CANdevStudio
Overview
Most of automotive projects need to have an access to the Controller Area Network (CAN) bus. There are plenty of commercial frameworks that provides CAN stacks and hardware/software tools necessary to develop proper CAN networks. They are very comprehensive and thus expensive. CANdevStudio aims to be cost-effective replacement for CAN simulation software. It can work with variety of CAN hardware interfaces (e.g. Microchip, Vector, PEAK-Systems) or even without it (vcan and cannelloni) . CANdevStudio enables to simulate CAN signals such as ignition status, doors status or reverse gear by every automotive developer. Thanks to modularity it is easy to implement new, custom features.
Compatible CAN interfaces
Access to CAN bus is based on Qt framework. Current list of supported CAN interfaces can be found here.
Current list of devices compatible with SocketCAN (Linux only) can be found here.
Supported operating systems
Linux
Windows
macOS
Build instructions
CANdevStudio project uses Travis CI (Linux) and AppVeyor (Windows) continuous integration tools. You can always check .travis.yml and .appveyor.yml files for building details.
Linux
git clone https://github.com/GENIVI/CANdevStudio.git
cd CANdevStudio
git submodule update --init --recursive
mkdir build
cd build
cmake ..
make
To choose compiler
cd CANdevStudio/build
rm -rf *
export CC=clang
export CXX=clang++
cmake ..
make
Qt in CMake
If CMake failed to find Qt in your system:
cd CANdevStudio/build
rm -rf *
cmake .. -DCMAKE_PREFIX_PATH=/home/genivi/Qt5.8.0/5.8/gcc_64
make
ARCH Linux
Install AUR package: candevstudio-git
Windows
Visual Studio 2015
git clone https://github.com/GENIVI/CANdevStudio.git
cd CANdevStudio
git submodule update --init --recursive
mkdir build
cd build
cmake .. -G "Visual Studio 14 2015" -DCMAKE_PREFIX_PATH=C:\Qt\5.9\msvc2015
cmake --build .
Visual Studio 2015 Win64
git clone https://github.com/GENIVI/CANdevStudio.git
cd CANdevStudio
git submodule update --init --recursive
mkdir build
cd build
cmake .. -G "Visual Studio 14 2015 Win64" -DCMAKE_PREFIX_PATH=C:\Qt\5.9\msvc2015_64
cmake --build .
MinGW
git clone https://github.com/GENIVI/CANdevStudio.git
cd CANdevStudio
git submodule update --init --recursive
mkdir build
cd build
cmake .. -G "MinGW Makefiles" -DCMAKE_PREFIX_PATH=C:\Qt\5.9\mingw53_32
cmake --build .
macOS / OS X
git clone https://github.com/GENIVI/CANdevStudio.git
cd CANdevStudio
git submodule update --init --recursive
mkdir build
cd build
cmake .. -GNinja -DCMAKE_PREFIX_PATH=/path/to/Qt/lib/cmake
ninja
Prebuilt packages
Binary packages are automatically uploaded by CI tools (i.e. Travis and Appveyor) to Bintray artifactory for every commit on master branch.
Download
Use Bintray badges above to dowload stable or develop version (each commit on master creates corresponding binary packege in Bintray)
Package naming
CANdevStudio-X.Y.ZZZZZZZ-SYS[-standalone]
X - major version number of previous stable version
Y - minor version of previous stable version
Z - SHA commit ID
SYS - either win32, Linux or Darwin
standalone - bundle version that contains Qt libraries and all relevant plugins.
Linux
All packages are being built on Ubuntu 16.04 LTS. You may experience problems with missing or incompatible libraries when trying to run the package on other distros.
To run standalone version use CANdevStudio.sh script.
Windows
Packages built with MinGW 5.3.
Standalone version contains Qt and MinGW runtime libs.
macOS / OS X
Package is a DMG installer.
Quick Start
General instructions to start your first simulation:
Build the latest master or release.
Run the application and start a new project
Drag and drop CanDevice and CanRawView components and connect them accordingly.
Double click on CanDevice node to open configuration window.
set one of supported backends (e.g. socketcan) link.
NOTE: List of supported backends depends on Qt version.
set name of your can interface (e.g. can0)
Start the simulation
Double click on CanRawView component to see CAN traffic
Steps required to use specific CAN hardware or virtual interfaces require some additional steps listed in following sections.
CAN Hardware
The list below shows hardware that has been successfuly used with CANdevStudio.
Microchip CAN BUS Analyzer
Tested on Linux
Requires socketcan driver.
Officially supported in Linux Kernel v4.12+
Configuration:
Find your interface name (e.g. can0)
ip link
Configure bitrate
sudo ip link set can0 type can bitrate 1000000
Bring the device up
sudo ip link set can0 up
Optionally configure CAN termination
In GitHUB based driver
sudo ip link set can0 type can termination 1
In Linux 4.12+ driver
sudo ip link set can0 type can termination 120
CanDevice backend: socketcan
Lawicel CANUSB
Tested on Linux
Based on FTDI Serial driver
Requires slcand to "convert" serial device to SocketCAN.
Officially supported in Linux Kernel v2.6.38
Configuration:
Create SocketCAN device from serial interface
sudo slcand -o -c -s8 -S1000000 /dev/ttyUSB0 can0
Bring the device up
sudo ip link set can0 up
CanDevice backend: socketcan
PeakCAN PCAN-USB
Tested on Windows
CanDevice settings example:
backend: peakcan
interface: usb0
configuration: BitRateKey = 250000
PassThruCAN Plugin
Tested on Windows
CanDevice settings example for PEAK-PCAN:
backend: passthrucan
configuration: BitRateKey = 250000
interface: PCANPT32
CanDevice settings example for SIE_CANUSB:
backend: passthrucan
configuration: BitRateKey = 250000
interface: CANUSB
CANdevStudio without CAN hardware
CANdevStudio can be used without actual CAN hardware thanks to Linux's built-in emulation.
VCAN
Configuration:
sudo modprobe vcan
sudo ip link add dev can0 type vcan
sudo ip link set can0 up
CanDevice backend: socketcan
Cannelloni
A SocketCAN over Ethernet tunnel.
Examplary configuration:
Target configuration:
sudo modprobe vcan
sudo ip link add dev can0 type vcan
sudo ip link set can0 up
cannelloni -I can0 -R 192.168.0.1 -r 30000 -l 20000
PC configuration:
Install libqtCannelloniCanBusPlugin.so that is built along with CANdevStudio. You can either copy it manually to Qt plugins directory or use "make install" to do it automatically.
Create new project in CANdevStudio and add CanDevice node
Configure CanDevice:
backend: cannelloni
interface: 30000,192.168.0.2,20000 (local_port,remote_ip,remote_port)
Start simulation
Help
CAN Signals
CANdevStudio provides experimental support for CAN Signals (see signals branch). Currently only DBC format is supported as a description of database, but it shouldn't be hard to add new formats.
The work on moving components from signal to master branch is ongoing.
CanDevice configuration
CanDevice component can be confiugred using "configuration" property:
Format - "key1=value1;key2=value2;keyX=valueX"
Keys names are case sensitive, values are case insensitive
Configuration keys are taken from ConfigurationKey enum.
RawFilterKey and ErrorFilterKey are currently not supported
DataBitRateKey is available since Qt 5.9
Whitespaces are ignored
E.g.
BitRateKey=100000;ReceiveOwnKey=false;LoopbackKey=true
CanRawFilter
CanRawFilter component enables to filter (i.e. accept or drop) incoming and outgoing frames:
Qt regular expressions are used to match filter rules.
Rules are matched from top to bottom
Default policy is applied to frames unmatched by any filter
Examples:
match 0x222 and 0x333 frames only [id field]
222|333
match 0x200 - 0x300 frames only [id field]
^[23]..$
match empty payload (DLC 0) [payload field]
^$
match 2 byte payload (DLC 2) [payload field]
^.{4}$
Adding new components
Configure build to include templategen tool
cd build
cmake .. -DWITH_TOOLS=ON
make
Generate component (use -g option if you don't need component to have GUI)
./tools/templategen/templategen -n MyNewComponent -o ../src/components -g
CMake script automatically detects new components. It has to be invoked manually.
cmake ..
Build project
make
Your component is now integrated with CANdevStudio
You may want to modify src/components/mynewcomponent/mynewcomponentplugin.h to configure section name, color and spacing
Define component inputs and outputs in src/components/mynewcomponent/mynewcomponentmodel.cpp. Look for examples in other components.
Modify automatically generated unit tests src/components/mynewcomponent/tests