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VW TP 2.0 Diagnostics in CANoe

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Documentation VW TP 2.0 Diagnostics in CANoe

This document describes the steps necessary to use VW TP 2.0 for diagnostics in CANoe 5.1 SP2 and higher.

©2005, Vector Informatik GmbH

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Table of contents 1 Introduction .................................................................................................................... 3 2 Prerequisites ..................................................................................................................3 3 Demo ............................................................................................................................... 3 4 Configuration .................................................................................................................4 5 Using the diagnostic console and fault memory window ..........................................6 6 Test modules..................................................................................................................7 7 ECU simulations ............................................................................................................9 8 CAPL callback interface for VW TP 2.0 ......................................................................10 9 Troubleshooting...........................................................................................................12

©2005, Vector Informatik GmbH

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VW TP 2.0 Diagnostics in CANoe

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Introduction

Starting with CANoe 5.1 SP2, diagnostics on VW TP 2.0 (dynamic channel setup) is integrated into CANoe. Therefore it is now possible to •

Communicate with an ECU from a diagnostics control, i.e. the “console” or the “fault memory window”. This allows an easy and simple access to the diagnostics functionality of an ECU, either on the level of a standard like KWP 2000 or UDS, or based on the diagnostics definitions of a specific ECU defined in a CANdela description file (CDD).

•

Implement test modules easily. It is now easy to write test sequences that stimulate an ECU and process its responses (cf. examples in this document).

•

Implement ECU simulations easily. In order to “test the tester”, CANoe can simulate an ECU and send responses to the tester, e.g. in order to assure the reliability of the tester.

Hint:

The full documentation of the VW_TP20.DLL is available in this package too. Please refer to VW_TP20_Documentation_eng.pdf.

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Prerequisites •

Nodelayer DLL VW_TP20.DLL version 1.5.26 or higher. This DLL is available in the “VAG Add-on packet 1.10”.

•

CANoe 5.1 SP2 or higher.

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Demo

In this add-on package, you will find the demo “VWKWPSim”. Please try the following configurations: •

KWPSim.cfg: In this configuration, only the ECU simulation is included. You can access

•

KWPSimPanel.cfg: This configuration demonstrates the implementation of a test case

that simulation from the diagnostics controls, i.e. the console and the fault memory window. Note the ECU panel that allows to set ECU parameters and behavior. and a tester node simulation. It is controlled via a tester control panel. Note that only the test case or the tester simulation can be active at a time; this is due to the fact that the VW TP 2.0 is connection oriented.

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Configuration

After installation of the node layer DLL (i.e. VW_TP20.DLL has to be located in CANoe’s exec32 directory), it is possible to configure the VW TP 2.0 settings for a diagnostics description in CANoe: Configure – Diagnostics/ISO TP Observer – Configure… – Assignments It is now possible to select the interface setting “VWTP 2.0 (CANoe)”, which will change the tab of the second page from “Transport Layer” to “Transport Layer (VW TP 2.0):

On this page, it is possible to set the following TP layer parameters: Label

Description

Address

(for tester and ECU, byte) This parameter corresponds to the “destination” value in the CAN messages.

Suggested ID

(for tester and ECU) These values will be used in the “dynamic connection structure” as suggested CAN ids for the communication.

Application type (byte) Typically 1 for diagnostics Block size

[0; 15] Number of data frames that are transmitted before an ACK frame has to be send by the receiver.

Segment size

Maximum length of a segment (in byte), where 0 means that segments may have any length.

T1, T3

Values for the timeouts used by the protocol.

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Note that here the coded timer value byte has to be given: bit 7,6 select the time base, (0,0) for 100µs, (0,1) 1ms, (1,0) 10ms, (1,1) 100ms). Example: Using the following parameters, see the corresponding message trace. Parameter

Value

Trace

Address (Tester)

00

(The parameters are marked with background colors.)

Address (ECU)

05

Time

ID (Tester)

2fc

6.587660

200

7

05 c0 fc 12 00 03 01

ID (ECU)

300

6.587890

205

7

00 d0 00 03 fc 02 01

Application type

01

6.588120

2fc

6

a0 02 4a ff 54 ff

Block size

02

6.588400

300

6

a1 02 68 ff 54 ff

Segment size

0

6.608350

2fc

5

10 00 02 1a 00

T1

4a

6.608510

300

1

b1

6.628440

300

8

20 00 66 5a 00 41 42 43

T2

54

6.648490

300

8

01 44 45 46 47 48 49 4a

6.648630

2fc

1

b2

ID

DLC Data

...

Notes: •

These settings are stored in the CANoe configuration file, and not taken from the CDD file!

•

It is possible to access these parameters from CAPL with the function DiagGetCommParameter( char name[]);

Please refer to the function _Diag_SetChannelParameters below.

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Using the diagnostic console and fault memory window

Assign the CDD to a bus (or even a bus node). After closing the dialogs, the diagnostics console and the fault memory window will open. Once the measurement is started, it is possible to open a communication channel to the ECU by pressing the “TP on” button on the diagnostics window, i.e. the transport protocol is activated. You can then select requests on the console and send them to the ECU; the responses will be displayed in the console window’s trace section. Note that the channel is opened automatically if necessary, when a request is sent to the ECU. The communication channel can be closed by pressing “TP off” on the diagnostics console. It can be reopened any time. Notes: •

The fault memory window is only able to interpret the DTCs returned by the ECU if they are defined in the CDD.

•

Please note that the value for the “P2 timeout” on the configuration page Configure – Diagnostics/ISO TP Observer – Configure… – Diagnostics Layer determines whether a response is considered to be “in time”. If the ECU responds to a request, but the console still reports “no response received”, check this value.

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Test modules

Test modules in CANoe have the distinction of departing from the strictly event oriented paradigm. It is possible to call a “TestWaitFor…” function in a test case, meaning that CANoe will stop executing the test case and process other events. This allows the implementation of sequential tests without having to implement a state machine. In order to implement a VW TP 2.0 diagnostics test case in CANoe, •

Configure a CDD (see above): use VW TP 2.0, assign the CDD to a bus (not a network, i.e. “Bus”, not “Bus::*”) or simulation node (e.g. “Bus::Node”), and enter the TP parameters.

•

Create a test module node in the simulation setup.

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Assign a CAPL program to the test module.

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Add a “MainTest” routine and test cases, and adapt the ECU qualifier used in “DiagSetTarget”. Here are some examples:

// -----------------------------------------------------------------------void MainTest() { DiagSetTarget( "VWTPECU"); // Enter the ECU qualifier here! SimpleTest(); // Shutdown connection. CANdelaLibCloseChannel("VWTPECU"); } // -----------------------------------------------------------------------// This test case tries to unlock the ECU by sending a key to the ECU. testcase SimpleTest () { diagRequest SecurityAccess::SecurityAccess::Process reqSA; byte data[10]; // buffer for seed and key parameter DWORD seed; // aux variable for computation DiagSetParameter( reqSA, "accessMode", 3); DiagSetParameterRaw( reqSA, "key", data, 0); DiagSendRequest( reqSA);

// Request seed // cut optional parameter (length 0)

if( 1 == TestWaitForDiagResponse( reqSA, 3000)) { if( diagGetLastResponseCode(reqSA) == -1) { // positive response diagGetRespParameterRaw( reqSA, "data", data, elcount( data)); write( "Response received: %02x %02x %02x ...", data[0], data[1], data[2]); } else { write( "Received negative response! Aborting."); return; } } seed = ((data[0] * 256 + data[1]) * 256 + data[2]) * 256 + data[3]; seed += 12345; data[0] = seed >> 24; data[1] = seed >> 16; data[2] = seed >> 8; data[3] = seed; DiagSetParameter( reqSA, "accessMode", 4); // send key DiagSetParameterRaw( reqSA, "key", data, 4); DiagSendRequest( reqSA); if( 1 == TestWaitForDiagResponse( reqSA, 3000)) { if( diagGetLastResponseCode(reqSA) == -1)

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{ // positive response write( "Security Access successful!"); } else { write( "Received negative response 0x%02x! Aborting.", diagGetLastResponseCode(reqSA)); return; } } }

Tip:

If you implement the generic CAPL callback interface (cf. section 7), you can access the transport layer directly, e.g. for tests on transport protocol level. •

In addition, configure the test module (context menu “Configuration…”) to use the VW_TP20.DLL: on the page “Modules”, assign the VW_TP20.DLL. Alternatively, you can name the test module and enter a node of the same name in a database assigned to the bus. Then you have to set the attribute “NodeLayerModules” to the value VW_TP20.DLL for this node (please refer to the DLL documentation, VW_TP20_Documentation_eng.pdf).

•

You have to add the code for the CAPL callback interface for VW TP 2.0 to the node.

•

You have to make sure that the test case starts only when the channel has been established. You can do that by using the suggested text event gSetupEvent for synchronization.

// -----------------------------------------------------------------------void MainTest() { DiagSetTarget( "VWTPECU"); // Enter the ECU qualifier here! testWaitForTextEvent(gSetupEvent, 5000); // text event defined in sample interface TestWaitForTimeout( 200);

// Make sure the ECU is configured.

SimpleTest(); // Shutdown connection. Disconnect(); } // -----------------------------------------------------------------------testcase Disconnect() { VWTP2_DisConnectReq(); testWaitForTextEvent(gSetupEvent, 5000); }

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ECU simulations

In order to simulate an ECU in a CAPL program, the following steps have to be taken: •

Add a “network node” to the bus in the simulation setup.

•

From the node’s context menu, assign a node defined in a database of the simulation to the simulation node. This step is necessary to make the node accessible in the diagnostics description configuration dialog, i.e. there the simulation node name will be presented.

•

Make sure that the VW_TP20.DLL module is assigned to the node. The easiest way is to assign the node via the database attribute “NodeLayerModules”.

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Configure a CANdela diagnostics description (see above). You can use a standard CDD or a CDD defined for a concrete ECU.

•

Set the Interface to “VWTP 2.0 (CANoe)”. This is only possible if the TP node layer DLL is installed!

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Assign the CDD to the simulation node, i.e. “Bus::Node”.

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Enter the VW TP 2.0 parameters on the second page of the configuration dialog. You may also adapt the diagnostics layer parameters.

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Assign a new CAPL program to the simulation node.

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Include the generic CAPL callback interface code (cf. section 8) in the .can file.

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Add diagnostics event handlers to the CAPL program. Here is an example:

on diagRequest SecurityAccess::SecurityAccess::Process { BYTE data[4]; DWORD sSeed = 357912; DWORD value; diagResponse this resp; // Retrieve the parameters from the request. switch( DiagGetParameter( this, "accessMode")) { case 3: // Send seed DiagSetParameter( resp, "accessMode", 3); data[0] = sSeed >> 24; data[1] = sSeed >> 16; data[2] = sSeed >> 8; data[3] = sSeed; DiagSetParameterRaw( resp, "data", data, 4); DiagSendResponse( resp); return; case 4: // Send key; DiagGetParameterRaw( this, "key", data, 4); value = ((data[0] * 256 + data[1]) * 256 + data[2]) * 256 + data[3]; if( value - sSeed == 12345) { DiagSetParameter( resp, "accessMode", 4); data[0] = 0x34; // security access allowed DiagSetParameterRaw( resp, "data", data, 1); DiagSendResponse( resp); return; } DiagSendNegativeResponse(this, 0x35); // invalid key return; default: DiagSendNegativeResponse(this, 0x12); };

// Not supported

}

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CAPL callback interface for VW TP 2.0

This is a sample implementation of the generic CAPL callback interface providing the connection between the diagnostics and the TP layer in a tester module or ECU simulation. It is recommended to adapt the following variables: •

gECU: This is the name of the node that will be reported in the write window. Choose an individual value here, otherwise the write window output will be difficult to distinguish.

•

gSegmentInterval: This value determines the minimum distance between the sending of segments in ms. Note that the transport protocol uses a minimum message separation time that limits this value.

// -----------------------------------------------------------------------variables { // --- Tester node: char gECU[10] = "Tester"; // For debugging output. char gSetupEvent[20] = "VWTP20_SetupEvent"; // For synchronization CAPL/TP /* --- ECU node: char gECU[10] = ""; // For debugging output. char gSetupEvent[20] = ""; // No synchronization in ECU! */ long gChannelState = 0; // Not open DWORD gSegmentInterval = 5; // time between sending of segments BYTE gTargetAddr = 0; BYTE gAppType = 0; } // -----------------------------------------------------------------------VWTP2_DataInd( long count) { /* This function gets the number of data bytes received */ byte receivedData[4096]; DWORD dataLen; VWTP2_GetRxData( receivedData, count); dataLen = ((receivedData[0] & 0xF) * 256) + receivedData[1]; writeDbgLevel(1,"%s: VWTP2_DataInd( %d) -> %d bytes", gECU, count, dataLen); Diag_DataInd( receivedData, count, 0); } // -----------------------------------------------------------------------VWTP2_DataCon( long count) { /* This function gets the number of bytes succsessfully sent */ writeDbgLevel(1,"%s: VWTP2_DataCon", gECU); Diag_DataCon( count); } // -----------------------------------------------------------------------VWTP2_ErrorInd( int error) { /* This function gets error indications */ writeDbgLevel(1,"%s: VWTP2_ErrorInd(%d)", gECU, error); Diag_ErrorInd( error); } // -----------------------------------------------------------------------void VWTP2_DisConnectInd(long reason) { writeDbgLevel(1, "%s: VWTP2_DisConnectInd(%d)", gECU, reason); Diag_ClosedChannelInd(); // Tell CANoe that the channel is closed. gChannelState = 0; // Disconnect succeeded. if( gSetupEvent[0]) // Using events? testSupplyTextEvent(gSetupEvent); // Trigger waiting test case.

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} // -----------------------------------------------------------------------VWTP2_SetupCon(void) { writeDbgLevel(1, "%s: VWTP2_SetupCon()", gECU); gChannelState = 2; // channel open. Diag_SetupChannelCon(); // Tell CANoe that the channel is open. if( gSetupEvent[0]) // Using events? testSupplyTextEvent(gSetupEvent); // Trigger waiting test case. } // -----------------------------------------------------------------------_Diag_DataRequest( BYTE data[], DWORD count, long furtherSegments) { writeDbgLevel(1, "%s: DataRequest %d byte: %02x %02x %02x ...", gECU, count, data[0], data[1], data[2]); VWTP2_DataReq(data, count); } // -----------------------------------------------------------------------_Diag_SetChannelParameters() { writeDbgLevel(1, "%s: _Diag_SetChannelParameters", gECU); write( "CANoe TP parameters(hex): ECU Addr %x, target Addr %x, TxId %x, RxId %x", DiagGetCommParameter( "CANoe.EcuAddr"), DiagGetCommParameter( "CANoe.TgtAddr"), DiagGetCommParameter( "CANoe.TxId"), DiagGetCommParameter( "CANoe.RxId")); write( "(continued) AppType %x, SegmentSize %x, Blocksize %x, T1 %x, T3 %x", DiagGetCommParameter( "CANoe.ApplicationType"), DiagGetCommParameter( "CANoe.SegmentSize"), DiagGetCommParameter( "CANoe.Blocksize"), DiagGetCommParameter( "CANoe.T1"), DiagGetCommParameter( "CANoe.T3")); gAppType = DiagGetCommParameter( "CANoe.ApplicationType"); gTargetAddr = DiagGetCommParameter( "CANoe.TgtAddr"); VWTP2_SetAppType( gAppType); VWTP2_SetRxId( DiagGetCommParameter( "CANoe.RxId")); VWTP2_SetTxId( DiagGetCommParameter( "CANoe.TxId")); VWTP2_SetECU( DiagGetCommParameter( "CANoe.EcuAddr")); VWTP2_SetTarget( gTargetAddr); // Initialize VW TP 2.0 style segmentation and the segment send interval. Diag_SetDataSegmentation( 1, DiagGetCommParameter( "CANoe.SegmentSize"), gSegmentInterval); } // -----------------------------------------------------------------------// This is only necessary in ECU simulations! long VWTP2_SetupInd(void) { writeDbgLevel(1, "%s: VWTP2_SetupInd()", gECU); Diag_SetupChannelCon(); // Setup successful. return 1; } // -----------------------------------------------------------------------// This callback is only called in tester nodes from DiagSetTarget() _Diag_SetupChannelReq() { VWTP2_ConnectReq( gTargetAddr, gAppType); } // -----------------------------------------------------------------------long VWTP2_ConnectCon(long aplStatus) { writeDbgLevel(1, "%s: VWTP2_ConnectCon(0x%02x)", gECU, aplStatus); gChannelState = 1; // ConnectReq succeeded return 1; // Let DLL send SetupRequest }

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Troubleshooting

This section collects some frequently encountered problems, their possible causes and solutions. Problem:

The dynamic channel setup fails.

Reason:

It is possible that the dynamic channel setup is not activated for the test module or simulation node.

Solution:

If the simulation node is defined in the database, assign a value of 1 to the node attribute “VWTp_Dynamic” (integer) for the node (cf. VW TP 2.0 documentation). Since no attributes can be defined for unnamed test modules, add the following definition to the VW_TP20.INI file: [>] DynamicSetup=1

Problem:

The “VWTP 2.0 (CANoe)” interface is not available in the diagnostics description configuration dialog, or CANoe aborts the measurement start with an error.

Reason:

The file VW_TP20.DLL cannot be found in CANoe’s exec32 directory.

Solution:

Copy the correct version of the VW_TP20.DLL (1.5.26 or higher) into CANoe’s exec32 directory.

Problem:

The ECU sends a response for a request sent from the diagnostics console, but the console does not display the response, but reports “No response message received!”

Reason:

The P2 timeout value is too small.

Solution:

Increase the P2 timeout value on the “Diagnostics Layer” settings page in the CDD configuration dialog.

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Notes

©2005, Vector Informatik GmbH

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