PduR (stands for Pdu Router) is a BSW Service layer module in Autosar Stack, whose main functionality is to accept Pdus from a lower-layer module and deliver it to a higher-level module or vice versa.
PduR also supports routing of Pdus between different communication channels in the same ECU.
In this post, let us try to understand these concepts in a simple way.
Routing Path Communication Types:
PduR supports two types of Routing Path Communication Types:
COMMUNICATION_INTERFACE routing path is used for communication of Normal communication (ex: Application) related Pdus.
TRANSPORT_PROTOCOL routing path is used for TP (ex: Diagnsotics) communication related Pdus.
Destination PDU Routing Types:
PduR supports two types of Routing for the Destination Pdu in a Routing Path:
API_FORWARDING routing type is used for the Routing Paths for the communication of the Pdus between Upper Layer and Lowe Layer BSW Modules.
Typically in any project, the API_FORWARDING routing paths are used for Pdu Communication (recpetion & transmission) between COM (Service Layer) Module and the Communication Interface modules (CanIf or LinIf or SoAd or FrIf).
In Projects where we have the usage of IpduM for Multiplexed Messages & Container Pdus, the API_FORWARDING routing paths are also used for Pdu Communication between COM & IpduM and in between IpduM & Communication Interface modules.
GATEWAY_ROUTING routing type is used for the Routing Paths for the communication of the Pdus between different communication channels in the same ECU for gatewaying functionality.
Typically in any project, the GATEWAY_ROUTING routing paths are used for Pdu Communication (recpetion & transmission) between different Communication Interface modules (CanIf or LinIf or SoAd or FrIf).
In Projects where we have more than 1 communication channels of the same Communication type (CAN or LIN or Ethernet or Flexray), GATEWAY_ROUTING routing paths are also used for Pdu Communication (recpetion & transmission) between different Channels of the same communication type (Ex: CanIf (Channel1) <--> CanIf (Channel2)).
Similarly PduR Routing paths for Diagnostics services will also support API_FORWARDING or GATEWAY_ROUTING as Destination Pdu Routing type:
Typically in any project, the API_FORWARDING routing paths are used for Tp Pdu Communication (recpetion & transmission) between DCM (Service Layer) Module and the Communication Tp modules (CanTp or LinTp or DoIP or FlexrayTp).
Also in any project, the GATEWAY_ROUTING routing paths are used for Tp Pdu Communication (recpetion & transmission) between different Communication Tp modules (CanTp or LinTp or DoIP or FlexrayTp).
In Projects where we have more than 1 communication channels of the same Communication type (CAN or LIN or Ethernet or Flexray), GATEWAY_ROUTING routing paths are also used for Pdu Communication (recpetion & transmission) between different Channels of the same communication type (Ex: CanTp (Channel1) <--> CanTp (Channel2)).
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