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Specification of LIN Interface (LINInterface)

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属性 值
平台 CP
类别 SWS — 软件模块规范（Software Specification）
UID 073
规范版本 R26-11

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  • 规范 PDF: F:\Work\Standards\01_Sources\CP_SWS_LINInterface_073\AUTOSAR_CP_SWS_LINInterface.pdf
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  • 纯文本全文: F:\Work\Standards\01_Sources\CP_SWS_LINInterface_073\zzgen\CP_SWS_LINInterface.complete.txt

文档简介

This document specifies the functionality, API and the configuration of the AUTOSAR Basic Software module LIN Interface (LinIf) and the LIN Transport Protocol (LIN TP, LinTp). The LIN TP is a part of the LIN Interface.

The wake-up functionality is covered within the LIN Interface, LIN Driver and LIN Transceiver Driver.

This document is based on the ISO 17987 specifications . It is assumed that the reader is familiar with the specifications. This document will not describe ISO 17987 LIN functionality again.

The LIN Interface module applies to ISO 17987 master and slave nodes (compatible with LIN 2.2 and LIN 2.1 master nodes). The LIN implementation in AUTOSAR deviates from the ISO 17987 specifications as described in this document but there will be no change in the behavior on the LIN bus. It is the intention to be able to reuse all existing LIN nodes together with the AUTOSAR LIN implementation (i.e. the LIN Interface).

The LIN Interface module (LinIf) is designed to be hardware independent. The interfaces to upper (L-SDU Router for LinIf part and PDU Router for LinTp part) and lower (LIN Driver) modules are well defined.

The LIN Interface may handle more than one LIN Driver. A LIN Driver can support more than one channel. This means that the LIN Driver can handle one or more LIN channels.

模块依赖

This chapter describes the relations to other modules within the basic software. It describes the services that are used from these modules.

To be able for the LIN Interface module to operate, the following modules are interfaced:

  • Default Error Tracer - Det
  • ECU State Manager - EcuM
  • PDU Router - PduR
  • L-SDU Router - LSduR
  • LIN State Manager - LinSM
  • BSW Mode Manager - BswM
  • AUTOSAR COM - Com
  • LIN Driver - Lin
  • LIN Transceiver Driver - LinTrcv

章节详细内容

1. 简介与功能概述

原文标题：Introduction and functional overview

This document specifies the functionality, API and the configuration of the AUTOSAR Basic Software module LIN Interface (LinIf) and the LIN Transport Protocol (LIN TP, LinTp). The LIN TP is a part of the LIN Interface.

The wake-up functionality is covered within the LIN Interface, LIN Driver and LIN Transceiver Driver.

This document is based on the ISO 17987 specifications . It is assumed that the reader is familiar with the specifications. This document will not describe ISO 17987 LIN functionality again.

The LIN Interface module applies to ISO 17987 master and slave nodes (compatible with LIN 2.2 and LIN 2.1 master nodes). The LIN implementation in AUTOSAR deviates from the ISO 17987 specifications as described in this document but there will be no change in the behavior on the LIN bus. It is the intention to be able to reuse all existing LIN nodes together with the AUTOSAR LIN implementation (i.e. the LIN Interface).

The LIN Interface module (LinIf) is designed to be hardware independent. The interfaces to upper (L-SDU Router for LinIf part and PDU Router for LinTp part) and lower (LIN Driver) modules are well defined.

……本章内容较长已节选，完整内容见「本地文件」中的纯文本全文。

2. Architectural 概述

原文标题：Architectural overview

According to the Layered Software Architecture , the LIN Interface is located within the BSW architecture as shown below (). In this example, the LIN Interface is connected to two LIN Drivers. However, one LIN Driver is the most common configuration.

3. 功能概述

原文标题：Functional overview

The LIN Interface is responsible for providing ISO 17987 LIN functionality. This means:

  • Executing the currently selected schedule for each LIN bus the ECU is connected to, as a master node (transmitting headers and transmitting / receiving responses).
  • Switching schedule tables of master nodes when requested by the upper layer(s).
  • Accepting frame transmit requests from the upper layers and transmit the data as response within the appropriate LIN frame.
  • Providing frame receive notification for the upper layer when the corresponding response is received within the appropriate frame.
  • Go-to-sleep and wake-up services.
  • Error handling.
  • Diagnostic Transport Layer services.
  • Node configuration and identification services of slave nodes.

4. 缩略语

原文标题：Acronyms and Abbreviations

In addition to the acronyms and abbreviations found in the ISO 17987 LIN specifications , the following acronyms and abbreviations (that are not included in the ) are used throughout this document. Some terms already defined in the ISO 17987 specifications have also been defined here in order to provide more clarification, especially for terms used very often in this document.

Abbreviation / Acronym: Description:
CF Consecutive Frame in LIN TP
FF First Frame in LIN TP
ID Identifier
LDF LIN Description File
LIN TP (LinTp ) LIN Transport Protocol (Part of the LIN Interface)
MRF Master Request Frame
NAD Node Address. Each slave in LIN must have a unique NAD.
NC Node Configuration
N_As Time for transmission of the LIN frame (any N-PDU) on the sender side (see ISO 17987-2 ).
N_Cr Time until reception of the next Consecutive Frame N-PDU (see ISO 17987-2 ).
N_Cs Time until transmission of the next Consecutive Frame N-PDU (see ISO 17987-2 ).
P2 Time between reception of the last frame of a diagnostic request on the LIN bus and the slave node being able to provide data for a response.

……本章内容较长已节选，完整内容见「本地文件」中的纯文本全文。

5. 相关文档

原文标题：Related documentation

6. 输入文档与相关标准规范

原文标题：Input documents & related standards and norms

7. 相关规范

原文标题：Related specification

AUTOSAR provides a General Specification on Basic Software modules (SWS BSW General), which is also valid for LIN Interface.

Thus, the specification SWS BSW General shall be considered as additional and required specification for LIN Interface.

8. 约束与假设

原文标题：Constraints and assumptions

9. 限制

原文标题：Limitations

The LIN Interface module can be used as a LIN master or a LIN slave in a LIN cluster. There is only one instance of the LIN Interface in each ECU. If the underlying LIN Driver supports multiple channels, the LIN Interface acts on more than one cluster.

It's assumed that all connected LIN ECUs can receive a wakeup frame when they are already operational (as the LIN ECU starts with LINIF_CHANNEL_SLEEP state).

The LIN Interface module does not support

  • ConditionalChangeNAD (SID 0xB3, defined in the LIN 2.1 specification ; obsolete in ISO 17987-3 )
  • DataDump (SID 0xB4, optional in ISO 17987-3)

Note: Until LIN 2.2A, ConditionalChangeNAD was defined without definition on negative response, and it was set to obsolete in ISO 17987-3 without any definition of response behavior. Therefore, both ISO 17987 and LIN specifications do not define the response behavior when ConditionalChangeNAD is not supported. However, it is presumed that the clarification "A negative response shall never be sent by the slave node." for AssignNAD in ISO 17987-3 is also applicable to ConditionalChangeNAD.

For slave nodes, the LIN Interface module does not support

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10. 适用的车型领域

原文标题：Applicability to car domains

This specification is applicable to all car domains where LIN is used.

11. Clarification about other LIN standards

J2602 and LIN 2.1 are other standard manifestations of ISO 17987 . These alternate standards are predecessors of ISO 17987 and share the concepts of ISO 17987.

An ISO 17987 node is compatible with a LIN 2.1 node (see ISO 17987-3, annex B.2.3).

AUTOSAR LinIf supports the above standards as far as they are identical to ISO 17987.

For legacy reasons, existing slave nodes based on older LIN standards than ISO 17987 (LIN 1.3, LIN 2.0, LIN 2.1 and LIN2.2) are supported as far as the standard is identical to ISO 17987.

12. 对其他模块的依赖

原文标题：Dependencies to other modules

This chapter describes the relations to other modules within the basic software. It describes the services that are used from these modules.

To be able for the LIN Interface module to operate, the following modules are interfaced:

  • Default Error Tracer - Det
  • ECU State Manager - EcuM
  • PDU Router - PduR
  • L-SDU Router - LSduR
  • LIN State Manager - LinSM
  • BSW Mode Manager - BswM
  • AUTOSAR COM - Com
  • LIN Driver - Lin
  • LIN Transceiver Driver - LinTrcv

13. 上层

原文标题：Upper layers

14. L-SDU Router and CDD

The LIN Interface (except LinTp part) connects to the L-SDU Router and/or alternative modules above (e.g. Complex Driver) for transmission and reception of frames. It is assumed that these modules are responsible for the copying of the data of the frames for reception and transmission.

15. PDU Router

In case of LinTp part, the PDU Router is the only module above and handles the TP messages buffers either as complete or fragmented messages.

16. Bus Mirroring

The LIN Interface also connects to the Bus Mirroring module . The content of all received and transmitted LIN frames will be reported, if mirroring is enabled. TP messages are not reported to the Bus Mirroring module.

17. LIN 状态管理器

原文标题：LIN State Manager

The LIN Interface connects to the LIN state manager which is responsible for the control flow of the whole LIN stack. Therefore, it has the following purposes regarding the LIN Interface:

  • For master nodes, the state manager forwards a schedule table request to the LIN Interface.
  • The state manager requests the transmission of the wake-up and, for master nodes, the sleep command.

18. BSW 模式管理器

原文标题：BSW Mode Manager

LIN TP that is a part of LIN Interface connects to BSW Mode Manager for requesting the schedule table change when upper layer requests the LIN TP operation.

19. AUTOSAR COM

The LIN Interface used as LIN slave connects to the COM to update the value of the response_error signal.

20. 下层

原文标题：Lower layers

21. LIN 驱动

原文标题：LIN Driver

The LIN Interface requires the services of the underlying LIN Driver specified by .

The LIN Interface assumes the following primitives to be provided by the LIN Driver:

  • Transmission of the header and response part of a frame (Lin_SendFrame) for LIN master nodes. It is assumed that this primitive also tells the direction of the frame response (transmit, receive or Slave-to-slave communication).
  • Transmission of the go-to-sleep command (Lin_GoToSleep) for LIN master nodes.
  • Setting a LIN channel to state LIN_CH_SLEEP without transmitting a go-to-sleep command (Lin_GoToSleepInternal).
  • Transmission of the wake-up command (Lin_Wakeup).
  • Setting a LIN channel to state LIN_CH_OPERATIONAL without transmitting a wakeup command (Lin_WakeupInternal).

  • Query of transmission status and reception of the response part of a frame (Lin_GetStatus) for LIN master nodes. The following cases are distinguished:

  • Successful reception/transmission.

  • No reception.
  • Erroneous reception/transmission (framing error, bit error, checksum error).
  • Ongoing reception - at least one response byte has been received, but the checksum byte has not been received.
  • Ongoing transmission.

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22. LIN 收发器驱动

原文标题：LIN Transceiver Driver

Optionally, the LIN Interface requires the services of the underlying LIN Transceiver Driver specified by .

The LIN Interface maps the following services for all underlying LIN Transceiver Drivers to one unique interface.

  • Unique LIN Transceiver Driver mode request and read services to manage the operation modes of each underlying LIN transceiver device.
  • Read service for LIN transceiver wake up reason support.
  • Mode request service to enable/disable/clear wake up event state of each used LIN transceiver.

The LIN Interface does not use or access the LIN hardware or assume information about it any way other than what the LIN Transceiver Driver provides through the function calls to the LIN Transceiver Driver listed above.

23. 文件结构

原文标题：File structure

24. 头文件结构

原文标题：Header file structure

This section describes the header files that will be included by the LIN Interface and possible other modules.

Include the header file of LSduR for LinIf Status: DRAFT ⌈ The LIN Interface shall include the defined include files of all upper layer BSW modules it is connected to, e.g. in case of connection to the L-SDU Router the file LSduR_LinIf.h (see ). ⌋

⌈ The LIN Interface shall include the file PduR_LinTp.h, if the LIN TP is enabled (configuration parameter LinIfTpSupported). ⌋

⌈ The LIN Interface shall include the file LinTrcv.h, if the configuration parameter LinIfTrcvDriverSupported is set to TRUE. ⌋

⌈ The LIN Interface shall include the header file(s) of the CDD(s) for callback declaration. The names of the header files are configurable via configuration parameter LinIfPublicCddHeaderFile. ⌋

⌈ The LIN Interface shall include the header file Mirror.h if Bus Mirroring is enabled (configuration parameter LinIfBusMirroringSupported). ⌋

25. 需求追踪

原文标题：Requirements Tracing

The following tables reference the requirements specified in , and links to the fulfillment of these. Requirements that are not fulfilled by this document are linked to .

Requirement Description Satisfied by
The Basic Software Module shall be able to initialize variables and hardware in a separate initialization function
All AUTOSAR Basic Software Modules shall provide configuration rules and constraints to enable plausibility checks
The AUTOSAR SW Components shall provide information about their dependency from faults, signal qualities, driver demands
Optional functionality of a Basic-SW component that is not required in the ECU shall be configurable at pre-compile-time
Error values naming convention
All AUTOSAR Basic Software Modules shall avoid the duplication of code
Status values naming convention
Basic SW module shall be able to shutdown
Classification of development errors
BSW Modules shall support link-time configuration
The return type of init() functions implemented by AUTOSAR Basic Software Modules shall be void
The main processing function of each AUTOSAR Basic Software Module shall be named according the de

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26. 功能规范

原文标题：Functional specification

It is not required to reinvent the requirements already specified in the ISO 17987 specifications . However, there are specific details for AUTOSAR and parts that need to be specified since they are not specified enough or are missing. Specification of these parts will be made here.

The LIN Interface shall support the behavior of master and slave in the ISO 17987 specifications. The following requirements are the base requirements and the rest of the requirements in this chapter are refinements of these base requirements.

Upstream requirements: ⌈ The LIN Interface shall support the behavior of the master and slave in the ISO 17987 specifications. ⌋

The requirement above basically means that the communication from a ISO 17987 node and the LIN Interface node will be equal.

⌈ The LIN Interface shall realize the LIN behavior so that existing LIN nodes can be reused. ⌋

Upstream requirements: ⌈ The LIN Interface shall be able to handle one or more LIN channels. ⌋

27. Frame Transfer

All the functionality of the Protocol Specification in the ISO 17987 specifications is used. Some parts of the specification need some clarification and additional requirements to suite the LIN Interface.

28. Frame 类型

原文标题：Frame types

The following requirements apply to the different frame types that are specified in the ISO 17987 specifications . The existing frame types are:

  • Unconditional frame ()
  • Event-triggered frame ()
  • Sporadic frame ()
  • Diagnostic frames MRF and SRF ()
  • Reserved frames ()

The actual transmission/reception of the different frames is detailed in the and .

29. Unconditional frame

This is the normal frame type that is used in LIN clusters. Its transportation on the bus strictly follows the schedule table.

30. Event-triggered frame

Event-triggered frames are used to enable sporadic transmission from slaves. The normal usage for this type of frame is in non-time-critical functions.

The requirements differentiates between master and slaves nodes depending on the realized node type.

31. Event-triggered frame in master nodes

This section is only applicable to LIN master nodes.

Since more than one slave may respond to an Event-triggered frame header, a collision may occur. The transmitting slaves shall detect this and withdraw from communication.

⌈ If a collision occurs in an Event-triggered frame response, then the LIN Interface shall switch to the corresponding collision resolving schedule table. ⌋

⌈ The LIN Interface shall switch to the given collision resolving schedule table at the end of the current frame slot after a collision has been detected. ⌋

⌈ The collision resolving schedule table is given by the LIN Interface configuration (configuration parameter LinIfCollisionResolvingRef). ⌋

32. Event-triggered frame in slave nodes

This section is only applicable to LIN slave nodes.

Upper layers decide the transmission of the response of an Event-triggered frame. Therefore, an API call must be available to set the Event-triggered frame response pending for transmission.

⌈ The LIN Interface shall maintain a flag to keep the transfer state of each Event-triggered frame response (defined in the ISO 17987 specifications ). ⌋

The first data byte of the Unconditional frame response allocated to an Event-triggered frame is reserved for the PID of the Unconditional frame.

⌈ If the header of an Event-triggered frame is received and the associated response is pending, the LIN Interface shall transmit the PID of the Unconditional frame in the first byte of the response data. The payload of the Unconditional frame response shall be transmitted in the following bytes. ⌋

⌈ The LIN Interface shall clear the pending flag of an Event-triggered frame response once it has been transmitted successfully. This applies also to the case if the response is successfully transmitted as an Unconditional frame. ⌋

33. Sporadic frame (Master only)

This section is only applicable to LIN master nodes. From a LIN slave point of view, a received Sporadic frame does not differ from a received Unconditional frame.

The ISO 17987 specifications define a Sporadic frame. A more precise definition of the Sporadic frames is needed here:

  • Sporadic slot - This is a placeholder for the Sporadic frames. The reason to name it "slot" is that it has no LIN frame ID.
  • Sporadic frame - This is one of the Unconditional frame that are attached to a Sporadic slot.

⌈ The master shall be the only allowed transmitter of a Sporadic frame (defined in the ISO 17987 specifications). ⌋

⌈ Only a Sporadic frame shall allocate a Sporadic slot (defined in the ISO 17987 specifications). ⌋

Upper layers decide the transmission of a Sporadic frame. Therefore, an API call must be available to set the Sporadic frame pending for transmission.

⌈ The LIN Interface shall flag the specific Sporadic frame (defined in the ISO 17987 specifications) for transfer. ⌋

⌈ The LIN Interface shall transmit the specific Sporadic frame (defined in the ISO 17987 specifications) in the associated Sporadic slot according to the priority of the Sporadic frames. ⌋

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34. 诊断 Frames MRF and SRF

原文标题：Diagnostic Frames MRF and SRF

The Master Request Frame (MRF) and Slave Response Frame (SRF) are frames with a fixed ID that are used for transportation of ISO 17987 node configuration services and TP messages.

35. 诊断 Frames MRF and SRF (Master only)

原文标题：Diagnostic Frames MRF and SRF (Master only)

The ISO 17987 specifications are vague in specifying when MRF and SRF are to be transported and when the corresponding schedule entry is due. The LIN Interface processes the schedule (Schedule Table Manager) and therefore knows when a TP transmission is ongoing. Therefore, the following requirement can be stated:

⌈ The LIN Interface shall send an MRF if there is an ongoing TP transmission, when a schedule entry is due, and there is data to be sent. ⌋

Note that also the node configuration mechanism uses the MRF but above requirement does only apply when the MRF is encountered in the schedule table. The node configuration shall have special schedule entries as seen below.

For the slave response frame, the master node sends only the header. Generally, it is always sent because the master cannot know whether the slave has anything to send in the response part of the frame. An exception to that is the case when the master node wishes to prevent reception of such a frame during a TP frame sequence because there is no buffer to store them.

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36. Reserved frames

The LIN Interface module does not support transmission of Reserved frames.

Note: The ISO 17987 specifications do not allow Reserved frames (not allowed since LIN 2.1 ).

37. Frame reception

38. Frame reception in master nodes

This section is only applicable to LIN master nodes.

The LIN master controls the schedules and therefore initiates all frames on the bus.

The requirements in this section are applicable to all received frame types that are received by the master if scheduled and pending for transportation (e.g. a schedule entry with an SRF can be silent or pending for transportation).

39. Header

⌈ The LIN Interface shall call the function Lin_SendFrame of the LIN Driver module when a new schedule entry for a frame reception is due. ⌋

40. Response

The LIN Driver will automatically be set to reception state after the header is transmitted.

41. Status check

⌈ The LIN Interface shall determine the status of the LIN Driver module by calling the function Lin_GetStatus earliest after the maximum frame length and latest when the next schedule entry is due. ⌋

It is up to the LIN Interface module's implementer to find an efficient way to determine the status check of the LIN Driver. The normal implementation would be that the status is checked within each LinIf_MainFunction_ function call after the maximum frame length has passed. In this case, the frame transmission is still going on (busy). Therefore the status determination shall be checked again within the next LinIf_MainFunction_ function call (if the current LinIf_MainFunction_ does not start a new frame, of course).

The shows an example of how the frame transmission is initiated and confirmed on the bus.

When the status from the function Lin_GetStatus is returned and a frame is received, the following interpretation for different types of frames takes place:

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42. Frame reception in slave nodes

This section is only applicable to LIN slave nodes.

The LIN slave has no knowledge about the scheduling of the LIN master, it solely reacts to received LIN headers reported by the LIN Driver with the header indication callback function LinIf_HeaderIndication.

The requirements in this section are applicable to all frame types that are received by the slave. An exception is the MRF for which only the header handling in applies, but the response handling is described in and .

43. Header

⌈ If the PID of a received header is evaluated and belongs to a configured receive frame, before returning from the callback LinIf_HeaderIndication the LIN Interface shall set the PduPtr->Cs and PduPtr->Dl to the configured values and shall set the PduPtr->Drc to LIN_FRAMERESPONSE_RX. ⌋

44. Response

The completion of each response reception is notified to the LIN Interface. The LIN Driver indicates a successfully received response to the LIN Interface with the response indication callback function LinIf_RxIndication and an unsuccessful response with the error indication callback function LinIf_LinErrorIndication.

Invocation of LSduR_LinIfRxIndication for Response in slave nodes Status: DRAFT ⌈ If the function LinIf_RxIndication is called, the LIN Interface shall invoke LSduR_LinIfRxIndication with the received data and payload length. ⌋

⌈ If Bus Mirroring is enabled globally (configuration parameter LinIfBusMirroringSupported) and has been activated with a call to LinIf_EnableBusMirroring() for a LIN channel, the LIN Interface shall call Mirror_ReportLinFrame() each time LinIf_RxIndication is called on that channel, with status code LIN_RX_OK and a pointer to the received data. ⌋

⌈ If the function LinIf_LinErrorIndication is called, the LIN Interface shall consider the response as lost. Therefore, the LIN Interface shall report the runtime error code LINIF_E_RESPONSE to the Default Error Tracer unless the error code of LinIf_LinErrorIndication is LIN_ERR_HEADER. ⌋

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45. Frame transmission

46. Frame transmission in master nodes

This section is only applicable to LIN master nodes.

A LIN frame is transmitted in the LinIf_MainFunction_ when a new schedule entry is due.

The requirements in this section are applicable to all frame types that are transmitted by the master if scheduled and pending for transportation (e.g. an Unconditional frame that is scheduled is always pending for transportation, a Sporadic frame slot may be pending for transportation or silent).

47. Header and response

Invocation of LSduR_LinIfTriggerTransmit in master nodes Status: DRAFT ⌈ The LIN Interface shall call the function LSduR_LinIfTriggerTransmit with the PduInfoPtr pointer containing data buffer (SduDataPtr) and buffer length (SduLength) to get the data part of the frame (data in the LIN frame response) when a schedule entry for a frame transmission is due. ⌋

Invocation of Lin_SendFrame after successful invocation of LSduR_LinIfTriggerTransmit in master nodes Status: DRAFT ⌈ After getting the data part of the frame (when the function LSduR_LinIfTriggerTransmit returns E_OK), the LIN Interface shall call the LIN Driver module's function Lin_SendFrame to provide the LIN Driver a pointer to the data part. ⌋

Behavior after failed invocation of LSduR_LinIfTriggerTransmit in master nodes Status: DRAFT ⌈ When the function LSduR_LinIfTriggerTransmit returns E_NOT_OK, the LIN Interface shall not transmit the Sporadic frame or Unconditional frame for which the data was requested. ⌋

48. Status check

⌈ If Bus Mirroring is enabled globally (configuration parameter LinIfBusMirroringSupported) and has been activated with a call to LinIf_EnableBusMirroring() for a LIN channel, the LIN Interface shall call Mirror_ReportLinFrame() each time after reading the LIN Driver's status for a Tx slot on that channel, providing the transmitted data when the status is LIN_TX_OK, and otherwise a NULL pointer. ⌋

Limitation on invocation of LSduR_LinIfTxConfirmation in master nodes Status: DRAFT ⌈ If the return code of the function Lin_GetStatus is LIN_TX_OK, the LIN Interface shall issue a LSduR_LinIfTxConfirmation callback with result E_OK. ⌋

Invocation of LSduR_LinIfTxConfirmation at error or busy conditions in master nodes Status: DRAFT ⌈ If the return code of the function Lin_GetStatus is LIN_TX_ERROR or LIN_TX_BUSY, the LIN Interface shall issue a LSduR_LinIfTxConfirmation callback with result E_NOT_OK. ⌋

⌈ If the return code of the function Lin_GetStatus is LIN_TX_ERROR and any LIN frame transmission is attempted, the LIN Interface shall consider the transmitted frame as lost and report the runtime error code LINIF_E_RESPONSE to the Default Error Tracer. ⌋

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49. Frame transmission in slave nodes

This section is only applicable to LIN slave nodes.

The LIN slave has no knowledge about the scheduling, it solely reacts to received LIN headers reported by the LIN Driver with the header indication callback function LinIf_HeaderIndication.

The requirements in this section are applicable to all frame types that are transmitted by the slave. An exception is the SRF for which only the requirements and of this section apply, but the remaining handling is described in and . Event-triggered frames have also a special handling as described in .

50. Header

Invocation of LSduR_LinIfTriggerTransmit after Header indication in slave nodes Status: DRAFT ⌈ If LinIf_HeaderIndication is called and the PID is evaluated and determined as a transmit frame, the LIN Interface shall call the function LSduR_LinIfTriggerTransmit with the PduInfoPtr->SduDataPtr set to the buffer provided as PduPtr->SduPtr and PduInfoPtr->SduLength set to the configured length to get the data part of the frame (data in the LIN frame response). ⌋

If the frame type is an Event-triggered frame, see also .

Handling of Cs, Dl and Drc in slave nodes Status: DRAFT ⌈ After getting the data part of the frame (when the function LSduR_LinIfTriggerTransmit returns E_OK or the SRF data is provided by node configuration handler or transport protocol), before returning from the callback LinIf_HeaderIndication, the LIN Interface shall set the PduPtr->Cs and PduPtr->Dl to the configured values and shall set the PduPtr->Drc to LIN_FRAMERESPONSE_TX. ⌋

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51. Response

The completion of each response transmission is notified to the LIN Interface. The LIN Driver confirms a successfully transmitted response to the LIN Interface with the response confirmation callback function LinIf_TxConfirmation and an unsuccessful response with the error indication callback function LinIf_LinErrorIndication.

Invocation of LSduR_LinIfTxConfirmation after LinIf_TxConfirmation in slave nodes Status: DRAFT ⌈ If the function LinIf_TxConfirmation is called, the LIN Interface shall issue a LSduR_LinIfTxConfirmation callback with result E_OK. ⌋

⌈ If the function LinIf_TxConfirmation is called and the transmitted frame contains the response_error signal, the LIN Interface shall clear the response_error signal. ⌋

If the frame type is an Event-triggered frame or Unconditional frame, consider also .

⌈ If LinIf_HeaderIndication is called while the confirmation of a response transmission is expected, the LIN Interface shall consider the transmitted frame as lost. Therefore, the LIN Interface shall report the runtime error code LINIF_E_RESPONSE to the Default Error Tracer. Afterwards, the received LIN Header shall be processed. ⌋

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其余 187 章（内容从略，见纯文本全文）

  1. Slave-to-slave communication (Master only)
  2. Header
  3. Response
  4. Status check
  5. Irrelevant communication (Slave only)
  6. Schedules (Master only)
  7. 调度 table 管理器
  8. Main 功能
  9. 网络管理
  10. Node 管理
  11. LIN 接口 state-machine
  12. LIN channel sub-state-machine
  13. Go to 休眠 process
  14. Go to 休眠 process in master nodes
  15. Go to 休眠 process in slave nodes
  16. Reception of go-to-sleep command
  17. Bus idle
  18. 休眠模式 transition
  19. Wake up process
  20. Wake up process in master nodes
  21. 唤醒 during 休眠 transition in master nodes
  22. Wake up process in slave nodes
  23. 唤醒 during 休眠 transition in slave nodes
  24. Status 管理
  25. response_error signal (Slave only)
  26. 诊断 and Node 配置
  27. Node 配置 in master nodes
  28. Node 配置服务
  29. Node 配置 in 调度 Table
  30. Node 配置 in slave nodes
  31. Node 建模
  32. Node 配置服务
  33. 诊断 Frame Dispatcher
  34. Node 配置 Handler
  35. Node 配置错误
  36. 诊断 - 传输协议
  37. 调度 requests in master nodes
  38. State-machine
  39. LIN TP transmission
  40. LIN TP transmission 错误
  41. Transmission 错误处理 common for master and slave nodes
  42. Transmission 错误处理 for master nodes
  43. Transmission 错误处理 for slave nodes
  44. LIN TP reception
  45. Unavailability of receive buffer
  46. Unavailability of receive buffer common for master and slave nodes
  47. Unavailability of receive buffer for master nodes
  48. Unavailability of receive buffer for slave nodes
  49. LIN TP reception 错误
  50. LIN TP reception 错误 common for master and slave nodes
  51. LIN TP reception 错误 for master nodes
  52. LIN TP reception 错误 for slave nodes
  53. 处理多 channels and drivers
  54. 多 channels
  55. 多 LIN drivers
  56. 多 LIN 收发器 drivers
  57. 错误分类
  58. Development 错误
  59. Runtime 错误
  60. Production 错误
  61. Extended Production 错误
  62. LINTP_E_LINTPNAS_TIMEOUT_OCCURRED
  63. LINTP_E_LINTPNCS_TIMEOUT_OCCURRED
  64. LINTP_E_LINTPNCR_TIMEOUT_OCCURRED
  65. LINTP_E_SWAPPED_CONSECUTIVE_FRAMES_RECEIVED
  66. LINTP_E_DROPPED_CONSECUTIVE_FRAMES_DETECTED
  67. LINIF_E_SCHEDULE_TABLE_SWITCH_REQUEST_NOT_ACCEPTED
  68. API 规范
  69. Imported 类型
  70. Standard 类型
  71. 类型定义
  72. LinIf_SchHandleType
  73. LinIf_ConfigType
  74. LinTp_ConfigType
  75. LinTp_Mode
  76. LIN 接口 API
  77. LinIf_Init
  78. LinIf_Transmit
  79. LinIf_ScheduleRequest
  80. LinIf_GotoSleep
  81. LinIf_Wakeup
  82. LinIf_SetTrcvMode
  83. LinIf_GetTrcvMode
  84. LinIf_GetTrcvWakeupReason
  85. LinIf_SetTrcvWakeupMode
  86. LinIf_GetPIDTable
  87. LinIf_SetPIDTable
  88. LinIf_GetConfiguredNAD
  89. LinIf_SetConfiguredNAD
  90. LinTp_Init
  91. LinTp_Transmit
  92. LinTp_Shutdown
  93. LinTp_ChangeParameter
  94. LinIf_CheckWakeup
  95. LinIf_EnableBusMirroring
  96. Callback 通知
  97. LinIf_WakeupConfirmation
  98. LinIf_HeaderIndication
  99. LinIf_RxIndication
  100. LinIf_TxConfirmation
  101. LinIf_LinErrorIndication
  102. Scheduled functions
  103. LinIf_MainFunction_
  104. Expected 接口
  105. Mandatory 接口
  106. Optional 接口
  107. Configurable 接口
  108. _ScheduleRequestConfirmation
  109. _GotoSleepConfirmation
  110. _WakeupConfirmation
  111. _GotoSleepIndication
  112. Callout 定义
  115. 时序图
  116. Frame Transmission
  117. Frame transmission in master nodes
  118. Frame transmission in slave nodes
  119. Frame Reception
  120. Frame reception in master nodes
  121. Frame reception in slave nodes
  122. Slave-to-slave / Irrelevant communication
  123. Slave-to-slave communication in master nodes
  124. Irrelevant communication in slave nodes
  125. Sporadic frame (Master only)
  126. Event-triggered frame
  127. Event-triggered frame in master nodes
  128. With no answer
  129. With answer (No collision)
  130. With collision
  131. Event-triggered frame in slave nodes
  132. 传输协议 message transmission
  133. 传输协议 message reception
  134. Go to 休眠 process
  135. Go to 休眠 process in master nodes
  136. Go to 休眠 process in slave nodes
  137. Wake up request
  138. Internal 唤醒
  139. 配置规范
  140. How to read this chapter
  141. Containers and 配置 parameters
  142. 配置 Tool
  143. LinIf 配置
  144. LinIf
  145. LinIfGlobalConfig
  146. LinIfGeneral
  147. LinIfChannel
  148. LinIfNodeType
  149. LinIfFrame
  150. LinIfFixedFrameSdu
  151. LinIfFixedFrameSduByte
  152. LinIfPduDirection
  153. LinIfSubstitutionFrames
  154. LinIfRxPdu
  155. LinIfTxPdu
  156. LinIfScheduleTable
  157. LinIfEntry
  158. LinIfMaster
  159. LinIfSlave
  160. LinIfNodeConfigurationIdentification
  161. LinIfSlaveToSlavePdu
  162. LinIfInternalPdu
  163. LinIfTransceiverDrvConfig
  164. LIN 传输 Layer 配置
  165. LinTp
  166. LinTpGeneral
  167. LinTpGlobalConfig
  168. LinTpChannelConfig
  169. LinTpDemEventParameterRefs
  170. LinTpRxNSdu
  171. LinTpTxNSdu
  172. 发布信息
  173. 附录
  174. 不适用需求
  175. Change history of AUTOSAR traceable items
  176. Traceable item history of this document according to AUTOSAR Release R24-11
  177. Added 规范 Items in R24-11
  178. Changed 规范 Items in R24-11
  179. Deleted 规范 Items in R24-11
  180. Traceable item history of this document according to AUTOSAR Release R25-11
  181. Added 规范 Items in R25-11
  182. Changed 规范 Items in R25-11
  183. Deleted 规范 Items in R25-11
  184. Traceable item history of this document according to AUTOSAR Release R26-11
  185. Added 规范 Items in R26-11
  186. Changed 规范 Items in R26-11
  187. Deleted 规范 Items in R26-11