CANoe快速入门-文档资料

1、 2008. HiRain Technologies. All rights reserved.CANoe快速入门快速入门 2007. HiRain Technologies. All rights reserved.Slide: 2CANoe概述概述pCAN总线开发工具p测试p分析p仿真p记录 2007. HiRain Technologies. All rights reserved.Slide: 3CANoe在总线开发中的作用（在总线开发中的作用（1）Phase 1simul.nodensimul.node2Simulated bussimul.node1Kl 15Virtual tot

2、al system 2007. HiRain Technologies. All rights reserved.Slide: 4CANoe在总线开发中的作用（在总线开发中的作用（2）Phase 2simul.node2simulated rest-of-busrealnode1Kl 15simul.nodenVirtual subystemReal subsystemphys. bus 2007. HiRain Technologies. All rights reserved.Slide: 5CANoe在总线开发中的作用（在总线开发中的作用（3）Phase 3realnode2realno

3、de1Kl 15Real total systemrealnodenPhysical busAnalysis(in real-time) 2007. HiRain Technologies. All rights reserved.Slide: 6p硬件接口卡&“狗”pCANcardXLpCANcaseXLp收发器pCANcab (CANpiggy)p251, 1041, 1054pLINcab (LINpiggy)p7259CAN卡卡 2007. HiRain Technologies. All rights reserved.Slide: 7CANoe组成组成p功能强大、操作简单p

4、CANoep数据库支持pCANdb+ Editorp可编程pCAPLp虚拟仪表pPanel Editor & Panel Designer 2007. HiRain Technologies. All rights reserved.Slide: 8CANoe工程环境工程环境 2007. HiRain Technologies. All rights reserved.Slide: 9多总线多总线p软件p硬件p控制面板pVector HardwareqLicense-Overview 2007. HiRain Technologies. All rights reserved.Slid

5、e: 10设置（设置（1）p硬件pCAN卡类型（编号）p收发器类型p应用程序通道p应用程序pLicense信息 2007. HiRain Technologies. All rights reserved.Slide: 11设置（设置（2）pCANoep通道设置pConfiguration-OptionspConfiguration Settings-Channel Usage 2007. HiRain Technologies. All rights reserved.Slide: 12灵活复杂灵活复杂HW channelsChannel1 Channel2 Channel1 Channel

6、2 PiggyBack1 PiggyBack2CANcardXL #1CANcaseXLCANcardXL #2HardwareCANalyzer1 CANalyzer2. CANoe1 CANoe2 CANoe1 for LIN.App channelsApplication 2007. HiRain Technologies. All rights reserved.Slide: 13从复杂到简单从复杂到简单pCANoep波特率设置pConfiguration-Hardware Configuration 2007. HiRain Technologies. All rights rese

7、rved.Slide: 14基本术语基本术语报文（消息）与信号报文（消息）与信号报文：engine data (ID 100)ID 100B0B1B2CRC信号发动机温度（第二字节，0-6位）未用(第二字节，第七位)发动机转速（第一，二字节）转换规则发动机转速 ：rpm=1*Bit value (0 xFF 代表错误)发动机温度： C =2* Bit value 50 (0 x7F 代表错误) 2007. HiRain Technologies. All rights reserved.Slide: 15基本术语基本术语环境变量与系统变量环境变量与系统变量p环境变量p节点的I/O信号p可用于面

8、板或真实I/Op系统变量p节点内部参数p或需要观测的某个数值p例如：系统变量1 = 报文1.信号1 报文2.信号2 2007. HiRain Technologies. All rights reserved.Slide: 16欢迎进入欢迎进入CANoe的世界的世界pCANoepCANdb+ EditorpCAPLpPanel Editor & Panel Designer 2007. HiRain Technologies. All rights reserved.Slide: 17欢迎进入欢迎进入CANoe的世界的世界pCANoep8大窗口pTrace WindowpBus Sta

9、tistics WindowpStatistics WindowpData WindowpGraphic WindowpWrite WindowpSimulation SetuppMeasurement Setup 2007. HiRain Technologies. All rights reserved.Slide: 18CANoe窗口介绍（窗口介绍（1）pTrace Windowp报文ID和报文名称（数据库）p信号（数据库）p时间（相对值或绝对值）p通道pDLCpDir（Tx或Rx）p更多内容见p右键点击窗口空白处-Configuration-Columns 2007. HiRain T

10、echnologies. All rights reserved.Slide: 19蒙太奇（蒙太奇（1）p在CANoe中添加数据库pView-Simulatioin Setup 2007. HiRain Technologies. All rights reserved.Slide: 20蒙太奇（蒙太奇（2）p符号化显示与十进制/十六进制切换Global switches: Hex/Dec and Numeric/Symbolic toggles 2007. HiRain Technologies. All rights reserved.Slide: 21CANoe窗口介绍（窗口介绍（1）清

11、空Trace窗口暂停Trace窗口时间显示切换报文显示切换 2007. HiRain Technologies. All rights reserved.Slide: 22CANoe窗口介绍（窗口介绍（2）pData Windowp数据库！p信号名称p信号值（Value）p信号单位p原始值（Raw Value）pBar图 2007. HiRain Technologies. All rights reserved.Slide: 23CANoe窗口介绍（窗口介绍（2）pData Windowp添加信号p右键单击空白处pAdd Signalsp选择需要的信号 2007. HiRain Techno

12、logies. All rights reserved.Slide: 24CANoe窗口介绍（窗口介绍（3）pGraphics Windowsp数据库！p显示信号曲线p不同的颜色和线形p右键单击空白处p选择Configurationp放大、缩小、平移 2007. HiRain Technologies. All rights reserved.Slide: 25CANoe窗口介绍（窗口介绍（3）pGraphics Windowsp添加信号p右键单击空白处pAdd Signalsp选择需要的信号 2007. HiRain Technologies. All rights reserved.Sli

13、de: 26CANoe窗口介绍（窗口介绍（4）pStatistics Windowp显示报文出现频率p显示错误帧出现频率p统计报告p右键单击空白处pConfigurationpActivep生成统计报告(Write Window)Message frequencyID 2007. HiRain Technologies. All rights reserved.Slide: 27CANoe窗口介绍（窗口介绍（5）pBus Statistics Windowp总线负载p数据帧p错误帧pCAN卡控制器状态 2007. HiRain Technologies. All rights reserved

14、.Slide: 28CANoe窗口介绍（窗口介绍（6）pWrite WindowpCAN卡控制器状态pLicense信息p统计报告pCAPL输出窗口pPrintf = Write 2007. HiRain Technologies. All rights reserved.Slide: 29蒙太奇（蒙太奇（3）pDesktoppCreate New DesktoppRename Desktop 2007. HiRain Technologies. All rights reserved.Slide: 30蒙太奇（蒙太奇（4）p固定窗口 2007. HiRain Technologies. Al

15、l rights reserved.Slide: 31CANoe窗口介绍（窗口介绍（7）pMeasurement SetuppView-Measurement Setupp每个模块对应一个窗口p增加新模块（窗口）p插入功能块p数据记录 2007. HiRain Technologies. All rights reserved.Slide: 32CANoe窗口介绍（窗口介绍（7）p新增模块（窗口） 2007. HiRain Technologies. All rights reserved.Slide: 33CANoe窗口介绍（窗口介绍（7）p插入功能块pCAPL节点p发生器模块p回放模块p触

16、发模块p过滤器模块 2007. HiRain Technologies. All rights reserved.Slide: 34CANoe窗口介绍（窗口介绍（7）p过滤器模块p通道过滤（Channel Filter）p报文过滤（Filter）p变量过滤（Variables） 2007. HiRain Technologies. All rights reserved.Slide: 35CANoe窗口介绍（窗口介绍（7）p数据记录p默认状态关闭p多种记录文件类型p多种记录配置方式 2007. HiRain Technologies. All rights reserved.Slide: 36

17、CANoe窗口介绍（窗口介绍（7）p记录文件p右键点击文件图标-Logging file configuration 2007. HiRain Technologies. All rights reserved.Slide: 37CANoe窗口介绍（窗口介绍（7）p记录配置方式p双击Logging模块p全部记录p单次记录p触发记录 2007. HiRain Technologies. All rights reserved.Slide: 38蒙太奇（蒙太奇（5）p 数据记录的目的是为了离线分析pMode-To Offline 2007. HiRain Technologies. All rig

18、hts reserved.Slide: 39CANoe窗口介绍（窗口介绍（8）pSimulation SetuppView-Simulation Setupp发生器p交互式发生器pCAPL节点 2007. HiRain Technologies. All rights reserved.Slide: 40CANoe窗口介绍（窗口介绍（8）p发生器模块 2007. HiRain Technologies. All rights reserved.Slide: 41CANoe窗口介绍（窗口介绍（8）p发生器模块 2007. HiRain Technologies. All rights reser

19、ved.Slide: 42CANoe窗口介绍（窗口介绍（8）p发生器模块 2007. HiRain Technologies. All rights reserved.Slide: 43CANoe窗口介绍（窗口介绍（8）p交互式发生器模块 2007. HiRain Technologies. All rights reserved.Slide: 44欢迎进入欢迎进入CAPL的世界的世界pCAPL (CAN Access Programming Language )p类C语言p仿真p单个节点和整个网络p外部环境p测试p面向事件的编程语言p总线事件p键盘事件p时间事件 2007. HiRain T

20、echnologies. All rights reserved.Slide: 45CAPL Browser标题栏菜单条工具条浏览树窗格编译信息窗格状态条全局变量编辑窗格CAPL程序编辑窗格 2007. HiRain Technologies. All rights reserved.Slide: 46CAPL事件事件系统事件PreStartCANoe初始化时执行on preStart Start测量开始时执行on start StopMeasuremet测量结束时执行on stopMeasurement CAN控制器事件BusOff硬件检测到BusOff时执行on busOff ErrorA

21、ctive硬件检测到ErrorActive时执行on errorActive ErrorPassive硬件检测到ErrorPassive时执行on errorPassive WarningLimit硬件检测到WarningLimit时执行on warningLimit CAN消息事件自定义接收到指定的消息时执行on message Message 时间事件自定义定时时间朝过时执行on timer Timer 键盘事件自定义键值指定的键被下时执行on key Key 错误帧事件ErrorFrame硬件每次检测到错误帧时执行on errorFrame 环境变量事件自定义指定的环境变量值改变时执行o

22、n envVar EnvVar 2007. HiRain Technologies. All rights reserved.Slide: 47CAPL基本语法基本语法p类C语言，语法与C语言基本相同p注释p/放置在需要注释的语句之前，注释单行p/*注释起始符，其后的内容被注释p*/注释结束符，结束由/*开始的注释p分号程序结束标识p大括号函数体counter = counter+1;if (counter=256) counter=0; stop(); 2007. HiRain Technologies. All rights reserved.Slide: 48消息事件消息事件pon me

23、ssage 123 /对消息123(dec)反应pon message 0 x123 /对消息123(hex)反应pon message MotorData /对消息MotorData(符号名字)反应pon message CAN1.123 /对CAN 通道1收到消息123反应pon message * /对所有消息反应pon message 100-200 /对100-200间消息反应 2007. HiRain Technologies. All rights reserved.Slide: 49键盘事件键盘事件pon key a /按a键反应pon key /按空格键反应pon key 0

24、 x20 /按空格键反应pon key F1 /按F1键反应pon key Ctrl-F12 /按Ctrl + F12键反应pon key PageUP /按PageUp键反应pon key Home /按Home键反应pon key * /按所有键反应 2007. HiRain Technologies. All rights reserved.Slide: 50时间事件时间事件p定时器声明pmsTimer myTimer; /将myTimer 申明ms为单位的变量ptimer myTimer; /将myTimer 申明s为单位的变量p定时器函数psetTimer(myTimer,20);/

25、将定时值设定为20ms，并启动pcancelTimer(myTimer); /停止定时器myTimerp定时器事件pon timer myTimer/对myTimer 设定的时间到反应 2007. HiRain Technologies. All rights reserved.Slide: 51环境变量事件环境变量事件p环境变量函数pgetValue()/获取环境变量的值pputValue()/设置环境变量的值p环境变量事件pon envVar XXX 2007. HiRain Technologies. All rights reserved.Slide: 52数据类型数据类型数据类型数据

26、类型名称名称注释注释无符号整型byte1个字节word2个字节dword4个字节有符号整型int2个字节long4个字节浮点型float8个字节double8个字节CAN报文message定时器timer秒msTimer毫秒单个字符char1个字节 2007. HiRain Technologies. All rights reserved.Slide: 53数据定义数据定义p全局变量和局部变量p变量定义int i;message 0 x123 HiRain;message MotorData Vector; 2007. HiRain Technologies. All rights rese

27、rved.Slide: 54完整的完整的CAPL程序程序p三个部分p变量p各种事件p自定义函数on start /过程指令块 on message xxx /过程指令块 on key 1 /过程指令块 My_function_1(Para_1, Para_2, ) /函数体 My_function_n(Para_1, Para_2, ) /函数体 variables /申明全局变量 2007. HiRain Technologies. All rights reserved.Slide: 55CAPL输出文本输出文本pWrite Windowpwrite函数int h=100;char ch=

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

29、X) return;pthis.CarSpeed = 200; 2007. HiRain Technologies. All rights reserved.Slide: 57关键字关键字thispthis代表触发事件的对象on message 100 byte byte_0;byte_0 = this.byte(0);.on envVar Switch int val;val = getvalue(this);. 2007. HiRain Technologies. All rights reserved.Slide: 58报文处理报文处理on message 0 x64 if(this.b

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

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

32、put(msg1); 2007. HiRain Technologies. All rights reserved.Slide: 61环境变量处理环境变量处理on envVar evSwitch message MotorData msg;msg.bsSwitch = getValue(this);output(msg); 2007. HiRain Technologies. All rights reserved.Slide: 62练习练习1p当CANoe启动时，向Write Window输出一句话，例如“Hello the world!” 2007. HiRain Technologies

33、. All rights reserved.Slide: 63练习练习2p利用发生器模块周期性发送某一报文，例如每隔200ms发送一条EngineData报文。每当按下a键，在Write Window窗口输出一句话，例如“ XXX EngineData messages have sent.”p注：XXX为已经发送的EngineData报文数量。 2007. HiRain Technologies. All rights reserved.Slide: 64练习练习3p不用发生器模块实现Enginedata报文的周期性发送。p每当按下a键时，EngineData里面EngSpeed信号值为20

34、00；当按下b键盘时， EngineData里面EngSpeed信号值为4000；p如果EngineData里面EngSpeed信号为4000，则发送ABSData报文，同时在Write Window输出“Warning!”p当按下c键时，停止EngineData报文发送。 2007. HiRain Technologies. All rights reserved.Slide: 65欢迎进入欢迎进入CANdb+ Editor的世界的世界pDBC文件编辑工具p启动CANoepFile-Open CANdb Editorp点击 2007. HiRain Technologies. All rig

35、hts reserved.Slide: 66创建一个新的创建一个新的CAN数据库数据库pFile-Create Database p选择模板，鼠标双击或 按 OK按钮p指定数据库文件类型、 文件名及保存目录p按Save按钮。 一个新数据库创建完成 2007. HiRain Technologies. All rights reserved.Slide: 67创建对象（信号、报文、节点、环境变量和创建对象（信号、报文、节点、环境变量和ECU）p在Overview窗口左边 选择所需创建对象的类型p右键点击对象类型， 在快捷菜单中选择Newp使用配置对话框设置 所创建对象的系统参数值p点击确定按钮，

36、 一个新对象便创建完毕 2007. HiRain Technologies. All rights reserved.Slide: 68复制已有对象复制已有对象pCopy-Pastep选择已有对象Ctrl+cp选择对象类型Ctrl+v 2007. HiRain Technologies. All rights reserved.Slide: 69修改修改/编辑已有对象编辑已有对象p直接双击 2007. HiRain Technologies. All rights reserved.Slide: 70对象链接对象链接(1/2)p信号与报文之间的连接p发送报文与节点之间的连接p鼠标拖拽或Copy

37、-Insert 2007. HiRain Technologies. All rights reserved.Slide: 71对象链接对象链接(2/2)p接收报文与节点之间的连接p通过信号间接定义p双击节点， 选择Mapped Rx Sig.页签p点击Add，选择接收信号点击OKp点击确定 2007. HiRain Technologies. All rights reserved.Slide: 72通信矩阵通信矩阵pView-Communication Matrixp显示信号、消息、及网络节点的关系p以信号为行，网络节点为列p消息名显示于表中，对应了包含的信号与发送/接收的节点 2007.

38、 HiRain Technologies. All rights reserved.Slide: 73数值表数值表(1/2)p新建数值表pView-Value Tablesp右键点击空白处， 选择Newp在对话框中输入数值，点击确定p新的数值表创建完成 2007. HiRain Technologies. All rights reserved.Slide: 74数值表数值表(2/2)p分配数值表p数值表可以分配给信号或环境变量 2007. HiRain Technologies. All rights reserved.Slide: 75属性列表属性列表pVector Tool Chain

39、AttributespGeneralpManufacturerpInteraction LayerpGenMsgCycleTimepTransport Protocol and DiagnosticspDiagRequest, DiaResponsepNetwork ManagementpNmBaseAddress, NmStationAdresspTool specificpBusType 2007. HiRain Technologies. All rights reserved.Slide: 76新建属性新建属性pView-Attribute Definitionsp右键点击空白处， 选

40、择Newp在对话框中输入相关参数，点击确定p新的属性创建完成 2007. HiRain Technologies. All rights reserved.Slide: 77对象属性修改对象属性修改p双击对象 2007. HiRain Technologies. All rights reserved.Slide: 78一致性检查一致性检查pFile- Consistency Check 2007. HiRain Technologies. All rights reserved.Slide: 79数据导出数据导出p选择需要导出的对象p信号，报文，节点，ECU或网络pFile-Export-E

41、xport List of Objects 2007. HiRain Technologies. All rights reserved.Slide: 80创建面板创建面板/虚拟仪表虚拟仪表pPanel Editorp传统的面板编辑器pFile-Open Panel EditorpPanel Designerp新的面板编辑器pFile-Open Panel Designer 2007. HiRain Technologies. All rights reserved.Slide: 81Panel Editor面板区控件区 2007. HiRain Technologies. All rights reserved.Slide: 82面板设置面板设置pOptions-Window settingp定义面板名称p面板尺寸p背景颜色p透明色p控件的缺省字体和颜色pOptions-Change gridp网格大小p网格可视 2007. HiRain Technologies. All rights reserved.Slid