MICROSAR PDU 路由器技术参考手册

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"MICROSAR PDUR Router 技术参考文档，由Erich Schondelmaier等人编写，版本7.00.00，基于模板版本4.9.2。该文档是关于MICROSAR PDUR Router的详细技术指南，涵盖了从初始版本到对AUTOSAR 4.0.3的适应，以及后续的功能增强和错误修复。" 《MICROSAR PDUR Router 技术参考》是Vector Informatik GmbH于2020年发布的一份详细技术文档，主要作者包括Erich Schondelmaier、Gunnar Meiss、Sebastian Waldvogel等人。该文档的状态为已发布，版本号为7.00.00，基于模板4.9.2。此文档的历史版本记录显示了其持续的更新和改进过程。自2012年12月的1.00.00版本起，文档经历了多次迭代，以适应AUTOSAR标准的升级，例如2.00.00版本针对AUTOSAR 4.0.3进行了适配。随后的版本中，增加了TP Gateway和IF Gateway的支持（2.01.00），支持PduR路由路径组（2.02.00），对TP API的描述进行了调整（2.02.01），并添加了一些ASR（AUTOSAR软件组件运行时环境）的偏差说明（2.02.02）。此外，还包含了对Post-Build Loadable的处理（2.03.00），以及添加了取消接收/传输的支持和对变量地址的TProuting处理（2.04.00）。 MICROSAR PDUR Router是AUTOSAR（AUTomotive Open System ARchitecture）架构中的一个重要组件，它负责网络通信中的数据包（PDU，Protocol Data Unit）路由。这个路由器根据配置的规则将数据包从一个接口转发到另一个接口，实现不同ECU（电子控制单元）间的通信。在AUTOSAR系统中，PDUR的主要任务是管理网络通信，包括数据包的发送、接收、路由以及错误处理。在版本7.00.00中，可能包含对MetaDataHandling的增强，允许动态地址的处理，以及对阈值“0”的支持。MetaDataHandling可能涉及到在数据包传输过程中携带的附加信息，如源和目标地址、优先级等，这些信息对于高效和可靠的网络通信至关重要。阈值“0”的支持可能意味着路由器现在可以处理特定条件下的特殊操作，例如当某个条件满足时停止接收或传输数据包。《MICROSAR PDUR Router 技术参考》是开发和维护AUTOSAR系统中网络通信功能的重要参考资料，它详尽地阐述了PDUR的配置、操作和优化，为工程师提供了深入理解与实际操作的依据。通过这份文档，工程师能够更好地理解和利用PDUR功能，从而提升整个汽车电子系统的网络性能和稳定性。

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Technical Reference MICROSAR PDU Router

based on template version 4.9.2

3 Functional Description

3.1 Features

The features listed in the following tables cover the complete functionality specified for the

PDUR.

The AUTOSAR standard functionality is specified in [1], the corresponding features are listed

in the tables

 Table 3-1 Supported AUTOSAR standard conform features

 Table 3-2 Not supported AUTOSAR standard conform features

Vector Informatik provides further PDUR functionality beyond the AUTOSAR standard. The

corresponding features are listed in the table

 Table 3-3 Features provided beyond the AUTOSAR standard

The following features specified in [1] are supported:

Supported AUTOSAR Standard Conform Features

Pre compile and Post build time configuration variant

I-PDU transmission and reception

Cancel-Receive/Transmit support

Change Parameter support

1:1 routing between upper- and lower-layer communication interface modules

1:1 routing between upper- and lower-layer transport protocol modules

1:1 Interface Gateway Routing

1:N Interface Gateway Routing

1:1 Transport protocol Gateway Routing

1:N Transport protocol Gateway Routing (single and multiframe Tp messages)

Complex device driver ( CDD ) support

Routing Path Groups

Debugging support (optional feature)

1:N fan-out from the same upper layer PDU (If)

Table 3-1 Supported AUTOSAR standard conform features

The following features specified in [1] are not supported:

Not Supported AUTOSAR Standard Conform Features

Link time configuration

1:N fan-out from the same upper layer PDU (Tp)

Zero cost operation

Minimum Routing (Reduced state)

Table 3-2 Not supported AUTOSAR standard conform features

Technical Reference MICROSAR PDU Router

based on template version 4.9.2

The following features are provided beyond the AUTOSAR standard:

Features Provided Beyond The AUTOSAR Standard

N:1 Interface routing path capability (destinations with polling behaviour are not supported)

PduR Switching: Smart learning of routing path destinations depending on received Pdus

1:N and N:1 transport protocol single- and multiframe routing path capability

Choose between different Queues/Queue Implementations

Table 3-3 Features provided beyond the AUTOSAR standard

3.2 Interfaces to adjacent modules of the PDUR

The PDU Router provides generic communication interfaces and transport protocol APIs for

any lower and upper layer module.

3.3 Initialization

Before the PduR can be used it has to be initialized by PduR_PreInit() and PduR_Init().

PduR_PreInit has to be called only once by the EcuMDriverInitListOne before the start of

the OS. This applies also to a multi OsApplication/Core system.

Afterwards PduR_Init has to be called once per OsApplication where the PduR is running.

Note

In case of a single OsApplication/Core system PduR_Init must be called directly after

PduR_PreInit.

3.4 States

The PduR is initially not activated. Basic RAM arrays are initialized with the call of

PduR_InitMemory or with the startup code of your ECU.

PduR_PreInit initializes all shared memory used by the PduR. Afterwards it is in the

PreInitialized state.

PduR_Init initializes all OsApplication specific memory. It has to be called once on every

OsApplication where the PduR is running. Afterwards the state of the PduR on this

OsApplication is Initialized.

3.5 Error Handling

3.5.1 Development Error Reporting

By default, development errors are reported to the DET using the service

Det_ReportError() as specified in [4], if development error reporting is enabled (i.e. pre-

compile parameter PDUR_DEV_ERROR_DETECT==STD_ON).

If another module is used for development error reporting, the function prototype for

reporting the error can be configured by the integrator, but must have the same signature

as the service Det_ReportError().

Technical Reference MICROSAR PDU Router

based on template version 4.9.2

The reported PDUR ID is 51.

The errors reported to DET are described in the following table:

Error Code

Description

PDUR_E_INVALID_REQUEST

An API service has been used without a call of PduR_Init() or

PduR_Init() was called while the PDU Router is initialized. If

your system does not use a start-up code to initialize global

variables, PduR_InitMemory() can be called before

PduR_Init() to avoid this problem.

PDUR_E_PDU_ID_INVALID

An invalid PDU identifier was used as parameter for a PDU

Router API call.

PDUR_E_ROUTING_PATH_GR

OUP_ID_INVALID

If the routing table is invalid that is given to the

PduR_EnableRouting or PduR_DisableRouting functions

PDUR_E_INIT_FAILED

PDU Router initialization failed

PDUR_E_PDU_INSTANCES_LO

Loss of a PDU instance (FIFO flushed because of an overrun)

PDUR_E_UNEXPECTED_CALL

The indicated API was called although the current PDU

Router configuration and internal state does not expect a call

to this API

PDUR_E_FATAL

Fatal error

PDUR_E_MCQ_QUEUE_OVER

FLOW

The multicore queue has overflowed.

PDUR_E_INVALID_APPLICATIO

N_ID

The PduR Mainfunction has been called in an invalid

OsApplication context.

PDUR_E_SPINLOCKTIMEOUT

The PduR ran into a timeout while trying to acquire a spinlock.

PDUR_E_IDXOUTOFBOUNDS

A PduR variable was read which had an invalid value.

PDUR_E_OSAPP2MEMMAPPIN

The OsApplication ID could not be mapped to a memory

section.

PDUR_E_PARAM_POINTER

A pointer parameter is invalid.

PDUR_E_NO_PREINIT

The PduR has not be pre-initialized.

PDUR_E_ALREADY_INITIALIZE

The PduR was already initialized.

Table 3-4 Errors reported to DET

3.6 Communication Interface Routing

3.6.1 Data Provision

3.6.1.1 Direct data provision

If the data provision is set to ‘Direct’ the Pdu will be copied to the destination in the Transmit

function. The Transmit function of the destination module is called by the PduR.

3.6.1.2 Trigger transmit data provision

If the data provision is set to ‘Trigger Transmit’ the Pdu will be copied to the destination in

the TriggerTransmit function. The TriggerTransmit function of the PduR is called by the

destination module. This is useful if the destination module always wants to fetch the latest

Technical Reference MICROSAR PDU Router

based on template version 4.9.2

data available (single buffer configuration) or it has specific timing requirements when it

needs to provide the data.

3.6.2 Queued IF routing

Queueing is enabled by referring a PduRQueue container at the PduRDestPdu.

The following queues are supported by communication interface routing paths:

 Communication Interface Queue (page 29): FIFO behavior

 Shared Buffer Queue (page 30): FIFO behavior

 Single Buffer Queue (page 29): Last-is-best behavior

3.6.2.1 FIFO Queue

A FIFO is used if loss of I-PDU instances is critical. One FIFO queue only cares for a FIFO

based sorting of the instances of its own queued I-PDUs. The queue can be configured for

each destination independently.

The queue will be flushed in the following situations:

 A queue overflow (the newly received I-PDU will be routed)

 Transmission to the destination is not successful

 A corresponding PduRDestPdu is disabled by routing path groups

 A suitable TxBuffer could not be allocated (Shared Buffer Queue only)

3.6.2.2 Single Buffer Queue

This queue has a ‘Last-is-best’ behavior. The single buffer will always be overwritten with

the latest received Pdu. This way only the latest value is provided to the destination.

For this behavior the data-provision of all PduRDestPdus using this queue must be set to

‘trigger transmit’.

The data of the buffer can then be read at any time via the TriggerTransmit API. The single

Buffer is initialized with the default values configured at the PduRDestPdu. This way the

TriggerTransmit API can also be called even if no Pdu has yet been received.

3.6.3 Timing aspects

The PDU Router does not provide a mechanism to implement a rate conversion (e.g. change

the cycle time from the source to the destination channel). A rate conversion can be

implemented by signal routing paths using the COM signal gateway.

3.6.4 Dynamic DLC Routing

The length of a received I-PDU can be changed dynamically at runtime. It may vary between

0 and the configured PDU length.

Dynamic length I-PDUs can be used to save memory resources. This only applies if a

Shared Buffer Queue is used:

If the routing path receives smaller I-PDUs most of the time, you can assign smaller buffers

to the queue. The smaller buffers will be used if they are large enough for the actual received

message. An example use case is the routing of classical CAN messages via a CAN-FD

routing path. In this case an 8 byte I-PDU does not occupy a 64 byte buffer.

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