Foreword
Introduction
1 Scope
2 Normative references
3 Terms and definitions
4 Symbols and abbreviated terms
5 Basic concepts of time triggered CAN
   5.1 General conventions
   5.2 General principle of the protocol
        5.2.1 System matrix - matrix cycle
        5.2.2 Time windows
        5.2.3 Event synchronised start of a basic cycle
   5.3 Reference message
        5.3.1 Description
        5.3.2 Level 1
        5.3.3 Level 2
6 Timing and synchronisation features
   6.1 Level 1 and level 2
   6.2 Generation of local time
   6.3 Cycle_Time parameter
   6.4 Synchronisation in level 2
   6.5 Global time in level 2
   6.6 External clock synchronisation
7 Sending and receiving
   7.1 General
   7.2 Transmission of messages
        7.2.1 Tx_Trigger
        7.2.2 Tx_Enable
        7.2.3 Transmit message object
   7.3 Reception of messages
        7.3.1 Rx_Trigger
        7.3.2 Receive message object
   7.4 Transmission of reference messages
        7.4.1 Tx_Ref_Trigger
        7.4.2 Tx_Ref_Trigger's message object
        7.4.3 Ref_Trigger_Offset
        7.4.4 Watch_Trigger
8 Initialisation and fault tolerance of time masters
   8.1 General
   8.2 Initialisation procedure
   8.3 Failure of the current time master
   8.4 Shutdown
9 Failure handling
   9.1 General
   9.2 Message status count
   9.3 Interrupt_Status_Vector
        9.3.1 Description
        9.3.2 Scheduling_Error_1 (S1)
        9.3.3 Tx_Underflow (S1)
        9.3.4 Scheduling_Error_2 (S2)
        9.3.5 Tx_Overflow (S2)
        9.3.6 Application_Watchdog (S3)
        9.3.7 CAN_Bus_Off (S3)
        9.3.8 Config_Error (S3)
        9.3.9 Watch_Trigger_Reached (S3)
   9.4 Master state
        9.4.1 Description
        9.4.2 Sync_Mode
        9.4.3 Master-Slave_Mode
10 Visible interfaces
   10.1 Configuration interfaces
        10.1.1 Description
        10.1.2 General configuration interfaces
        10.1.3 System matrix
        10.1.4 Message objects
   10.2 Application interfaces
        10.2.1 General application interfaces
        10.2.2 Interrupt_Status_Vector
        10.2.3 Application interfaces - control
   10.3 Optional interfaces
        10.3.1 Description
        10.3.2 Disable_Discontinuity
        10.3.3 Out_of_Sync
        10.3.4 Synchronisation_Deviation
        10.3.5 Synchronisation_Quality
        10.3.6 Global_Time_Fraction
        10.3.7 Disable_Global_Time_Filtering
        10.3.8 Enable_TUR_Restore