Getting Started With CANoe.ISO11783 - Vector...Getting Started With CANoe.ISO11783 4 Application Note AN-ION-1-4200 Figure 3 - Virtual Terminal 2.3 Task Controller On the desktop Task

Getting Started With CANoe.ISO11783 Version 2.0 2010-04-27

Application Note AN-ION-1-4200 Author(s) Heiko Gschwind Restrictions Public Document Abstract This application note describes the first steps for using the CANoe.ISO11783. Table of Contents

1 Copyright © 2010 - Vector Informatik GmbH Contact Information: www.vector.com or ++49-711-80 670-0

1.0 Overview ..........................................................................................................................................................2 2.0 CANoe.ISO11783 components .......................................................................................................................2 2.1 Simulated ECUs............................................................................................................................................3 2.2 Virtual Terminal .............................................................................................................................................3 2.3 Task Controller ..............................................................................................................................................4 2.4 Trace Window ...............................................................................................................................................5 2.5 GNSS Monitor ...............................................................................................................................................6 2.6 J1939 Scanner ..............................................................................................................................................6 2.7 J1939 Diagnostics Monitor ............................................................................................................................7 2.8 Futher components .......................................................................................................................................8 2.8.1 GNSS Simulator..........................................................................................................................................8 2.8.2 GNSS Node Layer ......................................................................................................................................8 2.8.3 CAPL Generator J1939 ..............................................................................................................................8 2.8.4 J1939 Interaction Layer ..............................................................................................................................8 2.8.5 J1939 Test Service Library .........................................................................................................................9 3.0 Creating a ISO11783 configuration .................................................................................................................9 3.1 Prepare Configration .....................................................................................................................................9 3.2 Insert ISO17783 componets .........................................................................................................................9 3.2.1 Virtual Terminal, Task Controller and GNSS Simulator..............................................................................9 3.2.2 J1939 Scanner, GNSS Monitor ..................................................................................................................9 3.2.3 Simulating an ISO11783 Implement ...........................................................................................................9 3.2.4 Prepare database .....................................................................................................................................10 3.2.5 Create CAPL file .......................................................................................................................................10 3.2.6 Modify CAPL file .......................................................................................................................................10 3.2.7 Prepare Simulation Setup.........................................................................................................................11 3.2.8 Start measurement ...................................................................................................................................11 4.0 Using Ready-Made Models ...........................................................................................................................12 5.0 Additional resources ......................................................................................................................................12 6.0 Contacts.........................................................................................................................................................13

Getting Started With CANoe.ISO11783

2 Application Note AN-ION-1-4200

1.0 Overview The J1939-based ISO standard 11783 describes CAN-based communication on open networks for mobile use in the agricultural sector. ISO11783 is a multi master network based on CAN, whose protocol is harmonized with J1939. CANoe.ISO11783 can be used to simulate a single ECU or a complete ISO11783 network and it can be used to test and analyze communication of ECUs and complete ISO11783 networks.

This application note presents the components of CANoe.ISO11783 by means of an example configuration. It also explains how to create a new CANoe configuration which can be used in an ISO11783 network.

The used screen shots might be slightly different depending on the used version of CANoe.

2.0 CANoe.ISO11783 components To show the essential components of CANoe.ISO11783 the example ISO11783SystemDemo is used. To open it call command File | Load Configuration ..., press button [CANoe Demos] and select the configuration ISO11783SystemDemo_CN.cfg of folder Demo_ISO11783_CN\ISO11783SystemDemo.

A detailed description of the example can be found in the online help (see example configurations in the table of contents).

All used components are inserted either in the Simulation Setup or the Measurement Setup of the desktop Configuration.

Figure 1 - Simulation and Measurement Setup



2.1 Simulated ECUs In the example a tractor ECU and a sprayer is simulated via two CAPL nodes. Both nodes use the so called node layer ISO11783DLL.dll which provides ISO11783 specific CAPL functions (see online help for more information on these functions). The panels Tractor and Sprayer on the desktop Simulation represent the graphical surface of the two nodes.

Figure 2 - Tractor ECU Panel

2.2 Virtual Terminal In the middle of the desktop Simulation you can see the Virtual Terminal. After an implement has sent its object pool to the Virtual Terminal you can control the implement via this terminal. A lot of settings allow you to customize the Virtual Terminal. Assignment of auxiliaries is done on page Auxiliary Function.



Figure 3 - Virtual Terminal

2.3 Task Controller On the desktop Task Controller you can see the task controller window which displays the process variable dictionary of the sprayer ECU. To read and write process variables the buttons [Get] and [Set] are used.



Figure 4 - Task Controller

You can also create, modify and delete tasks (treatment zones and process data). During measurement you can send the values of a treatment zone or a single process value to the implement.

2.4 Trace Window The Trace Window of CANoe.ISO11738 visualizes the messages of the ISO11783 network. It records bus activities during measurement. All the received ISO11783 messages are evaluated and displayed as information lines.

Figure 5 - Trace Window



2.5 GNSS Monitor The GNSS Monitor (Global Navigation Satellite System Monitor) on the desktop Simulation displays the waypoints of the simulated tractor.

Figure 6 - GNSS Monitor

If the measurement was stopped, the function Synchronize windows can be activated with the button . Then the global measurement cursor makes simultaneous scrolling in all trace, graphic and GPS windows available. This allows a direct assignment of the displayed data in all windows.

2.6 J1939 Scanner With the J1939 Scanner of desktop Analyze active nodes in the ISO11783 network can be displayed and analyzed.



Figure 7 - J1939 Scanner

The source addresses of the received parameter groups and the address claiming messages are evaluated by the J1939 Scanner. From this information the J1939 Scanner detects the active nodes and the state. For selected nodes more detailed information can be displayed, e.g. the J1939 device name. It is also possible to send Request and Commanded Address messages.

2.7 J1939 Diagnostics Monitor The J1939 Diagnostics Monitor on desktop Diagnostics shows the occurrence of error codes that are transmitted with the diagnostic messages of ISO11783.



Figure 8 - J1939 Diagnostics Monitor

2.8 Futher components There are a few other components of CANoe.ISO1783 which or not contained in the example configuration.

2.8.1 GNSS Simulator The GNSS Simulator window can be used to simulate a GNSS/GPS receiver. After inserting the GNSS Simulator in the simulation setup you can choose a geometric figure or a position file which is used to determine a path that will be traced at a variable speed when the simulation is started. GNSS positions thereby generated are transferred cyclically with configurable messages of the ISO11783 protocol.

2.8.2 GNSS Node Layer As well as the GNSS Simulator the GNSS node layer can be used to supply other devices on the network with position data. The node layer provides some additional CAPL functions which allow sending GNSS/GPS positions easily.

2.8.3 CAPL Generator J1939 With CAPL Generator J1939 you can easily create CAPL files to simulate an ECU (see chapter 3.2.5)

2.8.4 J1939 Interaction Layer The J1939 Interaction Layer (J1939 IL) provides signal oriented access to the ISO11783 bus. The mapping of the signals on the TX messages is done accordingly to the configuration in the used database. The J1939 IL manages the TX messages; RX messages are handled directly by CANoe and can be processed in CAPL. For more information see the online help



2.8.5 J1939 Test Service Library The J1939 Test Service Library extends the Test Feature Set with J1939 specific functions. The functions can be used in CAPL and XML test modules.

In difference to the standard functions of the Test Feature Set (TSL), the J1939 TSL uses parameter groups and PGN, and it supports J1939 transport protocols.

3.0 Creating a ISO11783 configuration This chapter shows the necessary steps to create a new CANoe configuration which can be used in an ISO11783 network.

3.1 Prepare Configration After starting CANoe we create a new configuration with command File | New Configuration…. In the dialog we choose the ISO11783 template. The new configuration has three desktops: Setup, Measurement and Diagnostics.

To get knowledge about the possible messages of ISO11783 and to enable the J1939 mode in CANoe you have to assign an ISO11783 database. You can find it at the example configurations which you can find via command Configuration | Options… | Application Settings | File Locations | Location of user data – Open. Copy a database of the folder Demo_ISO11783_CN\Database (e.g. ISO11783_IL4.DBC) to your working folder and add it by opening the context menu of the Databases collection of the system view window in the Simulation Setup.

3.2 Insert ISO17783 componets

3.2.1 Virtual Terminal, Task Controller and GNSS Simulator In the Simulation Setup of desktop Setup you have to go to the Interactive Generators collection below the J1939 network object in the system view window and click it with the right mouse button. Select one of the windows in the context menu that appears. Double clicking the new inserted block opens the associated window.

To use a Virtual Terminal in CANoe there is a second possibility: To design your own Virtual Terminal you can insert a CANoe panel which is controlled via the Virtual Terminal DLL. In a CAPL program you have to define the behavior of the Virtual Terminal. For more information see the online help.

3.2.2 J1939 Scanner, GNSS Monitor In the Measurement Setup of desktop Setup you have to click an existing block with the right mouse button and select the one of the windows from the popup menu that appears.

3.2.3 Simulating an ISO11783 Implement The behavior of an implement can be modeled with CAPL. The ISO11783 Node Layer DLL can be integrated to expand the functional range of CAPL.

Figure 9 - ISO11783 Node Layer DLL



The ISO11783 Node Layer DLL supports network management, sending and receiving parameter groups and transport protocols. Furthermore there is an API for managing the communication with a Virtual Terminal and an API to administer a device description file (ISO11783-10) and to create a process data dictionary which is automatically transmitted to the Task Controller.

3.2.4 Prepare database First a node has to be created in the database. To do this you have to open the CANdb++ editor. Insert a new node, set the node name to Implement and edit its address. Before closing the dialog the attributes has to be set. Switch to page Attributes, set the value of attribute NodeLayerModules to ISO11783DLL.dll and edit the attributes starting with ‘NM’ which define the J1939 device name.

To allow creation of a CAPL file with the J1939 CAPL Generator two parameter groups have to be assigned to the node. To do this copy the parameter groups WSMEM and WSMSTR, open the J1939 Communication Matrix and paste them to the node Implement.

Save the database and close the editor.

3.2.5 Create CAPL file To define the behavior of the implement you have to create a CAPL file. You can do this manually or you can use the J1939 CAPL Generator. For the latter case open the J1939 CAPL Generator, create a new project and insert all necessary values. Now you have to add the ISO11783 database the project.

Select the node Implement and set checkboxes ECU is Working Set Master, ECU is Bootmaster and Enable VT support. Set VT Version to 3 and specify the name of the object pool file.

Figure 10 - Setting of the node ‘Implement’

Now you have to call command Project | Generate Code … .In the dialog select the node Implement and press button [OK]. The Output Window displays the name and location of the generated CAPL file.

3.2.6 Modify CAPL file If the code has been generated, then the generated CAPL program can be edited further in the CAPL browser. The code may not be changed arbitrarily in all places if at a later point in time there should be another generation. For



this there are user areas provided, which are heeded during reading back of the code by the CAPL J1939 Generator for another generation. For more information see the online help.

3.2.7 Prepare Simulation Setup In the Simulation Setup of desktop Setup you have to go to the Nodes collection and click with the right button to add a network node. After a right click on the new block you have to select command Configuration… in the appearing context menu. In the dialog select CANdb name ISO11783_IL4::Implement and with button [File] you selected the CAPL file which have been generated in the chapter 3.2.5. Close the dialog.

To add a Virtual Terminal open the context menu of the Interactive Generators collection and select command Insert ISO11783 Virtual Terminal. Double click the new Virtual Terminal node to open the window.

Figure 11 - The simulated implement

3.2.8 Start measurement Before starting the measurement you have to make the object pool file available which is defined in 3.2.5. If you now start the measurement then the simulated implement sends an Address Claimed message followed by a Working Set Master message. Afterwards the object pool is transferred to the Virtual Terminal.



4.0 Using Ready-Made Models Several models are delivered with CANoe.ISO11783 which can be integrated into CANoe configurations:

Model Description

Auxiliary Analog Input This model simulates an auxiliary input with analog inputs (ISO11783-6).

Auxiliary Key Input This model simulates an auxiliary input with non latchable keys (ISO11783-6).

Auxiliary Key Input Latchable This model simulates an auxiliary input with latchable keys (ISO11783-6).

FileServer This model simulates a file server ECU (ISO11783-13).

Sprayer This model simulates a sprayer.

Tractor ECU This model simulates a tractor ECU of classification 2NF (ISO11783-9).

Virtual Terminal This model simulates a Virtual Terminal (ISO11783-6).

Table 1 - Models for CANoe.ISO11783

The folders of these models are located in the directory Demo_ISO11783_CN/Models of the examples. They contain database files, CAPL programs, panels, and object pool files. To use them in your own configurations copy the complete folder and integrate the files into your configuration.

5.0 Additional resources The following material may provide further useful information:

VECTOR APPLICATION NOTES AN-AND-1-112 CANoe Tutorial AN-ION-1-3100 Introduction to J1939 AN-ION-1-4400 Reasons for System Simulation with CANoe.ISO11783



6.0 Contacts

Germany and all countries not named below: Vector Informatik GmbH Ingersheimer Str. 24 70499 Stuttgart GERMANY Phone: +49 711-80670-0 Fax: +49 711-80670-111 E-mail: [email protected]

France, Belgium, Luxemburg: Vector France SAS 168 Boulevard Camélinat 92240 Malakoff FRANCE Phone: +33 1 42 31 40 00 Fax: +33 1 42 31 40 09 E-mail: [email protected]

Sweden, Denmark, Norway, Finland, Iceland: VecScan AB Theres Svenssons Gata 9 41755 Göteborg SWEDEN Phone: +46 31 764 76 00 Fax: +46 31 764 76 19 E-mail: [email protected]

United Kingdom, Ireland: Vector GB Ltd. Rhodium Central Boulevard Blythe Valley Park Solihull, Birmingham West Midlands B90 8AS UNITED KINGDOM Phone: +44 121 50681-50 E-mail: [email protected]

China: Vector Informatik GmbH Shanghai Representative Office Suite 605, Tower C, Everbright Convention Center No. 70 Caobao Road Xuhui District Shanghai 200235 P.R. CHINA Phone: +86 21 - 6432 5353 ext. 0 Fax: +86 21 - 6432 5308 E-mail: [email protected]

India: Vector Informatik India Private Ltd. 4/1/1/1 Sutar Icon Sus Road Pashan Pune 411021 INDIA Phone: +91 9673 336575 E-mail: [email protected]

USA, Canada, Mexico: Vector CANtech, Inc. 39500 Orchard Hill Pl., Ste 550 Novi, MI 48375 USA Phone: +1 248 449 9290 Fax: +1 248 449 9704 E-mail: [email protected]

Japan: Vector Japan Co. Ltd. Seafort Square Center Bld. 18F 2-3-12, Higashi-shinagawa, Shinagawa-ku Tokyo 140-0002 JAPAN Phone: +81 3 5769 7800 Fax: +81 3 5769 6975 E-mail: [email protected]

Korea: Vector Korea IT Inc. #1406, Mario Tower, 222-12 Guro-dong, Guro-gu Seoul, 152-848 REPUBLIC OF KOREA Phone: +82 2 807 0600 Fax: +82 2 807 0601 E-mail: [email protected]

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Getting Started With CANoe.ISO11783 - Vector...Getting Started With CANoe.ISO11783 4 Application Note AN-ION-1-4200 Figure 3 - Virtual Terminal 2.3 Task Controller On the desktop Task