Startup_PSA_CANbeddeds
User Manual
Startup with PSA
A Step by Step Introduction
Version 1.0.0
English
Manual History
Author
Date
Version
Details
Klaus Emmert
2009-07-24 0.1
Creation
Manuela Scheufele
Klaus Emmert
2009-10-01 1.0.0
Released
Manuela Scheufele
Reference Documents
No.
Source
Title
Version
Impressum
Vector Informatik GmbH
Ingersheimer Straße 24
D-70499 Stuttgart
The information and data given in this user manual can be changed without prior notice. No part of this manual may be reproduced in
any form or by any means without the written permission of the publisher, regardless of which method or which instruments, electronic
or mechanical, are used. All technical information, drafts, etc. are liable to law of copyright protection.
© Copyright 2009, Vector Informatik GmbH
All rights reserved.
User Manual Startup with PSA
Manual Information
Inhaltsverzeichnis
1
Manual Information
5
1.1
About this user manual
6
1.1.1
Certification
7
1.1.2
Warranty
7
1.1.3
Registered trademarks
7
1.1.4
Errata Sheet of manufacturers
7
2
Getting Started
8
2.1
How to use this Manual
9
2.2
Start immediately or need Basic Information?
9
3
A few STEPS to Basic ECU with PSA CANbedded
10
3.1
STEP What do you need before start?
11
3.2
STEP Installation
11
3.2.1
BSW folder
12
3.2.2
Installation GENy Framework
12
3.3
STEP Configuration Tool and DBC File
13
3.3.1
Start GENy with a Link or a Batch File
13
3.3.2
Preparations in GENy
14
3.3.3
Settings for the CANbedded Software Components
18
3.4
STEP Generate Files
23
3.5
STEP Add CANbedded to Your Project
24
3.6
STEP Adapt your Application Files
24
3.6.1
Including, Initialization and Cyclic Calls
25
3.6.2
Application Handling of User Requests and the Bus Communication
25
3.6.3
CANbedded Software Component Callback Functions
26
3.7
STEP Compile and Link your Project
27
3.8
STEP Test it via CANoe
27
3.9
STEP Test and Release Hints
28
4
Basic Information
29
4.1
Documentation Structure for CANbedded Components
30
4.1.1
Configuration Tools and Files
32
4.2
An Overall View
34
4.3
An ECU – a More Detailed View
35
4.3.1
Generic Usage of CANbedded Software Components
35
4.3.2
Independent Software Components in an ECU
36
4.3.3
Requesting and Releasing Bus Communication
36
4.3.4
Multiple Channel ECU
36
4.3.5
Availability and Usage of XCP within the CANbedded Stack
37
4.3.6
Start-up Time of the CANbedded Stack
37
4.3.7
Resources of the CANbedded Stack
37
5
Further Offers
38
5.1
Hotline
39
5.2
Training Classes
39
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Manual Information
User Manual Startup with PSA
5.3
Integration Support
39
5.4
Integration Review
39
6
Additional Information
40
6.1
Persistors
41
6.1.1
Update Persistors – Install current Version
42
7
FAQs
45
7.1
Introduction
46
7.2
Frequently Asked Questions
46
8
Address table
47
9
Glossary
49
10
Index
50
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User Manual Startup with PSA
Manual Information
1 Manual Information
In this chapter you find the following information:
1.1
About this user manual
page 6
Certification
Warranty
Registered trademarks
Errata Sheet of manufacturers
© Vector Informatik GmbH
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Manual Information
User Manual Startup with PSA
1.1 About this user manual
Finding information
The user manual provides the following access help:
quickly
¼ At the beginning of each chapter you will find a summary of the contents,
¼ In the header you can see in which chapter and paragraph you are,
¼ In the footer you can see to which version the user manual replies,
¼ At the end of the user manual you will find an index, with whose help you will
quickly find information,
¼ Also at the end of the user manual you will find a glossary in which you can look
up an explanation of used technical terms
Conventions
In the two following charts you will find the conventions used in the user manual
regarding utilized spellings and symbols.
Style
Utilization
bold
Blocks, surface elements, window- and dialog names of the
software. Accentuation of warnings and advices.
[OK]
Push buttons in brackets
File|Save
Notation for menus and menu entries
MICROSAR
Legally protected proper names and side notes.
Source Code File name and source code.
Hyperlink
Hyperlinks and references.
<CTRL>+<S> Notation
for
shortcuts.
Symbol
Utilization
Here you can obtain supplemental information.
This symbol calls your attention to warnings.
Here you can find additional information.
Here is an example that has been prepared for you.
Step-by-step instructions provide assistance at these points.
Instructions on editing files are found at these points.
This symbol warns you not to edit the specified file.
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Manual Information
1.1.1 Certification
Certified Quality
Vector Informatik GmbH has ISO 9001:2000 certification. The ISO standard is a
Management System globally recognized standard.
Spice Level 3
The Embedded Software Components business area at Vector Informatik GmbH
achieved process maturity level 3 during a HIS-conformant assessment.
1.1.2 Warranty
Restriction of
We reserve the right to change the contents of the documentation and the software
warranty
without notice. Vector Informatik GmbH assumes no liability for correct contents or
damages which are resulted from the usage of the documentation. We are grateful for
references to mistakes or for suggestions for improvement to be able to offer you
even more efficient products in the future.
1.1.3 Registered trademarks
Registered
All trademarks mentioned in this documentation and if necessary third party
trademarks
registered are absolutely subject to the conditions of each valid label right and the
rights of particular registered proprietor. All trademarks, trade names or company
names are or can be trademarks or registered trademarks of their particular
proprietors. All rights which are not expressly allowed are reserved. If an explicit label
of trademarks, which are used in this documentation, fails, should not mean that a
name is free of third party rights.
¼ Outlook, Windows, Windows XP, Windows 2000, Windows NT, Visual Studio are
trademarks of the Microsoft Corporation.
1.1.4 Errata Sheet of manufacturers
Caution: Vector only delivers software!
Your hardware manufacturer will provide you with the necessary errata sheets
concerning your used hardware. In case of errata dealing with CAN please provide us
the relevant erratas and we will figure out whether this hardware problem is already
known to us or whether to get a possible workaround.
Info: Because of many NDAs with different hardware manufacturers or because we
are not informed about, we are not able to provide you with information concerning
hardware errata of the hardware manufacturers.
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Getting Started
User Manual Startup with PSA
2 Getting Started
In this chapter you find the following information:
2.1
How to use this Manual
page 9
2.2
Start immediately or need Basic Information?
page 9
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Getting Started
2.1 How to use this Manual
Step by Step
Just follow the description step by step.
Basic Information
To find basic information about CANbedded (see section Basic Information on page
29).
FAQ
To find answers to special questions without reading the whole document use the
FAQ list (see section FAQs on page 45).
2.2 Start immediately or need Basic Information?
You are Novice or
This User Manual is designed to fit the needs and expectations of the developers of
Expert?
the ECUs. Of course there are differences in planning the software architecture. But
the core is almost the same for all types of ECUs.
Your aim is to implement the CANbedded software components as fast as possible.
Perhaps you already know the basic concepts of CANbedded?
Then let’s start with the step-by-step introduction in how to startup with PSA
CANbedded software components regardless of the ECU type. You will find remarks
if the handling differs for a specific ECU type.
For more basic information about CANbedded refer to (see section Basic Information
on page 29).
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3 A few STEPS to Basic ECU with PSA CANbedded
In this chapter you find the following information:
3.1
STEP What do you need before start?
page 11
3.2
STEP Installation
page 11
BSW folder
Installation GENy Framework
3.3
STEP Configuration Tool and DBC File
page 13
Start GENy with a Link or a Batch File
Preparations in GENy
Settings for the CANbedded Software Components
3.4
STEP Generate Files
page 23
3.5
STEP Add CANbedded to Your Project
page 24
3.6
STEP Adapt your Application Files
page 24
Including, Initialization and Cyclic Calls
Application Handling of User Requests and the Bus Communication
CANbedded Software Component Callback Functions
3.7
STEP Compile and Link your Project
page 27
3.8
STEP Test it via CANoe
page 27
3.9
STEP Test and Release Hints
page 28
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A few STEPS to Basic ECU with PSA CANbedded
3.1 STEP What do you need before start?
CANbedded
Did you get the CANbedded delivery?
3.2 STEP Installation
The following list shows the tools and software (C Code or Library) that are included
in the CANbedded delivery and what has to be installed further on.
¼ Vector CANbedded SIP CBDxxxxxxx Rxx <name>_Setup.exe
BSW modules, exact content depends on your delivery, the details are outlined in
the following illustration.
¼ GENyFramework_<version>-PGP-sda.exe
downloaded from the FTP server. The framework of the configuration tool GENy.
Your Delivery from
Unpack the Delivery
Vector
Start the Setup.exe and follow the installation dialogs.
Situation after
Use the Start|Programme|Vector CANbedded …| to find the installation.
installation
Try to keep a proper You will find the software components in the following file structure or in a similar one.
file structure to keep
the overall view
throughout the
complete
development process
Example File
Structure after
Installation
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Info: It is up to you to use a different file structure. This is merely a recommendation
and the result of the installation process.
3.2.1 BSW folder
You will find the following files in the BSW folder:
CAN Driver
CAN - CAN Driver
can_drv.c – can_def.h – can_inc.h – cancel_in_hw_user_cfg.cfg
(delete underscore for usage)
Info: Dependent on the CAN Driver there could be additional files.
Network
NM – Network Management
Management
Generic_precopy.c – INM_Osek.c – INM_Osek.h – Stat_Mgr.c – Stat_Mgr.h
Interaction Layer
IL - Interaction Layer
il.c – il_def.h – il_inc.h
Transport Protocol
TP – ISO Transport Protocol
tpmc.c – tpmc.h
Diagnostics Layer
Diag - Diagnostics Layer CANdesc
The files will be generated completely
Communication
CCL - Communication Control Layer
Control Layer
ccl.c – ccl.h – ccl_inc.h
_Common
v_def.h – v_ver.h – sip_vers.c – sip_vers.h – vstdlib.c – vstdlib.h
Info: The SIP check ensures that all used CANbedded components fit together. If not,
a pre-processor error will occur. Please make sure that the SIP check file is complied
with your application.
Universal
XCP - Universal Measurement and Calibration Protocol
Measurement and
Calibration Protocol
_xcp_appl.c - _xcp_appl.c - xcp_can.h - XcpProf.c - XcpProf.h
3.2.2 Installation GENy Framework
Install GENy
Open the link from the delivery description to open the FTP server and save
Framework
GENyFramework_<version>-PGP-sda.exe on your computer. Start
GENyFramework_<version>-PGP-sda.exe and enter the passphrase (password
from e-mail) for GENy Framework.
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The GENyFramework_<version>.exe will be unpacked. Start this setup file, follow the
installation hints and enter the path to your delivery. GENy.exe will be installed at this
path.
3.3 STEP Configuration Tool and DBC File
Follow the explanations for the basic settings of the CANbedded software
components in the GENy configuration tool.
3.3.1 Start GENy with a Link or a Batch File
Working with GENy
There are different ways to start GENy and to load a configuration. By default you can
start the configuration tool and load the configuration afterwards. The more
comfortable way of using GENy is via a link or a batch file where you can start the
tool directly within your project with your project as a parameter.
Start GENy with a Link or a Batch File
This is the recommended way if more than one CANbedded stack or configuration
setup is to be used in parallel. Link and batch file must contain the following
information:
¼ Path to the GENy.exe
¼ Path to component DLLs and license file
¼ Optional: Path to an existing configuration file .GNY.
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Example: Link
Enter the following path information into the Target area of the MS Window control:
yourPath\GENy\geny.exe /m ..\yourPath\_GENy\Components
/c ..\yourPath\GENyProject.gny
Example: Batch file
Please write all commands below in ONE line into the batch file!
..\yourPath\GENy\geny.exe /m ..\yourPath\_GENy\Components '/c
..\yourPath\GENyProject.gny
3.3.2 Preparations in GENy
New Configuration
Create a new configuration via File / New or the New Button
.
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Setup Dialog
Select your Preconfiguration, Microcontroller, Derivative and your Compiler in the
setup dialog.
Data base file and
Component
Click on
to add a channel and select CAN as channel type. In the Channel
Selection
Setup window make all entries concerning a certain channel. Name the channel (if
you dislike Channel x), browse for your database (DBC) and select one (or more for a
multiple Channel ECU) database nodes. For Gateways you have to add additional
Channels.
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Use the Software Component Selection view to switch the necessary components
on.
Now we could go on and adjust the path where GENy generates the files in.
Open the Generation Directories window via Configuration / Generation Paths…or
use
Now save the configuration. This file will look like: *.gny.
Define paths for the
generated files
¼ Enter the Root path for relative directories. Confirm with tab.
¼ To get the files for the different components generated in specific folders, add a
relative path on the appropriate Path field for the component and for the Filetype.
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You also could enter an absolute path in the Path field.
¼ Always check your settings for all components under Resolved Path before
confirming via [OK].
Info: The (C) behind Filetypes indicates that these are files in C language.
Now save the configuration (.gny file) again.
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3.3.3 Settings for the CANbedded Software Components
Navigation View in
The settings for the components are done via the Navigation and the Configuration
GENy
view. Any component you have selected in the Software Component Selection view is
listed in the navigation tree below Components
Let us go through all selected components and do the necessary settings.
Info: Remember that the channel is the major criteria where to find a configuration
element of the component. E.g. the setting of the baud rate is in the component
DrvCan_xxx and it is a channel specific setting.
The different
HW_XXXCPU
components are
Some settings like the used derivative and compiler are very hardware dependent.
They are selected in the HW_xxxCPU tree. Make sure that the derivative, the
compiler and the register addresses are set correctly.
DrvCan_xxx
Here you configure the CAN Driver. Use the default settings for the first start up.
DrvCan_xxx / Channel / Channel X
The two most important settings here are the baud rate and the acceptance filters.
Click on the buttons […] to open the corresponding windows and do the necessary
settings (refer to GENy Online Help how to work with these two windows).
Filters and Bus
timing
All further channel specific settings for the CPU are also hardware dependent.
NameDecorator
With the NameDecorator you can adjust the names of macros, functions and flags
that are generated. Use the default settings for the first start up
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Tp_Iso15765
Here you configure the ISO Transport Protocol. Use the default settings for the first
start up.
Il_Vector
Here you configure the Vector Interaction Layer. Use the default settings for the first
start up.
Inirect NM
Here you configure the Network Management. Use the default settings for the first
start up
Diag_CanDesc_UDS
Here you configure the diagnostic component CANdesc. Use the default settings for
the first start up.
Ccl_core – Communcation Control Layer
First open the Configuration View for the Ccl__Core. There will be no Communication
Request available. You have to add this.
Click on the Add […] button of the CCL Communication Request and a new entry in
the Navigation view will be shown.
Name the
One Communication Request appears without name, so you can only see the letter
Communictaion
icon. Click on this empty icon and get the configuration view like in the following
Request
figure.
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Enter the name for this Communication Request. In this case
MyCommunicationRequest (CCL_MyCommunicationRequest: the configuration tool
adds the CCL as prefix to the name.) is now the parameter for the functions to control
the ECU states. We will use this parameter in the following software example, too.
Info: Make sure that the names for the requests are unique in the whole system. The
names have to be ANSI C compliant.
Using CCL many things become easier for the application. So the complete
initialization and the cyclic calls could be done by these components. Just check the
box [CANbedded Handling] in the Ccl__core configuration view (see Figure 6 8).
Now we could switch to the CCL configuration view by choosing Ccl_core in the
navigation view.
We switched the CANbedded Handling on, so we have to choose between the
Schedule Task and the Task Container from the pull down menu. What does this
mean?
We let the CCL handle the initialization and control of the components. Control means
in this case the cyclic calling of all necessary CANbedded task functions and this
could be done in two ways.
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The easy way via
Schedule Task
Schedule Task
The option Schedule Task is the easiest way for the application programmer. The
function CclScheduleTask() will be generated and handles all cyclic CANbedded
calls internally.
Your application has to call this single function and all component tasks will be called
in the correct cycle time. The cycle time for this schedule task must be a common
divisor of all selected CANbedded call cycle values.
See
Cross reference: [1] (see section Reference Documents on page 2).
for more details on Schedule Task concept.
Container
Task Container
The Task Container provides one function for all tasks with the same call cycle. The
application has to call these tasks with the correct call cycle and need not to know
which components are affected.
E.g. for all 10ms Tasks the task container function Ccl_10_0msTaskContainer is
generated. See
Cross reference: [1] (see section Reference Documents on page 2)
for more details on the Task Container concept.
Transceiver Settings
What is left now is to provide the CCL with the information concerning the transceiver
you use. Open the channel specific configuration view of the CCL component as you
see in the following figure. Use the pull down menu to select your Transceiver Type.
Info: GENy supports the most of the common transceivers. If your transceiver is not
in this list, choose < Unknown >. For this case the application has to provide the
transceiver handling via three callback functions.
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Select your
Transceiver
Transceiver
After you have selected your Transceiver, you have to add your Transceiver Config
Configuration File
File. This file includes information for additional transceiver coding.
Use the […] button to load your Transceiver Config File.
Ports
Dependent on the transceiver you select there will be displayed a corresponding
amount of ports, in this case the Enable Port, the Standby Port, the Error Port and the
Wake Up Port.
Info: To do the following settings you need a deep insight in the hardware of your
project.
Now you have to tell the CCL component how to control the ports of the transceiver.
Please refer to
Cross reference: [1] (see section Reference Documents on page 2)
for more details how to set up the transceiver handling.
Transceiver Unknown
In this case you cannot do any further transceiver setting in the GENy as you see in
the illustration below.
Unknown
For an unknown transceiver the CCL does not know how to handle the transceiver.
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Transceiver
This has to be done by the application. For this reason the application is provided with
3 callback functions to handle this unknown transceiver:
ApplCclInitTrcv for transceiver initialization
ApplCclWakeUpTrcv for transceiver wake-up handling and
ApplCclSleepTrcv for transceiver sleep handling.
The code for these callback functions is very hardware dependent. Refer to the
hardware manual of you transceiver for more information
3.4 STEP Generate Files
Let GENy generate the files to the appropriate, previously defined folders.
Now all configuration settings for the CANbedded software components are done and
we could go on with the generation process. Click the icon Generate System.
Make sure the shown
target paths are
correct
In the Output View / Generations you see all generated files with the corresponding
paths. The Generated Files from the System Configuration view show the generated
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files in a sorted manner.
Info: Use this information to check if the files are generated in the desired paths.
The files for the CANdesc component are also generated, but via a different
generator. So they are not displayed in one of these windows.
There are also generated XML files. These files are for internal use of GENy only and
you must not change them.
Please check the output window also for (orange) warning and (red) error messages.
If there are some, clarify the reason. For the final software setup, no warnings or
errors shall be reported!
3.5 STEP Add CANbedded to Your Project
Add the CANbedded C and H files to your project or makefile.
Your Build
What to do in this step depends on your development environment. Perhaps you work
environment
with a makefile?
You have to add the files of CANbedded to your project. These are the files of chapter
STEP Configuration Tool and DBC File on page 13 and the generated ones to the
previous step.
Info: Always make sure that the path you generate the files in and the path your
compiler is working on are the same!
At this point in time you are not able to compile and link the project. The files should
be complete but there are several adaptations for you to do in your application.
Go on with the next step.
3.6 STEP Adapt your Application Files
Now your application files must be modified to use the CANbedded software
components (includes, cyclic calls, initialization, callback functions).
Include, initialize and Now all files for CANbedded and CANdesc are included in your project and we can
call the components go on to do the necessary adaptations in your application files.
cyclically.
These adaptations can be split in two categories:
Then connect
¼ Include, initialize and do the cyclic calls for the CANbedded software components
CANdesc with your
(use the component specific documentation for details).
application.
¼ Connect the CANbedded software components to your application
As you use CCL this is very easy to do.
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3.6.1 Including, Initialization and Cyclic Calls
Pre-compile
Including
If the Checkbox CANbedded Handling is checked then you only have to include two
headers, the v_inc.h (that is generated) and the ccl_inc.h in this order. This header
includes all necessary header files for the selected Software Components.
Info: If you do not use CCL CANbedded Handling you have to do the “includes” for all
Software Components on your own.
Pre-compile
Initialization
With the CCL CANbedded Handling the Initialization becomes very simple.
CclInitPowerOn(); is the only function for the initialization of all selected
CANbedded Software Components.
Info: Without CCL CANbedded Handling all component tasks must be called in the
correct order.
Call cyclic tasks
Cyclic Calls
The handling of the cyclic component task calls depends on the settings on the CCL
configuration view (Schedule Task or Task Container see Figure 6 8). As mentioned
above you only have to call one function if you select Schedule Task:
CclScheduleTask();
make sure that the call cycle is a common divisor of
all tasks call cycles
In case of the Task Container you have to call all existing task container functions.
These functions look like this:
Ccl_10_0msTaskContainer();
Make sure that you call all these tasks, each with the correct call cycle and offset.
Info: The functions to control the cyclic task calls are generated in the file ccl_par.c.
Especially when using the task container functionality, refer to this file to get all
generated functions.
Info: If CCL CANbedded Handling is not checked, your application must do all the
task calls for the CANbedded software components on its own and in the correct
cycle time.
3.6.2 Application Handling of User Requests and the Bus Communication
As mentioned in the chapter Requesting and Releasing Bus Communication on page
36 the users can request or release the bus communication. Remember to control the
modes via your application and the functions:
CclRequestCommunication( CCL_MyCommunicationRequest )
CclReleaseCommunication( CCL_MyCommunicationRequest )
The parameter is the handle (you configured in the configuration tool) with CCL_ as
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prefix.
3.6.3 CANbedded Software Component Callback Functions
Callbacks are still
At this point in time you would be able to compile but not to link. The callback
missing
functions of the components CANdesc and CCL are still missing. The detailed
description of these callback functions is given in the TechnicalReference of each
component. In the following we only show the callback functions and introduce the
templates to be able to compile, link and run the system basically.
Diagnostic callbacks Callback Functions for Diagnostics
Any diagnostics service needs at least one (maximum three) callback function
(Handlers, see the documentation for CANdesc). Dependent on the amount of
diagnostic services and their settings there are different callback functions. You find
the generated prototypes for the diagnostic callback functions in appdesc.h.
The diagnostic callback functions are provided in the generated template file called
ApplDesc.c. Add this template to your project.
Info: Remember to fill the callback functions later. This is only to be able to get a
basically working system that is the base for further development.
Read the comments in the template carefully. This will help you better understanding
how to use the template.
CCL callbacks
Callback Functions For Communication Control Layer (CCL)
There are several callback functions to get the CCL running. The detailed description
of how to handle these functions correctly is in the
Cross reference: TechRef CCL
This is the list of all necessary callback functions:
vuint8 ApplCclCanStandby( vuint8 sleepResult )
{
return kCclNoRepeatCanSleep; /*is defined to 0*/
}
Info: This callback function is already part of the CCL template.
void ApplCclTrcvGoToSleepWaitTime( void ){}
Info: This function is only necessary for some transceiver derivatives
void ApplCclWakeUpTrcv( void ){}
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void ApplCclSleepTrcv( void ){}
void ApplCclInitTrcv( void ){}
Info: These functions are only necessary in case of you have selected UNKNOWN as
Tranceiver Type on the CCL configuration view.
void ApplCclBusOffStart ( void ){}
void ApplCclBusOffEnd( void ){}
Info: The application will be informed in case of a bus off.
void ApplCclInit( void ){}
Info: Remember to fill the callback functions later. This is only to be able to get a
basically working system that is the base for further development.
3.7 STEP Compile and Link your Project
Compile and link the complete project and download it to your test hardware or
development environment.
It is almost done!
Now we have all includes, all initializations, the components do have the cyclic calls
of their task functions and all callback functions are provided (but not programmed
yet).
Start the compiler or makefile and get the project compiled and linked.
Is it ok? No errors?
Congratulations, that’s it!
Go on to the next step and do the testing.
3.8 STEP Test it via CANoe
Via an appropriate Tester (e.g. CANoe) check the results.
WELL DONE!
The last step is to test what we have done until now. This is no detailed test. It is just
to make sure that we have bus communication.
The ideal tester would be CANoe from Vector Informatik. Connect your hardware to
your CANcard, start CANoe, set the correct baud rate and have a look at the trace
window.
You see any bus communication? No error frames?
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Congratulations!
The basic step is done, the CANbedded software components are basically working
together with your application.
That is the base you can start from to optimize your system. Remember the callback
functions we left empty and refer to
Cross reference: [1] (see section Reference Documents on page 2)
for more detailed information.
3.9 STEP Test and Release Hints
Special Caution: Before the SOP it is your duty to recalculate the automatically
generated values for the baud rate and the acceptance filters. Make sure you have
the current version of the necessary hardware description available to validate the
used (CAN) controller settings.
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Basic Information
4 Basic Information
In this chapter you find the following information:
4.1
Documentation Structure for CANbedded Components
page 30
Configuration Tools and Files
4.2
An Overall View
page 34
4.3
An ECU – a More Detailed View
page 35
Generic Usage of CANbedded Software Components
Independent Software Components in an ECU
Requesting and Releasing Bus Communication
Multiple Channel ECU
Availability and Usage of XCP within the CANbedded Stack
Start-up Time of the CANbedded Stack
Resources of the CANbedded Stack
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4.1 Documentation Structure for CANbedded Components
Your delivery
To be able to get along with the delivery fast and easy this chapter will give you an
overview of the delivery and its documents.
Always read the User The first document you should read is this one, the startup user manual. It gives you
Manual first
an overview of all components and of how to put this stuff together and get it to work
basically.
Components
The delivery contains different components like Interaction Layer, CAN Driver, etc. A
component is normally documented in the following way.
Caution: If you use the CCL component, read its manuals and references first after
this user manual. CCL makes the handling of the other components very simple.
Different kinds of
UserManual_<ComponentName>
documents
Very easy entry in the software component. It contains a step-by-step introduction of
how to use this component. This is not available for all components.
TechnicalReference_<ComponentName>
Very detailed description of the component and its functionality. It gives you a very
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technical sight on the component.
TechnicalReference_<ComponentName>_OEM/HW
Some features of the component are very hardware-dependent or differ from one
OEM to the other? Then this kind of document is there to explain these special
technical aspects.
Application Note
Very special topics of the component, especially in connection with other components
are described in application notes. Not all components do have application notes.
GENy – Configure your components
The configuration tool GENy provides two major ways of documentation. The
OnScreen Help view and the Online Help.
Online Help
The GENy Online Help gives you information about the generic handling of GENy. It
explains the different GENy windows, shows how to work with the GUI and offers
How-To-Descriptions for the frequently asked questions like how to set up a
configuration, how to update the database file, etc.
OnScreen Help
This is an area in the GENy GUI where specific information about the presently
activated configuration element is displayed. This provides you with the information
you need to have to decide whether to use a GENy option or not. The more detailed
description and technical background can be found in the technical references of the
configured component (see above).
To guarantee quality it is obvious to use standard software components for the
communication part of your ECU. The software components of Vector Informatik are
called CANbedded and are shown in the figure below via grey boxes with red
inscription. The application is on top level and uses the functionality of the
CANbedded software components for Communication and Diagnostics.
CANbedded Layers
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Hardware Interface
CAN Driver
The CAN Driver handles the hardware specific CAN chip characters and provides a
standardized application interface. The CAN Driver for the PSA can transmit and
receive standard (11 bit) CAN Ids.
Transmission modes Interaction Layer
and more…
The Interaction Layer (IL for short) is responsible for the transmission of messages
according to specified rules, monitoring receive messages, timeout monitoring, etc. It
provides a signal oriented application interface for the application.
Break the limitation
Transport Protocol
of 8 data bytes
The CAN protocol is restricted to 8 data bytes per message. But in some cases (e.g.
diagnostics) you need to exchange much more than 8 data bytes. The segmentation
of the data, the monitoring of the messages and the timeout handling is done by the
Transport Protocol (TP for short).
UDS
Diagnostics
The diagnostics layer (DIAG for short) works according to ISO14229 (UDS) and PSA
specifications.
Control transition to
Network Management
bus sleep state
The Network Management (NM for short) is the component to control the bus, to
synchronize the transition to bus sleep, error recovery after bus-off, etc.
Measurement and
Universal Measurement and Calibration Protocol (XCP)
Calibration
This is the Software Component for measurement and calibration on several bus
systems. To mention some feature: read and write access to various memory
locations or flash programming. XCP is not part of the official CANbedded delivery
process to PSA. See chapter Availability and Usage of XCP within the CANbedded
Stack on page 37 within the CANbedded stack for more details.
The powerful
Communication Control Layer (CCL)
component
This component provide the following features: communication bus access,
encapsulation of network management handling, handling of the CANbedded stack,
control of the transceiver and the handling of the start-up delay time.
4.1.1 Configuration Tools and Files
Configuration tools
The delivery contains the MS Windows based configuration tool GENy. It is used to
and files
adapt the delivered source code via project specific generated data and configuration
defines to your project needs.
There is always the same concept behind the usage of Vector´s CANbedded software
components (red labled boxes).
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The standard
generation process
for Vectors Software
Components.
CANdesc is a
completely
generated Software
Component.
GENy combines the information of the network database (DBC file) and your
application specific configuration for the CANbedded components. As a result it
generates files (header: configuration files and signal interface, source: parameters)
containing the upper information. You have to compile/link these files together with
the source code of the CANbedded software components and your application files.
Derived from this concept there are three sorts of files:
¼ Generated files (Configuration, Signal Interface, Parameters) you must not
change manually because the next generation process will delete your changes
(e.g. can_cfg.h). Changes can only be done via the configuration tool.
¼ Files that form a component (CANbedded software components) and must not be
changed at all (e.g. can_drv.c).
¼ Files for your application.
Info: The network database (DBC file) is provided by Vector Informatik if it is ordered
or must be created as active work of TIER1. Each CAN bus has its own DBC file
describing the communication for that system.
The DBC file can be viewed and also edited by the tool CANdb++. CANdb++ is part
of each CANoe/CANstress/CANscope package but can also be purchased separately
as a CANdb++/Admin version.
The diagnostic description for CANdescBasic is part of the CANbedded delivery
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4.2 An Overall View
ECU in the focus
What we are now talking about is an ECU, a module to be built-in a vehicle like
shown in the figure below. Almost every ECU participates in a certain bus system like
e.g. CAN, FlexRay or LIN.
Vehicle with different bus systems
CAN Highspeed
CAN Lowspeed
LIN
FlexRay
MOST
So any ECU within one bus system has to provide an identical interface to this bus
system because all ECUs have to share information via this bus system as you see in
the figure below.
CAN Lowspeed as
an example bus
system
For that reason all ECUs are built-up in the same way. There is a software part to
realize the main job (application) of this ECU e.g. to control the engine or a door. The
other part is the software part to be able to communicate with the other ECUs via the
bus system that is the communication software.
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Application Software
Software for Network
Communication and Diagnostics
4.3 An ECU – a More Detailed View
4.3.1 Generic Usage of CANbedded Software Components
Initialization, cyclic
To get almost all components to work your application has to initialize the
calls and callback
components and call certain component task functions cyclically. This is to derive the
functions.
time base each component needs. You can adjust the cycle times on the
component’s configuration views of configuration tool GENy.
No rule without exception:
For some components there is more than one task to be called within a predefined
cycle (e.g. Interaction Layer: Rx and Tx task).
The CAN Driver has no task to be called (unless used in polling mode) because it is
an event driven component and uses interrupts.
While the components are running there are different callback functions for the
application to control the components’ behavior.
The PSA CANbedded stack contains usually the CCL (Communication Control
Layer), which will ease up the integration task. Please refer to
Cross reference: [1] (see section Reference Documents on page 2)
for more details.
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4.3.2 Independent Software Components in an ECU
N:1 relationship
A typical ECU application is divided up into multiple functional blocks. Each functional
block has its own tasks and might be implemented by another programmer. To ease
up independent and decoupled development of application code, the CANbedded
stack provides independent network control and signal access API’s for each
functional block.
4.3.3 Requesting and Releasing Bus Communication
Bus communication (network control) is requested and released using CCL APIs. If a
functional block needs bus communication, a communication request is set via
CclRequestCommunication. If no bus communication is needed in the functional
block, it releases the communication request via CclReleaseCommunication.
Please note that the request and release is asynchronous. I.e. there is a delay
between requests and availability of network communication. The network has to be
handled after a release request until it is really stopped (state BusSleep).
4.3.4 Multiple Channel ECU
More than one
Multiple channels ECU means to control more than one physical CAN channel. For
physical channel
each channel you need a database. To generate for a multiple channel ECU, add as
much database as channel to your configuration tool setup.
Make sure that you do the necessary settings in the tool for each channel. Below any
component there is a channel tree that contains the settings for the different
channels.
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4.3.5 Availability and Usage of XCP within the CANbedded Stack
Part of the
XCP is part of the official CANbedded delivery process to PSA.
CANbedded delivery
for PSA
4.3.6 Start-up Time of the CANbedded Stack
The CANbedded software components usually need very little time for initialization
due to mainly data structures in the RAM are initialized.
The hardware specific drivers like the CAN or LIN driver access also hardware
registers of the microcontroller. The runtime for this depends strongly on the number
of registers, the speed of the internal µC data bus and, depending on the µC, the
necessary algorithm to access and control these registers (e.g. requesting the access
and waiting till the internal µC bus grants the access).
All in all the runtime of the CANbedded stack initialization highly dependents on the
configuration (e.g. how many messages have to be initialized, what does the
application do within the used callback functions, etc.).
Info: Please refer to the resource documentation Excel sheet stored in the _doc
directory of the delivery for details about your specific delivery package.
Power Supply
Some typical, time-consuming actions during start-up outside of the CANbedded
stack are :
PLL
¼ Switching on the power supply and wait till it is stable: a few [ms].
EEPROM
¼ Switching on the PLL and wait till it is stable: [µs] up to few [ms].
RAM
¼ Access to serial EEPROM (internal and external): can be very time consuming
SPI
¼ RAM check: can be very time consuming
Initialization of external hardware via SPI: can be very time consuming
4.3.7 Resources of the CANbedded Stack
The CANbedded stack is optimized for minimum RAM and ROM usage and can
therefore be widely configured to the very special needs of your project.
Any supported but in the concrete project unused feature can be disabled via
compiler switches during compile time so that this functionality does not consume
RAM, ROM and runtime. It is therefore difficult to give an exact amount of resource
needs for the concrete project upfront.
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5 Further Offers
In this chapter you find the following information:
5.1
Hotline
page 39
5.2
Training Classes
page 39
5.3
Integration Support
page 39
5.4
Integration Review
page 39
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Further Offers
5.1 Hotline
The hotline is available by email or by phone from 13:00 to 16:00 (German time).
Hotline
Please contact: Vector Informatik GmbH, 70499 Stuttgart
email6.1
Persistors
page 41
Update Persistors – Install current Version
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Additional Information
6.1 Persistors
What is the Persistor The CANdela data base file (CDD) is created by CANdela Studio and used by GENy
for?
for configuring CANdesc or DCM/DEM in AUTOSAR environment.
If you use a newer version of the CANdela Studio, the format of the CDD file could be
also newer than your GENy is able to deal with.
The Persistors are responsible to convert the newer CDD file into a CDD file which is
able to read by GENy.
Update Persistors –
The latest Persistors can be downloaded from Vector homepage
Download current
Version
Additional Information
User Manual Startup with PSA
Download
Select on or more items from the list ( ) and click on [>> Select one or more items,
then continue] to download the files after entering some administrative information.
6.1.1 Update Persistors – Install current Version
Follow description
Start the downloaded file SetupPersistorsXP.exe.
step by step
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Additional Information
Click [Next].
Select Custom and enter the path to the …\Generators\Components folder as
Destination Folder for Custom Setup and click [OK].
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Click [Install] and the installation process will be started and then on [Finish] when
ready.
Ready
Now the current Persistors are installed and your GENy is able to read the latest CDD
file.
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FAQs
7 FAQs
In this chapter you find the following information:
7.1
Introduction
page 46
7.2
Frequently Asked Questions
page 46
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FAQs
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7.1 Introduction
Find not search
You have a certain question? You just want to know how to do e.g. a certain setting
without reading the whole document again?
Then go on reading the following list and use the links to get at the place in the
document where your question will be answered.
This chapter will be extended continuously.
7.2 Frequently Asked Questions
FAQ: You need a DBC file for your project, wherefrom do you get it?
You have two possibilities to get a DBC file for your project. You can order the DBC
file from Vector (Vector create a new DBC file based on your specification) or you can
create a DBC file with the CANdb++ Editor by yourself.
For more information about the CANdb++ Editor have a look at Start GENy with a Link or
a Batch File on page 13).
FAQ: The transceiver type is unknown, so what transceiver settings you have
to set in GENy?
You only have to set transceiver type as unknown (see section Transceiver
Unknown on page 22).
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Address table
8 Address table
Vector Informatik
Vector Informatik GmbH
GmbH
Ingersheimer Str. 24
D-70499 Stuttgart
Phone: +49 (711) 80670-0
Fax: +49 (711) 80670-111
Vector France SAS
Vector France SAS
168, Boulevard Camélinat
F-92240 Malakoff
Phone: +33 (1) 4231 4000
Fax: +33 (1) 4231 4009
Vector Korea IT Inc. Vector Korea IT Inc.
Daerung Post Tower III, 508
Guro-dong, Guro-gu, 182-4
Seoul, 152-790
Republic of Korea
Phone: +82(0)2 2028 0600
Fax: +82(0)2 2028 0604
VecScan AB
VecScan AB
Theres Svenssons Gata 9
SE-417 55 Göteborg
Phone: +46 (31) 76476-00
Fax: +46 (31) 76476-19
Get more Information!
Visit our Website for:
> News
> Products
> Demo Software
> Support
> Training Classes
> Addresses
Document Outline
- 1 Manual Information
- 2 Getting Started
- 3 A few STEPS to Basic ECU with PSA CANbedded
- 4 Basic Information
- 4.1 Documentation Structure for CANbedded Components
- An Overall View
- 4.3 An ECU – a More Detailed View
- 4.3.1 Generic Usage of CANbedded Software Components
- 4.3.2 Independent Software Components in an ECU
- 4.3.3 Requesting and Releasing Bus Communication
- 4.3.4 Multiple Channel ECU
- 4.3.5 Availability and Usage of XCP within the CANbedded Stack
- 4.3.6 Start-up Time of the CANbedded Stack
- 4.3.7 Resources of the CANbedded Stack
- 5 Further Offers
- 6 Additional Information
- 7 FAQs
- Address table
- 9 Glossary
- 10 Index