AUTOSAR动态pdu

### AUTOSAR CAN PDU Specification and Implementation Details #### Definition of CAN PDU A **CAN PDU (Protocol Data Unit)** represents a segment of information that is processed at the protocol layer within the CAN communication stack. According to the definition provided, a CAN hardware object serves as an L-PDU buffer located inside the CAN RAM of the CAN hardware unit/controller[^2]. This implies that PDUs act as buffers holding data intended for transmission over the CAN bus or received from it. #### Structure and Handling of CAN PDUs Within the context of AUTOSAR, different types of PDUs exist such as I-PDUs (Inter-PDU), which carry application-layer messages between ECUs; N-PDUs (Network Layer Protocol Data Units) used in transport protocols like CanTp where segmentation/reassembly occurs; and others depending on specific requirements. For instance, when dealing with J1939 requests through COM and PduR configurations, certain actions need to be taken regarding IPDU group management and routing path setup[^4]. #### Configuration Parameters Related to CAN PDUs Configuration settings play a crucial role in defining how PDUs operate within systems adhering to AUTOSAR standards. In particular, modules like CanTp involve configuring various parameters including those related to SDUs (Service Data Units). Although older versions might have included deprecated fields like `CanTpRxDl` and `CanTpTxDl`, these do not affect current implementations since newer revisions disregard them entirely[^1]. #### Vendor-Specific Customizations Through Attributes To accommodate diverse hardware platforms while maintaining compatibility across vendors' products implementing CAN drivers under AUTOSAR guidelines, unique identifiers named `"VendorId"` along with `"VendorApiInfix"` attribute values serve as means to address distinct driver instances correctly during system integration processes[^3]. ```cpp // Example C++ code snippet showing usage of vendor-specific attributes if ((canDriver->getVendorId() == VENDOR_ID_BOSCH) && (!strcmp(canDriver->getVendorApiInfix(), "BoschAPI"))) { // Specific initialization routine for Bosch CAN driver } ```

Autosar PDU（Protocol Data Unit）是 Autosar（Automotive Open System Architecture）标准中定义的协议数据单元。Autosar是一种用于汽车电子系统的开放式软件架构标准，旨在提高汽车电子系统的可重用性、可扩展性和互操作性。 在 Autosar 中，PDU 是用于在不同的软件组件之间传输数据的基本单位。它包含了数据字段和元数据，用于描述数据的类型、长度、优先级等信息。PDU 可以是信号、消息、报文等不同的形式，用于在汽车电子系统中进行通信和交换信息。 通过定义和使用 PDU，Autosar 可以帮助实现不同汽车电子系统之间的标准化通信，提高系统的可靠性和互操作性。PDU 的使用也可以简化系统的开发和维护过程，提高软件组件的可重用性和可移植性。 请注意，对于具体的 Autosar PDU 的定义和使用方式，可能会因为实际应用和厂商的不同而有所差异。