CANoe快速入門-文檔資料

1、 2008. HiRain Technologies. All rights reserved.CANoe快速入門快速入門 2007. HiRain Technologies. All rights reserved.Slide: 2CANoe概述概述pCAN總線開發(fā)工具p測試p分析p仿真p記錄 2007. HiRain Technologies. All rights reserved.Slide: 3CANoe在總線開發(fā)中的作用（在總線開發(fā)中的作用（1）Phase 1simul.nodensimul.node2Simulated bussimul.node1Kl 15Virtual tot

2、al system 2007. HiRain Technologies. All rights reserved.Slide: 4CANoe在總線開發(fā)中的作用（在總線開發(fā)中的作用（2）Phase 2simul.node2simulated rest-of-busrealnode1Kl 15simul.nodenVirtual subystemReal subsystemphys. bus 2007. HiRain Technologies. All rights reserved.Slide: 5CANoe在總線開發(fā)中的作用（在總線開發(fā)中的作用（3）Phase 3realnode2realno

3、de1Kl 15Real total systemrealnodenPhysical busAnalysis(in real-time) 2007. HiRain Technologies. All rights reserved.Slide: 6p硬件接口卡&“狗”pCANcardXLpCANcaseXLp收發(fā)器pCANcab (CANpiggy)p251, 1041, 1054pLINcab (LINpiggy)p7259CAN卡卡 2007. HiRain Technologies. All rights reserved.Slide: 7CANoe組成組成p功能強大、操作簡單p

4、CANoep數(shù)據(jù)庫支持pCANdb+ Editorp可編程pCAPLp虛擬儀表pPanel Editor & Panel Designer 2007. HiRain Technologies. All rights reserved.Slide: 8CANoe工程環(huán)境工程環(huán)境 2007. HiRain Technologies. All rights reserved.Slide: 9多總線多總線p軟件p硬件p控制面板pVector HardwareqLicense-Overview 2007. HiRain Technologies. All rights reserved.Slid

5、e: 10設置（設置（1）p硬件pCAN卡類型（編號）p收發(fā)器類型p應用程序通道p應用程序pLicense信息 2007. HiRain Technologies. All rights reserved.Slide: 11設置（設置（2）pCANoep通道設置pConfiguration-OptionspConfiguration Settings-Channel Usage 2007. HiRain Technologies. All rights reserved.Slide: 12靈活復雜靈活復雜HW channelsChannel1 Channel2 Channel1 Channel

6、2 PiggyBack1 PiggyBack2CANcardXL #1CANcaseXLCANcardXL #2HardwareCANalyzer1 CANalyzer2. CANoe1 CANoe2 CANoe1 for LIN.App channelsApplication 2007. HiRain Technologies. All rights reserved.Slide: 13從復雜到簡單從復雜到簡單pCANoep波特率設置pConfiguration-Hardware Configuration 2007. HiRain Technologies. All rights rese

7、rved.Slide: 14基本術語基本術語報文（消息）與信號報文（消息）與信號報文：engine data (ID 100)ID 100B0B1B2CRC信號發(fā)動機溫度（第二字節(jié)，0-6位）未用(第二字節(jié)，第七位)發(fā)動機轉速（第一，二字節(jié)）轉換規(guī)則發(fā)動機轉速 ：rpm=1*Bit value (0 xFF 代表錯誤)發(fā)動機溫度： C =2* Bit value 50 (0 x7F 代表錯誤) 2007. HiRain Technologies. All rights reserved.Slide: 15基本術語基本術語環(huán)境變量與系統(tǒng)變量環(huán)境變量與系統(tǒng)變量p環(huán)境變量p節(jié)點的I/O信號p可用于面

8、板或真實I/Op系統(tǒng)變量p節(jié)點內部參數(shù)p或需要觀測的某個數(shù)值p例如：系統(tǒng)變量1 = 報文1.信號1 報文2.信號2 2007. HiRain Technologies. All rights reserved.Slide: 16歡迎進入歡迎進入CANoe的世界的世界pCANoepCANdb+ EditorpCAPLpPanel Editor & Panel Designer 2007. HiRain Technologies. All rights reserved.Slide: 17歡迎進入歡迎進入CANoe的世界的世界pCANoep8大窗口pTrace WindowpBus Sta

9、tistics WindowpStatistics WindowpData WindowpGraphic WindowpWrite WindowpSimulation SetuppMeasurement Setup 2007. HiRain Technologies. All rights reserved.Slide: 18CANoe窗口介紹（窗口介紹（1）pTrace Windowp報文ID和報文名稱（數(shù)據(jù)庫）p信號（數(shù)據(jù)庫）p時間（相對值或絕對值）p通道pDLCpDir（Tx或Rx）p更多內容見p右鍵點擊窗口空白處-Configuration-Columns 2007. HiRain T

10、echnologies. All rights reserved.Slide: 19蒙太奇（蒙太奇（1）p在CANoe中添加數(shù)據(jù)庫pView-Simulatioin Setup 2007. HiRain Technologies. All rights reserved.Slide: 20蒙太奇（蒙太奇（2）p符號化顯示與十進制/十六進制切換Global switches: Hex/Dec and Numeric/Symbolic toggles 2007. HiRain Technologies. All rights reserved.Slide: 21CANoe窗口介紹（窗口介紹（1）清

11、空Trace窗口暫停Trace窗口時間顯示切換報文顯示切換 2007. HiRain Technologies. All rights reserved.Slide: 22CANoe窗口介紹（窗口介紹（2）pData Windowp數(shù)據(jù)庫！p信號名稱p信號值（Value）p信號單位p原始值（Raw Value）pBar圖 2007. HiRain Technologies. All rights reserved.Slide: 23CANoe窗口介紹（窗口介紹（2）pData Windowp添加信號p右鍵單擊空白處pAdd Signalsp選擇需要的信號 2007. HiRain Techno

12、logies. All rights reserved.Slide: 24CANoe窗口介紹（窗口介紹（3）pGraphics Windowsp數(shù)據(jù)庫！p顯示信號曲線p不同的顏色和線形p右鍵單擊空白處p選擇Configurationp放大、縮小、平移 2007. HiRain Technologies. All rights reserved.Slide: 25CANoe窗口介紹（窗口介紹（3）pGraphics Windowsp添加信號p右鍵單擊空白處pAdd Signalsp選擇需要的信號 2007. HiRain Technologies. All rights reserved.Sli

13、de: 26CANoe窗口介紹（窗口介紹（4）pStatistics Windowp顯示報文出現(xiàn)頻率p顯示錯誤幀出現(xiàn)頻率p統(tǒng)計報告p右鍵單擊空白處pConfigurationpActivep生成統(tǒng)計報告(Write Window)Message frequencyID 2007. HiRain Technologies. All rights reserved.Slide: 27CANoe窗口介紹（窗口介紹（5）pBus Statistics Windowp總線負載p數(shù)據(jù)幀p錯誤幀pCAN卡控制器狀態(tài) 2007. HiRain Technologies. All rights reserved

14、.Slide: 28CANoe窗口介紹（窗口介紹（6）pWrite WindowpCAN卡控制器狀態(tài)pLicense信息p統(tǒng)計報告pCAPL輸出窗口pPrintf = Write 2007. HiRain Technologies. All rights reserved.Slide: 29蒙太奇（蒙太奇（3）pDesktoppCreate New DesktoppRename Desktop 2007. HiRain Technologies. All rights reserved.Slide: 30蒙太奇（蒙太奇（4）p固定窗口 2007. HiRain Technologies. Al

15、l rights reserved.Slide: 31CANoe窗口介紹（窗口介紹（7）pMeasurement SetuppView-Measurement Setupp每個模塊對應一個窗口p增加新模塊（窗口）p插入功能塊p數(shù)據(jù)記錄 2007. HiRain Technologies. All rights reserved.Slide: 32CANoe窗口介紹（窗口介紹（7）p新增模塊（窗口） 2007. HiRain Technologies. All rights reserved.Slide: 33CANoe窗口介紹（窗口介紹（7）p插入功能塊pCAPL節(jié)點p發(fā)生器模塊p回放模塊p觸

16、發(fā)模塊p過濾器模塊 2007. HiRain Technologies. All rights reserved.Slide: 34CANoe窗口介紹（窗口介紹（7）p過濾器模塊p通道過濾（Channel Filter）p報文過濾（Filter）p變量過濾（Variables） 2007. HiRain Technologies. All rights reserved.Slide: 35CANoe窗口介紹（窗口介紹（7）p數(shù)據(jù)記錄p默認狀態(tài)關閉p多種記錄文件類型p多種記錄配置方式 2007. HiRain Technologies. All rights reserved.Slide: 36

17、CANoe窗口介紹（窗口介紹（7）p記錄文件p右鍵點擊文件圖標-Logging file configuration 2007. HiRain Technologies. All rights reserved.Slide: 37CANoe窗口介紹（窗口介紹（7）p記錄配置方式p雙擊Logging模塊p全部記錄p單次記錄p觸發(fā)記錄 2007. HiRain Technologies. All rights reserved.Slide: 38蒙太奇（蒙太奇（5）p 數(shù)據(jù)記錄的目的是為了離線分析pMode-To Offline 2007. HiRain Technologies. All rig

18、hts reserved.Slide: 39CANoe窗口介紹（窗口介紹（8）pSimulation SetuppView-Simulation Setupp發(fā)生器p交互式發(fā)生器pCAPL節(jié)點 2007. HiRain Technologies. All rights reserved.Slide: 40CANoe窗口介紹（窗口介紹（8）p發(fā)生器模塊 2007. HiRain Technologies. All rights reserved.Slide: 41CANoe窗口介紹（窗口介紹（8）p發(fā)生器模塊 2007. HiRain Technologies. All rights reser

19、ved.Slide: 42CANoe窗口介紹（窗口介紹（8）p發(fā)生器模塊 2007. HiRain Technologies. All rights reserved.Slide: 43CANoe窗口介紹（窗口介紹（8）p交互式發(fā)生器模塊 2007. HiRain Technologies. All rights reserved.Slide: 44歡迎進入歡迎進入CAPL的世界的世界pCAPL (CAN Access Programming Language )p類C語言p仿真p單個節(jié)點和整個網(wǎng)絡p外部環(huán)境p測試p面向事件的編程語言p總線事件p鍵盤事件p時間事件 2007. HiRain T

20、echnologies. All rights reserved.Slide: 45CAPL Browser標題欄菜單條工具條瀏覽樹窗格編譯信息窗格狀態(tài)條全局變量編輯窗格CAPL程序編輯窗格 2007. HiRain Technologies. All rights reserved.Slide: 46CAPL事件事件系統(tǒng)事件PreStartCANoe初始化時執(zhí)行on preStart Start測量開始時執(zhí)行on start StopMeasuremet測量結束時執(zhí)行on stopMeasurement CAN控制器事件BusOff硬件檢測到BusOff時執(zhí)行on busOff ErrorA

21、ctive硬件檢測到ErrorActive時執(zhí)行on errorActive ErrorPassive硬件檢測到ErrorPassive時執(zhí)行on errorPassive WarningLimit硬件檢測到WarningLimit時執(zhí)行on warningLimit CAN消息事件自定義接收到指定的消息時執(zhí)行on message Message 時間事件自定義定時時間朝過時執(zhí)行on timer Timer 鍵盤事件自定義鍵值指定的鍵被下時執(zhí)行on key Key 錯誤幀事件ErrorFrame硬件每次檢測到錯誤幀時執(zhí)行on errorFrame 環(huán)境變量事件自定義指定的環(huán)境變量值改變時執(zhí)行o

22、n envVar EnvVar 2007. HiRain Technologies. All rights reserved.Slide: 47CAPL基本語法基本語法p類C語言，語法與C語言基本相同p注釋p/放置在需要注釋的語句之前，注釋單行p/*注釋起始符，其后的內容被注釋p*/注釋結束符，結束由/*開始的注釋p分號程序結束標識p大括號函數(shù)體counter = counter+1;if (counter=256) counter=0; stop(); 2007. HiRain Technologies. All rights reserved.Slide: 48消息事件消息事件pon me

23、ssage 123 /對消息123(dec)反應pon message 0 x123 /對消息123(hex)反應pon message MotorData /對消息MotorData(符號名字)反應pon message CAN1.123 /對CAN 通道1收到消息123反應pon message * /對所有消息反應pon message 100-200 /對100-200間消息反應 2007. HiRain Technologies. All rights reserved.Slide: 49鍵盤事件鍵盤事件pon key a /按a鍵反應pon key /按空格鍵反應pon key 0

24、 x20 /按空格鍵反應pon key F1 /按F1鍵反應pon key Ctrl-F12 /按Ctrl + F12鍵反應pon key PageUP /按PageUp鍵反應pon key Home /按Home鍵反應pon key * /按所有鍵反應 2007. HiRain Technologies. All rights reserved.Slide: 50時間事件時間事件p定時器聲明pmsTimer myTimer; /將myTimer 申明ms為單位的變量ptimer myTimer; /將myTimer 申明s為單位的變量p定時器函數(shù)psetTimer(myTimer,20);/

25、將定時值設定為20ms，并啟動pcancelTimer(myTimer); /停止定時器myTimerp定時器事件pon timer myTimer/對myTimer 設定的時間到反應 2007. HiRain Technologies. All rights reserved.Slide: 51環(huán)境變量事件環(huán)境變量事件p環(huán)境變量函數(shù)pgetValue()/獲取環(huán)境變量的值pputValue()/設置環(huán)境變量的值p環(huán)境變量事件pon envVar XXX 2007. HiRain Technologies. All rights reserved.Slide: 52數(shù)據(jù)類型數(shù)據(jù)類型數(shù)據(jù)類型數(shù)據(jù)

26、類型名稱名稱注釋注釋無符號整型byte1個字節(jié)word2個字節(jié)dword4個字節(jié)有符號整型int2個字節(jié)long4個字節(jié)浮點型float8個字節(jié)double8個字節(jié)CAN報文message定時器timer秒msTimer毫秒單個字符char1個字節(jié) 2007. HiRain Technologies. All rights reserved.Slide: 53數(shù)據(jù)定義數(shù)據(jù)定義p全局變量和局部變量p變量定義int i;message 0 x123 HiRain;message MotorData Vector; 2007. HiRain Technologies. All rights rese

27、rved.Slide: 54完整的完整的CAPL程序程序p三個部分p變量p各種事件p自定義函數(shù)on start /過程指令塊 on message xxx /過程指令塊 on key 1 /過程指令塊 My_function_1(Para_1, Para_2, ) /函數(shù)體 My_function_n(Para_1, Para_2, ) /函數(shù)體 variables /申明全局變量 2007. HiRain Technologies. All rights reserved.Slide: 55CAPL輸出文本輸出文本pWrite Windowpwrite函數(shù)int h=100;char ch=

28、a;char s1008=“hundred”;write(“Hundred as a number:%d,%x”,h,h);write(“Hundred as a string:%s”,s100);write(“The square root of two is %6.4g”,sqrt(2.0); 2007. HiRain Technologies. All rights reserved.Slide: 56消息處理常用語句消息處理常用語句pif (this.id=100) pmsg.can=2;pmsg.dlc=8;pdword t ; t=this.time;pif(this.dir!=R

29、X) return;pthis.CarSpeed = 200; 2007. HiRain Technologies. All rights reserved.Slide: 57關鍵字關鍵字thispthis代表觸發(fā)事件的對象on message 100 byte byte_0;byte_0 = this.byte(0);.on envVar Switch int val;val = getvalue(this);. 2007. HiRain Technologies. All rights reserved.Slide: 58報文處理報文處理on message 0 x64 if(this.b

30、yte(2)=0 xFF) write(“Third byte of the message is invalid”);on message MotorData if(this.temperature.phys=150) write(“Warning: critical temperature”); 2007. HiRain Technologies. All rights reserved.Slide: 59鍵盤處理鍵盤處理on key a message MotorData mMoDa; mMoDa.temperature.phys=60; mMoDa.speed.phys=4300; o

31、utput(mMoDa);on key b message 100 m100= dlc=1; m100.byte(0)=0 x0B; output(m100); 2007. HiRain Technologies. All rights reserved.Slide: 60定時器處理定時器處理Variablesmessage 0 x555 msg1 = dlc=1; msTimer timer1; on startsetTimer(timer1,100); on timer timer1setTimer(timer1,100); msg1.byte(0)=msg1.byte(0)+1; out

32、put(msg1); 2007. HiRain Technologies. All rights reserved.Slide: 61環(huán)境變量處理環(huán)境變量處理on envVar evSwitch message MotorData msg;msg.bsSwitch = getValue(this);output(msg); 2007. HiRain Technologies. All rights reserved.Slide: 62練習練習1p當CANoe啟動時，向Write Window輸出一句話，例如“Hello the world!” 2007. HiRain Technologies

33、. All rights reserved.Slide: 63練習練習2p利用發(fā)生器模塊周期性發(fā)送某一報文，例如每隔200ms發(fā)送一條EngineData報文。每當按下a鍵，在Write Window窗口輸出一句話，例如“ XXX EngineData messages have sent.”p注：XXX為已經(jīng)發(fā)送的EngineData報文數(shù)量。 2007. HiRain Technologies. All rights reserved.Slide: 64練習練習3p不用發(fā)生器模塊實現(xiàn)Enginedata報文的周期性發(fā)送。p每當按下a鍵時，EngineData里面EngSpeed信號值為20

34、00；當按下b鍵盤時， EngineData里面EngSpeed信號值為4000；p如果EngineData里面EngSpeed信號為4000，則發(fā)送ABSData報文，同時在Write Window輸出“Warning!”p當按下c鍵時，停止EngineData報文發(fā)送。 2007. HiRain Technologies. All rights reserved.Slide: 65歡迎進入歡迎進入CANdb+ Editor的世界的世界pDBC文件編輯工具p啟動CANoepFile-Open CANdb Editorp點擊 2007. HiRain Technologies. All rig

35、hts reserved.Slide: 66創(chuàng)建一個新的創(chuàng)建一個新的CAN數(shù)據(jù)庫數(shù)據(jù)庫pFile-Create Database p選擇模板，鼠標雙擊或 按 OK按鈕p指定數(shù)據(jù)庫文件類型、 文件名及保存目錄p按Save按鈕。 一個新數(shù)據(jù)庫創(chuàng)建完成 2007. HiRain Technologies. All rights reserved.Slide: 67創(chuàng)建對象（信號、報文、節(jié)點、環(huán)境變量和創(chuàng)建對象（信號、報文、節(jié)點、環(huán)境變量和ECU）p在Overview窗口左邊 選擇所需創(chuàng)建對象的類型p右鍵點擊對象類型， 在快捷菜單中選擇Newp使用配置對話框設置 所創(chuàng)建對象的系統(tǒng)參數(shù)值p點擊確定按鈕，

36、 一個新對象便創(chuàng)建完畢 2007. HiRain Technologies. All rights reserved.Slide: 68復制已有對象復制已有對象pCopy-Pastep選擇已有對象Ctrl+cp選擇對象類型Ctrl+v 2007. HiRain Technologies. All rights reserved.Slide: 69修改修改/編輯已有對象編輯已有對象p直接雙擊 2007. HiRain Technologies. All rights reserved.Slide: 70對象鏈接對象鏈接(1/2)p信號與報文之間的連接p發(fā)送報文與節(jié)點之間的連接p鼠標拖拽或Copy

37、-Insert 2007. HiRain Technologies. All rights reserved.Slide: 71對象鏈接對象鏈接(2/2)p接收報文與節(jié)點之間的連接p通過信號間接定義p雙擊節(jié)點， 選擇Mapped Rx Sig.頁簽p點擊Add，選擇接收信號點擊OKp點擊確定 2007. HiRain Technologies. All rights reserved.Slide: 72通信矩陣通信矩陣pView-Communication Matrixp顯示信號、消息、及網(wǎng)絡節(jié)點的關系p以信號為行，網(wǎng)絡節(jié)點為列p消息名顯示于表中，對應了包含的信號與發(fā)送/接收的節(jié)點 2007.

38、 HiRain Technologies. All rights reserved.Slide: 73數(shù)值表數(shù)值表(1/2)p新建數(shù)值表pView-Value Tablesp右鍵點擊空白處， 選擇Newp在對話框中輸入數(shù)值，點擊確定p新的數(shù)值表創(chuàng)建完成 2007. HiRain Technologies. All rights reserved.Slide: 74數(shù)值表數(shù)值表(2/2)p分配數(shù)值表p數(shù)值表可以分配給信號或環(huán)境變量 2007. HiRain Technologies. All rights reserved.Slide: 75屬性列表屬性列表pVector Tool Chain

39、AttributespGeneralpManufacturerpInteraction LayerpGenMsgCycleTimepTransport Protocol and DiagnosticspDiagRequest, DiaResponsepNetwork ManagementpNmBaseAddress, NmStationAdresspTool specificpBusType 2007. HiRain Technologies. All rights reserved.Slide: 76新建屬性新建屬性pView-Attribute Definitionsp右鍵點擊空白處， 選

40、擇Newp在對話框中輸入相關參數(shù)，點擊確定p新的屬性創(chuàng)建完成 2007. HiRain Technologies. All rights reserved.Slide: 77對象屬性修改對象屬性修改p雙擊對象 2007. HiRain Technologies. All rights reserved.Slide: 78一致性檢查一致性檢查pFile- Consistency Check 2007. HiRain Technologies. All rights reserved.Slide: 79數(shù)據(jù)導出數(shù)據(jù)導出p選擇需要導出的對象p信號，報文，節(jié)點，ECU或網(wǎng)絡pFile-Export-E

41、xport List of Objects 2007. HiRain Technologies. All rights reserved.Slide: 80創(chuàng)建面板創(chuàng)建面板/虛擬儀表虛擬儀表pPanel Editorp傳統(tǒng)的面板編輯器pFile-Open Panel EditorpPanel Designerp新的面板編輯器pFile-Open Panel Designer 2007. HiRain Technologies. All rights reserved.Slide: 81Panel Editor面板區(qū)控件區(qū) 2007. HiRain Technologies. All rights reserved.Slide: 82面板設置面板設置pOptions-Window settingp定義面板名稱p面板尺寸p背景顏色p透明色p控件的缺省字體和顏色pOptions-Change gridp網(wǎng)格大小p網(wǎng)格可視 2007. HiRain Technologies. All rights reserved.Slid