diagnostics with canoe - vector · 2018. 10. 23. · 3 typical doip testing tasks and challenges...
TRANSCRIPT
V1.0 | 2018-10-09
Setting up a Diagnostic Test System based on DoIP
Diagnostics with CANoe
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u Diagnostics in CANoe
DoIP Basics
Live-Demo: DoIP test system
Agenda
3
Typical DoIP Testing tasks and challenges
Diagnostics in CANoe
Task/Use Case Challenges
u Reuse of existing automated diagnostic tests (e.g. from CAN) on Ethernet-based network
u No Diagnostic Description available for Ethernet network
u New physical layer
u DoIP Vehicle identification / routing activation necessary
u Test of Ethernet or other network ECU behind DoIP Gateway
u No diagnostic description for Gateway available
u Test the Tester
u Create automated test for DoIP ECU
u HW SUT is not available
diagnostic ECU simulation necessary
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Overview
Diagnostics in CANoe
CANoe
MOST FlexRay
VN26xx VN16xxVN56xx VN88/89xx VN75/76xx I/O
AIO/DIOSensor buses
Analysis Simulation
Matlab/Simulink ®
OSEK/ AUTOSAR Emulation
Extensions (OEM specific, J1939, BAP, CANopen, AUTOSAR, ..)
External control
Logging
Offline
Online
TestDiagnostics
DiVa
COMGUI Panels
XCP/CCP
XIL-API / FDX
Ethernet
BroadR-Reach
Console
Session control
Fault memory window
OBD-II Test units
Test modules
CAN/LIN/K-Line
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Communication via…… “built-in diagnostic channel”:
u Uses almost all relevant communication parameters/attributes from diagnostic description and/or “Diagnostics/ISO TP” configuration dialog
u Used by all interactive diagnostic windows in CANoe/CANalyzer:
u Diagnostics Console Window
u Fault Memory Window
u Session Control Window
u Diagnostic Parameters Window
u No CAPL code necessary, but also usable with CAPL
… CAPL Callback Interface (CCI):
u (Almost) every parameter/attribute relevant for communication can be modified via CAPL for fault injection
u CAPL code necessary
u Can not be used by interactive diagnostic windows, i.e. changes of attributes/parameters via CAPL do not have an influence on the communication via these windows (exception: variant selection)
“Built-in” diagnostic channel vs. CAPL Callback Interface (CCI)
Diagnostics in CANoe
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Physical Layer
Built-in diagnostics channel up to CANoe V9.0 SPx
Diagnostics in CANoe
Diagnostic Layer
Transport Layer
DiagnosticWindows
CANoe/CANalyzer“built-in”
DiagnosticChannel
Test Modules,Test Units
Simulation Nodes
Transport Protocol DLL
CAPL Callback Interface (CCI)
alternatively
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Physical Layer
Built-in diagnostics channel since CANoe 10.0
Diagnostics in CANoe
Diagnostic Layer
Transport Layer
DiagnosticWindows
CANoe/CANalyzer“built-in”
DiagnosticChannel
Test Modules,Test Units, Simulation Nodes
Transport Protocol DLL
CAPL Callback Interface (CCI)
alternatively
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Necessary mainly for following use cases:
u Fault injection on tester or simulation side (especially on TP or lower levels!)
u Gateway implementation
Reference implementations (CAPL include files) for simple simulation/test purposes are available for:
u CAN TP
u LIN TP
u Flexray TP (AUTOSAR & ISO)
u DoIP
u K-Line
CAPL Callback Interface (CCI)
Diagnostics in CANoe
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Diagnostics in CANoe
u DoIP Basics
Live-Demo: DoIP test system
Agenda
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Vehicle and external network
DoIP Basics
Externalnetwork
According to ISO 13400-2:2012(E)
Vehicle network
ECU 1.1
ECU 1.2
ECU 1.<u>
DoIP edge node
gateway 1
DoIP gateway
<w>
Network node 1
DoIPnode 1
ECU 2.1
ECU 2.2
ECU 2.<v>
Network node <x>
DoIPnode <y>
External test
equipment
Network node 2
Network node <z>
Vehicle sub-network 1 Vehicle sub-network 2
IP-based network
IP-based network
Activation line
......
... ... ...
...
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Nested header structure
DoIP Basics
Eth Hdr DoIPIP Hdr TCP/UDP Hdr Eth CRCEthernet frame:
Max. 1518 Bytes (without VLAN-Tag)
ProtocolVersion
Inv. ProtocolVersion
PayloadType
DoIP Payload
1 41 2 0…4294967295
DoIP message:
Bytes:
PayloadLength
DoIP SourceAddress
DoIP TargetAddress
User Datae.g. UDS request
2 2 0…4294967291
DoIP payload(e.g. Diagnostic Message):
Bytes:
“Logical” DoIP addressesare needed for addressing
ECUs in “conventional”networks like CAN, LIN,
FlexRay, MOST etc.
Contains diagnosticrequest or response, e.g.0x10 0x03 = extended
Diagnostic Session
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DoIP Header Structure (example)
DoIP Basics
Item Byte Example Meaning
Protocol Version 0 0x02 DoIP Version 2(ISO 13400-2:2012)
Inverse Protocol Version 1 0xFD DoIP Version 2(ISO 13400-2:2012)
Payload Type 2 0x00 Vehicle Identification Requestwith VIN3 0x03
Payload Length 4 0x00 Payload Length = 17 (0x11)
5 0x00
6 0x00
7 0x11
DoIP Payload 8…24 … Vehicle Identification Number (VIN)
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Connection and Vehicle Discovery
DoIP Basics
According to ISO 13400-2:2012(E)
DoIP ECUNetworkExt. test
equipment
Physical Connect &(optional) address assignment via Auto-IP or DHCP
Vehicle announcement (3x)
Vehicle announcement (3x)
Vehicle identification responseVehicle identification response
Vehicle identification requestVehicle identification request
Alt [Tester is already reachable]
[Tester did not receive the initial vehicle announcement]
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u Case 1: Withoutparameters
Vehicle Identification Sequence (1/2)
DoIP Basics
1) EID = Entity Identification, typically contains the MAC address of the DoIP entity (here: of the ECU / Gateway)
Ext. test equipment
DoIP ECU/Gateway1
UDP: Vehicle identification request ()
UDP: Vehicle identification response (VIN1, EID11), …)
DoIP ECU/Gateway2
UDP: Vehicle identification response (VIN2, EID2, …)
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u Case 2: With Parameters,e.g. VIN
Vehicle Identification Sequence (2/2)
DoIP Basics
UDP: Vehicle identification request (VIN1)
UDP: Vehicle identification response (VIN1, EID1, …)
Ext. test equipment
DoIP ECU/Gateway1
DoIP ECU/Gateway2
Discard request if VIN does not match
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DoIP Session Example
DoIP Basics
According to ISO 13400-2:2012(E)
Non-DoIP ECU
DoIP Gateway
Ext. test equipment
Connection and vehicle discovery
Routing activation request
Routing activation response
Diagnostic responseDiagnostic message [Response]
Diagnostic requestDiagnostic message [Request]
Loop
Open TCP socket
Close TCP socket
Diagnostic message positive ack.
Connection successful
Initialize non-DoIP network, if necessary
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Routing Activation Request
DoIP Basics
TCP: Routing activation request (SA1), Activation Type)
TCP: Routing activation response (SA, TA2), Routing Activation Response Code)
1) SA = Source Address, here equal to Tester Log. Address
2) TA = Target Address, here equal to ECU Log. Address
Ext. test equipment
DoIP ECU/Gateway
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Diagnostic Messages
DoIP Basics
TCP: Diagnostic Message (SA, TA, UD1))
TCP: Diagnostic Message Positive Acknowledgement (SA, TA, ACK Code, …)2)
1) UD = User Data, contains the Diagnostic Request/Response
2) Only sent by a gateway after receiving, processing and copying the message correctly into the destination network transmission buffer
TCP: Diagnostic Message (TA, SA, UD)
Ext. test equipment
DoIP ECU/Gateway
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Diagnostics in CANoe
DoIP Basics
u Live-Demo: DoIP test system
Agenda
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CANoe and CANalyzer as diagnostic tools
u (AN-IND-1-001_CANoe_CANalyzer_as_Diagnostic_Tools.pdf)
CAPL Callback Interface in CANoe
u (AN-IND-1-012_CAPL_Callback_Interface.pdf)
Diagnostics via CANoe Gateways
u (AN-IND-1-004_Diagnostics_via_Gateway_in_CANoe.pdf)
Further documentation: Application notes
Live-Demo: DoIP test system
