WELCOME to CANbeddeds
Welcome to CANbedded
Implement Vector’s Delivery.
Within few steps from
<delivery>.exe to <application>.hex
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
V2.0
2006-09-13
These slide show you how to use a CANbedded software component delivery beginning with the
installation until a first successful test run.
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
1
Agenda
> Introduction
Components and Project Folders
Delivery
Step by Step
Summary
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 2
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
2
Introduction
Your Application
CANbedded Software Components
GENy, CANgen
Application
Diagnostics
Layer
Universal
Measure-
Interaction
Network
ment
Layer
Management
And
Communication
Calibration
Control
Transport Protocol
Protocol
Configuration
Layer
Tool
CAN Driver
CAN Controller
Transceiv
Transcei er
CAN Bus
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 3
The illustration shows the layer model of the CANbedded components, their basic functions and
connections. CANbedded consists of a set of source code components (CANbedded Software
Components) you have to include in your application. The sort of components depends on your delivery.
The Configuration Tool is the connection between the components and your project specific needs. It
generates files you also have to include in your application.
Configuration Tool
for parameters and configuration of all components
more see Online Help
Communication Control Layer
Software component integration and hardware abstraction.
CAN Driver
Hardware specific CAN controller characteristics and provision of a standardized application interface
Interaction Layer
with signal interface
Network Management
to control the CAN ECU
Transport Protocol
for data exchange of more than 8 data bytes
Universal Measeurement and Calibration Protocol
Measurement and calibration of the ECU via different bus systems.
Diagnostics Layer
according to Keyword Protocol 2000 / UDS
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
3
Introduction
Your Application
CANbedded Software Components
GENy, CANgen
Application
DC
Porsche
GM
Configuration
VW/AUDI
BMW
Renault
Tool
OEM?
...and others
CAN Controller
Controller?
Derivative?
Transceiv
Transcei er
Compiler?
CAN Bus
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 4
Dependent on the OEM the delivery and its content can differ.
Some components do a similar job but have a different name and a different API, e.g. the Interaction
Layer is different for DaimlerChrysler, BMW and other OEMs.
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
4
Introduction
This Delivery is:
Tailored for:
OEM X
Controller
Derivative
Compiler
Can be used for*:
Projects for one vehicle manufacturer
Can be used for multiple projects or car lines for this vehicle
manufacturer
*right of usage can differ, for specific information refer to the quotation
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 5
The delivery is tailored according the questionnaire you filled-out. So the delivery contains all components
you need tested for you controller/derivative/compiler.
You can use the delivery not only for one project but for all other projects for this vehicle manufacturer for
different car lines.
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
5
Introduction
Basic concept is almost the same for all OEM
C code CANbedded Components
Configuration Tool
OEM-specific differences in
Component combinations
Components
API
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 6
CANbedded component are source code components in C. You can tailor the huge amount of
functionality of each component by using the configuration tool.
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
6
Agenda
Introduction
> Components and Project Folders
Delivery
Step by Step
Summary
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 7
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
7
Components and Project Folders
Component, API and files
Component
API
Configuration- and component-
Initialization
dependent functions (API)
Service Functions
Callback Functions
C/H Files
Component Files
Delivered files (generated for
CANdesc)
Configuration Files
Parameter Files
Generated by
CANgen
GENy
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 8
The delivered CANbedded C code components consist of:
Component files:
Files that form the component (C, H), that contain the code of the component and its functionalities.
These files can be found in the delivery (except for the files for the CANdesc component. Those are
generated completely).
Configuration and parameter files:
These are files that are generated by the configuration too and that tailor the component to provide
functionality as you have selected. As these files are generated, do not change them manually. Any
change is lost after the next generation process.
On the other hand each component provides a large application interface. Despite this the usage of a
component can be seen very simple:
Initialization: there is a function to initialize the component (xxxInitPowerOn).
Service function: There are all functions so use the component (e.g. CanTransmit to send a CAN
message).
Callback functions: at predefined states of the component it calls back to the application to get
information how to continue. The components do not work without any interaction with the application.
This is a very powerful means for the application to control the work flow of the CANbedded software
components.
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
8
Components and Project Folders
Customer application files
Folders for delivered and
generated Vector files
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Slide: 9
On the developer side the project could look like this:
There is a project folder containing a large amount of application files. And depending on your strategy
there could be a folder containing all files delivered from Vector and that are generated by the
configuration tool.
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
9
Agenda
Introduction
Components and Project Folders
> Delivery
Step by Step
Summary
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 10
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
10
Delivery
Delivery Setup.exe
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Slide: 11
A delivery by CD starts automatically when inserting the CD and looks similar like shown above.
Click the link to save the install shield executable on your hard disc. For security reasons the browser
normally does not allow to start an executable (.exe) file.
This install shield executable has the name of the delivery followed by _Setup.exe.
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
11
Agenda
Introduction
Components and Project Folders
Delivery
> Step by Step
Summary
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 12
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
12
Step by Step
1. Install tool and component files
...Setup.exe
Components
X install
API
Initialization
Service Functions
GENy
Callback functions
CANgen
Files
Component Files
e.g.
can_drv.c
can_def.h
il.c
il_def.h
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Slide: 13
1. STEP – Install tool and component files
Start the install shield executable and follow the instructions coming up. Make sure to enter the correct
path where files should be installed to. There will be installed the component files and the configuration
tool.
In the project folder view the configuration tool will be installed below the folder _gentool.
If you use CANgen this will be installed directly below _gentool and the folder is called CANgen.
if you use GENy there will be installed two folders, one for the framework (GENy) and one for the
component DLLs (Components).
The component files are installed as shown above. there is a _common folder for common files and a
_doc folder for all the delivery documentations. The component files are stored in a folder with the name
of the component (e.g. diag for diagnostics components, drv for the CAN Driver, nm for Network
Management, etc.).
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13
Step by Step
2. Configure components
...Setup.exe
Components
DBC
X install
API
Initialization
Service Functions
GENy
Callback functions
CANgen
Y configure
Files
Component Files
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 14
2. STEP – Configure components
Now start the configuration tool (CANgen or GENy – for more information about how to use the tools refer
to the Online Help). Configure the components, switch on or of necessary functionality, callback functions,
etc.
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14
Step by Step
3. Generate configuration and parameter files
...Setup.exe
Components
DBC
X install
API
Initialization
Service Functions
GENy
Callback functions
CANgen
Y configure
Files
generate
Z
Component Files
Configuration Files
Parameter Files
e.g.
il_par.c
il_par.h
il_cfg.h
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 15
3. STEP – Generate configuration and parameter files
After you have configured the components start the generation process by clicking the flash button of the
configuration tool. Make sure you have adjusted the path correctly where the tool generated the files in.
The easiest way would be to use a folder like above, called gendata where all generated data is stored.
Then you know that all data in this folder must not be changed by hand.
The files that are generated for configuration and parameters are named like shown above.
*_par – parameter files
*_cfg – configuration files
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15
Step by Step
4. Adapt application files
...Setup.exe
Components
DBC
X install
[
API
adapt
Application files
Initialization
//Include components
Service Functions
GENy
#include ...
Callback functions
CANgen
Y configure
//Initialize components
Files
generate
CompInitPowerOn();
Z
Component Files
Configuration Files
//Service functions
Parameter Files
//Cyclic Component Tasks
TaskXms()
{
CompTask();
}
//Callback functions
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 16
4. STEP – Adapt application files
After the files are generated you have to modify your application to use the functionality of the
CANbedded software components.
There are the C typical points to be regarded when using functionality of a component.
Include:
Your software must know where to find the functions you want to use. Therefore you have to include the
necessary header files of the components to be used.
Initialization:
Before you can use a component it must be initialized.
Service functions:
To use the actual functionality of the component call service functions like e.g. CanTransmit.
Cyclic component tasks
A very special sort of service functions are the cyclic component tasks. Only the CAN Driver is event
triggered (when not used in polling mode). All other components need a task function to be called
cyclically within a predefined time. This call cycle is the base time for internal time dependent functionality
like e.g. timeout monitoring.
Callback functions:
interact with the component to control component’s activities.
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16
Step by Step
4. Adapt application files
Application files
Some examples for
//Access to components
include, initialization, cyclic
#include fileA
#include fileB
#include ccl_inc.h //only one initialization
cyclic component task and
function when using CCL
service and callback functions
//Initialize components, interrupts disabled
CanInitPowerOn();
NmInitPowerOn();
CclInitPowerOn(); //only one
..
initialization function when using CCL
enable Interrupts
//Service functions
//Callback functions
IlRxStart();
ApplCanMessageReceived()
{
IlTxStart();
//application code
}
//Cyclic Component Tasks
TaskXms()
{
CompATask();
}
CclScheduleTask(); //one function call
TaskYms()
for all component task functions
{
CompBTask();
}
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Slide: 17
4. STEP – Adapt application files
Include:
There is an order that has to be kept when including the files for CANbedded software components. If you
use the CCL component there is only one include left, the one of ccl_inc.h.
Initialize components with disabled interrupts:
The CanInitPowerOn() must be the first initialization followed by the higher layer components like Network
Management or Transport Protocol, etc. If you use the CCL component, there is only one call of
CclinitPowerOn() necessary.
Cyclic component tasks:
In the configuration tool you have to enter the cycle time (normally in ms) in which you call the
component’s task functions (CompATask( ), CompBTask( ), etc.). This information is the basis for the
component to calculate its internal timing. So you have to call the function in the given cycle time. This
can be done form a operating system task or a timer. If you use the CCL component just call
CclScheduleTask() within a suitable cycle time and the single calls will be performed by the CCL (CCL
provides another method for the cyclic calls, refer to the documentation of the CCL component for more
information).
Service functions:
Service functions are e.g. CanTransmit to transmit a CAN message, IlRxStart to start the transmitting
path of the Interaction Layer, etc. These are functions to use the components.
Callback functions:
e.g. ApplCanMessageReceived. Callback functions are always marked with Appl... in the beginning of the
name. The activity of the component is halted and the application is asked to meet a decision how to
continue. Often the return code of the function is used for this decision, but now always. In some cases
the application has to do some other action.
Tip: for the beginning provide all necessary callback functions but leave them empty just to prevent linker
errors. Then start to fill them with code one after the other.
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17
Step by Step
5. Files in Project or makefile
...Setup.exe
\
Components
DBC
X install
[
API
adapt
Application files
Initialization
//Include components
Service Functions
GENy
#include ...
Callback functions
CANgen
Y configure
//Initialize components
Files
generate
CompInitPowerOn();
Z
Component Files
Configuration Files
//Service functions
Parameter Files
//Cyclic Component Tasks
TaskXms()
{
CompTask();
}
//Callback functions
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Slide: 18
5. STEP – Add files in your project or makefile
Now the component files are configured (generated files) and your application is adapted to use the
components and their functionality. What is left is to add the new files (component files and generated
files) to your compiler or makefile.
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18
Step by Step
6/7. Compile, link and download
...Setup.exe
\
Components
DBC
X install
[
API
adapt
Application files
Initialization
//Include components
Service Functions
GENy
#include ...
Callback functions
CANgen
Y configure
//Initialize components
Files
generate
CompInitPowerOn();
Z
Component Files
Configuration Files
//Service functions
Parameter Files
//Cyclic Component Tasks
TaskXms()
{
CompTask();
}
] compile/link
^ download
//Callback functions
HW platform
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Slide: 19
6. STEP – Compile and link your project with CANbedded software components
Now start the compiler for a first compile and link process. Make sure you have provided all necessary
callback functions.
7. STEP – Download the executable to your hardware and test
The first target should be a basically working CAN communication. Upon this you can build all further
development. So download your executable and watch the bus for communication. Use perhaps CANoe
or CANalyzer (products of Vector Informatik GmbH). If you see the CAN messages on the bus and no
error frames, the first target is reached.
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19
Agenda
Introduction
Components and Project Folders
Delivery
Step by Step
> Summary
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 20
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20
Summary
Step by Step
X.exe
Setup.exe – Install Configuration Tool (CANgen or GENy) and
CANbedded Components
Y.gny
Configure Components with Configuration Tool and data base file
.ccf
Z_par.h
Generate Parameter and Configuration Files
_cfg.h
[appl.c
Adapt your application to utilize CANbedded Components
\.mak
Add CANbedded to your Project or makefile
].hex
Compile and Link the Project (application with CANbedded)
^.hex
Download to target and test
© 2006. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 21
Use the list above as a short recipe for using the CANbedded software components out of the delivery.
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21
Summary
Documentation
Beginners of CANbedded components should read the
UserManual_Startup_<OEM>_CANbedded first (if available).
If not part of the delivery read the component specific user manuals
UserManual_<Component>. And if you use the CCL read the CCL user manual first.
There is a set of user manuals and references for every component as you see
below.
Document Types
User Manual
Technical Reference(SW)
Technical Reference(HW)
First steps to get an example
More detailed information about
Hardware specific information of the
executable running for each
the component, API...
component if available.
component or the complete
delivery (if available for OEM).
UserManual_CCL,
UserManual_Startup_<OEM>_
CANbedded, ...
TechnicalReference_candrv, ...
TechnicalReference_CAN_HC12, ...
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Slide: 22
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22
Thank you for your attention.
For detailed information about Vector
and our products please have a look at:
www.vector-informatik.com
Author:
Klaus Emmert
Vector Informatik GmbH
Ingersheimer Str. 24
70499 Stuttgart
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Slide: 23
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23