How to efficiently extend test benches and HIL systems

Integrating CANape via an automation interface

Restricted V2.0 | 2023-02-14

 Agenda

1. Basics 3

2. Proprietary Vector Interfaces 7

3. Standard Interfaces 15

4. Client Examples 25

2
 Basics

Motivation

 In test benches, HIL systems and

other test fixtures, it is important to
access all necessary
 input and output variables
 simply and quickly

 Measurement and calibration tools

 Provides many different data
acquisition capabilities
 Fast and easy access to key
variables

 But how to exchange this data?

 Make it possible to have access
to the MC Tool via automation
interface

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 Basics

CANape Supports Different Automation Interfaces

CANape provides 6 interfaces for a client implementation:

 Proprietary Vector interfaces

 CANapeAPI /CANapeTCP (32/64Bit)

 CANape COM/-Eth (32Bit/64Bit in preparation)

 MATLAB MCD3 (32/64Bit)

 Standard interfaces

 ASAM ASAP3 2.1

 iLinkRT

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 Basics

Components Overview

 Setup of a client – server communication

Client
Application

CANape Automation Interface(s)

CANape
CCP, XCP, CAN,
FlexRay, UDS…

ECU 1 ECU 2 ECU n

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 Agenda

1. Basics 3

2. Proprietary Vector Interfaces 7

3. Standard Interfaces 15

4. Client Examples 25

6
 Proprietary Vector Interfaces

Overview

1. CANapeAPI /CANapeTCP

2. CANape COM/-Eth
3. MATLAB MCD3

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 Proprietary Vector Interfaces

1. CANapeAPI and CANapeTCP

 C++ DLL interface for the client connection

 CANapAPI.dll > local(host)
 CANapTCP.dll > through a network

 Advantage:
 High performance
 Simple usage of the interface (function calls)
 Perfect for C++ clients
 Available on every CANape installation

 Disadvantage:
 Not suitable for script based clients

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 Proprietary Vector Interfaces

1. CANapeAPI and CANapeTCP

 The API/TCP interface connects the other interfaces to CANape

CANape COM/-Eth
MATLAB MCD3 API
ASAM ASAP3 2.1 Interface
iLinkRT

Client

CANape/CANape Server Computer

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 Proprietary Vector Interfaces

2. CANape COM interface for the client connection

 Localhost and network connections are available

 Ethernet connection (WinSock-based) available since CANape 11

 CANape COM x64 Interface available since CANape 15.0 SP3

 Client and Server application delivered with CANape

> “CANape Control Server” for the Server
> “COM Client” for the Client PC

 Examples for Python, C#, Excel, Visual Basic and VC++ available

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 Proprietary Vector Interfaces

2. CANape COM interface for the client connection

 Advantage:
 Hierarchy system setup

 VB, VBA/VBS, C#, Python, LabView + script-based languages

 Available on every CANape installation

 Disadvantage:
 Less performance than API Interface

 High effort needed for programming languages that is not script based
(i.e.: C++)

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 Proprietary Vector Interfaces

3. CANape MCD3 MATLAB Interface

 Interface to be used in MATLAB 32 - or 64 bit

 Integration in M-Files
 Measurement data access
 Read and Write Calibration Objects
 Diagnostic with CDD and ODX databases (only 32 bit)
 Access to CANape scripts
 Database Object Information
 Available via MATLAB Integration Package (MIP)

 The MATLAB interface is based on the CANapeAPI and CANapeTCP

interface (Wrapper)
 Not all functions of the CANape interfaces are available

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 Proprietary Vector Interfaces

Summary of Proprietary Vector Interfaces

 Creation of temporary CANape configuration during the runtime

 Measurement and access of recorder(s)

 Read and write process of calibration objects

 Flash process (ODX-F)

 Diagnostic process with CDD/ODX

 Access to CANape global variables

 Execution of CANape scripts

 Error handling via error code(s)

 Access to iLinkRT configuration

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 Agenda

1. Basics 3

2. Proprietary Vector Interfaces 7

3. Standard Interfaces 15

4. Client Examples 25

14
 Standard Interfaces

Overview

1. ASAM MCD3 2.1 (ASAP3)

2. iLinkRT (ETAS & Vector)

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 Standard Interfaces

1. ASAM MCD3 2.1 (ASAP3)

 Protocol was designed by ASAM 1999. It is implemented in most

test bench (AuSy) systems like

 AVL PUMA and Drive,

 Kristl & Seibt Tornado or

 D2T Morphee

 Asap3Translator on CANape server is part of CANape installation

 Communication via RS232 or Ethernet
 Protocol oriented communication between Client und Server
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 Standard Interfaces

1. ASAM MCD3 2.1 (ASAP3)

 Features:
 Measurement / Recording

 Reading and writing calibration objects

 Start CANape Scripts

 Configuration tool for iLinkRT

 Advantages:
 Easy to use, no Windows administration necessary.

 Measurement rate up to 500 Hz (using Ethernet)

 No further CANape option necessary

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 Standard Interfaces

1. ASAM MCD3 2.1 (ASAP3)

 Disadvantages:
 No further development from ASAM side

 Only one rate available for Measurement objects

 Non cyclic rates are not supported by the ASAM MCD3 specification

The ASAM MCD3 2.1 (ASAP3) can be downloaded from

http://www.asam.net/

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 Standard Interfaces iLinkRT
2. iLinkRT

 Transfer of measurement data without iLinkRT uses

 ASAP3, Matlab MCD3 or COM

Measurement data request t1 t2 t3

ASAP3,
Matlab MCD3 API
Interface
Measurement data response t6 or COM t5 t4

Interface

Client / AuSy

*) AuSy → Automation System

CANape/CANape Server Computer

 Always request and response is needed

 Long time delays (interfaces have to be passed)
 Using only the API interface is faster (only one interface)

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 Standard Interfaces

2. iLinkRT

 Transfer of measurement data with iLinkRT:

 iLinkRT has no possibility to configure a measurement

 Other interfaces like API, COM, ASAP3, Matlab MCD3 are used

Connection
ASAP3,
Measurement configuration Matlab MCD3 API
or COM Interface

Interface
Data
Client / AuSy

CANape/CANape Server Computer

iLinkRT (Measurement data)

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 Standard Interfaces

2. iLinkRT

 After the connection and measurement configuration is done

 Measurement data is sent directly to the client over iLinkRT

 Fast and direct communication

 No restrictions and delays of the interfaces

 Starting from CANape 21.0 SP1 and 22.0 no additional option is

required to use iLinkRT

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 Standard Interfaces

2. iLinkRT

 iLinkRT 1.3
 Specification designed by ETAS

 Sends measurement data to a test bench client by using the XCP

Ethernet DAQ mechanism (UDP)

 Only data from MC tool to client after configuration

 Based on XCP on Ethernet with several user defined commands

ASAP3 (Connect, Measurement configuration)

Client / AuSy*

iLinkRT (Measurement data)

*) AuSy → Automation System

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 Standard Interfaces

2. iLinkRT

 Advantages of iLinkRT:
 Easy to use, no Windows administration necessary

 Measurement rate > 500 Hz

 Disadvantages of iLinkRT:
 iLinkRT has no possibility to configure a measurement
 Interfaces like CANapeAPI, COM, ASAP3 or Matlab MCD3 have to be used

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 Agenda

1. Basics 3

2. Proprietary Vector Interfaces 7

3. Standard Interfaces 15

4. Client Examples 25

24
 Client Examples

COM – Head Contents

 Initialization of the CANape COM interface

 Accessing/loading a CANape project

 Initialization of an ECU in CANape (CCP on CAN)

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 Client Examples

COM – Calibration

 Adding/defining a calibration object

 Determining the dimension of the calibration object

 Reading the value of the calibration object

 Changing (write) the value of the calibration object

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 Client Examples

COM – Measurement

 Choosing an event for measurement signals

 Adding/defining a signal for the measurement

 Start the measurement

 Fetch the measurement values (incl. the time stamp)

 Stop the measurement

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 Client Examples

COM – Tail Contents

 Close the project & disconnect the CANape COM interface

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 For more information about Vector
and our products please visit

www.vector.com

Author:
Steffen Knoll, Gerry Hendratno, Stephan Herzog
Vector Informatik GmbH

29 © 2023. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. V2.0 | 2023-02-14