[AutoSar]BSW_Com02 PDU详解

  

关键词

嵌入式、C语言、autosar、OS、BSW

平台说明

项目	Value
OS	autosar OS
autosar厂商	vector ，
芯片厂商	TI 英飞凌
编程语言	C，C++
编译器	HighTec (GCC)

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缩写对照表

见文末

一、PDU的定义和分类

1.1定义

PDU (Protocol Data Unit)，包含SDU和PCI。在传输端，PDU从上层传递到下层，下层将PDU解释为SDU。
SDU(Service Data Unit），它是由上层传递的数据，带有传输数据的请求。它也是由下层接收后提取的数据传递给上层的数据。
PCI (Protocol Control Information),将SDU从特定协议层的一个实例传递到另一个实例时需要此信息。例如，它包含源和目标信息。
DLC(Data Length Code),L-PDU 中表示SDU长度。
PCI在传输端由协议层添加，在接收端再次移除。
  讲人话，如下图所示：PDU = SDU+PCI。PCI 包含了当前层信息和目标层信息。在Can driver 中生成 PCI 和 数据结构（L-PDU），在Can if 中抽象隔离为N-PDU 然后CAN TP中组合成I-PDU。最终在PDU router 中根据PCI信息解析得到目标地址传给COM，在COM中对SDU进行解析将数据传到RTE–>应用层。

注：在网络层中PUD组成如下：

1.2 分类

数据链路层： L-PDU（Data Link Layer Protocol Data Unit）
  在ECU抽象层（CanIf）中实现打包或者拆包。将SUD和PCI 组装或者拆包。

网络层（TP层）： N-PDU（Network Layer Protocol Data Unit）
  在CAN TP 中打包或者拆包。TP模块的主要目的是分割和重新组装不适合指定N- pdu的I - pdu。实现N-PDU与 I-PDU的转换。

交互层： I-PDU（Interaction Layer Protocol Data Unit）
  在COM中打包或者拆包SDU。在外部通信的情况下，交互层将一个或多个信号打包到指定的i - pdu中，并将它们传递给底层，以便在网络中的节点之间传输。

缩写对照表 1

缩写	描述
Can CC	CAN Communication Controller
CAN CF	CAN Consecutive Frame N-PDU
CAN FC	CAN Flow Control N-PDU
CAN FD	CAN flexible data rate
CAN FF	CAN First Frame N-PDU
CAN N-PDU	The PDU of the CAN Transport Layer
CAN N-SDU	The SDU of the CAN Transport Layer
CAN SF	CAN Single Frame N-PDU
CDD	Complex Device Driver
CRC	Cyclic Redundancy Checksum
DLC	Data Length Code. The portion of an L-PDU which describes the SDU length
ETK	Provides development and calibration tools with a powerful interface to the development ECU
FD	Flexible Data
FUP message	Time adjustment message (Follow-Up)
GTD	Global Time Domain
GTM	Global Time Master
HOH	Hardware Object Handle - identifier for a specific CAN mailbox structure
HRH	Hardware Receive Handle - HOH for receive operations (defined by Can)
HTH	Hardware Transmit Handle - HOH for transmission operations (defined by Can)
L-PDU	Protocol Data Unit. Consists of an identifier, DLC and data portion (SDU). Visible to the Can module
L-SDU	Service Data Unit. Data transported inside a CAN L-PDU. Visible to the upper layer modules (e.g. PduR)
MSB	Most Significant Bit
N_Ar	Time from transmission of the CAN frame (any N_PDU) on the receiver side until function CanTp_TxConfirmation() is called
N_As	The time for transmission of a CAN frame (any N_PDU) on the part of the sender until function CanTp_TxConfirmation() is called
N_Br	Time from receiving the N_PDU CanFrame (FF,CF,FC) until transmission of the next FlowControl N_PDU
N_Bs	Time from transmission N_PDU CanFrame (FF, CF, FC) until receiving of next FlowControl N_PDU
N_Crv	Time from transmission of CAN frame (FC) until reception of the next Consecutive Frame N_PDU
N_Cs	Time from receiving N_PDU FlowControl until transmission of the next Consecutive Frame N_PDU in the sender side
N_PCI	Network protocol control information
N_TAtype	The N_TA parameter shall be used to encode one or multiple (depending on the N_TAtype: physical or functional)receiving network layer protocol entities
OFNS message	Offset adjustment message
OBD	On-Board Diagnosis
OFS message	Offset synchronization message
PDU	Protocol Data Unit
PN	Partial Networking
PNI	Partial Network Information
Rx	Receipt/Reception
Rx L-PDU	Received L-PDU (lower to upper layer)
SDU	Service Data Unit
StbM	Synchronized Time-Base Manager
TD	Time Domain
TG	Time Gateway
TM	Time Master
TS	Time Slave
TSD	Time Sub-domain
Tx	Transmission
Tx L-PDU	Transmitted L-PDU (upper to lower layer)
UDS	Unified Diagnostic Services
WUF	Wake up flag
XCP	A protocol description (ASAM standard) between a master (tool) and a slave (device)
SF:	Single Frame
FF:	First Frame
CF:	Consecutive Frame
FC:	Flow Control

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