{"id":97351,"date":"2026-08-29T09:25:14","date_gmt":"2026-08-29T01:25:14","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/97351.html"},"modified":"2026-08-29T09:25:14","modified_gmt":"2026-08-29T01:25:14","slug":"autosar-cp%e5%b9%b3%e5%8f%b0%e4%bb%8e%e5%ba%94%e7%94%a8swc%e5%88%b0can%e6%8e%a7%e5%88%b6%e5%99%a8%e7%94%b5%e5%b9%b3%ef%bc%9a%e6%95%b0%e6%8d%ae%e5%8f%91%e9%80%81%e7%9a%84%e5%ae%8c%e6%95%b4%e6%97%85","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/97351.html","title":{"rendered":"AUTOSAR CP\u5e73\u53f0\u4ece\u5e94\u7528SWC\u5230CAN\u63a7\u5236\u5668\u7535\u5e73\uff1a\u6570\u636e\u53d1\u9001\u7684\u5b8c\u6574\u65c5\u7a0b"},"content":{"rendered":"<h2>\u4ece\u5e94\u7528SWC\u5230CAN\u63a7\u5236\u5668\u7535\u5e73&#xff1a;\u6570\u636e\u53d1\u9001\u7684\u5b8c\u6574\u65c5\u7a0b\u2014\u2014AUTOSAR CP\u5e73\u53f0\u6df1\u5ea6\u89e3\u6790<\/h2>\n<p>\u514d\u8d23\u58f0\u660e<br \/>\n\u672c\u6587\u5185\u5bb9\u4ec5\u9650\u6280\u672f\u5b66\u4e60\u4e0e\u4ea4\u6d41\u4f7f\u7528\u3002\u6587\u4e2d\u6d89\u53ca\u7684\u6240\u6709AUTOSAR\u914d\u7f6e\u65b9\u6cd5\u3001\u6a21\u5757\u884c\u4e3a\u63cf\u8ff0\u3001\u4ee3\u7801\u793a\u4f8b\u548c\u5de5\u5177\u94fe\u5efa\u8bae\u5747\u57fa\u4e8eAUTOSAR Classic Platform R4.x\u516c\u5f00\u6807\u51c6\u6587\u6863\u53ca\u884c\u4e1a\u901a\u7528\u5b9e\u8df5\u3002\u6587\u4e2d\u6240\u6709\u6848\u4f8b\u3001\u6545\u4e8b\u3001\u5bf9\u8bdd\u573a\u666f\u3001\u4eba\u7269\u53ca\u4f01\u4e1a\u540d\u79f0\u5747\u4e3a\u5b8c\u5168\u865a\u6784&#xff0c;\u4ec5\u7528\u4e8e\u901a\u8fc7\u5177\u4f53\u751f\u52a8\u7684\u573a\u666f\u5e2e\u52a9\u8bfb\u8005\u7406\u89e3\u62bd\u8c61\u6280\u672f\u89c4\u8303\u3002\u82e5\u5c06\u6587\u4e2d\u5185\u5bb9\u5e94\u7528\u4e8e\u5b9e\u9645\u9879\u76ee&#xff0c;\u8bf7\u52a1\u5fc5\u4ee5AUTOSAR\u5b98\u65b9\u53d1\u5e03\u7684\u6700\u65b0\u89c4\u8303\u4e3a\u51c6&#xff0c;\u5e76\u7ed3\u5408\u5177\u4f53\u82af\u7247\u5382\u5546\u7684MCAL\u5b9e\u73b0\u8fdb\u884c\u9a8c\u8bc1\u3002\u56e0\u4f7f\u7528\u4e0d\u5f53\u9020\u6210\u7684\u4efb\u4f55\u635f\u5931&#xff0c;\u8d23\u4efb\u7531\u4f7f\u7528\u8005\u81ea\u884c\u627f\u62c5\u3002<\/p>\n<hr \/>\n<h3>\u5f15\u5b50&#xff1a;\u4e00\u4e2a\u5239\u8f66\u4fe1\u53f7\u7684\u4e24\u4e07\u516c\u91cc\u65c5\u7a0b<\/h3>\n<p>\u670b\u53cb&#xff0c;\u60f3\u8c61\u4f60\u5750\u5728\u9a7e\u9a76\u5ea7\u4e0a&#xff0c;\u8f7b\u8f7b\u8e29\u4e0b\u5239\u8f66\u8e0f\u677f\u3002\u5239\u8f66\u8e0f\u677f\u4e0a\u6709\u4e00\u4e2a\u4f20\u611f\u5668&#xff0c;\u5b83\u628a\u8e0f\u677f\u7684\u538b\u529b\u8f6c\u6362\u6210\u7535\u4fe1\u53f7\u3002\u8fd9\u4e2a\u4fe1\u53f7\u7ecf\u8fc7ADC\u91c7\u6837\u540e&#xff0c;\u53d8\u6210\u4e86\u4e00\u4e2a\u6570\u5b57\u503c\u2014\u2014\u6bd4\u5982&#034;\u5239\u8f66\u538b\u529b&#061;100bar&#034;\u3002<\/p>\n<p>\u73b0\u5728&#xff0c;\u8fd9\u4e2a\u6570\u503c\u9700\u8981\u4ece\u4f60\u7684ECU\u53d1\u9001\u5230\u6574\u8f66CAN\u7f51\u7edc\u4e0a&#xff0c;\u8ba9\u5176\u4ed6ECU&#xff08;\u6bd4\u5982\u5239\u8f66\u706f\u63a7\u5236\u5668\u3001ESP\u3001\u4eea\u8868\u76d8&#xff09;\u90fd\u80fd\u63a5\u6536\u5230\u3002\u4f46\u95ee\u9898\u662f&#xff1a;\u8fd9\u4e2a\u7b80\u5355\u7684\u6570\u5b57&#xff0c;\u662f\u5982\u4f55\u4ece\u5e94\u7528\u5c42\u7684SWC\u4ee3\u7801&#xff0c;\u6700\u7ec8\u53d8\u6210CAN\u603b\u7ebf\u4e0a\u4e00\u4e32\u9ad8\u4f4e\u7535\u5e73\u7684&#xff1f;<\/p>\n<p>\u8fd9\u4e2d\u95f4\u7ecf\u5386\u4e86\u591a\u5c11\u5c42\u8f6f\u4ef6\u5904\u7406&#xff1f;\u6bcf\u4e00\u5c42\u505a\u4e86\u4ec0\u4e48&#xff1f;\u6570\u636e\u5728\u6bcf\u4e00\u5c42\u662f\u4ec0\u4e48\u6837\u5b50&#xff1f;\u8fd9\u5c31\u662f\u6211\u4eec\u4eca\u5929\u8981\u63a2\u7d22\u7684\u5b8c\u6574\u65c5\u7a0b\u3002<\/p>\n<p>\u6211\u4f1a\u5e26\u4f60\u7a7f\u8fc7AUTOSAR CP\u5e73\u53f0\u7684\u6bcf\u4e00\u5c42\u6a21\u5757&#xff0c;\u770b\u5b83\u4eec\u5982\u4f55\u628a&#034;100bar&#034;\u8fd9\u4e2a\u6570\u5b57&#xff0c;\u4e00\u6b65\u4e00\u6b65\u53d8\u6210CAN\u603b\u7ebf\u4e0a\u7684\u7535\u4fe1\u53f7\u3002\u8fd9\u4e0d\u662f\u4e00\u6b21\u7b80\u5355\u7684\u4ee3\u7801\u8d70\u8bfb&#xff0c;\u800c\u662f\u4e00\u6b21\u4ece&#034;\u5e94\u7528\u903b\u8f91&#034;\u5230&#034;\u7269\u7406\u4e16\u754c&#034;\u7684\u8de8\u754c\u65c5\u884c\u3002\u6211\u4eec\u4f1a\u770b\u5230&#xff1a;<\/p>\n<ul>\n<li>\u4e00\u4e2a\u6d6e\u70b9\u6570\u5982\u4f55\u88ab\u538b\u7f29\u6210\u4e8c\u8fdb\u5236\u4f4d<\/li>\n<li>\u591a\u4e2a\u4fe1\u53f7\u5982\u4f55\u6324\u8fdb8\u4e2a\u5b57\u8282\u7684\u7a7a\u95f4<\/li>\n<li>\u4e00\u4e2a\u903b\u8f91\u62a5\u6587\u5982\u4f55\u627e\u5230\u6b63\u786e\u7684\u786c\u4ef6\u901a\u9053<\/li>\n<li>\u4e00\u4e2a\u6570\u5b57\u7535\u5e73\u5982\u4f55\u53d8\u6210\u5dee\u5206\u4fe1\u53f7<\/li>\n<\/ul>\n<p>\u66f4\u91cd\u8981\u7684\u662f&#xff0c;\u6211\u4eec\u4f1a\u770b\u5230 AUTOSAR\u914d\u7f6e\u5728\u6bcf\u4e00\u5c42\u5982\u4f55\u53d1\u6325\u4f5c\u7528\u2014\u2014\u6ca1\u6709\u914d\u7f6e&#xff0c;\u8fd9\u4e9b\u4ee3\u7801\u5c31\u662f\u4e00\u5806\u6ca1\u6709\u7075\u9b42\u7684\u9aa8\u67b6\u3002\u914d\u7f6e\u51b3\u5b9a\u4e86\u4fe1\u53f7\u5982\u4f55\u6253\u5305\u3001I-PDU\u5982\u4f55\u8def\u7531\u3001CAN\u5e27\u5982\u4f55\u7ec4\u88c5\u3002\u6b63\u662f\u914d\u7f6e&#xff0c;\u8ba9\u540c\u4e00\u5957\u4ee3\u7801\u80fd\u591f\u9002\u5e94\u4e0d\u540c\u7684\u8f66\u578b\u3001\u4e0d\u540c\u7684\u7f51\u7edc\u62d3\u6251\u3001\u4e0d\u540c\u7684\u786c\u4ef6\u5e73\u53f0\u3002<\/p>\n<p>\u73b0\u5728&#xff0c;\u7cfb\u597d\u5b89\u5168\u5e26&#xff0c;\u6211\u4eec\u51fa\u53d1\u3002<\/p>\n<h3>\u7b2c\u4e00\u7ae0&#xff1a;\u5168\u666f\u6982\u89c8\u2014\u2014\u53d1\u9001\u65c5\u7a0b\u7684&#034;\u4e03\u7ad9&#034;<\/h3>\n<p>\u5728\u5f00\u59cb\u8be6\u7ec6\u7684\u9010\u7ad9\u89e3\u6790\u4e4b\u524d&#xff0c;\u8ba9\u6211\u4eec\u5148\u7528\u4e00\u5f20\u5168\u666f\u56fe\u6765\u5efa\u7acb\u6574\u4f53\u8ba4\u77e5\u3002\u5f53\u6211\u4eec\u4ece\u5e94\u7528\u5c42SWC\u53d1\u9001\u4e00\u4e2a\u5239\u8f66\u538b\u529b\u4fe1\u53f7\u65f6&#xff0c;\u6570\u636e\u5c06\u7ecf\u8fc7\u4ee5\u4e0b\u4e03\u4e2a&#034;\u7ad9\u70b9&#034;&#xff1a;<\/p>\n<p>#mermaid-svg-y8ZYduipogyD6omX{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;fill:#333;}@keyframes edge-animation-frame{from{stroke-dashoffset:0;}}@keyframes dash{to{stroke-dashoffset:0;}}#mermaid-svg-y8ZYduipogyD6omX .edge-animation-slow{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 50s linear infinite;stroke-linecap:round;}#mermaid-svg-y8ZYduipogyD6omX .edge-animation-fast{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 20s linear infinite;stroke-linecap:round;}#mermaid-svg-y8ZYduipogyD6omX .error-icon{fill:#552222;}#mermaid-svg-y8ZYduipogyD6omX .error-text{fill:#552222;stroke:#552222;}#mermaid-svg-y8ZYduipogyD6omX .edge-thickness-normal{stroke-width:1px;}#mermaid-svg-y8ZYduipogyD6omX .edge-thickness-thick{stroke-width:3.5px;}#mermaid-svg-y8ZYduipogyD6omX .edge-pattern-solid{stroke-dasharray:0;}#mermaid-svg-y8ZYduipogyD6omX .edge-thickness-invisible{stroke-width:0;fill:none;}#mermaid-svg-y8ZYduipogyD6omX .edge-pattern-dashed{stroke-dasharray:3;}#mermaid-svg-y8ZYduipogyD6omX .edge-pattern-dotted{stroke-dasharray:2;}#mermaid-svg-y8ZYduipogyD6omX .marker{fill:#333333;stroke:#333333;}#mermaid-svg-y8ZYduipogyD6omX .marker.cross{stroke:#333333;}#mermaid-svg-y8ZYduipogyD6omX svg{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;}#mermaid-svg-y8ZYduipogyD6omX p{margin:0;}#mermaid-svg-y8ZYduipogyD6omX .label{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;color:#333;}#mermaid-svg-y8ZYduipogyD6omX .cluster-label text{fill:#333;}#mermaid-svg-y8ZYduipogyD6omX .cluster-label span{color:#333;}#mermaid-svg-y8ZYduipogyD6omX .cluster-label span p{background-color:transparent;}#mermaid-svg-y8ZYduipogyD6omX .label text,#mermaid-svg-y8ZYduipogyD6omX span{fill:#333;color:#333;}#mermaid-svg-y8ZYduipogyD6omX .node rect,#mermaid-svg-y8ZYduipogyD6omX .node circle,#mermaid-svg-y8ZYduipogyD6omX .node ellipse,#mermaid-svg-y8ZYduipogyD6omX .node polygon,#mermaid-svg-y8ZYduipogyD6omX .node path{fill:#ECECFF;stroke:#9370DB;stroke-width:1px;}#mermaid-svg-y8ZYduipogyD6omX .rough-node .label text,#mermaid-svg-y8ZYduipogyD6omX .node .label text,#mermaid-svg-y8ZYduipogyD6omX .image-shape .label,#mermaid-svg-y8ZYduipogyD6omX .icon-shape .label{text-anchor:middle;}#mermaid-svg-y8ZYduipogyD6omX .node .katex path{fill:#000;stroke:#000;stroke-width:1px;}#mermaid-svg-y8ZYduipogyD6omX .rough-node .label,#mermaid-svg-y8ZYduipogyD6omX .node .label,#mermaid-svg-y8ZYduipogyD6omX .image-shape .label,#mermaid-svg-y8ZYduipogyD6omX .icon-shape .label{text-align:center;}#mermaid-svg-y8ZYduipogyD6omX .node.clickable{cursor:pointer;}#mermaid-svg-y8ZYduipogyD6omX .root .anchor path{fill:#333333!important;stroke-width:0;stroke:#333333;}#mermaid-svg-y8ZYduipogyD6omX .arrowheadPath{fill:#333333;}#mermaid-svg-y8ZYduipogyD6omX .edgePath .path{stroke:#333333;stroke-width:2.0px;}#mermaid-svg-y8ZYduipogyD6omX .flowchart-link{stroke:#333333;fill:none;}#mermaid-svg-y8ZYduipogyD6omX .edgeLabel{background-color:rgba(232,232,232, 0.8);text-align:center;}#mermaid-svg-y8ZYduipogyD6omX .edgeLabel p{background-color:rgba(232,232,232, 0.8);}#mermaid-svg-y8ZYduipogyD6omX .edgeLabel rect{opacity:0.5;background-color:rgba(232,232,232, 0.8);fill:rgba(232,232,232, 0.8);}#mermaid-svg-y8ZYduipogyD6omX .labelBkg{background-color:rgba(232, 232, 232, 0.5);}#mermaid-svg-y8ZYduipogyD6omX .cluster rect{fill:#ffffde;stroke:#aaaa33;stroke-width:1px;}#mermaid-svg-y8ZYduipogyD6omX .cluster text{fill:#333;}#mermaid-svg-y8ZYduipogyD6omX .cluster span{color:#333;}#mermaid-svg-y8ZYduipogyD6omX div.mermaidTooltip{position:absolute;text-align:center;max-width:200px;padding:2px;font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:12px;background:hsl(80, 100%, 96.2745098039%);border:1px solid #aaaa33;border-radius:2px;pointer-events:none;z-index:100;}#mermaid-svg-y8ZYduipogyD6omX .flowchartTitleText{text-anchor:middle;font-size:18px;fill:#333;}#mermaid-svg-y8ZYduipogyD6omX rect.text{fill:none;stroke-width:0;}#mermaid-svg-y8ZYduipogyD6omX .icon-shape,#mermaid-svg-y8ZYduipogyD6omX .image-shape{background-color:rgba(232,232,232, 0.8);text-align:center;}#mermaid-svg-y8ZYduipogyD6omX .icon-shape p,#mermaid-svg-y8ZYduipogyD6omX .image-shape p{background-color:rgba(232,232,232, 0.8);padding:2px;}#mermaid-svg-y8ZYduipogyD6omX .icon-shape .label rect,#mermaid-svg-y8ZYduipogyD6omX .image-shape .label rect{opacity:0.5;background-color:rgba(232,232,232, 0.8);fill:rgba(232,232,232, 0.8);}#mermaid-svg-y8ZYduipogyD6omX .label-icon{display:inline-block;height:1em;overflow:visible;vertical-align:-0.125em;}#mermaid-svg-y8ZYduipogyD6omX .node .label-icon path{fill:currentColor;stroke:revert;stroke-width:revert;}#mermaid-svg-y8ZYduipogyD6omX :root{&#8211;mermaid-font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;}<span class=\"nodeLabel\"><\/p>\n<p>\u786c\u4ef6\u5c42<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>MCAL\u5c42<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>ECU\u62bd\u8c61\u5c42<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>\u670d\u52a1\u5c42<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>RTE\u5c42<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>\u5e94\u7528\u5c42<\/p>\n<p><\/span><span class=\"edgeLabel\"><\/p>\n<p>Rte_Write<\/p>\n<p><\/span><span class=\"edgeLabel\"><\/p>\n<p>Com_SendSignal<\/p>\n<p><\/span><span class=\"edgeLabel\"><\/p>\n<p>PduR_Transmit<\/p>\n<p><\/span><span class=\"edgeLabel\"><\/p>\n<p>CanIf_Transmit<\/p>\n<p><\/span><span class=\"edgeLabel\"><\/p>\n<p>CanDrv_Transmit<\/p>\n<p><\/span><span class=\"edgeLabel\"><\/p>\n<p>\u5199\u5bc4\u5b58\u5668<\/p>\n<p><\/span><span class=\"edgeLabel\"><\/p>\n<p>TX\u5f15\u811a<\/p>\n<p><\/span><span class=\"edgeLabel\"><\/p>\n<p>CAN_H\/CAN_L<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>SWC\u5239\u8f66\u63a7\u5236\u8f6f\u4ef6\u7ec4\u4ef6\u4ea7\u751f\u6570\u636e&#xff1a;100 bar<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>RTE\u8fd0\u884c\u65f6\u73af\u5883\u8def\u7531\u4fe1\u53f7\u5230COM<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>COM\u901a\u4fe1\u7ba1\u7406\u5668\u4fe1\u53f7\u6253\u5305\u4e3aI-PDU<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>PduRPDU\u8def\u7531\u5668\u8def\u7531I-PDU\u5230CanIf<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>CanIfCAN\u63a5\u53e3\u6620\u5c04I-PDU\u5230\u786c\u4ef6\u901a\u9053<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>CanDrvCAN\u9a71\u52a8\u5199\u5165CAN\u63a7\u5236\u5668\u5bc4\u5b58\u5668<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>CAN\u63a7\u5236\u5668\u786c\u4ef6\u4ef2\u88c1\u4e0e\u53d1\u9001<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>CAN\u6536\u53d1\u5668\u5dee\u5206\u7535\u5e73\u8f93\u51fa<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>CAN\u603b\u7ebf<\/p>\n<p><\/span><\/p>\n<p>\u8fd9\u5f20\u56fe\u770b\u8d77\u6765\u6709\u70b9\u62bd\u8c61&#xff0c;\u6ca1\u5173\u7cfb\u3002\u4e0b\u9762\u6211\u4eec\u7528\u4e00\u4e2a\u751f\u6d3b\u5316\u7684\u7c7b\u6bd4\u6765\u7406\u89e3\u3002<\/p>\n<p>\u7c7b\u6bd4&#xff1a;\u5feb\u9012\u5bc4\u9001\u6d41\u7a0b<\/p>\n<p>\u60f3\u8c61\u4f60\u8981\u5bc4\u4e00\u4e2a\u5305\u88f9&#xff08;\u5239\u8f66\u538b\u529b&#061;100bar&#xff09;\u7ed9\u670b\u53cb&#xff08;\u5176\u4ed6ECU&#xff09;&#xff1a;<\/p>\n<li>SWC&#xff08;\u5bc4\u4ef6\u4eba&#xff09;&#xff1a;\u4f60\u5728\u5bb6\u91cc\u51c6\u5907\u597d\u5305\u88f9&#xff0c;\u5199\u4e0a\u6536\u4ef6\u4eba\u4fe1\u606f\u3002\u4f60\u4e0d\u5173\u5fc3\u5feb\u9012\u516c\u53f8\u600e\u4e48\u8fd0\u8f93&#xff0c;\u53ea\u5173\u5fc3\u5305\u88f9\u80fd\u9001\u5230\u3002<\/li>\n<li>RTE&#xff08;\u5feb\u9012\u5458\u4e0a\u95e8\u53d6\u4ef6&#xff09;&#xff1a;\u5feb\u9012\u5458\u5230\u4f60\u5bb6\u53d6\u8d70\u5305\u88f9\u3002\u4ed6\u662f\u4f60\u4e0e\u5feb\u9012\u516c\u53f8\u4e4b\u95f4\u7684\u552f\u4e00\u63a5\u53e3\u3002<\/li>\n<li>COM&#xff08;\u6253\u5305\u4e2d\u5fc3&#xff09;&#xff1a;\u5305\u88f9\u88ab\u9001\u5230\u6253\u5305\u4e2d\u5fc3\u3002\u6253\u5305\u4e2d\u5fc3\u4f1a\u628a\u4f60\u7684\u5c0f\u5305\u88f9\u548c\u5176\u4ed6\u4eba\u7684\u5c0f\u5305\u88f9\u4e00\u8d77\u88c5\u8fdb\u4e00\u4e2a\u5927\u7bb1\u5b50&#xff08;I-PDU&#xff09;&#xff0c;\u63d0\u9ad8\u8fd0\u8f93\u6548\u7387\u3002<\/li>\n<li>PduR&#xff08;\u5206\u62e3\u4e2d\u5fc3&#xff09;&#xff1a;\u5927\u7bb1\u5b50\u88ab\u9001\u5230\u5206\u62e3\u4e2d\u5fc3\u3002\u5206\u62e3\u4e2d\u5fc3\u6839\u636e\u76ee\u7684\u5730\u51b3\u5b9a\u8d70\u54ea\u6761\u8fd0\u8f93\u7ebf\u8def&#xff08;CAN0\u3001CAN1\u3001LIN\u3001\u4ee5\u592a\u7f51&#xff09;\u3002<\/li>\n<li>CanIf&#xff08;\u8fd0\u8f93\u8c03\u5ea6&#xff09;&#xff1a;\u8c03\u5ea6\u4e2d\u5fc3\u51b3\u5b9a\u7528\u54ea\u8f86\u8f66\u3001\u54ea\u4e2a\u53f8\u673a\u6765\u8fd0\u8f93\u3002\u5b83\u77e5\u9053\u54ea\u4e9b\u8f66\u53ef\u7528&#xff0c;\u6bcf\u8f86\u8f66\u80fd\u88c5\u591a\u5c11\u8d27\u3002<\/li>\n<li>CanDrv&#xff08;\u53f8\u673a&#xff09;&#xff1a;\u53f8\u673a\u628a\u7bb1\u5b50\u88c5\u4e0a\u8f66&#xff0c;\u8e29\u6cb9\u95e8&#xff0c;\u5f00\u59cb\u8fd0\u8f93\u3002\u4ed6\u76f4\u63a5\u64cd\u4f5c\u8d27\u8f66&#xff08;\u786c\u4ef6\u5bc4\u5b58\u5668&#xff09;\u3002<\/li>\n<li>CAN\u63a7\u5236\u5668\u548c\u6536\u53d1\u5668&#xff08;\u8d27\u8f66\u548c\u516c\u8def&#xff09;&#xff1a;\u8d27\u8f66\u5728\u516c\u8def\u4e0a\u884c\u9a76&#xff08;CAN\u603b\u7ebf&#xff09;&#xff0c;\u6700\u7ec8\u5230\u8fbe\u76ee\u7684\u5730\u3002<\/li>\n<p>\u63a5\u4e0b\u6765&#xff0c;\u6211\u4eec\u5c31\u9010\u7ad9\u6df1\u5165&#xff0c;\u770b\u770b\u6bcf\u4e00\u7ad9\u7684\u5185\u90e8\u7ec6\u8282&#xff0c;\u4ee5\u53caAUTOSAR\u914d\u7f6e\u5982\u4f55\u5728\u8fd9\u4e00\u7ad9\u53d1\u6325\u4f5c\u7528\u3002<\/p>\n<h3>\u7b2c\u4e8c\u7ae0&#xff1a;\u7b2c\u4e00\u7ad9\u2014\u2014\u5e94\u7528SWC&#xff1a;\u4fe1\u53f7\u7684&#034;\u8bde\u751f\u5730&#034;<\/h3>\n<h4>2.1 SWC\u662f\u4ec0\u4e48&#xff1f;<\/h4>\n<p>SWC&#xff08;Software Component&#xff0c;\u8f6f\u4ef6\u7ec4\u4ef6&#xff09;\u662fAUTOSAR\u67b6\u6784\u4e2d\u6700\u4e0a\u5c42\u7684\u8f6f\u4ef6\u5355\u5143\u3002\u5b83\u5c31\u50cf\u5efa\u7b51\u4e2d\u7684&#034;\u623f\u95f4&#034;\u2014\u2014\u6bcf\u4e2a\u623f\u95f4\u6709\u7279\u5b9a\u7684\u529f\u80fd\u3002\u4e00\u4e2a\u5239\u8f66\u63a7\u5236SWC\u8d1f\u8d23\u91c7\u96c6\u5239\u8f66\u8e0f\u677f\u4fe1\u53f7\u3001\u8ba1\u7b97\u5239\u8f66\u538b\u529b\u3001\u5e76\u628a\u8fd9\u4e2a\u538b\u529b\u503c\u53d1\u9001\u7ed9\u5176\u4ed6SWC\u3002<\/p>\n<p>SWC\u662f\u786c\u4ef6\u65e0\u5173\u7684\u3002\u8fd9\u610f\u5473\u7740\u540c\u4e00\u4e2a\u5239\u8f66\u63a7\u5236SWC\u7684\u4ee3\u7801&#xff0c;\u53ef\u4ee5\u8fd0\u884c\u5728\u4efb\u4f55MCU\u4e0a&#xff0c;\u53ea\u8981\u5b83\u901a\u8fc7RTE\u4e0e\u5e95\u5c42\u901a\u4fe1\u3002\u8fd9\u79cd\u786c\u4ef6\u65e0\u5173\u6027\u4f7f\u5f97\u5e94\u7528\u5c42\u8f6f\u4ef6\u53ef\u4ee5\u8de8\u5e73\u53f0\u590d\u7528\u2014\u2014\u8fd9\u662fAUTOSAR\u7684\u6838\u5fc3\u4ef7\u503c\u4e4b\u4e00\u3002<\/p>\n<p>\u5728AUTOSAR\u65b9\u6cd5\u8bba\u4e2d&#xff0c;SWC\u7684\u8bbe\u8ba1\u5206\u4e3a\u4e24\u4e2a\u5c42\u9762&#xff1a;<\/p>\n<ul>\n<li>VFB&#xff08;Virtual Functional Bus&#xff0c;\u865a\u62df\u529f\u80fd\u603b\u7ebf&#xff09;\u5c42\u9762&#xff1a;SWC\u4e4b\u95f4\u901a\u8fc7**\u7aef\u53e3&#xff08;Port&#xff09;\u548c\u63a5\u53e3&#xff08;Interface&#xff09;**\u76f8\u4e92\u8fde\u63a5\u3002\u53d1\u9001\u65b9\u901a\u8fc7P-Port&#xff08;Provider Port&#xff09;\u63d0\u4f9b\u6570\u636e&#xff0c;\u63a5\u6536\u65b9\u901a\u8fc7R-Port&#xff08;Require Port&#xff09;\u6d88\u8d39\u6570\u636e\u3002<\/li>\n<li>RTE\u5c42\u9762&#xff1a;RTE\u5c06VFB\u5c42\u9762\u7684\u62bd\u8c61\u8fde\u63a5\u6620\u5c04\u5230\u5177\u4f53\u7684\u64cd\u4f5c\u7cfb\u7edf\u4efb\u52a1\u548c\u51fd\u6570\u8c03\u7528\u3002<\/li>\n<\/ul>\n<p>\u5239\u8f66\u63a7\u5236SWC\u7684\u7aef\u53e3\u5b9a\u4e49\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\">&lt;!&#8211; \u5239\u8f66\u63a7\u5236SWC\u7684\u7aef\u53e3\u5b9a\u4e49&#xff08;ARXML\u7247\u6bb5&#xff09; &#8211;&gt;<\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SW-COMPONENT-PROTOTYPE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>BrakeControl_SWC<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>PORTS<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token comment\">&lt;!&#8211; \u8f93\u51fa\u7aef\u53e3&#xff1a;\u5239\u8f66\u538b\u529b\u4fe1\u53f7 &#8211;&gt;<\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>P-PORT-PROTOTYPE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>BrakePressure_Out<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>PROVIDED-INTERFACE-TREF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\/Interfaces\/SenderReceiver_BrakeData<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>PROVIDED-INTERFACE-TREF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>P-PORT-PROTOTYPE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token comment\">&lt;!&#8211; \u8f93\u5165\u7aef\u53e3&#xff1a;\u5239\u8f66\u8e0f\u677f\u4f20\u611f\u5668\u503c &#8211;&gt;<\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>R-PORT-PROTOTYPE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>PedalSensor_In<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>REQUIRED-INTERFACE-TREF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\/Interfaces\/SenderReceiver_PedalSensor<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>REQUIRED-INTERFACE-TREF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>R-PORT-PROTOTYPE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>PORTS<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SW-COMPONENT-PROTOTYPE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<p>\u5728\u4ee3\u7801\u5c42\u9762&#xff0c;SWC\u7684Runnable\u770b\u8d77\u6765\u50cf\u8fd9\u6837&#xff1a;<\/p>\n<p><span class=\"token comment\">\/**<br \/>\n * &#064;file BrakeControl_SWC.c<br \/>\n * &#064;brief \u5239\u8f66\u63a7\u5236SWC\u7684Runnable\u5b9e\u73b0<br \/>\n *<br \/>\n * &#064;note<br \/>\n * &#8211; SWC\u7684\u4ee3\u7801\u662f\u786c\u4ef6\u65e0\u5173\u7684<br \/>\n * &#8211; \u6240\u6709\u4e0e\u5e95\u5c42\u7684\u4ea4\u4e92\u90fd\u901a\u8fc7RTE\u751f\u6210\u7684\u63a5\u53e3<br \/>\n * &#8211; SWC\u4e0d\u5173\u5fc3\u4fe1\u53f7\u6700\u7ec8\u901a\u8fc7\u4ec0\u4e48\u603b\u7ebf\u53d1\u9001<br \/>\n *\/<\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;Rte_BrakeControl_SWC.h&#034;<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/**<br \/>\n * &#064;brief \u5239\u8f66\u63a7\u5236SWC\u7684Runnable&#xff1a;\u91c7\u96c6\u5e76\u53d1\u9001\u5239\u8f66\u538b\u529b<br \/>\n *<br \/>\n * &#064;note<br \/>\n * &#8211; Rte_Read_BrakePedalSensor&#xff1a;\u4ece\u4f20\u611f\u5668\u8bfb\u53d6\u8e0f\u677f\u4f4d\u7f6e<br \/>\n * &#8211; Rte_Write_BrakePressure&#xff1a;\u53d1\u9001\u5239\u8f66\u538b\u529b\u4fe1\u53f7<br \/>\n *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Runnable_SendBrakePressure<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> pedal_position <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.0f<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> brake_pressure <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.0f<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/* \u4ece\u4f20\u611f\u5668\u8bfb\u53d6\u8e0f\u677f\u4f4d\u7f6e&#xff08;\u901a\u8fc7RTE\u8f93\u5165\u7aef\u53e3&#xff09; *\/<\/span><br \/>\n    <span class=\"token function\">Rte_Read_BrakePedalSensor<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>pedal_position<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/* \u8ba1\u7b97\u5239\u8f66\u538b\u529b\u503c *\/<\/span><br \/>\n    brake_pressure <span class=\"token operator\">&#061;<\/span> pedal_position <span class=\"token operator\">*<\/span> CALIBRATION_GAIN<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/* \u53d1\u9001\u5239\u8f66\u538b\u529b\u4fe1\u53f7&#xff08;\u901a\u8fc7RTE\u8f93\u51fa\u7aef\u53e3&#xff09; *\/<\/span><br \/>\n    <span class=\"token function\">Rte_Write_BrakePressure<\/span><span class=\"token punctuation\">(<\/span>brake_pressure<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u5173\u952e\u70b9&#xff1a;SWC\u4e0d\u5173\u5fc3&#034;\u5239\u8f66\u538b\u529b&#034;\u8fd9\u4e2a\u4fe1\u53f7\u6700\u7ec8\u901a\u8fc7\u4ec0\u4e48\u603b\u7ebf&#xff08;CAN\/LIN\/\u4ee5\u592a\u7f51&#xff09;\u53d1\u9001&#xff0c;\u4e0d\u5173\u5fc3\u653e\u5728\u62a5\u6587\u7684\u54ea\u4e2a\u5b57\u8282&#xff0c;\u4e0d\u5173\u5fc3CAN ID\u662f\u591a\u5c11\u3002\u5b83\u53ea\u5173\u5fc3\u4e00\u4ef6\u4e8b&#xff1a;\u6211\u6709\u6570\u636e\u8981\u53d1\u51fa\u53bb\u3002<\/p>\n<h4>2.2 \u6570\u636e\u5728SWC\u4e2d\u7684\u5f62\u6001<\/h4>\n<p>\u5728SWC\u4e2d&#xff0c;\u6570\u636e\u662f**\u4fe1\u53f7&#xff08;Signal&#xff09;**\u7684\u5f62\u6001\u3002\u4fe1\u53f7\u662f\u4e00\u4e2a\u6709\u610f\u4e49\u7684\u7269\u7406\u91cf&#xff1a;<\/p>\n<ul>\n<li>\u5239\u8f66\u538b\u529b &#061; 100 bar<\/li>\n<li>\u8f66\u901f &#061; 60 km\/h<\/li>\n<li>\u53d1\u52a8\u673a\u8f6c\u901f &#061; 2500 rpm<\/li>\n<\/ul>\n<p>\u4fe1\u53f7\u7684\u7c7b\u578b\u3001\u8303\u56f4\u548c\u7cbe\u5ea6\u5728AUTOSAR\u6570\u636e\u7c7b\u578b\u7684\u914d\u7f6e\u4e2d\u5b9a\u4e49&#xff1a;<\/p>\n<p><span class=\"token comment\">&lt;!&#8211; \u6570\u636e\u7c7b\u578b\u5b9a\u4e49&#xff1a;\u5239\u8f66\u538b\u529b &#8211;&gt;<\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>IMPLEMENTATION-DATA-TYPE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>BrakePressure_Type<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SW-DATA-DEF-PROPS<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>COMPU-METHOD-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\/CompuMethods\/BrakePressure_Compu<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>COMPU-METHOD-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>UNIT-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\/Units\/Bar<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>UNIT-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SW-DATA-DEF-PROPS<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>TYPE-EMITTER<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>Platform_Type<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>TYPE-EMITTER<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>IMPLEMENTATION-DATA-TYPE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<p><span class=\"token comment\">&lt;!&#8211; \u8ba1\u7b97\u65b9\u6cd5&#xff1a;\u5239\u8f66\u538b\u529b\u7684\u7269\u7406\u503c\u5230\u539f\u59cb\u503c\u7684\u8f6c\u6362 &#8211;&gt;<\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>COMPU-METHOD<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>BrakePressure_Compu<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>UNIT-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\/Units\/Bar<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>UNIT-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>COMPU-INTERNAL-TO-PHYS<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>COMPU-SCALES<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>COMPU-SCALE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>LOWER-LIMIT<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>0<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>LOWER-LIMIT<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>UPPER-LIMIT<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>65535<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>UPPER-LIMIT<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>COMPU-RATIONAL-COEFFS<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>COMPU-NUMERATOR<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>V<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>1<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>V<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>COMPU-NUMERATOR<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>COMPU-DENOMINATOR<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>V<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>1<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>V<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>COMPU-DENOMINATOR<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>COMPU-RATIONAL-COEFFS<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>COMPU-SCALE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>COMPU-SCALES<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>COMPU-INTERNAL-TO-PHYS<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>COMPU-METHOD<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<p>\u8fd9\u4e2a\u914d\u7f6e\u5b9a\u4e49\u4e86&#xff1a;BrakePressure\u4fe1\u53f7\u4f7f\u752816\u4f4d\u65e0\u7b26\u53f7\u6574\u6570\u5b58\u50a8&#xff0c;\u7269\u7406\u503c\u8303\u56f40~65535 bar&#xff0c;\u7cbe\u5ea61 bar\/LSB\u3002SWC\u4e2d\u4f7f\u7528\u7684float\u7c7b\u578b\u662fRTE\u5728\u5e94\u7528\u5c42\u7684\u8868\u793a&#xff0c;\u5b9e\u9645\u4f20\u8f93\u65f6\u4f1a\u8f6c\u6362\u4e3a16\u4f4d\u6574\u6570\u3002<\/p>\n<h3>\u7b2c\u4e09\u7ae0&#xff1a;\u7b2c\u4e8c\u7ad9\u2014\u2014RTE&#xff1a;\u5e94\u7528\u4e0eBSW\u4e4b\u95f4\u7684&#034;\u6865\u6881&#034;<\/h3>\n<h4>3.1 RTE\u7684\u89d2\u8272<\/h4>\n<p>RTE&#xff08;Runtime Environment&#xff0c;\u8fd0\u884c\u65f6\u73af\u5883&#xff09;\u662f\u8fde\u63a5\u5e94\u7528\u5c42\u548c\u57fa\u7840\u8f6f\u4ef6\u5c42\u7684\u552f\u4e00\u6865\u6881\u3002SWC\u4e0d\u80fd\u76f4\u63a5\u8c03\u7528\u4efb\u4f55BSW\u6a21\u5757\u7684\u51fd\u6570\u2014\u2014\u5b83\u53ea\u80fd\u901a\u8fc7RTE\u751f\u6210\u7684\u63a5\u53e3\u6765\u4e0e\u5916\u754c\u901a\u4fe1\u3002<\/p>\n<p>RTE\u7684\u6838\u5fc3\u529f\u80fd&#xff1a;<\/p>\n<table>\n<tr>\u529f\u80fd\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">\u63a5\u53e3\u751f\u6210<\/td>\n<td align=\"left\">\u6839\u636eSWC\u7684\u7aef\u53e3\u5b9a\u4e49&#xff0c;\u4e3a\u6bcf\u4e2aSWC\u751f\u6210Rte_Write_xxx\u3001Rte_Read_xxx\u7b49\u51fd\u6570<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u6570\u636e\u8def\u7531<\/td>\n<td align=\"left\">\u5c06SWC\u7684\u8f93\u51fa\u4fe1\u53f7\u8def\u7531\u5230\u6b63\u786e\u7684BSW\u6a21\u5757&#xff08;\u5982COM&#xff09;<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u8de8\u5206\u533a\u901a\u4fe1<\/td>\n<td align=\"left\">\u5982\u679cSWC\u548cBSW\u8fd0\u884c\u5728\u4e0d\u540c\u7684OS\u5206\u533a&#xff0c;\u901a\u8fc7IOC\u673a\u5236\u8de8\u8d8a\u5206\u533a\u8fb9\u754c<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u89e6\u53d1\u8c03\u5ea6<\/td>\n<td align=\"left\">\u6839\u636e\u914d\u7f6e&#xff0c;\u5728\u6570\u636e\u66f4\u65b0\u65f6\u89e6\u53d1\u63a5\u6536\u65b9\u7684Runnable<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u5f53SWC\u8c03\u7528Rte_Write_BrakePressure(100.0f)\u65f6&#xff0c;RTE\u9700\u8981\u5b8c\u6210\u4ee5\u4e0b\u5de5\u4f5c&#xff1a;<\/p>\n<li>\u8bc6\u522b\u76ee\u6807&#xff1a;\u6839\u636e\u914d\u7f6e&#xff0c;RTE\u77e5\u9053BrakePressure\u8fd9\u4e2a\u4fe1\u53f7\u5c5e\u4e8e\u54ea\u4e2aI-PDU&#xff0c;\u7531\u54ea\u4e2aBSW\u6a21\u5757&#xff08;COM&#xff09;\u8d1f\u8d23\u5904\u7406\u3002<\/li>\n<li>\u8de8\u5206\u533a\u901a\u4fe1&#xff1a;\u5982\u679cSWC\u548cCOM\u8fd0\u884c\u5728\u4e0d\u540c\u7684OS\u5206\u533a&#xff0c;RTE\u9700\u8981\u901a\u8fc7IOC\u673a\u5236\u8de8\u8d8a\u5206\u533a\u8fb9\u754c\u3002<\/li>\n<li>\u8c03\u7528COM\u63a5\u53e3&#xff1a;\u6700\u7ec8&#xff0c;RTE\u8c03\u7528COM\u7684Com_SendSignal\u51fd\u6570&#xff0c;\u5c06\u4fe1\u53f7\u503c\u4f20\u9012\u7ed9COM\u6a21\u5757\u3002<\/li>\n<p>RTE\u7684\u914d\u7f6e\u6838\u5fc3\u2014\u2014\u4fe1\u53f7\u6620\u5c04&#xff1a;<\/p>\n<p>\u5728AUTOSAR\u7684ECU\u914d\u7f6e\u4e2d&#xff0c;\u6709\u4e00\u4e2a\u5173\u952e\u7684\u6620\u5c04\u5173\u7cfb&#xff1a;SWC\u7aef\u53e3 \u2192 \u7cfb\u7edf\u4fe1\u53f7 \u2192 I-PDU\u4fe1\u53f7\u3002\u8fd9\u4e2a\u6620\u5c04\u94fe\u5c06\u5e94\u7528\u5c42\u7684\u62bd\u8c61\u7aef\u53e3\u4e0e\u901a\u4fe1\u5c42\u7684\u5177\u4f53\u4fe1\u53f7\u8fde\u63a5\u8d77\u6765\u3002<\/p>\n<p><span class=\"token comment\">&lt;!&#8211; RTE\u4fe1\u53f7\u6620\u5c04&#xff1a;\u4eceSWC\u7aef\u53e3\u5230\u7cfb\u7edf\u4fe1\u53f7 &#8211;&gt;<\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SIGNAL-MAPPING<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>BrakePressure_Mapping<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DATA-ELEMENT-IREF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>PORT-PROTOTYPE-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\/ECU\/BrakeControl_SWC\/BrakePressure_Out<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>PORT-PROTOTYPE-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DATA-ELEMENT-PROTOTYPE-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\/Interfaces\/SenderReceiver_BrakeData\/BrakePressure<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DATA-ELEMENT-PROTOTYPE-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DATA-ELEMENT-IREF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SYSTEM-SIGNAL-IREF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SIGNAL-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\/Signals\/BrakePressure_Signal<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SIGNAL-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SYSTEM-SIGNAL-IREF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SIGNAL-MAPPING<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<p>COMRTESWCCOMRTESWC#mermaid-svg-9Z1yAxRIzGIb2Q4s{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;fill:#333;}@keyframes edge-animation-frame{from{stroke-dashoffset:0;}}@keyframes dash{to{stroke-dashoffset:0;}}#mermaid-svg-9Z1yAxRIzGIb2Q4s .edge-animation-slow{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 50s linear infinite;stroke-linecap:round;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .edge-animation-fast{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 20s linear infinite;stroke-linecap:round;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .error-icon{fill:#552222;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .error-text{fill:#552222;stroke:#552222;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .edge-thickness-normal{stroke-width:1px;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .edge-thickness-thick{stroke-width:3.5px;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .edge-pattern-solid{stroke-dasharray:0;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .edge-thickness-invisible{stroke-width:0;fill:none;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .edge-pattern-dashed{stroke-dasharray:3;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .edge-pattern-dotted{stroke-dasharray:2;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .marker{fill:#333333;stroke:#333333;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .marker.cross{stroke:#333333;}#mermaid-svg-9Z1yAxRIzGIb2Q4s svg{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;}#mermaid-svg-9Z1yAxRIzGIb2Q4s p{margin:0;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .actor{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;}#mermaid-svg-9Z1yAxRIzGIb2Q4s text.actor&gt;tspan{fill:black;stroke:none;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .actor-line{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);}#mermaid-svg-9Z1yAxRIzGIb2Q4s .innerArc{stroke-width:1.5;stroke-dasharray:none;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .messageLine0{stroke-width:1.5;stroke-dasharray:none;stroke:#333;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .messageLine1{stroke-width:1.5;stroke-dasharray:2,2;stroke:#333;}#mermaid-svg-9Z1yAxRIzGIb2Q4s #arrowhead path{fill:#333;stroke:#333;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .sequenceNumber{fill:white;}#mermaid-svg-9Z1yAxRIzGIb2Q4s #sequencenumber{fill:#333;}#mermaid-svg-9Z1yAxRIzGIb2Q4s #crosshead path{fill:#333;stroke:#333;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .messageText{fill:#333;stroke:none;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .labelBox{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .labelText,#mermaid-svg-9Z1yAxRIzGIb2Q4s .labelText&gt;tspan{fill:black;stroke:none;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .loopText,#mermaid-svg-9Z1yAxRIzGIb2Q4s .loopText&gt;tspan{fill:black;stroke:none;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .loopLine{stroke-width:2px;stroke-dasharray:2,2;stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);}#mermaid-svg-9Z1yAxRIzGIb2Q4s .note{stroke:#aaaa33;fill:#fff5ad;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .noteText,#mermaid-svg-9Z1yAxRIzGIb2Q4s .noteText&gt;tspan{fill:black;stroke:none;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .activation0{fill:#f4f4f4;stroke:#666;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .activation1{fill:#f4f4f4;stroke:#666;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .activation2{fill:#f4f4f4;stroke:#666;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .actorPopupMenu{position:absolute;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .actorPopupMenuPanel{position:absolute;fill:#ECECFF;box-shadow:0px 8px 16px 0px rgba(0,0,0,0.2);filter:drop-shadow(3px 5px 2px rgb(0 0 0 \/ 0.4));}#mermaid-svg-9Z1yAxRIzGIb2Q4s .actor-man line{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;}#mermaid-svg-9Z1yAxRIzGIb2Q4s .actor-man circle,#mermaid-svg-9Z1yAxRIzGIb2Q4s line{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;stroke-width:2px;}#mermaid-svg-9Z1yAxRIzGIb2Q4s :root{&#8211;mermaid-font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;}Rte_Write_BrakePressure(100.0f)\u67e5\u914d\u7f6e&#xff1a;BrakePressure\u4fe1\u53f7\u2192 \u5c5e\u4e8eI-PDU 0x100\u2192 \u7531COM\u5904\u7406Com_SendSignal(BrakePressure_SignalID, 100.0f)E_OKE_OK<\/p>\n<h4>3.2 \u6570\u636e\u5728RTE\u4e2d\u7684\u5f62\u6001<\/h4>\n<p>\u6570\u636e\u7ecf\u8fc7RTE\u65f6&#xff0c;\u5f62\u6001\u6ca1\u6709\u53d8\u5316\u2014\u2014\u5b83\u4ecd\u7136\u662f&#034;BrakePressure &#061; 100.0f&#034;\u8fd9\u4e2a\u4fe1\u53f7\u503c\u3002RTE\u4e0d\u505a\u4efb\u4f55\u6570\u636e\u8f6c\u6362&#xff0c;\u53ea\u662f&#034;\u642c\u8fd0&#034;\u3002<\/p>\n<p>\u4f46\u662f&#xff0c;RTE\u5728\u642c\u8fd0\u8fc7\u7a0b\u4e2d\u5b8c\u6210\u4e86\u4fe1\u53f7ID\u7684\u6620\u5c04&#xff1a;\u5c06SWC\u4e2d\u7684\u7aef\u53e3\u540d\u79f0&#xff08;BrakePressure_Out&#xff09;\u6620\u5c04\u5230COM\u4e2d\u7684\u4fe1\u53f7ID&#xff08;\u901a\u5e38\u662f\u4e00\u4e2a\u6570\u5b57&#xff0c;\u5982SIGNAL_BRAKE_PRESSURE &#061; 0x00&#xff09;\u3002\u8fd9\u4e2a\u6620\u5c04\u5728\u914d\u7f6e\u9636\u6bb5\u5b9a\u4e49&#xff0c;RTE\u751f\u6210\u5668\u5c06\u5176\u786c\u7f16\u7801\u5728\u751f\u6210\u7684\u4ee3\u7801\u4e2d\u3002<\/p>\n<h3>\u7b2c\u56db\u7ae0&#xff1a;\u7b2c\u4e09\u7ad9\u2014\u2014COM&#xff1a;\u4fe1\u53f7\u7684&#034;\u6253\u5305\u8f66\u95f4&#034;<\/h3>\n<h4>4.1 COM\u7684\u6838\u5fc3\u804c\u8d23<\/h4>\n<p>COM&#xff08;Communication Manager&#xff09;\u662f\u901a\u4fe1\u6808\u4e2d\u6700\u6838\u5fc3\u7684\u6a21\u5757\u3002\u5b83\u7684\u6838\u5fc3\u804c\u8d23\u662f\u5c06\u591a\u4e2a\u4fe1\u53f7\u6253\u5305\u6210\u4e00\u4e2aI-PDU&#xff08;Interaction Layer Protocol Data Unit&#xff09;\u3002<\/p>\n<p>\u4ec0\u4e48\u662fI-PDU&#xff1f; I-PDU\u662f\u4e00\u4e2a\u903b\u8f91\u6570\u636e\u5305&#xff0c;\u5b83\u5305\u542b\u4e00\u4e2a\u6216\u591a\u4e2a\u4fe1\u53f7\u3002\u5728CAN\u603b\u7ebf\u4e0a&#xff0c;\u4e00\u4e2aI-PDU\u6700\u7ec8\u5bf9\u5e94\u4e00\u4e2aCAN\u5e27&#xff08;8\u5b57\u8282\u6570\u636e\u57df&#xff09;\u3002<\/p>\n<p>\u4e3a\u4ec0\u4e48\u9700\u8981\u6253\u5305&#xff1f; CAN\u5e27\u6700\u591a\u53ea\u80fd\u643a\u5e268\u5b57\u8282\u6570\u636e\u3002\u5982\u679c\u4e00\u4e2a\u5239\u8f66\u538b\u529b\u4fe1\u53f7\u53ea\u53602\u5b57\u8282&#xff0c;\u800c\u4e00\u4e2aCAN\u5e27\u67098\u5b57\u8282&#xff0c;\u90a3\u4e48\u5269\u4e0b\u76846\u5b57\u8282\u5c31\u53ef\u4ee5\u7528\u6765\u653e\u5176\u4ed6\u4fe1\u53f7&#xff08;\u5982\u5239\u8f66\u72b6\u6001\u3001\u65b9\u5411\u76d8\u8f6c\u89d2\u7b49&#xff09;\u3002\u8fd9\u6837\u4e00\u5e27CAN\u62a5\u6587\u5c31\u80fd\u540c\u65f6\u4f20\u8f93\u591a\u4e2a\u4fe1\u53f7&#xff0c;\u63d0\u9ad8\u603b\u7ebf\u5229\u7528\u7387\u3002<\/p>\n<h4>4.2 COM\u7684\u914d\u7f6e\u6838\u5fc3&#xff1a;I-PDU\u5b9a\u4e49\u4e0e\u4fe1\u53f7\u5e03\u5c40<\/h4>\n<p>\u5728AUTOSAR\u914d\u7f6e\u4e2d&#xff0c;COM\u6a21\u5757\u7684\u914d\u7f6e\u4e3b\u8981\u56f4\u7ed5I-PDU\u5c55\u5f00\u3002\u6bcf\u4e2aI-PDU\u5305\u542b\u591a\u4e2a\u4fe1\u53f7&#xff0c;\u6bcf\u4e2a\u4fe1\u53f7\u6709\u660e\u786e\u7684\u4f4d\u5e03\u5c40\u3001\u5b57\u8282\u5e8f\u3001\u7cbe\u5ea6\u548c\u504f\u79fb\u3002<\/p>\n<p>I-PDU 0x100\u7684\u914d\u7f6e\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\">&lt;!&#8211; I-PDU\u5b9a\u4e49 &#8211;&gt;<\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-CONTAINER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\/AUTOSAR\/EcucDefs\/Com\/ComIPdu<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>ComIPdu_0x100<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>PARAMETER-VALUES<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/ComIPduHandleId<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>0x100<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/ComIPduSize<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>8<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-ENUMERATION-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/ComIPduDirection<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>SEND<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-ENUMERATION-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>PARAMETER-VALUES<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SUB-CONTAINERS<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token comment\">&lt;!&#8211; \u4fe1\u53f7&#xff1a;\u5239\u8f66\u538b\u529b &#8211;&gt;<\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-CONTAINER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\/AUTOSAR\/EcucDefs\/Com\/ComSignal<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>BrakePressure<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>PARAMETER-VALUES<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/ComSignalBitPosition<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>0<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/ComSignalBitSize<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>16<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-ENUMERATION-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/ComSignalEndianness<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>LITTLE_ENDIAN<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-ENUMERATION-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-ENUMERATION-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/ComSignalType<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>UINT16<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-ENUMERATION-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>PARAMETER-VALUES<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-CONTAINER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token comment\">&lt;!&#8211; \u4fe1\u53f7&#xff1a;\u5239\u8f66\u72b6\u6001 &#8211;&gt;<\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-CONTAINER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\/AUTOSAR\/EcucDefs\/Com\/ComSignal<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>BrakeStatus<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>PARAMETER-VALUES<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/ComSignalBitPosition<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>16<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/ComSignalBitSize<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>1<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-ENUMERATION-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/ComSignalType<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>BOOLEAN<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n                <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-ENUMERATION-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>PARAMETER-VALUES<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-CONTAINER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SUB-CONTAINERS<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-CONTAINER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<p>\u4fe1\u53f7\u5e03\u5c40\u8868&#xff1a;<\/p>\n<table>\n<tr>\u4fe1\u53f7\u540d\u79f0\u4f4d\u8d77\u59cb\u4f4d\u957f\u5ea6\u5b57\u8282\u5e8f\u7c7b\u578b\u7cbe\u5ea6\u504f\u79fb\u793a\u4f8b\u503c<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">BrakePressure<\/td>\n<td align=\"left\">0<\/td>\n<td align=\"left\">16<\/td>\n<td align=\"left\">Little Endian<\/td>\n<td align=\"left\">UINT16<\/td>\n<td align=\"left\">1 bar\/LSB<\/td>\n<td align=\"left\">0<\/td>\n<td align=\"left\">100 &#061; 0x0064<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">BrakeStatus<\/td>\n<td align=\"left\">16<\/td>\n<td align=\"left\">1<\/td>\n<td align=\"left\">N\/A<\/td>\n<td align=\"left\">Boolean<\/td>\n<td align=\"left\">1<\/td>\n<td align=\"left\">0<\/td>\n<td align=\"left\">TRUE &#061; 1<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u6253\u5305\u540e\u7684I-PDU\u6570\u636e&#xff08;8\u5b57\u8282&#xff09;&#xff1a;<\/p>\n<p>Byte0: 0x64  (BrakePressure\u4f4e\u5b57\u8282)<br \/>\nByte1: 0x00  (BrakePressure\u9ad8\u5b57\u8282)<br \/>\nByte2: 0x01  (BrakeStatus\u5728\u7b2c16\u4f4d&#xff0c;\u5373Byte2\u7684bit0)<br \/>\nByte3: 0x00<br \/>\nByte4: 0x00<br \/>\nByte5: 0x00<br \/>\nByte6: 0x00<br \/>\nByte7: 0x00<\/p>\n<h4>4.3 COM\u7684\u53d1\u9001\u89e6\u53d1\u6a21\u5f0f<\/h4>\n<p>COM\u652f\u6301\u591a\u79cd\u53d1\u9001\u89e6\u53d1\u6a21\u5f0f&#xff0c;\u51b3\u5b9aI-PDU\u4f55\u65f6\u88ab\u53d1\u9001\u3002\u8fd9\u662f\u901a\u8fc7ComTxMode\u914d\u7f6e\u7684&#xff1a;<\/p>\n<table>\n<tr>\u89e6\u53d1\u6a21\u5f0f\u8bf4\u660e\u9002\u7528\u573a\u666f<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">\u76f4\u63a5\u53d1\u9001&#xff08;DIRECT&#xff09;<\/td>\n<td align=\"left\">\u4efb\u4e00\u4fe1\u53f7\u66f4\u65b0\u5c31\u7acb\u5373\u53d1\u9001<\/td>\n<td align=\"left\">\u4e8b\u4ef6\u578b\u4fe1\u53f7&#xff0c;\u5982\u5239\u8f66\u72b6\u6001\u53d8\u5316<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u5468\u671f\u53d1\u9001&#xff08;PERIODIC&#xff09;<\/td>\n<td align=\"left\">\u6309\u56fa\u5b9a\u5468\u671f\u53d1\u9001<\/td>\n<td align=\"left\">\u5468\u671f\u6027\u4fe1\u53f7&#xff0c;\u5982\u8f66\u901f<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u6df7\u5408\u53d1\u9001&#xff08;MIXED&#xff09;<\/td>\n<td align=\"left\">\u4fe1\u53f7\u66f4\u65b0\u65f6\u53d1\u9001&#xff0c;\u4f46\u6700\u957f\u95f4\u9694\u4e0d\u8d85\u8fc7\u5468\u671f<\/td>\n<td align=\"left\">\u65e2\u9700\u5b9e\u65f6\u6027\u53c8\u9700\u4fdd\u5e95<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u65e0&#xff08;NONE&#xff09;<\/td>\n<td align=\"left\">\u4e0d\u81ea\u52a8\u53d1\u9001&#xff0c;\u7531\u4e0a\u5c42\u63a7\u5236<\/td>\n<td align=\"left\">\u8bca\u65ad\u62a5\u6587<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u914d\u7f6e\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\">&lt;!&#8211; I-PDU\u7684\u53d1\u9001\u6a21\u5f0f\u914d\u7f6e &#8211;&gt;<\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-CONTAINER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\/AUTOSAR\/EcucDefs\/Com\/ComIPdu\/ComTxMode<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>ComTxMode_BrakePdu<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>PARAMETER-VALUES<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-ENUMERATION-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/ComTxModeType<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>MIXED<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-ENUMERATION-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/ComTxModePeriod<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>50<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>  <span class=\"token comment\">&lt;!&#8211; 50ms &#8211;&gt;<\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>PARAMETER-VALUES<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-CONTAINER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<h4>4.4 COM\u5185\u90e8\u7684\u6570\u636e\u6d41<\/h4>\n<p>COM\u6a21\u5757\u5185\u90e8\u7ef4\u62a4\u4e86\u4e00\u4e2aI-PDU\u7f13\u51b2\u533a\u6570\u7ec4\u3002\u5f53Com_SendSignal\u88ab\u8c03\u7528\u65f6&#xff0c;COM\u6267\u884c\u4ee5\u4e0b\u64cd\u4f5c&#xff1a;<\/p>\n<li>\u67e5\u627e\u4fe1\u53f7\u63cf\u8ff0\u7b26&#xff1a;\u6839\u636e\u4fe1\u53f7ID&#xff0c;\u5728\u914d\u7f6e\u8868\u4e2d\u67e5\u627e\u8be5\u4fe1\u53f7\u7684\u4f4d\u5e03\u5c40\u4fe1\u606f\u3002<\/li>\n<li>\u7269\u7406\u503c\u8f6c\u6362&#xff1a;\u4f7f\u7528\u914d\u7f6e\u7684\u589e\u76ca\u548c\u504f\u79fb&#xff0c;\u5c06\u7269\u7406\u503c\u8f6c\u6362\u4e3a\u539f\u59cb\u6574\u6570\u503c\u3002<\/li>\n<li>\u4f4d\u5199\u5165&#xff1a;\u6839\u636e\u4f4d\u8d77\u59cb\u3001\u4f4d\u957f\u5ea6\u3001\u5b57\u8282\u5e8f&#xff0c;\u5c06\u539f\u59cb\u6574\u6570\u503c\u5199\u5165I-PDU\u7f13\u51b2\u533a\u7684\u5bf9\u5e94\u4f4d\u3002<\/li>\n<li>\u53d1\u9001\u89e6\u53d1\u68c0\u67e5&#xff1a;\u6839\u636eI-PDU\u7684\u53d1\u9001\u6a21\u5f0f&#xff0c;\u5224\u65ad\u662f\u5426\u9700\u8981\u7acb\u5373\u53d1\u9001\u3002<\/li>\n<p>COM\u6253\u5305\u7684\u5b8c\u6574\u6d41\u7a0b&#xff1a;<\/p>\n<p>COMRTESWC-B&#xff08;\u5239\u8f66\u72b6\u6001&#xff09;SWC-A&#xff08;\u5239\u8f66\u63a7\u5236&#xff09;COMRTESWC-B&#xff08;\u5239\u8f66\u72b6\u6001&#xff09;SWC-A&#xff08;\u5239\u8f66\u63a7\u5236&#xff09;#mermaid-svg-CbZwi6tA5D9qHSJp{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;fill:#333;}@keyframes edge-animation-frame{from{stroke-dashoffset:0;}}@keyframes dash{to{stroke-dashoffset:0;}}#mermaid-svg-CbZwi6tA5D9qHSJp .edge-animation-slow{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 50s linear infinite;stroke-linecap:round;}#mermaid-svg-CbZwi6tA5D9qHSJp .edge-animation-fast{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 20s linear infinite;stroke-linecap:round;}#mermaid-svg-CbZwi6tA5D9qHSJp .error-icon{fill:#552222;}#mermaid-svg-CbZwi6tA5D9qHSJp .error-text{fill:#552222;stroke:#552222;}#mermaid-svg-CbZwi6tA5D9qHSJp .edge-thickness-normal{stroke-width:1px;}#mermaid-svg-CbZwi6tA5D9qHSJp .edge-thickness-thick{stroke-width:3.5px;}#mermaid-svg-CbZwi6tA5D9qHSJp .edge-pattern-solid{stroke-dasharray:0;}#mermaid-svg-CbZwi6tA5D9qHSJp .edge-thickness-invisible{stroke-width:0;fill:none;}#mermaid-svg-CbZwi6tA5D9qHSJp .edge-pattern-dashed{stroke-dasharray:3;}#mermaid-svg-CbZwi6tA5D9qHSJp .edge-pattern-dotted{stroke-dasharray:2;}#mermaid-svg-CbZwi6tA5D9qHSJp .marker{fill:#333333;stroke:#333333;}#mermaid-svg-CbZwi6tA5D9qHSJp .marker.cross{stroke:#333333;}#mermaid-svg-CbZwi6tA5D9qHSJp svg{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;}#mermaid-svg-CbZwi6tA5D9qHSJp p{margin:0;}#mermaid-svg-CbZwi6tA5D9qHSJp .actor{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;}#mermaid-svg-CbZwi6tA5D9qHSJp text.actor&gt;tspan{fill:black;stroke:none;}#mermaid-svg-CbZwi6tA5D9qHSJp .actor-line{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);}#mermaid-svg-CbZwi6tA5D9qHSJp .innerArc{stroke-width:1.5;stroke-dasharray:none;}#mermaid-svg-CbZwi6tA5D9qHSJp .messageLine0{stroke-width:1.5;stroke-dasharray:none;stroke:#333;}#mermaid-svg-CbZwi6tA5D9qHSJp .messageLine1{stroke-width:1.5;stroke-dasharray:2,2;stroke:#333;}#mermaid-svg-CbZwi6tA5D9qHSJp #arrowhead path{fill:#333;stroke:#333;}#mermaid-svg-CbZwi6tA5D9qHSJp .sequenceNumber{fill:white;}#mermaid-svg-CbZwi6tA5D9qHSJp #sequencenumber{fill:#333;}#mermaid-svg-CbZwi6tA5D9qHSJp #crosshead path{fill:#333;stroke:#333;}#mermaid-svg-CbZwi6tA5D9qHSJp .messageText{fill:#333;stroke:none;}#mermaid-svg-CbZwi6tA5D9qHSJp .labelBox{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;}#mermaid-svg-CbZwi6tA5D9qHSJp .labelText,#mermaid-svg-CbZwi6tA5D9qHSJp .labelText&gt;tspan{fill:black;stroke:none;}#mermaid-svg-CbZwi6tA5D9qHSJp .loopText,#mermaid-svg-CbZwi6tA5D9qHSJp .loopText&gt;tspan{fill:black;stroke:none;}#mermaid-svg-CbZwi6tA5D9qHSJp .loopLine{stroke-width:2px;stroke-dasharray:2,2;stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);}#mermaid-svg-CbZwi6tA5D9qHSJp .note{stroke:#aaaa33;fill:#fff5ad;}#mermaid-svg-CbZwi6tA5D9qHSJp .noteText,#mermaid-svg-CbZwi6tA5D9qHSJp .noteText&gt;tspan{fill:black;stroke:none;}#mermaid-svg-CbZwi6tA5D9qHSJp .activation0{fill:#f4f4f4;stroke:#666;}#mermaid-svg-CbZwi6tA5D9qHSJp .activation1{fill:#f4f4f4;stroke:#666;}#mermaid-svg-CbZwi6tA5D9qHSJp .activation2{fill:#f4f4f4;stroke:#666;}#mermaid-svg-CbZwi6tA5D9qHSJp .actorPopupMenu{position:absolute;}#mermaid-svg-CbZwi6tA5D9qHSJp .actorPopupMenuPanel{position:absolute;fill:#ECECFF;box-shadow:0px 8px 16px 0px rgba(0,0,0,0.2);filter:drop-shadow(3px 5px 2px rgb(0 0 0 \/ 0.4));}#mermaid-svg-CbZwi6tA5D9qHSJp .actor-man line{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;}#mermaid-svg-CbZwi6tA5D9qHSJp .actor-man circle,#mermaid-svg-CbZwi6tA5D9qHSJp line{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;stroke-width:2px;}#mermaid-svg-CbZwi6tA5D9qHSJp :root{&#8211;mermaid-font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;}Rte_Write_BrakePressure(100.0f)Rte_Write_BrakeStatus(TRUE)Com_SendSignal(BrakePressure_SignalID, 100.0f)\u67e5\u4fe1\u53f7\u63cf\u8ff0\u7b26&#xff1a;\u4f4d\u8d77\u59cb&#061;0, \u4f4d\u957f\u5ea6&#061;16\u8f6c\u6362&#xff1a;100.0 \/ 1.0 &#061; 100 &#061; 0x0064\u5199\u5165I-PDU Buffer[0-1] &#061; 0x0064 (Little Endian)Com_SendSignal(BrakeStatus_SignalID, TRUE)\u67e5\u4fe1\u53f7\u63cf\u8ff0\u7b26&#xff1a;\u4f4d\u8d77\u59cb&#061;16, \u4f4d\u957f\u5ea6&#061;1\u8f6c\u6362&#xff1a;TRUE &#061; 0x01\u5199\u5165I-PDU Buffer[2] bit0 &#061; 1\u68c0\u67e5\u53d1\u9001\u6a21\u5f0f&#xff1a;MIXED\u89e6\u53d1\u6761\u4ef6\u6ee1\u8db3&#xff0c;\u51c6\u5907\u53d1\u9001<\/p>\n<h4>4.5 \u6570\u636e\u5728COM\u4e2d\u7684\u5f62\u6001<\/h4>\n<p>\u6570\u636e\u5728COM\u4e2d\u7ecf\u5386\u4e86\u7b2c\u4e00\u6b21&#034;\u53d8\u8eab&#034;\u2014\u2014\u4ece\u4fe1\u53f7\u53d8\u6210\u4e86I-PDU\u3002\u4fe1\u53f7\u662f\u79bb\u6563\u7684\u3001\u6709\u610f\u4e49\u7684\u7269\u7406\u91cf&#xff1b;I-PDU\u662f\u8fde\u7eed\u7684\u5b57\u8282\u6d41\u3002\u8fd9\u4e2a\u53d8\u8eab\u8fc7\u7a0b\u662f\u53ef\u9006\u7684\u2014\u2014\u63a5\u6536\u7aefCOM\u4f1a\u6267\u884c\u53cd\u5411\u64cd\u4f5c&#xff0c;\u5c06I-PDU\u5b57\u8282\u6d41\u89e3\u5305\u6210\u4fe1\u53f7\u3002<\/p>\n<h3>\u7b2c\u4e94\u7ae0&#xff1a;\u7b2c\u56db\u7ad9\u2014\u2014PduR&#xff1a;I-PDU\u7684&#034;\u4ea4\u901a\u67a2\u7ebd&#034;<\/h3>\n<h4>5.1 PduR\u7684\u6838\u5fc3\u804c\u8d23<\/h4>\n<p>PduR&#xff08;PDU Router&#xff0c;PDU\u8def\u7531\u5668&#xff09;\u662f\u901a\u4fe1\u6808\u7684&#034;\u603b\u90ae\u5c40&#034;\u3002\u5b83\u7684\u6838\u5fc3\u804c\u8d23\u662f\u6839\u636eI-PDU ID\u67e5\u8def\u7531\u8868&#xff0c;\u5c06I-PDU\u8def\u7531\u5230\u6b63\u786e\u7684\u4e0b\u5c42\u6a21\u5757\u3002<\/p>\n<p>PduR\u7684\u8bbe\u8ba1\u7406\u5ff5\u662f\u5b8c\u5168\u914d\u7f6e\u9a71\u52a8\u3002PduR\u4ee3\u7801\u672c\u8eab\u4e0d\u5305\u542b\u4efb\u4f55\u4e1a\u52a1\u903b\u8f91\u2014\u2014\u5b83\u53ea\u505a&#034;\u67e5\u8868&#043;\u8f6c\u53d1&#034;\u3002\u8fd9\u4f7f\u5f97PduR\u975e\u5e38\u8f7b\u91cf&#xff0c;\u4f46\u7075\u6d3b\u6027\u6781\u9ad8\u3002<\/p>\n<h4>5.2 PduR\u7684\u8def\u7531\u8868\u914d\u7f6e<\/h4>\n<p>PduR\u7684\u8def\u7531\u8868\u5728AUTOSAR ECU\u914d\u7f6e\u4e2d\u5b9a\u4e49\u3002\u6bcf\u4e2a\u8def\u7531\u8868\u9879\u5305\u542b&#xff1a;\u6e90\u6a21\u5757\u3001\u76ee\u6807\u6a21\u5757\u3001I-PDU ID\u3002<\/p>\n<p>\u914d\u7f6e\u793a\u4f8b&#xff1a;<\/p>\n<table>\n<tr>I-PDU ID\u6e90\u6a21\u5757\u76ee\u6807\u6a21\u5757\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">0x100<\/td>\n<td align=\"left\">COM<\/td>\n<td align=\"left\">CanIf<\/td>\n<td align=\"left\">\u901a\u8fc7CAN0\u53d1\u9001<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">0x101<\/td>\n<td align=\"left\">COM<\/td>\n<td align=\"left\">CanIf<\/td>\n<td align=\"left\">\u901a\u8fc7CAN1\u53d1\u9001<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">0x200<\/td>\n<td align=\"left\">COM<\/td>\n<td align=\"left\">SecOC<\/td>\n<td align=\"left\">\u9700\u8981\u5b89\u5168\u5904\u7406&#xff08;\u5148\u7ecf\u8fc7SecOC\u518d\u8def\u7531\u5230CanIf&#xff09;<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">0x300<\/td>\n<td align=\"left\">CanIf<\/td>\n<td align=\"left\">COM<\/td>\n<td align=\"left\">\u63a5\u6536\u65b9\u5411<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><span class=\"token comment\">&lt;!&#8211; PduR\u8def\u7531\u8868\u914d\u7f6e &#8211;&gt;<\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-CONTAINER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\/AUTOSAR\/EcucDefs\/PduR\/PduRRoutingPath<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>Routing_COM_to_CanIf_0x100<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>REFERENCE-VALUES<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-REFERENCE-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/PduRSourceModule<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DESTINATION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\/ECUC\/Com<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DESTINATION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-REFERENCE-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-REFERENCE-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/PduRDestinationModule<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DESTINATION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\/ECUC\/CanIf<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DESTINATION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-REFERENCE-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>REFERENCE-VALUES<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-CONTAINER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<h4>5.3 PduR\u7684\u53d1\u9001\u6d41\u7a0b<\/h4>\n<p>\u5f53COM\u8c03\u7528PduR_Transmit(0x100, data)\u65f6&#xff0c;PduR&#xff1a;<\/p>\n<li>\u67e5\u8def\u7531\u8868&#xff0c;\u627e\u5230\u76ee\u6807\u6a21\u5757&#xff08;CanIf&#xff09;\u3002<\/li>\n<li>\u8c03\u7528\u76ee\u6807\u6a21\u5757\u7684\u53d1\u9001\u63a5\u53e3&#xff08;CanIf_Transmit&#xff09;\u3002<\/li>\n<li>\u5c06I-PDU\u6570\u636e\u539f\u5c01\u4e0d\u52a8\u5730\u4f20\u9012\u7ed9\u76ee\u6807\u6a21\u5757\u3002<\/li>\n<p>CanIfPduRCOMCanIfPduRCOM#mermaid-svg-MIVloXAkJUnLTFux{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;fill:#333;}@keyframes edge-animation-frame{from{stroke-dashoffset:0;}}@keyframes dash{to{stroke-dashoffset:0;}}#mermaid-svg-MIVloXAkJUnLTFux .edge-animation-slow{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 50s linear infinite;stroke-linecap:round;}#mermaid-svg-MIVloXAkJUnLTFux .edge-animation-fast{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 20s linear infinite;stroke-linecap:round;}#mermaid-svg-MIVloXAkJUnLTFux .error-icon{fill:#552222;}#mermaid-svg-MIVloXAkJUnLTFux .error-text{fill:#552222;stroke:#552222;}#mermaid-svg-MIVloXAkJUnLTFux .edge-thickness-normal{stroke-width:1px;}#mermaid-svg-MIVloXAkJUnLTFux .edge-thickness-thick{stroke-width:3.5px;}#mermaid-svg-MIVloXAkJUnLTFux .edge-pattern-solid{stroke-dasharray:0;}#mermaid-svg-MIVloXAkJUnLTFux .edge-thickness-invisible{stroke-width:0;fill:none;}#mermaid-svg-MIVloXAkJUnLTFux .edge-pattern-dashed{stroke-dasharray:3;}#mermaid-svg-MIVloXAkJUnLTFux .edge-pattern-dotted{stroke-dasharray:2;}#mermaid-svg-MIVloXAkJUnLTFux .marker{fill:#333333;stroke:#333333;}#mermaid-svg-MIVloXAkJUnLTFux .marker.cross{stroke:#333333;}#mermaid-svg-MIVloXAkJUnLTFux svg{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;}#mermaid-svg-MIVloXAkJUnLTFux p{margin:0;}#mermaid-svg-MIVloXAkJUnLTFux .actor{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;}#mermaid-svg-MIVloXAkJUnLTFux text.actor&gt;tspan{fill:black;stroke:none;}#mermaid-svg-MIVloXAkJUnLTFux .actor-line{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);}#mermaid-svg-MIVloXAkJUnLTFux .innerArc{stroke-width:1.5;stroke-dasharray:none;}#mermaid-svg-MIVloXAkJUnLTFux .messageLine0{stroke-width:1.5;stroke-dasharray:none;stroke:#333;}#mermaid-svg-MIVloXAkJUnLTFux .messageLine1{stroke-width:1.5;stroke-dasharray:2,2;stroke:#333;}#mermaid-svg-MIVloXAkJUnLTFux #arrowhead path{fill:#333;stroke:#333;}#mermaid-svg-MIVloXAkJUnLTFux .sequenceNumber{fill:white;}#mermaid-svg-MIVloXAkJUnLTFux #sequencenumber{fill:#333;}#mermaid-svg-MIVloXAkJUnLTFux #crosshead path{fill:#333;stroke:#333;}#mermaid-svg-MIVloXAkJUnLTFux .messageText{fill:#333;stroke:none;}#mermaid-svg-MIVloXAkJUnLTFux .labelBox{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;}#mermaid-svg-MIVloXAkJUnLTFux .labelText,#mermaid-svg-MIVloXAkJUnLTFux .labelText&gt;tspan{fill:black;stroke:none;}#mermaid-svg-MIVloXAkJUnLTFux .loopText,#mermaid-svg-MIVloXAkJUnLTFux .loopText&gt;tspan{fill:black;stroke:none;}#mermaid-svg-MIVloXAkJUnLTFux .loopLine{stroke-width:2px;stroke-dasharray:2,2;stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);}#mermaid-svg-MIVloXAkJUnLTFux .note{stroke:#aaaa33;fill:#fff5ad;}#mermaid-svg-MIVloXAkJUnLTFux .noteText,#mermaid-svg-MIVloXAkJUnLTFux .noteText&gt;tspan{fill:black;stroke:none;}#mermaid-svg-MIVloXAkJUnLTFux .activation0{fill:#f4f4f4;stroke:#666;}#mermaid-svg-MIVloXAkJUnLTFux .activation1{fill:#f4f4f4;stroke:#666;}#mermaid-svg-MIVloXAkJUnLTFux .activation2{fill:#f4f4f4;stroke:#666;}#mermaid-svg-MIVloXAkJUnLTFux .actorPopupMenu{position:absolute;}#mermaid-svg-MIVloXAkJUnLTFux .actorPopupMenuPanel{position:absolute;fill:#ECECFF;box-shadow:0px 8px 16px 0px rgba(0,0,0,0.2);filter:drop-shadow(3px 5px 2px rgb(0 0 0 \/ 0.4));}#mermaid-svg-MIVloXAkJUnLTFux .actor-man line{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;}#mermaid-svg-MIVloXAkJUnLTFux .actor-man circle,#mermaid-svg-MIVloXAkJUnLTFux line{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;stroke-width:2px;}#mermaid-svg-MIVloXAkJUnLTFux :root{&#8211;mermaid-font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;}PduR_Transmit(0x100, I-PDU\u6570\u636e)\u67e5\u8def\u7531\u8868&#xff1a;0x100 \u2192 CanIfCanIf_Transmit(CanController0, HohId_0x100, I-PDU\u6570\u636e)<\/p>\n<h4>5.4 PduR\u7684\u7279\u6b8a\u80fd\u529b\u2014\u2014\u4e8c\u6b21\u8def\u7531<\/h4>\n<p>\u5982\u679cI-PDU\u9700\u8981\u7ecf\u8fc7SecOC\u5b89\u5168\u5904\u7406&#xff08;\u6dfb\u52a0MAC&#xff09;&#xff0c;PduR\u4f1a\u6267\u884c\u4e8c\u6b21\u8def\u7531&#xff1a;<\/p>\n<p>COM \u2192 PduR \u2192 SecOC&#xff08;\u6dfb\u52a0MAC&#xff09;\u2192 PduR \u2192 CanIf<\/p>\n<p>\u8fd9\u79cd&#034;\u4e8c\u6b21\u8def\u7531&#034;\u673a\u5236\u8ba9PduR\u6210\u4e3a\u901a\u4fe1\u6808\u7684&#034;\u4e2d\u95f4\u4ef6&#034;&#xff0c;\u53ef\u4ee5\u5728\u6570\u636e\u4f20\u8f93\u8def\u5f84\u4e0a\u63d2\u5165\u5404\u79cd\u5904\u7406\u6a21\u5757&#xff08;SecOC\u3001DCM\u3001IpduM\u7b49&#xff09;\u3002\u4f46\u6211\u4eec\u7684\u4f8b\u5b50\u4e2d&#xff0c;\u5239\u8f66\u538b\u529b\u4fe1\u53f7\u6ca1\u6709\u914d\u7f6eSecOC\u4fdd\u62a4&#xff0c;\u6240\u4ee5\u8d70\u76f4\u63a5\u8def\u7531\u3002<\/p>\n<h3>\u7b2c\u516d\u7ae0&#xff1a;\u7b2c\u4e94\u7ad9\u2014\u2014CanIf&#xff1a;CAN\u786c\u4ef6\u901a\u9053\u7684&#034;\u8c03\u5ea6\u5458&#034;<\/h3>\n<h4>6.1 CanIf\u7684\u6838\u5fc3\u804c\u8d23<\/h4>\n<p>CanIf&#xff08;CAN Interface&#xff0c;CAN\u63a5\u53e3&#xff09;\u662fECU\u62bd\u8c61\u5c42\u7684\u6a21\u5757\u3002\u5b83\u7684\u6838\u5fc3\u804c\u8d23\u662f\u5c06I-PDU\u6620\u5c04\u5230\u5177\u4f53\u7684CAN\u786c\u4ef6\u901a\u9053\u548c\u786c\u4ef6\u5bf9\u8c61\u3002<\/p>\n<p>CanIf\u4f4d\u4e8eCanDrv\u4e4b\u4e0a&#xff0c;\u4e3a\u4e0a\u5c42\u63d0\u4f9b\u786c\u4ef6\u65e0\u5173\u7684\u53d1\u9001\u63a5\u53e3\u3002\u4e0a\u5c42&#xff08;PduR\u3001COM&#xff09;\u4e0d\u9700\u8981\u77e5\u9053CAN\u63a7\u5236\u5668\u7684\u6570\u91cf\u3001\u90ae\u7bb1\u7684\u7ec4\u7ec7\u65b9\u5f0f\u3001\u786c\u4ef6\u53e5\u67c4\u7684\u7ec6\u8282\u2014\u2014\u5b83\u4eec\u53ea\u9700\u8981\u63d0\u4f9bI-PDU ID\u548cI-PDU\u6570\u636e&#xff0c;CanIf\u8d1f\u8d23\u5269\u4e0b\u7684\u6240\u6709\u4e8b\u60c5\u3002<\/p>\n<h4>6.2 CanIf\u7684\u914d\u7f6e\u6838\u5fc3&#xff1a;HOH\u6620\u5c04<\/h4>\n<p>CanIf\u7684\u6838\u5fc3\u914d\u7f6e\u662f\u786c\u4ef6\u5bf9\u8c61\u53e5\u67c4&#xff08;HOH&#xff0c;Hardware Object Handle&#xff09;\u7684\u6620\u5c04\u3002\u6bcf\u4e2aHOH\u5bf9\u5e94CAN\u63a7\u5236\u5668\u4e2d\u7684\u4e00\u4e2a\u90ae\u7bb1\u6216FIFO\u3002<\/p>\n<p>\u914d\u7f6e\u793a\u4f8b&#xff1a;<\/p>\n<table>\n<tr>I-PDU IDCAN\u63a7\u5236\u5668HOH IDCAN ID\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">0x100<\/td>\n<td align=\"left\">CAN0<\/td>\n<td align=\"left\">HohId_0x100<\/td>\n<td align=\"left\">0x100<\/td>\n<td align=\"left\">\u6807\u51c6CAN\u5e27<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">0x101<\/td>\n<td align=\"left\">CAN0<\/td>\n<td align=\"left\">HohId_0x101<\/td>\n<td align=\"left\">0x101<\/td>\n<td align=\"left\">\u6807\u51c6CAN\u5e27<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">0x200<\/td>\n<td align=\"left\">CAN1<\/td>\n<td align=\"left\">HohId_0x200<\/td>\n<td align=\"left\">0x200<\/td>\n<td align=\"left\">\u6269\u5c55CAN\u5e27<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><span class=\"token comment\">&lt;!&#8211; CanIf\u53d1\u9001PDU\u914d\u7f6e &#8211;&gt;<\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-CONTAINER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\/AUTOSAR\/EcucDefs\/CanIf\/CanIfTxPduCfg<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>CanIfTxPdu_0x100<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>PARAMETER-VALUES<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/CanIfTxPduId<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>0x100<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/CanIfTxPduCanId<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>0x100<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-ENUMERATION-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/CanIfTxPduCanIdType<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>STANDARD<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-ENUMERATION-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/CanIfTxPduDlc<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>8<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>PARAMETER-VALUES<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>REFERENCE-VALUES<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-REFERENCE-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/CanIfTxPduBufferRef<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DESTINATION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/CanIfBuffer_0x100<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DESTINATION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-REFERENCE-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>REFERENCE-VALUES<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-CONTAINER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<h4>6.3 CanIf\u7684\u53d1\u9001\u6d41\u7a0b<\/h4>\n<p>CanIf\u6536\u5230PduR\u4f20\u6765\u7684\u53d1\u9001\u8bf7\u6c42\u540e&#xff1a;<\/p>\n<li>\u67e5\u6620\u5c04\u8868&#xff1a;\u627e\u5230I-PDU 0x100\u5bf9\u5e94\u7684CAN\u63a7\u5236\u5668&#xff08;CAN0&#xff09;\u548c\u786c\u4ef6\u5bf9\u8c61\u53e5\u67c4&#xff08;HohId_0x100&#xff09;\u3002<\/li>\n<li>\u83b7\u53d6\u53d1\u9001\u7f13\u51b2\u533a&#xff1a;\u4ece\u914d\u7f6e\u7684\u53d1\u9001\u7f13\u51b2\u533a\u6c60\u4e2d\u83b7\u53d6\u4e00\u4e2a\u7a7a\u95f2\u7f13\u51b2\u533a\u3002<\/li>\n<li>\u62f7\u8d1d\u6570\u636e&#xff1a;\u5c06I-PDU\u6570\u636e\u62f7\u8d1d\u5230\u53d1\u9001\u7f13\u51b2\u533a\u3002<\/li>\n<li>\u8c03\u7528CanDrv&#xff1a;\u8c03\u7528CanDrv_Transmit(CanController0, HohId_0x100, data)\u3002<\/li>\n<p>CanDrvCanIfPduRCanDrvCanIfPduR#mermaid-svg-HyG8JG696DosrWFz{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;fill:#333;}@keyframes edge-animation-frame{from{stroke-dashoffset:0;}}@keyframes dash{to{stroke-dashoffset:0;}}#mermaid-svg-HyG8JG696DosrWFz .edge-animation-slow{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 50s linear infinite;stroke-linecap:round;}#mermaid-svg-HyG8JG696DosrWFz .edge-animation-fast{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 20s linear infinite;stroke-linecap:round;}#mermaid-svg-HyG8JG696DosrWFz .error-icon{fill:#552222;}#mermaid-svg-HyG8JG696DosrWFz .error-text{fill:#552222;stroke:#552222;}#mermaid-svg-HyG8JG696DosrWFz .edge-thickness-normal{stroke-width:1px;}#mermaid-svg-HyG8JG696DosrWFz .edge-thickness-thick{stroke-width:3.5px;}#mermaid-svg-HyG8JG696DosrWFz .edge-pattern-solid{stroke-dasharray:0;}#mermaid-svg-HyG8JG696DosrWFz .edge-thickness-invisible{stroke-width:0;fill:none;}#mermaid-svg-HyG8JG696DosrWFz .edge-pattern-dashed{stroke-dasharray:3;}#mermaid-svg-HyG8JG696DosrWFz .edge-pattern-dotted{stroke-dasharray:2;}#mermaid-svg-HyG8JG696DosrWFz .marker{fill:#333333;stroke:#333333;}#mermaid-svg-HyG8JG696DosrWFz .marker.cross{stroke:#333333;}#mermaid-svg-HyG8JG696DosrWFz svg{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;}#mermaid-svg-HyG8JG696DosrWFz p{margin:0;}#mermaid-svg-HyG8JG696DosrWFz .actor{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;}#mermaid-svg-HyG8JG696DosrWFz text.actor&gt;tspan{fill:black;stroke:none;}#mermaid-svg-HyG8JG696DosrWFz .actor-line{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);}#mermaid-svg-HyG8JG696DosrWFz .innerArc{stroke-width:1.5;stroke-dasharray:none;}#mermaid-svg-HyG8JG696DosrWFz .messageLine0{stroke-width:1.5;stroke-dasharray:none;stroke:#333;}#mermaid-svg-HyG8JG696DosrWFz .messageLine1{stroke-width:1.5;stroke-dasharray:2,2;stroke:#333;}#mermaid-svg-HyG8JG696DosrWFz #arrowhead path{fill:#333;stroke:#333;}#mermaid-svg-HyG8JG696DosrWFz .sequenceNumber{fill:white;}#mermaid-svg-HyG8JG696DosrWFz #sequencenumber{fill:#333;}#mermaid-svg-HyG8JG696DosrWFz #crosshead path{fill:#333;stroke:#333;}#mermaid-svg-HyG8JG696DosrWFz .messageText{fill:#333;stroke:none;}#mermaid-svg-HyG8JG696DosrWFz .labelBox{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;}#mermaid-svg-HyG8JG696DosrWFz .labelText,#mermaid-svg-HyG8JG696DosrWFz .labelText&gt;tspan{fill:black;stroke:none;}#mermaid-svg-HyG8JG696DosrWFz .loopText,#mermaid-svg-HyG8JG696DosrWFz .loopText&gt;tspan{fill:black;stroke:none;}#mermaid-svg-HyG8JG696DosrWFz .loopLine{stroke-width:2px;stroke-dasharray:2,2;stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);}#mermaid-svg-HyG8JG696DosrWFz .note{stroke:#aaaa33;fill:#fff5ad;}#mermaid-svg-HyG8JG696DosrWFz .noteText,#mermaid-svg-HyG8JG696DosrWFz .noteText&gt;tspan{fill:black;stroke:none;}#mermaid-svg-HyG8JG696DosrWFz .activation0{fill:#f4f4f4;stroke:#666;}#mermaid-svg-HyG8JG696DosrWFz .activation1{fill:#f4f4f4;stroke:#666;}#mermaid-svg-HyG8JG696DosrWFz .activation2{fill:#f4f4f4;stroke:#666;}#mermaid-svg-HyG8JG696DosrWFz .actorPopupMenu{position:absolute;}#mermaid-svg-HyG8JG696DosrWFz .actorPopupMenuPanel{position:absolute;fill:#ECECFF;box-shadow:0px 8px 16px 0px rgba(0,0,0,0.2);filter:drop-shadow(3px 5px 2px rgb(0 0 0 \/ 0.4));}#mermaid-svg-HyG8JG696DosrWFz .actor-man line{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;}#mermaid-svg-HyG8JG696DosrWFz .actor-man circle,#mermaid-svg-HyG8JG696DosrWFz line{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;stroke-width:2px;}#mermaid-svg-HyG8JG696DosrWFz :root{&#8211;mermaid-font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;}CanIf_Transmit(0x100, data)\u67e5\u6620\u5c04&#xff1a;0x100 \u2192 CAN0, HohId_0x100\u83b7\u53d6\u53d1\u9001\u7f13\u51b2\u533a\u62f7\u8d1d\u6570\u636e\u5230\u7f13\u51b2\u533aCanDrv_Transmit(CAN0, HohId_0x100, data)E_OKE_OK<\/p>\n<h4>6.4 \u6570\u636e\u5728CanIf\u4e2d\u7684\u5f62\u6001<\/h4>\n<p>\u6570\u636e\u5728CanIf\u4e2d\u4ecd\u7136\u662fI-PDU\u5f62\u6001\u3002CanIf\u4e0d\u6539\u53d8\u6570\u636e\u5185\u5bb9&#xff0c;\u53ea\u662f\u505a\u8def\u7531\u548c\u6620\u5c04\u3002\u4f46\u662f&#xff0c;CanIf\u5728\u53d1\u9001\u65b9\u5411\u4e0a\u53ef\u80fd\u6267\u884c\u4ee5\u4e0b\u64cd\u4f5c&#xff1a;<\/p>\n<ul>\n<li>DLC\u68c0\u67e5&#xff1a;\u786e\u4fdd\u6570\u636e\u957f\u5ea6\u4e0d\u8d85\u8fc7\u914d\u7f6e\u7684DLC\u3002<\/li>\n<li>\u53d1\u9001\u786e\u8ba4\u7ba1\u7406&#xff1a;\u7ef4\u62a4\u53d1\u9001\u786e\u8ba4\u72b6\u6001&#xff0c;\u5f53CanDrv\u8fd4\u56de\u53d1\u9001\u786e\u8ba4\u65f6\u901a\u77e5\u4e0a\u5c42\u3002<\/li>\n<li>\u591a\u8def\u590d\u7528PDU\u5904\u7406&#xff1a;\u5982\u679cI-PDU\u662f\u591a\u8def\u590d\u7528\u7684&#xff0c;CanIf\u9700\u8981\u6839\u636e\u9009\u62e9\u5668\u5b57\u6bb5\u52a8\u6001\u8def\u7531\u5230\u4e0d\u540c\u7684CAN ID\u3002<\/li>\n<\/ul>\n<h3>\u7b2c\u4e03\u7ae0&#xff1a;\u7b2c\u516d\u7ad9\u2014\u2014CanDrv&#xff1a;CAN\u63a7\u5236\u5668\u7684&#034;\u786c\u4ef6\u64cd\u4f5c\u5458&#034;<\/h3>\n<h4>7.1 CanDrv\u7684\u6838\u5fc3\u804c\u8d23<\/h4>\n<p>CanDrv&#xff08;CAN Driver&#xff0c;CAN\u9a71\u52a8&#xff09;\u662fMCAL\u5c42\u7684\u6a21\u5757&#xff0c;\u8d1f\u8d23\u76f4\u63a5\u64cd\u4f5cCAN\u63a7\u5236\u5668\u7684\u786c\u4ef6\u5bc4\u5b58\u5668\u3002\u5b83\u662f\u6574\u4e2a\u53d1\u9001\u6d41\u7a0b\u4e2d\u552f\u4e00\u76f4\u63a5\u63a5\u89e6\u786c\u4ef6\u7684\u8f6f\u4ef6\u5c42\u3002<\/p>\n<p>CanDrv\u7684\u4ee3\u7801\u9ad8\u5ea6\u4f9d\u8d56\u4e8e\u5177\u4f53\u7684CAN\u63a7\u5236\u5668\u786c\u4ef6&#xff08;\u5982\u82f1\u98de\u51ccAURIX\u7684MCMCAN\u3001NXP S32\u7684FlexCAN\u3001ST\u7684bxCAN&#xff09;\u3002\u4f46AUTOSAR\u6807\u51c6\u5316\u4e86CanDrv\u7684\u63a5\u53e3&#xff0c;\u4f7f\u5f97\u4e0a\u5c42\u6a21\u5757&#xff08;CanIf&#xff09;\u53ef\u4ee5\u4e0e\u4efb\u4f55CanDrv\u5b9e\u73b0\u914d\u5408\u5de5\u4f5c\u3002<\/p>\n<h4>7.2 CanDrv\u7684\u914d\u7f6e\u6838\u5fc3&#xff1a;\u90ae\u7bb1\u914d\u7f6e<\/h4>\n<p>CAN\u63a7\u5236\u5668\u901a\u5e38\u6709\u591a\u4e2a\u53d1\u9001\u90ae\u7bb1&#xff08;\u598232\u4e2a&#xff09;\u3002\u6bcf\u4e2a\u90ae\u7bb1\u53ef\u4ee5\u72ec\u7acb\u914d\u7f6e\u4e3a\u53d1\u9001\u6216\u63a5\u6536\u3002CanDrv\u7684\u914d\u7f6e\u51b3\u5b9a\u4e86\u90ae\u7bb1\u7684\u7ec4\u7ec7\u65b9\u5f0f\u3002<\/p>\n<p>\u914d\u7f6e\u793a\u4f8b&#xff1a;<\/p>\n<table>\n<tr>\u90ae\u7bb1\u7f16\u53f7\u65b9\u5411CAN ID\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">0~2<\/td>\n<td align=\"left\">\u63a5\u6536<\/td>\n<td align=\"left\">0x200~0x202<\/td>\n<td align=\"left\">\u63a5\u6536\u90ae\u7bb1<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3<\/td>\n<td align=\"left\">\u53d1\u9001<\/td>\n<td align=\"left\">0x100<\/td>\n<td align=\"left\">\u53d1\u9001\u90ae\u7bb1&#xff0c;\u7528\u4e8e\u5239\u8f66\u538b\u529b<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">4<\/td>\n<td align=\"left\">\u53d1\u9001<\/td>\n<td align=\"left\">0x101<\/td>\n<td align=\"left\">\u53d1\u9001\u90ae\u7bb1&#xff0c;\u7528\u4e8e\u8f66\u901f<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">5~31<\/td>\n<td align=\"left\">\u7a7a\u95f2<\/td>\n<td align=\"left\">&#8211;<\/td>\n<td align=\"left\">\u672a\u4f7f\u7528<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><span class=\"token comment\">&lt;!&#8211; CanDrv\u90ae\u7bb1\u914d\u7f6e&#xff08;\u7b80\u5316&#xff09; &#8211;&gt;<\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-CONTAINER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>\/AUTOSAR\/EcucDefs\/Can\/CanHwObject<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>CanHwObject_Tx_0x100<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>SHORT-NAME<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>PARAMETER-VALUES<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/CanHwObjectId<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>3<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-ENUMERATION-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/CanHwObjectType<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>TRANSMIT<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-ENUMERATION-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>&#8230;\/CanHwObjectCanId<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>DEFINITION-REF<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n            <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>0x100<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-INTEGER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>PARAMETER-VALUES<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>ECUC-CONTAINER-VALUE<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<h4>7.3 CanDrv\u7684\u53d1\u9001\u6d41\u7a0b<\/h4>\n<p>CanDrv_Transmit\u7684\u6267\u884c\u8fc7\u7a0b&#xff1a;<\/p>\n<li>\u627e\u5230\u7a7a\u95f2\u7684\u53d1\u9001\u90ae\u7bb1&#xff1a;CAN\u63a7\u5236\u5668\u901a\u5e38\u6709\u591a\u4e2a\u53d1\u9001\u90ae\u7bb1&#xff0c;CanDrv\u9009\u62e9\u4e00\u4e2a\u7a7a\u95f2\u7684\u90ae\u7bb1\u3002<\/li>\n<li>\u5199\u5165CAN ID\u548c\u6570\u636e&#xff1a;\u5c06CAN ID&#xff08;0x100&#xff09;\u5199\u5165\u90ae\u7bb1\u7684ID\u5bc4\u5b58\u5668&#xff0c;\u5c068\u5b57\u8282\u6570\u636e\u5199\u5165\u90ae\u7bb1\u7684\u6570\u636e\u5bc4\u5b58\u5668\u3002<\/li>\n<li>\u8bbe\u7f6e\u53d1\u9001\u8bf7\u6c42\u4f4d&#xff1a;\u5199\u5165\u53d1\u9001\u8bf7\u6c42\u4f4d&#xff0c;CAN\u63a7\u5236\u5668\u5f00\u59cb\u4ef2\u88c1&#xff0c;\u7b49\u5f85\u603b\u7ebf\u7a7a\u95f2\u540e\u53d1\u9001\u3002<\/li>\n<p><span class=\"token comment\">\/**<br \/>\n * &#064;file CanDrv.c<br \/>\n * &#064;brief CAN\u9a71\u52a8\u53d1\u9001\u5b9e\u73b0&#xff08;\u6982\u5ff5\u6027\u4ee3\u7801&#xff09;<br \/>\n *<br \/>\n * &#064;note<br \/>\n * &#8211; \u8be5\u51fd\u6570\u76f4\u63a5\u64cd\u4f5c\u786c\u4ef6\u5bc4\u5b58\u5668<br \/>\n * &#8211; \u786c\u4ef6\u5bc4\u5b58\u5668\u5730\u5740\u5728MCAL\u914d\u7f6e\u4e2d\u5b9a\u4e49<br \/>\n *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CanDrv_Transmit<\/span><span class=\"token punctuation\">(<\/span>uint8 controller<span class=\"token punctuation\">,<\/span> uint8 hoh<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">const<\/span> uint8 <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/* 1. \u627e\u5230\u5bf9\u5e94\u7684\u53d1\u9001\u90ae\u7bb1 *\/<\/span><br \/>\n    CAN_MailboxType<span class=\"token operator\">*<\/span> mailbox <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&amp;<\/span>CAN_HW<span class=\"token punctuation\">[<\/span>controller<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">.<\/span>Mailboxes<span class=\"token punctuation\">[<\/span>hoh<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/* 2. \u5199\u5165CAN ID *\/<\/span><br \/>\n    mailbox<span class=\"token operator\">-&gt;<\/span>ID <span class=\"token operator\">&#061;<\/span> CAN_ID_0x100<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/* 3. \u5199\u5165\u6570\u636e\u957f\u5ea6 *\/<\/span><br \/>\n    mailbox<span class=\"token operator\">-&gt;<\/span>DLC <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/* 4. \u5199\u5165\u6570\u636e *\/<\/span><br \/>\n    <span class=\"token function\">memcpy<\/span><span class=\"token punctuation\">(<\/span>mailbox<span class=\"token operator\">-&gt;<\/span>Data<span class=\"token punctuation\">,<\/span> data<span class=\"token punctuation\">,<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/* 5. \u8bbe\u7f6e\u53d1\u9001\u8bf7\u6c42\u4f4d *\/<\/span><br \/>\n    mailbox<span class=\"token operator\">-&gt;<\/span>TXRQ <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/* 6. CAN\u63a7\u5236\u5668\u5f00\u59cb\u4ef2\u88c1\u4e0e\u53d1\u9001 *\/<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h4>7.4 \u6570\u636e\u5728CanDrv\u4e2d\u7684\u5f62\u6001<\/h4>\n<p>\u6570\u636e\u5728CanDrv\u4e2d\u53d8\u6210\u4e86\u786c\u4ef6\u5bc4\u5b58\u5668\u4e2d\u7684\u503c\u3002CAN\u63a7\u5236\u5668\u6839\u636e\u5bc4\u5b58\u5668\u7684\u5185\u5bb9&#xff0c;\u81ea\u52a8\u7ec4\u88c5CAN\u5e27\u5e76\u53d1\u9001\u3002<\/p>\n<p>\u6570\u636e\u5f62\u6001\u8f6c\u53d8&#xff1a;<\/p>\n<p>I-PDU\u5b57\u8282\u6d41&#xff1a;[0x64, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00]<br \/>\n\u2192<br \/>\nCAN ID\u5bc4\u5b58\u5668&#xff1a;0x100<br \/>\nDLC\u5bc4\u5b58\u5668&#xff1a;8<br \/>\n\u6570\u636e\u5bc4\u5b58\u5668&#xff1a;0x64 0x00 0x01 0x00 0x00 0x00 0x00 0x00<br \/>\n\u53d1\u9001\u8bf7\u6c42\u4f4d&#xff1a;1<\/p>\n<h3>\u7b2c\u516b\u7ae0&#xff1a;\u7b2c\u4e03\u7ad9\u2014\u2014CAN\u63a7\u5236\u5668\u4e0e\u6536\u53d1\u5668&#xff1a;\u4ece\u6570\u5b57\u5230\u7535\u5e73<\/h3>\n<h4>8.1 CAN\u63a7\u5236\u5668\u7684\u786c\u4ef6\u53d1\u9001\u6d41\u7a0b<\/h4>\n<p>CAN\u63a7\u5236\u5668\u6536\u5230CanDrv\u7684\u53d1\u9001\u8bf7\u6c42\u540e&#xff0c;\u81ea\u52a8\u6267\u884c\u4ee5\u4e0b\u6d41\u7a0b&#xff1a;<\/p>\n<li>\u4f4d\u4ef2\u88c1&#xff1a;\u68c0\u67e5\u603b\u7ebf\u662f\u5426\u7a7a\u95f2\u3002\u5982\u679c\u603b\u7ebf\u6b63\u5fd9&#xff0c;\u7b49\u5f85\u3002<\/li>\n<li>\u5e27\u7ec4\u88c5&#xff1a;\u6309\u7167CAN\u534f\u8bae\u683c\u5f0f\u7ec4\u88c5\u5e27&#xff1a;\u5e27\u8d77\u59cb\u4f4d&#xff08;SOF&#xff09;\u2192 CAN ID \u2192 \u63a7\u5236\u4f4d \u2192 \u6570\u636e\u57df \u2192 CRC\u6821\u9a8c\u4f4d \u2192 ACK\u4f4d \u2192 \u5e27\u7ed3\u675f\u4f4d&#xff08;EOF&#xff09;\u3002<\/li>\n<li>\u4f4d\u586b\u5145&#xff1a;\u5982\u679c\u8fde\u7eed5\u4e2a\u76f8\u540c\u7535\u5e73&#xff0c;\u63d2\u5165\u4e00\u4e2a\u53cd\u76f8\u7535\u5e73&#xff0c;\u9632\u6b62\u540c\u6b65\u4e22\u5931\u3002<\/li>\n<li>\u9010\u4f4d\u53d1\u9001&#xff1a;\u901a\u8fc7TX\u5f15\u811a\u5411CAN\u6536\u53d1\u5668\u9010\u4f4d\u53d1\u9001\u3002<\/li>\n<p>CAN\u5e27\u683c\u5f0f&#xff08;\u6807\u51c6\u5e27&#xff09;&#xff1a;<\/p>\n<p>SOF | 11\u4f4dCAN ID | RTR(1\u4f4d) | IDE(1\u4f4d) | DLC(4\u4f4d) | \u6570\u636e(0~8\u5b57\u8282) | CRC(15\u4f4d) | ACK(1\u4f4d) | EOF(7\u4f4d)<\/p>\n<h4>8.2 CAN\u6536\u53d1\u5668\u7684\u7535\u5e73\u8f6c\u6362<\/h4>\n<p>CAN\u6536\u53d1\u5668\u5c06CAN\u63a7\u5236\u5668\u7684\u6570\u5b57\u7535\u5e73&#xff08;TTL\u7535\u5e73&#xff0c;0V\/3.3V&#xff09;\u8f6c\u6362\u4e3aCAN\u603b\u7ebf\u7684\u5dee\u5206\u7535\u5e73&#xff08;CAN_H\u548cCAN_L&#xff09;&#xff1a;<\/p>\n<table>\n<tr>\u903b\u8f91CAN_H\u7535\u538bCAN_L\u7535\u538b\u5dee\u5206\u7535\u538b<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">\u663e\u6027&#xff08;0&#xff09;<\/td>\n<td align=\"left\">3.5V<\/td>\n<td align=\"left\">1.5V<\/td>\n<td align=\"left\">2.0V<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u9690\u6027&#xff08;1&#xff09;<\/td>\n<td align=\"left\">2.5V<\/td>\n<td align=\"left\">2.5V<\/td>\n<td align=\"left\">0V<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u4e3a\u4ec0\u4e48\u4f7f\u7528\u5dee\u5206\u4fe1\u53f7&#xff1f;<\/p>\n<p>\u5dee\u5206\u4fe1\u53f7\u6709\u4e24\u4e2a\u4f18\u52bf&#xff1a;<\/p>\n<li>\u6297\u5e72\u6270\u80fd\u529b\u5f3a&#xff1a;\u5916\u754c\u7535\u78c1\u5e72\u6270\u4f1a\u540c\u65f6\u5f71\u54cdCAN_H\u548cCAN_L&#xff0c;\u4f46\u5dee\u5206\u7535\u538b\u4fdd\u6301\u4e0d\u53d8\u3002<\/li>\n<li>\u4f20\u8f93\u8ddd\u79bb\u8fdc&#xff1a;\u5dee\u5206\u4fe1\u53f7\u53ef\u4ee5\u5728\u957f\u8ddd\u79bb&#xff08;\u6700\u957f1000\u7c73&#xff09;\u4e0a\u4fdd\u6301\u4fe1\u53f7\u5b8c\u6574\u6027\u3002<\/li>\n<p>\u6700\u7ec8&#xff0c;\u5239\u8f66\u538b\u529b&#061;100bar\u8fd9\u4e2a\u4fe1\u53f7&#xff0c;\u53d8\u6210\u4e86CAN\u603b\u7ebf\u4e0a\u7684\u4e00\u4e32\u5dee\u5206\u7535\u5e73\u4fe1\u53f7&#xff0c;\u53ef\u4ee5\u88ab\u5176\u4ed6ECU\u63a5\u6536\u3002<\/p>\n<h3>\u7b2c\u4e5d\u7ae0&#xff1a;\u5b8c\u6574\u6570\u636e\u6d41\u6848\u4f8b\u2014\u2014\u4eceSWC\u5230CAN\u603b\u7ebf\u7684\u5168\u6d41\u7a0b<\/h3>\n<p>\u4ee5\u4e0b\u6848\u4f8b\u4e3a\u5b8c\u5168\u865a\u6784&#xff0c;\u6240\u6709\u65f6\u95f4\u3001\u5730\u70b9\u3001\u4eba\u7269\u3001\u516c\u53f8\u5747\u4e3a\u675c\u64b0&#xff0c;\u65e8\u5728\u901a\u8fc7\u4e00\u4e2a\u5178\u578b\u573a\u666f\u8bf4\u660e\u6570\u636e\u53d1\u9001\u7684\u5b8c\u6574\u6d41\u7a0b\u3002<\/p>\n<p>\u865a\u62df\u6848\u4f8b\u80cc\u666f&#xff1a;2024\u5e74&#xff0c;\u67d0Tier-1\u4f9b\u5e94\u5546\u4e3a\u67d0\u81ea\u4e3b\u54c1\u724c\u5f00\u53d1\u4e00\u6b3e\u5239\u8f66\u63a7\u5236\u5668&#xff08;Brake ECU&#xff09;&#xff0c;\u91c7\u7528AURIX TC387 MCU&#xff0c;AUTOSAR CP 4.3.1\u5e73\u53f0\u3002\u5239\u8f66\u538b\u529b\u4fe1\u53f7\u901a\u8fc7CAN0\u53d1\u9001&#xff0c;CAN ID&#061;0x100\u3002<\/p>\n<h4>9.1 \u7cfb\u7edf\u914d\u7f6e\u6458\u8981<\/h4>\n<p>\u4fe1\u53f7\u914d\u7f6e&#xff1a;<\/p>\n<table>\n<tr>\u4fe1\u53f7\u4f4d\u8d77\u59cb\u4f4d\u957f\u5ea6\u5b57\u8282\u5e8f\u7c7b\u578b\u7cbe\u5ea6\u504f\u79fb<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">BrakePressure<\/td>\n<td align=\"left\">0<\/td>\n<td align=\"left\">16<\/td>\n<td align=\"left\">Little Endian<\/td>\n<td align=\"left\">UINT16<\/td>\n<td align=\"left\">1 bar\/LSB<\/td>\n<td align=\"left\">0<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">BrakeStatus<\/td>\n<td align=\"left\">16<\/td>\n<td align=\"left\">1<\/td>\n<td align=\"left\">N\/A<\/td>\n<td align=\"left\">Boolean<\/td>\n<td align=\"left\">1<\/td>\n<td align=\"left\">0<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>I-PDU\u914d\u7f6e&#xff1a;<\/p>\n<table>\n<tr>I-PDU ID\u5927\u5c0f\u53d1\u9001\u6a21\u5f0f\u4fe1\u53f7<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">0x100<\/td>\n<td align=\"left\">8\u5b57\u8282<\/td>\n<td align=\"left\">MIXED&#xff08;50ms\u5468\u671f&#xff09;<\/td>\n<td align=\"left\">BrakePressure, BrakeStatus<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u8def\u7531\u914d\u7f6e&#xff1a;<\/p>\n<table>\n<tr>I-PDU ID\u8def\u7531\u8def\u5f84CAN\u63a7\u5236\u5668HOH<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">0x100<\/td>\n<td align=\"left\">COM\u2192PduR\u2192CanIf<\/td>\n<td align=\"left\">CAN0<\/td>\n<td align=\"left\">HohId_0x100<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>CAN\u914d\u7f6e&#xff1a;<\/p>\n<table>\n<tr>\u53c2\u6570\u503c<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">CAN ID<\/td>\n<td align=\"left\">0x100<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u5e27\u7c7b\u578b<\/td>\n<td align=\"left\">\u6807\u51c6\u5e27<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DLC<\/td>\n<td align=\"left\">8<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u6ce2\u7279\u7387<\/td>\n<td align=\"left\">500 kbps<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u53d1\u9001\u90ae\u7bb1<\/td>\n<td align=\"left\">\u90ae\u7bb13<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>9.2 \u5b8c\u6574\u6570\u636e\u6d41<\/h4>\n<table>\n<tr>\u6b65\u9aa4\u6a21\u5757\u6570\u636e\u5f62\u6001\u6570\u636e\u5185\u5bb9<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">1<\/td>\n<td align=\"left\">SWC<\/td>\n<td align=\"left\">\u4fe1\u53f7&#xff08;\u7269\u7406\u91cf&#xff09;<\/td>\n<td align=\"left\">BrakePressure &#061; 100.0f<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">2<\/td>\n<td align=\"left\">RTE<\/td>\n<td align=\"left\">\u4fe1\u53f7&#xff08;\u7269\u7406\u91cf&#xff09;<\/td>\n<td align=\"left\">BrakePressure &#061; 100.0f<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3<\/td>\n<td align=\"left\">COM<\/td>\n<td align=\"left\">I-PDU&#xff08;\u5b57\u8282\u6d41&#xff09;<\/td>\n<td align=\"left\">[0x64, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00]<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">4<\/td>\n<td align=\"left\">PduR<\/td>\n<td align=\"left\">I-PDU&#xff08;\u5b57\u8282\u6d41&#xff09;<\/td>\n<td align=\"left\">\u540c\u4e0a<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">5<\/td>\n<td align=\"left\">CanIf<\/td>\n<td align=\"left\">I-PDU&#xff08;\u5b57\u8282\u6d41&#xff09;<\/td>\n<td align=\"left\">\u540c\u4e0a<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">6<\/td>\n<td align=\"left\">CanDrv<\/td>\n<td align=\"left\">\u5bc4\u5b58\u5668\u503c<\/td>\n<td align=\"left\">CAN ID&#061;0x100, DLC&#061;8, DATA&#061;0x64 0x00 0x01 \u2026<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">7<\/td>\n<td align=\"left\">CAN\u63a7\u5236\u5668<\/td>\n<td align=\"left\">CAN\u5e27<\/td>\n<td align=\"left\">SOF &#043; 0x100 &#043; \u63a7\u5236\u4f4d &#043; 8\u5b57\u8282\u6570\u636e &#043; CRC &#043; ACK &#043; EOF<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">8<\/td>\n<td align=\"left\">CAN\u6536\u53d1\u5668<\/td>\n<td align=\"left\">\u5dee\u5206\u7535\u5e73<\/td>\n<td align=\"left\">CAN_H\/CAN_L\u5dee\u5206\u4fe1\u53f7<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>9.3 Mermaid\u65f6\u5e8f\u56fe<\/h4>\n<p>CAN\u63a7\u5236\u5668CanDrvCanIfPduRCOMRTESWCCAN\u63a7\u5236\u5668CanDrvCanIfPduRCOMRTESWC#mermaid-svg-XLJL9I8YRfo85amB{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;fill:#333;}@keyframes edge-animation-frame{from{stroke-dashoffset:0;}}@keyframes dash{to{stroke-dashoffset:0;}}#mermaid-svg-XLJL9I8YRfo85amB .edge-animation-slow{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 50s linear infinite;stroke-linecap:round;}#mermaid-svg-XLJL9I8YRfo85amB .edge-animation-fast{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 20s linear infinite;stroke-linecap:round;}#mermaid-svg-XLJL9I8YRfo85amB .error-icon{fill:#552222;}#mermaid-svg-XLJL9I8YRfo85amB .error-text{fill:#552222;stroke:#552222;}#mermaid-svg-XLJL9I8YRfo85amB .edge-thickness-normal{stroke-width:1px;}#mermaid-svg-XLJL9I8YRfo85amB .edge-thickness-thick{stroke-width:3.5px;}#mermaid-svg-XLJL9I8YRfo85amB .edge-pattern-solid{stroke-dasharray:0;}#mermaid-svg-XLJL9I8YRfo85amB .edge-thickness-invisible{stroke-width:0;fill:none;}#mermaid-svg-XLJL9I8YRfo85amB .edge-pattern-dashed{stroke-dasharray:3;}#mermaid-svg-XLJL9I8YRfo85amB .edge-pattern-dotted{stroke-dasharray:2;}#mermaid-svg-XLJL9I8YRfo85amB .marker{fill:#333333;stroke:#333333;}#mermaid-svg-XLJL9I8YRfo85amB .marker.cross{stroke:#333333;}#mermaid-svg-XLJL9I8YRfo85amB svg{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;}#mermaid-svg-XLJL9I8YRfo85amB p{margin:0;}#mermaid-svg-XLJL9I8YRfo85amB .actor{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;}#mermaid-svg-XLJL9I8YRfo85amB text.actor&gt;tspan{fill:black;stroke:none;}#mermaid-svg-XLJL9I8YRfo85amB .actor-line{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);}#mermaid-svg-XLJL9I8YRfo85amB .innerArc{stroke-width:1.5;stroke-dasharray:none;}#mermaid-svg-XLJL9I8YRfo85amB .messageLine0{stroke-width:1.5;stroke-dasharray:none;stroke:#333;}#mermaid-svg-XLJL9I8YRfo85amB .messageLine1{stroke-width:1.5;stroke-dasharray:2,2;stroke:#333;}#mermaid-svg-XLJL9I8YRfo85amB #arrowhead path{fill:#333;stroke:#333;}#mermaid-svg-XLJL9I8YRfo85amB .sequenceNumber{fill:white;}#mermaid-svg-XLJL9I8YRfo85amB #sequencenumber{fill:#333;}#mermaid-svg-XLJL9I8YRfo85amB #crosshead path{fill:#333;stroke:#333;}#mermaid-svg-XLJL9I8YRfo85amB .messageText{fill:#333;stroke:none;}#mermaid-svg-XLJL9I8YRfo85amB .labelBox{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;}#mermaid-svg-XLJL9I8YRfo85amB .labelText,#mermaid-svg-XLJL9I8YRfo85amB .labelText&gt;tspan{fill:black;stroke:none;}#mermaid-svg-XLJL9I8YRfo85amB .loopText,#mermaid-svg-XLJL9I8YRfo85amB .loopText&gt;tspan{fill:black;stroke:none;}#mermaid-svg-XLJL9I8YRfo85amB .loopLine{stroke-width:2px;stroke-dasharray:2,2;stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);}#mermaid-svg-XLJL9I8YRfo85amB .note{stroke:#aaaa33;fill:#fff5ad;}#mermaid-svg-XLJL9I8YRfo85amB .noteText,#mermaid-svg-XLJL9I8YRfo85amB .noteText&gt;tspan{fill:black;stroke:none;}#mermaid-svg-XLJL9I8YRfo85amB .activation0{fill:#f4f4f4;stroke:#666;}#mermaid-svg-XLJL9I8YRfo85amB .activation1{fill:#f4f4f4;stroke:#666;}#mermaid-svg-XLJL9I8YRfo85amB .activation2{fill:#f4f4f4;stroke:#666;}#mermaid-svg-XLJL9I8YRfo85amB .actorPopupMenu{position:absolute;}#mermaid-svg-XLJL9I8YRfo85amB .actorPopupMenuPanel{position:absolute;fill:#ECECFF;box-shadow:0px 8px 16px 0px rgba(0,0,0,0.2);filter:drop-shadow(3px 5px 2px rgb(0 0 0 \/ 0.4));}#mermaid-svg-XLJL9I8YRfo85amB .actor-man line{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;}#mermaid-svg-XLJL9I8YRfo85amB .actor-man circle,#mermaid-svg-XLJL9I8YRfo85amB line{stroke:hsl(259.6261682243, 59.7765363128%, 87.9019607843%);fill:#ECECFF;stroke-width:2px;}#mermaid-svg-XLJL9I8YRfo85amB :root{&#8211;mermaid-font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;}SWC-B\u53d1\u9001\u5239\u8f66\u72b6\u6001CAN\u6536\u53d1\u5668\u5c06TTL\u7535\u5e73\u8f6c\u6362\u4e3aCAN_H\/CAN_L\u5dee\u5206\u7535\u5e73\u8bfb\u53d6\u4f20\u611f\u5668&#xff1a;\u8e0f\u677f\u4f4d\u7f6e 50%\u8ba1\u7b97\u5239\u8f66\u538b\u529b&#xff1a;100 barRte_Write_BrakePressure(100.0f)\u67e5\u6620\u5c04&#xff1a;BrakePressure \u2192 \u4fe1\u53f7ID 0x00Com_SendSignal(SIGNAL_BRAKE_PRESSURE, 100.0f)\u67e5\u4fe1\u53f7\u63cf\u8ff0\u7b26&#xff1a;\u4f4d\u8d77\u59cb&#061;0, \u4f4d\u957f\u5ea6&#061;16, Little Endian\u8f6c\u6362&#xff1a;100.0 \/ 1.0 &#061; 100 &#061; 0x0064\u5199\u5165I-PDU Buffer[0] &#061; 0x64 (\u4f4e\u5b57\u8282)\u5199\u5165I-PDU Buffer[1] &#061; 0x00 (\u9ad8\u5b57\u8282)Rte_Write_BrakeStatus(TRUE)Com_SendSignal(SIGNAL_BRAKE_STATUS, TRUE)\u8f6c\u6362&#xff1a;TRUE &#061; 1\u5199\u5165I-PDU Buffer[2] bit0 &#061; 1\u68c0\u67e5\u53d1\u9001\u6a21\u5f0f&#xff1a;MIXED&#xff0c;\u89e6\u53d1\u53d1\u9001PduR_Transmit(0x100, I-PDU\u6570\u636e)\u67e5\u8def\u7531\u8868&#xff1a;0x100 \u2192 CanIfCanIf_Transmit(CAN0, HohId_0x100, \u6570\u636e)\u67e5\u6620\u5c04&#xff1a;0x100 \u2192 CAN\u63a7\u5236\u56680, \u90ae\u7bb13CanDrv_Transmit(0, 3, \u6570\u636e)\u5199\u5165CAN ID\u5bc4\u5b58\u5668 &#061; 0x100\u5199\u5165DLC\u5bc4\u5b58\u5668 &#061; 8\u5199\u5165\u6570\u636e\u5bc4\u5b58\u5668 &#061; 0x64 0x00 0x01 0x00 0x00 0x00 0x00 0x00\u8bbe\u7f6e\u53d1\u9001\u8bf7\u6c42\u4f4d\u4f4d\u4ef2\u88c1 \u2192 \u5e27\u7ec4\u88c5 \u2192 \u4f4d\u586b\u5145 \u2192 \u9010\u4f4d\u53d1\u9001TX\u5f15\u811a\u8f93\u51faTTL\u7535\u5e73CAN\u603b\u7ebf\u4f20\u8f93\u5b8c\u6210&#xff0c;\u7b49\u5f85ACK<\/p>\n<h3>\u7b2c\u5341\u7ae0&#xff1a;\u4ee3\u7801\u6a21\u62df\u2014\u2014\u5b8c\u6574\u53d1\u9001\u6d41\u7a0b\u7684C\u5b9e\u73b0<\/h3>\n<p>\u73b0\u5728&#xff0c;\u6211\u4eec\u6765\u5199\u4e00\u4e2a\u5b8c\u6574\u7684C\u7a0b\u5e8f&#xff0c;\u6a21\u62df\u4eceSWC\u5230CanDrv\u7684\u5b8c\u6574\u53d1\u9001\u6d41\u7a0b\u3002\u8fd9\u4e2a\u7a0b\u5e8f\u5c06\u5e2e\u52a9\u4f60\u76f4\u89c2\u5730\u770b\u5230\u6bcf\u4e00\u5c42\u7684\u6570\u636e\u5f62\u6001\u53d8\u5316\u3002<\/p>\n<p><span class=\"token comment\">\/**<br \/>\n * &#064;file can_tx_full_flow.c<br \/>\n * &#064;brief \u6a21\u62dfAUTOSAR CP CAN\u62a5\u6587\u53d1\u9001\u7684\u5b8c\u6574\u6d41\u7a0b<br \/>\n *<br \/>\n * \u672c\u7a0b\u5e8f\u6a21\u62df\u4eceSWC\u4ea7\u751f\u4fe1\u53f7\u5230CAN\u63a7\u5236\u5668\u786c\u4ef6\u53d1\u9001\u7684\u5b8c\u6574\u6570\u636e\u6d41&#xff1a;<br \/>\n * SWC \u2192 RTE \u2192 COM \u2192 PduR \u2192 CanIf \u2192 CanDrv \u2192 CAN\u63a7\u5236\u5668<br \/>\n *<br \/>\n * &#064;note<br \/>\n * &#8211; \u6240\u6709\u6a21\u5757\u540d\u79f0\u3001\u4fe1\u53f7\u540d\u79f0\u3001I-PDU ID\u5747\u4e3a\u865a\u6784<br \/>\n * &#8211; \u4ee3\u7801\u7ed3\u6784\u6a21\u62df\u771f\u5b9eAUTOSAR\u6808\u7684\u5206\u5c42\u8c03\u7528\u5173\u7cfb<br \/>\n * &#8211; \u7f16\u8bd1: make clean &amp;&amp; make<br \/>\n * &#8211; \u8fd0\u884c: .\/can_tx_full_flow<br \/>\n *\/<\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;stdio.h&gt;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;stdlib.h&gt;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;string.h&gt;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;stdint.h&gt;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;stdbool.h&gt;<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/* &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;<br \/>\n * \u914d\u7f6e\u5e38\u91cf<br \/>\n * &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061; *\/<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SIGNAL_BRAKE_PRESSURE<\/span>    <span class=\"token expression\"><span class=\"token number\">0x00<\/span>   <\/span><span class=\"token comment\">\/**&lt; \u5239\u8f66\u538b\u529b\u4fe1\u53f7ID *\/<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SIGNAL_BRAKE_STATUS<\/span>      <span class=\"token expression\"><span class=\"token number\">0x01<\/span>   <\/span><span class=\"token comment\">\/**&lt; \u5239\u8f66\u72b6\u6001\u4fe1\u53f7ID *\/<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">IPDU_ID_0x100<\/span>            <span class=\"token expression\"><span class=\"token number\">0x100<\/span>  <\/span><span class=\"token comment\">\/**&lt; I-PDU ID *\/<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">CAN_ID_0x100<\/span>             <span class=\"token expression\"><span class=\"token number\">0x100<\/span>  <\/span><span class=\"token comment\">\/**&lt; CAN ID *\/<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">CAN_CONTROLLER_0<\/span>         <span class=\"token expression\"><span class=\"token number\">0<\/span>      <\/span><span class=\"token comment\">\/**&lt; CAN\u63a7\u5236\u56680 *\/<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">CAN_MAILBOX_0x100<\/span>        <span class=\"token expression\"><span class=\"token number\">3<\/span>      <\/span><span class=\"token comment\">\/**&lt; \u90ae\u7bb13 *\/<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/* &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;<br \/>\n * \u4fe1\u53f7\u63cf\u8ff0\u7b26&#xff08;\u6a21\u62dfCOM\u7684\u914d\u7f6e\u6570\u636e&#xff09;<br \/>\n * &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061; *\/<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span>     signal_id<span class=\"token punctuation\">;<\/span>          <span class=\"token comment\">\/**&lt; \u4fe1\u53f7ID *\/<\/span><br \/>\n    <span class=\"token keyword\">const<\/span> <span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span>signal_name<span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/**&lt; \u4fe1\u53f7\u540d\u79f0 *\/<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span>     byte_offset<span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/**&lt; \u5b57\u8282\u504f\u79fb *\/<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span>     bit_offset<span class=\"token punctuation\">;<\/span>         <span class=\"token comment\">\/**&lt; \u4f4d\u504f\u79fb&#xff08;\u5728\u5b57\u8282\u5185&#xff09; *\/<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span>     bit_length<span class=\"token punctuation\">;<\/span>         <span class=\"token comment\">\/**&lt; \u4f4d\u957f\u5ea6 *\/<\/span><br \/>\n    <span class=\"token keyword\">float<\/span>       gain<span class=\"token punctuation\">;<\/span>               <span class=\"token comment\">\/**&lt; \u589e\u76ca&#xff08;\u7cbe\u5ea6&#xff09; *\/<\/span><br \/>\n    <span class=\"token keyword\">float<\/span>       offset<span class=\"token punctuation\">;<\/span>             <span class=\"token comment\">\/**&lt; \u504f\u79fb *\/<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> SignalDescriptor<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">static<\/span> <span class=\"token keyword\">const<\/span> SignalDescriptor g_signals<span class=\"token punctuation\">[<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span> SIGNAL_BRAKE_PRESSURE<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;BrakePressure&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">16<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1.0f<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0f<\/span> <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span> SIGNAL_BRAKE_STATUS<span class=\"token punctuation\">,<\/span>   <span class=\"token string\">&#034;BrakeStatus&#034;<\/span><span class=\"token punctuation\">,<\/span>   <span class=\"token number\">2<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span>  <span class=\"token number\">1.0f<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0f<\/span> <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">NUM_SIGNALS<\/span> <span class=\"token expression\"><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>g_signals<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>g_signals<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><\/span><\/span><\/p>\n<p><span class=\"token comment\">\/* &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;<br \/>\n * I-PDU\u7f13\u51b2\u533a&#xff08;\u6a21\u62dfCOM\u5185\u90e8\u7f13\u51b2\u533a&#xff09;<br \/>\n * &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061; *\/<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token class-name\">uint8_t<\/span> g_ipdu_buffer<span class=\"token punctuation\">[<\/span><span class=\"token number\">8<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/* &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;<br \/>\n * \u51fd\u6570\u524d\u7f6e\u58f0\u660e<br \/>\n * &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061; *\/<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">Rte_Write<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> signal_id<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> value<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">Com_SendSignal<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> signal_id<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> value<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">PduR_Transmit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> ipdu_id<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">const<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">CanIf_Transmit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> ipdu_id<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">const<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">CanDrv_Transmit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> controller<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> mailbox<span class=\"token punctuation\">,<\/span><br \/>\n                             <span class=\"token keyword\">const<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/* &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;<br \/>\n * \u6a21\u62dfRTE\u5c42<br \/>\n * &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061; *\/<\/span><\/p>\n<p><span class=\"token comment\">\/**<br \/>\n * &#064;brief \u6a21\u62dfRTE\u7684Rte_Write\u63a5\u53e3<br \/>\n *<br \/>\n * \u63a5\u6536SWC\u7684\u4fe1\u53f7\u5199\u5165\u8bf7\u6c42&#xff0c;\u8def\u7531\u5230COM\u6a21\u5757\u3002<br \/>\n * \u5728\u771f\u5b9e\u7684AUTOSAR\u4e2d&#xff0c;\u6b64\u51fd\u6570\u7531RTE\u751f\u6210\u5668\u81ea\u52a8\u751f\u6210\u3002<br \/>\n *<br \/>\n * &#064;param signal_id [in] \u4fe1\u53f7ID<br \/>\n * &#064;param value     [in] \u4fe1\u53f7\u503c&#xff08;float&#xff0c;\u539f\u59cb\u7269\u7406\u91cf&#xff09;<br \/>\n *\/<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">Rte_Write<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> signal_id<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> value<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;[RTE] Rte_Write_%s(%.1f)\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n           g_signals<span class=\"token punctuation\">[<\/span>signal_id<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">.<\/span>signal_name<span class=\"token punctuation\">,<\/span> value<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;[RTE] \u2192 \u8def\u7531\u5230COM\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">Com_SendSignal<\/span><span class=\"token punctuation\">(<\/span>signal_id<span class=\"token punctuation\">,<\/span> value<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;<br \/>\n * \u6a21\u62dfCOM\u5c42<br \/>\n * &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061; *\/<\/span><\/p>\n<p><span class=\"token comment\">\/**<br \/>\n * &#064;brief \u6a21\u62dfCOM\u7684Com_SendSignal\u63a5\u53e3<br \/>\n *<br \/>\n * \u5c06\u4fe1\u53f7\u503c\u6839\u636e\u914d\u7f6e\u7684\u4f4d\u5e03\u5c40\u6253\u5305\u5230I-PDU\u7f13\u51b2\u533a\u4e2d\u3002<br \/>\n *<br \/>\n * &#064;param signal_id [in] \u4fe1\u53f7ID<br \/>\n * &#064;param value     [in] \u4fe1\u53f7\u503c&#xff08;float&#xff0c;\u539f\u59cb\u7269\u7406\u91cf&#xff09;<br \/>\n *\/<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">Com_SendSignal<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> signal_id<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> value<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;[COM] Com_SendSignal(%s, %.1f)\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n           g_signals<span class=\"token punctuation\">[<\/span>signal_id<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">.<\/span>signal_name<span class=\"token punctuation\">,<\/span> value<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">const<\/span> SignalDescriptor <span class=\"token operator\">*<\/span>sig <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&amp;<\/span>g_signals<span class=\"token punctuation\">[<\/span>signal_id<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/* \u5c06\u7269\u7406\u503c\u8f6c\u6362\u4e3a\u6574\u6570\u503c *\/<\/span><br \/>\n    <span class=\"token class-name\">int32_t<\/span> raw_value <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">int32_t<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span>value <span class=\"token operator\">&#8211;<\/span> sig<span class=\"token operator\">-&gt;<\/span>offset<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">\/<\/span> sig<span class=\"token operator\">-&gt;<\/span>gain<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;[COM] \u8f6c\u6362: %.1f \u2192 %d (0x%04X)\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n           value<span class=\"token punctuation\">,<\/span> raw_value<span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span><span class=\"token punctuation\">)<\/span>raw_value<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/* \u6309\u4f4d\u5e03\u5c40\u5199\u5165I-PDU\u7f13\u51b2\u533a *\/<\/span><br \/>\n    <span class=\"token comment\">\/* \u7b80\u5316\u5904\u7406&#xff1a;\u5047\u8bbelittle-endian&#xff0c;\u4e14\u4fe1\u53f7\u4ece\u5b57\u8282\u8fb9\u754c\u5f00\u59cb *\/<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> b <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> b <span class=\"token operator\">&lt;<\/span> sig<span class=\"token operator\">-&gt;<\/span>bit_length<span class=\"token punctuation\">;<\/span> b<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token class-name\">uint8_t<\/span> bit_pos <span class=\"token operator\">&#061;<\/span> sig<span class=\"token operator\">-&gt;<\/span>bit_offset <span class=\"token operator\">&#043;<\/span> b<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token class-name\">uint8_t<\/span> byte_idx <span class=\"token operator\">&#061;<\/span> sig<span class=\"token operator\">-&gt;<\/span>byte_offset <span class=\"token operator\">&#043;<\/span> <span class=\"token punctuation\">(<\/span>bit_pos <span class=\"token operator\">\/<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token class-name\">uint8_t<\/span> bit_in_byte <span class=\"token operator\">&#061;<\/span> bit_pos <span class=\"token operator\">%<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>raw_value <span class=\"token operator\">&amp;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span> <span class=\"token operator\">&lt;&lt;<\/span> b<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            g_ipdu_buffer<span class=\"token punctuation\">[<\/span>byte_idx<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">|&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span> <span class=\"token operator\">&lt;&lt;<\/span> bit_in_byte<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            g_ipdu_buffer<span class=\"token punctuation\">[<\/span>byte_idx<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&amp;&#061;<\/span> <span class=\"token operator\">~<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span> <span class=\"token operator\">&lt;&lt;<\/span> bit_in_byte<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;[COM] I-PDU Buffer: &#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/span> i <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i <span class=\"token operator\">&lt;<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;%02X &#034;<\/span><span class=\"token punctuation\">,<\/span> g_ipdu_buffer<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/* \u68c0\u67e5\u53d1\u9001\u89e6\u53d1\u6761\u4ef6&#xff08;\u7b80\u5316&#xff1a;\u6240\u6709\u4fe1\u53f7\u5199\u5165\u540e\u7acb\u5373\u89e6\u53d1&#xff09; *\/<\/span><br \/>\n    <span class=\"token keyword\">static<\/span> <span class=\"token class-name\">uint8_t<\/span> written_signals <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    written_signals<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>written_signals <span class=\"token operator\">&#061;&#061;<\/span> NUM_SIGNALS<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;[COM] \u89e6\u53d1\u6761\u4ef6\u6ee1\u8db3&#xff0c;\u51c6\u5907\u53d1\u9001\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        written_signals <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">PduR_Transmit<\/span><span class=\"token punctuation\">(<\/span>IPDU_ID_0x100<span class=\"token punctuation\">,<\/span> g_ipdu_buffer<span class=\"token punctuation\">,<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;<br \/>\n * \u6a21\u62dfPduR\u5c42<br \/>\n * &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061; *\/<\/span><\/p>\n<p><span class=\"token comment\">\/**<br \/>\n * &#064;brief \u6a21\u62dfPduR\u7684PduR_Transmit\u63a5\u53e3<br \/>\n *<br \/>\n * \u6839\u636eI-PDU ID\u67e5\u8def\u7531\u8868&#xff0c;\u5c06I-PDU\u8def\u7531\u5230\u6b63\u786e\u7684\u4e0b\u5c42\u6a21\u5757\u3002<br \/>\n *<br \/>\n * &#064;param ipdu_id [in] I-PDU ID<br \/>\n * &#064;param data    [in] I-PDU\u6570\u636e<br \/>\n * &#064;param length  [in] \u6570\u636e\u957f\u5ea6<br \/>\n *\/<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">PduR_Transmit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> ipdu_id<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">const<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> length<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;[PduR] PduR_Transmit(0x%03X)\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span> ipdu_id<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;[PduR] \u67e5\u8def\u7531\u8868&#xff1a;0x%03X \u2192 CanIf\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span> ipdu_id<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">CanIf_Transmit<\/span><span class=\"token punctuation\">(<\/span>ipdu_id<span class=\"token punctuation\">,<\/span> data<span class=\"token punctuation\">,<\/span> length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;<br \/>\n * \u6a21\u62dfCanIf\u5c42<br \/>\n * &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061; *\/<\/span><\/p>\n<p><span class=\"token comment\">\/**<br \/>\n * &#064;brief \u6a21\u62dfCanIf\u7684CanIf_Transmit\u63a5\u53e3<br \/>\n *<br \/>\n * \u6839\u636eI-PDU ID\u67e5\u6620\u5c04\u8868&#xff0c;\u5c06I-PDU\u6620\u5c04\u5230\u5177\u4f53\u7684CAN\u63a7\u5236\u5668\u548c\u786c\u4ef6\u90ae\u7bb1\u3002<br \/>\n *<br \/>\n * &#064;param ipdu_id [in] I-PDU ID<br \/>\n * &#064;param data    [in] I-PDU\u6570\u636e<br \/>\n * &#064;param length  [in] \u6570\u636e\u957f\u5ea6<br \/>\n *\/<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">CanIf_Transmit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> ipdu_id<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">const<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> length<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;[CanIf] CanIf_Transmit(0x%03X)\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span> ipdu_id<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;[CanIf] \u67e5\u6620\u5c04\u8868&#xff1a;0x%03X \u2192 CAN\u63a7\u5236\u56680, HOH&#061;%d, CAN ID&#061;0x%03X\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n           ipdu_id<span class=\"token punctuation\">,<\/span> CAN_MAILBOX_0x100<span class=\"token punctuation\">,<\/span> CAN_ID_0x100<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">CanDrv_Transmit<\/span><span class=\"token punctuation\">(<\/span>CAN_CONTROLLER_0<span class=\"token punctuation\">,<\/span> CAN_MAILBOX_0x100<span class=\"token punctuation\">,<\/span> data<span class=\"token punctuation\">,<\/span> length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;<br \/>\n * \u6a21\u62dfCanDrv\u5c42<br \/>\n * &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061; *\/<\/span><\/p>\n<p><span class=\"token comment\">\/**<br \/>\n * &#064;brief \u6a21\u62dfCanDrv\u7684CanDrv_Transmit\u63a5\u53e3<br \/>\n *<br \/>\n * \u76f4\u63a5\u64cd\u4f5cCAN\u63a7\u5236\u5668\u786c\u4ef6\u5bc4\u5b58\u5668&#xff0c;\u542f\u52a8\u53d1\u9001\u3002<br \/>\n *<br \/>\n * &#064;param controller [in] CAN\u63a7\u5236\u5668\u7f16\u53f7<br \/>\n * &#064;param mailbox    [in] \u53d1\u9001\u90ae\u7bb1\u7f16\u53f7<br \/>\n * &#064;param data       [in] \u6570\u636e<br \/>\n * &#064;param length     [in] \u6570\u636e\u957f\u5ea6<br \/>\n *\/<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">CanDrv_Transmit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> controller<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> mailbox<span class=\"token punctuation\">,<\/span><br \/>\n                             <span class=\"token keyword\">const<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> length<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;[CanDrv] CanDrv_Transmit(\u63a7\u5236\u5668%d, \u90ae\u7bb1%d)\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span> controller<span class=\"token punctuation\">,<\/span> mailbox<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;[CanDrv] \u5199\u5165CAN ID\u5bc4\u5b58\u5668 &#061; 0x%03X\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span> CAN_ID_0x100<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;[CanDrv] \u5199\u5165DLC\u5bc4\u5b58\u5668 &#061; %d\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span> length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;[CanDrv] \u5199\u5165\u6570\u636e\u5bc4\u5b58\u5668 &#061; &#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/span> i <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i <span class=\"token operator\">&lt;<\/span> length<span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;%02X &#034;<\/span><span class=\"token punctuation\">,<\/span> data<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;[CanDrv] \u8bbe\u7f6e\u53d1\u9001\u8bf7\u6c42\u4f4d \u2192 CAN\u63a7\u5236\u5668\u5f00\u59cb\u4ef2\u88c1\u4e0e\u53d1\u9001\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;[CAN HW] \u5e27\u7ec4\u88c5&#xff1a;SOF &#043; CAN ID(0x%03X) &#043; \u6570\u636e &#043; CRC &#043; ACK &#043; EOF\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n           CAN_ID_0x100<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;[CAN HW] TX\u5f15\u811a\u8f93\u51faTTL\u7535\u5e73 \u2192 CAN\u6536\u53d1\u5668\u8f6c\u6362\u4e3a\u5dee\u5206\u7535\u5e73\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;[CAN BUS] \u2605 CAN\u5e27\u5df2\u53d1\u9001 \u2605\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;<br \/>\n * \u4e3b\u51fd\u6570<br \/>\n * &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061; *\/<\/span><br \/>\n<span class=\"token keyword\">int<\/span> <span class=\"token function\">main<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034; AUTOSAR CP CAN\u62a5\u6587\u53d1\u9001\u5b8c\u6574\u6d41\u7a0b\u6a21\u62df\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\u4fe1\u53f7: \u5239\u8f66\u538b\u529b &#043; \u5239\u8f66\u72b6\u6001\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;I-PDU: 0x100\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN ID: 0x100\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;\\\\n\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/* SWC\u53d1\u9001\u5239\u8f66\u538b\u529b\u4fe1\u53f7 *\/<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;&#061;&#061;&#061;&#061;&#061; SWC\u53d1\u9001\u5239\u8f66\u538b\u529b &#061;&#061;&#061;&#061;&#061;\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">Rte_Write<\/span><span class=\"token punctuation\">(<\/span>SIGNAL_BRAKE_PRESSURE<span class=\"token punctuation\">,<\/span> <span class=\"token number\">100.0f<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/* SWC\u53d1\u9001\u5239\u8f66\u72b6\u6001\u4fe1\u53f7 *\/<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;&#061;&#061;&#061;&#061;&#061; SWC\u53d1\u9001\u5239\u8f66\u72b6\u6001 &#061;&#061;&#061;&#061;&#061;\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">Rte_Write<\/span><span class=\"token punctuation\">(<\/span>SIGNAL_BRAKE_STATUS<span class=\"token punctuation\">,<\/span> <span class=\"token number\">1.0f<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034; \u6a21\u62df\u7ed3\u675f\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h4>Makefile<\/h4>\n<p># &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;<br \/>\n# CAN\u53d1\u9001\u6d41\u7a0b\u6a21\u62df Makefile<br \/>\n# &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;<\/p>\n<p>CC       &#061; gcc<br \/>\nCFLAGS   &#061; -Wall -Wextra -O2 -std&#061;c99<br \/>\nTARGET   &#061; can_tx_full_flow<br \/>\nSRCS     &#061; can_tx_full_flow.c<br \/>\nOBJS     &#061; $(SRCS:.c&#061;.o)<\/p>\n<p>.PHONY: all clean run<\/p>\n<p>all: $(TARGET)<\/p>\n<p>$(TARGET): $(OBJS)<br \/>\n$(CC) $(CFLAGS) -o $&#064; $^<\/p>\n<p>%.o: %.c<br \/>\n$(CC) $(CFLAGS) -c -o $&#064; $&lt;<\/p>\n<p>clean:<br \/>\nrm -f $(OBJS) $(TARGET)<\/p>\n<p>run: $(TARGET)<br \/>\n.\/$(TARGET)<\/p>\n<h4>\u7f16\u8bd1\u4e0e\u8fd0\u884c\u8bf4\u660e<\/h4>\n<p>\u73af\u5883\u8981\u6c42&#xff1a;GCC 4.8&#043;&#xff08;\u652f\u6301C99&#xff09;\u3002<\/p>\n<p>\u7f16\u8bd1&#xff1a;<\/p>\n<p><span class=\"token function\">make<\/span> clean <span class=\"token operator\">&amp;&amp;<\/span> <span class=\"token function\">make<\/span><\/p>\n<p>\u8fd0\u884c&#xff1a;<\/p>\n<p><span class=\"token function\">make<\/span> run<\/p>\n<p>\u9884\u671f\u8f93\u51fa&#xff1a;\u7a0b\u5e8f\u5c06\u5c55\u793a\u4eceSWC\u8c03\u7528Rte_Write\u5230CAN\u63a7\u5236\u5668\u53d1\u9001\u7684\u5b8c\u6574\u6d41\u7a0b&#xff0c;\u6bcf\u4e00\u5c42\u7684\u5904\u7406\u7ec6\u8282\u90fd\u88ab\u6253\u5370\u51fa\u6765&#xff0c;\u8ba9\u4f60\u6e05\u6670\u5730\u770b\u5230\u6570\u636e\u5728\u6bcf\u4e00\u5c42\u7684\u53d8\u5316\u3002<\/p>\n<h3>\u7b2c\u5341\u4e00\u7ae0&#xff1a;\u603b\u7ed3\u2014\u2014\u4e00\u6b21\u201c\u53d8\u8eab\u201d\u7684\u5b8c\u6574\u65c5\u7a0b<\/h3>\n<p>\u670b\u53cb&#xff0c;\u901a\u8fc7\u4eca\u5929\u7684\u6df1\u5ea6\u89e3\u6790&#xff0c;\u6211\u4eec\u5b8c\u6574\u5730\u8d70\u8fc7\u4e86\u4ece\u5e94\u7528SWC\u5230CAN\u63a7\u5236\u5668\u7535\u5e73\u7684\u4e03\u7ad9\u65c5\u7a0b\u3002<\/p>\n<table>\n<tr>\u7ad9\u6a21\u5757\u6570\u636e\u5f62\u6001\u6838\u5fc3\u804c\u8d23\u5173\u952e\u914d\u7f6e<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">\u7b2c1\u7ad9<\/td>\n<td align=\"left\">SWC<\/td>\n<td align=\"left\">\u4fe1\u53f7&#xff08;\u7269\u7406\u91cf&#xff09;<\/td>\n<td align=\"left\">\u4ea7\u751f\u6570\u636e<\/td>\n<td align=\"left\">\u7aef\u53e3\u5b9a\u4e49\u3001\u6570\u636e\u7c7b\u578b<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u7b2c2\u7ad9<\/td>\n<td align=\"left\">RTE<\/td>\n<td align=\"left\">\u4fe1\u53f7&#xff08;\u7269\u7406\u91cf&#xff09;<\/td>\n<td align=\"left\">\u8def\u7531\u5230COM<\/td>\n<td align=\"left\">\u4fe1\u53f7\u6620\u5c04<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u7b2c3\u7ad9<\/td>\n<td align=\"left\">COM<\/td>\n<td align=\"left\">I-PDU&#xff08;\u5b57\u8282\u6d41&#xff09;<\/td>\n<td align=\"left\">\u4fe1\u53f7\u6253\u5305<\/td>\n<td align=\"left\">\u4fe1\u53f7\u5e03\u5c40\u3001\u53d1\u9001\u6a21\u5f0f<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u7b2c4\u7ad9<\/td>\n<td align=\"left\">PduR<\/td>\n<td align=\"left\">I-PDU&#xff08;\u5b57\u8282\u6d41&#xff09;<\/td>\n<td align=\"left\">I-PDU\u8def\u7531<\/td>\n<td align=\"left\">\u8def\u7531\u8868<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u7b2c5\u7ad9<\/td>\n<td align=\"left\">CanIf<\/td>\n<td align=\"left\">I-PDU&#xff08;\u5b57\u8282\u6d41&#xff09;<\/td>\n<td align=\"left\">\u786c\u4ef6\u901a\u9053\u6620\u5c04<\/td>\n<td align=\"left\">HOH\u6620\u5c04<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u7b2c6\u7ad9<\/td>\n<td align=\"left\">CanDrv<\/td>\n<td align=\"left\">\u5bc4\u5b58\u5668\u503c<\/td>\n<td align=\"left\">\u786c\u4ef6\u5bc4\u5b58\u5668\u64cd\u4f5c<\/td>\n<td align=\"left\">\u90ae\u7bb1\u914d\u7f6e<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u7b2c7\u7ad9<\/td>\n<td align=\"left\">CAN\u63a7\u5236\u5668&#043;\u6536\u53d1\u5668<\/td>\n<td align=\"left\">\u5dee\u5206\u7535\u5e73<\/td>\n<td align=\"left\">\u7269\u7406\u53d1\u9001<\/td>\n<td align=\"left\">\u6ce2\u7279\u7387\u3001\u5f15\u811a\u914d\u7f6e<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u6838\u5fc3\u7ed3\u8bba&#xff1a;\u6570\u636e\u5728\u4eceSWC\u5230CAN\u603b\u7ebf\u7684\u65c5\u7a0b\u4e2d&#xff0c;\u7ecf\u5386\u4e86\u4e09\u6b21\u5173\u952e\u7684&#034;\u53d8\u8eab&#034;&#xff1a;<\/p>\n<li>SWC\u2192COM&#xff1a;\u4ece\u4fe1\u53f7&#xff08;100 bar&#xff09;\u53d8\u6210I-PDU\u5b57\u8282\u6d41&#xff08;0x0064&#xff09;\u3002<\/li>\n<li>CanIf\u2192CanDrv&#xff1a;\u4eceI-PDU\u5b57\u8282\u6d41\u53d8\u6210\u786c\u4ef6\u5bc4\u5b58\u5668\u503c\u3002<\/li>\n<li>CAN\u63a7\u5236\u5668\u2192\u6536\u53d1\u5668&#xff1a;\u4ece\u6570\u5b57\u7535\u5e73\u53d8\u6210\u5dee\u5206\u7535\u5e73\u3002<\/li>\n<p>\u6bcf\u4e00\u6b21\u53d8\u8eab\u90fd\u7531\u4e0d\u540c\u5c42\u6b21\u7684\u6a21\u5757\u5b8c\u6210&#xff0c;\u5404\u5c42\u4e4b\u95f4\u901a\u8fc7\u6807\u51c6\u5316\u63a5\u53e3\u4f20\u9012\u6570\u636e\u3002\u8fd9\u79cd\u5206\u5c42\u7684\u8bbe\u8ba1\u8ba9\u6bcf\u4e00\u5c42\u90fd\u53ef\u4ee5\u72ec\u7acb\u66ff\u6362\u548c\u5347\u7ea7\u2014\u2014\u6bd4\u5982\u66f4\u6362MCU\u65f6\u53ea\u9700\u8981\u66ff\u6362MCAL\u5c42&#xff0c;\u5e94\u7528\u5c42\u4ee3\u7801\u5b8c\u5168\u4e0d\u53d8\u3002<\/p>\n<p>AUTOSAR\u914d\u7f6e\u5728\u6bcf\u4e00\u5c42\u90fd\u626e\u6f14\u7740\u201c\u7075\u9b42\u201d\u7684\u89d2\u8272&#xff1a;<\/p>\n<ul>\n<li>\u6ca1\u6709\u4fe1\u53f7\u5e03\u5c40\u914d\u7f6e&#xff0c;COM\u4e0d\u77e5\u9053\u5982\u4f55\u6253\u5305\u3002<\/li>\n<li>\u6ca1\u6709\u8def\u7531\u8868\u914d\u7f6e&#xff0c;PduR\u4e0d\u77e5\u9053\u9001\u5f80\u4f55\u65b9\u3002<\/li>\n<li>\u6ca1\u6709HOH\u6620\u5c04&#xff0c;CanIf\u4e0d\u77e5\u9053\u4f7f\u7528\u54ea\u4e2a\u90ae\u7bb1\u3002<\/li>\n<li>\u6ca1\u6709\u90ae\u7bb1\u914d\u7f6e&#xff0c;CanDrv\u4e0d\u77e5\u9053\u5f80\u54ea\u91cc\u5199\u5bc4\u5b58\u5668\u3002<\/li>\n<\/ul>\n<p>\u914d\u7f6e\u5c31\u662f\u90a3\u6839\u8d2f\u7a7f\u59cb\u7ec8\u7684\u201c\u91d1\u7ebf\u201d&#xff0c;\u628a\u5206\u6563\u5728\u5404\u5c42\u7684\u4ee3\u7801\u7f1d\u5408\u8d77\u6765&#xff0c;\u5f62\u6210\u4e00\u4e2a\u6709\u673a\u7684\u6574\u4f53\u3002<\/p>\n<p>\u8fd9\u5c31\u662fAUTOSAR CP\u5e73\u53f0\u7684\u6838\u5fc3\u4ef7\u503c&#xff1a;\u901a\u8fc7\u6807\u51c6\u5316\u7684\u5206\u5c42\u548c\u914d\u7f6e\u673a\u5236&#xff0c;\u8ba9\u5e94\u7528\u903b\u8f91\u4e0e\u786c\u4ef6\u7ec6\u8282\u5f7b\u5e95\u89e3\u8026&#xff0c;\u8ba9\u540c\u4e00\u5957\u5e94\u7528\u4ee3\u7801\u53ef\u4ee5\u8fd0\u884c\u5728\u4efb\u4f55\u786c\u4ef6\u5e73\u53f0\u4e0a&#xff0c;\u8ba9\u6bcf\u4e00\u4e2aSWC\u90fd\u80fd\u50cf\u4e50\u9ad8\u79ef\u6728\u4e00\u6837\u81ea\u7531\u7ec4\u5408\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4ece\u5e94\u7528SWC\u5230CAN\u63a7\u5236\u5668\u7535\u5e73&#xff1a;\u6570\u636e\u53d1\u9001\u7684\u5b8c\u6574\u65c5\u7a0b\u2014\u2014AUTOSAR CP\u5e73\u53f0\u6df1\u5ea6\u89e3\u6790\u514d\u8d23\u58f0\u660e<br \/>\n\u672c\u6587\u5185\u5bb9\u4ec5\u9650\u6280\u672f\u5b66\u4e60\u4e0e\u4ea4\u6d41\u4f7f\u7528\u3002\u6587\u4e2d\u6d89\u53ca\u7684\u6240\u6709AUTOSAR\u914d\u7f6e\u65b9\u6cd5\u3001\u6a21\u5757\u884c\u4e3a\u63cf\u8ff0\u3001\u4ee3\u7801\u793a\u4f8b\u548c\u5de5\u5177\u94fe\u5efa\u8bae\u5747\u57fa\u4e8eAUTOSAR Classic Platform R4.x\u516c\u5f00\u6807\u51c6\u6587\u6863\u53ca\u884c\u4e1a\u901a\u7528\u5b9e\u8df5\u3002\u6587\u4e2d\u6240\u6709\u6848\u4f8b\u3001\u6545\u4e8b\u3001\u5bf9\u8bdd\u573a\u666f\u3001\u4eba\u7269\u53ca\u4f01\u4e1a\u540d\u79f0\u5747\u4e3a\u5b8c\u5168\u865a\u6784&#xff0c;\u4ec5\u7528\u4e8e\u901a\u8fc7\u5177\u4f53\u751f\u52a8\u7684\u573a\u666f\u5e2e\u52a9\u8bfb\u8005\u7406\u89e3\u62bd\u8c61\u6280\u672f\u89c4\u8303\u3002\u82e5\u5c06\u6587\u4e2d\u5185\u5bb9\u5e94\u7528\u4e8e\u5b9e\u9645\u9879\u76ee&#xff0c;\u8bf7\u52a1\u5fc5\u4ee5A<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[11166,11167],"topic":[],"class_list":["post-97351","post","type-post","status-publish","format-standard","hentry","category-server","tag-autosar-cp","tag-can"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>AUTOSAR CP\u5e73\u53f0\u4ece\u5e94\u7528SWC\u5230CAN\u63a7\u5236\u5668\u7535\u5e73\uff1a\u6570\u636e\u53d1\u9001\u7684\u5b8c\u6574\u65c5\u7a0b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/97351.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"AUTOSAR CP\u5e73\u53f0\u4ece\u5e94\u7528SWC\u5230CAN\u63a7\u5236\u5668\u7535\u5e73\uff1a\u6570\u636e\u53d1\u9001\u7684\u5b8c\u6574\u65c5\u7a0b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"\u4ece\u5e94\u7528SWC\u5230CAN\u63a7\u5236\u5668\u7535\u5e73&#xff1a;\u6570\u636e\u53d1\u9001\u7684\u5b8c\u6574\u65c5\u7a0b\u2014\u2014AUTOSAR CP\u5e73\u53f0\u6df1\u5ea6\u89e3\u6790\u514d\u8d23\u58f0\u660e \u672c\u6587\u5185\u5bb9\u4ec5\u9650\u6280\u672f\u5b66\u4e60\u4e0e\u4ea4\u6d41\u4f7f\u7528\u3002\u6587\u4e2d\u6d89\u53ca\u7684\u6240\u6709AUTOSAR\u914d\u7f6e\u65b9\u6cd5\u3001\u6a21\u5757\u884c\u4e3a\u63cf\u8ff0\u3001\u4ee3\u7801\u793a\u4f8b\u548c\u5de5\u5177\u94fe\u5efa\u8bae\u5747\u57fa\u4e8eAUTOSAR Classic Platform R4.x\u516c\u5f00\u6807\u51c6\u6587\u6863\u53ca\u884c\u4e1a\u901a\u7528\u5b9e\u8df5\u3002\u6587\u4e2d\u6240\u6709\u6848\u4f8b\u3001\u6545\u4e8b\u3001\u5bf9\u8bdd\u573a\u666f\u3001\u4eba\u7269\u53ca\u4f01\u4e1a\u540d\u79f0\u5747\u4e3a\u5b8c\u5168\u865a\u6784&#xff0c;\u4ec5\u7528\u4e8e\u901a\u8fc7\u5177\u4f53\u751f\u52a8\u7684\u573a\u666f\u5e2e\u52a9\u8bfb\u8005\u7406\u89e3\u62bd\u8c61\u6280\u672f\u89c4\u8303\u3002\u82e5\u5c06\u6587\u4e2d\u5185\u5bb9\u5e94\u7528\u4e8e\u5b9e\u9645\u9879\u76ee&#xff0c;\u8bf7\u52a1\u5fc5\u4ee5A\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/97351.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2026-08-29T01:25:14+00:00\" \/>\n<meta name=\"author\" content=\"admin\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"admin\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"29 \u5206\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/97351.html\",\"url\":\"https:\/\/www.wsisp.com\/helps\/97351.html\",\"name\":\"AUTOSAR CP\u5e73\u53f0\u4ece\u5e94\u7528SWC\u5230CAN\u63a7\u5236\u5668\u7535\u5e73\uff1a\u6570\u636e\u53d1\u9001\u7684\u5b8c\u6574\u65c5\u7a0b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\",\"isPartOf\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/#website\"},\"datePublished\":\"2026-08-29T01:25:14+00:00\",\"dateModified\":\"2026-08-29T01:25:14+00:00\",\"author\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41\"},\"breadcrumb\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/97351.html#breadcrumb\"},\"inLanguage\":\"zh-Hans\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/www.wsisp.com\/helps\/97351.html\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/97351.html#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"\u9996\u9875\",\"item\":\"https:\/\/www.wsisp.com\/helps\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"AUTOSAR CP\u5e73\u53f0\u4ece\u5e94\u7528SWC\u5230CAN\u63a7\u5236\u5668\u7535\u5e73\uff1a\u6570\u636e\u53d1\u9001\u7684\u5b8c\u6574\u65c5\u7a0b\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#website\",\"url\":\"https:\/\/www.wsisp.com\/helps\/\",\"name\":\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\",\"description\":\"\u9999\u6e2f\u670d\u52a1\u5668_\u9999\u6e2f\u4e91\u670d\u52a1\u5668\u8d44\u8baf_\u670d\u52a1\u5668\u5e2e\u52a9\u6587\u6863_\u670d\u52a1\u5668\u6559\u7a0b\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/www.wsisp.com\/helps\/?s={search_term_string}\"},\"query-input\":\"required name=search_term_string\"}],\"inLanguage\":\"zh-Hans\"},{\"@type\":\"Person\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41\",\"name\":\"admin\",\"image\":{\"@type\":\"ImageObject\",\"inLanguage\":\"zh-Hans\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/image\/\",\"url\":\"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery\",\"contentUrl\":\"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery\",\"caption\":\"admin\"},\"sameAs\":[\"http:\/\/wp.wsisp.com\"],\"url\":\"https:\/\/www.wsisp.com\/helps\/author\/admin\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"AUTOSAR CP\u5e73\u53f0\u4ece\u5e94\u7528SWC\u5230CAN\u63a7\u5236\u5668\u7535\u5e73\uff1a\u6570\u636e\u53d1\u9001\u7684\u5b8c\u6574\u65c5\u7a0b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/www.wsisp.com\/helps\/97351.html","og_locale":"zh_CN","og_type":"article","og_title":"AUTOSAR CP\u5e73\u53f0\u4ece\u5e94\u7528SWC\u5230CAN\u63a7\u5236\u5668\u7535\u5e73\uff1a\u6570\u636e\u53d1\u9001\u7684\u5b8c\u6574\u65c5\u7a0b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","og_description":"\u4ece\u5e94\u7528SWC\u5230CAN\u63a7\u5236\u5668\u7535\u5e73&#xff1a;\u6570\u636e\u53d1\u9001\u7684\u5b8c\u6574\u65c5\u7a0b\u2014\u2014AUTOSAR CP\u5e73\u53f0\u6df1\u5ea6\u89e3\u6790\u514d\u8d23\u58f0\u660e \u672c\u6587\u5185\u5bb9\u4ec5\u9650\u6280\u672f\u5b66\u4e60\u4e0e\u4ea4\u6d41\u4f7f\u7528\u3002\u6587\u4e2d\u6d89\u53ca\u7684\u6240\u6709AUTOSAR\u914d\u7f6e\u65b9\u6cd5\u3001\u6a21\u5757\u884c\u4e3a\u63cf\u8ff0\u3001\u4ee3\u7801\u793a\u4f8b\u548c\u5de5\u5177\u94fe\u5efa\u8bae\u5747\u57fa\u4e8eAUTOSAR Classic Platform R4.x\u516c\u5f00\u6807\u51c6\u6587\u6863\u53ca\u884c\u4e1a\u901a\u7528\u5b9e\u8df5\u3002\u6587\u4e2d\u6240\u6709\u6848\u4f8b\u3001\u6545\u4e8b\u3001\u5bf9\u8bdd\u573a\u666f\u3001\u4eba\u7269\u53ca\u4f01\u4e1a\u540d\u79f0\u5747\u4e3a\u5b8c\u5168\u865a\u6784&#xff0c;\u4ec5\u7528\u4e8e\u901a\u8fc7\u5177\u4f53\u751f\u52a8\u7684\u573a\u666f\u5e2e\u52a9\u8bfb\u8005\u7406\u89e3\u62bd\u8c61\u6280\u672f\u89c4\u8303\u3002\u82e5\u5c06\u6587\u4e2d\u5185\u5bb9\u5e94\u7528\u4e8e\u5b9e\u9645\u9879\u76ee&#xff0c;\u8bf7\u52a1\u5fc5\u4ee5A","og_url":"https:\/\/www.wsisp.com\/helps\/97351.html","og_site_name":"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","article_published_time":"2026-08-29T01:25:14+00:00","author":"admin","twitter_card":"summary_large_image","twitter_misc":{"\u4f5c\u8005":"admin","\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4":"29 \u5206"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/www.wsisp.com\/helps\/97351.html","url":"https:\/\/www.wsisp.com\/helps\/97351.html","name":"AUTOSAR CP\u5e73\u53f0\u4ece\u5e94\u7528SWC\u5230CAN\u63a7\u5236\u5668\u7535\u5e73\uff1a\u6570\u636e\u53d1\u9001\u7684\u5b8c\u6574\u65c5\u7a0b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","isPartOf":{"@id":"https:\/\/www.wsisp.com\/helps\/#website"},"datePublished":"2026-08-29T01:25:14+00:00","dateModified":"2026-08-29T01:25:14+00:00","author":{"@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41"},"breadcrumb":{"@id":"https:\/\/www.wsisp.com\/helps\/97351.html#breadcrumb"},"inLanguage":"zh-Hans","potentialAction":[{"@type":"ReadAction","target":["https:\/\/www.wsisp.com\/helps\/97351.html"]}]},{"@type":"BreadcrumbList","@id":"https:\/\/www.wsisp.com\/helps\/97351.html#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"\u9996\u9875","item":"https:\/\/www.wsisp.com\/helps"},{"@type":"ListItem","position":2,"name":"AUTOSAR CP\u5e73\u53f0\u4ece\u5e94\u7528SWC\u5230CAN\u63a7\u5236\u5668\u7535\u5e73\uff1a\u6570\u636e\u53d1\u9001\u7684\u5b8c\u6574\u65c5\u7a0b"}]},{"@type":"WebSite","@id":"https:\/\/www.wsisp.com\/helps\/#website","url":"https:\/\/www.wsisp.com\/helps\/","name":"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","description":"\u9999\u6e2f\u670d\u52a1\u5668_\u9999\u6e2f\u4e91\u670d\u52a1\u5668\u8d44\u8baf_\u670d\u52a1\u5668\u5e2e\u52a9\u6587\u6863_\u670d\u52a1\u5668\u6559\u7a0b","potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/www.wsisp.com\/helps\/?s={search_term_string}"},"query-input":"required name=search_term_string"}],"inLanguage":"zh-Hans"},{"@type":"Person","@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41","name":"admin","image":{"@type":"ImageObject","inLanguage":"zh-Hans","@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/image\/","url":"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery","contentUrl":"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery","caption":"admin"},"sameAs":["http:\/\/wp.wsisp.com"],"url":"https:\/\/www.wsisp.com\/helps\/author\/admin"}]}},"_links":{"self":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts\/97351","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/comments?post=97351"}],"version-history":[{"count":0,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts\/97351\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/media?parent=97351"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/categories?post=97351"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/tags?post=97351"},{"taxonomy":"topic","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/topic?post=97351"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}