CN115712537A - Low-cost vehicle controller CAN signal simulation system - Google Patents
Low-cost vehicle controller CAN signal simulation system Download PDFInfo
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- CN115712537A CN115712537A CN202211351211.0A CN202211351211A CN115712537A CN 115712537 A CN115712537 A CN 115712537A CN 202211351211 A CN202211351211 A CN 202211351211A CN 115712537 A CN115712537 A CN 115712537A
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Abstract
The invention belongs to the technical field of traffic, and discloses a low-cost vehicle controller CAN signal simulation system which comprises the following components: the parameter configuration module is used for configuring parameters for CAN signal simulation; the message generation module is used for loading a DBC file of a project before CAN message transceiving, analyzing the received first CAN message based on the DBC file to obtain a signal contained in each frame of message and information corresponding to each signal, and performing signal response according to the function definition of the CAN network matrix and the received signal and the requirement to construct a second CAN message; the message sending module is used for sending periodic frames or event frames; and the GUI display interface is used for displaying the first CAN message, the second CAN message and information corresponding to each signal. The invention solves the problems of inconvenient carrying and high cost of the CAN signal simulation tool.
Description
Technical Field
The invention belongs to the technical field of traffic, and particularly relates to a low-cost CAN signal simulation system of a vehicle controller.
Background
At present, in the development process of the vehicle machine, signal transmission is usually from an app layer to a middleware to an MCU layer, and then the MCU layer sends the signals to a CAN bus and correspondingly reaches each controller node. Therefore, in the development process, real-time verification is required, and usually, a corresponding DBC file is imported by referring to a CAN network matrix and using tools such as CAN-OE and CANTEST, and then a required CAN message is manually written in the tool for transmission. The same tester is when carrying out the car machine function point and examining, because the controller of each automobile body CAN't be accomplished to connect by the rack, the relevant function point of CAN signal of car machine is examined, CAN't obtain the response that returns of CAN signal when test function, consequently CAN't carry out effectual test to the tester to the car machine function.
For software development personnel related to CAN signal transceiving, CAN signal transceiving test needs to be carried out in real time in the development process, a CAN network matrix and related function signals of the whole vehicle are consulted, CAN messages are manually input, and a large amount of time and energy are needed to be spent through CAN-OE and CANTEST transceiving test, hardware equipment such as CAN-OE and the like is expensive, and the coordination and use are very inconvenient due to the limited number of the equipment. The same is more inconvenient for the vehicle machine testing personnel, and a convenient tool is needed for auxiliary development and testing.
Disclosure of Invention
In order to solve the technical problems, the invention provides a low-cost vehicle controller CAN signal simulation system, and aims to provide a low-cost and portable CAN message receiving and sending tool.
The invention provides a low-cost vehicle controller CAN signal simulation system, which comprises:
the parameter configuration module is used for configuring parameters of CAN signal simulation;
the message generation module is used for loading a DBC file of a project before CAN message transceiving, analyzing the received first CAN message based on the DBC file to obtain a signal contained in each frame of message and information corresponding to each signal, and performing signal response according to the function definition of the CAN network matrix and the received signal and the requirement to construct a second CAN message;
the message sending module is used for sending periodic frames or event frames;
and the GUI display interface is used for displaying the first CAN message, the second CAN message and information corresponding to each signal.
Specifically, a hardware type parameter is defined, and VCI _ USBCAN2=4 is set;
the VCI _ BOARD _ INFO structure comprises the equipment information of the USB-CAN series interface card;
filling a structure in the VCI _ ReadBoardInfo function;
transmitting a CAN information frame in a sending function VCI _ Transmit and a receiving function VCI _ Receive;
before initialization, the struct is filled in the VCI _ InitCan function.
Specifically, a VCI _ Opendevice function is called in a function to open the equipment, and two channels of the CAN hardware are set through a DecIndex parameter;
after the equipment is started, calling a VCI _ InitCan function to initialize a designated CAN channel, and filling a VIC _ INIT _ CONFIG structural body;
after initializing the CAN channel, calling VCI _ GetReceiveNum to acquire data of the CAN buffer area, receiving a CAN frame structure of the CAN buffer area through VCI _ Receive, and reading the data in the CAN frame structure to obtain a first CAN message;
and after the second CAN message is constructed, initializing the second CAN message into a CAN frame structure, and transmitting the second CAN message through a VCI _ Transmit function.
Specifically, using a DBC file of a Python with open reading item, each frame packet is constructed into a frame by setting a constructor frame, where the frame is in a format of (frame.id, frame.signs), where frame.id is an ID of the frame packet, and frame.signs is a signal set of the frame packet;
the Signal is collected in a Signal constructor, the name of the Signal is checked through Signal, the starting bit of the Signal is the Signal, the length of the Signal is checked through Signal, the offset of the Signal is checked through Signal, the precision of the Signal is checked through Signal, and the comment information is checked through Signal.
Specifically, when signal feedback is performed, a frame of CAN message is reconstructed according to the transmitted signal value to be transmitted.
Specifically, a menu bar of the GUI display interface is provided with two buttons, namely a device operation button and a DBC loading button;
the device operation comprises two functions of turning on the device and turning off the device, and is used for controlling the connection and disconnection of the device;
and loading the DBC, loading the DBC file of the item in a file mode and analyzing.
Specifically, a data processing interface is displayed after the equipment is opened, and the data processing interface comprises a parent class and a subclass class;
displaying the ID of a frame of CAN message, the type of the CAN message, the period frame time delta t and frame data in the parent class;
and displaying all signals of the frame CAN message and information corresponding to each signal in the subclass.
Specifically, in the CAN data receiving thread, storing the received data in a received data list buffer, where the received data list buffer includes an ID, a data type, a time parameter, and a CAN message, and the data type is receiving;
the data receiving thread is internally provided with a function of identifying data according to the DBC file, when a signal which needs to be replied by the simulation controller is identified, a second CAN message is constructed and sent, the sending function thread is synchronously started, and the sending of a cycle or an event frame is carried out.
Specifically, data to be sent is stored in a sending data list buffer, wherein the sending data list buffer comprises an ID, a data type, a time parameter and a CAN message, and the data type is sending;
the GUI display thread synchronously reads data from the received data list buffer and the sent data list buffer, and displays each list element data read from the received data list buffer and the sent data list buffer in a parent treeWidge;
covering the messages with the same ID, and subtracting the time parameters in the received data list buffer and the sent data list buffer to be used as a time difference value delta t;
and after loading the DBC file, inserting each signal and the signal length, factor, offset, signal value and annotation information thereof under the corresponding CAN message into the corresponding ID to be used as child _ tree _ right.
Specifically, the information corresponding to each signal specifically includes a signal name, a signal value, a start bit, a signal length, precision, an offset, and comment information.
Compared with the prior art, the invention has the beneficial effects that at least:
1. the CAN signal of the vehicle is usually transmitted to the middleware from the APP layer, then transmitted to the MCU by the middleware, and transmitted to each vehicle body controller by the MCU. And the simulation tool CAN directly replace each controller to feed back the CAN signals. Can make things convenient for the project development to and the tester carries out the relevant test of CAN signal, the use of buildding of convenient rack.
2. The tool is based on USB-CAN hardware equipment, and CAN be used for vehicle software development and testing personnel, so that the development efficiency of developers is improved, and the development cost is reduced.
Drawings
FIG. 1 is a schematic diagram of a low-cost vehicle controller CAN signal simulation system according to the present invention;
FIG. 2 is a schematic flow diagram of a low cost vehicle controller CAN signal simulation system of the present invention;
fig. 3 is a schematic diagram of the programming of a low-cost vehicle controller CAN signal simulation system provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are intended to be a subset of the embodiments of the invention rather than a complete embodiment. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Fig. 1 is a schematic structural diagram of an embodiment of a low-cost vehicle controller CAN signal simulation system provided by the invention, and the simulation tool comprises:
and the parameter configuration module is used for configuring the parameters of CAN signal simulation.
And the message generation module is used for loading a DBC file of a project before the CAN message is received and transmitted, analyzing the received first CAN message based on the DBC file to obtain signals contained in each frame of message and information corresponding to each signal, and performing signal response according to the function definition of the CAN network matrix and the received signals and the requirement to construct a second CAN message.
Specifically, the information corresponding to each signal specifically includes a signal name, a signal value, a start bit, a signal length, precision, an offset, and comment information.
And the message sending module is used for sending the periodic frame or the event frame.
And the GUI display interface is used for displaying the first CAN message, the second CAN message and information corresponding to each signal.
Preferably, the method and the device realize the functions of reading and sending the messages from the CAN bus by calling the CANalyst-II hardware device of the core-creating technology, the function library of the secondary development library ZLG provided by the CANalyst-II hardware device and the interface provided by the data structure through a python program.
Preferably, the received CAN message and the sent CAN message are displayed in a GUI interface in real time, and data such as a signal name, a start bit, a signal value and the like of a response are analyzed according to the DBC file, so that the data CAN be conveniently viewed.
Fig. 2 is a schematic flow chart of an embodiment of a low-cost vehicle controller CAN signal simulation system according to the present invention.
Fig. 3 is a schematic diagram illustrating the programming of an embodiment of the low-cost CAN signal simulation system of the vehicle controller according to the present invention.
Specifically, a hardware type parameter is defined, and VCI _ USBCAN2=4 is set;
the VCI _ BOARD _ INFO structure body comprises the equipment information of the USB-CAN series interface card;
filling a structural body in the VCI _ ReadBoardInfo function;
transmitting a CAN information frame in a sending function VCI _ Transmit and a receiving function VCI _ Receive;
before initialization, the struct is filled in the VCI _ InitCan function.
Preferably, the CANalyst-II hardware equipment and the secondary development function library ControlCAN.dll providing the ZLG provide interface functions for development of the CAN signal simulation tool of the vehicle controller, and the CAN message is received and sent by calling the provided interface functions. In order to implement CAN message transceiving, a hardware type parameter (VCI _ USBCAN2= 4) needs to be defined in development.
Specifically, a VCI _ Opendevice function is called in a function to open the device, and two channels of the CAN hardware are set through a DecIndex parameter;
after the equipment is started, calling a VCI _ InitCan function to initialize a designated CAN channel, and filling a VIC _ INIT _ CONFIG structural body;
after initializing the CAN channel, calling VCI _ GetReceiveNum to acquire data of the CAN buffer area, receiving a CAN frame structure of the CAN buffer area through VCI _ Receive, and reading the data in the CAN frame structure to obtain a first CAN message;
and after the second CAN message is constructed, initializing the second CAN message into a CAN frame structure, and transmitting the second CAN message through a VCI _ Transmit function.
The equipment starts and calls a CAN channel appointed by VCI _ InitCan initialization, a VIC _ INIT _ CONFIG structural body is filled, the baud rate, the sending mode and the like CAN be set by setting parameters in the structure, and the development requirement is met.
Specifically, using a DBC file of a Python with open reading item, each frame packet is constructed into a frame by setting a constructor frame, where the frame is in a format of (frame.id, frame.signs), where frame.id is an ID of the frame packet, and frame.signs is a signal set of the frame packet;
the Signal is collected in a Signal constructor, the name of the Signal is checked through signal.name, the signal.startbit is the start bit of the Signal, the length of the Signal is checked through signal.size, the offset of the Signal is checked through signal.offset, the precision of the Signal is checked through signal.factor, and the comment information is checked through signal.comment.
And a DBC file analyzing function, namely reading the DBC file of the project by utilizing Python with open, wherein the DBC file comprises all messages of the CAN network signal matrix of the whole vehicle.
When CAN message analysis is carried out, the meaning of each signal value CAN be obtained by identifying the ID of the received CAN message and analyzing the frame message.
Specifically, when signal feedback is performed, a frame of CAN message is reconstructed according to the transmitted signal value to be transmitted.
Exemplarily, the simulation of the response and reply of the air conditioner controller to the switching command of the air conditioner to the CAN signal is required, and the VCI _ Receive function is used to obtain a frame data structure, which is simply referred to as: objs. 0x365 of a signal issued by the air conditioner can be obtained through objs.ID; acquiring that the CAN message is [00 80 7E 00 00 00 00] according to the objs.data, wherein the data received in the CAN message are all 16-system messages, traversing the frame.signals of the frame message with the ID of 365 through a matrix and a DBC file, and acquiring a signal which is an air conditioner starting request when the signal initial bit is equal to 14. And converting the obtained CAN message into a 2-system data which is 64bit in total, obtaining a signal value according to the start bit and the signal length, and calculating the physical value of the frame signal to be 2 by multiplying the signal value by a factor and adding the offset. And when the item matrix defines that the signal is 2, the signal represents that the air conditioner issues an opening request. The controller BCM needs to reply with a signal with ID 322 and physical value 1. And on the contrary to the reading, the signal length and the signal name are constructed into a frame of CAN message [00 80 00 00 00 00 00] through the start bit of the signal, and then the signal is sent to the CAN bus through the VCI _ Transmit function, so that the simulation of the air conditioner on-off command of the air conditioner controller is realized.
Specifically, a menu bar of the GUI display interface is provided with two buttons, namely a device operation button and a DBC loading button;
the equipment operation comprises two functions of opening and closing the equipment and is used for controlling the connection and disconnection of the equipment;
and loading the DBC, loading the DBC file of the item in a file mode and analyzing.
Specifically, after the equipment is opened, a data processing interface is displayed, and the data processing interface comprises a father class part and a subclass class part;
displaying the ID of a frame of CAN message, the type of the CAN message, the period frame time delta t and frame data in the parent class;
and displaying all signals of the frame CAN message and information corresponding to each signal in the subclass.
After the application program is started, the device is opened through the operation of the device opening button, two interface functions of the CAN device are initialized, the CAN data receiving thread is synchronously started, and the GUI interface display thread
Specifically, in the CAN data receiving thread, storing the received data in a received data list buffer, where the received data list buffer includes an ID, a data type, a time parameter, and a CAN message, and the data type is receiving;
the data receiving thread is internally provided with a function of identifying data according to the DBC file, when a signal which needs to be replied by the simulation controller is identified, a second CAN message is constructed and sent, the sending function thread is synchronously started, and the sending of a cycle or an event frame is carried out.
Specifically, data to be sent is stored in a sending data list buffer, wherein the sending data list buffer comprises an ID, a data type, a time parameter and a CAN message, and the data type is sending;
the GUI display thread synchronously reads data from the received data list buffer and the sent data list buffer, and displays each list element data read from the received data list buffer and the sent data list buffer in a parent treeWidge;
covering the messages with the same ID, and subtracting the time parameters in the received data list buffer and the sent data list buffer to be used as a time difference value delta t;
and after loading the DBC file, inserting each signal and the signal length, factor, offset, signal value and annotation information thereof under the corresponding CAN message into the corresponding ID to be used as child _ tree _ right.
The user can view the information in the GUI interface in an unfolding and folding mode.
The above-mentioned embodiments only express the preferable mode of the invention, and the description is more specific and detailed, but not to be understood as the limitation of the patent scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A low-cost vehicle controller CAN signal simulation system, comprising:
the parameter configuration module is used for configuring parameters of CAN signal simulation;
the message generation module is used for loading a DBC file of a project before CAN message transceiving, analyzing a received first CAN message based on the DBC file to obtain a signal contained in each frame of message and information corresponding to each signal, and performing signal response according to the function definition of a CAN network matrix and the received signal and the requirement to construct a second CAN message;
the message sending module is used for sending periodic frames or event frames;
and the GUI display interface is used for displaying the first CAN message, the second CAN message and the information corresponding to each signal.
2. A low cost vehicle controller, CAN, signal simulation system according to claim 1, wherein: defining a hardware type parameter, and setting VCI _ USBCAN2=4;
the VCI _ BOARD _ INFO structure comprises the equipment information of the USB-CAN series interface card;
filling a structural body in the VCI _ ReadBoardInfo function;
transmitting a CAN information frame in a sending function VCI _ Transmit and a receiving function VCI _ Receive;
before initialization, the struct is filled in the VCI _ InitCan function.
3. A low cost vehicle controller, CAN, signal simulation system according to claim 2, wherein: calling a VCI _ Opendevice function in the function to open the equipment, and setting two channels of the CAN hardware through a DecIndex parameter;
after the equipment is started, calling a VCI _ InitCan function to initialize a designated CAN channel, and filling a VIC _ INIT _ CONFIG structural body;
after the CAN channel is initialized, calling VCI _ GetReceiveNum to acquire data of a CAN buffer area, receiving a CAN frame structure of the CAN buffer area through VCI _ Receive, and reading the data in the CAN frame structure to acquire the first CAN message;
and after the second CAN message is constructed, initializing the second CAN message into a CAN frame structure, and transmitting the CAN frame structure through a VCI _ Transmit function.
4. A low cost vehicle controller, CAN, signal simulation system according to claim 1, wherein: reading the DBC file of the item by using Python with open, and constructing each frame message into a frame by setting a constructor frame, wherein the format of the frame is (frame.id, frame.signs), the frame.id is the ID of the frame message, and the frame.signs is the signal set of the frame message;
the Signal is set in a Signal constructor, the name of the Signal is checked through Signal, the starting bit of the Signal is the Signal, the length of the Signal is checked through Signal, the offset of the Signal is checked through Signal, the precision of the Signal is checked through Signal, and the comment information is checked through Signal.
5. A low cost vehicle controller CAN signal simulation system according to claim 4, wherein: and when signal feedback is carried out, reconstructing a frame of CAN message according to the sent signal value to send.
6. A low-cost vehicle controller, CAN, signal simulation system according to claim 1, wherein: a menu bar of the GUI display interface is provided with two buttons of equipment operation and DBC loading;
the device operation comprises two functions of turning on the device and turning off the device, and is used for controlling the connection and disconnection of the device;
and the loading DBC loads and analyzes the DBC file of the item in a file mode.
7. A low cost vehicle controller CAN signal simulation system according to claim 6, wherein: after the equipment is opened, displaying a data processing interface, wherein the data processing interface comprises a parent class and a subclass class;
displaying the ID of a frame of CAN message, the type of the CAN message, the period frame time delta t and frame data in the parent class;
and displaying all signals of the frame CAN message and information corresponding to each signal in the subclass.
8. A low cost vehicle controller, CAN, signal simulation system according to claim 7, wherein: storing received data in a received data list buffer in a CAN data receiving thread, wherein the received data list buffer comprises an ID, a data type, a time parameter and a CAN message, and the data type is receiving;
the data receiving thread is internally provided with a function of identifying data according to the DBC file, and when a signal which needs to be replied by the simulation controller is identified, the second CAN message is constructed and sent, the sending function thread is synchronously started, and the cycle or event frame is sent.
9. A low cost vehicle controller, CAN, signal simulation system according to claim 8, wherein: storing data to be transmitted in a transmission data list buffer, wherein the transmission data list buffer comprises an ID, a data type, a time parameter and a CAN message, and the data type is transmission;
the GUI display thread synchronously reads data from the received data list buffer and the sent data list buffer, and displays each list element data read from the received data list buffer and the sent data list buffer in a parent treeWidwht;
covering the messages with the same ID, and subtracting the time parameters in the received data list buffer and the sent data list buffer to be used as a time difference value delta t;
and after loading the DBC file, inserting each signal and the signal length, factor, offset, signal value and annotation information thereof under the corresponding CAN message into the corresponding ID to be used as child _ tree _ right.
10. The low-cost vehicle controller CAN signal simulation system according to claim 1, wherein the information corresponding to each signal specifically comprises a signal name, a signal value, a start bit, a signal length, an accuracy, an offset and annotation information.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117155422A (en) * | 2023-09-14 | 2023-12-01 | 慧勒智行汽车技术(昆山)有限公司 | CAN signal receiving and transmitting method and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117155422A (en) * | 2023-09-14 | 2023-12-01 | 慧勒智行汽车技术(昆山)有限公司 | CAN signal receiving and transmitting method and system |
| CN117155422B (en) * | 2023-09-14 | 2024-04-02 | 慧勒智行汽车技术(昆山)有限公司 | CAN signal receiving and transmitting method and system |
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