Using and Programming Gryphon for Engineers
Contents
1. D AN2013 1 Grypkon 2 Application Note Using and Programming Gryphon for Engineers and Programmers by DG Technologies Product Engineering Document Revision 0 3 DRAFT of 01 23 2014 Copyright 2013 by DG Technologies Inc All rights reserved Covers basic Gryphon programming tools including gryphrx gryphtx gschdtx and using Wireshark Gryphon Application Note AN2013 1 0 3 DRAFT page 1 of 16 CONTENTS CONTENSO a 2 I GLE OO ON Na ees e e a a E E Soar 3 2 Assumptions and AUCICNCE ccccccccecceeceeeeeeeeeeeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeeeeeesesaaneeeeeeessaaa 3 3 Scope of this Application NOG icici acdicieasescsndedsacsainc cheat Aedes nsmsieiesniaittls weiawetioniaehs 3 4 Prod uct Background sesser oer err ao Crees ene etree ee ee eee eee re 3 5 Basic PAC MGS GLU G esena ea a a ea sade p asian een dupes a E 4 6 Basic Protocol Utilities gryphrx and gryphtx eessseeeeeeeesssssseerrrrtreserrrrrrnrrnesssrrrrrrrnnnnsseeeennnnn nnn 5 7 Using LoopbacK To Another Gryphon Channel to Verify Communications 00 7 8 Scheduling Transmits Using QSCHCIX c eeceeeeeeeceneeseeeeeneeeeeeneeeesseneneeeeeeeeeeeeeenenenenenens 9 9 Filesystem Write ACCS SS secs ee oee rennes e E A EO E AEE 11 10 Gryphon Protocol and Wireshark s cc2 c1 s0ccc ssceceeccccatenssccscesescmecenereedanceeceeesemestacessteececcnscocsecs 11 11 Using VirtualBox Linux on Wind2. other web server running on a Linux computer e You execute command line programs on the Gryphon by logging in to the Linux shell using a remote shell program such as Telnet or PuTTY e You copy files to and from the Gryphon using FTP just like any other Linux computer e Application programs you write called Gryphon clients communicate the Gryphon sever using Gryphon Protocol on Ethernet over TCP IP Figure 1 is a UML deployment diagram showing the basic components and connections It shows a typical configuration with a dual CAN protocol card as an example Figure 1 Basic Gryphon Components and Connections Gryphon Application Note AN2013 1 0 3 DRAFT page 4 of 16 PC or Linux C A Web Browser Telnet Wireshark Gryphon Protocol Co Gryphon Client Program s ee Simplified Gryphon Deployment Diagram Ethernet Gryphon 2 FTP Server L Command CA Local Gryphon Clients Gryphon Gryphon Carver Protocol Protocol Card Dig ital vo Digital Device CAN ECU CAN ECU ECU Protocol Card Protocol ECU Card Your application programs receive ECU protocol messages transmit protocol messages and get and set protocol card configurations Your program communicates to the hardware through a softwar
3. 07 EO messages Another example Gryphon Application Note AN2013 1 0 3 DRAFT page 6 of 16 gryphon gryphrx grep v H 07 El will filter out messages with the 07 E1 header Another example gryphon gryphrx egrep v H 07 El H 07 E2 will filter out messages with the 07 E1 header and messages with the 07 E2 header You will note that gryphrx takes a hostname as the first argument This allows you to monitor protocol data on another Gryphon You can use any valid IP address for any Gryphon on your network To view your Gryphon s IP address use the command ifconfig When you run gryphtx on the command line you get the following usage message Usage gryphtx hostname argl arg2 Arguments p portno Set server port on hostname c channel Set channel number default 1 i iterations Set number of transmit iterations default 1 max 1 t delay Set delay between iterations in mS default 1 s stat Set status field in message device specific use T Set remote bit in the Mode field Use J1939 protocol Increment the data field use delay driver a Increment the data field don t use delay driver h byte byte Message header bytes d byte byte Message data bytes byte byte Messag xtra bytes k id Kill schedule id An example gryphtx command for CAN is gryphon gryphtx c 1 h 07 e0 d 01 02 This command sends a single diagnostic tester message on channel 1 To
4. DG Technologies manufactures two versions of the Gryphon product the Gryphon 2 and the S4 The Gryphon 2 has a faster processor three 3 protocol card slots digital I O three 3 USB host ports wired Ethernet and front panel text and control buttons The Gryphon 2 can have up to twelve 12 channels of protocol communication by populating the slots with for example three quad CAN cards The S4 has two 2 built in channels of CAN protocol and one 1 protocol card expansion slot The products run the Linux operating system and communicate with a host computer through a standard Ethernet network The S4 also has optional wireless Ethernet Gryphon Application Note AN2013 1 0 3 DRAFT page 3 of 16 The supported protocols include CAN GMLAN GMUART 1S09141 2 15011898 CAN 1ISO15765 J1850 GM Class 2 J2284 J2411 GM SWCAN J2534 KWP2000 1SO14230 and LIN 5 BASIC ARCHITECTURE The Gryphon sits in the middle of the communications path between a PC or Linux computer and one or more ECUs The Gryphon connects to programs running on a PC or Linux computer using Ethernet and connects to one or more ECUs using one or more ECU network protocols Each ECU network protocol on the Gryphon is a channel and is given a channel number by the Gryphon beginning with channel 1 You interact with the Gryphon in many different ways including e You connect with the Gryphon web interface using a standard web browser just like any
5. verify that your channel is receiving Using a CAN card for example a channel 1 and channel 2 loopback connector would look like the following Figure 2 CAN Protocol Loopback Connector for Channels 1 and 2 11 am CAN HIGH aa CAN LOW 15 5 DB 15HD MALE You create a loopback connector by looking up the connector pinout of your card connector on the Gryphon web page which looks like the following Gryphon Application Note AN2013 1 0 3 DRAFT page 8 of 16 Figure 3 Gryphon Pinout Web Page E Edit View History Bookmarks Tools E DG Gryphon Installed Modules l 192 168 36 4 stat wstatm cgi B Google 2 4 Da t v DG Gryphon Installed Modules Back to main page Using the loopback connector transmit on one channel and receive on the other channel for example Figure 4 CAN Protocol Loopback Gryphon Gryphon Channel 1 Channel 2 Transmitter Receiver run gryphtx c 1 h d run gryphrx c 2 Gryphon Application Note AN2013 1 0 3 DRAFT page 9 of 16 8 SCHEDULING TRANSMITS USING GSCHDTX Another useful utility program that comes with the Gryphon is gschdtx This is more advanced version of gryphtx because it allows you to schedule more complicated transmits than you could by using just gryphtx alone When you run gschdtx on the command line you get the following usage information Usage gschdtx hostname p port i iterations C w f file De
6. d Warnicke ATTRIBUTIONS Linux is licensed under the GNU General Public License GPL and the full name of the Gryphon Application Note AN2013 1 0 3 DRAFT page 14 of 16 software system is GNU Linux Ethernet is the name of the IEEE 802 3 standard LAN technology Wireshark is a free and open source network packet analyzer released under the terms of the GNU General Public License GPL Windows is a registered trademark of Microsoft Corporation in the United States and other countries VirtualBox is a registered trademark of Oracle Corporation The stylized name Gruphon 2 is a registered trademark of DG Technologies Inc The name Gryphon Gryphon 2 and Gryphon S4 are trademarks of DG Technologies Inc Unified Modeling Language UML is a standardized general purpose modeling language adopted by the Object Management Group OMG and accepted by the International Organization for Standardization ISO as industry standard for modeling software intensive system COPYRIGHT NOTICE This Application Note is copyright 2013 by DG Technologies Inc All rights reserved No information here may be reprinted in whole or in part without prior written permission Gryphon Application Note AN2013 1 0 3 DRAFT page 15 of 16 CONTACT INFORMATION U S Sales and Corporate Office DG Technologies Inc 33604 West Eight Mile Road Farmington Hills Michigan 48335 5202 Phone 248 888 2000 sales dgtech com http
7. e component known as the Gryphon Server Later sections in this Application Note show specific examples in detail Using an open source program called Wireshark you can monitor the Gryphon Protocol communication between your Gryphon client program on your PC and the Gryphon Server software process running on the Gryphon Wireshark comes with a built in plug in that understands Gryphon Protocol and interprets the byte stream into English The plug ins in Wireshark are called dissectors Later sections in this Application Note show examples using Wireshark The remain sections in the Application Note will discuss many of the PC and Linux user programs you need to be familiar with to use the Gryphon products 6 BASIC PROTOCOL UTILITIES GRYPHRX AND GRYPHTX The Gryphon comes with two very useful low level software diagnostic programs called gryphrx for receiving and gryphtx for transmitting You use gryphrx to show received messages on the protocol channels and you use gryphtx to transmit messages on the protocol channels Gryphon Application Note AN2013 1 0 3 DRAFT page 5 of 16 These command line programs allow you to diagnose your protocol networks and verify basic working setup To run command line programs on the Gryphon Telnet into your Gryphon and login as user root the default password is dggryphon When you login you get a shell command prompt that looks like gryphon When you run gryphrx on the co
8. fault port is 7000 Default channel is 1 normally overridden in each message i lt integer gt specifies number of times to send the whole list default is 1 C selects critical scheduler w wait for schedule to finish before exiting f specifies datafile default is stdin Datafile takes one message per line in the following format s sleep q quantity p period c channel h hdrbyte hdrbyte d databyte databyte e extrabyte extrabyte s lt integer gt specifies time to wait before starting this message loop in milliseconds Default is zero q lt integer gt specifies number of times to transmit this message Default is one p lt integer gt specifies time to wait after each transmit in milliseconds Default is zero Header data and extra bytes are pairs of hex digits e g 0a db Alternate usage gschdtx hostname p port k id kills the schedule with job id specified by k The gschdtx command takes as an argument a file that contains your message data and message timing information An example command line might look like gryphon gschdtx localhost i 10 f mydata txt This example command will run the file mydata txt 10 times and then end the schedule The data file might look like c 1 h 07 e0 d 01 02 p 30 c 1 h 07 e2 d 03 04 c 1 h 07 e0 d 05 06 07 This will transmit the first message with data 01 02 wait 20ms transmit the second message w
9. gryphon cat gryphon dev ginfo0l Some example output might look like the following Gryphon SJA1000 CAN driver Based on the Gryphon 82527 CAN driver by R Arnold Copyright 2001 Dearborn Group Inc Compiled Mar 31 2011 HZ 250 Auto resets 0 qtybusoff 0 qtywarn 0 gtyunknownerrint 0 lastunknownerrstat 0x00 irg 5 qtyunknownir 0 lastunknownir 0x00 MAXOTYUNKNOWNIR 5000000 SJA1000 c00qd0000 ok open loop on multi msg reads err active bus load monitor off errlevel 0 0 internal transceiver external termination btrs 0x80 0x2b 0x80 0x2b bc 0xda Oxda rfmode 0 0 irqs none 0 A 44597 B O A amp B 0 Chip status OC flag 0 IRQ Enable 07 IRQs 00 On counters 0 0 Off counters 0 0 0 IRQs 44493 104 0 0 0 0 O 0 U empty 0 ut putend 0 out getend 0 0 ut msgs c2912f7c CANBUFSIZE 1001 x 28 bytes ut total 1 out bustotal 1 out chip dropped 0 out dropped 0 out bad 0 ut neterrors 0 out netbits 0 ut arblost 0 out overrun 0 out partial 0 ut sleeping 0 out wqp c0a69088 oo0oo0oooog in putend 557 in getend 557 0 in msgs cl078040 CANBUFSIZE 1001 x 28 bytes Gryphon Application Note AN2013 1 0 3 DRAFT page 13 of 16 in total 44601 in bustotal 44493 in chip dropped 0 in dropped 0 in bad 0 in neterrors 0 in netbits 0 in arblost 0 in overrun 0 in partial 0 in sleeping 0 in wqp c0a6906c crit putend 0 crit getend 0 0 crit msgs c2912f0c CRITBUFSIZE 11 x 4 bytes c
10. ies that come with the Gryphon product 2 ASSUMPTIONS AND AUDIENCE This Application Note assumes that you are familiar with setting up the Gryphon setting an IP address for the Gryphon and logging in using Telnet and a web browser If you are not refer to the Getting Started PDF files in the Gryphon product directory This Application Note also assumes you are somewhat familiar with using basic Linux commands and some command shell You need to be familiar with using the web interface on the Gryphon and with using telnet to establish a login prompt and log in to the Linux command line shell on the Gryphon 3 SCOPE OF THIS APPLICATION NOTE The Gryphon products are feature rich fully functional multi protocol adapters running Linux As such the Gryphon has many features and utilities that allow engineers to develop networked ECUs and diagnose protocol networks and ECUs on those networks This introductory Application Note covers a few basic functions of using the Gryphon with networks and using a few command line utilities that are essential for becoming experienced using the Gryphon 4 PRODUCT BACKGROUND The Gryphon family of products are a set of automotive and vehicle network protocol adapters The Gryphon has protocol card slots that accept protocol adapter cards for various standard automotive and truck protocols Gryphons are used primary in engineering development applications and for manufacturing programing and testing of ECUs
11. ireshark is very valuable tool for debugging your client application programs 11 USING VIRTUALBOX LINUX ON WINDOWS AND WIRESHARK Even if you run Linux in VirtualBox on Windows you can use Wireshark to capture the Gryphon Protocol packets between your Linux application running in VirtualBox and the Gryphon 12 APPLICATION PROGRAM C AND C LIBRARIES FOR WINDOWS DG provides C and C Windows libraries for building Windows client programs for Gryphon See the C and C library API documentation Your client programs can also be debugged using Wireshark Gryphon Application Note AN2013 1 0 3 DRAFT page 12 of 16 13 GRYPHON DEVICE DRIVER INFO FILES The Gryphon several log files in the gryphon dev directory The main log file is called gerrout and it contains all error messages from all Gryphon software You view the log file by using a Linux command such as cat or a command such as more as follows gryphon cat gryphon dev gerrout Once you view the messages the log file is cleared so if you cat gerrout again it will contains no messages and you see no output Each channel on the Gryphon has it s own status file in the gryphon dev directory called ginfo01 through ginfo31 Files ginfoO1 through ginfo30 are for the protocol card channels and file ginfo31 is the status file for the Gryphon Delay Driver which controls the real time transmitting of all messages You read the status by cat ing the file for example
12. ith data 03 04 wait 30ms transmit the third message 05 06 07 and wait for 20ms If you use the i option with gschdtx as in the example above it will transmit this sequence of three Gryphon Application Note AN2013 1 0 3 DRAFT page 10 of 16 message 10 times and then the schedule will end Use FTP to copy your message data file to the Gryphon Please note that you will need write access to the file system to write files To obtain file system write access see the next section below Just like gryphtx if you want to kill the schedule before it finishes use the k option 9 FILE SYSTEM WRITE ACCESS The Linux file system on the Gryphon is stored on the internal SD card flash By default the flash is read only on all partitions except for the data partition When you want to write to files in the root file system you need to first turn off the flash write protection make your changes then turn back on the flash write protection The Gryphon comes with two commands to do this wpflashoff and wpflashon They are run with no arguments for example gryphon wpflashoff gryphon wpflashon Your data and log files stored on the data partition are always writable and you do not need to run these commands to delete files in the data directory 10 GRYPHON PROTOCOL AND WIRESHARK Wireshark is an open source tool that allow you to see the network traffic between your Gryphon and your client application program Wireshark ru
13. mmand line you get the following usage message Usage gryphrx hostname p port c channel s r s option enables timestamp sorting P option selects relative timestamp display x n option checks for sequenced data field outputs errors and every n messages j uses J1939 protocol layer The hostname argument is optional The port argument is optional An example gryphrx command is gryphon gryphrx This command monitors protocol traffic on all channels and the first few lines of output for CAN for example looks like the following Ch 1 Type 02 17 DG CAN SJA1000 C ver 1 5 4 Ds 00 08 Es 00 00 Hs 2 4 Ch 2 Type 02 17 DG CAN SJA1000 C ver 1 5 4 Ds 00 08 Es 00 00 Hs 2 4 000001 RX Ch 01 T 27982866570 H 01 F3 D 80 80 00 000002 RX Ch 01 T 27982869170 H 05 41 D FE 00 00 00 00 00 00 00 000003 RX Ch 01 T 27982871600 H 00 Fl D 8D 00 00 40 000004 RX Ch 01 T 27982874140 H 04 51 D 00 00 00 00 00 O00 000005 RX Ch 01 T 27982881860 H 05 41 D FD 00 00 00 00 00 00 00 gryphrx reports the type of protocol on each channel in this example CAN SJA1000 and then display the protocol traffic The first column is the line number then the timestamp follows the T and header and data are shown after the H and D Using the Linux commands you can pipe the output of gryphrx to Linux programs such as grep For example gryphon gryphrx grep H 07 EO will filter out all message except the
14. ns on either Windows or Linux A typical output window for CAN looks like the following Gryphon Application Note AN2013 1 0 3 DRAFT page 11 of 16 Figure 5 Wireshark Screen W 2012091 7_mydata4_gryphon_packets_only pcap Wireshark Jee File Edit wiew Go Capture Analyze Statistics Telephony Tools Help Gaa BAXTLI DTF BR Raan aman e Filter gryphon v Expression Clear Apply Mo o Erre Oe eororrr DI rera a a 8 0 070411 192 168 36 3 192 168 0 21 Gryphon Command response 9 0 076459 192 168 0 21 192 168 36 3 Gryphon Command request 10 0 091930 192 168 36 3 192 168 0 21 Gryphon Command response 11 0 092314 192 168 0 21 192 168 36 3 Gryphon Command request 12 0 102688 192 168 36 3 192 168 0 21 Gryphon Command response 13 0 102950 192 168 0 21 192 168 36 3 Gryphon Command request 14 0 112682 192 168 36 3 192 168 0 21 Gryphon Network vehicle data 15 0 124759 192 168 36 3 192 168 0 21 Gryphon Command response 16 0 135462 192 168 36 3 192 168 0 21 Gryphon Network vehicle data 17 0 140383 192 168 0 21 192 168 36 3 Gryphon Command request 18 0 146343 192 168 36 3 192 168 0 21 Gryphon Network vehicle data 19 0 156378 192 168 36 3 192 168 0 21 Gryphon Network vehicle data rn gt EUHEI NEL da 3t M TNLO NYCI VEI TIUA CC 3 4 LU LUt LU UG CE 34 LU USL UCA DUN U UL 3E UU 20 94 U Ube DEJ ra Internet Protocol Src 192 168 0 21 192 168 0 21 Ost 192 168 36 3 192 168 36 3 Tran
15. ows and Wireshatk c ccccceeeeeeeeeeetteeeeeeeeeeeeeeeaaeaaaaneeee 12 12 Application Program C and C Libraries for WiNdOWS ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 12 13 Gryphon Device Driver Info Fil S 2 2 ccccs cccsseccceseeeeennesceceeeceeeeeneveneseucneeceeeecesencnenenneenenees 12 14 Gryph on LINUX CONSOle ee nee er ee ene er eed er ee eee ene ee eee ee ee 13 15 Software Upgrades and New Releases c ccecceeeeeeeeseeeeeneneesnenenseseeeeeseneneeceeeeeeeees 13 Furnher FR et ENN oases ete cnc a ope ew e E eE cs ee cease E 13 RererchceSe eoi ae a a E Mase pam emai de sla esa ten st ieed oem gas en enna 14 AtDUIONS hi heashu as ean cette bata sea eta deo e neni lca Paes EA E E E eeanauteneuanaeaes 14 Copyright 2 lets sername ere eee rere aetna mee eee ee error ey e ERa eee ee eee eee 14 Contact gio age iia eeeeemenr e rs mer ee e mnt nner ter a brat creme Tes cere Mrenre nT ere f rire ite aay eer 15 Gryphon Application Note AN2013 1 0 3 DRAFT page 2 of 16 1 INTRODUCTION This Application Note is for those engineers who want to begin using and writing application programs for the Gryphon family of network protocol adapters You will become familiar with verifying protocol communications on the Gryphon configuring the Gryphon for various protocol modes and diagnosing potential issue with your setup This Application Note also introduces some essential command line utilit
16. rit total 103 crit dropped 0 crit bad 0 This example is for a CAN SJA1000 protocol card The status shows the type of channel the overall status of the channel the count of the number of bus off and bus warnings seen and the internal buffer status of the output the input and the critical output scheduler buffers You can tell if there are any message in the queue waiting to be transmitted or any messages in the receive buffer waiting to be read by your client application program 14 GRYPHON LINUX CONSOLE If you ever need access to the Linux console status messages the Gryphon contains an RS232 serial port header inside the Gryphon The header is a standard DCE serial port 15 SOFTWARE UPGRADES AND NEW RELEASES From time to time DG Technologies puts out new Gryphon software releases You can obtain these releases on the DG Technologies web site and load a new release into the Gryphon using a Windows based reflash program See the Gryphon User Manual for more details FURTHER READING AN2013 02 Gryphon 2 Application Note Gryphon Programming 2 for Engineers and Programmers 2013 DG Technologies Gryphon C Class Library User s Manual 2006 Dearborn Group Inc Gryphon C Library User s Manual 2006 Dearborn Group Inc REFERENCES Gryphon web page documentation Gryphon C Class Library User s Manual 2006 Dearborn Group Inc Wireshark User s Guide for Wireshark 1 4 Copyright 2004 2010 Ulf Lamping Richard Sharpe E
17. send multiple message use the i option For example gryphon gryphtx c 1 h 07 e0 d 01 02 i 10 t 100 This command starts a Gryphon schedule that will send this message 10 times at 100ms between each message You get output that looks something like this Scheduler Handle 0x0000033f where the 0x0000033f is the process id of your Gryphon schedule This example schedule will run for 1 second and then the process will end To kill a running schedule before it ends issue Gryphon Application Note AN2013 1 0 3 DRAFT page 7 of 16 another gryphtx command with the k option such as gryphon gryphtx k 0x0000033f When the schedule is successfully killed the command will output the following Scheduler OK 00000000 In addition to running gryphrx and gryphtx on your Gryphon DG supplies the source code to the gryphtx and gryphrx utilities along with a Linux Makefile and library routines so you can compile and run these utilities on any external Linux computer More complex transmissions can be run using the command gschdtx discussed below 7 USING LOOPBACK TO ANOTHER GRYPHON CHANNEL TO VERIFY COMMUNICATIONS A good way to verify the basic operation of your protocol bus is to use another Gryphon channel of the same protocol to monitor a test message You can transmit messages from one channel and receive the messages on other channel to verify that your channel is transmitting You can do the opposite to
18. smission Control Protocol Src Port mysql cluster 1186 Dst Port afs3 fileserver 7000 Seq 1 Ack 1 Len 60 DG Gryphon Protocol Header Source Client channel 0 Destination Server channel 0 Data length 52 bytes Frame type Conmand request reserved Body command Register with server Data 48 bytes Username root Password dgagryphon 0000 00 90 5a 04 01 5e 02 1d ba ee 54 cb 08 00 45 00 0010 00 64 8a c6 40 00 80 06 ca 64 cO ag OO 15 cO ag 0020 24 03 E z 1b 58 88 d3 03 08 df 69 a4 34 50 zi 0030 ff ff al 00 00 03 00 O2 OO 00 34 01 00 50 0040 E oo 7 ef 6f 74 00 e9 ae 7c a4 00 00 00 14 te oo 67 67 72 79 70 8 6f Ge 00 91 7c 1f 00 0060 00 oo i 00 00 00 00 00 00 00 22 02 91 7c 05 00 0070 00 00 Frame frame 114 bytes Packets 192 Displayed 192 Marked 0 Load time 0 00 015 Profile Default Wireshark in the figure has three output window areas The top window shows the Gryphon protocol commands the middle window shows the English interpretation of the selected command and low windows shows the raw data bytes In the middle window you see an example Gryphon protocol command with a header section and body Each Gryphon protocol packet has a header and body The header lists the source and destination of the command as well as the data size The example in the figure shows the register with server Gryphon command You can find a full listing of the Gryphon protocol commands in the Gryphon web page documentation W
19. store dgtech com Heavy Duty Development Center DG Technologies Inc 2415 Directors Row Suite G Indianapolis IN 46241 Phone 317 248 9332 World Wide Technical Support Phone 248 888 2000 http www dgtech com support support_guide html techsu dgtech com Gryphon Application Note AN2013 1 0 3 DRAFT page 16 of 16
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