All Canon SLRs and dSLRs require a lens max aperture of f/5.6 or faster, with the exception of the 1-series dSLRs prior to the 1D X and the film EOS-1V and -3, which can AF using the center point only with an f/8 max aperture. That means any Canon EF/EF-S lens will AF on any EOS body, but only some lens + teleconverter combos will AF.
Note that the AF is actually performed with the lens wide open, at the lens' max aperture. The f/5.6 spec is just the minimum requirement.