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International Journal of Electronics and Communication Engineering & Technology (IJECET), ISSN

0976 – 6464(Print), ISSN 0976 – 6472(Online), Volume 6, Issue 3, March (2015), pp. 01-08© IAEME

1

CAN PROTOCOL IMPLEMENTATION USING CANOE

AND FLEX-DEVEL BOARDS

Davuluri Vinaya Sai1 K Siva Teja Reddy

2

1,2

Electronics & Communications, VIT University, Vellore, India

ABSTRACT

With the increase in demand for safety in automobiles, the use of ECU’s (Electronic Control

Unit) are also increasing day by day. CAN serves the purpose of efficient communication between

these ECU’s, as it has high transmission efficiency, high reliabilityand being event triggered. Firstly,

a method of how to use CANoe to construct the simulation and test environment for vehicle body

CAN bus system is introduced. The control board is created in CANoe. The speed and indicator

displays are on the Flex-Devel boards. CANcase XL was used to interface the boards and software.

Then analysis of the bus load and the input signals in the statistic window and graphical window was

done.

Keywords: CAN, CANoe, CANcase XL, CAPL, Flex-Devel.

1. INTRODUCTION

With the growth of automotive industry, a number of features are being introduced. For this

we require a large no of electronicdevices more than 70, connected and sharing information with

each other [1, 2]. These are grouped into various sub systems such as Chassis system [3] to maintain

steering ability and avoid skidding during breaking, Power train to coordinate fuel injection, engine

speed, valve control, cam timing, X-by-wire System for replacing hydraulic and mechanical parts

with electronics and computer control systems, Body and comfort electronics involving hundreds of

system states and events and interface to physical components in the vehicle, e.g., motors and

switches, Air-bag systems [4] are a part of the vehicle passive safety systems, controlling the

operation of air-bags in the vehicle and many other such sub systems.

INTERNATIONAL JOURNAL OF ELECTRONICS AND

COMMUNICATION ENGINEERING & TECHNOLOGY (IJECET)

ISSN 0976 – 6464(Print)

ISSN 0976 – 6472(Online)

Volume 6, Issue 3, March (2015), pp. 01-08

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Employing these many sub systems require complex body wiring, large installation space and

reliability of communication between them. In order to handle the real-time signals [5, 6], we require

an effective and efficient way of communication. Since, most of the conventional systems use point-

to-point communications, we are unable to meet the requirements. Therefore, this led to the need to

develop a communication system to meet the requirements of the automobile.

At the beginning of the 1980s, Bosch began to develop a serial communication system. It was named

as CAN (Controller Area Network) [7]. Its high data rate, event driven feature, good reliability,

simple design, cost effectiveness are some reasons for CAN being used in electric vehicle control

system for automobile applications[8].

The author Thomas Noltet et.al, considering the recent developments in automotive industry,

mentioned various communication techniques [9]. In one of the previous research [10] considered

the characteristics of powertrain system of electric vehicles with range-extender, the Protocol CAN

was given and tested in CANoe. The author, LI Ding-gen et.al, built the CAN bus network

simulation system with several vehicle’s electrical controller and sensor nodes, CANoe-MATLAB

interface was used [11]. The authors Rishvanth et.al, explained how Vector CANoe uses a 3-phase

development process that assists the user from the planning of the distributed system to the

implementation of it [13]. The author Xinyan Li et.al, gave the modeling for heavy lorry CAN bus

network with CANoe, and software simulation, semi-physical simulation and system integrated test

are realized based on the modeling [14].

To analyze such CAN network before putting into real use, German company Vector

developed a powerful tool for system design and analysis. The various windows provided in CANoe

helps to analyse the various characteristics of the CAN bus such as bus load, data rate, frames, etc. It

is possible to realize both simulated bus and the real bus [12]. So, with all the node in the virtual

environment, one can use the simulated bus. The real bus scenario can be achieved with the help of

virtual and physical nodes. Vector’s CAN bus interface hardware, CANcase XL is used as an

interface between virtual and physical nodes.

This paper mainly deals with the development of a control board network using the CANoe

software and Flex-Devel boards. The CANcase XL provides the interface between the two. The

simulation is done using a real bus and the test system is analyzed in CANoe. The Second section

deals with the setup of nodes and network in the software. The Third section deals with the hardware

setup and real time simulation. The fourth provides the results observed. Conclusion is given in the

Fifth section.

2. DESIGN SCHEME OF SIMULATION AND TEST SYSTEM FOR CONTROL BOARD

We constructed a network, showing the basic functioning of ignition, speed and indicators in

an automobile. For this we designed separate nodes for ignition, speed, indicators and display and

created respective CAPL and Eclipse programs for the same using the software. We gave the inputs

in the software and observed the changes in the hardware. The inputs being ignition, speed and

indicators and the corresponding changes can be seen on the hardware using the led’s of the two

Flex-Devel boards.

2.1 Creating a Database

We created a database consisting of three messages having three signals.


0976 – 6464(Print), ISSN 0976 – 6472(Online), Volume

2.1.1 Messages

Name: ignition Type

Figure 1. Conventional Vs Bus Network

2.1.2 Signals

Name: bsspeed Length [Bit]

Value Type: Unsigned Factor

Minimum: 0 Maximum: 1

Similarly, signals “onoff” and “ind”

2.2 Defining System Variables

1. Create the three system variables in the

Open this dialog with the menu item

2. Open the “Add System Variable”

Namespace: Myspeed Name

This is used to get the input from the ignition control.

Figure 3. System Variables

Similarly, speed to get the input from the speed,

the car, both defined in the same namespace.


6472(Online), Volume 6, Issue 3, March (2015), pp.

3

Type: CAN Standard ID: 0x100 DL

Conventional Vs Bus Network Figure 2. Database Editor

Length [Bit]: 15 (states 0 to 320) Byte Order: Intel

Factor: 1 Offset: 0

: 1

“ind” are defined.

1. Create the three system variables in the “System Variable Configuration”dialog.

Open this dialog with the menu item Configuration -> System Variables….

System Variable”dialog with [Add…]

Name: ignitionData type: Integer

This is used to get the input from the ignition control.

System Variables Figure 4. CAPL Browser

to get the input from the speed, indicator to get the input from indicator of

the car, both defined in the same namespace.


(2015), pp. 01-08© IAEME

DLC: 8

Database Editor

dialog.

CAPL Browser

to get the input from indicator of



2.3 Creating Panels

A panel has been created for the control panel which consists of inputs for ignition, speed and

indicators. This is used to give the inputs to the

Devel board.

2.4 Creating Network Nodes

We create the network node models in the simulation setup of the CANoe. Double click on

each node to open CAPL Browser for the particular CAPL program.

2.4.1 NODE 1 Ignition

The first nodein the network

program acquires the new ignition value and im

2.4.2 NODE 2 Speed

This node inthe network

ignition is on, the program acquires the new speed value and immediately outputs it on

2.4.3 NODE 3 Indicator

This actsas an indicator node

program acquires the new indicator value and immediately outputs it on

there are two codes one for the reception of ignition message and the other to send the speed value.

The output nodes being in hardware requires the eclipse code to di

nodes we need to enable the can channel, initialize it and set the baud rate using the code

2.4.4 NODE 4 Speed Display

This node consists of ignition and speed display using the 8

LED7 used to indicate the reception of the CAN message. LED0 for the change in ignition. And

LED1 to LED6 for observing changes in the speed.



4


indicators. This is used to give the inputs to the system. The output would be observed on the Flex


each node to open CAPL Browser for the particular CAPL program.

nodein the network is for ignition control. When the switch position changes,the

program acquires the new ignition value and immediately outputs it on to the bus.

is for speed control. When the position changes, only when the

ignition is on, the program acquires the new speed value and immediately outputs it on

node. When the position changes, only when the ignition is on, the

acquires the new indicator value and immediately outputs it on to


The output nodes being in hardware requires the eclipse code to display the output. For both the

nodes we need to enable the can channel, initialize it and set the baud rate using the code

This node consists of ignition and speed display using the 8 LED’s

icate the reception of the CAN message. LED0 for the change in ignition. And

LED1 to LED6 for observing changes in the speed.

Figure 5. CAN Network


(2015), pp. 01-08© IAEME


system. The output would be observed on the Flex-


When the switch position changes,the

the bus.

position changes, only when the

ignition is on, the program acquires the new speed value and immediately outputs it on to the bus.

. When the position changes, only when the ignition is on, the

the bus. So, basically


splay the output. For both the

nodes we need to enable the can channel, initialize it and set the baud rate using the code.

present on the board.

icate the reception of the CAN message. LED0 for the change in ignition. And



2.4.5 Node 5 Indicator Display

This node consists of ignition and indicator display using the 4


LED3 and LED5 for observing right and left indicators respectively.

3. REAL BUS SIMULATION

We interfaced both CANoe [15] &

on hardware using Eclipse IDE. The codes developed in CANoe and eclipse must be synced with

each other in order to optimize the results. And we can observe the results like CAN statistics,

busload etc.., in the trace window.

The CANcase XL is a USB interface. It can process CAN messages with either 11

bit identifiers.The hardware is interfaced using CANcase XL, then we need to do some modifications

in the software. There are two wires s

connected in the software and the blue wire indicates that they are connected using hardware.

So, as to make a node be recognized in the hardware we need to right lick on the node and uncheck

the “Block Active” button. This deactivates the node in the software and activates it in the hardware.

4. RESULTS

The inputs are given from the control panel

Figure 6. Control Panel

The signals go through the

Bus which connects the CANcase XL with the Boards a

boardsusing the LED’s.The bus characteristics are analyzed using the

present in CANoe Software.



5

This node consists of ignition and indicator display using the 4 LED’s


LED3 and LED5 for observing right and left indicators respectively.

We interfaced both CANoe [15] & Flex-Devel i.e., partial code is in software and other done



d etc.., in the trace window.

The CANcase XL is a USB interface. It can process CAN messages with either 11


in the software. There are two wires shown in the network. The red wire indicates that the blocks are




The inputs are given from the control panel present in the Software.

Control Panel Figure 7. CANcase XL

The signals go through the CANcase XL connected to the computer and through the CAN

Bus which connects the CANcase XL with the Boards and the outputs are displayed on Flex

The bus characteristics are analyzed using the graphics and Trace window


(2015), pp. 01-08© IAEME

LED’s present on the board.


Devel i.e., partial code is in software and other done



The CANcase XL is a USB interface. It can process CAN messages with either 11-bit or 29-


hown in the network. The red wire indicates that the blocks are




CANcase XL

CANcase XL connected to the computer and through the CAN

nd the outputs are displayed on Flex-Devel

graphics and Trace window



Figure 8.

The graphics window gives us a picture about the various signals that are sent at different

times during the Experiment. It also helps us to know the Characteristics of the CAN Bus at dif

times. And the trace window helps us to know the messages that are sent through the bus.

Figure 9



6

Indicator and Speed Nodes in the Hardware


times during the Experiment. It also helps us to know the Characteristics of the CAN Bus at dif


Figure 9. Graph for Bus load, speed and indicator


(2015), pp. 01-08© IAEME


times during the Experiment. It also helps us to know the Characteristics of the CAN Bus at different




Figure 10. Trace Window Showing Ignition, speed and indicator Message

5. CONCLUSION

This paper introduces the interfacing of CANoe and Flex

done using the real bus, both virtual and physical nodes are created. The inputs are given from the

software and the changes are displayed on the boards using led’s. The interface between

done using the CANcase XL. The virtual nodes use CAPL programming and the Boards require

Eclipse code.Finally, Real bus characteristics are analyzed using the graphical and trace window of

the CANoe.

6. ACKNOWLEDGEMENTS

This work forms part of the

The authors would like to thank the Embedded division for providing the necessary facilities (both

hardware and software) to carry out this work successfully

REFERENCES

1. B.K.Ramesh, K. Srirama Murthy. In

http://www.deindia.com/images/downloads/whitepapers/In

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7

Trace Window Showing Ignition, speed and indicator Message

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the Project work done by us at VIT University, Vellore


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(2015), pp. 01-08© IAEME

Trace Window Showing Ignition, speed and indicator Message

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