Classic AutoSAR DET 调试技巧
配置 DET 模块
配置 DET 模块分为两个部分：
- 添加 DET 模块本身
- 各模块的 DET 检测开关
添加打桩函数
我们可以选择不使用 DLT，直接通过串口打印错误信息。
在 det.c 中找到 Det_ReportError() 这个函数，该函数的 4 个参数 ModuleId，InstanceId，ApiId，ErrorId 是 DET 最重要的信息。在该函数中打桩，将错误信息通过串口传出去：
void Det_ReportError(uint16 ModuleId, uint8 InstanceId, uint8 ApiId, uint8 ErrorId)
{
PrintStr("==ModuleId:%d InstanceId:%d ApiId:%d ErrorId:%d====\r\n", ModuleId, InstanceId, ApiId, ErrorId);
}
破译错误信息
ModuleId
在 AUTOSAR 架构里面，每个模块 ID 都是标准定义的，可以参考 AUTOSAR_TR_BSWModuleList.pdf 文件。根据下表可以知，ModuleId=51 对应模块就是 PDUR。
| Module Name | Module ID |
|---|---|
| ADC Driver (Adc) | 123 (0x7B) |
| BSW Mode Manager (BswM) | 42 (0x2A) |
| BSW Scheduler (SchM) | 130 (0x82) |
| CAN Driver (Can) | 80 (0x50) |
| CAN Interface (CanIf) | 60 (0x3C) |
| CAN Network Management (CanNM) | 31 (0x1F) |
| CAN State Manager (CanSM) | 140 (0x8C) |
| CAN Transceiver Driver (CanTrcv) | 70 (0x46) |
| CAN Transport Layer (CanTp) | 35 (0x23) |
| Communication (Com) | 50 (0x32) |
| COM Based Transformer (ComXf) | 175 (0xAF) |
| COM Manager (ComM) | 12 (0x0C) |
| Complex Device Driver (CDD) | 255 (0xFF) |
| Core Test (CoreTst) | 103 (0x67) |
| Crypto Service Manager (CSM) | 110 (0x6E) |
| Debugging (Dbg) | 57 (0x39) |
| Development Error Tracer (DET) | 15 (0x0F) |
| Diagnostic Log and Trace (DLT) | 55 (0x37) |
| Diagnostic Over IP (DoIP) | 173 (0xAD) |
| DIO Driver (Dio) | 120 (0x78) |
| E2E Transformer (E2EXf) | 176 (0xB0) |
| ECU State Manager (EcuM) | 10 (0x0A) |
| EEPROM Abstraction (Ea) | 40 (0x23) |
| EEPROM Driver (Eep) | 90 (0x5A) |
| Ethernet Driver (Eth) | 88 (0x58) |
| Ethernet Interface (EthIf) | 65 (0x41) |
| Ethernet State Manager (EthSM) | 143 (0x8F) |
| Ethernet Switch Driver (EthSwt) | 89 (0x59) |
| Ethernet Transceiver Driver (EthTrcv) | 73 (0x49) |
| Flash Driver (Fls) | 92 (0x5C) |
| Flash EEPROM Emulation (Fee) | 21 (0x15) |
| Flash Test (FlsTst) | 104 (0x68) |
| FlexRay Autosar Transport Layer (FrArTp) | 38 (0x26) |
| FlexRay Driver (Fr) | 91 (0x51) |
| FlexRay Interface (FrIf) | 61 (0x3D) |
| FlexRay ISO Transport Layer (FrTp) | 36 (0x24) |
| FlexRay Network Management (FrNm) | 32 (0x20) |
| FlexRay State Manager (FrSM) | 142 (0x8E) |
| FlexRay Transceiver Driver (FrTrcv) | 71 (0x47) |
| Function Inhibition Manager (FiM) | 11 (0x0B) |
| GPT Driver (Gpt) | 100 (0x64) |
| ICU Driver (Icu) | 122 (0x7A) |
| IO Hardware Abstraction (IOHwAbs) | 254 (0xFE) |
| IPDU Multiplexer (IpduM) | 52 (0x34) |
| Large Data COM (LdCom) | 49 (0x31) |
| LIN Driver (Lin) | 82 (0x52) |
| LIN Interface (LinIf) | 62 (0x3E) |
| LIN Network Management (LinNm) | 63 (0x3F) |
| LIN State Manager (LinSM) | 141 (0x8D) |
| LIN Transceiver Driver (LinTrcv) | 64 (0x40) |
| MCU Driver (Mcu) | 101 (0x65) |
| Memory Abstraction Interface (MemIf) | 22 (0x16) |
| Network Management (Nm) | 29 (0x1D) |
| NVRAM Manager (NvM) | 20 (0x14) |
| OCU Driver (Ocu) | 125 (0x7D) |
| Operating System (Os) | 1 (0x01) |
| PDU Router (PduR) | 51 (0x33) |
| Port Driver (Port) | 124 (0x7C) |
| PWM Driver (Pwm) | 121 (0x79) |
| RAM Test (RamTst) | 93 (0x5D) |
| Run Time Environment (RTE) | 2 (0x02) |
| SAE J1939 Diagnostic Communication Manager (J1939Dcm) | 58 (0x3A) |
| SAE J1939 Network Management (J1939Nm) | 34 (0x22) |
| SAE J1939 Request Manager (J1939Rm) | 59 (0x3B) |
| SAE J1939 Transport Layer (J1939Tp) | 37 (0x25) |
| Secure Onboard Communication (SecOC) | 150 (0x96) |
| Service Discovery (Sd) | 171 (0xAB) |
| Socket Adaptor (SoAd) | 56 (0x38) |
| SOME/IP Transformer (SomeIpXf) | 174 (0xAE) |
| SPI Handler / Driver (Spi) | 83 (0x53) |
| Synchronized Time-Base Manager (StbM) | 160 (0xA0) |
| TCP / IP Stack (TcpIp) | 170 (0xAA) |
| Time Service (Tm) | 14 (0x0E) |
| Time Sync Over CAN (CanTSyn) | 161 (0xA1) |
| Time Sync Over Ethernet (EthTSyn) | 164 (0xA4) |
| Time Sync Over FlexRay (FrTSyn) | 163 (0xA3) |
| TTCAN Driver (TtCan) | 84 (0x54) |
| TTCAN Interface (TtCanIf) | 66 (0x42) |
| UDP Network Management (UdpNm) | 33 (0x21) |
| Watchdog Driver (Wdg) | 102 (0x66) |
| Watchdog Interface (WdgIf) | 43 (0x2B) |
| Watchdog Manager (WdgM) | 13 (0x0D) |
| XCP (Xcp) | 212 (0xD4) |
ErrorId
其实 ErrorId 也是标准定义的，也可以在各个模块的标准内找到定义，但我们也可以用更便捷的方法：
- 打开 PUDR 模块的源码，找到 Det_ReportError 函数的所有调用，随便找到一个即可：
- 然后顺藤摸瓜，找到定义 PDUR_E_INVALID_REQUEST 的 .h 文件
- 我们是顺着 PDUR_E_INVALID_REQUEST 这个值点进来的，但是我们本例中的 ErrorId 是 2，是下面的 PDUR_E_PDU_ID_INVALID，这个宏定义和注释已经足够明确了，如果还不满足的话就在 PDUR 模块下搜索所有 PDUR_E_PDU_ID_INVALID。
- 搜索到 31个结果，这样显然是大海捞针，所以继续使用其他参数来进一步筛选。
InstanceId
用上面同样的方法，找到 InstanceId = 50。
找到 InstanceId = 50 且 ErrorId 是 2 的出处：
很明显就是这句话了，这就是产生 DET 的报错信息的代码，结合函数上下文就能对故障分析个大概了。如果还不够，就借助劳特巴赫等调试工具来定位问题：
