CAN-REport Manual
Contents
1. Datatype Meaning u8 8bit unsigned char 18 8bit signed char ul6 16bit unsigned char 116 16bit signed char u32 32bit unsigned char 132 32bit signed char Table 3 CANopen datatypes H Important note The commands listed below are the new commands For backward compatibility the old commands without canl canopen sdo are still available Overview of CANopen user functions can canopen nmt preop can canopen nmt resetAppl canl canopen nmt resetComm can canopen nmt start can canopen nmt stop canl canopen sdo getRemoteID canl canopen sdo getSdoTimeout canl canopen sdo r canl canopen sdo setRemoteID canl canopen sdo setSdoTimeout canl canopen sdo w Page 46 of 65 CAN REport send NMT command Set specified node to Pre Operational send NMT command Reset application of the specified node send NMT command Reset communication of the specified node send NMT command Set all nodes to Opera tional send NMT command Stop application of the specified node get remote Id that is used for SDO transfers get timeout for SDO Transfer read data with expetited SDO transer set remote Id for SDO transfers set timeout for SDO Transfer write data with expetited SDO transer Version 4 0 3 pert Detailed function description canl canopen nmt preop nodeId send NMT command Set specified node to Pre Operational This function is only available with the CANopen extension Arguments2. 10s Results String with message String wait timeout Version 4 0 3 CAN REport Page 35 of 65 pert canl wait2 id type timeout Wait for CAN message with id and type or until timeout Arguments id can be an integer or hex Ox or any type any combination of s x D R s standard x extended D data R RTR timeout in ms defaults to 10000 10s Results String with message String wait timeout Example wait2 12 R wait 12s for RTR ID of any format s or x wait2 10 sR wait 10s for standard RTR ID wait2 any wait for the next messag canl wr Send CAN message with standard identifier Arguments args a CAN message It is specified in the format r id data bytes the optional r denotes the message as RTR CAN message Results nothing Example wr r 0x620 0x30 Oxff wr 0x20 0x69 0x55 Page 36 of 65 CAN REport Version 4 0 3 pert canl wrx Send CAN message with extended identifier Arguments args a CAN message It is specified in the format r id data bytes the optional r denotes the message as RTR CAN message Results nothing Example wrx r 0x820 0x30 Oxff wrx 0x20 0x69 0x55 The following figure shows an example session at the console entering a command sequence Console Edit Prefs History Help console display active canreport 1 wait 6x766 1070988907 161643 1798 8x786 sD 7f canreport 2 wait2 6x766 rD 266 wait tim
3. MAC ID set with setDMAC Arguments dmac id optional destination MAC ID Results manufacturer ID Version 4 0 3 CAN REport Page 57 of 65 pert devicenet ucmmReadSerial dmac_id read serial number using UCMM service Read serial number using a new connection got from UCMM The connection is closed after reading If no destination MAC ID is given then it defaults to the MAC ID set with setDMAC Arguments dmac id optional destination MAC Id Results serial number devicenet ucmmSetAttributeSingle dmac_id class instance attribute type data execute SetAttributeSingle service by UCMM Execute SetAttributeSingle service by UCMM Arguments dmac_id destination MAC Id class class of desired attribute instance instance of desired attribute attribute attribute id of desired attribute type data type data data value Results OK success error text Page 58 of 65 CAN REport Version 4 0 3 pert 13 7 J1939 functions Overview of J1939 user functions j1939 sendPGN Send a parameter group as a CAN message Detailed function description 1939 sendPGN pgn prio src dest Send a parameter group as a CAN message This function is only available with the J1939 extension Arguments pan Parameter Group Number decimal prio Priority 0 7 sre Source address dest Destination address opt args Real values of the parameters e g 100 f r 100 kPa use 0 3 for bitw
4. OxOO 0x00 Send 0 Preoperational Figure 17 Transmit Toolbar Page 18 of 65 CAN REport Version 4 0 3 pert If it is necessary to send CAN messages periodically then a Repeat Time in ms can be specified The CAN message sent is not displayed in the main window Only a notifica tion is shown If a Repeat Time was specified no notification is displayed One can assign a name to a message you want to send save You can do this by entering the name into the input field named Message Name Hint if you are ready to enter the name than confim it by hitting the ENTER key and the given name will appear as title of the current selected transmitbar tab 5 5 Statistical Tooltip A small and basic statistical overview is shown in a tooltip when uninterpreted CAN mes sages in the main window are selected with the mouse pointer The overview is shown in a tooltip when the left mouse button is released While the left mouse button is pressed the keys Ctrl Pos1 and Ctrl End jump to the top or bottom of the message log Agi CAN REport V4 0 localhost 127 0 0 1 File Edit View Connection Extras Windows Help S Q b Emo NMT PDO SDO EMCY FLYMA Host New connection to host localhost i Bitrate st 1080 432680 100 0x064 sD 55 1090 201237 100 0x064 sD 55 1092 201150 100 0x064 sD 55 1094 201127 100 0x064 sD 55 1096 201120 100 0x064 ASCII 1098 201089 100 0x064 1100 201066 100 0x064 iex
5. id node id default 1s O all Results nothing canl canopen nmt resetAppl nodeId send NMT command Reset application of the specified node This function is only available with the CANopen extension Arguments id node id default 1s O all Results nothing canl canopen nmt resetComm nodeId send NMT command Reset communication of the specified node This function is only available with the CANopen extension Arguments id node id default is O all Results nothing Version 4 0 3 CAN REport Page 47 of 65 pert canl canopen nmt start nodelId send NMT command Set all nodes to Operational This function is only available with the CANopen extension Arguments id node id default is O all Results nothing canl canopen nmt stop nodeId send NMT command Stop application of the specified node The device will not respond to SDO commands This function is only available with the CANopen extension Arguments id node id default is O all Results nothing canl canopen sdo getRemoteID get remote Id that is used for SDO transfers This function is only available with the CANopen extension Arguments Results return remote ID Page 48 of 65 CAN REport Version 4 0 3 pert can1 canopen sdo getSdoTimeout get timeout for SDO Transfer This function is only available with the CANopen extension Arguments Results return SDO timeout canl cano
6. 34 AN Set Mark 11 12 13 z4 15 ze 17 ze 19 x16 Ext RTR Id Length BO Bl B2 B3 B4 BS B6 B7 JT ox zo le 0x40 0x00 0x10 0x00 0x00 OxOO OxOO 0x00 Send 0 Repeat Time ms Message Name Preoperational Figure 1 Analyzer view Note The performance of the CAN REport depends on the used CAN interface hard ware Especially at high bus load and high baud rates some CAN messages may be lost Version 4 0 3 CAN REport Page 5 of 65 pert 2 Installation The installation includes the graphical user interface the horch server and a layer 2 driver for the CAN interface For the installation execute setup exe The installation of all software components is done automatically and menu driven This includes copying of all manuals 3 Application In the standard equipment the CAN Analyzer already has a lot of efficient basic functions at its disposal which cover most application needs Among other things the on line observation of the bus traffic the transmitting of unique or cyclical CAN messages and whole message sequences as well as the recording of CAN messages and the storage to log files belong to this purpose Besides the standard text format we also support the CSV format for easy data transfer into spread sheet appli cations Application specific interpretation of the messages data content can be defined through a project specific data base Through supplementary software modules ext
7. Arguments msg the standard message string provided for the procedure application Results time When time is on empty string when time is off get type msg return the type of the message Arguments msg the standard message string provided for the procedure application Results D Data frame R Remote frame Page 42 of 65 CAN REport Version 4 0 3 pert get_type2 msg return the type of the message Arguments msg the standard message string provided for the procedure application Results SD base Data frame SR base Remote frame xD extended Data frame xR extended Remote frame is_std msg check if the message is a standard CAN message Arguments msg the standard message string provided for the procedure application Results 1 ifthe message is a standard CAN Message O ifthe message is not a standard CAN Message Version 4 0 3 CAN REport Page 43 of 65 pert 13 2 1 Example The procedure application receives the message and interprets it It s an example for an user defined interpretation of CAN Messages proc application msg set tag stdout set msg get id set id get_can_id msg if Sid eq return if Sid 0x201 extract data set data get data msg set len get dlc msg for set iO i lt Slen incr i set byteSi lindex data i if SbyteO 0x55 set msg Start proc
8. Version 4 0 3 pert Version 4 0 3 CAN REport Page 65 of 65
9. into the main window as they are received The view shows timestamp CAN ID type data Object view Each CAN message is placed in one line Every time the message with the same CAN identifier is received the line is updated A maximum of 192 messages can be displayed The view shows CAN ID type data period and a receive counter 5 1 4 Connection Menu Gonnmect Disconnect GAN Anterhace Hardware Filter Settings Software Filter Settings Only log to File Figure 7 Connection Menu Connect Connect to the CAN Server horch All necessary data i e server name port and bitrate are input within the menu CAN Interface Disconnect Disconnect from the server CAN Interface Opens a dialog for the configuration of the TCP IP connection to the CAN Server Only the interfaces that are installed with an appropriate driver are displayed For serial interfaces no separate driver is needed Version 4 0 3 CAN REport Page 11 of 65 pert Agi CAN Interface Configuration BAX CAN Please specify the path to a local horch CAN ini Server It will be started and the CAN REport CAN InterFace CPC EJ uses this server to access the CANBus CAN Server E matthias 4 0new win horch cpcw mc exe ae x Device is the channel section specified in the Baud Rate 125 E cpcconf ini file in your Windows directory Device CHANOO CPC USB Serial 9999999 Timeout is the time in milliseconds the CAN Server
10. k k B es Usecn Figure 31 Trigger example 1 CAN message with 8 bytes length Byte 4 to 7 are marked as don t care Numbers used in decimal hexadecimal and octal active ID ATR Data uppercase X don t care Wo c pee do WR k T T P ew Figure 32 Trigger example 2 CAN message with 5 bytes length Byte 4 and 5 are marked as don t care Numbers used in decimal hexadecimal and octal active ID ATR Data uppercase X don t care pe rip T TT TT ems Figure 33 Trigger example 3 Only the CAN id is compared The content and length of the CAN message is not evalu ated 11 2 Defining a trigger Remote Request CAN message Defining a Remote Request CAN message follows the same rules as a normal CAN messages Setting the expected length of the RTR message is done with the don t care bytes Example active ID ATA Data uppercase X don t care o jk kK kk TTT ieee Figure 34 Trigger example 4 The CAN REport triggers on a RTR message with CAN id 0x64 and a length of 5 bytes 11 3 CANopen Message Builder The CANopen Message Builder eases creating of CAN messages for the trigger which conform to the CANopen protocol It provides input masks for the CANopen services NMT PDO SDO HEARTBEAT and EMCY Figure 35 shows the input mask for the NMT service The CANopen Message Builder is only available with the CANopen Version 4 0 3 CAN REport Page 31 of 65 pert Plugin CANopen Message Builder Xx SDO Messages Nod
11. 1102 201042 100 0x064 iz i State d n Time on off Status ide Set Mark 11 zz 15 z4 zs ze 17 ze 19 116 Ext RTR Id Length BO Bi B2 B3 B4 BS B6 B7 Repeat Time ms Message Name ox620 8 0x40 0x00 0x10 OxOO 0x00 0x00 0x00 0x00 Send 0 Preoperational Figure 18 Statistic tooltip 5 6 CAN Log window The CAN logger displays CAN messages It has all functions of a text editor This pro vides the functionality to mark relevant blocks of CAN messages or add annotations CAN messages are show in the following format Version 4 0 3 CAN REport Page 19 of 65 pert 11 123 256 0x100 sD 00 01 02 03 04 05 06 07 time id dec hex type data 1 8 if available Line Element Description Time stamp Time of reception in format seconds milliseconds The accuracy resolution is dependent of the operat ing system CAN Id Identifier of the CAN message as decimal and hexa decimal value Type sD standard data frame 11 bit identifier xD extended data frame 29 bit identifier sR standard remote frame 11 bit identifier xR extended remote frame 29 bit identifier Data Data bytes in the selected format Hexadecimal is the standard The prefix Ox for the hexadecimal val ues is omitted for better readability Page 20 of 65 CAN REport Version 4 0 3 pert 6 Interpretation of CAN messages This dialog is used for User PDO and E
12. Device Configuration Files The DCF import dialog shows a tabular interface for assigning a CANopen node id to a DCF The DCF can be selected by pressing the right mouse button If no DCF file is available EDS files can be imported Expressions like are evaluated according to the node id Page 24 of 65 CAN REport Version 4 0 3 pert Import from DCF j x Mode D DCF EDS File M Select File Figure 24 DCF import dialog Version 4 0 3 CAN REport Page 25 of 65 pert 8 DeviceNet Plugin The DeviceNet plugin shows CAN messages according to the DeviceNet protocol It also provides scripting commands that can be used for writing test procedures By using these functions reading and writing of object attributes is possible See paragraph Extending CAN REport DeviceNet d Toggle Predefined M S Connection 1139392773 598880 ID 1071 Grp 2 Msg ID 7 MAC ID 5 Duplicate MAC ID Check Message Request Vendor ID 0x1 Serialnr Oxc0098937 1139392774 607986 ID 1071 Grp 2 Msg ID 7 MAC ID 5 Duplicate MAC ID Check Message Request Vendor ID 0x1 Serialnr 0xc0098937 100 000000 ID 1068 Grp 2 Msg ID 4 D MAC ID 5 Master s Explicit Request Message svC 0x0e Get Attribute single Data 0x00 Ox0e 0x00 0x00 0x00 100 000000 ID 1920 Grp 4 Msg ID 0 Reserved Group 4 Message 100 000000 ID 640 Grp 1 Msg ID 10 S MAC ID 0 D MAC 7 SVC xe Req Obj 0x0 Inst O0x0 data 0x1 100 000000 ID 640 Grp 1 M
13. MCY Mapping PDO and EMCY mapping is only available if the CANopen Plugin is activated PDO EMCY Mapping is used to inter pret CAN messages with ID of the PDO 0x181 0x57F and EMCY 0x81 OxFF range in a user specific way The user mapping can be used for all other CAN messages The data contents can be interpreted as signed and unsigned integer values Each data item can be assigned to a user specific text and the data format big endian little endian can be selected Configuration is done with two dialogs First there is an over view dialog that shows all configured messages Second there is the message configura tion dialog General User Mapping CAN open CANopen 5 Misc Fonts amp Colors1 Fonts amp Colors2 Mariti ame Node Names PDO Mapping l Emcy Mapping n Libr 5 ibr Import from DCF Add Edit Delete Ok Cancel Figure 19 PDO EMCY Mapping dialog The dialog has buttons to add edit and delete messages you want to watch and interpret On press of the add and edit button the message configuration dialog opens The CANopen PDO mapping provides the functionality of importing a mapping of a Device Configuration File DCF See paragraph CANopen Plugin Version 4 0 3 CAN REport Page 21 of 65 pert Mapping configuration CANAD x Jox101 Name JEMCY Node 1 RTR Ex Figure 20 Message configuration dialog Note For EMCY messages the first 3 bytes of the CAN message are
14. a is the first bit in the description The order of the bits is important and must match the real order in the CAN message Version 4 0 3 CAN REport Page 27 of 65 pert Type specifier Description V The typeSpecParam consists of an offset a scaling factor and a unit in the following order offset scaling unit e g 250 0 5 m The unit is an optional parameter S The typeSpecParam is always Each combination of bits 2 bits 0 3 3 bits 0 7 has its own meaning valueO meaning 0 valuel meaning 1 value2 meaning 2 lastvalue default meaning e g 0 0Of f 1 On 2 Error Indicator 3 Not available If not all values are specified the last value is used as default value Hint Use for name and typeSpecParam to ignore bits h hexadecimal values without scaling offset unit The typeSpec Param is always 10 RS232 Plugin The RS232 plugin allows to monitor a serial interface and log the data into a separate window or into the main window The main purpose is for developers who want to see debug output from their device in relation to the CAN traffic Furthermore the plugin provides a Tcl Tk scripting API to send data to and recieve data from the serial interface see chapter Programming with CAN REport ioi xi File di Help Save Ctrl s Clear Log Ctrl Find Ctrl F Configure RS232 Connect Disconnect Close Figure 28 Logging windo
15. dows for the services NMT SDO PDO EMCY and Flying Master FLYMA The interpretation for PDO and EMCY can be tailored alike the user mapping for the spe cific application 7 2 1 PDO Configuration Incomming PDO messages can be configured to be displayed with symbolic information The databytes of the PDO are grouped to valid CANopen datatypes Each datatype can be assigned to a symbolic text Version 4 0 3 CAN REport Page 23 of 65 pert Whenever a PDO message is received the data is formatted as specified and displayed in the PDO window In cases where there are many PDO messages on the network it is pos sible to switch on a filter that only shows the configured PDO messages If the CANopen interpretation is shown in the main window then the PDO interpretation will be shown there too CANopen Misc Fonts amp Colors1 Fonts amp Colors2 Node Names PDO Mapping Emcy Mapping IV Show only configured messages 0x201 sD DIOC 7 Mapping configuration xj CAND 0x201 Name DIOC 711 I RTR T Ext Value 1 InputModule ioi xi File Help R 92067 827412 DIOC 711 Value 1 InputModule e 92068 678846 DIOC 711 Value 1 InputModule 0x01 OK 192068 872410 DIOC 711 Value 1 InputModule 0x01 d 92069 420728 DIOC 711 Value 1 InputModule 0x01 Figure 23 PDO Configuration with example output 7 2 1 1 DCF Import PDOs in a CANopen network are described by a set of DCF
16. e Id 7 J Response v Index oxi 018 Sublndex 0 04 Figure 35 Input dialog for NMT service of the NMT service Page 32 of 65 CAN REport Version 4 0 3 pert 12 Filter 12 1 Hardware Filter Filter settings for horch on ulrich E ni xi Controller SJAT000 Only Standard Messages Only Extended Messages Advanced Configuration direct access to the registers Use this page if only standard CAN messages are transmitted Wa S G wy mom d x mw qoom mus Acceptance Mask checked don t care iw vi Ww vw vw MY vw vw Mw Acceptance Code checked 1 iv wv viv WM MM WwW vw Mw OK Load Defaults Figure 36 Filter dialog The filter dialog provides access to the register of the acceptance mask of the CAN con troller SJA1000 The usage of acceptance filtering in the CAN Controller reduces the interrupt load There are three ways of defining the acceptance mask 1 Input for the acceptance mask for CAN 2 0 A starting with the MSB on the left side 2 Input of the acceptance mask for CAN 2 0 B starting with the MSB on the left side 3 Input of the acceptance mask as it is defined in the register of the CAN controller This feature depends on the hardware and driver respectively you are using At the moment the horch server for can4linux and CPC SJA1000 support setting the accep tance mask registers The other supported hardware interfaces see Restrictions don t support this Attentio
17. e usable instrument for development test and maintenance for analysis and commissioning of CAN based networks like DeviceNet and CANopen The built in scripting capability allows a universal usage for development and test of CAN devices besides the normal possibilities of displaying the received CAN messages It is especially useful in the field of industrial CAN networking The separation of hardware interface CAN access and visualization software allows the usage in TCP IP networks CAN REport V4 0 localhost 127 0 0 1 S gy 4k Emo NMT PDO File Edit View Connection Extras Windows Help SDO EMCY FLYMA Het f New connect l ion to host localhost 55 02 03 04 05 06 07 aa 2b 00 62 00 58 Od 00 OO 2b 00 62 00 58 Od OO OO 100 0x064 sD 385 0x181 sD 202 552599 385 0x181 sD 2 341 357090 385 0x181 sR length 8 256 363935 385 0x181 2b 00 62 00 58 Od 00 00 ASCII 264 327956 385 0x181 2b 00 62 00 58 Od OO 00 288 427311 385 0x181 2b 00 62 00 58 Od 34 00 LES 1251274288 000000 CANopen Slave Req Rd Init 1000 00 1251274288 000000 CANopen Slave Req Rd Init 1000 00 1251274288 000000 CANopen Slave Req Rd Init 1000 00 Bitrate kBit k E i 2 a i State lk itil ec Time on off Status 1251274350 0 1568 02620 sD 40 00 10 00 00 00 430 612173 385 0x181 2b 00 62 00 58 Od 34 00 471 550656 385 0x181 2b 00 62 00 58 Od 34 00 4AN 9N125A aR5 fix18R1 2b nn amp 2 nn SA nd
18. ended functionality can be made available These are among other things the protocol specific representations in separate protocol windows for different higher layer protocol messages Figure 2 shows this for SDO mes sages in CANopen based networks inixi File 4 Help 1092132289 776 Node 127 Req Rd Init 1000 00 1092132289 834 Node 127 Req Abort SD0 protocol timed out 1092132289 871 D5401 device I Req Wr Exp 1017 00 value 0x0000 1092132289 872 D5401 device I Resp Wr Exp 1092132289 907 bus coupler 1 Req Wr Exp 1017 00 value 0x0000 1092132289 910 bus coupler 1 Resp Wr Exp i 1092132289 944 bus coupler 2 Req Wr Exp 1017 00 value 0x0000 1092132289 946 bus coupler 2 Resp Wr Exp 1092132289 981 DS401 device II Req Wr Exp 1017 00 value 0x0000 hd Figure 2 CANopen SDO interpretation and recording You can see the symbolic representation of service and node name bus coupler 1 Req as well as displaying of index subindex within the SDO Initiate requests With the help of the built in scripting language programming of new functions or individ ual plugins with a graphic interface can be programmed easily Page 6 of 65 CAN REport Version 4 0 3 pert 4 Interfacing with CAN 4 1 TCP IP The analyzer CAN REport consists of the CAN hardware interface and the visualization software Both are connected as server and client by a standard TCP IP network connec tion This separation allows the usage of the CAN interface a
19. eout canreport 3 for set i 8 i lt 58 incr i wr 8x218 30 i 8x218 38 6 w 8x218 38 1 w 8x218 38 2 w 8x218 38 3 w 0x210 36 4 w 8x218 36 5 Figure 40 Entering interactive commands The resulting messages at the CAN network are shown in the next figure Version 4 0 3 CAN REport Page 37 of 65 pert f NMT PDO SDO EMCY FLYMA 1071498881 273558 1833 0x729 Host 1071498882 273921 1833 0x729 ulrich Bitrate 125 1071498884 274401 1833 0x729 1071498885 029488 528 0x210 State 1071498885 030004 528 0x210 1071498885 030521 528 0x210 1071498885 031042 528 0x210 1071498885 067672 528 0x210 1071498885 089888 28 0xz210 1071498885 104931 528 0x210 1071498885 115206 528 0x210 1071498885 126231 528 0x210 t S L o p p e d ASCII e i Dec 1071498885 137132 528 0x210 1071498885 148073 528 0x210 Time on off 1071498885 159399 528 0x210 1071498885 205106 528 0x210 Set Mark 1071498885 227677 528 0x210 1071498885 250150 528 0x210 Figure 41 Results of the commands of figure 40 The commands can be combined into sequences or procedures All semantics of modern high level languages are available Particularly for commissioning and error analysis a highly precise time resolution of the received CAN messages on the network is necessary The time represented by CAN REport is influenced in this case only from the used hardware A time resolution up to
20. er PDO and EMCY mapping please see paragraph Interpretation of CAN mes sages CANopen interpretation in main window Activates CANopen interpretation in the main window Connect at Startup This option controls the startup behavior When activated CAN REport will try to connect to the CAN server at the next start Tooltips Activates tooltips for every button and input field Auto Save If this menu is activated then the configuration is stored before exiting CAN REport Version 4 0 3 CAN REport Page 15 of 65 pert 5 1 6 Window Menu Clear All Cascade Tile vertical Tile Horizontal Hide All Show All Figure 12 Window Menu Clear All Clear the content of the main window and of windows that are created of plugins Cascade Place the plugin windows cascaded next to the main window Tile Vertical Place the plugin windows vertical next to the main window Tile Horizontal Place the plugin windows horizontal under the main window Hide All Hide all plugin windows Show All Show all plugin windows 5 1 7 Help Menu Help CAN REport Wiki About Latest Release Info Figure 13 Help Menu Help Provides a short help to CAN REport CAN REport Wiki Opens your standard browser and links to the Wiki pages of CAN REport Page 16 of 65 CAN REport Version 4 0 3 pert About Copyright and license information Additionally it displays the Tcl Tk packages that are available Latest Relea
21. es is separated by comma from each other Ranges of message ids are given in format lt lowValue gt lt highValue gt Software Filter I m S Software Filter r Software CAN filter Set a list of message ids for the software filter mechanism Only the message ids in the list will be received CAN message ids are specified as single values separated with comma or lists separated with For example 1 3 9 0 580 0 600 0 701 Dx0 0x1fffffff Figure 39 Filter dialog Page 34 of 65 CAN REport Version 4 0 3 pert 13 Programming with CAN REport 13 1 Extending CAN REport With the help of the integrated console convenient commands for the interactive access on the CAN network are available and not only for device developers These commands can be used in test scripts Commands like wr for the sending of messages or wait for the synchronization with CAN messages on the network belong to this purpose Overview of user functions canl wait Wait for CAN message with id or until timeout canl wait2 Wait for CAN message with id and type or until timeout canl wr Send CAN message with standard identifier canl wrx Send CAN message with extended identifier Detailed function description canl wait id timeout Wait for CAN message with id or until timeout This function is deprecated please use wait2 Arguments id can be an integer or hex Ox or any timeout in ms defaults to 10000
22. essing if Sid 0x281 extract data set data get data msg set len get dlc msg for set 10 Si lt Slen incr i set byteSi lindex data i if SbyteO OxlF set msg zero limit switch reached InsertText usr msg Stag return Page 44 of 65 CAN REport Version 4 0 3 pert 13 3 Multichannel functions The multichannel plugin enhances the following commands to be used on each CAN line The CAN line is selected by prepending the word can1 and can2 So the result ing command is for example can1 wr and can2 wr Standard commands wr WIX wait wait2 on CANopen commands canopen sdo w canopen sdo r canopen sdo setSdoTimeout canopen sdo getSdoTimeout canopen sdo setRemoteID canopen sdo getRemoteID canopen nmt start canopen nmt stop canopen nmt preop canopen nmt resetAppl canopen nmt resetComm Table 2 Commands enhanced by the Multi channel plugin 13 4 Testscript commands These commands are helpful for creating test protocolls 13 5 CANopen functions The CANopen Plugin provides some basic functionality for accessing the object direc tory of a CANopen SDO Server Therefore the CAN REport acts like an SDO Client The read and write function use Expedited SDO Transfer With Expedited SDO Transfer a maximum of 4 Bytes can be transmitted The datatypes are specified as in the gateway standard DS309 3 Version 4 0 3 CAN REport Page 45 of 65 pert
23. evicenet getAttributeSingle read an attribute devicenet getDMAC get destination MAC Id devicenet getSMAC get source MAC Id devicenet openExplConnection open Explicit Messaging Connection Request UCMM devicenet poll poll a device devicenet setAttributeSingle set a single attribute with an explict connec tion devicenet setDMAC set destination MAC Id devicenet setSMAC set source MAC Id devicenet ucmmGetAttributeSingle get Single Attribute using the UCMM service devicenet ucmmReadManlId read manufacturer ID using UCMM service devicenet ucmmReadSerial read serial number using UCMM service devicenet ucmmSetAttributeSingle execute SetAttributeSingle service by UCMM Version 4 0 3 CAN REport Page 51 of 65 pert Detailed function description devicenet allocate allocate Predefined Master Slave Connection Set Referring to Chapter 5 page 5 57 Source MAC ID and Allocator s MAC ID are the same that means the requester is the user of the connection After establish ing a connection the following services are available Polled I O master poll request data fro master to slave slave poll response data from slave to master Bit Strobe I O Connection Change of State Cyclic I O Connection Arguments args allocation choice es which connections are needed is one explicit polled strobe cos cyclic ack or a mix of these may be polled or cos without explicit isn t possible 1791D8B8P Result
24. f lock Central Take no action 42423 23432 O OOFEDE 100 Air Start Pressure al ff ff ff ff ff ff fE Air Start Pressure 640 kPa Figure 26 J1939 Filter settings The filter settings allow to select source addresses that are displayed Page 26 of 65 CAN REport Version 4 0 3 pert General User Mapping J1 939 CANopen Maritime Fonts amp Colors Filter Settings Select source addresses of interest Set a list of source addressed for the filter mechanism Only the messages from the source address in the list ele be received Source addresses are specified as single values separat with comma or lists separated with For example 1 3 9 030 040 0x70 0 255 Ok Cancel Figure 27 J1939 Filter settings The plugin provides an API to send J1939 messages See paragraph Extending CAN REport The J1939 interpretation can be adopted or extended to suite application specific details The adoption is carried out in the file j 959def tcl Two Tcl lists contains the information on how to interpret the CAN messages J1939MAIN defines the text for the parameter group J1939SUB defines the bits and bytes of a parameter group Example bitPos type Name typeSpecParam 59904 8 V Fuel 0 1 13 The bit position of 8 means that all bits from the previous bit position 1 start posi tion until that bit position 8 belongs to a value It is assumed that the first 1 of the CAN Dat
25. file r Logfile Options Logfile log txt Choose logfile Stop logging C only when user stops logging C after messages after E minutes when message with ID arrives Start Trigger Cancel Stop Trigger Figure 30 Trigger dialog The process of triggering is started with the button Start Trigger During the trigger process the dialog stays on top of the application and recording of messages in the main window stops After the specified CAN message was received the trigger dialog disap pears Page 30 of 65 CAN REport Version 4 0 3 pert 11 1 Defining a trigger CAN message Up to three different CAN message can be specified as trigger events The second and third CAN message are activated through the checkbutton labeled active The first CAN message is active by default The input in the fields CAN ID and data can be speci fied as decimal hexadecimal or octal numbers Hexadecimal numbers are prepended with Ox and octal numbers with 0 A blank input field determines the end of the CAN message Any data byte after a blank input field is ignored The length is then cal culated by the number of non empty input fields In order to ignore the contents of a byte mark it as don t care by entering an X into an edit field instead of a numerical value Then its value is not compared with the received message Examples active ID ATR Data uppercase X don t care fico fees Te k
26. he value to write to the attribute one of u8 u16 u32 value value to write Results timeout timeout error message errorresponse received OK Success Version 4 0 3 CAN REport Page 55 of 65 pert devicenet setDMAC id set destination MAC Id Set destination MAC Id Used to address the destination device Arguments id destination MAC Id Results nothing devicenet setSMAC id set source MAC Id Set source MAC Id Arguments id source MAC Id Results nothing Page 56 of 65 CAN REport Version 4 0 3 pert devicenet ucmmGetAttributeSingle dmac_id class instance attribute get Single Attribute using the UCMM service Uses SVC O0xe to request the attribute of the given instance of a class data type can be any type between and 4 bytes As source id the global value of variable SMAC_ID is used For segmented message one has to look if the response is segmented using a loop while segmented ist TRUE with a time out condition Arguments dmac_id destination MAC class Class of desired attribute instance Instance of desired attribute attribute Attrbute id of desired attribute Results values list of byte values Error describing error condition devicenet ucmmReadManld dmac_id read manufacturer ID using UCMM service Read manufacturer ID using a new connection got from UCMM the connection is closed after reading If no destination MAC ID is given then it defaults to the
27. horch 2 6 1 horch_cpew e Baud Rate fi 25 hed Device com z Change C Nview Settings Advanced Settings Timeout Figure 44 Configuration dialog 14 1 1 CAN232 Configuration Please ensure that your CAN232 is connected properly to the power supply and to the PC After pressing the button Configure CAN232 the CAN REport tries to connect to the CAN232 by scanning the RS232 baud rates 230400 115200 57600 38400 19200 9600 2400 On success a dialog window is opened to change the RS232 baud rate For support of the CANUSB the compatibility mode is used The device is controlled via the virtual serial COM port Note Baudrate scanning does not work under Windows 98 The current used baudrate has to be inserted by hand 14 1 2 CANview Configuration After pressing the button Change CANview Settings a dialog window is opened to config ure the CANview settings Please regard that it does not configure the device Instead the CAN REport has to be configured according to the device settings To change the device settings directly please use the RM Device Configurator Version 4 0 3 CAN REport Page 63 of 65 pert 15 System Requirements CAN REport is executables on PC s with Microsoft Windows and UNIX LINUX sys tems Page 64 of 65 Operating system Windows 2000 XP Vista LINUX Processor Pentium and higher RAM 64 MByte hard disk space 10 MByte CAN REport
28. ions 5 1 6 Window Menu 5 1 7 Help Menu 5 2 Toolbar 5 3 Statusbar 5 4 Transmit Toolbar 5 5 Statistical Tooltip 5 6 CAN Log window 6 Interpretation of CAN messages 7 CANopen Plugin 7 1 Set Node Names ARD 7 2 Service oriented interpretation Version 4 0 3 CAN REport 10 10 11 11 13 15 16 16 17 17 18 19 19 21 23 23 23 Page 3 of 65 pert 7 2 1 PDO Configuration 7 2 1 1 DCF Import 8 DeviceNet Plugin 9 J1939 Plugin 10 RS232 Plugin 11 Trigger 11 1 Defining a trigger CAN message 11 2 Defining a trigger Remote Request CAN message 11 3 CANopen Message Builder i E 12 Filter 12 1 Hardware Filter 12 2 Software Filter 13 Programming with CAN REport 13 1 Extending CAN REport 13 2 Interpretation of CAN messages 13 2 1 Example 13 3 Multichannel functions 13 4 Testscript commands 13 5 CANopen functions 13 6 DeviceNet functions 13 7 J1939 functions 13 8 RS232 functions 13 9 Extending the user fts uos 14 Configuration 14 1 Serial interfaces 14 1 1 CAN232 ease tie 14 1 2 CANview Configuration 15 System Requirements Page 4 of 65 CAN REport 23 24 26 26 28 30 3l 3l 3l 33 33 34 35 35 39 44 45 45 45 51 59 60 61 63 63 63 63 64 Version 4 0 3 pert 1 Overview The CAN Analyzer CAN REport from port is an efficient and versatil
29. ise values Results nothing Restrictions The data page is assumed to be 0 Example j1939 sendPGN 65257 6 32 500 5 1000 5 Version 4 0 3 CAN REport Page 59 of 65 pert 13 8 RS232 functions Overview of RS232 user functions seriall close Close the serial RS232 interface seriall open Open the serial RS232 interface seriall read Read data from the serial interface seriall write Send data via the serial interface Detailed function description seriall close Close the serial RS232 interface Arguments none Results 0 on success error string on failure seriall open Open the serial RS232 interface Arguments none Results 0 on success error string on failure Page 60 of 65 CAN REport Version 4 0 3 pert seriall read Read data from the serial interface Arguments timeout val timeout for reading default is 0 i e wait forever Results 0 on failure gt 0 on success it is the numbe of bytes written Example seriall read seriall read tiemout 1000 seriall write Send data via the serial interface Arguments data a single string Results 0 on failure gt 0 on success it is the numbe of bytes written 13 9 Extending the user interface With the script language Tcl Tk also elements of the graphic interface can be accessed and changed With that the representation of values or test outputs is expandable in user specific way
30. n Although it is possible to set the two least significant bits of the CAN identi fier the SJA 1000 doesn t use these two bit during acceptance filtering Examples Filter settings for horch on localhost d ox Controller SJA1000 Only Standard Messages Advanced Configuration direct access to the registers Use this page if only standard CAN messages are transmitted ju ER epe te GEN xt ep CER N AE A i Acceptance Mask checked don t care uA m m m E E Iv I d UI adi d Acceptance Code checked 1 u d d m m a d ad daddy Load Defaults OK Cancel Figure 37 Acceptance register values for NMT filtering CAN identifiers range 0x700 Ox71f ie CANopen nodes 1 to 31 Version 4 0 3 CAN REport Page 33 of 65 pert Filter settings for horch on localhost Controller SJAT000 Only Standard Messages Use this page if only standard CAN messages are transmitted i S 6b wo dS ch o XpOR 3 0 Gh Acceptance Mask checked don t care zu m m m zu ccs m Acceptance Code checked 1 u sm s 4a y a d ww ww Load Defauts OK Cancel Figure 38 Acceptance register values for EMCY filtering CAN identifiers range 0x80 Oxff ie CANopen nodes 1 to 127 12 2 Software Filter The software filter works with all drivers that make use of the horch server With it only the defined message ids are received The message ids that are to be received are given in a list of values Each valu
31. n Explicit Messaging Connection Request UCMM Open Explicit Messaging Connection Request UCMM to node If no destination MAC ID is given then it defaults to the MAC ID set with setDMAC Protocol Byte 0 dest mac id Byte 1 request service code Ox4b Byte 2 mes sage body format 0 means 8bit for class 8bit for instance Byte 3 source mes sage group lt lt 4 message id message group 0 or 3 gt the client is requesting a fixed connection in Message Group 1 Arguments dmac id optional destination MAC ID Results instance Id Success ETEO Q2 failure Page 54 of 65 CAN REport Version 4 0 3 pert devicenet poll dmac_id poll a device Used to set data using the predefined polled I O connection Restriction no fragmented messages yet Arguments dmac id destination mac id of polled device args optional bytes to be send to the device if no data are given the poll idle message is send to the destination mac id Results nothing devicenet setAttributeSingle class instance attribute type data set a single attribute with an explict connection Use the explicit connection to set the attribute of an instance of an object If the data type is lt 3 bytes a non fragmented transfer can be used otherwise only frag mented is possible Arguments class class of desired attribute instance instance of desired attribute attribute attribute id of desired attribute type data type of t
32. needs to start in the worst case If Timeout not using serial or parallel ports 1500 ms Advanced Settings q Should be enough TCP port 7235 v Keep server running at exit r OK Cancel Figure 8 Configuration dialog of CAN interface Hardware Filter Settings Opens a dialog for setting the acceptance mask register of the CAN controller Although this menu is provided not every hardware interface supports the setting of registers See paragraph Filter Software Filter Settings Opens a dialog for setting CAN ids that are to be received Filtering is carried out by the CAN server horch Interfaces that do not use the horch server do not sup port this feature See paragraph Filter Trigger Opens a window for trigger configuration see paragraph Trigger Only Log to File CAN messages are saved to a log file and are not displayed in the main window The data can be logged in one single file or in multiple files For logging in multi ple files a time interval can be specified when a new file will be started The file names are placed in a directory that has the format Year Month Day The file itself has the format YearMonthDay HourMinute log Logging in files supports two formats plain text files and CSV files Page 12 of 65 CAN REport Version 4 0 3 pert Select Logging Options 3 x T Log to Single File Filename de v Log to Multiple Files Directory C Save file every fi 5 Min
33. or CAN line 1 and instance 1 for CAN line 2 The main window displays the CAN messages from both lines The transmitbar is changed in that the checkbuttons for extended messages and RTR messages now are used for selecting the line Further it provides script commands to send mes sages on both CAN lines J1939 Plugin Loads the J1939 Plugin The plugin uses databases for the interpretation form file j1939def tcl The database is defined as Tcl list that can be extended if needed See paragraph J1939 Plugin RS232 Plugin The RS232 Plugin allows to monitor a serial interface see chapter RS232 Plugin User Plugin Loads the file lt application tcl gt and adds a button to the toolbar This file provides a Tcl function for user defined protocol interpretation An example file is pro vided Page 14 of 65 CAN REport Version 4 0 3 pert 5 1 5 1 Options Opens a dialog to configure fonts settings for Start and Exit and plugin specific settings like mapping for PDO EMCY for the CANopen Plugin Options Temp rm General CANopen Multichannel J1939 RS232 Standard Courier 12 Font a h Error Courier 12 Font L ali User Courier 12 Font L eli r Select a Global Font Misc Fonts amp Colors Basic Fonts For setting all fonts select a font here and press Apply All other Fonts can then be selected differently again Global Font Courier 12 Font Apply Figure 11 Options dialog For Us
34. ow The status button provides a window with information about the underlying CAN hard ware and driver respectively The figure 16 below shows the information of a CAN server that is running on Linux Windows driver do not support all shown information There fore some values will always show 0 can Controller SEPN TETE Status Controller sja1000 Bitrate 125 Status Register Ox0c Error Warning Limit 96 Rs Error 0 Tx Error 0 Error Code Oxa2 Bus load 0 8 Refresh Close Figure 16 Status window 5 4 Transmit Toolbar CAN REport also allows it to send CAN messages In the transmit toolbar at the bottom a complete CAN message can be specified with CAN id and CAN data With the button Send the message is sent The number of tabs can be set in the configuration file lt can report rc gt with set ST txch 12 put any number here The CAN messages are stored in the configuration file in the current working directory If AutoSave was activated CAN REport will save the settings automatically at exit At the next start all your settings will be reloaded Optionally a name can be assigned to a CAN message The edit fields take decimal hexadecimal and octal values as input Hexadecimal values are prepended with 0x and octal values with 0 11 2 zs z4 xs ze zy rs 15 110 Ext RTR Id Length BO Bi B2 B3 B4 BS B6 B7 Repeat Time ms Message Name ox620 8 0x40 0x00 0x10 0x00 0x00 0x00
35. pen sdo r idx sidx dt read data with expetited SDO transer This function is only available with the CANopen extension The node id has to be set previously Arguments idx Index of the server object sidx SubIndex of the server object dt Datatype of the value Results ERROR Error reason is given value Success Version 4 0 3 CAN REport Page 49 of 65 pert canl canopen sdo setRemoteID nid set remote Id for SDO transfers This function is only available with the CANopen extension The initial value is 0x20 Arguments nid new node id Results 0 Error 1 Success canl canopen sdo setSdoTimeout val set timeout for SDO Transfer This function is only available with the CANopen extension The initial value is 1000 ms Arguments val new timeout ms Results Page 50 of 65 CAN REport Version 4 0 3 pert canl canopen sdo w idx sidx dt val write data with expetited SDO transer This function is only available with the CANopen extension The node id has to be set previously Arguments idx Index of the server object sidx SubIndex of the server object dt Datatype of the value val value itself Results ERROR Error reason is given OK Success 13 6 DeviceNet functions Overview of DeviceNet user functions devicenet allocate allocate Predefined Master Slave Connection Set devicenet closeExplConnection close Explicit Messaging Connection Request UCMM d
36. pert CAN REport User Manual CAN REport V4 0 File Edit View Connection Extras Windows Help S gy 4 Error NT poo soo EMCY FLYMA Host New connection to host localhost Bitrate KBit 12 488002 100 0x064 S 13 083959 100 0x064 13 613920 100 7 0x064 14 168052 100 0x064 14 732130 100 0x064 State ted ASCII 15 238698 100 0x064 ENSE 15 796506 100 0x064 Uc 16 344122 100 0x064 Dec Time onjoff Status 439581 100 0x064 051432 100 0x064 Set Mark 903633 100 0x064 11 E 13 14 15 1e 17 r8 x5 110 Ext RTR Id Length BO Bl B2 B3 B4 BS B6 B7 Repeat Time ms Message Name I loxezo 8 ox40 0xO0 0x10 0x00 DxOD OxOO OxOO x00 Send 10 Preoperational port GmbH Halle 2010 CAN REport Version 4 0 3 pert Disclaimer All rights reserved The programs boards and documentations supplied by port GmbH are created with due diligence checked carefully and tested on several applications Nevertheless port GmbH can not take over no guarantee and no assume del credere lia bility that the program the hardware board and the documentation are error free respec tive are suitable to serve the special purpose In particular performance characteristics and technical data given in this document may not be constituted to be guaranteed product features in any legal sense For consequential damages which are emerged on the strength of use the program and the hardware boards the
37. predefined as u16 and u8 This is not displayed and cannot be altered Page 22 of 65 CAN REport Version 4 0 3 pert 7 CANopen Plugin 7 1 Set Node Names General User Mapping CAN open l Mariti Misc Fonts amp Colors1 Fonts amp Colors2 ug Node Names PDO Mapping Emcy Mapping 127 new device Figure 21 CANopen configuration of CANopen node names This dialog is only available if CANopen Plugin is activated With this dialog you can define a symbolic name for a CANopen device This name is used for all CANopen ser vice windows instead of the node id Figure 22 shows an example iix File E 1071053145 Actuator code 0xl2 circuit Oxff err 0x00 time OxlllO 1071059145 Drive cmd 0x00 state OxlZ velocity 0x20 1071059146 Drive cmd 0x00 state OxlZ velocity OxZ5 1071059146 Drive cmd 0x00 state OxlZ velocity 0x30 1071059146 Analogue I 0 channel 0x01 input 5138 channel Ox0f output Ox2312 1071059146 Analogue I 0 channel 0x04 input 4226 channel 0x00 output 0x1382 1071059146 Analogue I 0 channel 0x07 input 4610 channel 0x03 output 0x7312 1071059146 Drive cmd 0x00 state Ox22 velocity 0x55 1071059146 Digital I 0 input Oxfe output 0x02 1091n0ca 4c Te3 A nmd AeA renen Nw Al6eie Ae In Figure 22 CANopen PDO interpretation and recording 7 2 Service oriented interpretation The CANopen plugin provides separate logging win
38. refore every legal responsibility or liability is excluded port has the right to modify the products described or their documentation at any time without prior warning as long as these changes are made for reasons of reliability or technical improvement All rights of this documentation lie with port The transfer of rights to third parties or duplication of this document in any form whole or in part is subject to written approval by port Copies of this document may however be made exclusively for the use of the user and his engineers The user is thereby responsible that third parties do not obtain access to these copies The soft and hardware designations used are mostly registered and are subject to copy right We are thankful for hints of possible errors and may ask around for an information We will go all the way to verify such hints fastest Copyright 2010 port GmbH Regensburger StraBe 7b D 06132 Halle Tel 49 345 777 55 0 Fax 49 345 777 55 20 E Mail service port de Internet http www port de Page 2 of 65 CAN REport Version 4 0 3 pert Table of Contents 1 Overview 2 Installation 3 Application 4 Interfacing withCAN 4 1 TCP IP 4 1 1 CAN Server 4 1 2 Client CAN REport 4 2 Serial Interfaces 5 Graphical User Interface 5 1 Menubar 5 1 1 File Menu 5 1 2 Edit Menu 5 1 3 View Menu 5 1 3 1 View mode 5 1 4 Connection Menu 5 1 5 Extras Menu 5 1 5 1 Opt
39. s format message body format used by the device as returned from device devicenet closeExplConnection dmac_id ciid close Explicit Messaging Connection Request UCMM Close Explicit Messaging Connection Request UCMM to node Arguments dmac id destination MAC ID elle connection instance id got from Open Explicit Messaging Req Results Ok Success Error timeout failure Page 52 of 65 CAN REport Version 4 0 3 pert devicenet getAttributeSingle class instance attribute read an attribute Read an object instance Attribute using predefined Master Slave Connection Set Arguments class class of desired attribute instance instance of desired attribute attribute attribute id of desired attribute Results Returns the value of an attribute addressed by class instance and attribute in the case the attribute contains up to four byte e g returns a not fragmented response the result is an integer value If the node returns a fragmented response result is a list of byte values Each value is represented as integer value between 0 and 255 devicenet getDMAC get destination MAC Id Get destination MAC Id Arguments nothing Results DMAC ID _ destination MAC Id Version 4 0 3 CAN REport Page 53 of 65 pert devicenet getSMAC get source MAC Id Get source MAC Id Arguments nothing Results SMAC ID source MAC Id devicenet openExplConnection dmac id ope
40. s It is possible to use provided or own graphical objects to create test and control applications With the help of the multifaceted possibilities for displaying and reporting data test sequences can be carried out automatically and over the network port GmbH can perform special adoptions to the GUI or behavior to meet the CAN or CANopen device characteristics for service or assembly testing Version 4 0 3 CAN REport Page 61 of 65 pert 10 xi b 3 2 so 10 Voltmeter V 2 2 Experiment 2 Figure 42 Example Analog LCD Example D5 3 Figure 43 Example LCD The examples make usage of the User Plugin mechanism of CAN REport Therefore the contents of an example has to be copied to the directory of the executable CAN REport before it can be used However when the file application tcl of an example is loaded with File Open the user interface is shown but not updated by incoming CAN messages Demo Mode In demo mode the console plays a demo script and opens the provided examples Page 62 of 65 CAN REport Version 4 0 3 pert 14 Configuration 14 1 Serial interfaces The particular hardware can be selected in the following configuration dialog Serial Port allows the configuration of the serial port COMx on Windows and dev ttySx on Linux respectively and the CAN baud rate can be configured by Bitrate cav Interface Configuration Tel CAN Interface CAN view E CAN Server C Programme port
41. s a remote interface That means both parts can be located at different computer systems Remote monitoring of CAN networks is possible without additional or modified software over LAN dial or internet connections The Horch protocol is used as a communication protocol between operating client and hardware server on top of TCP IP pe rnet CAN Bus Figure 3 Client Server communication CAN interfaces are currently available for ISA PCI parallel port serial and PC104 with MS Windows operating systems ISA and PCI for LINUX or as Ethernet interface as stand alone CAN Server on the port EtherCAN module 4 1 1 CAN Server The CAN Server horch is the interface from TCP IP to CAN A detailed description can be found in its manual 4 1 2 Client CAN REport The visualization and operating software is based on the scripting language Tcl Tk which is available for many different computer platforms The usage is therefore possible on all systems supporting this language Through separation of hardware CAN Interface and man machine interface it is possible to use the CAN REport besides MS Windows on LINUX computers for controlling the CAN hardware interface Version 4 0 3 CAN REport Page 7 of 65 pert 4 2 Serial Interfaces Besides the client server connections the CAN REport supports also direct connections to CAN RS232 interfaces as CAN232 CANUSB Lawicel CANview RM Michaelides For further information abou
42. se Info Checks for the latest release of CAN REport Therefore it establishes a TCP IP connection to http www port de 5 2 Toolbar S y Emo NMT PDO SDO EMCY FLYMA Q 3 extension area stop toggle scrolling latest release info disconnect connect Figure 14 Toolbar The toolbar provides quick access to the menu items Connect and Disconnect The third button with the down arrow switches scrolling of the main window on or off The stop button is used for canceling user defined scripts Please see paragraph Extending CAN REport With the www button CAN REport checks if a new version of CAN REport is available Therefore it connects to the internet 5 3 Statusbar Host Bitrate kBit State ascu Time on off Status Set Mark Figure 15 Statusbar The Status shows information about the connection to the horch Server Additionally there are buttons influence the display of the CAN messages in the main window The buttons ASCII Hex and Dec change the display of the data of a CAN message With the toggle Time button the display of the receiving time can be switched on and Version 4 0 3 CAN REport Page 17 of 65 pert off It is displayed in seconds lt parts of seconds gt The lt parts of seconds gt depends on the driver The Linux driver can4linux supports a resolution of mircoseconds With the button Set Mark a separation line is inserted in the main wind
43. sg ID 10 S MAC ID 0 D MAC 7 SVC xe Req 0bj 0x0 Inst O0x0 data 0x1 100 000000 ID 640 Grp 1 Msg ID 10 S MAC ID 0 D MAC 7 SVC xe Req 0bj 0x0 Inst O0x0 data 0x0 100 000000 ID 1920 Grp 4 Msg ID 0 Reserved Group 4 Message Figure 25 DeviceNet Protocol 9 J1939 Plugin The J1939 plugin shows the interpretation of CAN messages in a separate window according to the J1939 protocol 31939 lol x 342423 23432 3 000000 160 100 Torque Speed Control 1 TSC 1 01 02 ff 04 05 06 07 Of Override control mode priority Highest Priority Requested Speed Control Conditions Transient Optimized Override control modes Speed control Requested speed Speed limit Not available Requested torque Torque limit 121 342423 23432 O OOFEE2 100 Transmission Configuration 01 02 03 04 OS 06 07 342423 23432 3 000100 160 100 Transmission Control 1 TC1 ft tf TII fi ff ff If If Disengage driveline request Take no action Torque converter lockup disable request Take no action Gear shift inhibit request Take no action Requested percent clutch slip Not available Requested gear Not available Disengage diff lock Rear axle 2 Take no action Disengage diff lock Rear axle 1 Take no action Disengage diff lock Front axle 2 Take no action Disengage diff lock Front axle 1 Take no action Disengage diff lock Central rear Take no action Disengage diff lock Central front Take no action Disengage dif
44. t the configuration please have a look at the section Configu ration of serial interfaces Page 8 of 65 CAN REport Version 4 0 3 pert 5 Graphical User Interface The graphical user interface consists of 4 components CAN REport V4 0 localhost 127 0 0 1 Jon Menubar File Edit View Connection Extras Windows Help Toolbar So error nmr Poo spo EMcY FLyMA Host New connection to host localhost Bitrate 6a 96 081482 100 0x064 sD 55 02 03 04 05 06 1 200 501591 385 0x181 sD 2b 00 62 00 58 Od State 202 552599 385 0x181 sD 2b 00 62 00 58 Od connected 231 357090 385 0x181 sR length 8 Statusbar 256 363935 385 0x181 2b 00 62 00 58 oo 00 ASCII 264 327956 385 0x181 2b 00 62 00 58 oo 00 cd 288 427311 385 0x181 2b 00 62 00 58 34 00 CAN Log LES 1251274288 000000 CANopen Slave Req Init 1000 00 p 1251274288 000000 CANopen Slave Req Init 1000 00 1251274288 000000 CANopen Slave Req Init 1000 00 Time on off Status 1251274350 0 1568 0x620 sD 10 00 00 00 430 612173 385 0x181 2b 00 62 00 58 Seer 471 550656 385 0x181 2b 00 62 00 58 4AN 9N125A aR5 Dnx181 2b nn AZ nn SA 11 zz zs z4 zs zs 17 ze 19 110 Transmitbar Ext RTR Id Length BO B1 B2 B3 B4 BS B6 B7 Repeat Time ms Message Name TI loxezo 8 0x40 0x00 0x10 0x00 ox00 0x00 0x00 0x00 Send 0 Preoperational 5 1 Menubar 5 1 1 File Menu Open Ctrl O Save Ctrl S Exit Figure 4 File Men
45. u Open Open a previously stored logfile If the CANopen Plugin is activated then the con tents can be interpreted as CANopen data Save Save the contents of the main window into a file Exit Exits CAN REport Version 4 0 3 CAN REport Page 9 of 65 pert 5 1 2 Edit Menu Cut Ctrl X Copy Ctrl C Paste Ctri Clear Log Ctrl L Select All Ctrl 4 amp Find Ctrl F Add to Transmit Tab Figure 5 Edit Menu Cut Cut selected text into clipboard Copy Copy selected text into clipboard Paste Pastes text from clipboard into the main window Clear Log Clears content of the main logging window Select All Selects the whole content of the main logging window Find Opens a standard find dialog box to search for text signatures Add to Transmit Tab Copies the CAN message from the cursor to the currently active transmit tab 5 1 3 View Menu Toolbar v Status Bar v Transmit Bar Console Weve wv Trace View el Object View Figure 6 View Menu Page 10 of 65 CAN REport Version 4 0 3 pert Toolbar Toggles the view of the toolbar Statusbar Toggles the view of the statusbar Transmitbar Toggles the view of the statusbar Console Opens the Tcl Tk console as a new window With the console you can extend the functionality of CAN REport See paragraph Extending CAN REport 5 1 3 1 View mode CAN REport possesses a trace mode and a object view mode Trace view All CAN messages are written
46. us can be achieved by using CAN interface boards under the LINUX operating system The available recording functions allow to store the results of an entire test run but also the contents of logging windows in separate files As well it is possible to store the CAN messages directly in a file without displaying them on the screen These files can be interpreted later by the CANopen or user defined plugins This is especially practical at high bus load Complex scripts can be aborted with the stop button from the toolbar To make this work the global variable ST userStop has to be checked As soon as the stop button is pressed the value stop is assigned to the global variable ST userStop proc yourTest if stop eq ST userStop do whatever is necessary to stop set ST userStop return Page 38 of 65 CAN REport Version 4 0 3 pert 13 2 Interpretation of CAN messages The CAN REport features the interpretation of CAN messages For the application layer protocol CANopen this was already done When the button User plugin in the file menu is pressed a file called lt application tcl gt is loaded and a button is placed on the tool bar This file has to be placed in the working directory When the button in the toolbar is pressed a window pops up The user can write an plugin for the CAN REport and display his own interpretation of the CAN messages in this window The widget path to the user window is
47. usr For writing your own CAN interpretation the template file applica tion tcl is provided It contains the procedure application This procedure is called on each reception of a CAN message proc application msg This procedure takes the parameter msg It contains the complete message with time stamp id data type and the data Each field is separated by spaces 11 123 256 0x100 sD 00 01 02 03 04 05 06 07 time id dec hex type data 1 8 if available There are already functions for extracting the data Overview of user functions InsertText Insert text lt string gt into user window canl on Register script or procedure for a message get can id extract CAN message identifier from message string get data return the data of a the message get dlc return the data length code of the message get time return time of message if time was set get type return the type of the message get type2 return the type of the message is std check if the message is a standard CAN mes sage Version 4 0 3 CAN REport Page 39 of 65 pert Detailed function description InsertText win string tag Insert text lt string gt into user window Arguments win widget path usr string Text to insert into the text widget tag tag that defines the font the tags stdout and stderr are already defined Results Inserts a text in the user window Example InsertText usr hello world stdo
48. ut InsertText usr Smsg stdout canl on type Register script or procedure for a message that will by exectued when the message is received The message is provide in the Tcl array this The array has the ele ments time id type dlc data The element dlc is the data length code of the CAN message Arguments type Id script Results O success 1l Error the error messgae is printed to the console Example on message 0x12 on message 0x11 puts this id wr 0x32 0 12 Page 40 of 65 CAN REport Version 4 0 3 pert get_can_id msg extract CAN message identifier from message string Arguments msg the standard message string provided for the procedure application Results the CAN Id as decimal value get data msg return the data of a the message Arguments msg the standard message string provided for the procedure application Results list containing the databyes of the CAN message in case it is an RTR message an empty string is returned get dlc msg return the data length code of the message Arguments msg the standard message string provided for the procedure application Results an integer value between 0 and 8 for a valid msg an empty string for an invalid msg Version 4 0 3 CAN REport Page 41 of 65 pert get_time msg return time of message if time was set Return time information if time was set When time wasn t set the an empty string is returned
49. utes s Format Raw Text Files Example C A05 10 28 051028 1515 t t Cancel Figure 9 Log file dialog 5 1 5 Extras Menu v CANopen Plugin Devicenet Plugin Multi Channel Plugin 31939 Plugin R5232 Plugin User Plugin Options Save Configuration Figure 10 Extras Menu CANopen Plugin Loads the CANopen plugin If switched on the toolbar is extended by buttons for the CANopen services SDO PDO NMT EMCY FLYMA When clicking on a button a windows pops up and displays the CAN message of its service DeviceNet Plugin Loads the DeviceNet plugin If switched on the toolbar is extended with a button for the DeviceNet log window When clicking on a button a window pops up and displays a descriptive text for the message Version 4 0 3 CAN REport Page 13 of 65 pert Multichannel Plugin Loads the multichannel Plugin It is used for monitoring 2 CAN lines at a time Therefore it needs to connect to two CAN servers When the plugin is activated when a connection is open it closes the current con nection With the multichannel plugin the CAN servers need to be started manu ally and the CAN Interface has to be set to TCP The TCP port of the second CAN server has to be set to the port number of the first CAN server plus 1 ie CAN server 1 uses port number 7235 CAN server 2 uses port number 7236 With the USBCAN2 from SYS TEC the module is accessed with out TCP CAN REport uses instance 0 f
50. w of the RS232 Plugin Page 28 of 65 CAN REport Version 4 0 3 pert Serial 1 configuration x A Serial Configuration Serial configuration COM port oM i Baudrate 57600 Data bits fe l Stop Bits h x Parity me x Handshake none v DK Cancel Figure 29 Configuration dialog for the serial interface Version 4 0 3 CAN REport Page 29 of 65 pert 11 Trigger With the trigger functionality CAN REport is able to wait for certain CAN messages and continue recording after the desired message was received Trigger Event Specifies the CAN message with its contents to wait for With the help of the CANopen Message Builder it is easy to create CAN mes sages which conform to the CANopen proto col Action at trigger event Select what to do when the specified CAN message was received CAN messages can be displayed in the main window or save in a log file Logfile options Determine here what CAN REport has to do additionally when it writes to a logfile and specify the CAN message id s for Table 1 Sections of the trigger dialog CAN REport Trigger zi x m Trigger event active Id ATR Data X don t care r fonts T T T T TOTO use CMB NN r k asna k k ik use CMB LEG EN eee r Action at trigger event Pre Trigger C Show messages to logging window Number of messages 100 Write messages to
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