Introduction to the Basic Functions of CANape Version

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2 Table of Contents 1.0 Introduction Convenient access to internal ECU data Access to Diagnostic Data Event-Synchronous Measurement over CCP/XCP Controller-Specific Interfaces Measurement Data Evaluation Parameter Management Creating ECU Description Files Acquisition of Environment Data Analog measurement equipment Video recordings GPS Flashing At Every Work Location Desk Vehicle Test bench Vector Informatik GmbH 2

3 1.0 Introduction CANape is a measurement, calibration and diagnostic tool for all tasks related to ECU optimization. Regardless of whether you want to measure and calibrate internal ECU parameters, analyze measurement data or flash, or whether you need access to diagnostic data and services: CANape offers you a convenient, powerful solution that is practice-proven thousands of times over for all tasks related to ECU calibration whether for the desktop, test bench or in the vehicle. Universal application capability increases the efficiency of your work and your processes and simultaneously reduces overall costs: Reduces the number of necessary tools Lowers costs for an all-round tool than for many special tools with add-ons at extra charge, and incurs lower maintenance costs Fewer training requirements Simplified license management You are more efficient, because you can better utilize the synergies of features Instead of expensive special solutions such as specialized rapid prototyping hardware, more costeffective PC-based solutions can be used Reduces the number of necessary vehicle test drives, because you can stimulate your ECU at the workplace using logged measurement data Increases your process assurance by automated work steps Using configurations over the entire V development process reduces expenses and reduces the probability of errors The generated measurement data is in the same format (ASAM standard) over the entire V cycle and thereby simplifies the analysis of results Convenient output of parameter sets into a backbone system for calibration data, such as vcdm (formerly easee.cdm) Vector Informatik GmbH 3

4 2.0 Convenient access to internal ECU data Do you have the task of optimizing the behavior of an application in a microcontroller-based system? Then you can reliably acquire the time behavior of the algorithm at runtime and optimize it by parameter changes. To do this, you need a means of read and write access to internal ECU variables. You can access internal ECU measurement data or intermediate results of a computational function in various ways: Address-oriented measurement and calibration protocols such as CCP (CAN Calibration Protocol) and XCP (Universal Measurement and Calibration Protocol) Service-oriented diagnostic protocols such as KWP2000, UDS and OBD Use of controller-specific interfaces such as DAP, Nexus, AURORA or JTAG via the VX1000 System Regardless of the approach you choose, with CANape you have a tool that supports all of these approaches. You can obtain all necessary components from a single source at Vector. Vector Informatik GmbH 4

5 3.0 Access to Diagnostic Data You can access diagnostic data (e.g. software version numbers) via diagnostic-specific protocols and diagnostic services (e.g. clearing a fault memory entry). The diagnostic data can exist in ODX format (ASAM standard MCD-2 D Open Diagnostic data exchange ) or CDD format (Vector-specific description of an ECU s diagnostic functionality: CANdela Diagnostic Data ). CANape supports all relevant combinations of protocols and physical interfaces: KWP2000 on K-Line KWP2000 on CAN UDS on CAN UDS on FlexRay OBD You will find more information on high-performance interfaces for connecting your PC to a CAN, LIN, J1708, FlexRay or MOST bus online at: Vector Informatik GmbH 5

6 4.0 Event-Synchronous Measurement over CCP/XCP Use of the measurement and calibration protocols CCP and XCP assumes the existence of an ECU description file in A2L format and a suitable driver in the ECU. The A2L description file provides information that includes the interrelationships between object names, data types and addresses. While the user works with object names, communication between CANape and the ECU utilizes the addresses from the A2L. One of the great advantages of the CCP/XCP measurement method is its event-synchronous measurement, in which sending of measurement data runs synchronous to the processes in the ECU. Vector Informatik GmbH 6

7 5.0 Controller-Specific Interfaces Bus interfaces, e.g. for CAN or FlexRay, do not permit high measurement data rates. With CAN, a maximum rate of about 50 kb/s is available. The shortest sampling interval is about 1 ms. If you need greater measurement data throughput or shorter measurement cycles, the controller-specific VX1000 System can offer you measurement performance of up to 30 Mbyte/s with a minimum sampling interval of about 15 µs. The data is acquired without significant effects on runtime behavior here. Vector offers you a scalable solution: ranging from just a few bytes over the K-Line, to several kb/s with XCP on CAN, and finally MBytes/s in the VX1000 System. Your advantages: You can select the appropriate interface based on your measurement performance requirements. The rest of the tool chain remains the same. You can utilize the solutions at all work locations: vehicle, laboratory, test bench, etc. The runtime behavior of your ECU is either unaffected or only affected slightly. Your choice of measurement and calibration tool is not limited by use of the VX1000 solution. You can connect any tool to the measurement and calibration hardware, provided that it supports XCP on Ethernet. You will find more information about the VX1000 System online at: Vector Informatik GmbH 7

8 6.0 Measurement Data Evaluation CANape not only analyzes measurement files you have logged yourself; it can also analyze measurement data from various other sources such as data loggers, CANoe, INCA, etc. such as: Bus data (CAN, LIN, FlexRay, MOST) ECUs Analog measurement equipment GPS receivers Video cameras CANape offers you three ways to conveniently evaluate the data of past measurements: Manual evaluation by visualizing the data in display windows Mathematical evaluation, e.g. by computing low-pass filters Fully automatic evaluation by integrated data mining The offline evaluation program CANgraph graphically displays any desired measurement data and further processes it. CANgraph is a subset of CANape with the same user control approach and evaluation options as CANape. Your advantages: An evaluation tool for all relevant types of measurement data reduces the number of tools needed and therefore costs Scalable tools (CANape and CANgraph) with the same range of evaluation features Automation of the analysis by data mining reduces work effort and increases process assurance, because the data are actually evaluated and not simply saved For manual evaluation, you can use the same configuration that was used to generate the measurement data in CANape You can supplement the supplied function library at any time with your own C functions or Simulink models Free up your time and resources by utilizing Vector engineering services, e.g. to initially create complex evaluations You will find more information about measurement data evaluation online at: Recording of the English language webinar "Efficient Data Analysis - Data Mining with CANape and CANgraph" (68 minutes) English language presentation "Data Mining with CANape/CANgraph - Quick search and analyze large amounts of measurement data" Engineering services, e.g. Automating measurement data evaluations Vector Informatik GmbH 8

9 7.0 Parameter Management In modifying parameters, changes to parameter record files are saved. The CDM Studio that is integrated in CANape gives you a powerful tool for editing and managing these files. In this program, you can modify parameter values, copy parameters from one parameter file to another, copy between files, merge data records and much more. In this process, various formats are supported such as CDF2.0 (XML-based ASAM standard) and DCM. To conveniently feed parameter values back into the development process, you can also save the parameter values as an M-Script (for model-based development with MathWorks products) or as a C file or H file for traditional software development. Compared to the individual workstation solution CDM Studio, vcdm offers the added value of a database solution. The entire process is mapped along with its work steps, as are the different roles of employees. vcdm is a solution that is tailored to both local teams and global organizations alike. Your advantages: You do not need any other tool to manage parameter record files It is a scalable solution: with CDM Studio for the individual workplace, and vcdm for large, distributed organizations with global subsidiaries Convenient transfer of parameters from the calibration process back into the development process via specific file formats such as the H file and M-Scripts You will find more information about vcdm online at: Vector Informatik GmbH 9

10 8.0 Creating ECU Description Files A2L description files have two key aspects: For one, they contain all necessary communication parameters and for another all of the measurement and calibration objects. You can use CANape to generate entire A2L files by conveniently determining communication parameters from driver settings and selecting the measurement and calibration parameters you would like to have defined in the A2L file from the linker-map file. The A2L Editor integrated in CANape gives you all of the capabilities you need to manually generate an A2L file. The ASAP2 Tool-Set contains a number of tools that run automatically via a batch process and perform all necessary steps to generate an A2L file from C code. Do you perform model-based development? In CANape you can create an A2L file at the press of a button from a model or a MATLAB Workspace parameter set. Your advantages: Comprehensive editor simplifies handling and generation of A2L files Automated flows let you conveniently generate A2L files from C code or models You can update address and data type information from the linker-map file immediately at the push of a button You will find more information about the ASAP2 Tool-Set online at: Vector Informatik GmbH 10

11 9.0 Acquisition of Environment Data Additional information from the environment is often necessary to check ECU behavior. In the case of temperatures, for example, this data might be acquired by analog measurement devices. In analyzing the recorded measurement data of a test drive, detailed information on the specific driving situation is very helpful. For example, interpretation of the measurement data from a gearbox might be simplified significantly, if it were known that the vehicle is underway on a street with a 15% incline. This data could be acquired via GPS. If you are interpreting measurement data from a sensor system, e.g. from an ACC (Adaptive Cruise Control) sensor, you will also need to visualize the environment. This is the only way to verify which objects the sensor has acquired. Your advantages: CANape acquires all environment data and saves it time-synchronous to the rest of the measurement data. As a result, there is no doubt in the analysis about the time relationships between the signals from different sources. GPS data can be visualized in various maps in CANape Visual checking of sensor signals in a video recording. In the video image, CANape records objects that represent a sensor value, e.g. a polygon for a lane detection assistant. Scalable evaluation: As an analysis tool, CANgraph offers the same capabilities as CANape. 9.1 Analog measurement equipment CANape is an open platform for measurement tasks and offers the ability to acquire analog and digital signals and record them time-synchronous to all other signals. In the process, CANape supports many measurement systems from different manufacturers. Two open interfaces are available for integrating other measurement equipment: XCP on DLL interface: A driver converts the measurement equipment protocol to a XCP data stream. A free driver generator and a C++ project are available for this purpose. DAIO interface: Digital/Analog IO for integrating very fast measurement equipment, e.g. at 100 khz. A C++ project is also available for the integration. Vector Informatik GmbH 11

12 9.2 Video recordings Do you analyze measurement data acquired in test drives? Is interpretation of values difficult if you do not know the driving situation of the vehicle at a particular moment? You can simply record a video data stream. Timesynchronous recording and evaluation lets you immediately visualize the relationships between the driving situation and the measurement data. Or do you work on driver assistance systems? How do you verify the results output by your sensors? Has the lane changing assistant really detected the recorded center line, or were they artifacts of a construction site sign? CANape depicts sensor values as graphic elements (e.g. a polygon for the detected driving lane, rectangles for vehicles detected by radar, etc.) in the video image so that you can immediately recognize whether the sensor correctly acquired the desired information about its surroundings. You will find more information about object verification for driver assistance systems using CANape Option Driver Assistance online at: Vector Informatik GmbH 12

13 9.3 GPS Is measurement data from the engine or transmission recorded during a test drive inexplicable at certain points? With the information that the vehicle was climbing a 15% grade precisely at that time point, the behavior of the engine would become clear. Simply record driving route information in the form of GPS data together with your measurement data. In your analysis, you are able to visualize the vehicle position right on a map or as numeric/graphic information in a display window. This immediately perceptible relationship between measurement data and vehicle behavior simplifies interpretation quite substantially. You will find more information about visualizing the vehicle position with CANape Option GPS online at: Vector Informatik GmbH 13

14 10.0 Flashing Flashing of ECUs can be performed with a number of different protocols: UDS, KWP2000, CCP and XCP. CANape is a platform that supports all types of flashing. The CCP/XCP flash kernels needed for this are already available in CANape for many controller device types. It is relatively easy to execute flash jobs in CANape, and it is done either fully automatically by an ODX-F Container or semi-automatically with consideration or your inputs. You will find more information about flashing ECUs online at: At Every Work Location Each workplace has different requirements for the solution that is implemented Desk Conveniently create different configurations for yourself and for colleagues or suppliers at your desk. Use the data evaluation features (including automated evaluation with data mining) for analysis or conveniently manage your parameter set files. To optimize your work environment, you can configure the selection of icons that you need Vehicle Operating a mouse is often very difficult in a vehicle. Therefore, CANape offers keyboard operation for all relevant actions, so that you do not need any place for a mouse. You can modify key combinations for user control to your needs. During a running measurement, you can have virtual signals computed and use their results, e.g. for triggering. When using CANape as a data logger, you can conveniently define the measurement task at your desk and have it execute in the vehicle without requiring any interaction with a user Test bench CANape has various interfaces for test bench integration: ASAP3, MCD3, C-API and COM/DCOM. In a special mode, user inputs are performed by the test bench computer, however you can view the CANape windows to quickly detect any errors. You can conveniently create customized user interfaces with display elements and controls using the Panel Generator. Vector Informatik GmbH 14

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