET module. c()
[SWS_TtCanIf_00017] d Caveats of CanIf_TTGetErrorLevel(): TtcanIf has to
be initialized before this API service may be called. c()
[SWS_TtCanIf_00071] d If development error detection for TtcanIf is enabled: The
function CanIf_TTGetErrorLevel() shall raise the error CAN_E_PARAM_POINTER
and shall return E_NOT_OK if the parameter CanIf_TTErrorLevel is a NULL pointer.
c()

8.3.5 CanIf_TTSetNextIsGap

[SWS_TtCanIf_00072] d
Service name: CanIf_TTSetNextIsGap
Syntax: Std_ReturnType CanIf_TTSetNextIsGap(
uint8 ControllerId
)
Service ID[hex]: 0x37
Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller
Parameters (inout): None
Parameters (out): None
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Sets the "Next_is_Gap" bit.
Available via: TtcanIf.h

Table 8.16: CanIf_TTSetNextIsGap

c(SRS_Can_01121)

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[SWS_TtCanIf_00105] d The function CanIf_TTSetNextIsGap() shall call

Can_TTSetNextIsGap(Controller). c(SRS_Can_01121)
[SWS_TtCanIf_00018] d If parameter Controller of CanIf_TTSetNextIsGap()
has an invalid value and if development error detection is enabled (i.e.
CANIF_DEV_ERROR_DETECT equals ON), the function CanIf_TTSetNextIsGap()
shall report development error code CANIF_E_PARAM_CONTROLLER to the
Det_ReportError service of the DET module. c()
[SWS_TtCanIf_00019] d Caveats of CanIf_TTSetNextIsGap(): TtcanIf has to
be initialized before this API service may be called. c()

8.3.6 CanIf_TTSetEndOfGap

[SWS_TtCanIf_00073] d
Service name: CanIf_TTSetEndOfGap
Syntax: Std_ReturnType CanIf_TTSetEndOfGap(
uint8 ControllerId
)
Service ID[hex]: 0x38
Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller
Parameters (inout): None
Parameters (out): None
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Signals the end of a gap.
Available via: TtcanIf.h

Table 8.17: CanIf_TTSetEndOfGap

c(SRS_Can_01121)
[SWS_TtCanIf_00106] d The function CanIf_TTSetEndOfGap() shall call
Can_TTSetNextIsGap(Controller). c(SRS_Can_01121)
[SWS_TtCanIf_00020] d If parameter Controller of CanIf_TTSetEndOfGap()
has an invalid value and if development error detection is enabled (i.e.
CANIF_DEV_ERROR_DETECT equals ON), the function CanIf_TTSetEndOfGap()
shall report development error code CANIF_E_PARAM_CONTROLLER to the
Det_ReportError service of the DET module. c()
[SWS_TtCanIf_00021] d Caveats of CanIf_TTSetEndOfGap(): TtcanIf has to be
initialized before this API service may be called. c()

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8.3.7 CanIf_TTSetTimeCommand

[SWS_TtCanIf_00074] d
Service name: CanIf_TTSetTimeCommand
Syntax: Std_ReturnType CanIf_TTSetTimeCommand(
uint8 ControllerId
)
Service ID[hex]: 0x39
Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller
Parameters (inout): None
Parameters (out): None
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Adjusts the global time at the beginning of the next basic cycle by the
amount of "global time preset"
Available via: TtcanIf.h

Table 8.18: CanIf_TTSetTimeCommand

c(SRS_Can_01121)
[SWS_TtCanIf_00107] d The function CanIf_TTSetTimeCommand() shall call
Can_TTSetTimeCommand(Controller). c(SRS_Can_01121)
[SWS_TtCanIf_00022] d If parameter Controller of
CanIf_TTSetTimeCommand() has an invalid value and if development er-
ror detection is enabled (i.e. CANIF_DEV_ERROR_DETECT equals ON), the
function CanIf_TTSetTimeCommand() shall report development error code
CANIF_E_PARAM_CONTROLLER to the Det_ReportError service of the DET
module. c()
[SWS_TtCanIf_00023] d Caveats of CanIf_TTSetTimeCommand(): TtcanIf has
to be initialized before this API service may be called. c()

8.3.8 CanIf_TTGlobalTimePreset

[SWS_TtCanIf_00075] d
Service name: CanIf_TTGlobalTimePreset
Syntax: Std_ReturnType CanIf_TTGlobalTimePreset(
uint8 ControllerId,
CanIf_TTTimeType CanIf_TTGlobalTimePreset
)
Service ID[hex]: 0x3a
Sync/Async: Synchronous
Reentrancy: Non Reentrant

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Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a

CAN
controller
CanIf_TTGlobal New value for "global time preset"
TimePreset
Parameters (inout): None
Parameters (out): None
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Sets the value of "global time preset".
Available via: TtcanIf.h

Table 8.19: CanIf_TTGlobalTimePreset

c(SRS_Can_01121)
[SWS_TtCanIf_00108] d The function CanIf_TTGlobalTimePreset() shall
call Can_TTGlobalTimePreset(Controller, Can_TTGlobalTimePreset). c
(SRS_Can_01121)
[SWS_TtCanIf_00024] d If parameter Controller of
CanIf_TTGlobalTimePreset() has an invalid value and if development er-
ror detection is enabled (i.e. CANIF_DEV_ERROR_DETECT equals ON), the
function CanIf_TTGlobalTimePreset() shall report development error code
CANIF_E_PARAM_CONTROLLER to the Det_ReportError service of the DET
module. c()
[SWS_TtCanIf_00025] d Caveats of CanIf_TTGlobalTimePreset(): TtcanIf
has to be initialized before this API service may be called. c()

8.3.9 CanIf_TTSetExtClockSyncCommand

[SWS_TtCanIf_00076] d
Service name: CanIf_TTSetExtClockSyncCommand
Syntax: Std_ReturnType CanIf_TTSetExtClockSyncCommand(
uint8 ControllerId
)
Service ID[hex]: 0x3b
Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller
Parameters (inout): None
Parameters (out): None
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred

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— AUTOSAR CONFIDENTIAL —
 Specification of TTCAN Interface
AUTOSAR CP Release 4.4.0

Description: Adjusts the NTU (network time unit) according to the value given by "NTU
adjust".
Together with the local oscillator period, "TUR adjust" can be derived
from "NTU adjust".
Available via: TtcanIf.h

Table 8.20: CanIf_TTSetExtClockSyncCommand

c(SRS_Can_01121)
[SWS_TtCanIf_00109] d The function CanIf_TTSetExtClockSyncCommand()
shall call Can_TTSetExtClockSyncCommand(Controller). c(SRS_Can_01121)
[SWS_TtCanIf_00026] d If parameter Controller of
CanIf_TTSetExtClockSyncCommand() has an invalid value and if develop-
ment error detection is enabled (i.e. CANIF_DEV_ERROR_DETECT equals ON), the
function CanIf_TTSetExtClockSyncCommand() shall report development error
code CANIF_E_PARAM_CONTROLLER to the Det_ReportError service of the DET
module. c()
[SWS_TtCanIf_00027] d Caveats of CanIf_TTSetExtClockSyncCommand():
TtcanIf has to be initialized before this API service may be called. c()

8.3.10 CanIf_TTSetNTUAdjust

[SWS_TtCanIf_00077] d
Service name: CanIf_TTSetNTUAdjust
Syntax: Std_ReturnType CanIf_TTSetNTUAdjust(
uint8 ControllerId,
float32 CanIf_TTNTUAdjust
)
Service ID[hex]: 0x3c
Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller
CanIf_TTNTUAdjust New value for "NTU adjust".
Value is given in microseconds.
Parameters (inout): None
Parameters (out): None
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Sets the value of "NTU adjust".
Together with the local oscillator period, "TUR adjust" can be derived
from "NTU adjust".
Available via: TtcanIf.h

Table 8.21: CanIf_TTSetNTUAdjust

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— AUTOSAR CONFIDENTIAL —
 Specification of TTCAN Interface
AUTOSAR CP Release 4.4.0

c(SRS_Can_01121)
[SWS_TtCanIf_00110] d The function CanIf_TTSetNTUAdjust() shall call
Can_TTSetNTUAdjust(Controller, Can_TTNTUAdjust). c(SRS_Can_01121)
[SWS_TtCanIf_00028] d If parameter Controller of CanIf_TTSetNTUAdjust()
has an invalid value and if development error detection is enabled (i.e.
CANIF_DEV_ERROR_DETECT equals ON), the function CanIf_TTSetNTUAdjust()
shall report development error code CANIF_E_PARAM_CONTROLLER to the
Det_ReportError service of the DET module. c()
[SWS_TtCanIf_00029] d Caveats of CanIf_TTSetNTUAdjust(): TtcanIf has to
be initialized before this API service may be called. c()

8.4 Optional Function definitions

Additional optional TTCAN specific function definitions

8.4.1 CanIf_TTJobListExec_<Controller>

[SWS_TtCanIf_00079] d
Service name: CanIf_TTJobListExec_<Controller>
Syntax: void CanIf_TTJobListExec_<Controller>(
void
)
Service ID[hex]: 0x50
Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): None
Parameters (inout): None
Parameters (out): None
Return value: None
Description: Processes the job list of the TTCAN controller <Controller>.
Available via: TtcanIf.h

Table 8.22: CanIf_TTJobListExec_<Controller>

c(SRS_TtCan_41011)
[SWS_TtCanIf_00032] d The function CanIf_TTJobListExec_<Controller>()
shall exist once per TTCAN Controller, which use a Job List. c
(SRS_TtCan_41011)
[SWS_TtCanIf_00033] d The function name of each instance of
CanIf_TTJobListExec_<Controller>() shall contain the index of the re-
spective TTCAN Controller. c(SRS_TtCan_41011)

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 Specification of TTCAN Interface
AUTOSAR CP Release 4.4.0

[SWS_TtCanIf_00034] d Caveats of CanIf_TTJobListExec_<Controller>():

TtcanIf has to be initialized before this API service may be called. c()
For each TTCAN Controller (identified by index Controller), the execution of
CanIf_TTJobListExec_<Controller>() can either run in a regular OS task or it
is registered in the AUTOSAR OS as ISR, triggered by the TTCAN Controller.

8.4.2 CanIf_TTGetSyncQuality

[SWS_TtCanIf_00080] d
Service name: CanIf_TTGetSyncQuality
Syntax: Std_ReturnType CanIf_TTGetSyncQuality(
uint8 ControllerId,
boolean* CanIf_TTClockSpeed,
boolean* CanIf_TTGlobalTimePhase
)
Service ID[hex]: 0x47
Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller
Parameters (inout): None
Parameters (out): CanIf_TTClock Address to store return value: True if the synchro-
Speed nization deviation is smaller than the "Synchroniza-
tion deviation limit"
CanIf_TTGlobal Address to store return value: True if the the global
TimePhase time is in phase with the time master.
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Gets the synchronization quality.
Available via: TtcanIf.h

Table 8.23: CanIf_TTGetSyncQuality

c(SRS_Can_01121)
[SWS_TtCanIf_00112] d The function CanIf_TTGetSyncQuality()
shall call Can_TTGetSyncQuality(Controller, Can_TTClockSpeed,
Can_TTGlobalTimePhase). c(SRS_Can_01121)
[SWS_TtCanIf_00035] d If parameter Controller of
CanIf_TTGetSyncQuality() has an invalid value and if development er-
ror detection is enabled (i.e. CANIF_DEV_ERROR_DETECT equals ON), the
function CanIf_TTGetSyncQuality() shall report development error code
CANIF_E_PARAM_CONTROLLER to the Det_ReportError service of the DET
module. c()
[SWS_TtCanIf_00036] d Caveats of CanIf_TTGetSyncQuality(): TtcanIf has
to be initialized before this API service may be called. c()

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 Specification of TTCAN Interface
AUTOSAR CP Release 4.4.0

[SWS_TtCanIf_00081] d If development error detection for TtcanIf is en-

abled: The function CanIf_TTGetSyncQuality() shall raise the error
CAN_E_PARAM_POINTER and shall return E_NOT_OK if one of the parameter
CanIf_ClockSpeed and CanIf_GlobalTimePhase is a NULL pointer. c()

8.4.3 CanIf_TTSetTimeMark

[SWS_TtCanIf_00082] d
Service name: CanIf_TTSetTimeMark
Syntax: Std_ReturnType CanIf_TTSetTimeMark(
uint8 ControllerId,
CanIf_TTTimeType CanIf_TTTimeMark,
CanIf_TTTimeSourceType CanIf_TTTimeSource
)
Service ID[hex]: 0x48
Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller
CanIf_TTTimeMark Gives the value of the time mark to be set.
CanIf_TTTime Defines the time source for the time mark to be set.
Source
Parameters (inout): None
Parameters (out): None
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Sets a new value for the time mark for the given time source.
Available via: TtcanIf.h

Table 8.24: CanIf_TTSetTimeMark

c(SRS_Can_01121)
[SWS_TtCanIf_00113] d The function CanIf_TTSetTimeMark()
shall call Can_TTSetTimeMark(Controller, Can_TTTimeMark,
Can_TTTimeSource). c(SRS_Can_01121)
[SWS_TtCanIf_00037] d If parameter Controller of CanIf_TTSetTimeMark()
has an invalid value and if development error detection is enabled (i.e.
CANIF_DEV_ERROR_DETECT equals ON), the function CanIf_TTSetTimeMark()
shall report development error code CANIF_E_PARAM_CONTROLLER to the
Det_ReportError service of the DET module. c()
[SWS_TtCanIf_00038] d Caveats of CanIf_TTSetTimeMark(): TtcanIf has to be
initialized before this API service may be called. c()

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 Specification of TTCAN Interface
AUTOSAR CP Release 4.4.0

8.4.4 CanIf_TTCancelTimeMark

[SWS_TtCanIf_00083] d
Service name: CanIf_TTCancelTimeMark
Syntax: Std_ReturnType CanIf_TTCancelTimeMark(
uint8 ControllerId
)
Service ID[hex]: 0x49
Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller
Parameters (inout): None
Parameters (out): None
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Cancels the time mark.
Available via: TtcanIf.h

Table 8.25: CanIf_TTCancelTimeMark

c(SRS_Can_01121)
[SWS_TtCanIf_00114] d The function CanIf_TTCancelTimeMark() shall call
Can_TTCancelTimeMark(Controller). c(SRS_Can_01121)
[SWS_TtCanIf_00039] d If parameter Controller of
CanIf_TTCancelTimeMark() has an invalid value and if development er-
ror detection is enabled (i.e. CANIF_DEV_ERROR_DETECT equals ON), the
function CanIf_TTCancelTimeMark() shall report development error code
CANIF_E_PARAM_CONTROLLER to the Det_ReportError service of the DET
module. c()
[SWS_TtCanIf_00040] d Caveats of CanIf_TTCancelTimeMark(): TtcanIf has
to be initialized before this API service may be called. c()

8.4.5 CanIf_TTAckTimeMark

[SWS_TtCanIf_00084] d
Service name: CanIf_TTAckTimeMark
Syntax: Std_ReturnType CanIf_TTAckTimeMark(
uint8 ControllerId
)
Service ID[hex]: 0x4a
Sync/Async: Synchronous
Reentrancy: Non Reentrant

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 Specification of TTCAN Interface
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Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a

CAN
controller
Parameters (inout): None
Parameters (out): None
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Acknowledges the time mark interrupt by resetting the flag in the interrupt
vector register.
Available via: TtcanIf.h

Table 8.26: CanIf_TTAckTimeMark

c(SRS_Can_01121)
[SWS_TtCanIf_00115] d The function CanIf_TTAckTimeMark() shall call
Can_TTAckTimeMark(Controller). c(SRS_Can_01121)
[SWS_TtCanIf_00041] d If parameter Controller of CanIf_TTAckTimeMark()
has an invalid value and if development error detection is enabled (i.e.
CANIF_DEV_ERROR_DETECT equals ON), the function CanIf_TTAckTimeMark()
shall report development error code CANIF_E_PARAM_CONTROLLER to the
Det_ReportError service of the DET module. c()
[SWS_TtCanIf_00042] d Caveats of CanIf_TTAckTimeMark(): TtcanIf has to be
initialized before this API service may be called. c()

8.4.6 CanIf_TTEnableTimeMarkIRQ

[SWS_TtCanIf_00085] d
Service name: CanIf_TTEnableTimeMarkIRQ
Syntax: Std_ReturnType CanIf_TTEnableTimeMarkIRQ(
uint8 ControllerId
)
Service ID[hex]: 0x4b
Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller
Parameters (inout): None
Parameters (out): None
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Enables the time mark interrupt.
Available via: TtcanIf.h

Table 8.27: CanIf_TTEnableTimeMarkIRQ

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 Specification of TTCAN Interface
AUTOSAR CP Release 4.4.0

c(SRS_Can_01121)
[SWS_TtCanIf_00116] d The function CanIf_TTEnableTimeMarkIRQ() shall call
Can_TTEnableTimeMarkIRQ(Controller). c(SRS_Can_01121)
[SWS_TtCanIf_00043] d If parameter Controller of
CanIf_TTEnableTimeMarkIRQ() has an invalid value and if development
error detection is enabled (i.e. CANIF_DEV_ERROR_DETECT equals ON), the
function CanIf_TTEnableTimeMarkIRQ() shall report development error code
CANIF_E_PARAM_CONTROLLER to the Det_ReportError service of the DET
module. c()
[SWS_TtCanIf_00044] d Caveats of CanIf_TTEnableTimeMarkIRQ(): TtcanIf
has to be initialized before this API service may be called. c()

8.4.7 CanIf_TTDisableTimeMarkIRQ

[SWS_TtCanIf_00086] d
Service name: CanIf_TTDisableTimeMarkIRQ
Syntax: Std_ReturnType CanIf_TTDisableTimeMarkIRQ(
uint8 ControllerId
)
Service ID[hex]: 0x4c
Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller
Parameters (inout): None
Parameters (out): None
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Disables the time mark interrupt.
Available via: TtcanIf.h

Table 8.28: CanIf_TTDisableTimeMarkIRQ

c(SRS_Can_01121)
[SWS_TtCanIf_00117] d The function CanIf_TTDisableTimeMarkIRQ() shall call
Can_TTDisableTimeMarkIRQ(Controller). c(SRS_Can_01121)
[SWS_TtCanIf_00045] d If parameter Controller of
CanIf_TTDisableTimeMarkIRQ() has an invalid value and if development
error detection is enabled (i.e. CANIF_DEV_ERROR_DETECT equals ON), the func-
tion CanIf_TTDisableTimeMarkIRQ() shall report development error code
CANIF_E_PARAM_CONTROLLER to the Det_ReportError service of the DET
module. c()

39 of 60 Document ID 433: AUTOSAR_SWS_TTCANInterface

— AUTOSAR CONFIDENTIAL —
 Specification of TTCAN Interface
AUTOSAR CP Release 4.4.0

[SWS_TtCanIf_00046] d Caveats of CanIf_TTDisableTimeMarkIRQ(): TtcanIf

has to be initialized before this API service may be called. c()

8.4.8 CanIf_TTGetTimeMarkIRQStatus

[SWS_TtCanIf_00087] d
Service name: CanIf_TTGetTimeMarkIRQStatus
Syntax: Std_ReturnType CanIf_TTGetTimeMarkIRQStatus(
uint8 ControllerId,
boolean* CanIf_TTIRQStatus
)
Service ID[hex]: 0x4d
Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller
Parameters (inout): None
Parameters (out): CanIf_TTIRQStatus Address to store return value: True if the timer for
the time mark is pending.
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Gets the IRQ status of the time mark.
Available via: TtcanIf.h

Table 8.29: CanIf_TTGetTimeMarkIRQStatus

c(SRS_Can_01121)
[SWS_TtCanIf_00119] d The function CanIf_TTGetTimeMarkIRQStatus() shall
call Can_TTGetTimeMarkIRQStatus(Controller, Can_TTIRQStatus). c
(SRS_Can_01121)
[SWS_TtCanIf_00047] d If parameter Controller of
CanIf_TTGetTimeMarkIRQStatus() has an invalid value and if development
error detection is enabled (i.e. CANIF_DEV_ERROR_DETECT equals ON), the func-
tion CanIf_TTGetTimeMarkIRQStatus() shall report development error code
CANIF_E_PARAM_CONTROLLER to the Det_ReportError service of the DET
module. c()
[SWS_TtCanIf_00048] d Caveats of CanIf_TTGetTimeMarkIRQStatus():
TtcanIf has to be initialized before this API service may be called. c()
[SWS_TtCanIf_00088] d If development error detection for TtcanIf is en-
abled: The function CanIf_TTGetTimeMarkIRQStatus() shall raise the er-
ror CAN_E_PARAM_POINTER and shall return E_NOT_OK if the parameter
CanIf_IRQStatus is a NULL pointer. c()

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— AUTOSAR CONFIDENTIAL —
 Specification of TTCAN Interface
AUTOSAR CP Release 4.4.0

8.5 Scheduled Functions

Additional TTCAN specific function definitions
TtcanIf has no additional scheduled functions.

8.6 Callback Notifications

This is a list of functions provided for other modules.
Additional TTCAN specific callback notifications
The callback notification specified within this chapter will be called by the CAN Driver
module either in context of a main function or an interrupt.

8.6.1 CanIf_TTApplWatchdogError

[SWS_TtCanIf_00089] d
Service name: CanIf_TTApplWatchdogError
Syntax: Std_ReturnType CanIf_TTApplWatchdogError(
uint8 ControllerId
)
Service ID[hex]: 0x5b
Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller for which the application watchdog error
shall be reported.
Parameters (inout): None
Parameters (out): None
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Reports an application watchdog error.
Available via: TtcanIf.h

Table 8.30: CanIf_TTApplWatchdogError

c(SRS_Can_01131)
[SWS_TtCanIf_00050] d If parameter ControllerId of
CanIf_TTApplWatchdogError() has an invalid value and if development er-
ror detection is enabled (i.e. CANIF_DEV_ERROR_DETECT equals ON), then the
function CanIf_TTApplWatchdogError() shall report development error code
CANIF_E_PARAM_CONTROLLER to the Det_ReportError service of the DET
module. c()

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 Specification of TTCAN Interface
AUTOSAR CP Release 4.4.0

8.6.2 CanIf_TTTimingError

[SWS_TtCanIf_00090] d
Service name: CanIf_TTTimingError
Syntax: Std_ReturnType CanIf_TTTimingError(
uint8 ControllerId,
CanIf_TTTimingErrorIRQType CanIf_TTTimingErrorIRQ
)
Service ID[hex]: 0x5c
Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller for which the timing error shall be re-
ported.
CanIf_TTTiming Type of timing error.
ErrorIRQ
Parameters (inout): None
Parameters (out): None
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Reports one of the following errors:
- Change of error level
- Tx overflow / underflow
- Synchronization failed
- Init watch trigger
Available via: TtcanIf.h

Table 8.31: CanIf_TTTimingError

c(SRS_Can_01131)
Note: This callback service is called by the CAN Driver module (supporting TTCAN)
and implemented in the CAN Interface module (supporting TTCAN). It is called if er-
ror level S1 or S2 (see [1, ISO 11898-4]) have been detected in the corresponding
controller.
[SWS_TtCanIf_00051] d If parameter ControllerId of CanIf_TTTimingError()
has an invalid value and if development error detection is en-
abled (i.e. CANIF_DEV_ERROR_DETECT equals ON), then the func-
tion CanIf_TTTimingError() shall report development error code
CANIF_E_PARAM_CONTROLLER to the Det_ReportError service of the DET
module. c()

8.6.3 CanIf_TTSevereError

[SWS_TtCanIf_00122] d
Service name: CanIf_TTSevereError

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 Specification of TTCAN Interface
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Syntax: void CanIf_TTSevereError(

uint8 ControllerId,
CanIf_TTSevereErrorEnumType CanIf_TTSevereError
)
Service ID[hex]: 0x5c
Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller at which the severe error occured
CanIf_TTSevere type of severe error
Error
Parameters (inout): None
Parameters (out): None
Return value: None
Description: Reports one of the following errors:
- failed to serve appl. watchdog
- config error
- watch trigger reached
Available via: TtcanIf.h

Table 8.32: CanIf_TTSevereError

c(SRS_TtCan_41013)
Note: This callback service is called by the CAN Driver module (supporting TTCAN)
and implemented in the CAN Interface module (supporting TTCAN). It is called if error
level S3 (severe error, see [1, ISO 11898-4]) has been detected in the corresponding
controller.
[SWS_TtCanIf_00123] d If parameter ControllerId of CanIf_TTSevereError()
has an invalid value and if development error detection is en-
abled (i.e. CANIF_DEV_ERROR_DETECT equals ON), then the func-
tion CanIf_TTSevereError() shall report development error code
CANIF_E_PARAM_CONTROLLER to the Det_ReportError service of the DET
module. c()

8.6.4 CanIf_TTGap

[SWS_TtCanIf_00091] d
Service name: CanIf_TTGap
Syntax: Std_ReturnType CanIf_TTGap(
uint8 ControllerId
)
Service ID[hex]: 0x5d
Sync/Async: Synchronous
Reentrancy: Non Reentrant

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 Specification of TTCAN Interface
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Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a

CAN
controller for which the gap shall be reported.
Parameters (inout): None
Parameters (out): None
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Reports the occurrence of a gap.
Available via: TtcanIf.h

Table 8.33: CanIf_TTGap

c(SRS_Can_01131)
[SWS_TtCanIf_00052] d If parameter ControllerId of CanIf_TTGap()
has an invalid value and if development error detection is enabled (i.e.
CANIF_DEV_ERROR_DETECT equals ON), then the function CanIf_TTGap()
shall report development error code CANIF_E_PARAM_CONTROLLER to the
Det_ReportError service of the DET module. c()

8.6.5 CanIf_TTStartOfCycle

[SWS_TtCanIf_00092] d
Service name: CanIf_TTStartOfCycle
Syntax: Std_ReturnType CanIf_TTStartOfCycle(
uint8 ControllerId,
uint8 CanIf_TTCycleCount
)
Service ID[hex]: 0x5e
Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller for which the start of cycle shall be re-
ported.
CanIf_TTCycle Cycle count value for the cycle that is started
Count
Parameters (inout): None
Parameters (out): None
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Reports the start of a basic cycle.
Available via: TtcanIf.h

Table 8.34: CanIf_TTStartOfCycle

c(SRS_Can_01131)

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 Specification of TTCAN Interface
AUTOSAR CP Release 4.4.0

[SWS_TtCanIf_00053] d If parameter ControllerId of

CanIf_TTStartOfCycle() has an invalid value and if development error
detection is enabled (i.e. CANIF_DEV_ERROR_DETECT equals ON), then the
function CanIf_TTStartOfCycle() shall report development error code
CANIF_E_PARAM_CONTROLLER to the Det_ReportError service of the DET
module. c()

8.6.6 CanIf_TTTimeDisc

[SWS_TtCanIf_00093] d
Service name: CanIf_TTTimeDisc
Syntax: Std_ReturnType CanIf_TTTimeDisc(
uint8 ControllerId
)
Service ID[hex]: 0x5f
Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller for which the time discontinuity shall be
reported.
Parameters (inout): None
Parameters (out): None
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Reports a time discontinuity.
Available via: TtcanIf.h

Table 8.35: CanIf_TTTimeDisc

c(SRS_Can_01131)
[SWS_TtCanIf_00054] d If parameter ControllerId of CanIf_TTTimeDisc()
has an invalid value and if development error detection is enabled (i.e.
CANIF_DEV_ERROR_DETECT equals ON), then the function CanIf_TTTimeDisc()
shall report development error code CANIF_E_PARAM_CONTROLLER to the
Det_ReportError service of the DET module. c()

8.6.7 CanIf_TTMasterStateChange

[SWS_TtCanIf_00094] d
Service name: CanIf_TTMasterStateChange
Syntax: Std_ReturnType CanIf_TTMasterStateChange(
uint8 ControllerId,
CanIf_TTMasterStateType CanIf_TTMasterState
)
Service ID[hex]: 0x60

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 Specification of TTCAN Interface
AUTOSAR CP Release 4.4.0

Sync/Async: Synchronous
Reentrancy: Non Reentrant
Parameters (in): ControllerId Abstracted CanIf ControllerId which is assigned to a
CAN
controller for which the master state change shall be
reported.
CanIf_TTMaster Master state including sync mode, master-slave
State mode and current ref trigger offset
Parameters (inout): None
Parameters (out): None
Return value: Std_ReturnType E_OK: Function successful
E_NOT_OK: Development error occurred
Description: Reports change of the master state between potential and current mas-
ter.
Available via: TtcanIf.h

Table 8.36: CanIf_TTMasterStateChange

c(SRS_Can_01131)
[SWS_TtCanIf_00055] d If parameter ControllerId of
CanIf_TTMasterStateChange() has an invalid value and if development er-
ror detection is enabled (i.e. CANIF_DEV_ERROR_DETECT equals ON), then the
function CanIf_TTMasterStateChange() shall report development error code
CANIF_E_PARAM_CONTROLLER to the Det_ReportError service of the DET
module. c()

8.7 Expected interfaces

8.7.1 Mandatory interfaces

Additional TTCAN specific mandatory interfaces

In this chapter defines all interfaces, required from other modules are listed.
[SWS_TtCanIf_00056] d
API function Header File Description
Can_TTGetControllerTime Ttcan.h Gets the current values for the
global, local and cycle time and the
cycle count of the controller
Can_TTGetErrorLevel Ttcan.h Gets the error level. This includes
the severity of the error level (S0-
S3) and the minimum and maximum
value of the message status count.

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Can_TTGetMasterState Ttcan.h Gets the master state. The mas-

ter state includes the sync mode
(sync_off, synchronizing, in_gap,
in_schedule) the master-slave mode
(master_off, slave, backup_mas-
ter, current_master) and the current
value for ref trigger offset.
Can_TTGetNTUActual Ttcan.h Gets the actual value of NTU (net-
work time unit).
Together with the local oscillator pe-
riod, the actual value of NTU can
be derived from the actual value of
TUR.
Can_TTGlobalTimePreset Ttcan.h Sets the value of "global time pre-
set".
Can_TTSetEndOfGap Ttcan.h Signals the end of a gap.
Can_TTSetExtClockSyncCommand Ttcan.h Adjusts the NTU (network time unit)
according to the value given by
"NTU adjust".
Together with the local oscillator pe-
riod, "TUR adjust" can be derived
from "NTU adjust".
Can_TTSetNextIsGap Ttcan.h Sets the "Next_is_Gap" bit.
Can_TTSetNTUAdjust Ttcan.h Sets the value of "NTU adjust".
Together with the local oscillator pe-
riod, "TUR adjust" can be derived
from "NTU adjust".
Can_TTSetTimeCommand Ttcan.h Adjusts the global time at the begin-
ning of the next basic cycle by the
amount of "global time preset"
Dem_SetEventStatus Dem.h Called by SW-Cs or BSW modules
to report monitor status information
to the Dem. BSW modules calling
Dem_SetEventStatus can safely ig-
nore the return value.

Table 8.37: TtcanIf Mandatory Interfaces

c()

8.7.2 Optional Interfaces

Additional TTCAN specific optional interfaces

This chapter defines all interfaces which are required to fulfill an optional functionality
of the module.
[SWS_TtCanIf_00057] d
API function Header File Description

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Can_TTAckTimeMark Ttcan.h Acknowledges the time mark inter-

rupt by resetting the flag in the inter-
rupt vector register.
Can_TTCancelTimeMark Ttcan.h Cancels the time mark.
Can_TTDisableTimeMarkIRQ Ttcan.h Disables the time mark interrupt.
Can_TTEnableTimeMarkIRQ Ttcan.h Enables the time mark interrupt.
Can_TTGetSyncQuality Ttcan.h Gets the synchronization quality.
Can_TTGetTimeMarkIRQStatus Ttcan.h Gets the IRQ status of the time
mark.
Can_TTReceive Ttcan.h Reads received data from the con-
troller by returning the pointer of the
CanID, the DLC and the Data of the
message in the requested HRH.
Can_TTSetTimeMark Ttcan.h Sets a new value for the time mark
for the given time source.

Table 8.38: TtcanIf Optional Interfaces

c()

8.7.3 Configurable Interfaces

Additional TTCAN specific configurable interfaces

This chapter lists all interfaces where the target API service of any upper layer, which
require one or more of these mentioned interfaces to be called has to be set up by
static configuration of TtcanIf. The target function is usually a call-back function. The
names of these kinds of interfaces are not fixed because they are configurable.

8.7.3.1 <User_TriggerTransmit>

[SWS_TtCanIf_00058] d
Service name: <User_TriggerTransmit>
Syntax: Std_ReturnType <User_TriggerTransmit>(
PduIdType TxPduId,
PduInfoType* PduInfoPtr
)
Sync/Async: Synchronous
Reentrancy: Reentrant for different PduIds. Non reentrant for the same PduId.
Parameters (in): TxPduId ID of the SDU that is requested to be transmitted.
Parameters (inout): PduInfoPtr Contains a pointer to a buffer (SduDataPtr) to where
the SDU data shall be copied, and the available
buffer size in SduLengh.
On return, the service will indicate the length of the
copied SDU data in SduLength.
Parameters (out): None

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Return value: Std_ReturnType E_OK: SDU has been copied and SduLength indi-
cates the number of copied bytes.
E_NOT_OK: No SDU data has been copied. PduIn-
foPtr must not be used since it may contain a NULL
pointer or point to invalid data.
Description: Within this API, the upper layer module (called module) shall check
whether the available data fits into the buffer size reported by PduInfoPtr-
>SduLength. If it fits, it shall copy its data into the buffer provided by
PduInfoPtr->SduDataPtr and update the length of the actual copied data
in PduInfoPtr->SduLength. If not, it returns E_NOT_OK without changing
PduInfoPtr.
Available via: <none>

Table 8.39: <User_TriggerTransmit>

c()
When calling the PduR, this function has to be named
<User_TriggerTransmit>().
This API service of an upper layer BSW module <User_> (e.g. PduR) is called by
TtcanIf to request from this upper layer BSW module that the PDU with index Tx-
PduId has to be copied to the location in a temporary L-SDU buffer of TtcanIf to
which this part of PduInfoPtr points.
[SWS_TtCanIf_00144] d If during JLEF <User_TriggerTransmit>() returns
E_NOT_OK, TtcanIf shall not call Can_Write() afterwards (see Figure 9.1).
Figure 9.1 shows only the case when <User_TriggerTransmit>() returns E_OK.
c()
Reason for [SWS_TtCanIf_00144]: It is possible that e.g. the PDU is not available in
COM module. This may be due to a stopped PDU group in COM module. Caveats of
<User_TriggerTransmit>(): This API service is called during the execution of the
TTCAN JLEF.

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9 Sequence diagrams
The following sequence diagrams show the interactions of TtcanIf additional to the
CAN Interface.

9.1 Transmission with JobList (TriggerTransmit with decoupled

buffer access)
CanIf User Interrupt Service «module» «module»
Routine CanIf Can

CanIf_Transmit(return, PduIdType, const PduInfoType*)

CanIf_Transmit()

CanIf_TTJobListExec_<Controller>()

   

Set TtcanIf_SduPtr to a temporary L-SDU buffer in the TtcanIf()

<UL_TriggerTransmit>(Std_ReturnType,
PduInfoType*)

Copy PDU to location

*TtcanIf_SduPtr()
<UL_TriggerTransmit>()

Can_Write(Std_ReturnType, Can_HwHandleType, const Can_PduType*)

Copy L-SDU into hardwa

Can_Write()

TtcanIf_JobListExec_<Controller>()

Figure 9.1: CAN Interface Time Triggered transmission with Job List

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9.2 Reception with Joblist

CanIf User Interrupt Service «module» «module»
Routine CanIf Can

CanIf_TTJobListExec_<Controller>()

    

Can_TTReceive(uint8, uint8, Can_IdType*, uint8*, uint8*)

Can_TTReceive()

Software filtering (optional) and L-PDU

assignment

   
   
    [CAN L-PDU ID was found]: DLC Check (optional)
 

<User_RxIndication>(PduIdType, const PduInfoType*)

Copy_Data()

Copy_Data()

<User_RxIndication>()

CanIf_TTJobListExec_<Controller>()

Figure 9.2: CAN Interface Time Triggered reception with Job List

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9.3 Job List Execution Function

Figure 9.3: CAN Interface Time Triggered Job List Execution Function (JLEF)

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10 Configuration specification
In general, this chapter defines configuration parameters and their clustering into
containers. For general information about the definition of containers and param-
eters, refer to the [5, chapter 10.1 "Introduction to configuration specification" in
SWS_BSWGeneral].
section 10.1 specifies the structure (containers) and the parameters of TtcanIf.
section 10.2 specifies published information of TtcanIf.

10.1 Containers and configuration parameters

Additional TTCAN specific configuration parameters
CanIfPrivateCfg: CanIfTTGeneral:
CanIfTTJoblist: EcucBooleanParamDef
EcucParamConfContainerDef EcucParamConfContainerDef +parameter
defaultValue = FALSE
upperMultiplicity = 1
+subContainer lowerMultiplicity = 0

CanIfTTMaxIsrDelay:
+parameter EcucIntegerParamDef

min = 0
max = 0xFFFF

+subContainer CanIfTTDemEventParameterRefs:
EcucParamConfContainerDef

lowerMultiplicity = 0
upperMultiplicity = 1

CanIfSupportTTCAN:
+parameter
EcucBooleanParamDef
+reference
defaultValue = FALSE
CANIF_TT_E_JLE_SYNC: EcucReferenceDef

lowerMultiplicity = 0
upperMultiplicity = 1
requiresSymbolicNameValue = true

+destination
DemEventId:
DemEventParameter: EcucIntegerParamDef
EcucParamConfContainerDef +parameter
max = 65535
upperMultiplicity = 65535 min = 1
lowerMultiplicity = 1 symbolicNameValue = true

Figure 10.1: CAN Interface Time Triggered Private Configuration

The parameter CanIfSupportTTCAN is described in Specification of [2, CAN Inter-

face SWS, ECUC_CanIf_00675].

10.1.1 CanIfTTGeneral

SWS Item [ECUC_CanIf_00005]

Container Name CanIfTTGeneral

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Description CanIfTTGeneral is specified in the SWS TTCAN Interface and defines

if and in which way TTCAN is supported.

This container is only included and valid if TTCAN is supported by the

controller, enabled (see CanIfSupportTTCAN, ECUC_CanIf_00675),
and used.
Configuration Parameters

Name CanIfTTJoblist [ECUC_CanIf_00126]

Parent Container CanIfTTGeneral
Description Defines whether TTCAN is processed via a joblist. TRUE: Joblist is
used. FALSE: No joblist is used.

This parameter is only configurable if TTCAN is enabled by parameter

CanIfSupportTTCAN.
Multiplicity 1
Type EcucBooleanParamDef
Default Value false
Post-Build Variant false
Value
Value Configuration Pre-compile time X All Variants
Class
Link time –
Post-build time –
Scope / Dependency scope: local
dependency: CanIfSupportTTCAN

Name CanIfTTMaxIsrDelay [ECUC_CanIf_00127]

Parent Container CanIfTTGeneral
Description Defines the maximum delay for the execution of the joblist execution
function JLEF. This parameter is only configurable if a joblist is enabled
by parameter CanIfTTJobList.
Multiplicity 1
Type EcucIntegerParamDef
Range 0 .. 65535
Default Value
Post-Build Variant true
Value
Value Configuration Pre-compile time X VARIANT-PRE-COMPILE
Class
Link time X VARIANT-LINK-TIME
Post-build time X VARIANT-POST-BUILD
Scope / Dependency scope: local
dependency: CanIfTTJobList

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Included Containers
Container Name Multiplicity Scope / Dependency
CanIfTTDemEvent 0..1 Container for the references to DemEventParameter
ParameterRefs elements which shall be invoked using the API
Dem_SetEventStatus in case the corresponding error
occurs. The EventId is taken from the referenced
DemEventParameter’s DemEventId symbolic value. The
standardized errors are provided in this container and
can be extended by vendor-specific error references.

10.1.2 CanIfTTDemEventParameterRefs

SWS Item [ECUC_CanIf_00835]

Container Name CanIfTTDemEventParameterRefs
Description Container for the references to DemEventParameter elements which
shall be invoked using the API Dem_SetEventStatus in case the
corresponding error occurs. The EventId is taken from the referenced
DemEventParameter’s DemEventId symbolic value. The standardized
errors are provided in this container and can be extended by
vendor-specific error references.
Configuration Parameters

Name CANIF_TT_E_JLE_SYNC [ECUC_CanIf_00836]

Parent Container CanIfTTDemEventParameterRefs
Description Reference to configured DEM event to report that the JLEF lost
synchronization to the local time of the TTCAN controller.
Multiplicity 0..1
Type Symbolic name reference to DemEventParameter
Post-Build Variant true
Multiplicity
Post-Build Variant true
Value
Multiplicity Pre-compile time X VARIANT-PRE-COMPILE
Configuration Class
Link time X VARIANT-LINK-TIME
Post-build time X VARIANT-POST-BUILD
Value Configuration Pre-compile time X VARIANT-PRE-COMPILE
Class
Link time X VARIANT-LINK-TIME
Post-build time X VARIANT-POST-BUILD
Scope / Dependency scope: local
dependency: Dem

No Included Containers

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10.1.3 CanIfTTTxFrameTriggering

CanIfTxPduCfg: CanIfTTTxFrameTriggering:
EcucParamConfContainerDef +reference CanIfTTTxHwObjectTriggerIdRef:
EcucParamConfContainerDef
EcucReferenceDef
lowerMultiplicity = 0 upperMultiplicity = 1
upperMultiplicity = * lowerMultiplicity = 0

+subContainer

+destination

CanTTHardwareObjectTrigger:
EcucParamConfContainerDef

upperMultiplicity = *
lowerMultiplicity = 0

+parameter +parameter

CanIfTTTxJoblistTimeMark: CanTTHardwareObjectTriggerId:
EcucIntegerParamDef EcucIntegerParamDef

min = 0 max = 63
max = 0xFFFF min = 0
lowerMultiplicity = 0 symbolicNameValue = true
upperMultiplicity = 1

Figure 10.2: CAN Interface Time Triggered Transmit PDU Configuration

SWS Item [ECUC_CanIf_00142]

Container Name CanIfTTTxFrameTriggering
Description CanIfTTTxFrameTriggering is specified in the SWS TTCAN Interface
and defines Frame trigger for TTCAN transmission.

This container is only included and valid if TTCAN is supported by the

controller, enabled (see CanIfSupportTTCAN, ECUC_CanIf_00675),
and a joblist is used.
Configuration Parameters

Name CanIfTTTxJoblistTimeMark [ECUC_CanIf_00132]

Parent Container CanIfTTTxFrameTriggering
Description Defines the point in time, when the joblist execution funciton (JLEF)
shall be called for the referenced tx frame trigger. Value is given in
cycle time. This parameter is only configurable if a joblist is enabled by
parameter CanIfTTJobList.
Multiplicity 0..1
Type EcucIntegerParamDef
Range 0 .. 65535
Default Value
Post-Build Variant true
Multiplicity
Post-Build Variant true
Value
Multiplicity Pre-compile time X VARIANT-PRE-COMPILE
Configuration Class
Link time X VARIANT-LINK-TIME
Post-build time X VARIANT-POST-BUILD

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Value Configuration Pre-compile time X VARIANT-PRE-COMPILE

Class
Link time X VARIANT-LINK-TIME
Post-build time X VARIANT-POST-BUILD
Scope / Dependency scope: local
dependency: CanIfTTJoblist

Name CanIfTTTxHwObjectTriggerIdRef [ECUC_CanIf_00128]

Parent Container CanIfTTTxFrameTriggering
Description This parameter refers to a particular TTCAN hardware transmit object
Trigger of a hardware object in the TTCAN Driver Module, which is
referred via plain CAN parameter CANIF_HTH_HANDLETYPE_REF.
This parameter is only configurable if a joblist is enabled by parameter
CanIfTTJobList.
Multiplicity 1
Type Reference to CanTTHardwareObjectTrigger
true
Post-Build Variant
Value
Value Configuration Pre-compile time X VARIANT-PRE-COMPILE
Class
Link time X VARIANT-LINK-TIME
Post-build time X VARIANT-POST-BUILD
Scope / Dependency scope: local
dependency: CanIfTTJoblist

No Included Containers

10.1.4 CanIfTTRxFrameTriggering

CanIfRxPduCfg: CanIfTTRxFrameTriggering:
EcucParamConfContainerDef EcucParamConfContainerDef

lowerMultiplicity = 0 +reference CanIfTTRxHwObjectTriggerIdRef:

upperMultiplicity = 1
upperMultiplicity = * EcucReferenceDef
lowerMultiplicity = 0

+subContainer

+destination

CanTTHardwareObjectTrigger:
EcucParamConfContainerDef

upperMultiplicity = *
lowerMultiplicity = 0

+parameter +parameter

CanTTRxJoblistTimeMark: CanTTHardwareObjectTriggerId:
EcucIntegerParamDef EcucIntegerParamDef

min = 0 max = 63
max = 0xFFFF min = 0
lowerMultiplicity = 0 symbolicNameValue = true
upperMultiplicity = 1

Figure 10.3: CAN Interface Time Triggered Receive PDU Configuration

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SWS Item [ECUC_CanIf_00003]

Container Name CanIfTTRxFrameTriggering
Description CanIfTTRxFrameTriggering is specified in the SWS TTCAN Interface
and defines Frame trigger for TTCAN reception.

This container is only included and valid if TTCAN is supported by the

controller, enabled (see CanIfSupportTTCAN, ECUC_CanIf_00675),
and a joblist is used for reception.
Configuration Parameters

Name CanTTRxJoblistTimeMark [ECUC_CanIf_00136]

Parent Container CanIfTTRxFrameTriggering
Description Defines the point in time, when the joblist execution funciton (JLEF)
shall be called for the referenced rx trigger. Value is given in cycle time.
This parameter is only configurable if a joblist is enabled by parameter
CanIfTTJobList.
Multiplicity 0..1
Type EcucIntegerParamDef
Range 0 .. 65535
Default Value
Post-Build Variant true
Multiplicity
Post-Build Variant true
Value
Multiplicity Pre-compile time X VARIANT-PRE-COMPILE
Configuration Class
Link time X VARIANT-LINK-TIME
Post-build time X VARIANT-POST-BUILD
Value Configuration Pre-compile time X VARIANT-PRE-COMPILE
Class
Link time X VARIANT-LINK-TIME
Post-build time X VARIANT-POST-BUILD
Scope / Dependency scope: local
dependency: CanIfTTJoblist

Name CanIfTTRxHwObjectTriggerIdRef [ECUC_CanIf_00133]

Parent Container CanIfTTRxFrameTriggering
Description This parameter refers to a particular TTCAN hardware receive object
Trigger of a hardware object in the TTCAN Driver Module, which is
referred via plain CAN parameter CANIF_HRH_HANDLETYPE_REF.
This parameter is only configurable if a joblist is enabled by parameter
CanIfTTJobList.
Multiplicity 1
Type Reference to CanTTHardwareObjectTrigger
true
Post-Build Variant
Value

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Value Configuration Pre-compile time X VARIANT-PRE-COMPILE

Class
Link time X VARIANT-LINK-TIME
Post-build time X VARIANT-POST-BUILD
Scope / Dependency scope: local
dependency: CanIfTTJoblist

No Included Containers

10.2 Published information

For details refer to the [5, chapter 10.1 "Published Information" in SWS_BSWGeneral]

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A Not applicable requirements

[SWS_TtCanIf_99999] d These requirements are not applicable to this specification. c
()

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