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V0.1 | 2016-02-22
An Introduction to CANape
Measurement and Calibration
2
Contents
� Not just internal ECU parameters
� Bus Monitoring of networks
� Model based development
� IO logging
� GPS and Video logging
� Create virtual signals
� Calibration Protocol: An Introduction
� What is measurement and calibration?
� Implementation of the calibration protocols - CCP and XCP
3
HistoryWhat is calibration?
� Setting a value to a defined level
� Modifying values inside the control unit
� Why do we need to calibrate?
> Same product - different requirements.
> Suspension Control
> Engine management
> New Legislation
> Airbag deployment
> Tire Pressure Monitoring
> Different modes
> Electrical Power Assisted Steering (EPAS)
4
Challenges of Calibration and MeasurementWhat can we calibrate?
5
HistoryWhat can we measure?
� External and Internal ECU Values
� Temperature > External and Internal
> Exhaust
> Engine
> Oil
� Pressure> Turbo pressure – input and output
> Air intake
� Frequency> Rotation of cam shaft
> PWM waveform for electric motor
� Strain> Vibration on engine mounts
� Voltage> Battery voltage
6
CANalyzerCANape
CAN node 1e.g.
engine control
CAN node 2e.g.
air conditioning
CAN node je.g. gear box
control
CAN node ke.g. ABS
CAN msg
CAN msg
CAN msg CAN msg
HistoryProblem
FL speed
FR speed
FL Temp
FR Temp
Gear No
Clutch posn
100ms
50ms
250 ms
Eng SpeedVehicle Temp
500 ms
7
What is CCP and XCP?
� CANape works on the official ASAM standards
� CAN Calibration Protocol CCP
� Universal Calibration Protocol XCP
� Why Standards?
ASAM: Association for Standardization of Automation and Measuring Systems
ECU
Measurement and calibration system
CCP / XCP
ASAM MCD 1MC
CCP / XCP
A2LASAM MCD 2MC
ECU description file
*.A2L
XCP-on-CAN
XCP-on-Flexray
XCP-on-Ethernet
XCP-on-Another
� Variable Name
� Memory Location
� Data Type
� Engineering Units
Bosch – Engine
Schraeder – Tire Pressure
ZF – Transmission
TRW – Power Steering
Valeo – Cruise Control
8
CCP and XCP Protocol fundamentalsData acquisition
� Depending on the ECU implementation
� Asynchronous acquisition of measurement data
> Polling mode: request / response
� Synchronous acquisition of measurement data (optional)
> Cyclic mode: Periodic tasks control the data acquisition(e.g. every 10 ms)
� CAN Message Event
� Other Events
9
CCP and XCP Protocol fundamentalsBasic concept
DAQCommand
Response Error
Event
� CCP and XCP use the master-slave principle
Master
CCP/XCP drivers
Slave
CCP/XCP drivers
DAQ
� DAQ=Data Acquisition
10
Synchronous data acquisitionCyclic mode
time
x x
x xx
x
10ms
value
Measurement signal 1
Measurement signal 2
Writes an address table
Writes an address table
10m
s inte
rval
Master ECU
DAQ table complete
Start the measurementSend Data 600
11
CCP and XCP Protocol fundamentalsOverview
Vector-HW
Interface
Channel 1 Channel 2
CAN
CANape
RAM
Application
CAN driver
0x5000 Temperature
0x5001
0x5002 Pressure
0x5003
0x5004 Time
EEPROM
CAN Controller
CAN Transceiver
ECU
CCP/XCPonCAN Diag
12
CANape: Implementation of CCP and XCPOverview
Measurement configuration
CAN
LIN
FlexRay
Device: CAN / CCP / XCP on CAN
Device: KWP / UDS on
CAN
Device: LIN / XCP on
LIN
Device: FLX / XCP on
FLX
Graphic window
Diagnostic console
CANape display pages
Calibration window
Device: GPS , analog measurement
modules
..Recorder 1: Recorder n:
Device configuration
<F4>
CAN
CDD
DBC
LDF
Fibex
A2LCCP XCP
LIN
FR
CAN
13
Measuring via CCP/XCPMeasurement configuration
� Displays the ECU resources and bus load needed by the measurement configuration
� Number of signals, bytes and DAQ list utilization per event
� Bus load
14
Measuring via CCP/XCPInsert Measurement Signals in Display Window
D&D
15
Calibrating via CCP/XCPCalibration Window Overview
16
ECU Measurement and Calibration XCP-on-Ethernet
MC Tool
� Two principle measurement concepts:
> RAM data copy up to 3 MByte/sec with µC load
> Data Trace up to 45 MByte/sec without µC load
> ECU „Cold Start“ measurement possible with both concepts
JTAG = Joint Test Action Group DAP=Device Access Port
VX1000 Modular Measurement & Bypass Concept
Standard Debug / Data-Trace Ports:
- JTAG / DAP(2) / DigRF- NEXUS / AURORA
ECU
Standard ASAM Interface:- XCP on Ethernet
MeasurementTool
Bypass Execution Unit
XCP-on-EthernetPlugOnDevicemax.
10 cm
BaseModule
max. 7,5 m
Automotive qualified:- High Speed Cable
17
Bus Monitoring
� Device Wizard allows network monitoring
� Supply dbc, LDF, Fibex, XML database
� Interface hardware is required
Network Monitoring
Digital/Analog Measurement - Log the Environment
18
Log the Vehicle Environment - GPS
� CAN-2-GPS or USB-2-GPS
� Device with *.db or *.dbc
12.937408 V 52.3768916666667 36.81 Seconds 22 Minutes 52 Degrees-1.78675277777778 12.31 Seconds 47 Minutes-1 DegreesLongitudeD
LongitudeM
LongitudeS
Function_Longitude
LatitudeD
LatitudeM
LatitudeS
Function_Lattitude
AIN0
19
Log the Vehicle Environment - CANape Option GPS
� Use On-line or off-line maps
� Use OpenStreet Map
20
Functions
� Functions are applied to signals to create virtual functions
� Created in the Function Editor, or selected from a set of functions
� Selected from the Symbol Explorer
� Applied in the display windows
21
Panel Editor
22
Common Concept
Calibration Concept
� Initialization values are copied from the Flash to the RAM and applied there.
� Requirement: The Calibration RAM is large enough for copying all calibration parameters.
� In CANape you can create a copy of the Calibration RAM.
Memory image file
in CANape
0x0000
0x03FF
0x0400
0x63FF
programming code, non-modifiable
characteristic curves and maps
Calibration parameters,
characteristic curves and maps
Flash
ROM
0x6400
0x87FF
0x83FF
RAM for program-internal purposes and measurement values
Calibration RAM
RAM
0x6400
0x63FF
0x2400
0x23FF
0x0400
0x8400
0x87FF
23
Memory Image File / Cache
Calibration Concept
� Multiple partial sectors can be defined
� Offline calibration possible
� Mirror memory must be supported by the ECU –> checksum
� Hex file will be generated during the first connect process
� Alternatively Hex file from software development can be inserted as a memory image file
24
Calibration Concept
Memory Page Switching in CANape
� Page switching function must be implemented into the ECU from the software engineer.
� Switch device to FLASH
� Switch device to calibration RAM
Program code, Non-modifiable
parameters, curves and maps
Variable parameters, curves and maps
Flash memory
0x83FF
Calibration RAM
RAM
0x6400
0x23FF
0x0400
ECU accessXCP access
ECU accessXCP access
25
Overview
Calibrating
Cache(Memory image file) Calibration RAM
CANape ECU
Parametercurves
maps
Parametercurves
maps
Online-/Offline Mode
Direct-/ Indirect Calibration Mode
26
Hex Calibration Window
Calibrating
� Calibration without the support of critical borderlines
� RAM addresses highlighted in yellow are defined in the database
� Tooltip for edited memory address
27
Overview
Parameter Set Files
CANape *.PARASAM - CDF20 *.cdfxBosch/Siemens *.CSV
Bosch *.DCMBosch - PaCo-Datei *.xml
MatrixX *.MSCANape *.C
Matlab file *.M
Binary filesIntel-HEX *.HEX
Motorola S files *.MOTMotorola S files *.S*
Renault *.ulp
CANape *.PARASAM - CDF20 *.cdfxBosch/Siemens *.CSV
Bosch *.DCMBosch - PaCo-Datei *.xml
Binary filesMotorola S file *.S*
Motorola S file *.MOTIntel-HEX *.HEX
Renault *.ulp
Save as…Load parameter set from..
ECU
Calibration Ram
Flash storage
CCP/XCP
CANape or
CDM studio
ASAP2 *.a2l
28
Saving & Loading Parameter Set Files
Parameter Set Files
� Parameter files can be saved partially or completely
� Parameter files can be loaded partially or completely
� Parameter files can be viewed and edited with vCDMStudio
� Calibration History can be saved and reviewed as snapshots
29
Save Parameter Set File - Overview
Parameter Set Files
� All
� All calibration objects from one selected device are saved ( *.par, *.dcm, ...) (see next slide).
� All calibration windows
� Saves the current values of the calibration objects in all calibration windows.
� Parameter set file could include values from different devices.
� In Binary format
� Saves the current values of all calibration objects from one selected device in a binary file (Flash- or RAM addresses are possible).
30
Scripts and Calibration
Scripts
� Load or Save parameter set
� CCPsim.LoadParameterset("NAME.PAR");
� CCPsim.SaveParameterset("NAME.PAR");//.HEX, .S, .TXT, ..
� Measurement and Calibration
� x = CCPsim.channel1;
// x = DeviceName.ObjectName
� CCPsim.ampl=5;
� CCPsim.KL2[2]=0;
� CCPsim.KF3[0][0]=0; // Column 0 and Row 0
� CCPsim.KF3[1][5]=0; // Column 1 and Row 5
Popup menu of the function editor
31
Overview
Flash
A new dataset can be flashed with the XCP driver directly.
Alternatively the flashing process could be carried out via the Vector vFlashprogram. The HEX file will be generated from CANape then.
32
[Save and flash parameter set…]
Flash
e.g. programming code, non-modifiable characteristic curves
and maps
Calibration parameters,
characteristic curves and maps
Flash storage
0x83FF
RAM for program-internal purposes and measurement values
Calibration RAM
RAM
0x6400
0x63FF
0x2400
0x23FF
0x0400
0x8400
0x87FF
Step 1
Step 2
(period)
(ampl)
*.par
period = 5
ampl = 99Step 3
Upload from RAM
Upload from flash
Mixing a new
HEX file
Step 4: Download to flash
*.hex
0x0420 = 115
0x0421 = 80
0x0420 = 5
0x0421 = 99
*.hex
33
CANape in the V CycleCANape
Develop, Test, Calibrate and Verify Systems and Vehicles
Architecture Design & Requirements Management
PREEVision
CANdelaStudio/ODXStudio
Diagnostic System Specification
CANape
Develop, Calibrate and TestModels
CANape
Develop, Calibrate and TestComponents and ECUs
34
Summary
� Measurement and Calibration of internal parameters
� CCP and XCP protocols
� Interface to external hardware, Cameras, GPS etc
� Monitor all major network types
� Log from many different sources and replay data synchronously
� Functions for searching for events and analysing data
� RAM can be calibrated
� Parameters can be permanently saved via Flashing
35 © 2016. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. V0.1 | 2016-02-22
Author:Newton, PeterVector GB
For more information about Vectorand our products please visit
www.vector.com