systemAutomotive Embedded Systems part8(CAN, LIN and FlexRay).

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Automotive Embedded
Systems part8
(CAN, LIN and FlexRay).
ENG.KEROLES SHENOUDA
1

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You should first review
the previous session
Automotive Embedded Systems part7
#Learn In Depth
it's time to wake up 
Learn In Depth 
2

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Review on the previous session
#LEARN_IN_DEPTH 
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CAN Conclusion
4
CANController Area Network
Overview
General
Characteristics
Types of
CAN Messages
CAN bus
CAN
transceiver

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CAN Overview
 Standard CAN
 Multi-master protocol
 Broadcasting
 Event-Driven
 Asynchronous communication (Event Triggered)
 Serial communication technology
 Priority-based bit-wise arbitration
 Variable message priority based on 11-bit
(or extended 29 bit) packet identifier
 Originally developed by Robert Bosch for
automobile in-vehicle network in the 1980s
 Differential, two wire with speed 1 Mbps
 CSMA-CA= CSMA with Collision Avoidance
5
CANController Area Network
Overview
General
Characteristics
Types of
CAN Messages
CAN bus
CAN
transceiver

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General
Characteristics
6
CANController Area Network
Overview
General
Characteristics
Types of
CAN Messages
CAN bus
CAN
transceiver
Event-Driven

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Event Driven vs. Time Driven
 Event Driven
 Medium used only when necessary
 Time of message arrival is unknown
 Medium might be overloaded
 Time Driven
 Bandwidth utilization is known (duration of how long the
medium is used)
 Time of arrival is defined / guaranteed
 Time Driven = Deterministic
7
TIME

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General
Characteristics
8
CANController Area Network
Overview
General
Characteristics
Types of
CAN Messages
CAN bus
CAN
transceiver
Event-Driven
Bus arbitration

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Arbitration type
ND + CSMA/CA + AMP
 If two messages are simultaneously
sent over the CAN bus, the bus
takes the “logical AND” of the
signal
 Hence, the messages identifiers
with the lowest binary number
gets the highest priority
 Every device listens on the channel
and backs off as and when it
notices a mismatch between the
bus’s bit and its identifier’s bit
9Non-Destructive + Carrier Sense Multiple Access /
Collision Avoidance + Arbitration on Message Priority

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General
Characteristics
10
CANController Area Network
Overview
General
Characteristics
Types of
CAN Messages
CAN bus
CAN
transceiver
Event-Driven
Bus arbitration
CAN Stack

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CAN (link layer and Physical layer)
1. Physical Layer
2. Data Link Layer
3. Network Layer
4. Transport Layer
5. Session Layer
6. Presentation Layer
7. Application Layer
Standard CAN
implementation
Partially
implemented by
higher-level CAN
protocols
(CANOpen)
ISA/OSI Reference Model
Managed in
Hardware.
Dramatic Real-time
advantage to
System Design
11
The standard CAN
implementation bypasses the
connection between the Data
Link layer and the
Application layer. The layers
above the Data Link Layer are
implemented in software
which as per definition are
called the Higher Layer
Protocol

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General
Characteristics
12
CANController Area Network
Overview
General
Characteristics
Types of
CAN Messages
CAN bus
CAN
transceiver
Event-Driven
Bus arbitration
CAN Stack
Message Filtering

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Message Filtering
 A node uses filter (s) to decide
whether to work on a specific
message.
 Message filtering is applied to the
whole identifier.
 A node can optionally implement
mask registers that specify which
bits in the identifier are examined
with the filter.
 If mask registers are
implemented, every bit of the
mask registers must be
programmable.
13
Transmitting Node
MCU Firmware
Identifier [id_n]
Data [values_x]
CAN Peripheral
Tx Mail Box [id_n]
Data [values_x]
Rx Mail Box [id_c]
Rx Mail Box [id_b]
CAN Transceiver
Node Configured to
receive identifier
MCU Firmware
Identifier [id_n]
Data [values_x]
CAN Peripheral
Data [values_x]
CAN Transceiver
Rx Mail Box [id_c]
Rx Mail Box [id_b]
Rx Mail Box [id_n]
Node not Configured to
receive identifier
MCU Firmware
CAN Peripheral
CAN Transceiver
Rx Mail Box [id_d]
Rx Mail Box [id_b]
Rx Mail Box [id_c]
Rx Mail Box [id_a]
Data Frame is broadcast to the bus ][value ]id n_[ x_

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Data Flow in CAN
Transmitting Node
MCU Firmware
Identifier [id_n]
Data [values_x]
CAN Peripheral
Tx Mail Box [id_n]
Data [values_x]
Rx Mail Box [id_c]
Rx Mail Box [id_b]
CAN Transceiver
Node Configured to
receive identifier
MCU Firmware
Identifier [id_n]
Data [values_x]
CAN Peripheral
Data [values_x]
CAN Transceiver
Rx Mail Box [id_c]
Rx Mail Box [id_b]
Rx Mail Box [id_n]
Node not Configured to
receive identifier
MCU Firmware
CAN Peripheral
CAN Transceiver
Rx Mail Box [id_d]
Rx Mail Box [id_b]
Rx Mail Box [id_c]
Rx Mail Box [id_a]
Data Frame is broadcast to the bus ][value ]id n_[ x_
14

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15
CANController Area Network
Overview
General
Characteristics
Types of
CAN Messages
CAN bus
CAN
transceiver
Event-Driven
Bus arbitration
CAN Stack
 Data frame
 Remote frame
 Error frame
 Overload frame
Two states of CAN bus
Recessive: high or logic 1
Dominant: low or logic 0

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Data Frame
16
 A data frame consists of seven fields: start-of-frame, arbitration,
control, data, CRC, ACK, and end-of-frame.
S
O
F
1
Arbitration
E
O
F
7+
Data
(Bytes)
0-8 bytes
C
R
C
15
A
C
K
1
Control
R
T
R
DLC
4
I
D
E
r
0
ID
11
C
R
C
Delm.
1
A
C
K
Delm.
1

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Data Frame
17
 A data frame consists of seven fields: start-of-frame, arbitration,
control, data, CRC, ACK, and end-of-frame.
• A single dominant bit to mark the beginning of a data frame.
• All nodes have to synchronize to the leading edge caused by
this field.
Start of Frame
S
O
F
1
Arbitration
E
O
F
7+
Data
(Bytes)
0-8 bytes
C
R
C
15
A
C
K
1
Control
R
T
R
DLC
4
I
D
E
r
0
ID
11
C
R
C
Delm.
1
A
C
K
Delm.
1

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Data Frame
18
There are two formats for this field: standard format and extended format.
Arbitration Field
 The RTR bit is the remote transmission request and must be 0 in a data frame.
 The SRR bit is the substitute remote request and is recessive.
 The IDE field indicates whether the identifier is extended and should be recessive in
the extended format.
 The extended format also contains the 18-bit extended identifier.
standard format
extended format
S
O
F
1
Arbitration
E
O
F
7+
Data
(Bytes)
0-8 bytes
C
R
C
15
A
C
K
1
Control
S
R
R
DLC
4
r
0
r
1
ID
11
I
D
E
ID
18
R
T
R
C
R
C
Delm.
1
A
C
K
Delm.
1
S
O
F
1
Arbitration
E
O
F
7+
Data
(Bytes)
0-8 bytes
C
R
C
15
A
C
K
1
Control
R
T
R
DLC
4
I
D
E
r
0
ID
11
extended format
C
R
C
Delm.
1
A
C
K
Delm.
1

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Data Frame
19
Control Field
 Contents are shown in figure 13.4.
 The first bit is IDE bit for the standard format but is used as reserved bit r1 in extended format.
 r0 is reserved bit.
 DLC3…DLC0 stands for data length and can be from 0000 (0) to 1000 (8).
standard format
extended format
S
O
F
1
Arbitration
E
O
F
7+
Data
(Bytes)
0-8 bytes
C
R
C
15
A
C
K
1
Control
S
R
R
DLC
4
r
0
r
1
ID
11
I
D
E
ID
18
R
T
R
C
R
C
Delm.
1
A
C
K
Delm.
1
S
O
F
1
Arbitration
E
O
F
7+
Data
(Bytes)
0-8 bytes
C
R
C
15
A
C
K
1
Control
R
T
R
DLC
4
I
D
E
r
0
ID
11
extended format
C
R
C
Delm.
1
A
C
K
Delm.
1

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Data Frame
20
CRC Field
 It contains the 16-bit CRC sequence and a CRC delimiter.
 The CRC delimiter is a single recessive bit.
standard format
extended format
S
O
F
1
Arbitration
E
O
F
7+
Data
(Bytes)
0-8 bytes
C
R
C
15
A
C
K
1
Control
S
R
R
DLC
4
r
0
r
1
ID
11
I
D
E
ID
18
R
T
R
C
R
C
Delm.
1
A
C
K
Delm.
1
S
O
F
1
Arbitration
E
O
F
7+
Data
(Bytes)
0-8 bytes
C
R
C
15
A
C
K
1
Control
R
T
R
DLC
4
I
D
E
r
0
ID
11
extended format
C
R
C
Delm.
1
A
C
K
Delm.
1

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Data Frame
21
ACK Field
 Consists of two bits
 The first bit is the acknowledgement bit.
 This bit is set to recessive by the transmitter, but will be reset to dominant if a receiver acknowledges the
data frame.
 The second bit is the ACK delimiter and is recessive.
standard format
S
O
F
1
Arbitration
E
O
F
7+
Data
(Bytes)
0-8 bytes
C
R
C
15
A
C
K
1
Control
S
R
R
DLC
4
r
0
r
1
ID
11
I
D
E
ID
18
R
T
R
C
R
C
Delm.
1
A
C
K
Delm.
1
S
O
F
1
Arbitration
E
O
F
7+
Data
(Bytes)
0-8 bytes
C
R
C
15
A
C
K
1
Control
R
T
R
DLC
4
I
D
E
r
0
ID
11
extended format
C
R
C
Delm.
1
A
C
K
Delm.
1

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Remote Frame
 Used by a node to request other nodes to send certain type of
messages
 Has six fields
 These fields are identical to those of a data frame with the exception
that the RTR bit in the arbitration field is recessive in the remote
frame.
22
S
O
F
1
Arbitration
E
O
F
7+
C
R
C
15
A
C
K
1
Control
R
T
R
DLC
4
I
D
E
r
0
ID
11
C
R
C
Delm.
1
A
C
K
Delm.
1

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Error Frame
 This frame consists of two fields.
 The first field is given by the superposition of error flags contributed
from different nodes.
 The second field is the error delimiter.
 Error flag can be either active-error flag or passive-error flag.
 Active error flag consists of six consecutive dominant bits.
 Passive error flag consists of six consecutive recessive bits.
 The error delimiter consists of eight recessive bits.
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Overload Frame
 Consists of two bit fields: overload flag and overload delimiter
 Requested when Internal conditions of a receiver require a delay of
the next data frame or remote frame.
 Format of the overload frame is shown
 The overload flag consists of six dominant bits.
 The overload delimiter consists of eight recessive bits.
24

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25
CANController Area Network
Overview
General
Characteristics
Types of
CAN Messages
CAN bus
CAN
transceiver
Event-Driven
Bus arbitration
CAN Stack
 Data frame
 Remote frame
 Error frame
 Overload frame
CAN Physical BUS

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CAN Physical BUS
 The CAN physical layer has two wires--
CANH and CANL.
 The difference in the voltage between
CANH and CANL is called VD.
 A logic 1 is represented by the
recessive state, and is defined as
VD less than or equal to 0.5 volts.
 A logic 0 is defined by the
dominant state when VD is greater
than or equal to 0.9 volts.
 CAN is designed to be used with twisted
pair cabling with 120 ohm characteristic
impedance.
26

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Bit Rate / Bus Length
 1M bit/sec 40 meters (131 feet)
 500K bit/sec 100 meters (328 feet)
 250K bit/sec 200 meters (656 feet)
 125K bit/sec 500 meters (1640 feet)
27
Bus lines
assumed to be
an electrical
medium
(e.g. twisted pair)
40 100 1000 10,000
CAN Bus Length [m]
0 10 200
1000
500
10
5
Bit Rate
[kbps]
20
50
200
100

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28
CANController Area Network
Overview
General
Characteristics
Types of
CAN Messages
CAN bus
CAN
transceiver
Event-Driven
Bus arbitration
CAN Stack
 Data frame
 Remote frame
 Error frame
 Overload frame
CAN Physical BUS
Bit stuffing

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Bit stuffing
 NRZ Bit Coding
 Stuff Bits are inserted after 5 consecutive bits of the same level for
synchronization
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30
CANController Area Network
Overview
General
Characteristics
Types of
CAN Messages
CAN bus
CAN
transceiver
Event-Driven
Bus arbitration
CAN Stack
 Data frame
 Remote frame
 Error frame
 Overload frame
CAN Physical BUS
Bit stuffing

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embedded_systemThe CAN Tranceivers
CAN_Txd
CAN_Rxd
CAN
Controller
Differential
Transceiver
CAN_Txd
CAN_Rxd
Physical CAN Bus
(Differential, e.g Twisted Pair)
Physical CAN Bus
(Differential, e.g Twisted Pair)
31
• The role of the transceiver is
simply to drive and detect data
to and from the bus.
• It converts the single-ended logic
used by the controller to the
differential signal transmitted over
the bus. It
also determines the bus logic state
from the differential voltage, rejects
the common-mode
noise, and outputs a single-ended
logic signal to the controller

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32
CANController Area Network
Overview
General
Characteristics
Types of
CAN Messages
CAN bus
CAN
transceiver
Event-Driven
Bus arbitration
CAN Stack
 Data frame
 Remote frame
 Error frame
 Overload frame
CAN Physical BUS
Bit stuffing
AUTOSAR COM Stack

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AUTOSAR COM Stack
 Communication (COM)
The COM module provides a signal interface to
the RTE based on the I-PDUs.
 It is responsible for providing Signal level
access to the application layer and PDU level
access to the lower layers independent of the
protocol.
 PDU Router (PDUR)
The PDU Router module provides services for
routing of I-PDUs (Interaction Layer Protocol
Data Units) using communication interface
modules (e.g. Com, CanIf, and CanNm) and
transport Protocol modules (e.g. CanTp).
 responsible for routing the PDU to the respective
Bus Specific Interface modules
33

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AUTOSAR COM Stack
 Can State Manager (CanSm)
The Can state manager manages the states of
CAN networks e.g. bus off.
 EcuConfiguration (EcuC)
Contains global configuration information.
Especially the PDUs used by the communication
stack.
34

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AUTOSAR COM Stack
 Can Interface (CanIf)
The CAN Interface module is located between the low
level CAN device drivers (CAN Driver and Transceiver
Driver) and the upper communication service layers (i.e.
CAN State Manager, CAN Network Management, CAN
Transport Protocol, PDU Router). The CAN Interface
module provides a unique interface to manage different
CAN hardware device types like CAN controllers and
CAN transceivers used by the defined ECU hardware
layout. Thus multiple underlying internal and external
CAN controllers/CAN transceivers can be controlled
by the CAN State Manager module based on a physical
CAN channel related view.
 CAN Driver (CAN)
The CAN Driver is part of the lowest layer, performs
the hardware access and offers a hardware
independent API to the upper layer.
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CAN-FD
#LEARN_IN_DEPTH 
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Why the need for CAN-FD?
 High overhead for sending CAN messages ( ≥50% overhead )
 Only around 40-50% of the bandwidth is used for actual data
 CAN bus speeds are limited to 1Mbit/s
 ACK generation delays = transceiver delay + wire propagation delay
37
So we need a higher data rate and larger data payloads

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What does CAN-FD bring?
 Improvements on the CAN protocol
 CAN-FD is based on the CAN 2.0 specification
 Adds new features on top
 Arbitration phase –same as standard CAN
 Data phase –bitrates higher than 1Mbit/s possible (up to ~8Mbit/s)
 Support for larger data payloads –up to 64 bytes/message
 System cost is similar to standard CAN
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CAN-FD Frame formats
39
 Four data frame formats:
 Standard CAN –11 bit ID and fixed bit rate
 Extended CAN–29 bit ID and fixed bit rate
 Standard CAN-FD –11 bit ID and flexible bit rate
 Extended CAN-FD–29 bit ID and flexible bit rate
 Error frames –identical to CAN error frames
 Remote frames –only possible with standard CAN format

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CAN-FD Frame –Arbitration field
 A few differences in the arbitration
field
 The identifier field is the same as in
CAN frames
 The RTR (Remote transmission
Request) bit in CAN frames becomes
RRS (Remote Request Substitution) -
always dominant since in
CAN-FD there are no remote
frames
40

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Time-Triggered CAN (TTCAN)
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Why we need Time-Triggered CAN
 It was developed due to the demand for time-triggered
communication in real-time applications
Since that the CAN depends on event-triggered
 Proposed by the CAN in Automation (CiA) group and Bosch and currently specified in the
ISO 11898-4 standard
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TTCAN operating principle
 The timing on the bus is controlled by one master node.
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TTCAN operating principle
 The transmission sequence is set up as a schedule matrix
 The matrix is divided into basic cycles.
 Each basic cycle starts with a reference message that sets the global time in the
system.
 Each basic cycle consists of a number of transmission columns.
 The columns can be of three types
 1 - Reserved for one particular message
 2 - Free for arbitration, all nodes can compete for transmission
 3 - Free window, not used but reserved for further expansion
 Since the messages have to keep their time slots there is no retransmission of messages.
The slots will have to wait until the next assigned time slot or an arbitration time slot
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Schedule matrix
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Basic cycle 0
Basic cycle n

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Timing
 There are two levels of timing
 Level 1
 Each node has a 16 bit clock that is retriggered each basic cycle by the
reference message
 This is called the local time
 Level 2
 Each node has a 19 bit clock
 The reference message contains information on the time of the global
clock held by the master.
 The nodes can correct their clock in a more detailed way by using the
extra bits of their clocks
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Backup masters
 Since the timing of the system is essential it must not fail
 To reasure this all nodes on the bus are potential masters To reasure
this all nodes on the bus are potential masters
 The nodes have different priority given by the last three bits of the
reference message
 If the current master node fails to release a reference message the
other nodes will try to send a reference message after a short time-
out period.
 The node with the highest priority will win the arbitration and send its
reference message.
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Local Interconnect Network (LIN)
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LIN Overview
 Used for Several sub-systems are fit for
this performance level: sun-roof, rain-
detector, seats, doors, windscreen.
 Single Wire Implementation
 Single Master/Multiple Slave
 Based on common UART/SCI
 No arbitration necessary
 Self Synchronization
 Designed for low-cost automotive
networks
 Security of transmitted data (CRC)
 Speed up to 20 kbit/s
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LIN Overview
 The master task decides when and which frame is transmitted on the
bus
 The master contains a master task and can simultaneously execute a
slave task, other nodes execute only slave tasks
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LIN Communication
 Slave nodes provide the data of each frame only if they were invited
 No arbitration => deterministic behavior
 Frame consists in header (provided by the master) and response
(provided by the slave)
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LIN Communication
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Frame structure
synch break
 13 bit
synch field identifier
message header
Synchronization
Frame
Synchronization
Field
Identifier Byte
53
 Header consists in break,
sync segment and
identifier
 Each byte is transmitted
with LSB first
 Break field is used to
signal the beginning of
the frame, it is at least
13 nominal bit times
(dominant)
 Break field is ended by a
break delimiter which is
at least 1 nominal bit time
The sync field encodes the
value 0x55h

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nodes
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 LIN nodes are not synchronized before communication (Bus Idle)

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method
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Frame structure
synch break
 13 bit
synch field identifier
message header
Synchronization
Field
Identifier Byte
56
 Protected identifier field
The sync field encodes the
value 0x55h

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LIN Message Frame
0 to 8 data fields checksum
message response
synch break
 13 bit
synch field identifier
message header
Synchronization
Frame
Synchronization
Field
Identifier Byte Message
57
 Response contains the
data and Checksum
 1 to 8 bytes of data (LSB
first)

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Header
 The message header is sent by
the master task
 The message header is used for
synchronization
 The message header comprises
the Identifier
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LIN Physical
Interface
VBAT
8...18V
GND
UART
Rx
Tx
LIN Control Unit
master: 1k
slave: 30k
Bus
Usually
managed by a
transceiver
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LIN Conclusion
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Frame
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LIN Communication
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Introduction to FlexRay
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FlexRay Overview
 What is FlexRay?
 A next generation automotive network communications
protocol.
 When was it released?
 First public release(Version 2.0) on Jun 2004.
 The latest version 3.0.1 was released on Oct 2010.
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General Background
FlexRay
Controller Area
Network(CAN)
 10Mbps x 2 bandwidth
 Time-triggered for real-time
transmission
 Event-triggered for
low-priority data
 Synchronous
 Deterministic system design
 Bandwidth up to 1Mbps
 Contention resolved by
priority.
 Asynchronous
 Acknowledgment and
retransmission when message
is corrupted
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Communication Architecture
 A FlexRay communication system (FlexRay Cluster) is made up of a
number of FlexRay nodes and a physical transmission medium (FlexRay
Bus)
 a FlexRay cluster may be based on any of a number of different
physical topologies
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TDMA: Time Division Multiple
Access
 The FlexRay cluster is based on a time-triggered communication
architecture.
 To implement time-triggered control, the TDMA method (Time
Division Multiple Access) is used.
 Share the bus
 Dividing into different time slots
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The FlexRay cluster is based on a time-triggered
communication architecture
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The Communication Cycle
 The FlexRay communication cycle is the fundamental element of the
media-access scheme within FlexRay. The duration of a cycle is fixed
when the network is designed, but is typically around 1-5 ms. There
are four main parts to a communication cycle:
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The Communication Cycle
 Static Segment
Reserved slots for deterministic data that arrives at a fixed
period.
 Dynamic Segment
The dynamic segment behaves in a fashion similar to CAN and is
used for a wider variety of event-based data that does not
require determinism.
 Symbol Window
Typically used for network maintenance and signaling for
starting the network.
 Network Idle Time
A known "quiet" time used to maintain synchronization between
node clocks.
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Clock synchronization and cold
starting
 FlexRay has the unique ability to sync up nodes on a network without an external synchronization clock
signal. To do so, it uses 2 special types of frames: Startup Frames and Sync Frames. To start a FlexRay
cluster, at least 2 different nodes are required to send startup frames. The action of starting up the
FlexRay bus is known as a cold-start and the nodes sending the startup frames are usually known as cold-
start nodes.
 Once the network is started, all nodes must synchronize their internal oscillators to the network's
macrotick. This can be done using two more synchronization nodes.
 Once the network is synchronized and on-line, the network idle time (white space in the diagram) is
measured and used to adjust the clocks from cycle-to-cycle to maintain tight synchronization.
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Frame Format
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Frame Format
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Frame Format
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Compare Between LIN, CAN and
FlexRay
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LIN /
CAN /
FlexRay
Comparison
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Prepare your self for the next session
(REVISION)
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References
 https://www.autosar.org
 Embedded Microcomputer Systems Real Time Interfacing Third
Edition Jonathan W. Valvano University of Texas at Austin.
 MicroC/OS-II the real-time kernel second edition jean j.labrosse.
 RTOS Concepts http://www.embeddedcraft.org.
 OSEK/VDX Operating System Specification 2.2.3
 AUTOSAR Layered Software Architecture
 The Trampoline Handbook release 2.0
 Trampoline (OSEK/VDX OS) Test Implementation -Version 1.0,
Florent PAVIN ; Jean-Luc BECHENNEC
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References
 Trampoline:an open platform for (small) embedded systems based on
OSEK/VDX and AUTOSAR
http://trampoline.rts-software.org/
Jean-Luc Béchennec1;2, Sébastien Faucou1;3
1IRCCyN (Institute of Research in Communications and Cybernetics of Nantes)
2CNRS (National Center for Scientific Research) / 3University of Nantes
10th Libre Software Meeting
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References
 Real Time Systems (RETSY)
Jean-Luc Béchennec - Jean-Luc.Bechennec@irccyn.ec-nantes.fr
Sébastien Faucou - Sebastien.Faucou@univ-nantes.fr
jeudi 12 novembre 15
 AUTOSAR Specification of Operating System V5.0.0 R4.0 Rev 3
 OSEK - Basics http://taisnotes.blogspot.com.eg/2016/07/osek-basic-
task-vs-extended-task.html
 OSEK OS Session Speaker Deepak V.
M.S Ramaiah School of Advanced Studies - Bangalore 1
 Introducción a OSEK-OS - El Sistema Operativo del CIAA-Firmware
Programación de Sistemas Embebidos
MSc. Ing. Mariano Cerdeiro
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References
 Introduction to AUTOSAR, Stephen Waldron, Vector webinar
Wednesday 7th May 2014
https://vector.com/portal/medien/cmc/events/Webinars/2014/Vector_
Webinar_AUTOSAR_Introduction_20140507_EN.pdf
 Introduction to AUTOSAR, Stephen Waldron, Vector webinar
Tuesday 5th May 2015
https://vector.com/portal/medien/cmc/events/Webinars/2015/Vector_
Webinar_AUTOSAR_Introduction_20150505_EN.pdf
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References
 Automatic Generation of AUTOSAR Software Component Descriptions
Study Thesis in Computer Sciences by Christopher Mutschler
https://www2.informatik.uni-
erlangen.de/EN/teaching/thesis/download/i2S00428.pdf
 AutoSAR Overview FESA Workshop at KTH 2010‐04‐12
 Prof. Jakob Axelsson
 http://www.artist-
embedded.org/docs/Events/2010/FESA/slides/3_Autosar_Axelsson.pdf
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References
 AUTOSAR – An open standardized software architecture for the
automotive industry Simon Fürst, BMW 1st AUTOSAR Open
Conference & 8th AUTOSAR Premium Member Conference October
23rd, 2008, Cobo Center, Detroit, MI, USA
 http://st.inf.tu-
dresden.de/files/teaching/ws08/ase/03_AUTOSAR_Tutorial.pdf
 Institutionen för systemteknik Department of Electrical Engineering
Examensarbete Implementation of CAN Communication Stack in
AUTOSAR Examensarbete utfört i Datorteknik
vid Tekniska högskolan vid Linköpings universitet Av Johan Alexandersson
och Olle Nordin
http://liu.diva-portal.org/smash/get/diva2:822343/FULLTEXT01.pdf
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References
 Applying AUTOSAR in Practice Available Development Tools and
Migration Paths Master Thesis, Computer Science Authors: Jesper
Melin
http://www.idt.mdh.se/utbildning/exjobb/files/TR1171.pdf
Freescale AUTOSAR Software Overview.pdf
 Introduction to the Controller Area Network (CAN)
 CAN Learning From Vector
 https://elearning.vector.com/index.php?&wbt_ls_seite_id=490352&root=3
78422&seite=vl_can_introduction_en
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References
 AUTOSAR Method, Vector Webinar 2013-04-17
https://vector.com/portal/medien/cmc/events/Webinars/2013/Vector_Web
inar_AUTOSAR_Method_20130417.pdf
 AUTOSAR Configuration Process - How to handle 1000s of parameters
Vector Webinar 2013-04-19
https://vector.com/portal/medien/cmc/events/Webinars/2013/Vector_Web
inar_AUTOSAR_Configuration_Process_20130419_EN.pdf
 AUTOSAR Runtime Environment and Virtual Function Bus, Nico Naumann
https://hpi.de/fileadmin/user_upload/fachgebiete/giese/Ausarbeitungen_A
UTOSAR0809/NicoNaumann_RTE_VFB.pdf
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References
 The AUTOSAR Adaptive Platform for Connected and Autonomous
Vehicles, Simon Fürst, AUTOSAR Steering Committee 8th Vector
Congress 29-Nov-2016, Alte Stuttgarter Reithalle, Stuttgart,
Germany
https://vector.com/congress/files/presentations/VeCo16_06_29Nov_Re
ithalle_Fuerst_BMW.pdf
 A Review of Embedded Automotive Protocols, Nicolas Navet1,
Françoise Simonot-Lion2 April 14, 2008
https://www.realtimeatwork.com/wp-
content/uploads/chapter4_CRC_2008.pdf
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References
 AUTOSAR Adaptive Platform
https://vector.com/conference_india/files/presentations/Day1/3_AUTO
SAR%20Adaptive%20Platform.pdf
 CAN Bus Protocol
 By Abhinaw Tiwari CSE-12010330
 Basics of In-Vehicle Networking (IVN) Protocols
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References
 TTCAN Time Triggered CAN
 http://www.cse.chalmers.se/~svenk/mikrodatorsystem/lectures/TTCAN_
ppt.pdf
 Automotive Communication Network Trends
 Renesas Electronics America Inc.
 https://elearning.renesas.com/pluginfile.php/355/mod_folder/content/0/
DevCon_On-the-
Road/DevCon_OnSite/Automotive/Automotive_Communication_Network_
Trends.pdf?forcedownload=1
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References
 http://article.sapub.org/pdf/10.5923.j.ajsp.20110102.07.pdf
 https://vector.com/portal/medien/cmc/events/Webinars/2014/Vector_Webinar_IntroductionToLI
N_20140930_EN.pdf
 http://www.aut.upt.ro/~pal-
stefan.murvay/teaching/nes/Lecture_1_Data_Communications_Basic_Concepts.pdf
 http://www.aut.upt.ro/~pal-
stefan.murvay/teaching/nes/Lecture_3_4_The_Controller_Area_Network_CAN.pdf
 http://www.aut.upt.ro/~pal-stefan.murvay/teaching/nes/Lecture_05_CAN-FD.pdf
 http://www.aut.upt.ro/~pal-
stefan.murvay/teaching/nes/Lecture_06_CAN_Higher_Layer_Protocols.pdf
 http://www.aut.upt.ro/~pal-stefan.murvay/teaching/nes/Lecture_7_Local_Interconnect_LIN.pdf
 https://s3.amazonaws.com/ppt-download/theflexrayprotocol-140622084508-
phpapp01.pdf?response-content-
disposition=attachment&Signature=a%2Be2MbDNPo5MZsGPTBpzmD%2FiN%2F4%3D&Expires=1514
984564&AWSAccessKeyId=AKIAJ5J46ODGN4IB2ZXQ
 http://www.ann.ece.ufl.edu/courses/eel6935_11fal/slides/Topic2-Network_FlexRay_20111013.ppt
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References
 http://www.autosar.org/about/technical-overview/ecu-software-
architecture/autosar-basic-software/
 http://www.autosar.org/standards/classic-platform/
 https://automotivetechis.files.wordpress.com/2012/05/communicationsta
ck_gosda.pdf
 https://automotivetechis.files.wordpress.com/2012/05/autosar_ppt.pdf
 https://automotivetechis.wordpress.com/autosar-concepts/
 https://automotivetechis.files.wordpress.com/2012/05/autosar_exp_laye
redsoftwarearchitecture.pdf
 http://www.slideshare.net/FarzadSadeghi1/autosar-software-component
 https://www.renesas.com/en-
us/solutions/automotive/technology/autosar/autosar-mcal.html
 https://github.com/parai/OpenSAR/blob/master/include/Std_Types.h
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