 Screenshot CANape 10.0 | |
| Developer(s) | Vector Informatik |
|---|---|
| Operating system | Windows Vista, 7, 8, 8.1, 10 |
| Type | Data Acquisition |
| License | Proprietary |
| Website | www |
CANape is a software tool from Vector Informatik. This development software, widely used by OEMs and ECU suppliers of automotive industries [1] [2] [3] [4] [5] [6] [7] is used to calibrate algorithms in ECUs at runtime.
In calibrating ECUs, control behavior is modified for different vehicle models or variants. This is not done by making changes to the program code, but instead by changing the ECU's parameterization. This involves the use of measurement and calibration systems such as CANape in the laboratory, on test benches or in vehicles during test trials. To evaluate the effects of changes to parameters, development engineers access the relevant process variables with conventional measurement technology at sensors and actuators and read out the data from the ECU. Measured data internal to the ECU, e.g. intermediate results of a computational function, can be accessed via ASAM standard protocols XCP or CCP and the ECU's standard interfaces (CAN, FlexRay, LIN, Ethernet/BroadR-Reach). For high-performance ECU access, data from microcontroller-specific interfaces (for example JTAG, DAP, AURORA) can be converted via external hardware (like Vector's VX1000 system) in XCP on Ethernet. A typical use case for calibration with CANape is online calibration. This involves modifying parameters directly in the ECU. The resulting control characteristic can be measured and checked directly. Using this approach, measured data from the ECU or physical measurement variables on or in the vehicle can be precisely analyzed to determine the effects of each individual change.
Functions required to modify parameter values are implemented as standard features in CANape: Measuring, analyzing (manually or automated), [7] calibrating, calibration data management, and flashing. CANape also enables symbolic access to data and functions accessible via the diagnostic protocol, and it supports calibration over XCP on FlexRay. [2] Options extend the functional features of CANape [8] by enabling access to models at runtime in Simulink, functional bypassing, optical verification of object detection algorithms in developing driver assistance systems (ADAS), and an ASAM MCD3 interface.
CANape uses its own scripting language, hereinafter referred to as CASL (Calculation and Scripting Language). [9] CASL, is a signal-oriented language. CANape contains a function editor for writing cross-device functions and scripts. The CASL scripting language used for this is similar to the C programming language. For easier use, CANape provides an IntelliSense input, code blocks, and various built-in function groups. Functions and scripts can be used to solve a variety of different tasks from simple calculations, e.g., adding signals, to automation of CANape.
Version 1.0 was released in 1996. [10] Up to Version 6.0 the product was known as CANape Graph. In January 2017, CANape version 15.0 [11] was current. In October 2019, the current version was 17.0. [12]
Internal ECU parameters are accessed via standardized measurement and calibration protocols such as CCP (CAN Calibration Protocol) and XCP (Universal Measurement and Calibration Protocol). CANape was the first measurement and calibration tool to enable access over XCP on CAN [1] and XCP on FlexRay. [2]
Supported ASAM standards, [13] status as of June 2015:
Other supported standards:
If a development task requires a high measurement data throughput of up to 30 MByte/s, Vector's VX1000 System [3] can be used to access data over microcontroller-specific data trace and debug interfaces like JTAG, DAP, LFAST, RTP/DMM, Nexus AUX or AURORA.
A Controller Area Network (CAN bus) is a vehicle bus standard designed to allow microcontrollers and devices to communicate with each other's applications without a host computer. It is a message-based protocol, designed originally for multiplex electrical wiring within automobiles to save on copper, but it can also be used in many other contexts. For each device, the data in a frame is transmitted serially but in such a way that if more than one device transmits at the same time, the highest priority device can continue while the others back off. Frames are received by all devices, including by the transmitting device.
A vehicle bus is a specialized internal communications network that interconnects components inside a vehicle. In electronics, a bus is simply a device that connects multiple electrical or electronic devices together. Special requirements for vehicle control such as assurance of message delivery, of non-conflicting messages, of minimum time of delivery, of low cost, and of EMF noise resilience, as well as redundant routing and other characteristics mandate the use of less common networking protocols. Protocols include Controller Area Network (CAN), Local Interconnect Network (LIN) and others. Conventional computer networking technologies are rarely used, except in aircraft, where implementations of the ARINC 664 such as the Avionics Full-Duplex Switched Ethernet are used. Aircraft that use AFDX include the B787, the A400M and the A380. Trains commonly use Ethernet Consist Network (ECN). All cars sold in the United States since 1996 are required to have an On-Board Diagnostics connector, for access to the car's electronic controllers.
On-board diagnostics (OBD) is a term referring to a vehicle's self-diagnostic and reporting capability. In the United States, this self-diagnostic is a requirement to comply with Federal Emissions standards to detect failures that may increase the vehicle tailpipe emissions to more than 150% of the standard to which it was originally certified.
FlexRay is an automotive network communications protocol developed by the FlexRay Consortium to govern on-board automotive computing. It is designed to be faster and more reliable than CAN and TTP, but it is also more expensive. The FlexRay consortium disbanded in 2009, but the FlexRay standard is now a set of ISO standards, ISO 17458-1 to 17458-5.
A network analyzer is an instrument that measures the network parameters of electrical networks. Today, network analyzers commonly measure s–parameters because reflection and transmission of electrical networks are easy to measure at high frequencies, but there are other network parameter sets such as y-parameters, z-parameters, and h-parameters. Network analyzers are often used to characterize two-port networks such as amplifiers and filters, but they can be used on networks with an arbitrary number of ports.
Robot calibration is a process used to improve the accuracy of robots, particularly industrial robots which are highly repeatable but not accurate. Robot calibration is the process of identifying certain parameters in the kinematic structure of an industrial robot, such as the relative position of robot links. Depending on the type of errors modeled, the calibration can be classified in three different ways. Level-1 calibration only models differences between actual and reported joint displacement values,. Level-2 calibration, also known as kinematic calibration, concerns the entire geometric robot calibration which includes angle offsets and joint lengths. Level-3 calibration, also called a non-kinematic calibration, models errors other than geometric defaults such as stiffness, joint compliance, and friction. Often Level-1 and Level-2 calibration are sufficient for most practical needs.
The ASAM MCD-2 NET standard is an XML-based standardised format used for representing the networks used in automobiles. It is being used by the automotive industry for its ease of data exchange. It has extensibility required for the various network protocols used. It is developed by the ASAM consortium.
The Time-Triggered Ethernet standard defines a fault-tolerant synchronization strategy for building and maintaining synchronized time in Ethernet networks, and outlines mechanisms required for synchronous time-triggered packet switching for critical integrated applications and integrated modular avionics (IMA) architectures. SAE International released SAE AS6802 in November 2011.
Association for Standardization of Automation and Measuring Systems or ASAM is an incorporated association under German law. Its members are primarily international car manufacturers, suppliers and engineering service providers from the automotive industry. The association coordinates the development of technical standards, which are developed by working groups composed of experts from its member companies. ASAM pursues the vision that the tools of a development process chain can be freely interconnected and allow a seamless exchange of data. The standards define protocols, data models, file formats and application programming interfaces (APIs) for the use in the development and testing of automotive electronic control units. A large amount of popular tools in the areas of simulation, measurement, calibration and test automation are compliant to ASAM standards. Compliance shall guarantee interoperability of tools from different vendors, allow data exchange without the need for converters, and facilitate the exchange of unambiguous specification between customers and suppliers.
Vector Informatik develops software tools and components for networking of electronic systems based on the serial bus systems CAN, LIN, FlexRay, MOST, Ethernet, AFDX, ARINC 429, and SAE J1708 as well as on CAN-based protocols such as SAE J1939, SAE J1587, ISO 11783, NMEA 2000, ARINC 825, CANaerospace, CANopen and more. The headquarters of the company Vector Informatik GmbH is in Stuttgart, Germany. Subsidiaries include Braunschweig, Munich, Hamburg, Regensburg along with international subsidiaries in Brazil, China, France, Italy, England, India, Japan, South Korea, Austria, Sweden, and the USA. Vector Informatik also includes Vector Consulting Services GmbH, a consultation firm specializing in optimization of technical product development. Altogether, these companies are referred to as the Vector Group.
CANalyzer is an analysis software tool from Vector Informatik GmbH. This development software is primarily used by automotive and electronic control unit suppliers to analyze the data traffic in serial bus systems. The most relevant bus systems to CANalyzer are CAN, LIN, FlexRay, Ethernet and MOST, as well as CAN-based protocols such as J1939, CANopen, and ARINC 825.
CANoe is a development and testing software tool from Vector Informatik GmbH. The software is primarily used by automotive manufacturers and electronic control unit (ECU) suppliers for development, analysis, simulation, testing, diagnostics and start-up of ECU networks and individual ECUs. Its widespread use and large number of supported vehicle bus systems makes it especially well suited for ECU development in conventional vehicles, as well as hybrid vehicles and electric vehicles. The simulation and testing facilities in CANoe are performed with CAPL, a programming language.
The ETAS Group is a German company which designs tools for the development of embedded systems for the automotive industry and other sectors of the embedded industry. ETAS is 100-percent subsidiary of Robert Bosch GmbH.
INCA is a measurement, calibration and diagnostic software published by ETAS. With its large installation base in the auto industry, this development software is deployed during all phases of the development of electronic control units (ECUs) and ECU software programs for measuring, calibration, diagnostics and programming.
MOST is a high-speed multimedia network technology for the automotive industry. It can be used for applications inside or outside the car. The serial MOST bus uses a daisy-chain topology or ring topology and synchronous serial communication to transport audio, video, voice and data signals via plastic optical fiber (POF) or electrical conductor physical layers.
dSPACE GmbH, located in Paderborn, Germany, is one of the world's leading providers of tools for developing electronic control units.
XCP (or) "Universal Measurement and Calibration Protocol" is a network protocol originating from ASAM for connecting calibration systems to electronic control units, ECUs. It enables read and write access to variables and memory contents of microcontroller systems at runtime. Entire datasets can be acquired or stimulated synchronous to events triggered by timers or operating conditions. In addition, XCP also supports programming of flash memory.
The OPEN Alliance is a non-profit, special interest group (SIG) of mainly automotive industry and technology providers collaborating to encourage wide scale adoption of Ethernet-based communication as the standard in automotive networking applications.
ECU-TEST is a software tool developed by TraceTronic GmbH, based in Dresden, Germany, for test and validation of embedded systems. Since the first release of ECU-TEST in 2003, the software is used as standard tool in the development of automotive ECUs and increasingly in the development of heavy machinery as well as in factory automation. The development of the software started within a research project on systematic testing of control units and laid the foundation for the spin-off of TraceTronic GmbH from TU Dresden. ECU-TEST aims at the specification, implementation, documentation, execution and assessment of test cases. Owing to various test automation methods, the tool ensures an efficient implementation of all necessary activities for the creation, execution and assessment of test cases.