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Vehicle Network Toolbox - User Guide

It's an simulink support package to learn about Vehicle Network, learn about CAN, how to control CAN or XCP and many more.

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Download as PDF, TXT or read online on Scribd

100% found this document useful (2 votes)

1K views

Vehicle Network Toolbox - User Guide

It's an simulink support package to learn about Vehicle Network, learn about CAN, how to control CAN or XCP and many more.

Uploaded by

ਰਾਜਬੀਰ

Available Formats

Download as PDF, TXT or read online on Scribd

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Vehicle Network Toolbox

User's Guide

R2017a
How to Contact MathWorks

Latest news: www.mathworks.com

Sales and services: www.mathworks.com/sales_and_services

User community: www.mathworks.com/matlabcentral

Technical support: www.mathworks.com/support/contact_us

Phone: 508-647-7000

The MathWorks, Inc.

3 Apple Hill Drive
Natick, MA 01760-2098
Vehicle Network Toolbox User's Guide
COPYRIGHT 20092017 by The MathWorks, Inc.
The software described in this document is furnished under a license agreement. The software may be used
or copied only under the terms of the license agreement. No part of this manual may be photocopied or
reproduced in any form without prior written consent from The MathWorks, Inc.
FEDERAL ACQUISITION: This provision applies to all acquisitions of the Program and Documentation
by, for, or through the federal government of the United States. By accepting delivery of the Program
or Documentation, the government hereby agrees that this software or documentation qualifies as
commercial computer software or commercial computer software documentation as such terms are used
or defined in FAR 12.212, DFARS Part 227.72, and DFARS 252.227-7014. Accordingly, the terms and
conditions of this Agreement and only those rights specified in this Agreement, shall pertain to and
govern the use, modification, reproduction, release, performance, display, and disclosure of the Program
and Documentation by the federal government (or other entity acquiring for or through the federal
government) and shall supersede any conflicting contractual terms or conditions. If this License fails
to meet the government's needs or is inconsistent in any respect with federal procurement law, the
government agrees to return the Program and Documentation, unused, to The MathWorks, Inc.
Trademarks
MATLAB and Simulink are registered trademarks of The MathWorks, Inc. See
www.mathworks.com/trademarks for a list of additional trademarks. Other product or brand
names may be trademarks or registered trademarks of their respective holders.
Patents
MathWorks products are protected by one or more U.S. patents. Please see
www.mathworks.com/patents for more information.
Revision History
March 2009 Online only New for Version 1.0 (Release 2009a)
September 2009 Online only Revised for Version 1.1 (Release 2009b)
March 2010 Online only Revised for Version 1.2 (Release 2010a)
September 2010 Online only Revised for Version 1.3 (Release 2010b)
April 2011 Online only Revised for Version 1.4 (Release 2011a)
September 2011 Online only Revised for Version 1.5 (Release 2011b)
March 2012 Online only Revised for Version 1.6 (Release 2012a)
September 2012 Online only Revised for Version 1.7 (Release 2012b)
March 2013 Online only Revised for Version 2.0 (Release 2013a)
September 2013 Online only Revised for Version 2.1 (Release 2013b)
March 2014 Online only Revised for Version 2.2 (Release 2014a)
October 2014 Online only Revised for Version 2.3 (Release 2014b)
March 2015 Online only Revised for Version 2.4 (Release 2015a)
September 2015 Online only Revised for Version 3.0 (Release 2015b)
March 2016 Online only Revised for Version 3.1 (Release 2016a)
September 2016 Online only Revised for Version 3.2 (Release 2016b)
March 2017 Online only Revised for Version 3.3 (Release 2017a)
Contents

Getting Started
1
Vehicle Network Toolbox Product Description . . . . . . . . . . . 1-2
Key Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Toolbox Characteristics and Capabilities . . . . . . . . . . . . . . . 1-3

Vehicle Network Toolbox Characteristics . . . . . . . . . . . . . . . 1-3
Interaction Between the Toolbox and Its Components . . . . . . 1-4
Prerequisite Knowledge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

Vehicle Network Communication in MATLAB . . . . . . . . . . . . 1-7

Transmit Workflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Receive Workflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8

Transmit and Receive CAN Messages . . . . . . . . . . . . . . . . . . . 1-9

Discover Installed Hardware . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Create CAN Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
Configure Channel Properties . . . . . . . . . . . . . . . . . . . . . . . 1-12
Start the Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
Create a Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
Pack a Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14
Transmit a Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
Receive a Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16
Unpack a Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18
Save and Load CAN Channels . . . . . . . . . . . . . . . . . . . . . . 1-18
Disconnect Channels and Clean Up . . . . . . . . . . . . . . . . . . 1-18

Filter Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-21

Multiplex Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-22

Configure Silent Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-25

v
Hardware Support Package Installation
2
Vehicle Network Toolbox Supported Hardware . . . . . . . . . . 2-2

Install Hardware Support Package for Device Driver . . . . . 2-3

Install Support Packages . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Update or Uninstall Support Packages . . . . . . . . . . . . . . . . . 2-3

CAN Communication Workflows

3
CAN Transmit Workflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

CAN Receive Workflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Using a CAN Database

4
Load .dbc Files and Create Messages . . . . . . . . . . . . . . . . . . . 4-2
Vector CAN Database Support . . . . . . . . . . . . . . . . . . . . . . . 4-2
Load the CAN Database . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Create a CAN Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
Access Signals in the Constructed CAN Message . . . . . . . . . 4-3
Add a Database to a CAN Channel . . . . . . . . . . . . . . . . . . . . 4-4
Update Database Information . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Create and Process Messages Using Database Definitions . . . 4-4

View Message Information in a CAN Database . . . . . . . . . . 4-15

View Signal Information in a CAN Message . . . . . . . . . . . . . 4-17

Attach a CAN Database to Existing Messages . . . . . . . . . . . 4-18

vi Contents
Monitoring Vehicle CAN Bus
5
Vehicle CAN Bus Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
About the Vehicle CAN Bus Monitor . . . . . . . . . . . . . . . . . . . 5-2
Opening the Vehicle CAN Bus Monitor . . . . . . . . . . . . . . . . . 5-2
Vehicle CAN Bus Monitor Fields . . . . . . . . . . . . . . . . . . . . . . 5-2

Using the Vehicle CAN Bus Monitor . . . . . . . . . . . . . . . . . . . . 5-8

View Messages on a Channel . . . . . . . . . . . . . . . . . . . . . . . . 5-8
Configure the Channel Bus Speed . . . . . . . . . . . . . . . . . . . . . 5-8
Filter CAN Messages in Vehicle CAN Bus Monitor . . . . . . . . 5-9
Attach a Database . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
Change the Message Count . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
Change the Number Format . . . . . . . . . . . . . . . . . . . . . . . . 5-12
View Unique Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
Save the Message Log File . . . . . . . . . . . . . . . . . . . . . . . . . 5-13

XCP Communication Workflows

6
XCP Database and Communication Workflow . . . . . . . . . . . . 6-2

A2L File
7
A2L File Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

Access an A2L File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

Access Event Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

Inspect the Contents of an A2L File . . . . . . . . . . . . . . . . . . . . 7-5

Access Measurement Information . . . . . . . . . . . . . . . . . . . . . 7-5

vii
Universal Measurement & Calibration Protocol
(XCP)
8
XCP Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

XCP Hardware Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3

Create XCP Channel Using CAN Device . . . . . . . . . . . . . . . . 8-5
Configure the Channel to Unlock the Slave . . . . . . . . . . . . . . 8-6

Read a Single Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7

Write a Single Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8

Acquire Measurement Data via Dynamic DAQ Lists . . . . . . . 8-9

Stimulate Measurement Data via Dynamic STIM Lists . . . . 8-10

J1939
9
J1939 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

J1939 Parameter Group Format . . . . . . . . . . . . . . . . . . . . . . . 9-3

J1939 Network Management . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5

Address Claiming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5

J1939 Transport Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6

J1939 Channel Workflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7

J1939 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10

Create and Use J1939 Parameter Groups . . . . . . . . . . . . . . 9-10
Create and Use J1939 Channels . . . . . . . . . . . . . . . . . . . . . 9-16

viii Contents
CAN Communications in Simulink
10
Vehicle Network Toolbox Simulink Blocks . . . . . . . . . . . . . 10-2

CAN Communication Workflows in Simulink . . . . . . . . . . . 10-3

Message Transmission Workflow . . . . . . . . . . . . . . . . . . . . . 10-3
Message Reception Workflow . . . . . . . . . . . . . . . . . . . . . . . 10-5

Open the Vehicle Network Toolbox Block Library . . . . . . . 10-7

Using the Simulink Library Browser . . . . . . . . . . . . . . . . . 10-7
Using the MATLAB Command Window . . . . . . . . . . . . . . . 10-8

Build CAN Communication Simulink Models . . . . . . . . . . . 10-9

Build a Message Transmit Model . . . . . . . . . . . . . . . . . . . . 10-9
Build a Message Receive Model . . . . . . . . . . . . . . . . . . . . . 10-13
Save and Run the Model . . . . . . . . . . . . . . . . . . . . . . . . . . 10-21

Create Custom Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-26

Hardware Limitations
11
Vector Hardware Limitations . . . . . . . . . . . . . . . . . . . . . . . . 11-2

XCP Communications in Simulink

12
Vehicle Network Toolbox XCP Simulink Blocks . . . . . . . . . 12-2

Open the Vehicle Network Toolbox XCP Block Library . . . 12-3

Using the MATLAB Command Window . . . . . . . . . . . . . . . 12-3
Using the Simulink Library Browser . . . . . . . . . . . . . . . . . 12-4

XCP Data Acquisition over CAN . . . . . . . . . . . . . . . . . . . . . . 12-5

ix
Functions Alphabetical List
13

Properties Alphabetical List

Block Reference
15

x Contents
1

Getting Started

Vehicle Network Toolbox Product Description on page 1-2

Toolbox Characteristics and Capabilities on page 1-3
Vehicle Network Communication in MATLAB on page 1-7
Transmit and Receive CAN Messages on page 1-9
Filter Messages on page 1-21
Multiplex Signals on page 1-22
Configure Silent Mode on page 1-25
1 Getting Started

Vehicle Network Toolbox Product Description

Communicate with in-vehicle networks using CAN, J1939, and XCP protocols

Vehicle Network Toolbox provides connectivity to CAN devices from MATLAB and
Simulink using industry-standard CAN database files. The toolbox provides MATLAB
functions and Simulink blocks to send, receive, encode, and decode CAN, J1939, and XCP
messages. You can also connect to an ECU via XCP on CAN using A2L description files.

The toolbox lets you monitor, filter, and analyze live CAN bus data or log and record
messages for later analysis and replay. You also can simulate message traffic on a virtual
CAN bus or connect to a live network or ECU. Vehicle Network Toolbox supports CAN
interface devices from Vector, Kvaser, PEAK-System, and National Instruments.

Key Features
MATLAB functions for transmitting and receiving CAN and J1939 messages
Simulink blocks for connecting a model to a CAN or J1939 bus
XCP support for communicating with ECUs
Vector CAN database (.dbc) file and A2L description file support
Signal packing and unpacking for simplified encoding and decoding of CAN messages
and J1939 parameter groups
Vehicle CAN Bus Monitor app to configure devices and visualize live CAN network
traffic
Support for Vector, Kvaser, PEAK-System, and National Instruments CAN interface
devices

1-2
Toolbox Characteristics and Capabilities

Toolbox Characteristics and Capabilities

In this section...
Vehicle Network Toolbox Characteristics on page 1-3
Interaction Between the Toolbox and Its Components on page 1-4
Prerequisite Knowledge on page 1-6

Vehicle Network Toolbox Characteristics

The toolbox is a collection of functions built on the MATLAB technical computing
environment.

You can use the toolbox to:

Connect to CAN Devices on page 1-3

Use Supported CAN Devices and Drivers on page 1-3
Communicate Between MATLAB and CAN Bus on page 1-4
Simulate CAN Communication on page 1-4
Visualize CAN Communication on page 1-4

Connect to CAN Devices

Vehicle Network Toolbox provides host-side CAN connectivity using defined CAN
devices. CAN is the predominant protocol in automotive electronics by which many
distributed control systems in a vehicle function.

For example, in a common design when you press a button to lock the doors in your car, a
control unit in the door reads that input and transmits lock commands to control units in
the other doors. These commands exist as data in CAN messages, which the control units
in the other doors receive and act on by triggering their individual locks in response.

Use Supported CAN Devices and Drivers

You can use Vehicle Network Toolbox to communicate over the CAN bus using supported
Vector, Kvaser, PEAK-System, or National Instruments devices and drivers.

See Vehicle Network Toolbox Supported Hardware on page 2-2 for more
information.

1-3
1 Getting Started

Communicate Between MATLAB and CAN Bus

Using a set of well-defined functions, you can transfer messages between the MATLAB
workspace and a CAN bus using a CAN device. You can run test applications that can log
and record CAN messages for you to process and analyze. You can also replay recorded
sequences of messages.

Simulate CAN Communication

With Vehicle Network Toolbox block library and other blocks from the Simulink library,
you can create sophisticated models to connect to a live network and to simulate message
traffic on a CAN bus.

Visualize CAN Communication

Using Vehicle CAN Bus Monitor, a simple graphical user interface, you can monitor
message traffic on a selected device and channel. You can then analyze these messages.

Interaction Between the Toolbox and Its Components

Vehicle Network Toolbox is a conduit between MATLAB and the CAN bus.

1-4
Toolbox Characteristics and Capabilities

In this illustration:

Six CAN modules are attached to a CAN bus.

One module, which is a CAN device, is attached to the Vehicle Network Toolbox, built
on the MATLAB technical computing environment.

Using Vehicle Network Toolbox from MATLAB, you can configure a channel on the CAN
device to:

Transmit messages to the CAN bus.

Receive messages from the CAN bus.
Trigger a callback function to run when the channel receives a message.

1-5
1 Getting Started

Attach the database to the configured CAN channel to interpret received CAN
messages.
Use the CAN database to construct messages to transmit.
Log and record messages and analyze them in MATLAB.
Replay live recorded sequence of messages in MATLAB.
Build Simulink models to connect to a CAN bus and to simulate message traffic.
Monitor CAN traffic with the Vehicle CAN Bus Monitor on page 5-2.

Vehicle Network Toolbox is a comprehensive solution for CAN connectivity in MATLAB

and Simulink. Refer to the Functions and Simulink Blocks for more information.

Prerequisite Knowledge
The Vehicle Network Toolbox document set assumes that you are familiar with these
products:

MATLAB To write scripts and functions, and to use functions with the command-
line interface.
Simulink To create simple models to connect to a CAN bus or to simulate those
models.
Vector CANdb To understand CAN databases, along with message and signal
definitions.

1-6
Vehicle Network Communication in MATLAB

Vehicle Network Communication in MATLAB

Workflows in this section are sequential and will help you understand how the
communication works. You can also see code snippets and map them to the examples in
the next section.

Transmit Workflow

1-7
1 Getting Started

Receive Workflow

1-8
Transmit and Receive CAN Messages

Transmit and Receive CAN Messages

In this section...
Discover Installed Hardware on page 1-9
Create CAN Channels on page 1-10
Configure Channel Properties on page 1-12
Start the Channels on page 1-13
Create a Message on page 1-13
Pack a Message on page 1-14
Transmit a Message on page 1-15
Receive a Message on page 1-16
Unpack a Message on page 1-18
Save and Load CAN Channels on page 1-18
Disconnect Channels and Clean Up on page 1-18

Discover Installed Hardware

In the example, you discover your system CAN devices with canHWInfo, then create two
CAN channels using canChannel. Later, you edit the properties of the first channel and
create a message using canMessage, then transmit the message from the first channel
using transmit, and receive it on the other channel using receive.

1 Get information about the CAN hardware devices on your system.

info = canHWInfo
info =

CAN Devices Detected

Vendor | Device | Channel | Serial Number | Constructor

----------- | ------------------------------ | ------- | ------------- | ------------------------------------------
MathWorks | Virtual 1 | 1 | 0 | canChannel('MathWorks','Virtual 1',1)
MathWorks | Virtual 1 | 2 | 0 | canChannel('MathWorks','Virtual 1',2)
Vector | VN1610 1 | 1 | 18959 | canChannel('Vector','VN1610 1',1)
Vector | VN1610 1 | 2 | 18959 | canChannel('Vector','VN1610 1',2)
Vector | Virtual 1 | 1 | 0 | canChannel('Vector','Virtual 1',1)
Vector | Virtual 1 | 2 | 0 | canChannel('Vector','Virtual 1',2)
PEAK-System | PCAN-USB Pro | 1 | 0 | canChannel('PEAK-System','PCAN_USBBUS1')
PEAK-System | PCAN-USB Pro | 2 | 0 | canChannel('PEAK-System','PCAN_USBBUS2')
Kvaser | USBcan Professional 1 | 1 | 10680 | canChannel('Kvaser','USBcan Professional 1
Kvaser | USBcan Professional 1 | 2 | 10680 | canChannel('Kvaser','USBcan Professional 1
Kvaser | Virtual 1 | 1 | 0 | canChannel('Kvaser','Virtual 1',1)

1-9
1 Getting Started

Kvaser | Virtual 1 | 2 | 0 | canChannel('Kvaser','Virtual 1',2)

NI | 9862 CAN/HS (CAN1) | 1 | 17F5094 | canChannel('NI','CAN1')
NI | 9862 CAN/HS (CAN2) | 1 | 17F50B2 | canChannel('NI','CAN2')

2 Save the MathWorks virtual device information to a variable. The indexing indicates
vendors; so from this canHWInfo output, info.VendorInfo(1) corresponds to
MathWorks, info.VendorInfo(2) corresponds to Vector, etc.
mwvirt = info.VendorInfo(1)

mwvirt =

VendorInfo with properties:

VendorName: 'MathWorks'
VendorDriverDescription: 'MathWorks Virtual CAN Driver'
VendorDriverVersion: '1'
ChannelInfo: [12 can.mathworks.ChannelInfo]

3 Get details about the first available virtual CAN channel on the device.
mwvirt.ChannelInfo(1)

ans =

ChannelInfo with properties:

Device: 'Virtual 1'

DeviceChannelIndex: 1
DeviceSerialNumber: 0
ObjectConstructor: 'canChannel 'MathWorks', 'Virtual 1', 1 '

Note To modify this example for a hardware CAN device, make a loopback connection
between the two channels.

Create CAN Channels

Create two MathWorks virtual CAN channels.
canch1 = canChannel('MathWorks','Virtual 1',1)
canch2 = canChannel('MathWorks','Virtual 1',2)

1-10
Transmit and Receive CAN Messages

canch1 =

Summary of CAN Channel using 'MathWorks' 'Virtual 1' Channel 1.

Channel Parameters: Bus Speed is 500000.

Bus Status is 'N/A'.
Transceiver name is 'N/A'.
Serial Number of this device is 0.
Initialization access is allowed.
No database is attached.

Status: Offline - Waiting for start.

0 messages available to receive.
0 messages transmitted since last start.
0 messages received since last start.

Filter History: Standard ID Filter: Allow All | Extended ID Filter: Allow All

canch2 =

Summary of CAN Channel using 'MathWorks' 'Virtual 1' Channel 2.

Channel Parameters: Bus Speed is 500000.

Bus Status is 'N/A'.
Transceiver name is 'N/A'.
Serial Number of this device is 0.
Initialization access is allowed.
No database is attached.

Status: Offline - Waiting for start.

0 messages available to receive.
0 messages transmitted since last start.
0 messages received since last start.

Filter History: Standard ID Filter: Allow All | Extended ID Filter: Allow All

For each channel, notice that its initial status is Offline and its bus speed is 500000.

Note You cannot use the same variable to create multiple channels sequentially. Clear
any channel before using the same variable to construct a new CAN channel.

1-11
1 Getting Started

You cannot create arrays of CAN channel objects. Each object you create must be
assigned to its own scalar variable.

Configure Channel Properties

You can set the behavior of your CAN channel by configuring its property values. For
this exercise, change the bus speed of channel 1 to 250000 using the configBusSpeed
function.

Tip Configure property values before you start the channel.

1 Change the bus speed of both channels to 250000, then view the channel BusSpeed
property to verify the setting.
configBusSpeed(canch1,250000)
canch1.BusSpeed

ans =

250000

2 You can also see the updated bus speed in the channel display.
canch1

canch1 =

Summary of CAN Channel using 'MathWorks' 'Virtual 1' Channel 1.

Channel Parameters: Bus Speed is 250000.

Bus Status is 'N/A'.
Transceiver name is 'N/A'.
Serial Number of this device is 0.
Initialization access is allowed.
No database is attached.

Status: Offline - Waiting for start.

0 messages available to receive.

1-12
Transmit and Receive CAN Messages

0 messages transmitted since last start.

0 messages received since last start.

Filter History: Standard ID Filter: Allow All | Extended ID Filter: Allow Al

3 In a similar way, change the bus speed of the second channel.

configBusSpeed(canch2,250000)

Start the Channels

After you configure their properties, start both channels. Then view the updated status
setting of the first channel.
start(canch1)
start(canch2)
canch1

canch1 =

Summary of CAN Channel using 'MathWorks' 'Virtual 1' Channel 1.

Channel Parameters: Bus Speed is 250000.

Bus Status is 'Error Active'.
Transceiver name is 'N/A'.
Serial Number of this device is 0.
Initialization access is allowed.
No database is attached.

Status: Online.
0 messages available to receive.
0 messages transmitted since last start.
0 messages received since last start.

Filter History: Standard ID Filter: Allow All | Extended ID Filter: Allow All

Notice that the channel status is now indicated as Online.

Create a Message
After you set all the property values as desired and your channels are online, you are
ready to transmit and receive messages on the CAN bus. For this exercise, transmit a

1-13
1 Getting Started

message using canch1 and receive it using canch2. To transmit a message, create a
message object and pack the message with the required data.

Build a CAN message with ID 500, of standard type, and a data length of 8 bytes.
messageout = canMessage(500,false,8)

messageout =

Message with properties:

ID: 500
Extended: 0
Name: ''
Database: []
Error: 0
Remote: 0
Timestamp: 0
Data: [0 0 0 0 0 0 0 0]
Signals: []
UserData: []

Some of the properties of the message indicate:

Error A logical 0 (false) because the message is not an error.

Remote A logical 0 (false) because the message is not a remote frame.
ID The ID you specified.
Extended A logical 0 (false) because you did not specify an extended ID.
Data A uint8 array of 0s, with size specified by the data length.

Refer to the canMessage function to understand more about its input arguments.

Pack a Message
After you create the message, pack it with the required data.

1 Use the pack function to pack your message with these input parameters: a Data
value of 25, start bit of 0, signal size of 16, and byte order using little-endian format.
View the message Data property to verify the settings.
pack(messageout,25,0,16,'LittleEndian')

1-14
Transmit and Receive CAN Messages

messageout.Data

ans =

18 uint8 row vector

25 0 0 0 0 0 0 0

The only message property that changes from packing is Data. Refer to the pack
function to understand more about its input arguments.

Transmit a Message
Now you can transmit the packed message. Use the transmit function, supplying the
channel canch1 and the message as input arguments.
transmit(canch1,messageout)
canch1

canch1 =

Summary of CAN Channel using 'MathWorks' 'Virtual 1' Channel 1.

Channel Parameters: Bus Speed is 250000.

Bus Status is 'Error Active'.
Transceiver name is 'N/A'.
Serial Number of this device is 0.
Initialization access is allowed.
No database is attached.

Status: Online.
1 messages available to receive.
1 messages transmitted since last start.
0 messages received since last start.

Filter History: Standard ID Filter: Allow All | Extended ID Filter: Allow All

MATLAB displays the updated channel. In the Status section, messages transmitted
since last start count increments by 1 each time you transmit a message. The

1-15
1 Getting Started

message to be received is available to all devices on the bus, so it shows up here even for
the transmitting channel.

Refer to the transmit function to understand more about its input arguments.

Receive a Message
Use the receive function to receive the available message on canch2.

1 To see messages available to be received on this channel, type:

canch2

canch2 =

Summary of CAN Channel using 'MathWorks' 'Virtual 1' Channel 2.

Channel Parameters: Bus Speed is 250000.

Bus Status is 'Error Active'.
Transceiver name is 'N/A'.
Serial Number of this device is 0.
Initialization access is allowed.
No database is attached.

Status: Online.
1 messages available to receive.
0 messages transmitted since last start.
0 messages received since last start.

Filter History: Standard ID Filter: Allow All | Extended ID Filter: Allow Al

The channel status indicates 1 messages available to receive.

2 Receive one message on canch2 and assign it to messagein.

messagein = receive(canch2,1)

messagein =

Message with properties:

1-16
Transmit and Receive CAN Messages

ID: 500
Extended: 0
Name: ''
Database: []
Error: 0
Remote: 0
Timestamp: 0.6601
Data: [25 0 0 0 0 0 0 0]
Signals: []
UserData: []

Note the message Data property. This matches the data transmitted from canch1.

Refer to the receive function to understand more about its input arguments.
3 To check if the channel received the message, view the channel display.

canch2

canch2 =

Summary of CAN Channel using 'MathWorks' 'Virtual 1' Channel 2.

Channel Parameters: Bus Speed is 250000.

Bus Status is 'Error Active'.
Transceiver name is 'N/A'.
Serial Number of this device is 0.
Initialization access is allowed.
No database is attached.

Status: Online.
0 messages available to receive.
0 messages transmitted since last start.
1 messages received since last start.

Filter History: Standard ID Filter: Allow All | Extended ID Filter: Allow Al

The channel display indicates 1 messages received since last start and 0
messages available to receive.

1-17
1 Getting Started

Unpack a Message
After your channel receives a message, specify how to unpack the message and interpret
the data in the message. Use unpack to specify the parameters for unpacking a message;
these should correspond to the parameters used for packing.

value = unpack(messagein,0,16,'LittleEndian','int16')

value =

int16

Refer to the unpack function to understand more about its input arguments.

Save and Load CAN Channels

You can save a CAN channel object to a file using the save function anytime during the
CAN communication session.

To save canch1 to the MATLAB file mycanch.mat, type:

save mycanch.mat canch1

If you have saved a CAN channel in a MATLAB file, you can load the channel
into MATLAB using the load function. For example, to reload the channel from
mycanch.mat that was created earlier, type:

load mycanch.mat

The loaded CAN channel object reconnects to the specified hardware and reconfigures
itself to the specifications when the channel was saved.

Disconnect Channels and Clean Up

Disconnect the Configured Channels on page 1-19
Clean Up the MATLAB Workspace on page 1-19

1-18
Transmit and Receive CAN Messages

Disconnect the Configured Channels

When you no longer need to communicate with your CAN bus, use thestop function to
disconnect the CAN channels that you configured.

1 Stop the first channel.

stop(canch1)
2 Check the channel status.
canch1

.
.
.
Status: Offline - Waiting for START.
1 messages available to RECEIVE.
1 messages transmitted since last start.
0 messages received since last start.
3 Stop the second channel.
stop(canch2)
4 Check the channel status.
canch2
.
.
.
Status: Offline - Waiting for START.
0 messages available to RECEIVE.
0 messages transmitted since last start.
1 messages received since last start.

Clean Up the MATLAB Workspace

When you no longer need these objects and variables, remove them from the MATLAB
workspace with the clear command.

1 Clear each channel.

clear canch1
clear canch2
2 Clear the CAN messages.
clear messageout

1-19
1 Getting Started

clear messagein
3 Clear the unpacked value.
clear value

Related Examples
Filter Messages on page 1-21
Multiplex Signals on page 1-22
Configure Silent Mode on page 1-25

1-20
Filter Messages

Filter Messages
You can set up filters on your channel to accept messages based on the filtering
parameters you specify. Set up your filters before putting your channel online. For more
information on message filtering, see these functions:

filterAllowAll
filterBlockAll
filterAllowOnly

To specify message names you want to filter, create a CAN channel and attach a
database to the channel.
canch1 = canChannel('Vector','CANcaseXL 1',1);
canch1.Database = canDatabase('demoVNT_CANdbFiles.dbc');

Set a filter for the message EngineMsg and display the channel.
filterAllowOnly(canch1,'EngineMsg');

canch1
Summary of CAN Channel using 'Vector' 'CANcaseXL 1' Channel 1.

Channel Parameters: Bus Speed is 500000.

Bus Status is 'N/A'.
Transceiver name is ''.
Serial Number of this device is 0.
Initialization access is allowed.
'demoVNT_CANdbFiles.dbc' database is attached.

Status: Offline - Waiting for start.

0 messages available to receive.
0 messages transmitted since last start.
0 messages received since last start.

Filter History: Standard ID Filter: Allow Only | Extended ID Filter: Allow All

Note the Filter History in the last line of the channel display. When you start the
channel and receive messages, only those marked EngineMsg pass through the filter.

For more information about using a message database, see Message Database.

Related Examples
Transmit and Receive CAN Messages on page 1-9

1-21
1 Getting Started

Multiplex Signals
Use multiplexing to represent multiple signals in one signals location in a CAN
messages data. A multiplexed message can have three types of signals:

Standard signal This signal is always active. You can create one or more
standard signals.
Multiplexor signal Also called the mode signal, it is always active and its value
determines which multiplexed signal is currently active in the message data. You can
create only one multiplexor signal per message.
Multiplexed signal This signal is active when its multiplex value matches the
value of the multiplexor signal. You can create one or more multiplexed signals in a
message.

Multiplexing works only with a CAN database with message definitions that already
contain multiplex signal information. This example shows you how to access the different
multiplex signals using a database constructed specifically for this purpose. This
database has one message with these signals:

SigA A multiplexed signal with a multiplex value of 0.

SigB Another multiplexed signal with a multiplex value of 1.
MuxSig A multiplexor signal, whose value determines which of the two
multiplexed signals are active in the message.

For example,

1 Create a CAN database.

d = canDatabase('Mux.dbc')

Note: This is an example database constructed for creating multiplex messages. To

try this example, use your own database.
2 Create a CAN message.

m = canMessage(d,'Msg')

m =

can.Message handle

1-22
Multiplex Signals

Package: can

Properties:
ID: 250
Extended: 0
Name: 'Msg'
Database: [1x1 can.Database]
Error: 0
Remote: 0
Timestamp: 0
Data: [0 0 0 0 0 0 0 0]
Signals: [1x1 struct]

Methods, Events, Superclasses

3 To display the signals, type:

m.Signals

ans =

SigB: 0
SigA: 0
MuxSig: 0

MuxSig is the multiplexor signal, whose value determines which of the two
multiplexed signals are active in the message. SigA and SigB are the multiplexed
signals that are active in the message if their multiplex values match MuxSig. In the
example shown, SigA is active because its current multiplex value of 0 matches the
value of MuxSig (which is 0).
4 If you want to make SigB active, change the value of the MuxSig to 1.

m.Signals.MuxSig = 1

To display the signals, type:

m.Signals

ans =

SigB: 0
SigA: 0
MuxSig: 1

1-23
1 Getting Started

SigB is now active because its multiplex value of 1 matches the current value of
MuxSig (which is 1).
5 Change the value of MuxSig to 2.

m.Signals.MuxSig = 2

Here, neither of the multiplexed signals are active because the current value of
MuxSig does not match the multiplex value of either SigA or SigB.

m.Signals

ans =

SigB: 0
SigA: 0
MuxSig: 2

Always check the value of the multiplexor signal before using a multiplexed signal
value.
if (m.Signals.MuxSig == 0)
% Feel free to use the value of SigA however is required.
end

This ensures that you are not using an invalid value, because the toolbox does not
prevent or protect reading or writing inactive multiplexed signals.

Note: You can access both active and inactive multiplexed signals, regardless of the
value of the multiplexor signal.

Refer to the canMessage function to learn more about creating messages.

Related Examples
Transmit and Receive CAN Messages on page 1-9

1-24
Configure Silent Mode

Configure Silent Mode

The SilentMode property of a CAN channel specifies that the channel can only receive
messages and not transmit them. Use this property to observe all message activity on
the network and perform analysis without affecting the network state or behavior. See
SilentMode for more information.

1 Change the SilentMode property of the first CAN channel, canch1 to true.

canch.SilentMode = true
2 To see the changed property value, type:
canch1.SilentMode

ans =

Related Examples
Transmit and Receive CAN Messages on page 1-9

1-25
2

Hardware Support Package

Installation

Vehicle Network Toolbox Supported Hardware on page 2-2

Install Hardware Support Package for Device Driver on page 2-3
2 Hardware Support Package Installation

Vehicle Network Toolbox Supported Hardware

As of this release, Vehicle Network Toolbox supports the following hardware.

Support Package Vendor Earliest Release Last Release Available

Available
Kvaser CAN Devices Kvaser R2014a Current
National Instruments NI- National Instruments R2014a R2015b
CAN Devices
National Instruments NI- National Instruments R2014a Current
XNET CAN Devices
PEAK-System CAN Devices PEAK-System R2014a Current
Vector CAN Devices Vector R2014a Current

For a complete list of supported hardware, see Hardware Support.

For instructions on installing the drivers, see Install Hardware Support Package for
Device Driver on page 2-3.

More About
Vendor Limitations

2-2
Install Hardware Support Package for Device Driver

Install Hardware Support Package for Device Driver

In this section...
Install Support Packages on page 2-3
Update or Uninstall Support Packages on page 2-3

To communicate with a CAN device, you need to install the required driver on your
system. The drivers are available as support packages for the following vendors:

National Instruments (NI-XNET CAN)

Kvaser
Vector
PEAK-System

Install Support Packages

To install the Support Package for the required driver:

1 On the MATLAB Home tab, in the Environment section, click Add-Ons > Get
Hardware Support Packages.
2 In the Add-On Explorer, scroll to Refine by Type and check Hardware Support
Packages.
3 Under Refine by Hardware Type, check CAN Devices. The Add-On Explorer
displays all the vendors for supported CAN devices. Click the vendor for your device.

Update or Uninstall Support Packages

To uninstall support packages:

On the MATLAB Home tab, in the Environment section, click Add-Ons > Manage
Add-Ons.

To update existing support packages:

On the MATLAB Home tab, in the Environment section, click Add-Ons > Check for
Updates > Hardware Support Packages.

2-3
2 Hardware Support Package Installation

More About
Get Add-Ons (MATLAB)
Vendor Limitations

2-4
3

CAN Communication Workflows

CAN Transmit Workflow on page 3-2

CAN Receive Workflow on page 3-4
3 CAN Communication Workflows

CAN Transmit Workflow

This workflow helps you create a CAN channel and transmit messages.

3-2
CAN Transmit Workflow

Blocks
CAN Pack | CAN Replay | CAN Transmit

3-3
3 CAN Communication Workflows

CAN Receive Workflow

Use this workflow to receive and unpack CAN messages.

3-4
CAN Receive Workflow

Blocks
CAN Log | CAN Receive | CAN Unpack

3-5
4

Using a CAN Database

Load .dbc Files and Create Messages on page 4-2

View Message Information in a CAN Database on page 4-15
View Signal Information in a CAN Message on page 4-17
Attach a CAN Database to Existing Messages on page 4-18
4 Using a CAN Database

Load .dbc Files and Create Messages

In this section...
Vector CAN Database Support on page 4-2
Load the CAN Database on page 4-2
Create a CAN Message on page 4-3
Access Signals in the Constructed CAN Message on page 4-3
Add a Database to a CAN Channel on page 4-4
Update Database Information on page 4-4
Create and Process Messages Using Database Definitions on page 4-4

Vector CAN Database Support

Vehicle Network Toolbox allows you to use a Vector CAN database. The database .dbc
file contains definitions of CAN messages and signals. Using the information defined in
the database file, you can look up message and signal information, and build messages.
You can also represent message and signal information in engineering units so that you
do not need to manipulate raw data bytes.

Load the CAN Database

To use a CAN database file, load the database into your MATLAB session. At the
MATLAB command prompt, type:

db = canDatabase('filename.dbc')

Here db is a variable you chose for your database handle and filename.dbc is the
actual file name of your CAN database. If your CAN database is not in the current
working directory, type the path to the database:

db = canDatabase('path\filename.dbc')

Tip: CAN database file names containing non-alphanumeric characters such as equal
signs, ampersands, and so forth are incompatible with Vehicle Network Toolbox. You
can use periods in your database name. Rename any CAN database files with non-
alphanumeric characters before you use them.

4-2
Load .dbc Files and Create Messages

This command returns a database object that you can use to create and interpret CAN
messages using information stored in the database. Refer to the canDatabase function
for more information.

Create a CAN Message

This example shows you how to create a message using a database constructed
specifically for this example. You can access this database in the Toolbox > VNT
> VNTDemos subfolder in your MATLAB installation folder. This database has a
message, EngineMsg. To try this example, create messages and signals using definitions
in your own database.

1 Create the CAN database object:

d = canDatabase('demoVNT_CANdbFiles.dbc')
2 Create a CAN message using the message name in the database:
message = canMessage(d, 'EngineMsg')

Access Signals in the Constructed CAN Message

You can access the two signals defined for the message you created in the example
database, message. You can also change the values for some signals.

1 To display signals in your message, type:

sig = (message.Signals)

Signals in the message are displayed as follows:

sig =

VehicleSpeed: 0
EngineRPM: 250
2 Change the value of the EngineRPM signal:
message.Signals.EngineRPM = 300
3 Display signal information again to see the change:
sig

sig =

4-3
4 Using a CAN Database

VehicleSpeed: 0
EngineRPM: 300

Add a Database to a CAN Channel

To add a database to the CAN channel canch, type:
canch.Database = canDatabase('Mux.dbc')

For more information, see the Database property.

Update Database Information

When you make changes to a database file:

1 Reload the database file into your MATLAB session using the canDatabase
function.
2 Reattach the database to messages using the attachDatabase function.

Create and Process Messages Using Database Definitions

This example shows you how to create, receive and process messages using
information stored in CAN database files. This example uses the CAN database file,
demoVNT_CANdbFiles.dbc.

Open the Database File

Open the database file and examine the Messages property to see the names of all
message defined in this database.
db = canDatabase('demoVNT_CANdbFiles.dbc')
db.Messages

db =

Database with properties:

Name: 'demoVNT_CANdbFiles'
Path: '\\central-mi\home\jpyle\Documents\MATLAB\examples\vnt-ex80654288\de
Nodes: {}

4-4
Load .dbc Files and Create Messages

NodeInfo: [00 struct]

Messages: {51 cell}
MessageInfo: [51 struct]
Attributes: {}
AttributeInfo: [00 struct]
UserData: []

ans =

51 cell array

'DoorControlMsg'
'EngineMsg'
'SunroofControlMsg'
'TransmissionMsg'
'WindowControlMsg'

View Message Information

Use messageInfo to view message information, including the identifier, data length,
and a signal list.
messageInfo(db, 'EngineMsg')

ans =

struct with fields:

Name: 'EngineMsg'
Comment: ''
ID: 100
Extended: 0
J1939: []
Length: 8
Signals: {21 cell}
SignalInfo: [21 struct]
TxNodes: {01 cell}
Attributes: {}
AttributeInfo: [00 struct]

You can also query for information on all messages at once.

4-5
4 Using a CAN Database

messageInfo(db)

ans =

51 struct array with fields:

Name
Comment
ID
Extended
J1939
Length
Signals
SignalInfo
TxNodes
Attributes
AttributeInfo

View Signal Information

Use signalInfo to view signal definition information, including type, byte ordering,
size, and scaling values that translate raw signals to physical values.

signalInfo(db, 'EngineMsg', 'EngineRPM')

ans =

struct with fields:

Name: 'EngineRPM'
Comment: ''
StartBit: 0
SignalSize: 32
ByteOrder: 'LittleEndian'
Signed: 0
ValueType: 'Integer'
Class: 'uint32'
Factor: 0.1000
Offset: 250
Minimum: 250
Maximum: 9500
Units: 'rpm'

4-6
Load .dbc Files and Create Messages

ValueTable: [01 struct]

Multiplexor: 0
Multiplexed: 0
MultiplexMode: 0
RxNodes: {01 cell}
Attributes: {}
AttributeInfo: [00 struct]

You can also query for information on all signals in the message at once.
signalInfo(db, 'EngineMsg')

ans =

21 struct array with fields:

Name
Comment
StartBit
SignalSize
ByteOrder
Signed
ValueType
Class
Factor
Offset
Minimum
Maximum
Units
ValueTable
Multiplexor
Multiplexed
MultiplexMode
RxNodes
Attributes
AttributeInfo

Create a Message Using Database Definitions

Specify the name of the message when you create a new message to have the database
definition applied. CAN signals in this messages are represented in engineering units in
addition to the raw data bytes.

4-7
4 Using a CAN Database

msgEngineInfo = canMessage(db, 'EngineMsg')

msgEngineInfo =

Message with properties:

ID: 100
Extended: 0
Name: 'EngineMsg'
Database: [11 can.Database]
Error: 0
Remote: 0
Timestamp: 0
Data: [0 0 0 0 0 0 0 0]
Signals: [11 struct]
UserData: []

View Signal Information

Use the Signals property to see signal values for this message. You can directly write to
and read from these signals to pack or unpack data from the message.

msgEngineInfo.Signals

ans =

struct with fields:

VehicleSpeed: 0
EngineRPM: 250

Change Signal Information

Write directly to the signal to change a value and read its current value back.

msgEngineInfo.Signals.EngineRPM = 5500.25
msgEngineInfo.Signals

msgEngineInfo =

4-8
Load .dbc Files and Create Messages

Message with properties:

ID: 100
Extended: 0
Name: 'EngineMsg'
Database: [11 can.Database]
Error: 0
Remote: 0
Timestamp: 0
Data: [23 205 0 0 0 0 0 0]
Signals: [11 struct]
UserData: []

ans =

struct with fields:

VehicleSpeed: 0
EngineRPM: 5.5003e+03

When you write directly to the signal, the value is translated, scaled, and packed into the
message data using the database definition.
msgEngineInfo.Signals.VehicleSpeed = 70.81
msgEngineInfo.Signals

msgEngineInfo =

Message with properties:

ID: 100
Extended: 0
Name: 'EngineMsg'
Database: [11 can.Database]
Error: 0
Remote: 0
Timestamp: 0
Data: [23 205 0 0 71 0 0 0]
Signals: [11 struct]
UserData: []

4-9
4 Using a CAN Database

ans =

struct with fields:

VehicleSpeed: 71
EngineRPM: 5.5003e+03

Receive Messages with Database Information

Attach a database to a CAN channel that receives messages to apply database definitions
to incoming messages automatically. The database decodes only messages that are
defined. All other messages are received in their raw form.

rxCh = canChannel('MathWorks', 'Virtual 1', 2);

rxCh.Database = db

rxCh =

Summary of CAN Channel using 'MathWorks' 'Virtual 1' Channel 2.

Channel Parameters: Bus Speed is 500000.

Bus Status is 'N/A'.
Transceiver name is 'N/A'.
Serial Number of this device is 0.
Initialization access is allowed.
'demoVNT_CANdbFiles.dbc' database is attached.

Status: Offline - Waiting for start.

0 messages available to receive.
0 messages transmitted since last start.
0 messages received since last start.

Filter History: Standard ID Filter: Allow All | Extended ID Filter: Allow All

Receive Messages

Start the channel, generate some message traffic and receive messages with physical
message decoding.

start(rxCh);
generateMsgsDb();

4-10
Load .dbc Files and Create Messages

rxMsg = receive(rxCh, Inf, 'OutputFormat', 'timetable');

rxMsg(1:15, :)

ans =

158 timetable array

Time ID Extended Name Data Length

____________ ___ ________ ___________________ ___________ ______

0.047005 sec 100 false 'EngineMsg' [18 uint8] 8

0.047005 sec 200 false 'TransmissionMsg' [18 uint8] 8
0.047005 sec 400 false 'DoorControlMsg' [18 uint8] 8
0.047005 sec 600 false 'WindowControlMsg' [14 uint8] 4
0.047005 sec 800 false 'SunroofControlMsg' [12 uint8] 2
0.072007 sec 100 false 'EngineMsg' [18 uint8] 8
0.09701 sec 100 false 'EngineMsg' [18 uint8] 8
0.09701 sec 200 false 'TransmissionMsg' [18 uint8] 8
0.12201 sec 100 false 'EngineMsg' [18 uint8] 8
0.14701 sec 100 false 'EngineMsg' [18 uint8] 8
0.14701 sec 200 false 'TransmissionMsg' [18 uint8] 8
0.17202 sec 100 false 'EngineMsg' [18 uint8] 8
0.17202 sec 400 false 'DoorControlMsg' [18 uint8] 8
0.19702 sec 100 false 'EngineMsg' [18 uint8] 8
0.19702 sec 200 false 'TransmissionMsg' [18 uint8] 8

Stop the channel and clear it from the workspace.

stop(rxCh);
clear rxCh

Examine a Received Message

Inspect a received message to see the applied database decoding.

rxMsg(10, :)
rxMsg.Signals{10}

ans =

18 timetable array

4-11
4 Using a CAN Database

Time ID Extended Name Data Length Signals

___________ ___ ________ ___________ ___________ ______ _________

0.14701 sec 100 false 'EngineMsg' [18 uint8] 8 [11 stru

ans =

struct with fields:

VehicleSpeed: 50
EngineRPM: 3.5696e+03

Extract All Instances of a Specified Message

Use MATLAB notation to extract all instances of a specified message by name.

allMsgEngine = rxMsg(strcmpi('EngineMsg', rxMsg.Name), :);

allMsgEngine(1:15, :)

ans =

158 timetable array

Time ID Extended Name Data Length Signal

____________ ___ ________ ___________ ___________ ______ ________

0.047005 sec 100 false 'EngineMsg' [18 uint8] 8 [11 str

0.072007 sec 100 false 'EngineMsg' [18 uint8] 8 [11 str
0.09701 sec 100 false 'EngineMsg' [18 uint8] 8 [11 str
0.12201 sec 100 false 'EngineMsg' [18 uint8] 8 [11 str
0.14701 sec 100 false 'EngineMsg' [18 uint8] 8 [11 str
0.17202 sec 100 false 'EngineMsg' [18 uint8] 8 [11 str
0.19702 sec 100 false 'EngineMsg' [18 uint8] 8 [11 str
0.22202 sec 100 false 'EngineMsg' [18 uint8] 8 [11 str
0.24702 sec 100 false 'EngineMsg' [18 uint8] 8 [11 str
0.27203 sec 100 false 'EngineMsg' [18 uint8] 8 [11 str
0.29703 sec 100 false 'EngineMsg' [18 uint8] 8 [11 str
0.32203 sec 100 false 'EngineMsg' [18 uint8] 8 [11 str
0.34703 sec 100 false 'EngineMsg' [18 uint8] 8 [11 str
0.37204 sec 100 false 'EngineMsg' [18 uint8] 8 [11 str
0.39704 sec 100 false 'EngineMsg' [18 uint8] 8 [11 str

4-12
Load .dbc Files and Create Messages

Plot Physical Signal Values

Plot the values of database decoded signals over time. Reference the message timestamps
and the signal values in variables.

signalTimetable = canSignalTimetable(rxMsg, 'EngineMsg');

signalTimetable(1:15, :)
plot(signalTimetable.Time, signalTimetable.VehicleSpeed)
title('Vehicle Speed from EngineMsg', 'FontWeight', 'bold')
xlabel('Timestamp')
ylabel('Vehicle Speed')

ans =

152 timetable array

Time VehicleSpeed EngineRPM

____________ ____________ _________

0.047005 sec 0 250

0.072007 sec 0 250
0.09701 sec 50 3569.6
0.12201 sec 50 3569.6
0.14701 sec 50 3569.6
0.17202 sec 50 3569.6
0.19702 sec 50 3569.6
0.22202 sec 55 3621.3
0.24702 sec 55 3621.3
0.27203 sec 55 3621.3
0.29703 sec 55 3621.3
0.32203 sec 55 3663.9
0.34703 sec 55 3663.9
0.37204 sec 55 3663.9
0.39704 sec 55 3663.9

4-13
4 Using a CAN Database

More About
View Message Information in a CAN Database on page 4-15
View Signal Information in a CAN Message on page 4-17
Attach a CAN Database to Existing Messages on page 4-18

4-14
View Message Information in a CAN Database

View Message Information in a CAN Database

You can look up information on message definitions by a single message by name, or a
single message by ID. You can also look up information on all message definitions in the
database by typing:
msgInfo = messageInfo(database name)

This returns the message structure of information about messages in the database. For
example:
msgInfo = messageInfo(db)

msgInfo =

5x1 struct array with fields:

Name
Comment
ID
Extended
Length
Signals

To get information on a single message by message name, type:

msgInfo = messageInfo(database name,'message name')

This returns information about the message as defined in the database. For example:
msgInfo = messageInfo(db,'EngineMsg')

msgInfo =

Name: 'EngineMsg'
Comment: ''
ID: 100
Extended: 0
Length: 8
Signals: {2x1 cell}

Here the function returns information about message with name EngineMsg in the
database db. You can also use the message ID to get information about a message. For
example, to view the example message given here by inputting the message ID, type:
msgInfo = messageInfo(db,100,false)

4-15
4 Using a CAN Database

This command provides the database name, the message ID, and a Boolean value for the
extended value of the ID.

View Signal Information in a CAN Message

You can get signal definition information on a specific signal or all signals in a CAN
message with database definitions attached. Provide the message name or the ID as a
parameter in the command:
sigInfo = signalInfo(db, 'EngineMsg')

You can also get information about a specific signal by providing the signal name:
sigInfo = signalInfo(db, 'EngineMsg', 'EngineRPM')

To learn how to use this property and work with the database, see the signalInfo
function.

You can also access the Signals property of the message to view physical signal
information. When you create physical signals using database information, you can
directly write to and read from these signals to pack or unpack data from the message.
When you write directly to the signal name, the value is translated, scaled, and packed
into the message data.

Attach a CAN Database to Existing Messages

You can attach a .dbc file to messages and apply the message definition defined in the
database. Attaching a database allows you to view the messages in their physical form
and use a signal-based interaction with the message data.

To attach a database to a message, type:

attachDatabase(message name, database name)

Note: If your message is an array, all messages in the array are associated with the
database that you attach.

You can also dissociate a message from a database so that you can view the message in
its raw form. To clear the attached database from a message, type:
attachDatabase(message name, [])

Note: The database gets attached even if the database does not find the specified
message. Even though the database is still attached to the message, the message is
displayed in its raw mode.

Monitoring Vehicle CAN Bus

Vehicle CAN Bus Monitor on page 5-2

Using the Vehicle CAN Bus Monitor on page 5-8
5 Monitoring Vehicle CAN Bus

Vehicle CAN Bus Monitor

In this section...
About the Vehicle CAN Bus Monitor on page 5-2
Opening the Vehicle CAN Bus Monitor on page 5-2
Vehicle CAN Bus Monitor Fields on page 5-2

About the Vehicle CAN Bus Monitor

Vehicle Network Toolbox provides a graphical user interface that monitors CAN bus
traffic on selected channels. Using the CAN Bus Monitor you can:

View live CAN message data.

Configure connection to the CAN bus.
View unique messages.
Attach a database to view signal information.
Save the messages to a log file.

Opening the Vehicle CAN Bus Monitor

To open the Vehicle CAN Bus Monitor, type canTool in the MATLAB Command
Window.

Vehicle CAN Bus Monitor Fields

The CAN bus monitor has the following menus, buttons and table.

5-2
Vehicle CAN Bus Monitor

File Menu

Save Messages Saves messages to a log file.

Clear Messages Clears messages in the Vehicle CAN Bus Monitor window.

5-3
5 Monitoring Vehicle CAN Bus

Exit CAN Tool Click to exit the CAN Tool window.

Configure Menu

Channel Displays all available CAN devices and channels on your system. Select
the CAN channel to monitor.
Bus Speed Opens the Specified bus speed dialog box. To change the bus speed of
the selected channel, type the new value in bits per second in the box.

Message Filters Opens the Set Message Filters dialog box. Select an option in the
dialog box to configure hardware filters to block or allow messages.

Standard Message ID Filter

Allow All Select to allow all standard ID messages.

5-4
Vehicle CAN Bus Monitor

Block All Select to block all standard ID messages.

Allow only Select to set up custom filtering of messages. Type the standard
message IDs that you want to allow.
Extended Message ID Filter

Allow All Select to allow all extended ID messages.

Block All Select to block all extended ID messages.
Allow only Select to set up custom filtering of messages. Type the extended
message IDs that you want to allow.
Database Selects the database to attach to the CAN messages on the selected
channel.

Run Menu

Start Click to view message activity on the selected channel.

Pause Click to pause the display of message activity on the selected channel.
Stop Click to stop the display of message activity on the selected channel.

View Menu

Maximum message count Opens the Specify maximum message count dialog
box. To change the maximum number of messages displayed at a time in the Vehicle
CAN Bus Monitor, type the new value in the box.

Number Format Select the number format to display message identifier data.
Choose Hexadecimal or Decimal.
Show Unique Messages Select this option to display the most recent instance
of each message received on the selected channel. If you select this option, the tool
displays a simplified version of the message traffic. In this view, messages do not
scroll up, but each message refreshes its data with each timestamp. If you do not

5-5
5 Monitoring Vehicle CAN Bus

select this option, the tool displays all instances of all messages in the order that the
selected channel receives them.

Help Menu

canTool Help Select this option to see the online help for Vehicle CAN Bus
Monitor.
About Vehicle Network Toolbox Select this option to view the toolbox version
and release information.

Buttons

Start
Displays message activity on the selected channel.

Pause
Pauses the display of message activity on the selected channel.

Stop
Stops displaying messages on the selected channel.

Save messages
Click this button to save the current message list on the selected channel to a file.

Clear messages
Click this button to clear messages in the Vehicle CAN Bus Monitor window.

Show unique messages

Select this option to display the most recent instance of each message received on the
selected channel. If you select this option, the tool displays a simplified version of the
message traffic. In this view, messages do not scroll up, but each message refreshes
its data with each timestamp. If you do not select this option the tool displays all
instances of all messages in the order that the selected channel receives them.

Docking
Click this button to dock the Vehicle CAN Bus Monitor to the MATLAB desktop. To

undock, click .

5-6
Vehicle CAN Bus Monitor

Undocking
Click this button to undock the Vehicle CAN Bus Monitor from the MATLAB
desktop. To dock, click .

Message Table

Timestamp
Displays the time, relative to the start time, that the device receives the message.
The start time begins at 0 when you click Start.
ID
Displays the message ID. This field displays a number in hexadecimal format for the
ID and:

Displays numbers only for standard IDs.

Appends an x for an extended ID.
Displays an r for a remote frame.
Displays error for messages with error frames.

To change the format to decimal, select View > Number Format > Decimal.
Name
Displays the name of the message, if available.
Length
Displays the length of the message in bytes.
Data
Displays the data in the message in hexadecimal format.

To change the format to decimal, select View > Number Format > Decimal.

If you are using a database, click the + sign to see signal information. The tool displays
the signal name and the physical value of the message, as defined in the attached
database.

More About
Using the Vehicle CAN Bus Monitor on page 5-8

5-7
5 Monitoring Vehicle CAN Bus

Using the Vehicle CAN Bus Monitor

This topic shows many of the tasks you can perform with the Vehicle CAN Bus Monitor.

In this section...
View Messages on a Channel on page 5-8
Configure the Channel Bus Speed on page 5-8
Filter CAN Messages in Vehicle CAN Bus Monitor on page 5-9
Attach a Database on page 5-9
Change the Message Count on page 5-12
Change the Number Format on page 5-12
View Unique Messages on page 5-12
Save the Message Log File on page 5-13

View Messages on a Channel

1 Open the Vehicle CAN Bus Monitor and select the device and channel connected to
your CAN bus by selecting Configure > Channel.
2 The Vehicle CAN Bus Monitor defaults to the bus speed set in the device driver. You
can also configure a new bus speed. See Configuring the Channel Bus Speed
3 Click Start, or select Run > Start.
4 To pause the display, click Pause or select Run > Pause.
5 To stop the display, click Stop or select Run > Stop.

Configure the Channel Bus Speed

Configure the bus speed when your network speed differs from the default value of the
channel. You require initialization access for the channel to configure the bus speed.

To configure a new bus speed:

1 Select Configure > Bus Speed.

2 Type the desired value in the Specify bus speed dialog box.

5-8
Using the Vehicle CAN Bus Monitor

3 Click OK.

The value you set takes effect once you start the CAN channel. If an error occurs when
applying the new bus speed, the value reverts to the default value specified in the
hardware.

Filter CAN Messages in Vehicle CAN Bus Monitor

Filter CAN messages to allow or block messages displayed in the Vehicle CAN Bus
Monitor.

To set up filters:

1 Select Configure > Message Filters.

2 To set filters on standard message IDs, select:

a Allow All to set the hardware filter to allow all messages with standard IDs.
b Block All to set the hardware filter to block all messages with standard IDs.
c Allow Only to set up custom filters. Type the standard IDs of the message you
want to filter. You can type a range or single IDs. The default is 0:2047.
3 To set filters on extended message IDs, select:

a Allow All to set the hardware filter to allow all messages extended IDs.
b Block All to set the hardware filter to block all messages extended IDs.
c Allow Only to set up custom filters. Type the extended IDs of the message you
want to filter. You can type a range or single IDs. The default is 0:536870911.

Note: If you are using a custom filter, change the default range to the desired
range. The default range allows all messages and you should select Allow All to
allow all incoming messages with extended IDs.
4 Click OK.

Attach a Database
Attach a database to the Vehicle CAN Bus Monitor to see signal information of the
displayed messages.

5-9
5 Monitoring Vehicle CAN Bus

1 Select Run > Stop to stop the message display in the Vehicle CAN Bus Monitor.
2 Select Configure > Database.
3 Select the database to attach and start the message display again.

When the tool displays the messages, it shows the message name in the Message
table.

5-10
Using the Vehicle CAN Bus Monitor

4 Click the plus (+) sign to see the details of the message.

5-11
5 Monitoring Vehicle CAN Bus

The tool displays the signal name as defined in the attached database and the signal's
physical value.

Change the Message Count

You can change the maximum number of messages displayed to a value from 100
through 5000.

1 Select View > Maximum Message Count.

2 In the Specify maximum message count dialog box, type the number of messages you
want displayed at one time.
3 Click OK.

Change the Number Format

By default the message data is displayed in hexadecimal format. To change the display to
decimal format, select View > Number Format > Decimal.

View Unique Messages

To view the most recent instance of each unique message received on the channel, select
View > Show Unique Messages. In this view, you do not see messages scroll up, but
each message refreshes its data and timestamp with each new instance. You can also

click .

5-12
Using the Vehicle CAN Bus Monitor

Use this feature to get a snapshot of message IDs that the selected channel receives. Use
this information to analyze specific messages.

When you select Show Unique Messages, the tool continues to receive message
actively. This simplified view allows you to focus on specific messages and analyze them.

To save messages when Show Unique Messages is selected, click Pause and then click
Save. You cannot save just the unique message list. This operation saves the complete
message log in the window.

Save the Message Log File

You can save a log file of the messages currently displayed while the tool is running. You
need not stop or pause the display to save a log file.

To save a log file of the messages currently displayed in the window, select File > Save

Messages or click .

The tool saves the messages in a MATLAB file in your current working folder by default.
You can change the location by browsing to a different folder in the Save dialog box.

Each time you save the message log to a file, the Vehicle CAN Bus Monitor saves them as
VNT CAN Log.mat with sequential numbering by default. You can change the name by
typing a new name in Save dialog box.

More About
Vehicle CAN Bus Monitor on page 5-2

5-13
6

XCP Communication Workflows

6 XCP Communication Workflows

XCP Database and Communication Workflow

This workflow helps you:

Manage an A2L database

Connect to an XCP device
Create an XCP channel
Acquire and stimulate data
Read and write to memory

6-2
XCP Database and Communication Workflow

6-3
6 XCP Communication Workflows

6-4
7

A2L File

A2L File Support on page 7-2

Access an A2L File on page 7-3
Access Event Information on page 7-4
Inspect the Contents of an A2L File on page 7-5
7 A2L File

A2L File Support

An A2L file is a special description file that defines the implementation of an ECU that
can communicate with a slave module via an XCP connection. An A2L file is a formatted
text file that contains event and measurement definitions as well as other configuration
information. You can use this information to connect an XCP channel to a slave module
and acquire and stimulate data and perform other functions.

7-2
Access an A2L File

Access an A2L File

To use a A2L file, open the file in your MATLAB session. At the MATLAB command
prompt, type:
a2lfile = xcpA2L('filename.a2l')

Here a2lfile is a variable you chose for your A2L object and filename.a2l is the
actual file name of your A2L file. If your A2L file is not in the current working directory,
type the path to the file:
a2lfile = xcpA2L('path\filename.a2l');

Tip: A2L file names containing non-alphanumeric characters such as equal signs,
ampersands, and so forth are incompatible with Vehicle Network Toolbox. You can use
periods in your database name. Rename any A2L files with non-alphanumeric characters
before you use them.

This command returns a A2L object that you can use with live communication to a slave
module using XCP channels.

7-3
7 A2L File

Access Event Information

This example shows how to open an A2L file and access event information.

Open an A2L file:

a2lfile = xcpA2L('XCPSIM.a2l');

Display properties of the A2L object:

a2lfile

A2L with properties:

FileName: 'XCPSIM.a2l'
FilePath: 'H:\Documents\work\XCPSIM.a2l'
SlaveName: 'CPP'
ProtocolLayerInfo: [1x1 struct]
DAQInfo: [1x1 struct]
TransportLayerCANInfo: [1x1 struct]
Events: {'Key T' '10 ms' '100ms' '1ms' 'FilterBypassDaq' 'Filte
Measurements: {1x38 cell}

View all available events:

a2lfile.Events

ans =

'Key T' '10 ms' '100ms' '1ms' 'FilterBypassDaq' 'FilterBypassSt'

Get information for the 10 ms event:

getEventInfo(a2lfile,'10 ms')

ans =

Name: '10 ms'

Direction: 'DAQ_STIM'
MaxDAQList: 255
ChannelNumber: 1
ChannelTimeCycle: 10
ChannelTimeUnit: 6
ChannelPriority: 0
ChannelTimeCycleInSeconds: 0.0100

7-4
Inspect the Contents of an A2L File

Inspect the Contents of an A2L File

Access Measurement Information

This example shows how to open an A2L file and access measurement information.

Open an A2L file:

a2lfile = xcpA2L('XCPSIM.a2l');

Display properties of the A2L object:

a2lfile

A2L with properties:

View all available measurements:

a2lfile.Measurements
ans =

Columns 1 through 8

'BitSlice' 'BitSlice0' 'BitSlice1' 'BitSlice2' 'Counter_B4' 'Counter_B5' 'Counter_B6' 'Counter_B7

Columns 9 through 16

'FW1' 'KL1Output' 'PWM' 'PWMFiltered' 'PWM_Level' 'ShiftByte' 'Shifter_B0' 'Shifter_B1'

Columns 17 through 25

'Shifter_B2' 'Shifter_B3' 'TestStatus' 'Triangle' 'ampl' 'bit12Counter' 'byte1' 'byte2' 'byte3

Columns 26 through 33

'byte4' 'byteCounter' 'bytePWMFilter' 'channel3' 'dwordCounter' 'map1InputX' 'map1InputY' 'map1Ou

Columns 34 through 38

'period' 'sbytePWMLevel' 'v' 'vin' 'wordCounter'

7-5
7 A2L File

Get information about the BitSlice measurement:

getMeasurementInfo(a2lfile,'Triangle')

ans =

Name: 'Triangle'
LongIdentifier: 'Triangle test signal used for PWM output PWM'
DataType: 'SBYTE'
Conversion: 'BitSlice.CONVERSION'
Resolution: 0
Accuracy: 0
LowerLimit: -50
UpperLimit: 50
ECUAddress: 4951377
ECUAddressExtension: 0
ByteOrder: 'MSB_LAST'
SizeInBytes: 1
SizeInNibbles: 2
SizeInBits: 8
MATLABType: 'int8'

7-6
8

Universal Measurement & Calibration

Protocol (XCP)

XCP Interface on page 8-2

XCP Hardware Connection on page 8-3
Read a Single Value on page 8-7
Write a Single Value on page 8-8
Acquire Measurement Data via Dynamic DAQ Lists on page 8-9
Stimulate Measurement Data via Dynamic STIM Lists on page 8-10
8 Universal Measurement & Calibration Protocol (XCP)

XCP Interface
XCP is a high-level protocol that allows you to acquire, stimulate and calibrate data in
electronic control units (ECU). XCP accesses ECU modules via an interface such as CAN.
The XCP master communicates with one or more slave modules by sending commands.
Using industry standard A2L files, you can read and write to memory or perform data
acquisition and stimulation.

XCP allows you to:

Perform Data acquisition and stimulation

Read and write to device memory
Dynamically configure data acquisition

8-2
XCP Hardware Connection

XCP Hardware Connection

You can connect your XCP master to a slave module using the CAN protocol. This allows
you to use events and access measurements on the slave module.

8-3
8 Universal Measurement & Calibration Protocol (XCP)

8-4
XCP Hardware Connection

In this section...
Create XCP Channel Using CAN Device on page 8-5
Configure the Channel to Unlock the Slave on page 8-6

Create XCP Channel Using CAN Device

This example shows how to create an XCP CAN channel connection and access channel
properties. The example also shows how to unlock the slave using seed key security.

Access an A2L file that describe the slave module.

a2lfile = xcpA2L('C:\work\XCPSIM.a2l')

a2lfile =

A2L with properties:

FileName: 'XCPSIM.a2l'
FilePath: 'C:\work\XCPSIM.a2l'
SlaveName: 'CPP'
ProtocolLayerInfo: [1x1 struct]
DAQInfo: [1x1 struct]
TransportLayerCANInfo: [1x1 struct]
Events: {1x6 cell}
Measurements: {1x38 cell}

Create an XCP channel using Vector virtual CAN channel 1.

xcpch = xcpChannel(a2lfile, 'CAN', 'Vector', 'Virtual 1', 1)

xcpch =

Channel with properties:

SlaveName: 'CPP'
A2LFileName: 'XCPSIM.a2l'
TransportLayer: 'CAN'
TransportLayerDevice: [1x1 struct]

8-5
8 Universal Measurement & Calibration Protocol (XCP)

SeedKeyDLL: []

Configure the Channel to Unlock the Slave

This example shows how to configure the channel to unlock the slave using a dll that
contains a seed and key security algorithm when your module is locked for Stimulation
operations,.

Create your XCP channel and set the channels SeedKeyDLL property.

xcpch.SeedKeyDLL = ('C:\Work\SeedNKeyXcp.dll')

xcpch =

Channel with properties:

SlaveName: 'CPP'
A2LFileName: 'XCPSIM.a2l'
TransportLayer: 'CAN'
TransportLayerDevice: [1x1 struct]
SeedKeyDLL: 'C:\Work\SeedNKeyXcp.dll'

Note: Make sure the seed and key security access dll that you use matches the version of
your platform. You cannot use a 32-bit dll 64-bit MATLAB or a 64-bit system.

8-6
Read a Single Value

Read a Single Value

This example shows how to access a single value by name. The value is read directly from
memory.

Create an XCP channel with access to an A2L file

a2lfile = xcpA2L('C:\work\XCPSIM.a2l');
xcpch = xcpChannel(a2lfile, 'CAN', 'Vector', 'Virtual 1', 1);

Connect the slave.

connect(xcpch)

Read a single value of the Triangle measurement directly from memory.

readSingleValue(xcpch, 'Triangle')

ans =

8-7
8 Universal Measurement & Calibration Protocol (XCP)

Write a Single Value

This example shows how to write a single value by name. The value is written directly to
memory.

Create an XCP channel linked to an A2L file.

a2lfile = xcpA2L('C:\work\XCPSIM.a2l');
xcpch = xcpChannel(a2lfile, 'CAN', 'Vector', 'Virtual 1', 1);

Connect the slave.

connect(xcpch)

Write a single value.

writeSingleValue(xcpch, 'Triangle', 50)

8-8
Acquire Measurement Data via Dynamic DAQ Lists

Acquire Measurement Data via Dynamic DAQ Lists

This example shows how to can create a dynamic data acquisition list and assign
measurements to the list. You can acquire data for measurements in this list from the
slave.

Create an XCP channel linked to an A2L file and connect it to the slave.
a2lfile = xcpA2L('C:\work\XCPSIM.a2l');
xcpch = xcpChannel(a2lfile, 'CAN', 'Vector', 'Virtual 1', 1);
connect(xcpch)

Create a DAQ list for the '10 ms' event with ,'PWMFiltered'and 'Triangle'
measurements.
createMeasurementList(xcpch, 'DAQ', '10 ms', {'PWMFiltered','Triangle'});

Start measurement activity.

startMeasurement(xcpch)

Read 10 samples of data from the configured measurement list for the 'Triangle'
measurement.
readDAQListData(xcpch, 'Triangle', 10)

18 18 18 18 18 18 18 18 18 18

8-9
8 Universal Measurement & Calibration Protocol (XCP)

Stimulate Measurement Data via Dynamic STIM Lists

This example shows how to can create a dynamic data stimulation list and assign
measurements to the list. You can stimulate data for specific measurements in this list.

Create an XCP channel linked to an A2L file and connect it.

a2lfile = xcpA2L('C:\work\XCPSIM.a2l');
xcpch = xcpChannel(a2lfile, 'CAN', 'Vector', 'Virtual 1', 1);
connect(xcpch)

Note: If your module is locked for STIM operations, configure the channel to unlock the
slave.

Create a STIM list for the '100ms' event with 'PWMFiltered'and 'Triangle'
measurements.
createMeasurementList(xcpch, 'STIM', '100ms', {'PWMFiltered','Triangle'});

Start the measurement.

startMeasurement(xcpch)

Write 10 to the configured measurement list for the 'Triangle' measurement.

writeSTIMListData(xcpch, 'Triangle', 10);

8-10
9

J1939

J1939 Interface on page 9-2

J1939 Parameter Group Format on page 9-3
J1939 Network Management on page 9-5
J1939 Transport Protocols on page 9-6
J1939 Channel Workflow on page 9-7
J1939 Examples on page 9-10
9 J1939

J1939 Interface
J1939 is a high-level protocol built on the CAN bus that provides serial data
communication between electronic control units (ECUs) in heavy-duty vehicles.
Applications of J1939 include:

Diesel power-train applications

In-vehicle networks for buses and trucks
Agriculture and forestry machinery
Truck-trailer connections
Military vehicles
Fleet management systems
Recreational vehicles
Marine navigation systems

The J1939 protocol uses CAN as the physical layer, which defines the communication
between ECUs in the vehicle network. The protocol has a second data-link layer that
defines rules of communication and error detection. A third application layer defines the
data transferred over the network.

More About
J1939 Parameter Group Format on page 9-3
J1939 Network Management on page 9-5
J1939 Transport Protocols on page 9-6
J1939 Channel Workflow on page 9-7

9-2
J1939 Parameter Group Format

J1939 Parameter Group Format

The application layer deals with parameter groups (PGs) sent and received over the
network. J1939 protocol uses broadcast messages, or messages sent over the CAN bus
without a defined destination. Devices on the same network can access these messages
without permission or special requests. If a device requires a specific message, include
the device destination address in the message identifier.

The message contains a group of parameters that define related messages. For example,
a message sent to the engine controller can contain both engine speed and RPM. These
parameters are represented in the CAN identifier by a parameter group number (PGN).
Parameter groups use 29-bit identifiers with this message structure:

Parameter Priority Reserved Data Page PDU Format PDU Source

Specific Address
Size 3 bits 1 bit 1 bit 8 bits 8 bits 8 bits

First three bits represent the priority of the message on the network. Zero is the
highest priority.
The next bit is reserved for future use. For transmit messages, set this to zero.
The next bit is the data page, which extends the maximum number of possible PGs in
the identifier.
The next 8 bits are the protocol data unit (PDU) format, which specifies whether the
message is targeted for a single device or is broadcast. If the PDU is less than 240,
then the message is sent to a specific device and if it over 240, it is sent to the entire
network.
The next 8 bits are the PDU specific, which contains the address of the device when
the PDU format is less than 240. If PDU format is greater than 240, PDU specific
contains group extension, or the number of extended broadcast messages in this
parameter group.
The last 8 bits contain the source address, which is the address of the device sending
the parameter groups.

The protocol application layer transmits the PG on the CAN network. PG length can be
up to 1785 bytes and is not limited by the length of a CAN message. However, PGs larger
than 8 bytes must be transmitted using a transport protocol.

9-3
9 J1939

More About
J1939 Interface on page 9-2
J1939 Network Management on page 9-5
J1939 Transport Protocols on page 9-6
J1939 Channel Workflow on page 9-7

9-4
J1939 Network Management

J1939 Network Management

Each device on a J1939 network has a unique address. The PDU Specific uses device
addresses to send parameter groups (PG) to a specific device. Static addresses between
zero and 253 are assigned for every device on the network. You can also assign 254,
which is a null and 255, which is a global address.

Address Claiming
The application sending a PG must claim an ECU address. The application sends an
address claiming PG first, and resumes sending other PGs if there is not address conflict.
If the source application encounters an address conflict, it can send a PG to the global
(255) address to request all devices to declare their addresses. It can then claim one of
the unused addresses.

More About
J1939 Interface on page 9-2
J1939 Parameter Group Format on page 9-3
J1939 Transport Protocols on page 9-6
J1939 Channel Workflow on page 9-7

9-5
9 J1939

J1939 Transport Protocols

J1939 transport protocol breaks up PGs larger than 8 data bytes and up to 1785
bytes, into multiple packets. The transport protocol defines the rules for packaging,
transmitting, and reassembling the data.

Messages that have multiple packets are transmitted with a dedicated PGN, and have
the same message ID and similar functionality.
The length of each message in the packet must be 8 bytes or fewer.
The first byte in the data field of a message specifies the sequence of the message (one
to 255) and the next seven bytes contain the original data.
All unused bytes in the data field are set to zero.
A different PGN controls the message flow.

The data package is passed to the application layer after it is reassembled in the order
specified by the first data-field byte.

More About
J1939 Interface on page 9-2
J1939 Parameter Group Format on page 9-3
J1939 Network Management on page 9-5
J1939 Transport Protocols on page 9-6
J1939 Channel Workflow on page 9-7

9-6
J1939 Channel Workflow

J1939 Channel Workflow

Transmit and receive parameter groups (PGs) using j1939Channel via a CAN network.

9-7
9 J1939

9-8
J1939 Channel Workflow

More About
J1939 Interface on page 9-2
J1939 Parameter Group Format on page 9-3
J1939 Network Management on page 9-5
J1939 Transport Protocols on page 9-6

9-9
9 J1939

J1939 Examples
In this section...
Create and Use J1939 Parameter Groups on page 9-10
Create and Use J1939 Channels on page 9-16

Create and Use J1939 Parameter Groups

This example shows you how to use Vehicle Network Toolbox with J1939 to create and
manage J1939 parameter groups using information stored in CAN database files. This
example uses the CAN database file, J1939.dbc.

Open the Database File

Open the database file to access the definitions.

db = canDatabase('J1939.dbc');

Create a Parameter Group

Use the j1939ParameterGroup function to create a parameter group using the

information contained within the database.
pg = j1939ParameterGroup(db, 'VehicleDataSingle')

pg =

ParameterGroup with properties:

Protocol Data Unit Details:

---------------------------
Name: 'VehicleDataSingle'
PGN: 40192
Priority: 6
PDUFormatType: 'Peer-to-Peer Type 1 '
SourceAddress: 254
DestinationAddress: 254

Data Details:
-------------
Timestamp: 0
Data: [255 255 255 255 255 255 255 255]

9-10
J1939 Examples

Signals: [11 struct]

Other Information:
------------------
UserData: []

Set Source and Destination Addresses

To fully define the parameter group and determine the logistics of its transmission on a
network, set the source and destination addresses.
pg.SourceAddress = 30
pg.DestinationAddress = 50

pg =

ParameterGroup with properties:

Protocol Data Unit Details:

---------------------------
Name: 'VehicleDataSingle'
PGN: 40192
Priority: 6
PDUFormatType: 'Peer-to-Peer Type 1 '
SourceAddress: 30
DestinationAddress: 254

Data Details:
-------------
Timestamp: 0
Data: [255 255 255 255 255 255 255 255]
Signals: [11 struct]

Other Information:
------------------
UserData: []

pg =

ParameterGroup with properties:

Protocol Data Unit Details:

9-11
9 J1939

---------------------------
Name: 'VehicleDataSingle'
PGN: 40192
Priority: 6
PDUFormatType: 'Peer-to-Peer Type 1 '
SourceAddress: 30
DestinationAddress: 50

Data Details:
-------------
Timestamp: 0
Data: [255 255 255 255 255 255 255 255]
Signals: [11 struct]

Other Information:
------------------
UserData: []

Set Priority

Set the Priority property to further customize the transmission.

pg.Priority = 5;

View Signal Information

Use the Signals property to see signal values for this parameter group. You can directly
write to and read from these signals to pack or unpack data in the parameter group.
pg.Signals

ans =

struct with fields:

VehicleSignal4: -1
VehicleSignal3: -1
VehicleSignal2: -1
VehicleSignal1: -1

Change Signal Information

Write directly to a signal to change a value and read its current value back.

9-12
J1939 Examples

pg.Signals.VehicleSignal1 = 10
pg.Signals.VehicleSignal2 = 100
pg.Signals.VehicleSignal3 = 1000
pg.Signals.VehicleSignal4 = 10000
pg.Signals

pg =

ParameterGroup with properties:

Protocol Data Unit Details:

---------------------------
Name: 'VehicleDataSingle'
PGN: 40192
Priority: 5
PDUFormatType: 'Peer-to-Peer Type 1 '
SourceAddress: 30
DestinationAddress: 50

Data Details:
-------------
Timestamp: 0
Data: [10 0 255 255 255 255 255 255]
Signals: [11 struct]

Other Information:
------------------
UserData: []

pg =

ParameterGroup with properties:

Protocol Data Unit Details:

---------------------------
Name: 'VehicleDataSingle'
PGN: 40192
Priority: 5
PDUFormatType: 'Peer-to-Peer Type 1 '
SourceAddress: 30
DestinationAddress: 50

Data Details:

9-13
9 J1939

-------------
Timestamp: 0
Data: [10 0 100 0 255 255 255 255]
Signals: [11 struct]

Other Information:
------------------
UserData: []

pg =

ParameterGroup with properties:

Protocol Data Unit Details:

---------------------------
Name: 'VehicleDataSingle'
PGN: 40192
Priority: 5
PDUFormatType: 'Peer-to-Peer Type 1 '
SourceAddress: 30
DestinationAddress: 50

Data Details:
-------------
Timestamp: 0
Data: [10 0 100 0 232 3 255 255]
Signals: [11 struct]

Other Information:
------------------
UserData: []

pg =

ParameterGroup with properties:

Protocol Data Unit Details:

---------------------------
Name: 'VehicleDataSingle'
PGN: 40192
Priority: 5
PDUFormatType: 'Peer-to-Peer Type 1 '

9-14
J1939 Examples

SourceAddress: 30
DestinationAddress: 50

Data Details:
-------------
Timestamp: 0
Data: [10 0 100 0 232 3 16 39]
Signals: [11 struct]

Other Information:
------------------
UserData: []

ans =

struct with fields:

VehicleSignal4: 10000
VehicleSignal3: 1000
VehicleSignal2: 100
VehicleSignal1: 10

Write New Direct Data

You can also write values directly into the Data property.

pg.Data(1:2) = [50 0]
pg.Signals

pg =

ParameterGroup with properties:

Protocol Data Unit Details:

---------------------------
Name: 'VehicleDataSingle'
PGN: 40192
Priority: 5
PDUFormatType: 'Peer-to-Peer Type 1 '
SourceAddress: 30
DestinationAddress: 50

9-15
9 J1939

Data Details:
-------------
Timestamp: 0
Data: [50 0 100 0 232 3 16 39]
Signals: [11 struct]

Other Information:
------------------
UserData: []

ans =

struct with fields:

VehicleSignal4: 10000
VehicleSignal3: 1000
VehicleSignal2: 100
VehicleSignal1: 50

Create and Use J1939 Channels

This example shows you how to use Vehicle Network Toolbox with J1939 to create
and use J1939 channels to transmit and receive parameter groups on a network. This
example uses the CAN database file, J1939.dbc. It also uses MathWorks Virtual CAN
channels connected in a loopback configuration

Open the Database File

Open the database file to access the definitions.

db = canDatabase('J1939.dbc');

Create the J1939 Channels

Create J1939 channels on which you can send and receive information.
txCh = j1939Channel(db, 'MathWorks', 'Virtual 1', 1)
rxCh = j1939Channel(db, 'MathWorks', 'Virtual 1', 2)

txCh =

Channel with properties:

9-16
J1939 Examples

Device Information:
-------------------
DeviceVendor: 'MathWorks'
Device: 'Virtual 1'
DeviceChannelIndex: 1
DeviceSerialNumber: 0

Data Details:
-------------
ParameterGroupsAvailable: 0
ParameterGroupsReceived: 0
ParameterGroupsTransmitted: 0
FilterPassList: []
FilterBlockList: []

Channel Information:
--------------------
Running: 0
BusStatus: 'N/A'
InitializationAccess: 1
InitialTimestamp: [00 datetime]
SilentMode: 0
TransceiverName: 'N/A'
TransceiverState: 0
BusSpeed: 500000
SJW: 0
TSEG1: 0
TSEG2: 0
NumOfSamples: 0

Other Information:
------------------
UserData: []

rxCh =

Channel with properties:

Device Information:
-------------------
DeviceVendor: 'MathWorks'
Device: 'Virtual 1'

9-17
9 J1939

DeviceChannelIndex: 2
DeviceSerialNumber: 0

Data Details:
-------------
ParameterGroupsAvailable: 0
ParameterGroupsReceived: 0
ParameterGroupsTransmitted: 0
FilterPassList: []
FilterBlockList: []

Other Information:
------------------
UserData: []

Create the J1939 Parameter Groups

You can create J1939 parameter groups to send on the network.

pgSingleFrame = j1939ParameterGroup(db, 'VehicleDataSingle')

pgSingleFrame.SourceAddress = 30;
pgSingleFrame.DestinationAddress = 50;
pgMultiFrame = j1939ParameterGroup(db, 'VehicleDataMulti')
pgMultiFrame.SourceAddress = 30;
pgMultiFrame.DestinationAddress = 255;

pgSingleFrame =

9-18
J1939 Examples

ParameterGroup with properties:

Protocol Data Unit Details:

---------------------------
Name: 'VehicleDataSingle'
PGN: 40192
Priority: 6
PDUFormatType: 'Peer-to-Peer Type 1 '
SourceAddress: 254
DestinationAddress: 254

Data Details:
-------------
Timestamp: 0
Data: [255 255 255 255 255 255 255 255]
Signals: [11 struct]

Other Information:
------------------
UserData: []

pgMultiFrame =

ParameterGroup with properties:

Protocol Data Unit Details:

---------------------------
Name: 'VehicleDataMulti'
PGN: 51200
Priority: 6
PDUFormatType: 'Peer-to-Peer Type 1 '
SourceAddress: 254
DestinationAddress: 254

Data Details:
-------------
Timestamp: 0
Data: [255 255 255 255 255 255 255 255 255 255 255 255]
Signals: [11 struct]

Other Information:
------------------
UserData: []

9-19
9 J1939

Start the J1939 Channels

To begin using channels for transmit and receive operations, place them online.
start(rxCh);
start(txCh);

Send J1939 Parameter Groups

The transmit function sends parameter groups onto the network. The J1939 channel
automatically sends parameter groups requiring multiframe messaging via its transport
protocol.
transmit(txCh, pgSingleFrame)
transmit(txCh, pgSingleFrame)
transmit(txCh, pgMultiFrame)
transmit(txCh, pgSingleFrame)
transmit(txCh, pgSingleFrame)
pause(1);

Receive the Parameter Groups

The receive function retrieves information from the channel which represents
messaging that occurred on the network.
pgRx = receive(rxCh, Inf)

pgRx =

15 ParameterGroup array with properties:

Protocol Data Unit Details:

---------------------------
Name
PGN
Priority
PDUFormatType
SourceAddress
DestinationAddress

Data Details:
-------------
Timestamp

9-20
J1939 Examples

Data
Signals

Other Information:
------------------
UserData

Inspect Received Parameter Groups

View details of the received information.

pgRx(1)

ans =

ParameterGroup with properties:

Protocol Data Unit Details:

---------------------------
Name: 'VehicleDataSingle'
PGN: 40192
Priority: 6
PDUFormatType: 'Peer-to-Peer Type 1 '
SourceAddress: 30
DestinationAddress: 50

Data Details:
-------------
Timestamp: 0.1530
Data: [255 255 255 255 255 255 255 255]
Signals: [11 struct]

Other Information:
------------------
UserData: []

Note Multiframe Reception

Parameter groups sent using the transport protocol are reconstructed in full detail by the
channel.

pgRx(3)

9-21
9 J1939

ans =

ParameterGroup with properties:

Protocol Data Unit Details:

---------------------------
Name: 'VehicleDataMulti'
PGN: 51200
Priority: 6
PDUFormatType: 'Peer-to-Peer Type 1 '
SourceAddress: 30
DestinationAddress: 255

Data Details:
-------------
Timestamp: 0.3810
Data: [255 255 255 255 255 255 255 255 255 255 255 255]
Signals: [11 struct]

Other Information:
------------------
UserData: []

Stop the J1939 Channels

To stop receiving data from the network, stop the J1939 channels.
stop(rxCh);
stop(txCh);

More About
J1939 Interface on page 9-2
J1939 Parameter Group Format on page 9-3
J1939 Network Management on page 9-5
J1939 Transport Protocols on page 9-6
J1939 Channel Workflow on page 9-7

9-22
10

CAN Communications in Simulink

Vehicle Network Toolbox Simulink Blocks on page 10-2

CAN Communication Workflows in Simulink on page 10-3
Open the Vehicle Network Toolbox Block Library on page 10-7
Build CAN Communication Simulink Models on page 10-9
Create Custom Blocks on page 10-26
10 CAN Communications in Simulink

Vehicle Network Toolbox Simulink Blocks

This section describes how to use the Vehicle Network Toolbox CAN block library. The
library contains these blocks:

CAN Configuration Configure the settings of a CAN device.

CAN Log Logs messages to file.
CAN Pack Pack signals into a CAN message.
CAN Receive Receive CAN messages from a CAN bus.
CAN Replay Replays logged messages to CAN bus or output port.
CAN Transmit Transmit CAN messages to a CAN bus.
CAN Unpack Unpack signals from a CAN message.

The Vehicle Network Toolbox block library is a tool for simulating message traffic on
a CAN network, as well for using the CAN bus to send and receive messages. You can
use blocks from the block library with blocks from other Simulink libraries to create
sophisticated models.

To use the Vehicle Network Toolbox block library, you require Simulink, a tool for
simulating dynamic systems. Simulink is a model definition environment. Use Simulink
blocks to create a block diagram that represents the computations of your system or
application. Simulink is also a model simulation environment. Run the block diagram
to see how your system behaves. If you are new to Simulink, read Getting Started with
Simulink (Simulink) to understand its functionality better.

For more detailed information about the blocks in the Vehicle Network Toolbox block
library see CAN Communication in Simulink.

10-2
CAN Communication Workflows in Simulink

CAN Communication Workflows in Simulink

In this section...
Message Transmission Workflow on page 10-3
Message Reception Workflow on page 10-5

Message Transmission Workflow

This workflow represents the most common CAN Transmit model. Adjust your model
as needed. For more workflow examples, see Build CAN Communication Simulink
Models on page 10-9 and the Simulink Tutorials in the Vehicle Network Toolbox
examples.

10-3
10 CAN Communications in Simulink

Using Mux Blocks

Use a Mux block to combine every message from the source if they are transmitted at
the same rate.

10-4
CAN Communication Workflows in Simulink

Use one CAN Transmit block for each configured Mux block.

Message Reception Workflow

For workflow examples, see Build CAN Communication Simulink Models on page
10-9 and the Vehicle Network Toolbox demos.

10-5
10 CAN Communications in Simulink

Message Filtering

Set up filters to process only relevant messages. This ensures optimal simulation
performance.

Do not set up filters if you need to parse all bus communications.

Function-Call Triggered Message Processing

Set up your CAN Unpack block:

In a function-call triggered subsystem if you want to unpack every message received

by your CAN Receive block.
Without a function-call triggered subsystem if you want to unpack only the most
recent message received by your CAN Receive block.
Set up this system if your receive block is filtering for a single message.

Downstream Processing

For any downstream processing using received messages, include blocks:

Within the function-call subsystem if your downstream process must respond to all
messages received in a single timestep in this model.
Outside the function-call subsystem if your downstream process responds only to the
most recent message received in a given timestep in this model.
In this case, the CAN Unpack block will not respond to any other messages received,
irrespective of the messages ID.

10-6
Open the Vehicle Network Toolbox Block Library

Open the Vehicle Network Toolbox Block Library

In this section...
Using the Simulink Library Browser on page 10-7
Using the MATLAB Command Window on page 10-8

Using the Simulink Library Browser

To open the Vehicle Network Toolbox block library, start Simulink by entering the
following at the MATLAB command prompt:

simulink

In the Simulink start page dialog, click Blank Model, and then Create Model. An
empty, Editor window opens.

In the model Editor window, click View > Library Browser.

The Simulink Library Browser opens. Its left pane contains a tree of available block
libraries in alphabetical order. Expand the Vehicle Network Toolbox node and click
CAN Communication.

10-7
10 CAN Communications in Simulink

Using the MATLAB Command Window

To open the Vehicle Network Toolbox CAN Communications block library, enter canlib
in the MATLAB Command window.

MATLAB displays the contents of the library in a separate window.

10-8
Build CAN Communication Simulink Models

Build CAN Communication Simulink Models

This topic comprises the following sections to form a complete CAN communication
simulation.

In this section...
Build a Message Transmit Model on page 10-9
Build a Message Receive Model on page 10-13
Save and Run the Model on page 10-21

Build a Message Transmit Model

This section illustrates how to send data via a CAN network. The example builds a
simple model using Vehicle Network Toolbox blocks with other blocks in the Simulink
library, using the following steps:

Step 1: Create a New Model on page 10-9

Step 2: Open the Block Library on page 10-10
Step 3: Drag Vehicle Network Toolbox Blocks into the Model on page 10-10
Step 4: Drag Other Blocks to Complete the Model on page 10-11
Step 5: Connect the Blocks on page 10-11
Step 6: Specify the Block Parameter Values on page 10-12

For this portion of the example

Use virtual CAN channels to transmit messages.

Use the CAN Configuration block to configure your CAN channels.
Use the Constant block to send data to the CAN Pack block.
Use the CAN Transmit block to send the data to the virtual CAN channel.

Use this section with Build a Message Receive Model on page 10-13 and Save and
Run the Model on page 10-21 to build your complete model and run the simulation.

Step 1: Create a New Model

1 To start Simulink and create a new model, enter the following at the MATLAB
command prompt:
simulink

10-9
10 CAN Communications in Simulink

In the Simulink start page dialog, click Blank Model, and then Create Model. An
empty, Editor window opens.
2 In the Editor, click File > Save As to assign a name to your new model.

Step 2: Open the Block Library

1 In the model Editor window, click View > Library Browser.

2 The Simulink Library Browser opens. Its left pane contains a tree of available block
libraries in alphabetical order. Expand the Vehicle Network Toolbox node and
click CAN Communication.

Step 3: Drag Vehicle Network Toolbox Blocks into the Model

To use the blocks in a model, click a block in the library and drag it into the editor. For
this example, you need one instance each of the CAN Configuration, CAN Pack, and CAN
Tarnsmit blocks in your model.

Note The default configuration of each block in your model is based on the first
appropriate device that it finds on your system. The block settings in the images you

10-10
Build CAN Communication Simulink Models

see in the following steps might differ from those on your system until all the required
settings are applied.

Step 4: Drag Other Blocks to Complete the Model

This example requires a source block that feeds data to the CAN Pack block. Add a
Constant block to your model.

Step 5: Connect the Blocks

Make a connection between the Constant block and the CAN Pack block. When you move
the pointer near the output port of the Constant block, the pointer becomes a cross hair.

10-11
10 CAN Communications in Simulink

Click the Constant block output port and, holding the mouse button, drag the pointer to
the input port of the CAN Pack block. Then release the button.

In the same way, make a connection between the output port of the CAN Pack block and
the input port of the CAN Transmit block.

The CAN Configuration block does not connect to any other block. This block configures
the CAN channel used by the CAN Transmit block to transmit the packed message.

Step 6: Specify the Block Parameter Values

You set parameters for the blocks in your model by double-clicking the block.

Configure the CAN Configuration Block

Double-click the CAN Configuration block to open its parameters dialog box. Set:

Device to Vector Virtual 1 (Channel 1)

Bus speed to 500000
Acknowledge Mode to Normal

Click OK.

Configure the CAN Pack Block

Double-click the CAN Pack block to open its parameters dialog box. Set the:

Data is input as to raw data

Name to the default value CAN Msg
Identifier type to the default Standard (11-bit identifier) type
Identifier to 500
Length (bytes) to the default length of 8

Click OK.

Configure the CAN Transmit Block

Double-click the CAN Transmit block to open its parameters dialog box. Set Device to
Vector Virtual 1 (Channel 1). Click Apply, then OK.

10-12
Build CAN Communication Simulink Models

Configure the Constant Block

Double-click the Constant block to open its parameters dialog box. On the Main tab, set
the:

Constant value to [1 2 3 4 5 6 7 8]
Sample time to 0.01 seconds

On the Signal Attributes tab, set the Output data type to uint8. Click OK.

Your model looks like this figure.

Build a Message Receive Model

This section provides an example that builds a simple model using the Vehicle Network
Toolbox blocks with other blocks in the Simulink library. This example illustrates how to
receive data via a CAN network, in the following steps:

10-13
10 CAN Communications in Simulink

Step 7: Drag Vehicle Network Toolbox Blocks into the Model on page 10-14
Step 8: Drag Other Blocks to Complete the Model on page 10-15
Step 9: Connect the Blocks on page 10-17
Step 10: Specify the Block Parameter Values on page 10-19

For this portion of the example

Use a virtual CAN channel to receive messages.

Use the CAN Configuration block to configure your virtual CAN channels.
Use the CAN Receive block to receive the message sent by the blocks built in Build
a Message Transmit Model on page 10-9.
Use a Function-Call Subsystem block that contains the CAN Unpack block. This
function takes the data from the CAN Receive block and uses the parameters of the
CAN Unpack block to unpack your message data.
Use a Scope block to show the transfer of data visually.

Use this section with Build a Message Transmit Model on page 10-9 and Save and
Run the Model on page 10-21 to build your complete model and run the simulation.

Step 7: Drag Vehicle Network Toolbox Blocks into the Model

For this example, you need one instance each of the CAN Configuration, CAN Receive,
and CAN Unpack blocks in your model. However, you add only the CAN Configuration
and the CAN Receive blocks here. Add the CAN Unpack block into the Function-Call
Subsystem described in Step 8: Drag Other Blocks to Complete the Model on page
10-15.

Tip: Configure a separate CAN channel for the CAN Receive and CAN Transmit blocks.

10-14
Build CAN Communication Simulink Models

Step 8: Drag Other Blocks to Complete the Model

Use the Function-Call Subsystem block from the Simulink Ports & Subsystems block
library to build your CAN Message pack subsystem.

1 Drag the Function-Call Subsystem block into the model.

2 Double-click the Function-Call Subsystem block to open the subsystem editor.

10-15
10 CAN Communications in Simulink

3 Drop the CAN Unpack block from the Vehicle Network Toolbox block library in this
subsystem.

10-16
Build CAN Communication Simulink Models

To see the results of the simulation visually, drag the Scope block from the Simulink
block library into your model.

Step 9: Connect the Blocks

1 Connect the CAN Msg output port on the CAN Receive block to the In1 input port
on the Function-Call Subsystem block.

10-17
10 CAN Communications in Simulink

2 Open the Function-Call Subsystem block and:

Double-click In1 to rename it to CAN Msg.

Double-click Out1 to rename it to data.
3 Rename the Function-Call Subsystem block to CAN Unpack Subsystem.
4 Connect the f() output port on the CAN Receive block to the function() input port
on the Function-Call Subsystem block.

5 Connect the CAN Unpack Subsystem output port to the input port on the Scope
block.

Your model looks like this figure.

10-18
Build CAN Communication Simulink Models

The CAN Configuration block does not connect to any other block. This block configures
the CAN channel used by the CAN Receive block to receive the CAN message.

Step 10: Specify the Block Parameter Values

Set parameters for the blocks in your model by double-clicking the block.
Configure the CAN Configuration1 Block

Double-click the CAN Configuration block to open its parameters dialog box. Set the:

10-19
10 CAN Communications in Simulink

Device to Vector Virtual 1 (Channel 2)

Bus speed to 500000
Acknowledge Mode to Normal

Click OK.

Configure the CAN Receive Block

Double-click the CAN Receive block to open its Parameters dialog box. Set the:

Device to Vector Virtual 1 (Channel 2)

Sample time to 0.01
Number of messages received at each timestep to all

Click OK.

Configure the CAN Unpack Subsystem

Double-click the CAN Unpack subsystem to open the Function-Call Subsystem editor. In
the model, double-click the CAN Unpack block to open its parameters dialog box. Set the:

Data to be output as to raw data

Name to the default value CAN Msg
Identifier type to the default Standard (11-bit identifier)
Identifier to 500
Length (bytes) to the default length of 8

Click OK.

Your subsystem looks like this figure.

10-20
Build CAN Communication Simulink Models

Save and Run the Model

This section shows you how to save the models you built, Build a Message Transmit
Model on page 10-9 and Build a Message Receive Model on page 10-13.

Step 11: Save the Model on page 10-22

Step 12: Change Configuration Parameters on page 10-22
Step 13: Run the Simulation on page 10-22
Step 14: View the Results on page 10-23

10-21
10 CAN Communications in Simulink

Step 11: Save the Model

Before you run the simulation, save your model by clicking the Save icon or selecting
File > Save from the menu bar.

Step 12: Change Configuration Parameters

1 In your model window, select Simulation > Model Configuration Parameters.

The Configuration Parameters dialog box opens.
2 In the Solver Options section, select:

Fixed-step from the Type list.

Discrete (no continuous states) from the Solver list.

Step 13: Run the Simulation

To run the simulation, click the Run button on the model window toolbar. Alternatively,
you can use the Simulation menu in the model window and choose the Run option.

When you run the simulation, the CAN Transmit block gets the message from the CAN
Pack block. It then transmits it via Virtual Channel 1. The CAN Receive block on Virtual
Channel 2 receives this message and hands it to the CAN Unpack block to unpack the
message.

While the simulation is running, the status bar at the bottom of the model window
updates the progress of the simulation.

10-22
Build CAN Communication Simulink Models

Step 14: View the Results

Double-click the Scope block to view the message transfer on a graph.

10-23
10 CAN Communications in Simulink

If you cannot see all the data on the graph, click the Autoscale toolbar button, which
automatically scales both axes to display all stored simulation data.

In the graph, the horizontal axis represents the simulation time in seconds and the
vertical axis represents the received data value. In the Message Transmit model, you
configured blocks to pack and transmit an array of constant values, [1 2 3 4 5 6 7 8],
every 0.01 second of simulation time. In the Message Receive model, these values are
received and unpacked. The output in the Scope window represents the received data
values.

10-24
Build CAN Communication Simulink Models

More About
Build and Edit a Model in the Simulink Editor (Simulink)

10-25
10 CAN Communications in Simulink

Create Custom Blocks

You can create custom Receive and Transmit blocks to use with hardware currently
not supported by the Vehicle Network Toolbox.

Vehicle Network Toolbox blocks use a custom CAN data type. To use the blocks you
create with other Vehicle Network Toolbox blocks, register this custom CAN data type.

To use the custom data type defined in the Vehicle Network Toolbox, write a C++ S-
function.

Note: You must use a C++ file type S-function (.cpp) to create custom blocks. Using a C-
file type S-function (.c) may cause linker errors.

To register and use the custom CAN data type, in your S-function:

1 Define the IMPORT_SCANUTIL identifier that imports the required symbols when
you compile the S-function:

#define IMPORT_SCANUTIL
2 Include the can_datatype.h header located in[MATLABROOT]\toolbox\vnt
\vntblks\include\candatatype at the top of the S-function:

#include "can_datatype.h"

Note: The header can_message.h included by can_datatype.h is located in

[MATLABROOT]\toolbox\shared\can\src\scanutil\.
3 Link your S-function during build to the scanutil.lib located in the
[MATLABROOT]\toolbox\vnt\vntblks\lib\<ARCH> directory. The shared
library scanutil.dll, is located in the [MATLABROOT]\bin\<ARCH>
4 Call this function in mdlInitializeSizes to initialize the custom CAN data type:

mdlInitialize_CAN_datatype(S);
5 Get custom data type ID using ssGetDataTypeId:

dataTypeID = ssGetDataTypeId(S,SL_CAN_MESSAGE_DTYPE_NAME);
6 Do one of the following:

10-26
Create Custom Blocks

To create a receive block, set output port data type to CAN_MESSAGE:

ssSetOutputPortDataType(S, portID, dataTypeID );

To create a transmit block, set the input port to CAN_MESSAGE:

ssSetInputPortDataType(S, portID, dataTypeID );

More About
S-Function Basics (Simulink)

10-27
11

Hardware Limitations

This topic describes limitations of using hardware in the Vehicle Network Toolbox based
on limitations placed by the hardware vendor:
11 Hardware Limitations

Vector Hardware Limitations

You cannot have more than 64 physical or 32 virtual simultaneous connections using a
Vector CAN device.
If you use more than the number of connections Vector allows, you might get an
error:

In MATLAB R2013a and later:

Unable to query hardware information for the selected CAN channel object.
In MATLAB R2012b:
boost thread resource allocation error.
In MATLAB R2012a and earlier:
An unhandled error occurred with CAN device.

To work around this issue in Simulink:

Use only a single Receive block for message reception in Simulink and connect all
downstream Unpack blocks to it.
Use a Mux block to combine CAN messages from Unpack blocks transmitting at
the same rate into a single Transmit block.

To work around this issue in MATLAB:

Try reusing channels you have already created for your application in MATLAB.

11-2
12

XCP Communications in Simulink

Vehicle Network Toolbox XCP Simulink Blocks on page 12-2

Open the Vehicle Network Toolbox XCP Block Library on page 12-3
XCP Data Acquisition over CAN on page 12-5
12 XCP Communications in Simulink

Vehicle Network Toolbox XCP Simulink Blocks

This section describes how to use the Vehicle Network Toolbox XCP block library. The
library contains these blocks:

XCP CAN Transport Layer Transmit and Receive XCP messages over CAN bus.
XCP Configuration Configure XCP settings.
XCP Data Acquisition Acquire XCP data.
XCP Data Stimulation Stimulate XCP data.

The Vehicle Network Toolbox XCP block library is a tool for simulating XCP message
traffic on a CAN network. You can use blocks from the block library with blocks from
other Simulink libraries to create sophisticated models.

To use the Vehicle Network Toolbox XCP block library, you require Simulink, a tool for
simulating dynamic systems. Simulink is a model definition environment. Use Simulink
blocks to create a block diagram that represents the computations of your system or
application. Simulink is also a model simulation environment. Run the block diagram
to see how your system behaves. If you are new to Simulink, read Getting Started with
Simulink (Simulink) to understand its functionality better.

12-2
Open the Vehicle Network Toolbox XCP Block Library

Open the Vehicle Network Toolbox XCP Block Library

In this section...
Using the MATLAB Command Window on page 12-3
Using the Simulink Library Browser on page 12-4

Using the MATLAB Command Window

To open the Vehicle Network Toolbox block library, enter xcplib in the MATLAB
Command window.

The contents of the library open in a separate window.

12-3
12 XCP Communications in Simulink

Using the Simulink Library Browser

To open the Vehicle Network Toolbox block library, start the Simulink Library Browser
from MATLAB. Then select the library from the list of available block libraries displayed
in the browser.

To start the Simulink Library Browser, enter simulink in the MATLAB Command
Window.

The Libraries pane lists all available block libraries, with the basic Simulink library
listed first, followed by other libraries listed alphabetically under it. To open the Vehicle
Network Toolbox block library, click its icon and select CAN Communication for the
CAN blocks.

Simulink loads and displays the blocks in the library.

12-4
XCP Data Acquisition over CAN

XCP Data Acquisition over CAN

This example shows you how to use XCP blocks to directly acquire measurement values
from a slave in Simulink. It uses an XCP slave simulator available for free download
from Vector, and Vector Virtual CAN channels.

Vehicle Network Toolbox provides Simulink blocks for acquiring measurement values
from a slave via Simulink models over Controller Area Networks (CAN). This example
uses the XCP Configuration, XCP Data Acquisition, and XCP CAN Transport Layer
blocks to perform data transfer over a CAN bus.

Run a Slave Simulator

For this example, you must install a third party XCP Sample implementation
from Vector. This includes a slave simulator and an A2L file. To install this free
implementation:

1 Go to www.vector.com and navigate to the "DOWNLOADS" page.

2 Search for "Demos" under "Categories" and "XCP" under "Standards".

12-5
12 XCP Communications in Simulink

3 Download and install the available version of "XCP Sample Implementation".

4 In MATLAB, navigate to where you installed the sample package, and then go to .
\Samples\XCPSim\CANape.
5 The MATLAB XCP examples will use the XCPSIM.a2l file and the XCPsim.exe slave
simulator. Run XCPsim.exe.

Setting up XCP Block Parameters

Create a model to set up XCP data acquisition for the measurements, Triangle and PWM,
from the slave.

Use an XCP Configuration block and select the A2L file, XCPSim.a2l
Use an XCP CAN Transport Layer block and set the Device to Vector Virtual Channel
1. The transport layer is configured to transfer XCP messages over CAN via the
specified virtual channel.
Use XCP Data Acquisition blocks to receive selected measurements at specified
events. For this example we have selected an XCP Data Acquisition block for each
measurement of each selected event.

12-6
XCP Data Acquisition over CAN

Visualize Measurement Values Received From Slave

Plot the results to see the measurement values for Triangle and PWM from the slave.
The X-axis corresponds to the simulation timestep.

12-7
13

Functions Alphabetical List

13 Functions Alphabetical List

attachDatabase
Attach CAN database to messages and remove CAN database from messages

Syntax
attachDatabase (message, database)
attachDatabase (message, [])

Description
attachDatabase (message, database) attaches the specified database to the
specified message. You can then use signal-based interaction with the message data,
interpreting the message in its physical form.

attachDatabase (message, []) removes any attached database from the specified
message. You can then interpret messages in their raw form.

Input Arguments
message

The name of the CAN message that you want to attach the database to or remove the
database from.

database

Handle containing the database (.dbc file) that you want to attach to the message or
remove from the message.

Examples
candb = canDatabase('C:\Database.dbc')
message = receive(canch, Inf)
attachDatabase(message, candb)

13-2
attachDatabase

Tips
If the specified message is an array, then the database attaches itself to each entry in the
array. The database attaches itself to the message even if the message you specified does
not exist in the database. The message then appears and operates like a raw message.
To attach the database to the CAN channel directly, edit the Database property of the
channel object.

If no matches are found in the database, attributeInfo returns an empty attribute

information structure.

info = attributeInfo(db,'Node',AttrName,NodeName) returns a structure

containing information for the specified node attribute.

info = attributeInfo(db,'Message',AttrName,MsgName) returns a structure

containing information for the specified message attribute.

info = attributeInfo(db,'Signal',AttrName,MsgName,SignalName) returns a

structure containing information for the specified signal attribute.

Examples
View Database Attribute Information

Create a CAN database object, and view information about its bus type and database
version.

db = canDatabase('J1939DB.dbc');

13-4
attributeInfo

db.Attributes

'BusType'
'DatabaseVersion'
'ProtocolType'

info = attributeInfo(db,'Database','BusType')

Name: 'BusType'
ObjectType: 'Database'
DataType: 'Double'
DefaultValue: 'CAN-test'
Value: 'CAN'

info = attributeInfo(db,'Database','DatabaseVersion')

Name: 'DatabaseVersion'
ObjectType: 'Database'
DataType: 'Double'
DefaultValue: '1.0'
Value: '8.1'

View Node Attribute Information

View node attribute information from CAN database.

db = canDatabase('J1939DB.dbc');
db.Nodes

'AerodynamicControl'
'Aftertreatment_1_GasIntake'
'Aftertreatment_1_GasOutlet'

db.NodeInfo(1).Attributes

'ECU'
'NmJ1939AAC'
'NmJ1939Function'

info = attributeInfo(db,'Node','ECU','AerodynamicControl')

Name: 'ECU'
ObjectType: 'Network node'
DataType: 'Double'
DefaultValue: 'ECU-1'

13-5
13 Functions Alphabetical List

Value: 'ECU-10'

View Message Attribute Information

View message attribute information from CAN database.

db = canDatabase('J1939DB.dbc');
db.Messages

'A1'
'A1DEFI'
'A1DEFSI'

db.MessageInfo(1).Attributes

a = db.MessageInfo(1).Attributes
a =
'GenMsgCycleTime'
'GenMsgCycleTimeFast'
'GenMsgDelayTime'
'VFrameFormat'

info = attributeInfo(db,'Message','GenMsgCycleTime','A1')

Name: 'GenMsgCycleTime'
ObjectType: 'Message'
DataType: 'Undefined'
DefaultValue: 0
Value: 500

View Signal Attribute Information from Message

View message signal attribute information from CAN database.

db = canDatabase('J1939DB.dbc');
s = signalInfo(db,'A1')

s =
2x1 struct array with fields:
Name
Comment
StartBit
SignalSize
ByteOrder
Signed
ValueType

13-6
attributeInfo

Class
Factor
Offset
Minimum
Maximum
Units
ValueTable
Multiplexor
Multiplexed
MultiplexMode
RxNodes
Attributes
AttributeInfo

s(1).Name

EngBlowerBypassValvePos

s(1).Attributes

'GenSigEVName'
'GenSigILSupport'
'GenSigInactiveValue'

info = attributeInfo(db,'Signal','GenSigInactiveValue','A1','EngBlowerBypassValvePos')

Name: 'GenSigInactiveValue'
ObjectType: 'Signal'
DataType: 'Undefined'
DefaultValue: 0
Value: 0

Input Arguments
db CAN database
CAN database object

CAN database, specified as a CAN database object.

Example: db = canDatabase(_____)

AttrName Attribute name

char vector

13-7
13 Functions Alphabetical List

Attribute name, specified as a character vector.

Example: 'BusType'
Data Types: char

NodeName Node name

char vector

Node name, specified as a character vector.

Example: 'AerodynamicControl'
Data Types: char

MsgName Message name

char vector

Message name, specified as a character vector.

Example: 'A1'
Data Types: char

SignalName Signal name

char vector

Signal name, specified as a character vector.

Example: 'EngBlowerBypassValvePos'
Data Types: char

Output Arguments
info Attribute information
structure

Attribute information, returned as a structure with these fields:

Field Description
Name Attribute name
ObjectType Type of attribute

13-8
attributeInfo

Field Description
DataType Data class of attribute value
DefaultValue Default value assigned to attribute
Value Current value of attribute

See Also

See Also
Functions
canDatabase | messageInfo | nodeInfo | signalInfo | valueTableText

Properties
AttributeInfo | Attributes

Introduced in R2015b

13-9
13 Functions Alphabetical List

canChannel
Construct CAN channel connected to selected device

Syntax
canch = canChannel('vendor', 'device', devicechannelindex)
canch = canChannel('vendor', 'devicenumber')

Description
canch = canChannel('vendor', 'device', devicechannelindex) returns a
CAN channel connected to a device from a specified vendor.

For Vector products, device is a character vector that combines the device type and
a device index, such as 'CANCaseXL 1'. For example, if there are two CANcardXL
devices, device can be 'CANcardXL 1' or 'CANcardXL 2'.

Use canch = canChannel('vendor', 'devicenumber') for National Instruments

and PEAK-System devices.

For National Instruments, vendor is the character vector 'NI', and the devicenumber
is interface number defined in the NI Measurement & Automation Explorer.

For PEAK-System devices vendor is the character vector 'PEAK-System', and the
devicenumber is thealphanumeric device number defined for the channel.

Check the CAN Device Constructor in the canHWInfo display for channel construction.

Input Arguments
vendor

The name of the CAN device vendor. Specify the vendor name as a character vector.

device

The CAN interface that you want to connect to.

13-10
canChannel

devicechannelindex

An alpha-numeric channel on the specified device.

canch

The CAN channel object the you create.

Properties

CAN Channel Properties

CAN Device Properties

Bit Timing Properties

Examples
canch = canChannel('Vector','CANCaseXL 1',1)
canch = canChannel('Vector','Virtual 1',2)
canch = canChannel('NI','CAN1')
canch = canChannel('PEAK-System','PCAN_USBBUS1')

Notes You cannot use the same variable to create multiple channels sequentially. Clear
any channel in use before using the same variable to construct a new CAN channel.

You cannot create arrays of CAN channel objects. Each object you create must exist as its
own individual variable.

Tips
You cannot have more than one canChannel configured on the same NI-XNET or
PEAK-System device channel.
Use canHWInfo to obtain a list of available devices.

13-11
13 Functions Alphabetical List

Handle that will hold the results of canHWInfo.

Examples
info = canHWInfo
ans =

CAN Devices Detected

Vendor | Device |Channel|Serial Number| Constructor

-----------|---------------------------|-------|-------------|------------------------------------
Kvaser |Virtual 1 |1 |0 |canChannel('Kvaser', 'Virtual 1', 1)
Kvaser |Virtual 1 |2 |0 |canChannel('Kvaser', 'Virtual 1', 2)
NI |Virtual (CAN256) |1 |0 |canChannel('NI', 'CAN256')
NI |Virtual (CAN257) |2 |0 |canChannel('NI', 'CAN257')
NI |Series 847X Sync USB (CAN0)|1 |14E1B5C |canChannel('NI', 'CAN0')
NI |9862 CAN/HS (CAN1) |1 |17F509A |canChannel('NI', 'CAN1')
Vector |Virtual 1 |1 |0 |canChannel('Vector', 'Virtual 1', 1)
Vector |Virtual 1 |2 |0 |canChannel('Vector', 'Virtual 1', 2)
PEAK-System|PCAN-USB Pro (PCAN_USBBUS1)|1 |0 |canChannel('PEAK-System', 'PCAN_USBBUS1')
PEAK-System|PCAN-USB Pro (PCAN_USBBUS2)|2 |0 |canChannel('PEAK-System', 'PCAN_USBBUS2')

13-14
canHWInfo

message = canMessage(database, messagename) constructs a message using the

message definition of the specified message, in the specified database.

Input Arguments
id

The ID of the message that you specify.

extended

Indicates whether the message ID is of standard or extended type. The Boolean value is
true if extended or false if standard.

datalength

The length of the data of the message, in bytes. Specify from 0 through 8.

database

Handle to the CAN database containing the message definition.

messagename

The name of the message definition in the database.

13-16
canMessage

Output Arguments
message

The message object returned from the function.

Properties

Examples
To construct a CAN message, type:
message = canMessage(2500, true, 4)

To construct a message using CAN database message definitions, create a database

object using the canDatabase function, and then construct your message:

candb = canDatabase('c:\database.dbc')
message = canMessage (candb, 'messagename')

Introduced in R2009a

13-17
13 Functions Alphabetical List

canMessageImport
Import CAN message log file from third-party tool

Syntax
message = canMessageImport('file','vendor')
message = canMessageImport('file','vendor',database)
message = canMessageImport( ___ 'OutputFormat','timetable')

Description
message = canMessageImport('file','vendor') imports a CAN message log file,
file, from a third-party vendor, vendor. All the messages in the log file are imported as
CAN messages, compatible with MATLAB and displayed as an array.

message = canMessageImport('file','vendor',database) applies the

information in the specified database to the imported CAN log messages.

Once imported, you can analyze, transmit, or replay these messages.

message = canMessageImport( ___ 'OutputFormat','timetable') returns a

timetable of messages. This is the recommended output format for optimal performance
and representation of CAN messages within MATLAB.

Input Arguments
file

Name of the CAN message log file to import.

vendor

Name of the vendor whose CAN message log file to import.

database

Handle of the database whose information is applied to the imported log file.

13-18
canMessageImport

Output Arguments
message

The message object returned by the function.

Examples
To import a message log file as raw messages.
message = canMessageImport('MsgLog.asc','Vector','OutputFormat','timetable')

Import a message log file using a database for physical messages.

database = canDatabase('myDatabase.dbc')
message = canMessageImport('MsgLog.txt','Kvaser',database,'OutputFormat','timetable')

Tips
You can import message logs only in certain file formats. You can import only ASCII
files from Vector and text files from Kvaser.
canMessageImport assumes that the information in the imported log file is in a
hexadecimal format.
canMessageImport assumes that the timestamps in the imported log file are
absolute values.
To import Vector log files with symbolic message names, specify an appropriate
database file in the input arguments.

See Also
canDatabase | receive | transmit

Introduced in R2010b

13-19
13 Functions Alphabetical List

canMessageReplayBlockStruct
Convert CAN messages for use as CAN Replay block output

Syntax
msgstructofarrays = canMessageReplayBlockStruct(msgs)

Description
msgstructofarrays = canMessageReplayBlockStruct(msgs) formats specified
CAN messages for use with the CAN Replay block. The CAN Replay block requires a
specific format for CAN messages, defined by a structure of arrays containing the ID,
Extended, Data, and other message elements.

Use this function to assign the formatted message structure to a variable. Then save this
variable to a MAT-file. The CAN Replay block mask allows selection of this MAT file and
the variable within it, to define the messages to replay in a Simulink model.

Examples
Create CAN Replay Block Message Structure

Create a message structure for the CAN Replay block, and save it to a MAT-file.

canMsgs = canMessageReplayBlockStruct(messages);
save('ReplayBlockMessages.mat','canMsgs');

Input Arguments
msgs Original CAN messages
CAN message objects | CAN message timetable

Original CAN messages, specified as a CAN message timetable or an array of CAN

message objects.

13-20
canMessageReplayBlockStruct

Example:

Output Arguments
msgstructofarrays Formatted CAN messages
struct

Formatted CAN messages, returned as structure of arrays containing the ID, Extended,
Data, and other elements of the messages.

See Also

See Also
Functions
canMessageTimetable | save

Blocks
CAN Replay

Introduced in R2017a

13-21
13 Functions Alphabetical List

canMessageTimetable
Convert CAN messages into timetable

Syntax
msgtimetable = canMessageTimetable(msg)
msgtimetable = canMessageTimetable(msg,database)

Description
msgtimetable = canMessageTimetable(msg) creates a CAN message timetable
from existing raw messages. The output message timetable contains the raw message
information (ID, Extended, Data, etc.) from the messages. If CAN message objects are
input which contain decoded information, that decoding is retained in the CAN message
timetable.

msgtimetable = canMessageTimetable(msg,database) uses the database to

decode the message names and signals for the timetable along with the raw message
information. Specify multiple databases in an array to decode message names and
signals in the timetable within a single call.

In many cases, using CAN message information in a timetable format can provide better
performance than using CAN message objects.

Examples
Convert Log Block Output to Timetable

Convert log block output to a CAN message timetable.

load LogBlockOutput.mat
db = canDatabase('myDatabase.dbc')
msgTimetable = canMessageTimetable(canMsgs,db)

Convert CAN Message Objects to Timetable

Convert legacy CAN message objects to a CAN message timetable.

13-22
canMessageTimetable

msgTimetable = canMessageTimetable(canMsgs);

Decode Message Timetable with Database

Decode an existing CAN message timetable with a database.

db = canDatabase('myDatabase.dbc')
msgTimetable = canMessageTimetable(msgTimetable,db)

Input Arguments
msg Raw CAN messages
CAN message timetable, array, or structure

Raw CAN messages, specified as a CAN message timetable, an array of CAN message
objects, or a CAN message structure from the CAN log block.
Example:

database CAN database

database handle

CAN database, specified as a database handle.

Example:

Output Arguments
msgtimetable CAN message timetable
timetable

CAN messages returned as a timetable.

See Also
See Also
Functions
canDatabase | canSignalTimetable

13-23
13 Functions Alphabetical List

Introduced in R2017a

13-24
canSignalImport

canSignalImport
Import CAN log file into decoded signal timetables

Syntax
sigtimetable = canSignalImport(file,vendor,database)
sigtimetable = canSignalImport(file,vendor,database,msgnames)

Description
sigtimetable = canSignalImport(file,vendor,database) imports a CAN
message log file from the specified vendor directly into decoded signal value timetables
using the provided database. The function returns a structure with a field for each
unique message in the timetable. Each field value is a timetable of all the signals in all
instances of that message. Use this form of syntax to convert an entire set of messages in
a single function call.

sigtimetable = canSignalImport(file,vendor,database,msgnames) returns

signal timetables for only the messages specified by msgnames, which can specify one
or more message names. Use this syntax form to import signals from only a subset of
messages.

Examples
Import Signals from Log for All Messages

Create signal timetables from all messages in a log file.

db = canDatabase('MyDatabase.dbc');
sigtimetable = canSignalImport('MsgLog.asc','Vector',db);

Import Signals from Log for Specified Messages

Create signal timetables from specified messages in a log file.

db = canDatabase('MyDatabase.dbc');

13-25
13 Functions Alphabetical List

sigtimetable1 = canSignalImport('MsgLog.asc','Vector',db,'Message1');
sigtimetable2 = canSignalImport('MsgLog.asc','Vector',db,{'Message1','Message2'});

Input Arguments
file CAN message log file
character vector | string

CAN message log file, specified as a character vector or string.

Example: 'MyDatabase.dbc'
Data Types: char | string

vendor Vendor file format

'Kvaser' | 'Vector'

Vendor file format, specified as a character vector or string. The supported file formats
are those defined by Vector and Kvaser.
Example: 'Vector'
Data Types: char | string

database CAN database

database handle

CAN database, specified as a database handle.

msgnames Message names

char | string | cell

Message names, specified as a character vector, string, or array.

Example: 'message1'
Data Types: char | string | cell

Output Arguments
sigtimetable CAN signals
structure

13-26
canSignalImport

CAN signals, returned as a structure. The structure field names correspond to the
messages of the input, and each field value is a timetable of CAN signals.
Data Types: struct

See Also

See Also
Functions
canDatabase | canMessageImport | canSignalTimetable

Introduced in R2017a

13-27
13 Functions Alphabetical List

canSignalTimetable
Create CAN signal timetable from CAN message timetable

Syntax
sigtimetable = canSignalTimetable(msgtimetable)
sigtimetable = canSignalTimetable(msgtimetable,msgnames)

Description
sigtimetable = canSignalTimetable(msgtimetable) converts a timetable of
CAN message information into individual timetables of signal values. The function
returns a structure with a field for each unique message in the timetable. Each field
value is a timetable of all the signals in that message. Use this syntax form to convert an
entire set of messages in a single function call.

sigtimetable = canSignalTimetable(msgtimetable,msgnames) returns signal

timetables for only the messages specified by msgnames, which can specify one or more
message names. Use this syntax form to quickly convert only a subset of messages into
signal timetables.

Examples
Create CAN Signal Timetables from All Messages

Create CAN signal timetables from all messages in a CAN message timetable.

sigTable = canSignalTimetable(msgTimetable);

Create CAN Signal Timetable from Specified Messages

Create CAN signal timetables from only specified messages in a CAN message timetable.

sigTable1 = canSignalTimetable(msgTimetable,'Message1');

13-28
canSignalTimetable

sigTable2 = canSignalTimetable(msgTimetable,{'Message1','Message2'});

Input Arguments
msgtimetable CAN message timetable
timetable

CAN messages, specified as a timetable.

msgnames Message names

char | string | cell

Message names, specified as a character vector, string, or array.

Example:
Data Types: char | string | cell

Output Arguments
sigtimetable CAN signals
structure

CAN signals, returned as a structure. The structure field names correspond to the
messages of the input, and each field value is a timetable of CAN signals.
Data Types: struct

See Also

See Also
Functions
canMessageTimetable | canSignalImport

Introduced in R2017a

13-29
13 Functions Alphabetical List

canSupport
Generate technical support log

Syntax
canSupport()

Description
canSupport() returns diagnostic information for all installed CAN devices and saves
output to the text file cansupport.txt in the current working directory.

For online support of Vehicle Network Toolbox software, visit the toolbox page on the
MathWorks Web site.

Introduced in R2009a

13-30
canTool

canTool
Open Vehicle CAN Bus Monitor

Syntax
canTool

Description
canTool starts the Vehicle CAN Bus Monitor, which displays live CAN message traffic.
Use the CAN Tool to view message traffic using a selected CAN device and channel. You
can also save messages to a log file via this tool.

See Also

configBusSpeed(canch,busspeed,sjw,tseg1,tseg2,numberofsamples) sets the

speed of the CAN channel canch to busspeed using the specified bit timing calculation
factors to control the timing in an advanced form.

Input Arguments
canch

CAN channel object that you want to set the bit timing rate for

busspeed

Bit timing rate specified in bits per second for the identified object

sjw

Synchronization jump width. This value is the maximum value of time bit adjustments

tseg1

Length of time at the start of the sample point within a bit time

tseg2

Length of time at the end of the sample point within a bit time

13-32
configBusSpeed

numberofsamples

Specified count of bit samples used

Examples
To configure the bus speed using baseline bit timing calculation, type:
canch = canChannel('Vector','CANCaseXL 1',1)
configBusSpeed(canch,250000)

To specify the bit timing calculations, type:

canch = canChannel('Kvaser','USBcan Professional 1',1)
configBusSpeed(channel,500000,1,4,3,1)

Tips
Unless you have specific timing requirements for your CAN connection, use the direct
form of configBusSpeed. Also note that you can set the bus speed only when the
CAN channel is offline. The channel must also have initialization access to the CAN
device.
Synchronize all nodes on the network for CAN to work successfully. However,
over time, clocks on different nodes will get out of sync, and must resynchronize.
SJW specifies the maximum width (in time) that you can add to tseg1 (in a
slower transmitter), or subtract from tseg2 (in a faster transmitter) to regain
synchronization during the receipt of a CAN message.

configBusSpeed(chan,busspeed,SJW,TSeg1,TSeg2,numsamples) sets the speed

of the channel using specified bit timing calculation factors.

Note Unless you have specific timing requirements provided for your network, you
should use the direct form of the function.

Examples
Set Bus Speed for Channel Directly

Use the direct form of syntax to configure a J1939 channel bus speed.

db = canDatabase('MyDatabase.dbc');
chan = j1939Channel(db,'Vector','CANCaseXL 1',1);

13-34
configBusSpeed (J1939)

configBusSpeed(chan,250000)

Set Bus Speed for Channel with Calculation Factors

Use the advanced form of syntax to configure a J1939 channel bus speed with specific
calculation factors.

db = canDatabase('MyDatabase.dbc');
chan = j1939Channel(db,'Vector','CANCaseXL 1',1);
configBusSpeed(chan,500000,1,4,3,1)

Input Arguments
chan J1939 channel
channel object

J1939 channel, specified as a channel object. Use thej1939Channel function to create

and define the channel.

busspeed Bit rate for channel

double

Bit rate for channel, specified as a double. Provide the speed of the network in bits per
second.
Example: 250000
Data Types: double

SJW Synchronization jump width

double

Synchronization Jump Width, specified as a double. Define the length of a bit on a

network.
Data Types: double

TSeg1 Time segment 1

double

Time segment 1, specified as a double, which defines the section before a bit is sampled
on a network.

13-35
13 Functions Alphabetical List

Data Types: double

TSeg2 Time segment 2

double

Time segment 2, specified as a double, which defines the section after a bit is sampled on
a network.
Data Types: double

numsamples Number of samples for bit state

double

Number of samples for bit state, specified as a double. Specify the number of samples
used for determining the bit state of a network.
Data Types: double

See Also

See Also
Functions
j1939Channel | start | stop | transmit

Introduced in R2015b

13-36
discard

discard
Discard all messages from CAN channel

Syntax
discard(canch)

Description
discard(canch) discards messages that are available to receive on the channel, canch.

Input Arguments
canch

CAN channel that you want to discard the messages from.

Examples
Set up a CAN channel to receive messages and discard the messages received by the
channel.

Discard Messages Received by a CAN Channel

Create a CAN channel to receive messages and start the channel:
rxCh = canChannel('Vector','CANcaseXL 1',1);
start (rxCh)

Discard all messages in this channel:

discard(rxCh);

Delete all the parameter groups on a J1939 channel.

db = canDatabase('MyDatabase.dbc');
chan = j1939Channel(db,'Vector','CANCaseXL 1',1);
start(chan)

discard(chan)

Input Arguments
chan J1939 channel
channel object

J1939 channel, specified as a channel object. Use thej1939Channel function to create

and define the channel.

13-39
13 Functions Alphabetical List

See Also

[extracted, remainder] = extractAll(message, id, extended) parses the

given array message, and returns all instances of messages matching the specified ID
with the specified standard or extended type.

Input Arguments
message

An array of CAN message objects that you specify to parse and find the specified
messages by name or ID.

messagename

The name of the message that you specify to extract.

The ID of the message that you specify to extract.

extended

Indicates whether the message ID is a standard or extended type. The Boolean value is
true if extended and false if standard.

13-41
13 Functions Alphabetical List

Output Arguments
extracted

An array of CAN message objects returned with all instances of id found in the
message.

remainder

A CAN message object containing all messages in the original input message with all
instances of id removed.

Examples
[msgOut, remainder] = extractAll(message, 'msg1')
[msgOut, remander] = extractAll(message,{'msg1' 'msg2' 'msg3'})
[msgOut, remainder] = extractAll(message, 3000, true)
[msgOut, remainder] = extractAll(message,[200 5000],[false true])

Tips
You can specify id as a cell array of message names or a vector of identifiers. For
example, if you pass id in as [250 5000], [false true], extractAll returns every instance
of both CAN message 250 and message 5000 that it finds in the message array. If any
id in the vector is an extended type, set extended to true and as a vector of the same
length as id.

extracted = extractRecent(message, messagename) parses the specified array

of messages and returns the most recent instance matching the specified message name.

extracted = extractRecent(message, id, extended) parses the given array

message and returns the most recent instance of the message matching the specified ID
with the specified standard or extended type.

Input Arguments
message

An array of CAN message objects that you specify to parse and find the specified
messages by name or ID.

messagename

The name of the message that you specify to extract.

The id of the message that you specify to extract.

13-43
13 Functions Alphabetical List

extended

Indicates whether the message ID is a standard or extended type. The Boolean value is
true if extended and false if standard.

Output Arguments
extracted

An array of CAN message objects returned with the most recent instance of id found in
the message.

Examples
msgOut = extractRecent(message)
msgOut = extractRecent(message, 'msg1')
msgOut = extractRecent(message, {'msg1' 'msg2' msg3'})
msgOut = extractRecent(message, 3000, true)
msgOut = extractRecent(message, [400, 5000], [false true])

Tips
You can specify id as a vector of identifiers. For example, if you pass id in as [250 500],
extractRecent returns the latest instance of both CAN message 250 and message
500 if it finds them in the message array. By default, all identifiers in the vector are
standard CAN message identifiers unless extended is true. If any id in the vector is an
extended type, then extended is true and is a vector of the same length as id.

Messages, specified as an array of CAN message objects

starttime

Beginning of the time range, specified in seconds. Returns messages with a timestamp
greater than or equal to the specified start time.

endtime

End of the time range, specified in seconds. Returns messages with a timestamp up to
and including the specified end time.

Output Arguments
extracted

Returned array of CAN message objects whose messages occur within starttime and
endtime, inclusive.

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13 Functions Alphabetical List

Examples
msgRange = extractTime(message,5,10.5)
msgRange = extractTime(message,0,60)
msgRange = extractTime(message,150,Inf)

Tips
Specify the time range in increasing order from starttime to endtime. If you must
specify the largest available time, endtime also accepts Inf as a valid value. The
earliest acceptable time you can specify for starttime is 0.

See Also

See Also
Functions
extractAll | extractRecent

Introduced in R2009a

13-46
extractAll (J1939)

extractAll (J1939)
Occurrences of specified parameter groups

Syntax
extractedPGs = extractAll(pgrp,pgname)
[extractedPGs,remainderPGs] = extractAll(pgrp,pgname)

Description
extractedPGs = extractAll(pgrp,pgname) returns all parameter groups whose
name occurs in pgname.

[extractedPGs,remainderPGs] = extractAll(pgrp,pgname) also returns a

parameter group array, remainder, containing all groups from the original array not
matching the specified names in pgname.

Examples
Extract Parameter Groups

Extracts all the parameter groups with a name of 'PG1' or 'PG2'.

extractedPGs = extractAll(pgrp,{'PG1' 'PG2'})

Extract Parameter Groups and Remainder

Extract all parameter groups with a name of 'PG1' or 'PG2', and also return
unmatched parameter groups to a different array.
[extractedPGs,remainderPGs] = extractAll(parameterGroups, {'PG1' 'PG2'})

Input Arguments
pgrp J1939 parameter group
array of ParameterGroup objects

13-47
13 Functions Alphabetical List

J1939 parameter groups, specified as an array of ParameterGroup objects. Use

thej1939ParameterGroup or receive function to create ParameterGroup objects.

pgname Names of J1939 parameter groups to extract

char vector | cell array of char vectors

Names of J1939 parameter groups to extract, specified as a character vector or cell array
of character vectors.
Example:

'PG1'
Data Types: char

Output Arguments
extractedPGs Extracted parameter groups
array of ParameterGroup objects

Extracted parameter groups, returned as an array of ParameterGroup objects. These

parameter groups have names matching any of those specified in the pgname argument.

remainderPGs Remainder of parameter groups

array of ParameterGroup objects

Remainder of parameter groups, returned as an array of ParameterGroup objects. These

are all the parameter groups with names not matching any of those specified in the
pgname argument.

See Also

See Also
Functions
extractRecent | extractTime | j1939ParameterGroup

Introduced in R2015b

13-48
extractRecent (J1939)

extractRecent (J1939)
Occurrences of most recent parameter groups

Syntax
extractedPGs = extractRecent(pgrp)
extractedPGs = extractRecent(pgrp,pgname)

Description
extractedPGs = extractRecent(pgrp) returns the most recent instance of each
unique parameter group found in the array pgrp, based on the parameter group
timestamps.

extractedPGs = extractRecent(pgrp,pgname) returns the most recent instance of

parameter groups whose names match any of those specified in pgname.

Examples
Extract Most Recent Parameter Groups

Extract the most recent of each parameter group.

extractedPGs = extractRecent(pgrp)

Extract Most Recent Parameter Groups for Specific Names

Extract the most recent of each parameter group named 'PG1' or 'PG2'.
extractedPGs = extractRecent(pgrp,{'PG1' 'PG2'})

Input Arguments
pgrp J1939 parameter group
array of ParameterGroup objects

13-49
13 Functions Alphabetical List

J1939 parameter groups, specified as an array of ParameterGroup objects. Use

thej1939ParameterGroup or receive function to create ParameterGroup objects.

pgname Names of J1939 parameter groups to extract

char vector | cell array of char vectors

Names of J1939 parameter groups to extract, specified as a character vector or cell array
of character vectors.
Example:

'PG1'
Data Types: char

Output Arguments
extractedPGs Extracted parameter groups
array of ParameterGroup objects

Extracted parameter groups, returned as an array of ParameterGroup objects.

See Also

See Also
Functions
extractAll | extractTime | j1939ParameterGroup

Introduced in R2015b

13-50
extractTime (J1939)

extractTime (J1939)
Occurrences of parameter groups within time range

Syntax
extractedPGs = extractTime(pgrp,starttime,endtime)

Description
extractedPGs = extractTime(pgrp,starttime,endtime) returns the parameter
groups found in the array pgrp, with timestamps between the specified starttime and
endtime, inclusive.

Examples
Extract Parameter Groups Within Specified Time Range

Extract the parameter groups according to start and stop timestamps.

Extract parameter groups between 5 and 10.5 seconds.

extractedPGs = extractTime(pgrp,5,10.5)

Extract all parameter groups within the first minute.

extractedPGs = extractTime(pgrp,0,60)

Extract all parameter groups after 150 seconds.

extractedPGs = extractTime(pgrp,150,Inf)

Input Arguments
pgrp J1939 parameter group
array of ParameterGroup objects

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13 Functions Alphabetical List

J1939 parameter groups, specified as an array of ParameterGroup objects. Use

thej1939ParameterGroup or receive function to create ParameterGroup objects.

starttime,endtime Start time and end time

numeric value

Start time and end time, specified as numeric values. These arguments define the range
of time from which to extract parameter groups, inclusively. For the earliest possible
starttime use 0, for the latest possible endtime use Inf. The endtime value must be
greater than the starttime value.
Data Types: double | single

Output Arguments
extractedPGs Extracted parameter groups
array of ParameterGroup objects

Extracted parameter groups, returned as an array of ParameterGroup objects. These

parameter groups fall within the specified time range, inclusively.

See Also

See Also
Functions
extractAll | extractRecent | j1939ParameterGroup

Introduced in R2015b

13-52
filterAllowAll

filterAllowAll
Allow all messages of specified identifier type

Syntax
filterAllowAll(canch, type)

Description
filterAllowAll(canch, type) opens the filter on the specified CAN channel to allow
all messages matching the specified identifier type to pass the acceptance filter.

Input Arguments
canch

The CAN channel on which you want to filter messages.

type

The identifier type by which to filter. CAN messages are 'Standard' and 'Extended'.

Examples
To allow all standard and extended message typed to pass the filter, type:

canch = canChannel('Vector','CANCaseXL 1',1)

filterAllowAll(canch,'Standard')
filterAllowAll(canch,'Extended')

See Also
filterAllowOnly | filterBlockAll

13-53
13 Functions Alphabetical List

Introduced in R2011b

13-54
filterAllowOnly

filterAllowOnly
Configure message filter to allow only specified messages

Syntax
filterAllowOnly(canch,name)
filterAllowOnly(canch,ids,type)

Description
filterAllowOnly(canch,name) configures the filter on the channel canch, to pass
only messages with the specified name.

filterAllowOnly(canch,ids,type) configures the filter on the channel canch, to

pass only messages of the specified type with the specified identifier.

Input Arguments
canch

The CAN channel on which you want to filter messages.

name

the name of the CAN message that you want to allow. You can specify a single name as a
character vector or a cell array of message names.

ids

The CAN message ID or IDs that you want to allow. You can specify:

Single value, such as 600

Multiple values, such as [600,610]
Range of values, such as [600:800]
Multiple ranges, such as [200:400, 600:800]

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13 Functions Alphabetical List

type

The identifier type by which to filter messages. CAN messages are 'Standard' and
'Extended'.

Examples
To filter a database defined message with name 'EngineMsg', type:

canch = canChannel('Vector','CANCaseXL 1',1);

canch.Database = canDatabase('candatabase.dbc');
filterAllowOnly(canch,'EngineMsg')

To filter messages by identifier, type:

canch = canChannel('Vector','CANCaseXL 1',1);
filterAllowOnly(canch,[602 612],'Standard');

Tips
Use Database to attach a database to your CAN channel and filter messages using
message names.
The id value is stored as a decimal value. To convert a hexadecimal to a decimal
value, use the hex2dec function.

See Also
filterAllowAll | filterBlockAll | hex2dec

Introduced in R2011b

13-56
filterBlockAll

filterBlockAll
Configure filter to block messages with specified identifier type

Syntax
filterBlockAll(canch,type)

Description
filterBlockAll(canch,type) configures the message filter to block all messages
matching the specified identifier type.

Input Arguments
canch

The CAN channel on which you want to filter messages.

type

The identifier type by which to filter messages. CAN messages are 'Standard' and
'Extended'.

Examples
To block all standard message types, type:

canch = canChannel('Vector','CANCaseXL 1',1)

filterBlockAll(canch,'Standard')

See Also
filterAllowAll | filterAllowOnly

13-57
13 Functions Alphabetical List

Introduced in R2011b

13-58
filterAcceptRange

filterAcceptRange
Set range of CAN identifiers to pass acceptance filter

Note: filterAcceptRange has been removed. Use filterAllowAll,

filterAllowOnly, or filterBlockAll instead.

Syntax
filterAcceptRange(canch, rangestart, rangeend)

Note: You cannot set filters on an NI device channel.

Description
filterAcceptRange(canch, rangestart, rangeend) sets the acceptance filter
for standard identifier CAN messages. It allows messages within the given range on the
CAN channel canch to pass. rangestart and rangeend establish the beginning and
end of the acceptable range. You can use this function with Vector devices only.

Notes

You can configure message filtering only when the CAN channel is offline.

CAN message filters initialize to fully open.

filterReset makes the acceptance filters fully open.
filterAcceptRange supports only standard (11-bit) CAN identifiers.
You must set the values from rangestart through rangeend in increasing order.
filterAcceptRange and filterBlockRange work together by allowing and
blocking ranges of CAN messages within a single filter. You can perform both
operations multiple times in sequence to custom configure the filter as desired.

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13 Functions Alphabetical List

Input Arguments
canch

The CAN channel that you want to set the filter for.

rangestart

The first identifier of the range of message IDs that the filter accepts.

rangeend

The last identifier of the range of message IDs that the filter accepts.

Examples
canch = canChannel('Vector','CANCaseXL 1',1)
filterAcceptRange(canch,600,625)
filterAcceptRange(canch,705,710)

Tips
When you call filterAcceptRange on an open or reset filter, it automatically blocks
the entire standard CAN identifier range, allowing only the desired range to pass.
Subsequent calls to filterAcceptRange open additional ranges on the filter without
blocking the ranges previously allowed.

See Also
filterBlockRange | filterSet | filterReset

Introduced in R2009a

13-60
filterBlockRange

filterBlockRange
Set range of CAN identifiers to block via acceptance filter

Note: filterBlockRange has been removed. Use filterAllowAll,

filterAllowOnly, or filterBlockAll instead.

Syntax
filterBlockRange(canch, rangestart, rangeend)

Note: You cannot set filters on an NI device channel.

Description
filterBlockRange(canch, rangestart, rangeend) blocks messages within a
given range by setting an acceptance filter. You can use this function with Vector devices
only.

Input Arguments
canch

The CAN channel that you want to set the filter for.

rangestart

The first identifier of the range of message IDs that the filter starts blocking at.

rangeend

The last identifier of the range of message IDs that the filter stops blocking at.

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13 Functions Alphabetical List

Examples
You can set the filter to block or accept messages within a specific range.
canch = canChannel('Vector','CANCaseXL 1',1)
filterBlockRange(canch, 500, 750)
filterAcceptRange(canch,600,625)
filterAcceptRange(canch,705,710)
filterBlockRange(canch,1075,1080)

Tips
You can configure message filtering only when the CAN channel is offline.
CAN message filters initialize to fully open.
filterReset makes the acceptance filters fully open.
filterBlockRange supports only standard (11-bit) CAN identifiers.
You must set the values from rangestart through rangeend in increasing order.
filterBlockRange and filterAcceptRange work together by blocking and
allowing ranges of CAN messages within a single filter. You can perform both
operations multiple times in sequence to custom configure the filter as desired.

See Also
filterAcceptRange | filterSet | filterReset

Introduced in R2009a

13-62
filterReset

filterReset
Open CAN message acceptance filters

Note: filterReset has been removed. Use filterAllowAll, filterAllowOnly, or

filterBlockAll instead.

Syntax
filterReset(canch)

Note: You cannot set filters on an NI device channel.

Description
filterReset(canch) resets the CAN message filters on the CAN channel canch for
both standard and extended CAN identifier types. Then all messages of all identifier
types can pass.

This function does not work if the channel is online. Make sure that the channel is offline
before calling filterReset.

Input Arguments
canch

The CAN channel that you want to reset the filter for.

Examples
Reset the message filters as shown:

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13 Functions Alphabetical List

canch = canChannel('Vector','CANCaseXL 1',1)

filterBlockRange(canch, 500, 750)
filterAcceptRange(canch,600,625)
filterAcceptRange(canch,705,710)
filterBlockRange(canch,1075,1080)
filterSet(canch, 500, 750, 'Standard')
filterReset(canch)

See Also
filterAcceptRange | filterSet | filterBlockRange

Introduced in R2009a

13-64
filterSet

filterSet
Set specific CAN message acceptance filter configuration

Note: filterSet has been removed. Use filterAllowAll, filterAllowOnly, or

filterBlockAll instead.

Syntax
filterSet(canch, code, mask, idtype)
filterSet(canch, id, idtype)

Note: You cannot set filters on an NI device channel.

Description
filterSet(canch, code, mask, idtype) sets the CAN message acceptance filter to
the specified code and mask. You also must specify the CAN identifier type idtype on
the CAN channel canch.

filterSet(canch, id, idtype) sets the CAN message acceptance filter by

determining the best possible code and mask based on the ID and identifier type specified
in the input argument.

Input Arguments
canch

The CAN channel that you want to set the filter for.

code

The value required for each bit position of the identifier.

13-65
13 Functions Alphabetical List

mask

The bits in the identifier that are relevant to the filter.

Set a filter on the CAN message with the id, range of ids, multiple ranges of ids, or a
combination of ids.

idtype

A character vector specifying either a standard or an extended CAN message id type.

Examples
canch = canChannel('Vector','CANCaseXL 1',1)
filterSet(canch,500,750, 'Standard')
filterSet(canch,2500,3000,'Extended')

To let Vehicle Network Toolbox determine the best possible code and mask option:
canch = canChannel('Kvaser', 'USBcan Professional 1', 1)
filterSet(canch, [500:502 1000], 'Standard')
filterSet(canch, [7500:8000 12000], 'Extended')

Tips
You can configure message filtering only when the CAN channel is offline.
CAN message filters initialize to fully open.
Use filterReset to make the acceptance filters fully open.
filterSet supports either standard or extended CAN identifiers.

See Also
filterAcceptRange | filterBlockRange | filterReset

Introduced in R2009a

13-66
filterAllowAll (J1939)

filterAllowAll (J1939)
Open parameter group filters on channel

Syntax
filterAllowAll(chan)

Description
filterAllowAll(chan) opens all parameter group filters on the specified channel,
making all parameter groups receivable.

Examples
Allow All Parameter Groups to Be Received

Open the filter to allow all J1939 parameter groups on the channel.

db = canDatabase('MyDatabase.dbc');
chan = j1939Channel(db,'Vector','CANCaseXL 1',1);
filterAllowAll(chan)

Input Arguments
chan J1939 channel
channel object

J1939 channel, specified as a channel object. Use thej1939Channel function to create

and define the channel.

13-67
13 Functions Alphabetical List

See Also

See Also
Functions
filterAllowOnly | filterBlockOnly | j1939Channel

Introduced in R2015b

13-68
filterAllowOnly (J1939)

filterAllowOnly (J1939)
Allow only specified parameter groups to pass channel filter

Syntax
filterAllowOnly(chan,pgname)

Description
filterAllowOnly(chan,pgname) configures the filter on the channel chan to pass
only the parameter groups specified by pgname.

Examples
Allow Only Some Parameter Groups to Be Received

Configure the channel filter to allow only specified J1939 parameter groups to be
received on the channel.

db = canDatabase('MyDatabase.dbc');
chan = j1939Channel(db,'Vector','CANCaseXL 1',1);
filterAllowOnly(chan,{'PG1' 'PG2'})

Input Arguments
chan J1939 channel
channel object

J1939 channel, specified as a channel object. Use thej1939Channel function to create

and define the channel.

pgname Allowed J1939 parameter groups

char vector | cell array of char vectors

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13 Functions Alphabetical List

Allowed J1939 parameter groups, specified as a character vector or cell array of character
vectors.
Example:

'PG1'
Data Types: char

See Also

See Also
Functions
filterAllowAll | filterBlockOnly | j1939Channel

Introduced in R2015b

13-70
filterBlockOnly (J1939)

filterBlockOnly (J1939)
Block only specified parameter groups on channel filter

Syntax
filterBlockOnly(chan,pgname)

Description
filterBlockOnly(chan,pgname) configures the filter on the channel chan to block
only the parameter groups specified by pgname.

Examples
Block Only Some Parameter Groups on Channel

Configure the channel filter to block only specified J1939 parameter groups on the
channel.

db = canDatabase('MyDatabase.dbc');
chan = j1939Channel(db,'Vector','CANCaseXL 1',1);
filterBlockOnly(chan,{'PG1' 'PG2'})

Input Arguments
chan J1939 channel
channel object

J1939 channel, specified as a channel object. Use thej1939Channel function to create

and define the channel.

pgname Blocked J1939 parameter groups

char vector | cell array of char vectors

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13 Functions Alphabetical List

Blocked J1939 parameter groups, specified as a character vector or cell array of character
vectors.
Example:

'PG1'
Data Types: char

See Also

See Also
Functions
filterAllowAll | filterAllowOnly | j1939Channel

Introduced in R2015b

13-72
j1939ParameterGroupImport

j1939ParameterGroupImport
Import J1939 log file

Syntax
pgs = j1939ParameterGroupImport(file,vendor,database)

Description
pgs = j1939ParameterGroupImport(file,vendor,database) reads the input file
as a CAN message log file from the specified vendor. Using the specified CAN database,
the CAN messages are converted into J1939 parameter groups, and assigns the output to
the array pgs.

Examples
Import Log Data to J1939 Parameter Groups

Read a CAN message log file, and generate J1939 parameter groups according to a CAN
database.

db = canDatabase('MyDatabase.dbc');
pgs = j1939ParameterGroupImport('MsgLog.asc','Vector',db);

Input Arguments
file CAN message log file
character vector | string

CAN message log file, specified as a character vector or string.

Example: 'MyDatabase.dbc'
Data Types: char | string

13-73
13 Functions Alphabetical List

vendor Vendor file format

'Kvaser' | 'Vector'

Vendor file format, specified as a character vector or string. The supported file formats
are those defined by Vector and Kvaser.
Example: 'Vector'
Data Types: char | string

database CAN database

database handle

CAN database, specified as a database handle.

Output Arguments
pgs J1939 parameter groups
parameter group array

J1939 parameter groups, returned as a parameter group array.

See Also

MDF with properties:

File Details
Name: 'MDFFile.mf4'
Path: 'c:\temp\MDFFile.mf4'
Author: 'HOK'
Department: 'Research'
Project: 'MDF'
Subject: 'CAN bus'
Comment: 'This file contains CAN messages'
Version: '4.10'
DataSize: 32100
InitialTimestamp: 2016-02-27 12:09:02

Creator Details
ProgramIdentifier: 'mmddff.04'

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13 Functions Alphabetical List

Creator: [11 struct]

File Contents
Attachment: [11 struct]
ChannelNames: {61 cell}
ChannelGroup: [16 struct]

Input Arguments
mdfFileName MDF file name
char vector

MDF file name, specified as a char vector, including necessary full or relative path.
Example: 'MDFFile.mf4'
Data Types: char

Output Arguments
mdfObj MDF file
MDF file object

MDF file, returned as an MDF file object. The object provides access to the MDF file
information contained in the following properties.

Property Description
Name Name of the MDF file, including extension
Path Full path to the MDF file, including file name
Author Author who originated the MDF file
Department Department that originated the MDF file
Project Project that originated the MDF file
Subject Subject matter in the MDF file
Comment Open comment field from the MDF file
Version MDF standard version of the file
DataSize Total size of the data in the MDF file, in bytes

13-76
mdf

Property Description
InitialTimestamp Time when file data acquisition began
ProgramIdentifier Originating program of the MDF file
Creator Structure containing details about creator of the MDF file,
with these fields: VendorName, ToolName, ToolVersion,
UserName, and Comment
Attachment Structure of information about attachments contained within
the MDF file, with these fields: Name, Path, Comment, Type,
MIMEType, Size, EmbeddedSize, and MD5CheckSum
ChannelNames Cell array of the channel names in each channel group
ChannelGroup Structure of information about channel groups contained within
the MDF file, with these fields: AcquisitionName, Comment,
NumSamples, DataSize, Sorted, and Channel

See Also

See Also
Functions
read | saveAttachment

Introduced in R2016b

13-77
13 Functions Alphabetical List

messageInfo
Information about CAN database messages

Syntax
msgInfo = messageInfo(candb)
msgInfo = messageInfo(candb,msgName)
msgInfo = messageInfo(candb,id,msgIsExtended)

Description
msgInfo = messageInfo(candb) returns a structure with information about the CAN
messages in the specified database candb.

msgInfo = messageInfo(candb,msgName) returns information about the specified

message 'msgName'.

msgInfo = messageInfo(candb,id,msgIsExtended) returns information about the

message with the specified standard or extended ID.

Examples
Get All Messages

Get information from all messages in a CAN database.

candb = canDatabase('J1939DB.dbc');
msgInfo = messageInfo(candb)

msgInfo =
3x1 struct array with fields:
Name
Comment
ID
Extended
J1939

13-78
messageInfo

Length
Signals
SignalInfo
TxNodes
Attributes
AttributeInfo

You can index into the structure for information on a particular message.

Get One Message by Name

Get information from one message in a CAN database using the message name.

candb = canDatabase('J1939DB.dbc');
msgInfo = messageInfo(candb,'A1')

msgInfo =
Name: 'A1'
Comment: 'This is an A1 message'
ID: 419364350
Extended: 1
J1939: [1x1 struct]
Length: 8
Signals: {2x1 cell}
SignalInfo: [2x1 struct]
TxNodes: {'AerodynamicControl'}
Attributes: {4x1 cell}
AttributeInfo: [4x1 struct]

Get One Message by ID

Get information from one message in a CAN database using the message ID.

candb = canDatabase('J1939DB.dbc');
msgInfo = messageInfo(candb,419364350,true)

msgInfo =
Name: 'A1'
Comment: 'This is an A1 message'
ID: 419364350
Extended: 1
J1939: [1x1 struct]
Length: 8
Signals: {2x1 cell}
SignalInfo: [2x1 struct]

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13 Functions Alphabetical List

TxNodes: {'AerodynamicControl'}
Attributes: {4x1 cell}
AttributeInfo: [4x1 struct]

Input Arguments
candb CAN database
CAN database object

CAN database, specified as a CAN database object. candb identifies the database
containing the CAN messages that you want information about.
Example: candb = canDatabase(_____)

msgName Message name

character vector

Message name, specified as a character vector. Provide the name of the message you
want information about.
Example: 'A1'
Data Types: char

id Message ID
numeric value

msgIsExtended Message ID format

true | false

Message ID format, specified as a logical. Specify whether the message ID is in standard

or extended type. Use the logical value true if extended, or false if standard. There is
no default; you must provide this argument when using a message ID.
Example: true

13-80
messageInfo

Data Types: logical

Output Arguments
msgInfo Message information
structure

Message information, returned as a structure or array of structures for the specified CAN
database and messages.

See Also

See Also
Functions
attributeInfo | canDatabase | canMessage | nodeInfo | signalInfo

Properties
MessageInfo | Messages

Introduced in R2009a

13-81
13 Functions Alphabetical List

nodeInfo
Information about CAN database node

Syntax
info = nodeInfo(db)
info = nodeInfo(db,NodeName)

Description
info = nodeInfo(db) returns a structure containing information for all nodes found
in the database db.

If no matches are found in the database, nodeInfo returns an empty node information
structure.

info = nodeInfo(db,NodeName) returns a structure containing information for the

specified node in the database db.

Examples
View Information from All Nodes

Create a CAN database object, and view information about its nodes.

db = canDatabase('c:\Database.dbc')
info = nodeInfo(db)

info =
3x1 struct array with fields:
Name
Comment
Attributes
AttributeInfo

View name of first node.

13-82
nodeInfo

n = info(1).Name

n =
AerodynamicControl

View Information from One Node

Create a CAN database object, and view information about its first node, listed in the
previous example.

db = canDatabase('c:\Database.dbc')
info = nodeInfo(db,'AerodynamicControl')

info =
Name: 'AerodynamicControl'
Comment: 'This is an AerodynamicControl node'
Attributes: {3x1 cell}
AttributeInfo: [3x1 struct]

Input Arguments
db CAN database
CAN database object

CAN database, specified as a CAN database object.

Example: db = canDatabase(_____)

NodeName Node name

char vector

Node name, specified as a character vector.

Example: 'AerodynamicControl'
Data Types: char

Output Arguments
info Node information
structure

13-83
13 Functions Alphabetical List

Node information, returned as a structure with these fields:

Field Description
Name Node name
Comment Text about node

See Also

See Also
Functions
attributeInfo | canDatabase | messageInfo | signalInfo

Properties
NodeInfo | Nodes

Introduced in R2015b

13-84
pack

pack
Pack signal data into CAN message

Syntax
pack(message, value, startbit, signalsize, byteorder)

Description
pack(message, value, startbit, signalsize, byteorder) takes specified
input parameters and packs them into the message.

Input Arguments
message

The CAN message structure that you specify for the signal to be packed in.

value

The value of the signal you specify to be packed in the message.

startbit

The signal's starting bit in the data. This is the least significant bit position in the signal
data. Accepted values for startbit are from 0 through 63.

signalsize

The length of the signal in bits. Accepted values for signalsize are from 1 through 64.

byteorder

The signal byte order format. Accepted values are 'LittleEndian' and 'BigEndian'.

13-85
13 Functions Alphabetical List

Examples
pack(message, 25, 0, 16, 'LittleEndian')

See Also
canMessage | extractAll | extractRecent | unpack | extractTime

Introduced in R2009a

13-86
read

read
Read channel data from MDF file

Syntax
data = read(mdfObj,chanGroupIndex,chanName)
data = read(mdfObj,chanGroupIndex,chanName,startPosition)
data = read(mdfObj,chanGroupIndex,chanName,startPosition,
endPosition)
data = read(mdfObj,chanGroupIndex,chanName,startPosition,
endPosition,'OutputFormat',fmtType)
[data,time] = read(mdfObj,chanGroupIndex,chanName,startPosition,
endPosition,'OutputFormat','Vector')

Description
data = read(mdfObj,chanGroupIndex,chanName) reads all data for the specified
channel from the MDF file identified by the MDF file object mdfObj.

data = read(mdfObj,chanGroupIndex,chanName,startPosition) reads data

from the position specified by startPosition.

data = read(mdfObj,chanGroupIndex,chanName,startPosition,
endPosition) reads data for the range specified from startPosition to
endPosition.

data = read(mdfObj,chanGroupIndex,chanName,startPosition,
endPosition,'OutputFormat',fmtType) returns data with the specified output
format.

[data,time] = read(mdfObj,chanGroupIndex,chanName,startPosition,
endPosition,'OutputFormat','Vector') returns two vectors of channel data and
corresponding timestamps.

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Examples
Read All Data from Multiple Channels

Read all available data from the MDF file for specified channels.
mdfObj = mdf('MDFFile.mf4');
data = read(mdfObj,1,{'Channel1','Channel2'});

Read Range of Data from Specified Index Values

Read a range of data from the MDF file using indexing for startPosition and
endPosition to specify the data range.
mdfObj = mdf('MDFFile.mf4');
data = read(mdfObj,1,{'Channel1','Channel2'},1,10);

Read Range of Data from Specified Time Values

Read a range of data from the MDF file using time values for startPosition and
endPosition to specify the data range.
mdfObj = mdf('MDFFile.mf4');
data = read(mdfObj,1,{'Channel1','Channel2'},seconds(5.5),seconds(7.3));

Read All Data in Vector Format

Read all available data from the MDF file, returning data and time vectors.
mdfObj = mdf('MDFFile.mf4');
[data,time] = read(mdfObj,1,'Channel1','OutputFormat','Vector');

Read All Data in Timeseries Format

Read all available data from the MDF file, returning time series data.
mdfObj = mdf('MDFFile.mf4');
data = read(mdfObj,1,'Channel1','OutputFormat','TimeSeries');

Input Arguments
mdfObj MDF file
MDF file object

13-88
read

MDF file, specified as an MDF file object.

Example: mdf('MDFFile.mf4')

chanGroupIndex Index of the channel group

numeric value

chanName Name of channel

char vector

Name of channel, specified as a character vector or cell array of character vectors.

chanName identifies the name of a channel in the channel group. Use a cell array of
character vectors to identify multiple channels.
Example: 'Channel1'
Data Types: char | cell

startPosition First position of channel data

numeric value | duration

First position of channel data, specified as a numeric value or duration. The

startPosition option specifies the first position from which to read channel data.
Provide a numeric value to specify an index position; use a duration to specify a time
position. If only startPosition is provided without the endPosition option, the data
value at that location is returned. When used with endPosition to specify a range,
the function returns data from the startPosition (inclusive) to the endPosition
(noninclusive).
Example: 1
Data Types: single | double | int8 | int16 | int32 | int64 | uint8 | uint16 |
uint32 | uint64 | duration

endPosition Last position of channel data range

numeric value | duration

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Last position of channel data range, specified as a numeric value or duration. The
endPosition option specifies the last position for reading a range of channel data.
Provide both the startPosition and endPosition to specify retrieval of a range of
data. The function returns up to but not including endPosition when reading a range.
Provide a numeric value to specify an index position; use a duration to specify a time
position.
Example: 1000
Data Types: single | double | int8 | int16 | int32 | int64 | uint8 | uint16 |
uint32 | uint64 | duration

fmtType Format for output data

'Timetable' (default) | 'Vector' | 'TimeSeries'

Format for output data, specified as a character vector. This option formats the output
according to the following table.

OutputFormat Description
'Timetable' Return a timetable from one or more channels into one output
variable. This is the only format that supports reading from
multiple channels at the same time. (Default.)

Note: The timetable format includes columns for the MDF

channels. Because the column titles must be valid MATLAB
identifiers, they might not be exactly the same as those values
in the MDF object ChannelNames property. The column
headers are derived from the property using the function
matlab.lang.makeValidName. The original channel names
are available in the VariableDescriptions property of the
timetable. See Timetable Properties.
'Vector' Return a vector of numeric data values, and optionally a vector of
time values from one channel. Use one output variable to return
only data, or two output variables to return both data and time
vectors.
'TimeSeries' Return a time series of data from one channel.

Example: 'Vector'
Data Types: char

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read

Output Arguments
data Channel data
double | timeseries | timetable

Channel data, returned as vector of doubles, a time series, or a timetable, according to

the 'OutputFormat' option setting.

time Channel data times

double

Channel data times, returned as a vector of double elements. The time vector is returned
only when the 'OutputFormat' is set to 'Vector'.

See Also

To understand the elements of a message, refer to canMessage.

Specifying the 'OutputFormat' option value of 'timetable' results in a timetable

of messages. This is the recommended output format for optimal performance and
representation of CAN messages within MATLAB.

message = receive(canch,messagesrequested) returns an array of CAN message

objects instead of a timetable.

Input Arguments
canch

The CAN channel from which to receive messages.

messagesrequested

Maximum number of messages to receive, specified as a positive number or Inf.

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receive

Output Arguments
message

CAN messages from the channel, returned as a timetable of messages or an array of CAN
message objects.

Properties

Receive Message Properties

Error Log Properties

Examples
Receive up to five messages as an array of message objects.
canch = canChannel('Vector','CANCaseXL 1',1)
start(canch)
message = receive(canch,5)

Receive all available messages as a timetable.

message = receive(canch,Inf,'OutputFormat','timetable')

See Also
canChannel | canMessage | transmit

Introduced in R2009a

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receive (J1939)
Receive parameter groups from J1939 bus

Syntax
pgrp = receive(chan,count)

Description
pgrp = receive(chan,count) receives parameter groups from the bus via channel
chan. The number of received parameter groups is limited to the value of count.

Examples
Receive Parameter Groups from Bus

Receive all the available parameter groups from the bus by specifying a count of Inf.
db = canDatabase('MyDatabase.dbc')
chan = j1939Channel(db,'Vector','CANCaseXL 1',1)
start(chan)
pgrp = receive(chan,Inf)

Input Arguments
chan J1939 channel
channel object

J1939 channel, specified as a channel object. Use thej1939Channel function to create

and define the channel.

count Maximum number of parameter groups

double

Maximum number of parameter groups to receive, specified as a double. count must be a

positive value, or Inf to specify all available parameter groups.

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receive (J1939)

Data Types: double

Output Arguments
pgrp J1939 parameter groups
array of ParameterGroup objects

J1939 parameter groups, returned as an array of ParameterGroup objects.

See Also

See Also
Functions
j1939Channel | start | transmit

Introduced in R2015b

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replay
Retransmit messages from CAN bus

Syntax
replay(canch, message)

Description
replay(canch, message) retransmits the message or messages message on the
channel canch, based on the relative differences of their timestamps. The replay function
also replays messages from MATLAB to Simulink

To understand the elements of a message, refer to canMessage.

Input Arguments
canch

The CAN channel that you specify to transmit the messages.

message

An array of message objects to replay.

Examples
This example uses a loopback connection between two channels where:

The first channel transmits messages 2 seconds apart.

The second channel receives them.
The replay function retransmits the messages with the original delay.
ch1 = canChannel('Vector', 'CANcaseXL 1', 1)

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replay

ch2 = canChannel('Vector', 'CANcaseXL 1', 2)

start(ch1)
start(ch2)
msgTx1 = canMessage(500, false, 8)
msgTx2 = canMessage(750, false, 8)
%The first channel transmits messages 2 seconds apart
transmit(ch1, msgTx1)
pause(2)
transmit(ch1, msgTx2)
%The second channel receives them
msgRx1 = receive(ch2, Inf)
%The replay function retransmits the messages with the original delay.
replay(ch2, msgRx1)
pause(2)
msgRx2 = receive(ch1, Inf)

The timestamp differentials between messages in the two receive arrays, msgRx1 and
msgRx2, are equal.

See Also
canChannel | canMessage | receive | transmit

Introduced in R2009a

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saveAttachment
Save attachment from MDF file

Syntax
saveAttachment(mdfObj,AttachmentName)
saveAttachment(mdfObj,AttachmentName,DestFile)

Description
saveAttachment(mdfObj,AttachmentName) saves the specified attachment from
the MDF file to the current MATLAB working folder. The attachment is saved with its
existing name.

saveAttachment(mdfObj,AttachmentName,DestFile) saves the specified

attachment from the MDF file to the given destination. You can specify relative or
absolute paths to place the attachment in a specific folder.

Examples
Save Attachment with Original Name

Save an MDF file attachment with its original name in the current folder.
mdfObj = mdf('MDFFile.mf4');
saveAttachment(mdfObj,'AttachmentName.ext')

Save Attachment with New Name

Save an MDF file attachment with a new name in the current folder.
mdfObj = mdf('MDFFile.mf4');
saveAttachment(mdfObj,'AttachmentName.ext','MyFile.ext')

Save Attachment in Parent Folder

Save an MDF file attachment in a folder specified with a relative path name, in this case
in the parent of the current folder.

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saveAttachment

mdfObj = mdf('MDFFile.mf4');
saveAttachment(mdfObj,'AttachmentName.ext','..\MyFile.ext')

Save Attachment in Specified Folder

This example saves an MDF file attachment using an absolute path name.

mdfObj = mdf('MDFFile.mf4');
saveAttachment(mdfObj,'AttachmentName.ext','C:\MyDir\MyFile.ext')

Input Arguments
mdfObj MDF file
MDF file object

MDF file, specified as an MDF file object.

Example: mdf('MDFFile.mf4')

AttachmentName MDF file attachment name

char vector

MDF file attachment name, specified as a character vector. The name of the attachment
is available in the Name field of the MDF file object Attachment property.
Example: 'file1.dbc'
Data Types: char

DestFile Destination file name for the saved attachment

existing attachment name (default) | char vector

Destination file name for the saved attachment, specified as a character vector. The
specified destination can include an absolute or relative path, otherwise the attachment
is saved in the current folder.
Example: 'MyFile.ext'
Data Types: char

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See Also

SigInfo = signalInfo(candb,id,extended) returns information about the signals

in the message with the specified standard or extended ID id in the specified database
candb.

SigInfo = signalInfo(candb,id,extended,signalName) returns information

about the specified signal 'signalName' in the message with the specified standard or
extended ID id in the specified database candb.

Examples
Use Message Name to Get Information
Get signal information from the message 'Battery_Voltage'.
SigInfo = signalInfo(candb,'Battery_Voltage');

Use Message ID to Get Information

Get signal information from the message with ID 196608.
SigInfo = signalInfo(candb,196608,true);

Use Signal Name to Get Information

Get information from the signal named 'BatVlt' from message 196608.

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SigInfo = signalInfo(candb,196608,true,'BatVlt');

Input Arguments
candb CAN database
CAN database object

CAN database, specified as a CAN database object, that contains the signals that you
want information about.
Example: candb = canDatabase('C:\Database.dbc')

msgName Message name

character vector

Message name, specified as a character vector. Provide the name of the message that
contains the signals that you want information about.
Example: 'Battery_Voltage'
Data Types: char

id Message identifier
numeric value

Message identifier, specified as a numeric value. Provide the numeric identifier of the
specified message that contains the signals you want information about.
Example: 196608

extended Extended message indicator

true | false

Extended message indicator, specified as true or false. Indicate whether the message
ID is standard or extended type. Use the logical value true if extended, or false if
standard.
Example: true
Data Types: logical

signalName Name of signal

char vector

13-102
signalInfo

Name of the signal, specified as a character vector. Provide the name of the specific
signal that you want information about.
Example: 'BatVlt'
Data Types: char

Output Arguments
SigInfo Signal information
struct or array of struct

Signal information, returned as a structure or array of structures.

Data Types: struct

See Also

See Also
Functions
canDatabase | canMessage | messageInfo

Properties
MessageInfo | Messages

Introduced in R2009a

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start
Set CAN channel online

Syntax
start(canch)

Description
start(canch) starts the CAN channel canch on the CAN bus to send and receive
messages. The CAN channel remains online unless:

You call stop on this channel.

The channel clears from the workspace.

Examples
canch = canChannel('Vector','CANCaseXL 1',1)
start(canch)

Activate a channel on a J1939 bus.

db = canDatabase('MyDatabase.dbc');
chan = j1939Channel(db,'Vector','CANCaseXL 1',1);
start(chan)

Input Arguments
chan J1939 channel
channel object

J1939 channel, specified as a channel object. Use thej1939Channel function to create

and define the channel.

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See Also

Deactivate a channel on a J1939 bus.

db = canDatabase('MyDatabase.dbc');
chan = j1939Channel(db,'Vector','CANCaseXL 1',1);
start(chan)

stop(chan)

Input Arguments
chan J1939 channel
channel object

J1939 channel, specified as a channel object. Use thej1939Channel function to create

and define the channel.

13-108
stop (J1939)

See Also

For more information on the elements of a message, see canMessage.

Note The transmit function ignores the Timestamp property and the Error property.

Examples

Transmit a CAN Message

Define a CAN message and transmit it to the CAN bus.

message = canMessage (250,false,8);

message.Data = ([45 213 53 1 3 213 123 43]);
canch = canChannel('MathWorks','Virtual 1',1);
start(canch)
transmit(canch,message)

Transmit an Array of Messages

Transmit an array of three CAN messages.

transmit(canch,[message0,message1,message2])

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transmit

Transmit Messages on a Remote Frame

Transmit a CAN message on a remote frame, using the message Remote property.

message = canMessage(250,false,8);
message.Data = ([45 213 53 1 3 213 123 43]);
message.Remote = true;
canch = canChannel('MathWorks','Virtual 1',1);
start(canch)
transmit(canch,message)

Input Arguments
canch CAN channel
CAN channel object

CAN channel, specified as a CAN channel object. This is the channel by which you access
the CAN bus.

message Message to transmit

CAN message object or array of objects

Message to transmit, specified as a CAN message object or array of message objects.

These messages are transmited via a CAN channel to the bus.

See Also

See Also
Functions
canChannel | canMessage | receive

Introduced in R2009a

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transmit (J1939)
Send parameter groups via channel to J1939 bus

Syntax
transmit(chan,pgrp)

Description
transmit(chan,pgrp) sends the specified parameter groups in the array pgrp onto
the J1939 bus via the channel chan.

Examples
Send Parameter Groups onto Bus

Send the parameter group 'MyParameterGroup' to the bus.

db = canDatabase('MyDatabase.dbc');
chan = j1939Channel(db,'Vector','CANCaseXL 1',1);
start(chan)
pgrp = j1939ParameterGroup(db,'MyParameterGroup')
transmit(chan,pgrp)

Input Arguments
chan J1939 channel
channel object

J1939 channel, specified as a channel object. Use thej1939Channel function to create

and define the channel.

pgrp J1939 parameter groups

array of ParameterGroup objects

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transmit (J1939)

J1939 parameter groups, specified as an array of ParameterGroup objects. Use

thej1939ParameterGroup function to create and define the ParameterGroup objects.

See Also

See Also
Functions
j1939Channel | j1939ParameterGroup | receive | start

Introduced in R2015b

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transmitConfiguration
Display messages configured for automatic transmission

Syntax
transmitConfiguration(canch)

Description
transmitConfiguration(canch) displays information about all messages in the CAN
Channel, canch, configured for periodic transmit or event-based transmit.

For more information on periodic transmit of messages, refer to transmitPeriodic.

For more information on event-based transmit of messages, refer to transmitEvent.

Input Arguments
canch

Name of the CAN channel configured for periodic transmit or event-based transmit.

Examples
Create a CAN channel and configure two messages:
canch = canChannel('Vector', 'Virtual 1', 1);
msg1 = canMessage(500, false, 8);
msg2 = canMessage(750, false, 8);

Transmit msg1 and msg2 using transmitEvent and transmitPeriodic respectively:

transmitEvent(canch, msg1, 'On');
transmitPeriodic(canch, msg2, 'On', 1);

Display messages on canch configured for periodic or event-based transmit:

13-114
transmitConfiguration

transmitConfiguration(canch)

The function returns information about periodic configuration:

Periodic Messages

ID Extended Name Data Rate (seconds)

--- -------- ---- ---------------- --------------
750 false 0 0 0 0 0 0 0 0 1.000000

Event Messages

ID Extended Name Data

--- -------- ---- ----------------
500 false 0 0 0 0 0 0 0 0

See Also
canChannel | canMessage | transmitEvent | transmitPeriodic

Introduced in R2010b

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transmitEvent
Configure messages for event-based transmission

Syntax
transmitEvent(canch, msg, state)

Description
transmitEvent(canch, msg, state) enables an event-based transmit of the CAN
message, msg, on the channel, canch when 'state' is On and disables it when 'state'
is Off.

Input Arguments
canch

The name of the CAN channel on which the specified message is enabled for event-based
transmit.

msg

The message enabled for event-based transmission on the specified CAN channel.

state

Specify whether event-based transmission is enabled on the specified message. Input On

to enable event-based transmission on the specified message, and Off for disabling it.

Examples
Construct a CAN channel and configure a message on the channel:
canch = canChannel('Vector', 'CANCaseXL 1', 1);
msg = canMessage(500, false, 4);

13-116
transmitEvent

Enable the message for event-based transmit, start the channel, and change some data to
trigger the event-based transmit:
transmitEvent(ch, msg, 'On');
start(canch);
msg.Data = [1 2 3 4];

See Also
canChannel | canMessage | transmitConfiguration | transmitPeriodic

Introduced in R2010b

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transmitPeriodic
Configure messages for periodic transmission

Syntax
transmitPeriodic(canch, msg, 'On', period)
transmitPeriodic(canch, msg, 'Off')

Description
transmitPeriodic(canch, msg, 'On', period) enables periodic transmit of the
message, msg, on the channel, canch, to transmit at the specified period, period.

transmitPeriodic(canch, msg, 'Off') disables periodic transmit of the message,

msg, on the channel, canch.

Input Arguments
canch

The name of the CAN channel on which the specified message is enabled for periodic
transmit.

msg

The message enabled for periodic transmission on the specified CAN channel.

'state'

Specify whether periodic transmission is enabled on the specified message. Input On for
enabling periodic transmission on the specified message and Off to disable it. If you
enable periodic transmission, specify a period value.

period

Specify a period in seconds. This value is used to transmit the message in the specified
period. By default this value is 0.500 seconds.

13-118
transmitPeriodic

Examples
Construct a CAN channel and configure a message on the channel:
canch = canChannel('Vector', 'Virtual 1', 1);
msg = canMessage(500, false, 4);

Enable the message for periodic transmit. Set the period value to 1 sec, start the channel,
and update the data in the message you want to send periodically:
transmitPeriodic(canch, msg, 'On', 1);
start(canch);
msg.Data = [1 2 3 4];

Tips
You can enable and disable periodic transmit even when the channel is running. This
functionality allows you to make changes to the state of the channel without stopping the
channel.

See Also
canChannel | canMessage | transmitConfiguration | transmitEvent

Introduced in R2010b

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13 Functions Alphabetical List

unpack
Unpack signal data from message

Syntax
value = unpack(message, startbit, signalsize, byteorder, datatype)

Description
value = unpack(message, startbit, signalsize, byteorder, datatype)
takes a set of input parameters to unpack the signal value from the message and returns
the value as output.

Input Arguments
message

The CAN message structure that you specify for the signal to be unpacked from.

startbit

The signal's starting bit in the data. This is the least significant bit position in the signal
data. Accepted values for starbit are from 0 through 63.

signalsize

The length of the signal in bits. Accepted values for signalsize are from 1 through 64.

byteorder

The signal binary or binblock format. Accepted values are LittleEndian and
BigEndian.

datatype

The data type that you want to get the unpacked value in.

13-120
unpack

Output Arguments
value

The value of the message that you specify to be unpacked.

Examples
value = unpack(message, 0, 16, 'LittleEndian', 'int16')

See Also
canMessage | extractAll | extractRecent | pack | extractTime

Introduced in R2009a

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valueTableText
Look up value of table text for signal

Syntax
vtt = valueTableText(db,MsgName,SignalName,TableVal)

Description
vtt = valueTableText(db,MsgName,SignalName,TableVal) returns the text from
the value table for a specified message signal.

Examples
View Table Text for Signal

Create a CAN database object, and select a message and signal to retrieve their table
text.

Identify a message.

db = canDatabase('J1939DB.dbc');
m = db.MessageInfo(1)

m =
Name: 'A1'
Comment: 'This is a A1message'
ID: 419364350
Extended: 1
J1939: [1x1 struct]
Length: 8
Signals: {2x1 cell}
SignalInfo: [2x1 struct]
TxNodes: {'AerodynamicControl'}
Attributes: {4x1 cell}
AttributeInfo: [4x1 struct]

13-122
valueTableText

Select one of the message signals.

s = m.signalInfo(2)

s =
Name: 'EngGasSupplyPress'
Comment: 'Gage pressure of gas supply to fuel metering device.'
StartBit: 8
SignalSize: 16
ByteOrder: 'LittleEndian'
Signed: 0
ValueType: 'Integer'
Class: 'uint16'
Factor: 0.5000
Offset: 0
Minimum: 0
Maximum: 3.2128e+04
Units: 'kPa'
ValueTable: [4x1 struct]
Multiplexor: 0
Multiplexed: 0
MultiplexMode: 0
RxNodes: {'Aftertreatment_1_GasIntake'}
Attributes: {3x1 cell}
AttributeInfo: [3x1 struct]

Retrieve second table text for specified signal.

vtt = valueTableText(db,m.Name,s.Name,2)

vtt =
pump error

Input Arguments
db CAN database
CAN database object

CAN database, specified as a CAN database object.

Example: db = canDatabase(_____)

MsgName Message name

char vector

13-123
13 Functions Alphabetical List

Message name, specified as a character vector. You can view available message names
from the db.Messages property.
Example: 'A1'
Data Types: char

SignalName Signal name

char vector

Signal name, specified as a character vector. You can view available signal names from
the db.MessageInfo(n).Signals property.
Example: 'EngGasSupplyPress'
Data Types: char

TableVal Table value

numeric value

Table value, specified as a numeric value.

Output Arguments
vtt Table text
table text

Table text, returned as a character vector.

See Also

See Also
Functions
attributeInfo | canDatabase | messageInfo | nodeInfo | signalInfo

13-124
valueTableText

Properties
MessageInfo | Messages

Introduced in R2015b

13-125
13 Functions Alphabetical List

Vehicle CAN Bus Monitor

Monitor vehicle CAN bus message traffic

Description
The Vehicle CAN Bus Monitor displays live CAN message traffic.

Using this app, you can:

View message traffic for a specified CAN device and channel.

Save CAN bus messages to a log file.

Open the Vehicle CAN Bus Monitor App

MATLAB Toolstrip: On the Apps tab, under Test and Measurement, click the app.
MATLAB command prompt: Enter canTool.

Examples
Using the Vehicle CAN Bus Monitor on page 5-8

See Also

Create an A2L file object.

a2lfile = xcpA2L('XCPSIM.a2l')

Inspect the Contents of an A2L File on page 7-5

Input Arguments
filename A2L file name
character vector

A2L file name, specified as a character vector. You must provide the file ending .a2l
with the name. You can also provide a partial or full path to the file with the name.

See Also
See Also
getEventInfo | getMeasurementInfo

13-127
13 Functions Alphabetical List

Topics
Inspect the Contents of an A2L File on page 7-5
A2L File Support on page 7-2

Introduced in R2013a

13-128
getEventInfo

getEventInfo
Get event information about specific event from A2L file

Syntax
info = getEventInfo(a2lFile,eventName)

Description
info = getEventInfo(a2lFile,eventName) returns information about the specified
event from the specified A2L file, and stores it in the structure, info.

Examples
Get XCP Event Information

Create a handle to parse an A2L file and get information about the 10 ms event.

a2lfile = xcpA2L('C:\XCPSIM.a2l')
info = getEventInfo(a2lfile, '10 ms')

info =

Name: '10 ms'

Direction: 'DAQ_STIM'
MaxDAQList: 255
ChannelNumber: 1
ChannelTimeCycle: 10
ChannelTimeUnit: 6
ChannelPriority: 0
ChannelTimeCycleInSeconds: 0.0100

Inspect the Contents of an A2L File on page 7-5

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Input Arguments
a2lFile A2L file
xcp.A2L object

A2L file, specified as an xcp.A2L object, used in this connection. You can create an A2L
file object using xcpA2L.

eventName XCP event name

character vector

XCP event name specified as a character vector. Event name corresponds to the XCP
event defined in your A2L file. Make sure the name matches the name specified in the
A2L file.

Output Arguments
info XCP event information
character vector | numeric

XCP event information returned, as character vector and numeric values, containing
event details such as timing and priority.

See Also

Inspect the Contents of an A2L File on page 7-5

Input Arguments
a2lFile A2L file
xcp.A2L object

A2L file, specified as an xcp.A2L object, used in this connection. You can create an A2L
file object using xcpA2L.

measurementName Name of single XCP measurement

character vector

Name of a single XCP measurement, specified as a character vector. Measurement name

corresponds to the measurement name defined in your A2L file. Make sure the name
matches the name specified in the A2L file

Output Arguments
info XCP measurement information
character vector | numeric

XCP measurement information, specified as character vector and numeric values,

containing measurement details such as memory address, units, and description.

See Also

A2L File Support on page 7-2

Introduced in R2013a

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xcpChannel
Create XCP channel

Syntax
xcpch = xcpChannel(a2lFile,transportLayer,vendor,deviceNumber)
xcpch = xcpChannel(a2lFile,transportLayer,vendor,device,
deviceChannelIndex)

Description
xcpch = xcpChannel(a2lFile,transportLayer,vendor,deviceNumber) creates
a channel connected to the CAN bus via the specified transport layer, vendor and device
and a defined interface number. The XCP channel accesses the slave module via the
specified CAN bus and parsing the attached A2L file.

Use this syntax for National Instruments CAN devices, where vendor is the character
vector 'NI' and the deviceNumber is the interface number defined for the channel in
NI Measurement & Automation Explorer.

xcpch = xcpChannel(a2lFile,transportLayer,vendor,device,
deviceChannelIndex) returns a handle for the created channel connected to the CAN
bus via the specified transport layer, vendor and device with a channel index. The XCP
channel accesses the slave module via the specified CAN bus and parsing the attached
A2L file.

Examples
Create an XCP Channel using a CAN Slave Module
Create an XCP channel using a Vector CAN modules virtual channel.

Link and A2L file to your session.

a2l = xcpA2L('XCPSIM.a2l')

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xcpChannel

Create an XCP channel.

xcpch = xcpChannel(a2l, 'CAN', 'Vector', 'Virtual 1', 1)

xcpch =

Channel with properties:

SlaveName: 'CPP'
A2LFileName: 'XCPSIM.a2l'
TransportLayer: 'CAN'
TransportLayerDevice: [1x1 struct]
SeedKeyCallbackFcn: []
KeyValue: []

Create an XCP Channel on a National Instruments Device

Input Arguments

a2lFile A2L file

xcp.A2L object

A2L file, specified as an xcp.A2L object, used in this connection. You can create an A2L
file object using xcpA2L.

transportLayer Interface used to transport XCP messages

character vector

Interface used to transport XCP messages, specified as a character vector. Use this
information to indicate the interface you are connecting to.Currently XCP works with
CAN interface only.

vendor Device vendor

character vector

Device vendor name, specified as a character vector.

deviceNumber Device name and interface number

character vector

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13 Functions Alphabetical List

Device name and defined interface number for the device, specified as a character vector.
Use this input for National Instruments CAN devices, where the devicenumber is the
interface number defined for the channel in NI Measurement & Automation Explorer.

device Device to connect to

character vector

Device on the interface you want to connect to, specified as a character vector.

deviceChannelIndex Index of channel on the device

numeric value

Index of channel on the device, specified as a number.

Output Arguments
xcpch XCP channel that you create
XCP channel object

XCP Channel that you create, returned as an object.

See Also

See Also
connect | disconnect | isConnected

Introduced in R2013a

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connect

connect
Connect XCP channel to slave module

Syntax
connect(xcpch)

Description
connect(xcpch) creates an active connection between the XCP channel and the slave
module, enabling active messaging between the channel and the slave.

Examples
Connect to a Slave Module

Create an XCP channel connected to a Vector CAN device on a virtual channel and
connect it.

Link an A2L file to use to create an XCP channel

a2lfile = xcpA2L('XCPSIM.a2l')
xcpch = xcpChannel(a2lfile, 'CAN', 'Vector', 'Virtual 1', 1);

Connect the channel and see if channel is connected

connect (xcpch)
isConnected(xcpch)

ans =

Input Arguments
xcpch XCP channel
XCP channel object

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XCP channel, specified as an XCP channel object created using xcpChannel. The XCP
channel object can then communicate with the specified slave module defined by the A2L
file.

See Also

Link an A2L file

a2l = xcpA2L('XCPSIM.a2l')

Create an XCP channel using a Vector CAN moduless virtual channel. Check to see if
channel is connected.
xcpch = xcpChannel(a2lfile, 'CAN', 'Vector', 'Virtual 1', 1);

Connect the channel and check to see if channel is connected.

connect(xcpch)
isConnected(xcpch)

ans =

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Disconnect the channel and check if connection is active.

disconnect(xcpch)
isConnected(xcpch)

ans =

Input Arguments
xcpch XCP channel
XCP channel object

XCP channel, specified as an XCP channel object created using xcpChannel. The XCP
channel object can then communicate with the specified slave module defined by the A2L
file.

See Also

See Also
connect | isConnected | xcpA2L | xcpChannel

Introduced in R2013a

13-140
isConnected

isConnected
Return connection status

Syntax
isConnected(xcpch)

Description
isConnected(xcpch) returns a boolean value to indicate active connection to the slave.

Examples
Verify if XCP Channel is Connected

Create a new XCP channel and see if it is connected.

a2l = xcpA2L('XCPSIM.a2l')
xcpch = xcpChannel(a2lfile, 'CAN', 'Vector', 'Virtual 1', 1)
isConnected(xcpch)

ans =

Input Arguments
xcpch XCP channel
XCP channel object

XCP channel, specified as an XCP channel object created using xcpChannel. The XCP
channel object can then communicate with the specified slave module defined by the A2L
file.

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13 Functions Alphabetical List

See Also

Channel with properties:

SlaveName: 'CPP'
A2LFileName: 'XCPSIM.a2l'
TransportLayer: 'CAN'
TransportLayerDevice: [1x1 struct]
SeedKeyDLL: []

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Connect the channel to the slave module.

connect(xcpch)

Setup a data acquisition measurement list with the 10 ms event and 'Triangle'
measurement.

createMeasurementList(xcpch, 'DAQ', '10 ms', 'Triangle');

Create a Data Stimulation List

Create an XCP channel connected to a Vector CAN device on a virtual channel and set up
a STIM measurement list.

a2l = xcp.A2L('XCPSIM.a2l')
xcpch = xcp.Channel(a2lfile, 'CAN', 'Vector', 'Virtual 1', 1)
xcpch =
Channel with properties:

SlaveName: 'CPP'
A2LFileName: 'XCPSIM.a2l'
TransportLayer: 'CAN'
TransportLayerDevice: [1x1 struct]
SeedKeyDLL: []

Connect the channel to the slave module.

connect(xcpch)

Setup a data stimulation measurement list with the 100ms event and 'PWM' and
'ShiftByte' measurements.

createMeasurementList(xcpch, 'STIM', '100ms', {'PWM','ShiftByte'});

Input Arguments
xcpch XCP channel
XCP channel object

XCP channel, specified as an XCP channel object created using xcpChannel. The XCP
channel object can then communicate with the specified slave module defined by the A2L
file.

13-144
createMeasurementList

resource Measurements list type

DAQ | STIM

Measurement list type, specified as the character vector DAQ or STIM.

eventName Name of event

character vector

Name of event, specified as a character vector. The event is used to trigger the specified
measurement list. The list of available events depends on your A2L file.

measurementName Name of single XCP measurement

character vector | cell array of character vectors

Name of a single XCP measurement specified as a character vector, or a set of

measurements specified as a cell array of character vectors. Measurement name
corresponds to the measurement name defined in your A2L file. Make sure the name
matches the name specified in the A2L file.

See Also

See Also
freeMeasurementLists | startMeasurement | viewMeasurementLists

Introduced in R2013a

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freeMeasurementLists
Remove all measurement lists from XCP channel

Syntax
freeMeasurementLists(xcpch)

Description
freeMeasurementLists(xcpch) removes all configured measurement lists from the
specified XCP channel.

Examples
Free DAQ Lists

Create two data acquisition lists and remove them.

Create an object to parse an A2L file and connect that to an XCP channel.
a2lfile = xcpA2L('XCPSIM.a2l')
xcpch = xcpChannel(a2lfile, 'CAN', 'Vector', 'Virtual 1', 1);

Connect the channel to the slave module.

connect(xcpch)

Setup a data acquisition measurement list with the '10 ms' event and 'PMW'
measurement.
createMeasurementList(xcpch, 'DAQ', '10 ms', {'BitSlice0','PWMFiltered','Triangle'})

Create another measurement list with the '100ms' event and 'PWMFiltered', and
'Triangle' measurements.
createMeasurementList(xcpch, 'DAQ', '100ms', {'PWMFiltered','Triangle'})

view details of the measurement lists.

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freeMeasurementLists

viewMeasurementLists(xcpch)

DAQ List #1 using the "10 ms" event @ 0.010000 seconds and the following measurements:
PWM

DAQ List #2 using the "100ms" event @ 0.100000 seconds and the following measurements:
PWMFiltered
Triangle

Free the measurement lists.

freeMeasurementLists(xcpch)

Input Arguments
xcpch XCP channel
XCP channel object

XCP channel, specified as an XCP channel object created using xcpChannel. The XCP
channel object can then communicate with the specified slave module defined by the A2L
file.

See Also

See Also
createMeasurementList | viewMeasurementLists | xcpA2L | xcpChannel

Introduced in R2013a

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13 Functions Alphabetical List

viewMeasurementLists
View configured measurement lists on XCP channel

Syntax
viewMeasurementLists(xcpch)

Description
viewMeasurementLists(xcpch) shows you all configured measurement list sets for
this XCP channel.

Examples
View DAQ Measurement Lists

Create an XCP channel and configure a data acquisition measurement list, then view the
configured measurement list.

Create an object to parse an A2L file and connect that to an XCP channel.
a2lfile = xcpA2L('XCPSIM.a2l')
xcpch = xcpChannel(a2lfile, 'CAN', 'Vector', 'Virtual 1', 1)

xcpch =

Channel with properties:

SlaveName: 'CPP'
A2LFileName: 'XCPSIM.a2l'
TransportLayer: 'CAN'
TransportLayerDevice: [1x1 struct]
SeedKeyCallbackFcn: []
KeyValue: []

Connect the channel to the slave module.

connect(xcpch)

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viewMeasurementLists

Setup a data acquisition measurement list with the '10 ms' event and 'PMW'
measurement.
createMeasurementList(xcpch, 'DAQ', '10 ms', {'BitSlice0','PWMFiltered','Triangle'});

Create another measurement list with the '100ms' event and 'PWMFiltered'and
'Triangle' measurements.

createMeasurementList(xcpch, 'DAQ', '100ms', {'PWMFiltered','Triangle'});

view details of the measurement list.

viewMeasurementLists(xcpch)

DAQ List #1 using the "10 ms" event @ 0.010000 seconds and the following measurements:
PMW

DAQ List #2 using the "100ms" event @ 0.100000 seconds and the following measurements:
PWMFiltered
Triangle

Input Arguments
xcpch XCP channel
XCP channel object

XCP channel, specified as an XCP channel object created using xcpChannel. The XCP
channel object can then communicate with the specified slave module defined by the A2L
file.

See Also

See Also
createMeasurementList | freeMeasurementLists

Introduced in R2013a

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startMeasurement
Start configured DAQ and STIM lists

Syntax
startMeasurement(xcpch)

Description
startMeasurement(xcpch) starts all configured data acquisition and stimulation lists
on the specified XCP channel. When you start the measurement, configured DAQ lists
begin acquiring data values from the slave module and STIM lists begin transmitting
data values to the slave model.

Examples
Start a DAQ Measurement

Create an XCP channel connected to a Vector CAN device on a virtual channel. Set up a
DAQ measurement list and start measuring data.
a2l = xcpA2L('XCPSIM.a2l')
xcpch = xcpChannel(a2l, 'CAN', 'Vector', 'Virtual 1', 1),

xcpch =

Channel with properties:

SlaveName: 'CPP'
A2LFileName: 'XCPSIM.a2l'
TransportLayer: 'CAN'
TransportLayerDevice: [1x1 struct]
SeedKeyCallbackFcn: []
KeyValue: []

Connect the channel to the slave module.

connect(xcpch)

13-150
startMeasurement

Setup a data acquisition measurement list with the 10 ms event and 'Bitslice'
measurement.
createMeasurementList(xcpch, 'DAQ', '10 ms', 'BitSlice')

Start your measurement.

startMeasurement(xcpch);

Start a STIM Measurement

Channel with properties:

SlaveName: 'CPP'
A2LFileName: 'XCPSIM.a2l'
TransportLayer: 'CAN'
TransportLayerDevice: [1x1 struct]
SeedKeyCallbackFcn: []
KeyValue: []

Connect the channel to the slave module.

connect(xcpch)

Setup a data stimulation measurement list with the 100ms event and 'Bitslice0',
'PWMFiletered', and 'Triangle'measurements.
createMeasurementList(xcpch, 'STIM', '100ms', {'BitSlice0','PWMFiletered','Triangle'})

Start your measurement.

startMeasurement(xcpch);

Input Arguments
xcpch XCP channel
XCP channel object

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13 Functions Alphabetical List

XCP channel, specified as an XCP channel object created using xcpChannel. The XCP
channel object can then communicate with the specified slave module defined by the A2L
file.

See Also

Channel with properties:

SlaveName: 'CPP'
A2LFileName: 'XCPSIM.a2l'
TransportLayer: 'CAN'
TransportLayerDevice: [1x1 struct]
SeedKeyCallbackFcn: []
KeyValue: []

Connect the channel to the slave module.

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13 Functions Alphabetical List

connect(xcpch)

Setup a data acquisition measurement list with the 10 ms event and 'Bitslice'
measurement and start your measurement.
createMeasurementList(xcpch, 'DAQ', '10 ms', 'BitSlice')
startMeasurement(xcpch);

Stop your measurement.

stopMeasurement(xcpch);

Input Arguments
xcpch XCP channel
XCP channel object

XCP channel, specified as an XCP channel object created using xcpChannel. The XCP
channel object can then communicate with the specified slave module defined by the A2L
file.

See Also

Create an XCP channel with a CAN slave module.

a2l = xcpA2L('XCPSIM.a2l')
xcpch = xcpChannel(a2lfile, 'CAN', 'Vector', 'Virtual 1', 1);

Setup a data acquisition measurement list with the 10 ms event and 'Bitslice'
measurement and verify if measurement is running.

createMeasurementList(xcpch, 'DAQ', '10 ms', 'BitSlice')

isMeasurementRunning(xcpch)

ans =

Start your measurement and verify if measurement is running.

startMeasurement(xcpch)
isMeasurementRunning(xcpch)

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13 Functions Alphabetical List

ans =

Input Arguments
xcpch XCP channel
XCP channel object

XCP channel, specified as an XCP channel object created using xcpChannel. The XCP
channel object can then communicate with the specified slave module defined by the A2L
file.

See Also

value = readDAQListData(xcpch,measurementName,count) acquires a single

value for a specified measurement for the specified count. If the measurement has no
data, then the function returns an empty value.

Examples
Acquire Data for Triangle Measurement in a DAQ List

Create an XCP channel connected to a Vector CAN device on a virtual channel. Set
up a DAQ measurement list and acquire data from a '100ms' events 'Triangle'
measurement.

Create an object to parse an A2L file and connect that to an XCP channel.

a2lfile = xcp.A2L('XCPSIM.a2l')
xcpch = xcp.Channel(a2lfile, 'CAN', 'Vector', 'Virtual 1', 1);

Connect the channel to the slave.

connect(xcpch)

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13 Functions Alphabetical List

Create a measurement list with the '100ms' event and 'PMW', 'PWMFiltered', and
'Triangle' measurements.

createMeasurementList(xcpch, 'DAQ', '100ms', {'PMW','PWMFiltered','Triangle'})

Start the measurement.

startMeasurement(xcpch)

Acquire data for the 'Triangle' measurement for 5 counts.

value = readDAQListData(xcpch, 'Triangle', 5)

value =

-50 -50 -50 -50 -50

Acquire Measurement Data via Dynamic DAQ Lists on page 8-9

Input Arguments
xcpch XCP channel
XCP channel object

XCP channel, specified as an XCP channel object created using xcpChannel. The XCP
channel object can then communicate with the specified slave module defined by the A2L
file.

measurementName Name of single XCP measurement

character vector

Name of a single XCP measurement specified as a character vector. Measurement name

corresponds to the XCP message name defined in your A2L file. Make sure the name
matches the name specified in the A2L file.

count Number of samples to read

numeric value

Number of samples to read, specified as a numeric value, for the specified measurement
name. If number of samples in the measurement is less than the specified count, only the
available number of samples are returned.

13-158
readDAQListData

Output Arguments
value Value from specified measurement
numeric array

Value from the specified measurement, returned as a numeric array.

See Also

Connect the channel to the slave.

connect(xcpch)

Create a measurement list with the '100ms' event and 'Bitslice0', 'PWMFiltered',
and 'Triangle' measurements.
createMeasurementList(xcpch,'STIM','100ms',{'BitSlice0','PWMFiltered','Triangle'});

Start the measurement.

startMeasurement(xcpch)

Write data to the 'Triangle' measurement.

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writeSTIMListData

writeSTIMListData(xcpch,'Triangle',10)

Input Arguments
xcpch XCP channel
XCP channel object

XCP channel, specified as an XCP channel object created using xcpChannel. The XCP
channel object can then communicate with the specified slave module defined by the A2L
file.

measurementName Name of single XCP measurement

character vector

Name of a single XCP measurement, specified as a character vector. Measurement name

corresponds to the measurement name defined in your A2L file. Make sure the name
matches the name specified in the A2L file

value Value of the measurement

numeric value

Value of the selected measurement, returned as a numeric value.

See Also

Read a single value from a '100ms' events 'Triangle' measurement.

Create an object to parse an A2L file and connect that to an XCP channel.

a2lfile = xcpA2L('XCPSIM.a2l')
xcpch = xcpChannel(a2lfile, 'CAN', 'Vector', 'Virtual 1', 1);

Connect the channel to the slave module.

connect(xcpch)

Acquire data for the 'Triangle' measurement.

value = readSingleValue(xcpch, 'Triangle')

value =

13-162
readSingleValue

Input Arguments
xcpch XCP channel
XCP channel object

XCP channel, specified as an XCP channel object created using xcpChannel. The XCP
channel object can then communicate with the specified slave module defined by the A2L
file.

measurementName Name of single XCP measurement

character vector

Name of a single XCP measurement, specified as a character vector. Measurement name

corresponds to the measurement name defined in your A2L file. Make sure the name
matches the name specified in the A2L file

Output Arguments
value Value of the measurement
numeric value

Value of the selected measurement, returned as a numeric value.

See Also

Link an A2L file to your session.

a2l = xcpA2L('XCPSIM.a2l')

Create an XCP channel and connect it to the slave module

xcpch = xcpChannel(a2lfile, 'CAN', 'Vector', 'Virtual 1', 1);
connect(xcpch)

Write the value 10 to the Triangle measurement.

writeSingleValue(xcpch, 'Triangle', 10)

Input Arguments
xcpch XCP channel
XCP channel object

13-164
writeSingleValue

XCP channel, specified as an XCP channel object created using xcpChannel. The XCP
channel object can then communicate with the specified slave module defined by the A2L
file.

measurementName Name of single XCP measurement

character vector

Name of a single XCP measurement, specified as a character vector. Measurement name

corresponds to the measurement name defined in your A2L file. Make sure the name
matches the name specified in the A2L file

value Value of the measurement

numeric value

Value of the selected measurement, returned as a numeric value.

See Also

Display device channel information

Description
vendor.ChannelInfo(index) displays channel information for the device vendor with
the specified index. Obtain the vendor information using CAN.VendorInfo.

Input Arguments
index Device channel index
numeric value

Device channel index specified as a numeric value.

Properties
Device

Name of the device.

DeviceChannelIndex

Index number of the specified device channel.

DeviceSerialNumber

Serial number of the specified device.

ObjectConstructor

Information on how to construct a CAN channel using this device.

13-166
CAN.ChannelInfo class

Examples
Examine Kvaser Device Channel Information

Get information on installed CAN devices.

info = canHWInfo

info =

CAN Devices Detected

Vendor | Device | Channel | Serial Number | Constructor

------ | --------- | ------- | ------------- | ------------------------------------
Kvaser | Virtual 1 | 1 | 0 | canChannel('Kvaser', 'Virtual 1', 1)
Kvaser | Virtual 1 | 2 | 0 | canChannel('Kvaser', 'Virtual 1', 2)
Vector | Virtual 1 | 1 | 0 | canChannel('Vector', 'Virtual 1', 1)
Vector | Virtual 1 | 2 | 0 | canChannel('Vector', 'Virtual 1', 2)

Save the Kvaser device information in an object.

vendor = info.VendorInfo(1);

Get information on the first channel of the specified device.

vendor.ChannelInfo(1)

ans =

ChannelInfo with properties:

Device: 'Virtual 1'

DeviceChannelIndex: 1
DeviceSerialNumber: 0
ObjectConstructor: 'canChannel('Kvaser', 'Virtual 1', 1)'

See Also
See Also
Functions
can.VendorInfo | canHWInfo

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CAN.VendorInfo class
Package: CAN

Display available device vendor information

Syntax
info = canHWInfo
info.VendorInfo(index)

Description
info = canHWInfo creates an object with information of all available CAN hardware
devices.

info.VendorInfo(index) displays available vendor information obtained from

canHWInfo for the device with the specified index.

Input Arguments
index Device channel index
numeric value

Device channel index specified as a numeric value.

Properties
VendorName

Name of the device vendor.

VendorDriverDescription

Description of the device driver installed for this vendor.

13-168
CAN.VendorInfo class

VendorDriverVersion

Version of the device driver installed for this vendor.

ChannelInfo

Information on the device channels available for this vendor.

Examples
Examine Kvaser Vendor Information

Get information on installed CAN devices.

info = canHWInfo

info =

CAN Devices Detected

Vendor | Device | Channel | Serial Number | Constructor

Use GET on the output of canHWInfo for more information.

Parse the objects VendorInfo class.

info.VendorInfo

ans =

1x2 heterogeneous VendorInfo (VendorInfo, VendorInfo) array with properties:

VendorName
VendorDriverDescription
VendorDriverVersion

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ChannelInfo

See Also

See Also
Functions
CAN.ChannelInfo | canHWInfo

13-170
j1939Channel

j1939Channel
Create J1939 CAN channel

Syntax
j1939Ch = j1939Channel(database,'vendor','device')
j1939Ch = j1939Channel(database,'vendor','device',chanIndex)

Description
j1939Ch = j1939Channel(database,'vendor','device') creates a J1939
channel connected to the specified CAN device. Use this syntax for National Instruments
and PEAK-System devices, which do not require a channel index argument.

j1939Ch = j1939Channel(database,'vendor','device',chanIndex) creates a

J1939 CAN channel connected to the specified CAN device and channel index. Use this
syntax for Vector and Kvaser devices that support a channel index specifier.

Examples
Create a J1939 CAN Channel for a Vector Device

Specify a database.
db = canDatabase('C:\J1939DB.dbc');

Create the channel object.

j1939Ch = j1939Channel(db,'Vector','Virtual 1',1)

j1939Ch =

Channel with properties:

Device Information:
-------------------
DeviceVendor: 'Vector'
Device: 'Virtual 1'

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DeviceChannelIndex: 1
DeviceSerialNumber: 0

Data Details:
-------------
ParameterGroupsAvailable: 0
ParameterGroupsReceived: 0
ParameterGroupsTransmitted: 0
FilterPassList: []
FilterBlockList: []

Channel Information:
--------------------
Running: 0
BusStatus: 'N/A'
InitializationAccess: 1
InitialTimestamp: [00 datetime]
SilentMode: 0
TransceiverName: ''
TransceiverState: 0
BusSpeed: 500000
SJW: 1
TSEG1: 4
TSEG2: 3
NumOfSamples: 1

Other Information:
------------------
UserData: []

Create a J1939 CAN Channel for a National Instruments Device

Specify a database.
db = canDatabase('C:\J1939DB.dbc');

Create the channel object.

j1939Ch = j1939Channel(db,'NI','CAN1');

Input Arguments
database CAN database
CAN database object

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j1939Channel

CAN database specified as a CAN database object. The specified database contains J1939
parameter group definitions.
Example: database = canDatabase('C:\database.dbc')

vendor Name of device vendor

'Vector' | 'NI' | 'Kvaser' | 'Peak-System'

Name of device vendor, specified as a character vector.

Example: 'Vector'
Data Types: char

device Name of CAN device

char vector

Name of CAN device attached to the J1939 CAN channel, specified as a character vector.

For Kvaser and Vector products, device is a combination of the device type and a device
index. For example, a Kvaser device might be 'USBcanProfessional 1'; if you have
two Vector CANcardXL devices, device can be 'CANcardXL 1' or 'CANcardXL 2'.

For National Instruments devices the devicenumber is the interface number defined in
the NI Measurement & Automation Explorer.

For PEAK-System devices the devicenumber is the alphanumeric device number

defined for the channel.
Example: 'Virtual 1'
Data Types: char

chanIndex Channel number of CAN device

numeric

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13 Functions Alphabetical List

Output Arguments
j1939Ch J1939 CAN channel
J1939 CAN channel object

J1939 CAN channel returned as a channel object.

See Also

See Also
Functions
canDatabase | j1939ParameterGroup | receive | transmit

Properties
SilentMode | TransceiverState | UserData

Topics
J1939 Channel Workflow on page 9-7

Introduced in R2015b

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j1939ParameterGroup

j1939ParameterGroup
Create J1939 parameter group

Syntax
pg = j1939ParameterGroup(database, name)

Description
pg = j1939ParameterGroup(database, name) creates a parameter group using the
name defined in the specified database.

Examples
Create a Parameter Group

This example shows how to attach a database to a parameter group name and view the
signal information in the group.

Create a database handle.

db = canDatabase('C:\j1939Demo.dbc');

Create a parameter group.

pg = j1939ParameterGroup(db, 'PackedData')

pg =

ParameterGroup with properties:

Protocol Data Unit Details:

---------------------------
Name: 'PackedData'
PGN: 57344
Priority: 6
PDUFormatType: 'Peer-to-Peer (Type 1)'

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SourceAddress: 50
DestinationAddress: 255

Data Details:
-------------
Timestamp: 0
Data: [255 255 255 255 255 255 255 255]
Signals: [1x1 struct]

Other Information:
------------------
UserData: []

Examine the signals in the parameter group.

pg.Signals

ans =

ToggleSwitch: -1
SliderSwitch: -1
RockerSwitch: -1
RepeatingStairs: 255
PushButton: 1

Input Arguments
database Handle to CAN database
character vector

Handle to CAN database, specified as a character vector. The specified database contains
J1939 parameter group definitions.
Example: db = canDatabase('C:\database.dbc')pg =
j1939ParameterGroup('db', 'pgName') assigns a handle to the database and
creates a parameter group.

name Parameter group name

character vector

Parameter group name, specified as a character vector. The name must match the name
specified in the attached CAN database.

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j1939ParameterGroup

Example: pg = j1939ParameterGroup(db, 'pgName') creates a parameter group

with the specified name and the specified database.

See Also

See Also
Functions
canDatabase | j1939Channel

Topics
J1939 Interface on page 9-2
J1939 Parameter Group Format on page 9-3

Introduced in R2015b

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14

Properties Alphabetical List

14 Properties Alphabetical List

AttributeInfo
Information on CAN database attributes

Description
The Attributeinfo property is a structure with information about all attributes
defined in the specified CAN database.

Characteristics
Usage CAN database
Read only Always
Data type Structure

Values
The AttributeInfo property is a read-only structure. Use indexing to access the
information of each attribute.

Examples
Display Database Attribute Information
db = canDatabase('J1939DB.dbc');
db.AttributeInfo

31 struct array with fields:

Name
ObjectType
DataType
DefaultValue
Value

db.AttributeInfo(1).Name

14-2
AttributeInfo

BusType

db.AttributeInfo(1).Value

CAN

See Also

See Also
Functions
attributeInfo | canDatabase

Properties
Attributes

14-3
14 Properties Alphabetical List

Attributes
Attribute names from CAN database

Description
The Attributes property stores the names of all attributes defined in the specified CAN
database.

Characteristics
Usage CAN database
Read only Always
Data type Cell array of character vectors

Values
The Attributes property displays a cell array of character vectors. You cannot edit this
property.

Examples

Display Database Attributes

db = canDatabase('J1939DB.dbc');
db.Attributes

'BusType'
'DatabaseVersion'
'ProtocolType'

db.Attributes{1}

BusType

14-4
Attributes

See Also

See Also
Functions
attributeInfo | canDatabase

Properties
AttributeInfo

14-5
14 Properties Alphabetical List

BusLoad
Load on CAN bus

Description
The BusLoad property displays information about the load on the CAN network for
message traffic on Kvaser devices.

Characteristics
Usage CAN channel
Read only Always
Data type Float

Values
The current message traffic on a CAN network is represented as a percentage ranging
from 0.00% to 100.00%.

See Also

Functions
canChannel

14-6
BusSpeed

BusSpeed
Bit rate of bus

Description

The BusSpeed property indicates the speed at which messages are transmitted in bits
per second. You can set BusSpeed to an acceptable bit rate using the configBusSpeed
function.

Characteristics

Usage CAN channel, J1939 channel

Read only Always
Data type Numerical

Values
The default value is assigned by the vendor driver. To change the bus speed of your
channel, use the configBusSpeed function with the channel name and the value as
input parameters.

Examples
Change the bus speed of the CAN channel object canch to 250,000 bits per second, and
view the result.

configBusSpeed(canch,250000);
bs = canch.BusSpeed

14-7
14 Properties Alphabetical List

See Also

Functions
canChannel, j1939Channel, configBusSpeed

Properties
NumOfSamples, SJW, TSEG1, TSEG2

14-8
BusStatus

BusStatus
Determine status of bus

Description
The BusStatus property displays information about the state of the CAN or the J1939
bus.

Characteristics
Usage CAN channel, J1939 channel
Read only Always
Data type Character vector

Values
N/A
BusOff
ErrorOff
ErrorActive

See Also

Functions
canChannel, j1939Channel

14-9
14 Properties Alphabetical List

Data
CAN message or J1939 parameter group data

Description
Use the Data property to define your message data in a CAN message or parameter
group data in a J1939 parameter group.

Characteristics
Usage CAN message, J1939 parameter group
Read only Never
Data type Numeric

Values
The data value is a uint8 array, based on the data length you specify in the message.

Examples

Specify CAN Message Data

Create a CAN message and load data into a message.

message = canMessage(2500, true, 4)

message.Data = [23 43 23 43 54 34 123 1]

If you are using a CAN database for your message definitions, change values of the
specific signals in the message directly.

You can also use the pack function to load data into your message.

14-10
Data

Specify J1939 Parameter Group Data

Create a parameter group and specify data.
pg = j1939ParameterGroup(db, 'PackedData')
pg.Data(1:2) = [50 0]

See Also

Functions
canMessage, pack

14-11
14 Properties Alphabetical List

Database
Store CAN database information

Description
The Database property stores information about an attached CAN database.

Characteristics
Usage CAN channel, CAN message
Read only For a CAN message property
Data type Database handle

Values
This property displays the database information that your CAN channel or CAN message
is attached to. This property displays an empty structure, [ ], if your channel message
is not attached to a database. You can edit the CAN channel property, Database, but
cannot edit the CAN message property.

Examples
To see information about the database attached to your CAN message, type:

message.Database

To set the database information on your CAN channel to C:\Database.dbc, type:

channel.Database = canDatabase('C:\Database.dbc')

Tip: CAN database file names containing non-alphanumeric characters such as equal
signs and ampersands are incompatible with Vehicle Network Toolbox. You can use

14-12
Database

a period sign in your database name. Rename any CAN database files with non-
alphanumeric characters before you use them.

See Also

Functions
attachDatabase, canChannel, canDatabase, canMessage

14-13
14 Properties Alphabetical List

DestinationAddress
Address of parameter group destination

Description
Address of the J1939 parameter group destination. DestinationAddress identifies the
parameter group source on the J1939 network. The source uses the specified destination
address to send parameter groups.

Characteristics
Usage J1939 parameter group
Read only Never
Data type Numeric

Values
Specify DestinationAddress of the parameter group as a number from 0 through 253.
254 is a null value and is used by your application to detect available addresses on the
J1939 network. To send a parameter group to all devices on the network, use 255, which
is the global value.

See Also

Functions
j1939ParameterGroup

14-14
Device

Device
Display channel device type

Description
For National Instruments devices, the Device property displays the device number on
the hardware.

For all other devices, the Device property displays information about the device type to
which the CAN or J1939 channel is connected.

Characteristics
Usage CAN channel, J1939 channel
Read only Always
Data type Character vector

Values
Values are automatically defined when you configure the channel with the canChannel
or the j1939Channel function.

See Also

Functions
canChannel, canHWInfo, j1939Channel

Properties
DeviceChannelIndex, DeviceSerialNumber, DeviceVendor

14-15
14 Properties Alphabetical List

Device(NI)
Display NI CAN channel device type

Description
For National Instruments devices, the DeviceType property displays information about
the device type to which the CAN channel is connected.

Characteristics
Usage CAN channel
Read only Always
Data type Character vector

Values
Values are automatically defined when you configure the channel with the canChannel
function.

See Also

Functions
canChannel, canHWInfo

Properties
DeviceChannelIndex, DeviceVendor

14-16
DeviceChannelIndex

DeviceChannelIndex
Display device channel index

Description
The DeviceChannelIndex property displays the channel index on which the selected
CAN or J1939 channel is configured.

Characteristics
Usage CAN channel, J1939 channel
Read only Always
Data type Numeric

Values
Values are automatically defined when you configure the channel with the canChannel
function.

See Also

Functions
canChannel, canHWInfo, j1939Channel

Properties
Device, DeviceVendor

14-17
14 Properties Alphabetical List

DeviceSerialNumber
Display device serial number

Description
The DeviceSerialNumber property displays the serial number of the device connected
to the CAN or J1939 channel.

Characteristics
Usage CAN channel, J1939 channel
Read only Always
Data type Numeric
Hexadecimal character vector (NI CAN devices only)

Values
Values are automatically defined when you configure the channel with the canChannel
function.

See Also

Functions
canChannel, canHWInfo, j1939Channel

Properties
Device, DeviceVendor

14-18
DeviceVendor

DeviceVendor
Display device vendor name

Description
The DeviceVendor property displays the name of the device vendor.

Characteristics
Usage CAN channel, J1939 channel
Read only Always
Data type Character vector

Values
Values are automatically defined when you configure the channel with the canChannel
or j1939Channel function.

See Also

Functions
canChannel, canHWInfo, j1939Channel

Properties
Device, DeviceChannelIndex, DeviceSerialNumber

14-19
14 Properties Alphabetical List

Error
CAN message error frame

Description
The Error property is a read-only value that identifies the specified CAN message as an
error frame. The channel sets this property to true when it receives a CAN message as
an error frame.

Characteristics
Usage CAN message
Read only Always
Data type Boolean

Values
false The message is not an error frame.
true The message is an error frame.

The Error property displays false, unless the message is an error frame.

See Also

Functions
canMessage

14-20
Extended

Extended
Identifier type for CAN message

Description
The Extended property is the identifier type for a CAN message. It can either be a
standard identifier or an extended identifier.

Characteristics
Usage CAN message
Read only Always
Data type Boolean

Values
false The identifier type is standard (11 bits).
true The identifier type is extended (29 bits).

Examples
To set the message identifier type to extended with the ID set to 2350 and the data
length to eight bytes, type:
message = canMessage(2350, true, 8)

You cannot edit this property after the initial configuration.

See Also

Functions
j1939Channel, filterAllowOnly, filterAllowAll, filterBlockAll

Properties
FilterPassList

14-23
14 Properties Alphabetical List

FilterPassList
List of parameter groups to pass

Description
FilterPassList displays a list of parameter group names and numbers that the
channel can pass to the network.

Characteristics
Usage J1939 channel
Read only Always
Data type Character vector, Cell array

Values
The list displays parameter group names and numbers as character vectors or cell
arrays of character vectors and numbers. To change the values, use one of the filtering
functions.

See Also

Functions
j1939Channel, filterAllowOnly, filterAllowAll, filterBlockAll

Properties
FilterBlockList

14-24
ID

ID
Identifier for CAN message

Description
The ID property represents a numeric identifier for a CAN message.

Characteristics
Usage CAN message
Read only Always
Data type Numeric

Values
The ID value must be a positive integer from:

0 through 2047 for a standard identifier

0 through 536,870,911 for an extended identifier

You can also specify a hexadecimal value using the hex2dec function.

Examples
To configure a message ID to a standard identifier of value 300 and a data length of eight
bytes, type:
message = canMessage(300, false, 8)

See Also

Functions
canChannel

14-29
14 Properties Alphabetical List

MessageInfo
Information on CAN database messages

Description
The MessageInfo property is a structure with information about all messages defined in
the specified CAN database.

Characteristics
Usage CAN database
Read only Always
Data type Structure

Values
The MessageInfo property is a read-only structure. Use indexing to access the
information of each message.

Examples

Display Database Message Information

db = canDatabase('J1939DB.dbc');
db.MessageInfo

31 struct array with fields:

Name
Comment
ID
Extended
J1939
Length

14-30
MessageInfo

Signals
SignalInfo
TxNodes
Attributes
AttributeInfo

db.MessageInfo(1).Name

db.MessageInfo(1).Signals

'EngBlowerBypassValvePos'
'EngGasSupplyPress'

See Also

See Also
Functions
canDatabase | messageInfo | signalInfo | valueTableText

Properties
Messages | SignalInfo | Signals

14-31
14 Properties Alphabetical List

MessageReceivedFcn
Specify function to run

Description
Configure MessageReceivedFcn as a callback function to run a character vector
expression, a function handle, or a cell array when a specified number of messages are
available.

The MessageReceivedFcnCount property defines the number of messages available

before the configured MessageReceivedFcn runs.

Characteristics
Usage CAN channel
Read only Never
Data type Callback function

Values
The default value is an empty character vector. You can specify the name of a callback
function that you want to run when the specified number of messages are available.

Examples
Specify Callback

Specify the callback function to execute.

canch.MessageReceivedFcn = @Myfunction;

CAN Message Reception Callback Functions

14-32
MessageReceivedFcn

See Also

Usage CAN channel

Read only While channel is online
Data type Double

Values
The default value is 1. You can specify a positive integer for your
MessageReceivedFcnCount.

Examples
Specify Message Count

Specify the message count to trigger a callback.

canch.MessageReceivedFcnCount = 55;

CAN Message Reception Callback Functions

14-34
MessageReceivedFcnCount

See Also

Display database message information

db = canDatabase('J1939DB.dbc');
db.Messages

'A1'
'A1DEFI'
'A1DEFSI'

db.Messages{1}

14-36
Messages

See Also

See Also
Functions
canDatabase | messageInfo | signalInfo | valueTableText

Properties
MessageInfo | SignalInfo | Signals

14-37
14 Properties Alphabetical List

MessagesAvailable
Display number of messages available to be received by CAN channel

Description
The MessagesAvailable property displays the total number of messages available to
be received by a CAN channel.

Characteristics
Usage CAN channel
Read only Always
Data type Double

Values
The value is 0 when no messages are available.

See Also

Functions
canChannel

Properties
MessagesReceived, MessagesTransmitted

14-38
MessagesReceived

MessagesReceived
Display number of messages received by CAN channel

Description
The MessagesReceived property displays the total number of messages received since
the channel was last started.

Characteristics
Usage CAN channel
Read only Always
Data type Double

Values
The value is 0 when no messages have been received. This number increments based on
the number of messages the channel receives.

See Also

Functions
canChannel, canHWInfo

Properties
MessagesAvailable, MessagesTransmitted

14-39
14 Properties Alphabetical List

MessagesTransmitted
Display number of messages transmitted by CAN channel

Description
The MessagesTransmitted property displays the total number of messages
transmitted since the channel was last started.

Characteristics
Usage CAN channel
Read only Always
Data type Double

Values
The default is 0 when no messages have been sent. This number increments based on the
number of messages the channel transmits.

See Also

Functions
canChannel

Properties
MessagesAvailable, MessagesReceived

14-40
Name (Database)

Name (Database)
CAN database name

Description
The Name (Database) property displays the name of the database.

Characteristics
Usage CAN database
Read only Always
Data type Character vector

Values
Name is a character vector value. This value is acquired from the name of the database
file. You cannot edit this property.

See Also

Functions
canDatabase

Properties
Extended, ID

14-41
14 Properties Alphabetical List

Name (CAN)
CAN message name

Description
The Name (Message) property displays the name of the message.

Characteristics
Usage CAN message
Read only Always
Data type Character vector

Values
Name is a character vector value. This value is acquired from the name of the message
you defined in the database. You cannot edit this property if you are defining raw
messages.

See Also

Functions
canMessage

Properties
Extended, ID

14-42
Name (J1939)

Name (J1939)
J1939 parameter group name

Description
The Name property displays the name of the J1939 parameter group.

Characteristics
Usage J1939 parameter group
Read only Never
Data type Character vector

Values
Name is a character vector value. This value is acquired from the name you define when
you create the parameter group.

See Also

Functions
j1939ParameterGroup

14-43
14 Properties Alphabetical List

NodeInfo
Information on CAN database nodes

Description
The NodeInfo property is a structure with information about all nodes defined in the
specified CAN database.

Characteristics
Usage CAN database
Read only Always
Data type Structure

Values
The NodeInfo property is a read-only structure. Use indexing to access the information
of each node.

Examples

Display Database Node Information

db = canDatabase('J1939DB.dbc');
db.NodeInfo

31 struct array with fields:

Name
Comment
Attributes
AttributeInfo

db.NodeInfo(1).Name

14-44
NodeInfo

AerodynamicControl

See Also

See Also
Functions
canDatabase | nodeInfo

Properties
Nodes

14-45
14 Properties Alphabetical List

Nodes
Node names from CAN database

Description
The Nodes property stores the names of all nodes defined in the specified CAN database.

Characteristics
Usage CAN database
Read only Always
Data type Cell array of character vectors

Values
The Nodes property displays a cell array of character vectors. You cannot edit this
property.

Examples

Display Database Attributes

db = canDatabase('J1939DB.dbc');
db.Nodes

'AerodynamicControl'
'Aftertreatment_1_GasIntake'
'Aftertreatment_1_GasOutlet'

db.Nodes{1}

AerodynamicControl

14-46
Nodes

See Also

See Also
Functions
canDatabase | nodeInfo

Properties
NodeInfo

14-47
14 Properties Alphabetical List

NumOfSamples
Display number of samples available to channel

Description
The NumOfSamples property displays the total number of samples available to this
channel. If you do not specify a value, the BusSpeed property determines the default
value.

Note: This property is not available for National Instruments CAN devices. The channel
displays NaN for the value.

Characteristics
Usage CAN channel, J1939 channel
Read only Always
Data type Double

Values
The value is a positive integer based on the driver settings for the channel.

See Also
Functions
canChannel, j1939ChannelconfigBusSpeed

Properties
BusSpeed, SJW, TSEG1, TSEG2

14-48
OnboardTermination

OnboardTermination
Configure bus termination on device

Description
The OnboardTermination property specifies the device to use its onboard termination
of the CAN bus. For more information on the behavior and characteristics of a specific
device, refer to its vendors documentation.

Characteristics
Usage NI-XNET CAN channel
Read only When online
Data type Logical

Examples
canch = canChannel('NI','CAN1');
canch.OnboardTermination = true

See Also

Functions
canChannel

Introduced in R2016a

14-49
14 Properties Alphabetical List

ParameterGroupsAvailable
Number of parameter groups available

Description
ParameterGroupsAvailable displays the total number of parameter groups available
to the channel.

Characteristics
Usage J1939 channel
Read only Always
Data type Double

Values
The property displays the number of available parameters to the channel.

See Also

Functions
j1939Channel

Properties
ParameterGroupsReceived, ParameterGroupsTransmitted

14-50
ParameterGroupsReceived

ParameterGroupsReceived
Number of parameter groups received

Description
ParameterGroupsTransmitted displays the total number of parameter groups
transmitted since the channel was started.

Characteristics
Usage J1939 channel
Read only Always
Data type Double

Values
The property displays the number of received parameters through the channel.

See Also

Functions
j1939Channel

Properties
ParameterGroupsTransmitted, ParameterGroupsAvailable

14-51
14 Properties Alphabetical List

ParameterGroupsTransmitted
Number of parameter groups transmitted

Description
ParameterGroupsTransmitted displays the total number of parameter groups
transmitted since the channel was started.

Characteristics
Usage J1939 channel
Read only Always
Data type Double

Values
The property displays the number of transmitted parameter through the channel.

See Also

Functions
j1939Channel

Properties
ParameterGroupsReceived, ParameterGroupsAvailable

14-52
Path

Path
CAN database folder path

Description
The Path property displays the path to the CAN database.

Characteristics
Usage CAN database
Read only Always
Data type Character vector

Values
The path name is a character vector value, pointing to the CAN database in your folder
structure.

See Also

Functions
canDatabase

14-53
14 Properties Alphabetical List

PDUFormatType
J1939 parameter group PDU format

Description
The PDUFormatType property displays the J1939 protocol data unit format of the
parameter group.

Characteristics
Usage J1939 parameter group
Read only Always
Data type Character vector

Values
PDUFormatType is displayed as a character vector. This value is automatically assigned
when you create the parameter group.

See Also

Functions
j1939ParameterGroup

14-54
PGN

PGN
J1939 parameter group number

Description
The PGN property displays the number of the parameter group.

Characteristics
Usage J1939 parameter group
Read only Never
Data type Number

Values
PGN is represented as a number. This value is automatically assigned when you create
the parameter group.

See Also

Functions
j1939ParameterGroup

14-55
14 Properties Alphabetical List

Priority
Priority of parameter group

Description
The Priority property specifies the precedence of the parameter group on the J1939
network.

Values
Priority takes a numeric value of 0 to 7, which specifies the order of importance of the
parameter group.

See Also

Functions
j1939ParameterGroup

Characteristics
Usage J1939 parameter group
Read only Never
Data type Numeric

14-56
ReceiveErrorCount

ReceiveErrorCount
Display number of received errors detected by channel

Description
The ReceiveErrorCount property displays the total number of errors detected by this
channel during receive operations.

Characteristics
Usage CAN channel
Read only Always
Data type Double

Values
The value is 0 when no error messages have been received.

See Also

Functions
canChannel, receive

Properties
TransmitErrorCount

14-57
14 Properties Alphabetical List

Remote
Specify CAN message remote frame

Description
Use the Remote property to specify the CAN message as a remote frame.

Characteristics
Usage CAN message
Read only Never
Data type Boolean

Values
{false} The message is not a remote frame.
true The message is a remote frame.

Examples
To change the default value of Remote and make the message a remote frame, type:

message.Remote = true

See Also

Functions
canMessage

14-58
Running

Running
Determine status of channel

Description
The Running property displays information about the state of the CAN or J1939
channel.

Characteristics
Usage CAN channel, J1939 channel
Read only Always
Data type Boolean

Values
{false} The channel is offline.
true The channel is online.

Use the start function to set your channel online.

See Also

Functions
canChannel, j1939Channel, start

14-59
14 Properties Alphabetical List

SilentMode
Specify if channel is active or silent

Description
Specify whether the channel operates silently. By default SilentMode is false. In this
mode, the channel both transmits and receives messages normally and performs other
tasks on the network such as acknowledging messages and creating error frames.

To observe all message activity on the network and perform analysis without affecting
the network state or behavior, change SilentMode to true. In this mode, you can only
receive messages and not transmit any.

Characteristics
Usage CAN channel, J1939 CAN channel
Read only Never
Data type Boolean

Values
{false} The channel is in normal or active mode.
true The channel is in silent mode.

Examples
To configure the channel to silent mode, type:

canch.SilentMode = true

To configure the channel to normal mode, type:

canch.SilentMode = false

14-60
SilentMode

See Also

Functions
canChannelj1939Channel

14-61
14 Properties Alphabetical List

SignalInfo
Information on CAN database message signals

Description
The SignalInfo property is a structure with information about all signals defined in
the specified CAN database message.

Characteristics
Usage CAN database
Read only Always
Data type Structure

Values
The SignalInfo property is a read-only structure. Use indexing to access the
information of each signal.

Examples
Display Database Signal Information
db = canDatabase('J1939DB.dbc');
db.MessageInfo

31 struct array with fields:

Name
Comment
ID
Extended
J1939
Length
Signals

14-62
SignalInfo

SignalInfo
TxNodes
Attributes
AttributeInfo

s = db.MessageInfo(1).SignalInfo

21 struct array with fields:

Name
Comment
StartBit
SignalSize
ByteOrder
Signed
ValueType
Class
Factor
Offset
Minimum
Maximum
Units
ValueTable
Multiplexor
Multiplexed
MultiplexMode
RxNodes
Attributes
AttributeInfo

s(2).Name

EngGasSupplyPress

See Also

See Also
Functions
canDatabase | messageInfo | signalInfo

Properties
MessageInfo | Messages | Signals

14-63
14 Properties Alphabetical List

Signals
Physical signals defined in CAN message or J1939 parameter group

Description
The Signals property allows you to view and edit signal values defined for a CAN
message or a J1939 parameter group. This property displays an empty structure if
the message has no defined signals or a database is not attached to the message or
parameter group. The input values for this property depends on the signal type.

Characteristics
Usage CAN message, J1939 parameter group
Read only Sometimes
Data type Structure

Examples

Display CAN Message Signals

Create a CAN message.

message = canMessage(canDb,'messageName');

Display message signals.

message.Signals

VehicleSpeed: 0
EngineRPM: 250

Change the value of a signal.

message.Signals.EngineRPM = 300

14-64
Signals

Display J1939 Parameter Group Signals

Create a parameter group.
pg = j1939ParameterGroup(db, 'PackedData')

Display parameter group signals

pg.Signals

ToggleSwitch: -1
SliderSwitch: -1
RockerSwitch: -1
RepeatingStairs: 255
PushButton: 1

Change the value of the repeating stairs.

pg.Signals.RepeatingStairs = 200

ToggleSwitch: -1
SliderSwitch: -1
RockerSwitch: -1
RepeatingStairs: 200
PushButton: 1

See Also

See Also
Functions
canDatabase | canMessage | j1939ParameterGroup | messageInfo | signalInfo

Properties
MessageInfo | Messages | SignalInfo

14-65
14 Properties Alphabetical List

SJW
Synchronization jump width (SJW) of bit time segment

Description
SJW displays the synchronization jump width of the bit time segment. To adjust the on-
chip bus clock, the controller may shorten or prolong the length of a bit by an integral
number of time segments. The maximum value of these bit time adjustments are termed
the synchronization jump width or SJW.

Note: This property is not available for National Instruments CAN devices. The channel
displays NaN for the value.

Characteristics
Usage CAN channel, J1939 channel
Read only Always
Data type Numeric

Values
The value of the SJW is determined by the specified bus speed.

See Also
Functions
canChannel, j1939Channel, configBusSpeed

Properties
BusSpeed, NumOfSamples, TSEG1, TSEG2

14-66
SourceAddress

SourceAddress
Address of parameter group source

Description
Address of the J1939 parameter group source. SourceAddress identifies the parameter
group source on the J1939 network. This allows the destinations to identify the sender
and respond appropriately.

Characteristics
Usage J1939 parameter group
Read only Never
Data type Numeric

Values
Specify SourceAddress of the parameter group as a number between 0 and 253. 254 is
a null value and is used by your application to detect available addresses on the J1939
network. To send a parameter group to all devices on the network, use 255, which is the
global value.

See Also

Functions
j1939ParameterGroup

14-67
14 Properties Alphabetical List

StartTriggerTerminal
Specify start trigger source terminal

Description
The StartTriggerTerminal property specifies a synchronization trigger connection to
start the NI-XNET channel on the connected source terminal.

To configure an NI-XNET CAN module (such as NI 9862) to start acquisition on an

external signal triggering event provided at an external chassis terminal, set the CAN
channel StartTriggerTerminal property to the appropriate terminal name. Form the
property value character vector by combining the chassis name from the NI MAX utility
and the trigger terminal name; for example, '/cDAQ3/PFI0'.

Note This property can be configured only once. After it is assigned, the property is
read-only and cannot be changed. The only way to set a different value is to clear the
channel object, recreate the channel with canChannel, and configure its properties.

Characteristics
Usage NI-XNET CAN channel
Read only After assigned
Data type Character vector

Examples
Configure a NI-XNET CAN module start trigger on terminal /cDAQ3/PFI0.
ch1 = canChannel('NI','CAN1')
ch1.StartTriggerTerminal = '/cDAQ3/PFI0'
start(ch1) % Acquisition begins on hardware trigger

With a hardware triggering configuration, the InitialTimestamp value represents

the absolute time the CAN channel acquisition was triggered. The Timestamp of the
received CAN messages is relative to the trigger moment.

14-68
StartTriggerTerminal

ch1.InitialTimestamp
messages = receive(ch1,Inf);
messages(1).Timestamp

See Also

Functions
canChannel, canMessage, receive, replay

14-70
Timestamp (J1939)

Timestamp (J1939)
Display parameter received timestamp

Description
The Timestamp property displays the time at which the parameter group was received
on a J1939 channel. This time is based on the hardware log.

Characteristics
Usage J1939 parameter group
Read only Never
Data type Double

Values
Timestamp displays a numeric value indicating the time the parameter group was
received, based on the logged time on the hardware.

See Also

Functions
j1939ParameterGroup

14-71
14 Properties Alphabetical List

TransceiverName
Name of device transceiver

Description
TransceiverName displays the name of the device transceiver. The device transceiver
translates the digital bit stream going to and coming from the bus into the real electrical
signals present on the bus.

Characteristics
Usage CAN channel, J1939 channel
Read only Always
Data type Character vector

Values
Values are automatically defined when you configure the channel with the canChannel
or the j1939Channel function.

See Also

Functions
canChannel, j1939Channel

Properties
TransceiverState

14-72
TransceiverState

TransceiverState
Display state or mode of transceiver

Description
If your CAN or J1939 transceiver allows you to control its mode, you can use the
TransceiverState property to set the mode.

Characteristics
Usage CAN channel, J1939 CAN channel
Read only Never
Data type Numeric

Values
The values are defined by the transceiver manufacturer. Refer to your CAN transceiver
documentation for the appropriate transceiver modes. Possible modes representing the
numeric value specified are:

high speed
high voltage
sleep
wake up

See Also

Functions
canChannel

14-73
14 Properties Alphabetical List

Properties
TransceiverName

14-74
TransmitErrorCount

TransmitErrorCount
Display number of transmitted errors by channel

Description
The TransmitErrorCount property displays the total number of errors detected by this
channel during transmit operations.

Characteristics
Usage CAN channel
Read only Always
Data type Double

Values
The value is 0 when no error messages have been transmitted.

See Also

Functions
canChannel, transmit

Properties
ReceiveErrorCount

14-75
14 Properties Alphabetical List

TSEG1
Display amount that channel can lengthen sample time

Description
The TSEG1 property displays the amount in bit time segments that the channel can
lengthen the sample time to compensate for delay times in the network.

Note: This property is not available for National Instruments CAN devices. The channel
displays NaN for the value.

Characteristics
Usage CAN channel, J1939 channel
Read only Always
Data type Double

Values
The value is inherited when you configure the bus speed of your CAN channel.

See Also

Functions
canChannel, j1939Channel, configBusSpeed

Properties
BusSpeed, NumOfSamples, SJW, TSEG2

14-76
TSEG2

TSEG2
Display amount that channel can shorten sample time

Description
The TSEG2 property displays the number of bit time segments the channel can shorten
the sample to resynchronize.

Note: This property is not available for National Instruments CAN devices. The channel
displays NaN for the value.

Characteristics
Usage CAN channel, J1939 channel
Read only Always
Data type Double

Values
The value is inherited when you configure the bus speed of your CAN channel.

See Also

Functions
canChannel, j1939Channel, configBusSpeed

Properties
BusSpeed, NumOfSamples, SJW, TSEG1

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14 Properties Alphabetical List

UserData
Enter custom data

Description
Enter custom data to be stored in your CAN message or a J1939 parameter group,
channel, or database object using the UserData property. When you save an object with
UserData specified, you automatically save the custom data. When you load an object
with UserData specified, you automatically load the custom data.

Note: To avoid unexpected results when you save and load an object with UserData,
specify your custom data in simple data types and constructs.

Characteristics
Usage CAN channel, J1939 channel, CAN message, J1939 parameter
group, CAN database
Read only Never
Data type User defined

See Also

Functions
canChannel, canMessage, canDatabase, j1939ParameterGroup, j1939Channel

14-78
Events

Events
Display A2L events list

Description
The Events property displays events available in the selected A2L description file. This
property contains a cell array of character vectors that correspond to the names of events
in the A2L file. To use the A2L file events, see Access Event Information on page 7-4.

14-79
14 Properties Alphabetical List

Measurements
Display A2L measurements list

Description
The Measurements property displays measurements available in the selected A2L
description file. This property contains a cell array of character vectors that correspond
to the names of measurements in the A2L file. To use the A2L file measurements see
Access Measurement Information on page 7-5.

14-80
DAQInfo

DAQInfo
Data acquisition information in A2L file

Description
The DAQInfo property displays data acquisition information in the A2L description file.
This property contains a structure with values corresponding to the DAQ features in the
slave.

14-81
14 Properties Alphabetical List

SlaveName
Name of connected slave

Description
The SlaveName property displays the name of the slave node as specified in the A2L file.
The name is specified as a character vector.

14-82
FileName

FileName
Name of referenced A2L file

Description
The FileName property displays the name of the referenced A2L file as a character
vector.

14-83
14 Properties Alphabetical List

FilePath
Path of A2L file

Description
The FileName property displays the full file path to the A2L file as a character vector.

14-84
ProtocolLayerInfo

ProtocolLayerInfo
Protocol layer information

Description
The ProtocolLayerInfo property displays a structure containing general information
about the XCP protocol implementation of the slave as defined in the A2L file.

14-85
14 Properties Alphabetical List

TransportLayerCANInfo
CAN transport layer information

Description
The TransportLayerCANInfo property displays a structure containing general
information about the CAN transport layer for the XCP connection to the slave as defined
in the A2L file.

14-86
A2LFileName

A2LFileName
Name of the A2L file

Description
The A2LFileName property displays the name of the A2L file contains information
about the slave that an XCP channel can access.

14-87
14 Properties Alphabetical List

SeedKeyDLL
Name of seed and key security access dll

Description
The SeedKeyDLL property displays the name of the dll file that contains the seed and
key security algorithm used to unlock an XCP slave module.

14-88
TransportLayer

TransportLayer
Transport layer type

Description
The TransportLayer property displays the type of transport layer used in the XCP
connection.

14-89
14 Properties Alphabetical List

TransportLayerDevice
XCP transport layer connection

Description
The TransportLayerDevice property contains a structure with XCP transport layer
connection details, including information about the device through which the channel
communicates with the slave.

14-90
15

Block Reference

CAN Configuration
CAN Log
CAN Pack
CAN Receive
CAN Replay
CAN Transmit
CAN Unpack
J1939 CAN Transport Layer
J1939 Network Configuration
J1939 Node Configuration
J1939 Receive
J1939 Transmit
XCP Configuration
XCP Data Acquisition
XCP Data Stimulation
XCP CAN Transport Layer
XCP CAN TL Receive
XCP CAN TL Transmit
15 Block Reference

CAN Configuration
Configure parameters for specified CAN device

Library
Vehicle Network Toolbox: CAN Communication

Description
The CAN Configuration block configures parameters for a CAN device that you can use
to transmit and receive messages.

Specify the configuration of your CAN device before you configure other CAN blocks.

Use one CAN Configuration block to configure each device that sends and receives
messages in your model. If you use a CAN Receive or a CAN Transmit block to receive
and send messages on a device, your model checks to see if there is a corresponding CAN
Configuration block for the specified device. If the device is not configured, you will see a
prompt advising you to use a CAN Configuration block to configure the specified device.

Note: You need a license for both Vehicle Network Toolbox and Simulink software to use
this block.

Other Supported Features

The CAN Configuration block supports the use of Simulink Accelerator and Rapid
Accelerator mode. Using this feature, you can speed up the execution of Simulink models.

For more information on this feature, see the Simulink documentation.

15-2
CAN Configuration

The CAN Configuration block supports the use of code generation when you use it with
the CAN Receive and CAN Transmit blocks.

Parameters
Device
Select the CAN device and a channel on the device that you want to use from the list.
Use this device to transmit and/or receive messages. The device driver determines
the default bus speed.
Bus speed
Set the BusSpeed property for the selected device, in bits per second. The default bus
speed is the default assigned by the selected device.
Enable bit parameters manually

Note: This option is disabled if you are using an NI CAN channel.

Select this check box to specify bit parameter settings manually. The bit parameter
settings include:

Synchronization jump width, Time segment 1, Time segment 2, and Number

of samples. If you do not select this option, the device automatically assigns the bit
parameters depending on the bus speed setting.

Tip: Use the default bit parameter settings unless you have specific timing
requirements for your CAN connection.

Synchronization jump width

Specify the maximum value of the bit time adjustments. The specified value
must be a positive integer. If you do not specify a value, the selected bus speed
setting determine the default value. To change this value, select the Enable
bit parameters manually check box first. Refer to the SJW property for more
information.
Time segment 1

15-3
15 Block Reference

Specify the amount of bit time segments that the channel can lengthen the sample
time. The specified value must be a positive integer. If you do not specify a value, the
selected bus speed setting determines the default value. To change this value, select
the Enable bit parameters manually check box first. Refer to the TSEG1 property
for more information.
Time segment 2
Specify the amount of bit time segments that the channel can shorten the sample
time to resynchronize. The specified value must be a positive integer. If you do not
specify a value, the selected bus speed setting determines the default value. To
change this value, select the Enable bit parameters manually check box first.
Refer to the TSEG2 property for more information.
Number of samples
Specify the total number of samples available to this channel. The specified value
must be a positive integer. If you do not specify a value, the selected bus speed
setting determines the default value. To change this value, select the Enable bit
parameters manually check box first. Refer to the NumOfSamples property for
more information.
Verify bit parameter settings validity
If you have set the bit parameter settings manually, click this button to see if your
settings are valid. The block then runs a check to see if the combination of your bus
speed setting and the bit parameter value forms a valid value for the CAN device. If
the new bit parameter values do not form a valid combination, the verification fails
and displays an error message.
Acknowledge mode
Specify whether the channel is in Normal or Silent mode. By default Acknowledge
mode is Normal. In this mode, the channel both receives and transmits messages
normally and performs other tasks on the network such as acknowledging messages
and creating error frames. To observe all message activity on the network and
perform analysis, without affecting the network state or behavior, select Silent. In
Silent mode, you can only receive messages and not transmit.

Notes

You cannot specify the mode if you are using NI virtual channels.

Use Silent mode only if you want to observe and analyze your network
activity.

15-4
CAN Configuration

Other Supported Features

The CAN Log block supports the use of Simulink Accelerator and Rapid Accelerator
mode. Using this feature, you can speed up the execution of Simulink models.

For more information on this feature, see the Simulink documentation.

The CAN Log block supports the use of code generation along with the packNGo function
to group required source code and dependent shared libraries. For more information, see
Code Generation on page 15-7.

Code Generation
Vehicle Network Toolbox Simulink blocks allow you to generate code, enabling models
containing these blocks to run in Accelerator, Rapid Accelerator, External, and Deployed
modes.

Code Generation with Simulink Coder

You can use Vehicle Network Toolbox, Simulink Coder, and Embedded Coder
software together to generate code on the host end that you can use to implement your
model. For more information on code generation, see Build Process (Simulink Coder).

Shared Library Dependencies

The block generates code with limited portability. The block uses precompiled shared
libraries, such as DLLs, to support I/O for specific types of devices. With this block, you
can use the packNGo function supported by Simulink Coder to set up and manage the
build information for your models. The packNGo function allows you to package model
code and dependent shared libraries into a zip file for deployment. You do not need
MATLAB installed on the target system, but the target system needs to be supported by
MATLAB.

To set up packNGo:
set_param(gcs,'PostCodeGenCommand','packNGo(buildInfo)');

In this example, gcs is the current model that you want to build. Building the model
creates a zip file with the same name as model name. You can move this zip file to

15-7
15 Block Reference

another machine and there build the source code in the zip file to create an executable
which can run independent of MATLAB and Simulink. The generated code compiles with
both C and C++ compilers. For more information, see Build Process Customization
(Simulink Coder).

Parameters

Tip: If you are logging from the network, you need to configure your CAN channel with a
CAN Configuration block.

File name
Type the name and path of the file to log CAN messages to, or click Browse to
browse to a file location.

The model appends the log file name with the current date and time in the YYYY-
MMM-DD_hhmmss format. You can also open the block mask and specify a unique
name to differentiate between your files for repeated logging.
Variable Name
Type the variable saved in the MAT-file that holds the CAN message information.
Maximum number of messages to log
Specify the maximum number of messages this block can log from the selected device
or port. The specified value must be a positive integer. If you do not specify a value
the block uses the default value of 10,000 messages. The log file saves the most
recent messages up to the specified maximum number.
Log messages from
Select the source of the messages logged by the block. Possible values are CAN Bus or
Input port. To log messages from the network, you must specify a device.
Device
Select the device on the CAN network that you want to log messages from. This filed
is unavailable if you select Input port for Log messages from option.
Sample time
Specify the sampling time of the block during simulation, which is the simulation
time as described by the Simulink documentation. This value defines the frequency
at which the CAN Log block runs during simulation. If the block is inside a triggered

15-8
CAN Log

subsystem or to inherit sample time, you can specify 1 as your sample time. You
can also specify a MATLAB variable for sample time. The default value is 0.01 (in
seconds).

Embedded Coder/ Embedded Targets/ Host Communication

Description
The CAN Pack block loads signal data into a message at specified intervals during the
simulation.

Note: To use this block, you also need a license for Simulink software.

CAN Pack block has one input port by default. The number of block inputs is dynamic
and depends on the number of signals you specify for the block. For example, if your
block has four signals, it has four block inputs.

This block has one output port, CAN Msg. The CAN Pack block takes the specified input
parameters and packs the signals into a message.

Other Supported Features

The CAN Pack block supports:

The use of Simulink Accelerator Rapid Accelerator mode. Using this feature, you can
speed up the execution of Simulink models.
The use of model referencing. Using this feature, your model can include other
Simulink models as modular components.

15-10
CAN Pack

Code generation to deploy models to targets.

Note: Code generation is not supported if your signal information consists of signed or
unsigned integers greater than 32-bits long.

For more information on these features, see the Simulink documentation.

Dialog Box
Use the Function Block Parameters dialog box to select your CAN Pack block
parameters.

Parameters
Data is input as
Select your data signal:

raw data: Input data as a uint8 vector array. If you select this option, you only
specify the message fields. all other signal parameter fields are unavailable. This
option opens only one input port on your block.
manually specified signals: Allows you to specify data signal definitions. If you
select this option, use the Signals table to create your signals. The number of
block inputs depends on the number of signals you specify.
CANdb specified signals: Allows you to specify a CAN database file that
contains message and signal definitions. If you select this option, select a CANdb
file. The number of block inputs depends on the number of signals specified in the
CANdb file for the selected message.

CANdb file
This option is available if you specify that your data is input via a CANdb file in the
Data is input as list. Click Browse to find the CANdb file on your system. The
message list specified in the CANdb file populates the Message section of the dialog
box. The CANdb file also populates the Signals table for the selected message.

Note: File names that contain non-alphanumeric characters such as equal signs,
ampersands, and so forth are not valid CAN database file names. You can use

15-11
15 Block Reference

periods in your database name. Rename CAN database files with non-alphanumeric
characters before you use them.

Message list
This option is available if you specify that your data is input via a CANdb file in the
Data is input as field and you select a CANdb file in the CANdb file field. Select
the message to display signal details in the Signals table.

Message
Name
Specify a name for your CAN message. The default is CAN Msg. This option is
available if you choose to input raw data or manually specify signals. This option in
unavailable if you choose to use signals from a CANdb file.
Identifier type
Specify whether your CAN message identifier is a Standard or an Extended
type. The default is Standard. A standard identifier is an 11-bit identifier and an
extended identifier is a 29-bit identifier. This option is available if you choose to
input raw data or manually specify signals. For CANdb specified signals, the
Identifier type inherits the type from the database.
Identifier
Specify your CAN message ID. This number must be a positive integer from 0
through 2047 for a standard identifier and from 0 through 536870911 for an
extended identifier. You can also specify hexadecimal values using the hex2dec
function. This option is available if you choose to input raw data or manually specify
signals.
Length (bytes)
Specify the length of your CAN message from 0 to 8 bytes. If you are using CANdb
specified signals for your data input, the CANdb file defines the length of your
message. If not, this field defaults to 8. This option is available if you choose to input
raw data or manually specify signals.
Remote frame
Specify the CAN message as a remote frame.

15-12
CAN Pack

Signals Table
This table appears if you choose to specify signals manually or define signals using a
CANdb file.

If you are using a CANdb file, the data in the file populates this table automatically
and you cannot edit the fields. To edit signal information, switch to manually specified
signals.

If you have selected to specify signals manually, create your signals manually in this
table. Each signal you create has the following values:

Name
Specify a descriptive name for your signal. The Simulink block in your model displays
this name. The default is Signal [row number].
Start bit
Specify the start bit of the data. The start bit is the least significant bit counted from
the start of the message data. The start bit must be an integer from 0 through 63.
Length (bits)
Specify the number of bits the signal occupies in the message. The length must be an
integer from 1 through 64.
Byte order
Select either of the following options:

LE: Where the byte order is in little-endian format (Intel). In this format you
count bits from the start, which is the least significant bit, to the most significant
bit, which has the highest bit index. For example, if you pack one byte of data
in little-endian format, with the start bit at 20, the data bit table resembles this
figure.

15-13
15 Block Reference

Little-Endian Byte Order Counted from the Least Significant Bit to the Highest Address
BE: Where byte order is in big-endian format (Motorola). In this format you count
bits from the start, which is the least significant bit, to the most significant bit.
For example, if you pack one byte of data in big-endian format, with the start bit
at 20, the data bit table resembles this figure.

15-14
CAN Pack

Big-Endian Byte Order Counted from the Least Significant Bit to the Lowest Address

Data type
Specify how the signal interprets the data in the allocated bits. Choose from:

signed (default)
unsigned
single
double

Multiplex type
Specify how the block packs the signals into the CAN message at each timestep:

15-15
15 Block Reference

Standard: The signal is packed at each timestep.

Multiplexor: The Multiplexor signal, or the mode signal is packed. You can
specify only one Multiplexor signal per message.
Multiplexed: The signal is packed if the value of the Multiplexor signal (mode
signal) at run time matches the configured Multiplex value of this signal.

For example, a message has four signals with the following types and values.

Signal Name Multiplex Type Multiplex Value

Signal-A Standard N/A
Signal-B Multiplexed 1
Signal-C Multiplexed 0
Signal-D Multiplexor N/A

In this example:

The block packs Signal-A (Standard signal) and Signal-D (Multiplexor signal) in
every timestep.
If the value of Signal-D is 1 at a particular timestep, then the block packs Signal-
B along with Signal-A and Signal-D in that timestep.
If the value of Signal-D is 0 at a particular timestep, then the block packs Signal-
C along with Signal-A and Signal-D in that timestep.
If the value of Signal-D is not 1 or 0, the block does not pack either of the
Multiplexed signals in that timestep.

Multiplex value
This option is available only if you have selected the Multiplex type to be
Multiplexed. The value you provide here must match the Multiplexor signal
value at run time for the block to pack the Multiplexed signal. The Multiplex
value must be a positive integer or zero.
Factor
Specify the Factor value to apply to convert the physical value (signal value) to the
raw value packed in the message. See Conversion Formula on page 15-17 to
understand how physical values are converted to raw values packed into a message.
Offset

15-16
CAN Pack

Specify the Offset value to apply to convert the physical value (signal value) to the
raw value packed in the message. See Conversion Formula on page 15-17 to
understand how physical values are converted to raw values packed into a message.
Min
Specify the minimum physical value of the signal. The default value is -inf
(negative infinity). You can specify a number for the minimum value. See
Conversion Formula on page 15-17 to understand how physical values are
converted to raw values packed into a message.
Max
Specify the maximum physical value of the signal. The default value is inf. You
can specify a number for the maximum value. See Conversion Formula on page
15-17 to understand how physical values are converted to raw values packed into
a message.

Conversion Formula
The conversion formula is
raw_value = (physical_value - Offset) / Factor
where physical_value is the value of the signal after it is saturated using the specified
Min and Max values. raw_value is the packed signal value.

The CAN Receive block has two output ports:

The f() output port is a trigger to a Function-Call subsystem. If the block receives
a new message, it triggers a Function-Call from this port. You can then connect to a
Function-Call Subsystem to unpack and process a message.
The CAN Msg output port contains a CAN message received at that particular
timestep.

The CAN Receive block stores CAN messages in a first-in, first-out (FIFO) buffer. The
FIFO buffer delivers the messages to your model in the queued order at every timestep.

Tip You cannot have more than one CAN Receive block in a model using the same NI-
XNET or PEAK-System device channel.

15-18
CAN Receive

Other Supported Feature

The CAN Receive block supports the use of Simulink Accelerator mode. Using this
feature, you can speed up the execution of Simulink models.

For more information on this feature, see the Simulink documentation.

The CAN Receive block supports the use of code generation along with the packNGo
function to group required source code and dependent shared libraries. For more
information, see Code Generation on page 15-7.

Code Generation
Vehicle Network Toolbox Simulink blocks allow you to generate code, enabling models
containing these blocks to run in Accelerator, Rapid Accelerator, External, and Deployed
modes.

Code Generation with Simulink Coder

You can use Vehicle Network Toolbox, Simulink Coder, and Embedded Coder software
together to generate code on the host end that you can use to implement your model. For
more information on code generation, see Build Process (Simulink Coder).

Shared Library Dependencies

To set up packNGo:

set_param(gcs,'PostCodeGenCommand','packNGo(buildInfo)');

In this example, gcs is the current model that you want to build. Building the model
creates a zip file with the same name as model name. You can move this zip file to

15-19
15 Block Reference

Parameters

Tip Configure your CAN Configuration block before you configure the CAN Receive block
parameters.

Device
Select the CAN device and a channel on the device you want to receive CAN
messages from. This field lists all the devices installed on the system. It displays the
vendor name, the device name, and the channel ID. The default is the first available
device on your system.
Standard IDs Filter
Select the filter on this block for standard IDs. Valid choices are:

Allow all (default): Allows all standard IDs to pass the filter.
Allow only: Allows only ID or range of IDs specified in the text field. You can
specify a single ID or an array of IDs. You can also specify disjointed IDs or
arrays separated by a comma. For example, to accept IDs from 400 through 500,
and 600 through 650, enter [[400:500] [600:650]]. Standard IDs must be
positive integers from 0 to 2047. You can also specify hexadecimal values with the
hex2dec function.
Block all: Blocks all standard IDs from passing the filter.

Extended IDs Filter

Select the filter on this block for extended IDs. Valid choices are:

Allow all (default): Allows all extended IDs to pass the filter.
Allow only: Allows only those IDs specified in the text field. You can specify
a single ID or an array of IDs. You can also specify disjointed IDs or arrays
separated by a comma. For example, to accept IDs from 3000 through 3500, and
3600 through 3620, enter [[3000:3500] [3600:3620]]. Extended IDs must

15-20
CAN Receive

be positive integers from 0 to 536870911. You can also specify hexadecimal values
using the hex2dec function.
Block all: Blocks all extended IDs from passing the filter.

Sample time
Specify the sampling time of the block during simulation, which is the simulation
time as described by the Simulink documentation. This value defines the frequency
at which the CAN Receive block runs during simulation. If the block is inside a
triggered subsystem or to inherit sample time, you can specify -1 as your sample
time. You can also specify a MATLAB variable for sample time. The default value is
0.01 (in seconds).
Number of messages received at each timestep
Select how many messages the block receives at each specified timestep. Valid
choices are:

all (default): The CAN Receive block delivers all available messages in the
FIFO buffer to the model during a specific timestep. The block generates one
function call for each delivered message. The output port always contains one
CAN message at a time.
1: The CAN Receive block delivers one message per timestep from the FIFO buffer
to the model.

If the block does not receive any messages before the next timestep, it outputs the
last received message.

Other Supported Features

The CAN Replay block supports the use of Simulink Accelerator Rapid Accelerator mode.
Using this feature, you can speed up the execution of Simulink models.

For more information on this feature, see the Simulink documentation.

The CAN Replay block supports the use of code generation along with the packNGo
function to group required source code and dependent shared libraries. For more
information, see Code Generation on page 15-7.

Code Generation
Vehicle Network Toolbox Simulink blocks allow you to generate code, enabling models
containing these blocks to run in Accelerator, Rapid Accelerator, External, and Deployed
modes.

Code Generation with Simulink Coder

You can use Vehicle Network Toolbox, Simulink Coder, and Embedded Coder software
together to generate code on the host end that you can use to implement your model. For
more information on code generation, see Build Process (Simulink Coder).

Shared Library Dependencies

To set up packNGo:

set_param(gcs,'PostCodeGenCommand','packNGo(buildInfo)');

In this example, gcs is the current model that you want to build. Building the model
creates a zip file with the same name as model name. You can move this zip file to

15-23
15 Block Reference

Parameters

Tip: Configure your CAN Configuration block before you configure the CAN Receive block
parameters.

File name
Specify the name and path of the file that contains logged CAN messages that you
can replay. You can click Browse to browse to a file location and select the file.
Variable name
Specify the variable saved in the MAT-file that holds the CAN message information.
Number of times to replay messages
Specify the number of times you want the message replayed in your model. You can
specify any positive integer, including Inf. Specifying Inf continuously replays
messages until simulation stops.
Replay messages to
Specify if the model is replaying messages to the CAN network or an output port.
Select a device to replay to the CAN network.
Device
Select the device on the CAN network to replay messages to. This filed is unavailable
if you select Input port for Replay message to option.
Sample time
Specify the sampling time of the block during simulation, which is the simulation
time as described by the Simulink documentation. This value defines the frequency
at which the CAN Replay block runs during simulation. If the block is inside a
triggered subsystem or to inherit sample time, you can specify 1 as your sample
time. You can also specify a MATLAB variable for sample time. The default value is
0.01 (in seconds).

15-24
CAN Replay

See Also

Other Supported Feature

The CAN Transmit block supports the use of Simulink Accelerator mode. Using this
feature, you can speed up the execution of Simulink models.

15-26
CAN Transmit

For more information on this feature, see the Simulink documentation.

The CAN Transmit block supports the use of code generation along with the packNGo
function to group required source code and dependent shared libraries. For more
information, see Code Generation.

Code Generation
Vehicle Network Toolbox Simulink blocks allow you to generate code, enabling models
containing these blocks to run in Accelerator, Rapid Accelerator, External, and Deployed
modes.

Code Generation with Simulink Coder

You can use Vehicle Network Toolbox, Simulink Coder, and Embedded Coder software
together to generate code on the host end that you can use to implement your model. For
more information on code generation, see Build Process (Simulink Coder).

Shared Library Dependencies

To set up packNGo:

set_param(gcs,'PostCodeGenCommand','packNGo(buildInfo)');

In this example, gcs is the current model that you want to build. Building the model
creates a zip file with the same name as model name. You can move this zip file to
another machine and there build the source code in the zip file to create an executable
which can run independent of MATLAB and Simulink. The generated code compiles with
both C and C++ compilers. For more information, see Build Process Customization
(Simulink Coder).

15-27
15 Block Reference

Parameters

Tip: Configure your CAN Configuration block before you configure the CAN Transmit
block parameters.

Device
Select the CAN device and a channel on the device to use to transmit CAN messages
to the network. This list shows all the devices installed on the system. It displays the
vendor name, the device name, and the channel ID. The default is the first available
device on your system.
Transmit messages periodically
Select this option to enable periodic transmit of the message on the configured
channel to transmit at the specified period.
Message period (in seconds)
Specify a period in seconds. This value is used to transmit the message in the
specified period. By default this value is 1.000 seconds.

Embedded Coder/ Embedded Targets/ Host Communication

Description
The CAN Unpack block unpacks a CAN message into signal data using the specified
output parameters at every timestep. Data is output as individual signals.

Note: To use this block, you also need a license for Simulink software.

The CAN Unpack block has one output port by default. The number of output ports is
dynamic and depends on the number of signals you specify for the block to output. For
example, if your block has four signals, it has four output ports.

Other Supported Features

The CAN Unpack block supports:

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15 Block Reference

Code generation to deploy models to targets.

Note: Code generation is not supported if your signal information consists of signed or
unsigned integers greater than 32-bits long.

For more information on these features, see the Simulink documentation.

Dialog Box
Use the Function Block Parameters dialog box to select your CAN message unpacking
parameters.

Parameters
Data to be output as
Select your data signal:

raw data: Output data as a uint8 vector array. If you select this option, you only
specify the message fields. The other signal parameter fields are unavailable. This
option opens only one output port on your block.
manually specified signals: Allows you to specify data signals. If you select this
option, use the Signals table to create your signals message manually.

The number of output ports on your block depends on the number of signals you
specify. For example, if you specify four signals, your block has four output ports.
CANdb specified signals: Allows you to specify a CAN database file that
contains data signals. If you select this option, select a CANdb file.

The number of output ports on your block depends on the number of signals
specified in the CANdb file. For example, if the selected message in the CANdb
file has four signals, your block has four output ports.

CANdb file
This option is available if you specify that your data is input via a CANdb file in the
Data to be output as list. Click Browse to find the CANdb file on your system. The
messages and signal definitions specified in the CANdb file populate the Message
section of the dialog box. The signals specified in the CANdb file populate Signals
table.

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CAN Unpack

Note: File names that contain non-alphanumeric characters such as equal signs,
ampersands, and so forth are not valid CAN database file names. You can use
periods in your database name. Rename CAN database files with non-alphanumeric
characters before you use them.

Message list
This option is available if you specify that your data is to be output as a CANdb file
in the Data to be output as list and you select a CANdb file in the CANdb file
field. You can select the message that you want to view. The Signals table then
displays the details of the selected message.

Message
Name
Specify a name for your CAN message. The default is CAN Msg. This option is
available if you choose to output raw data or manually specify signals.
Identifier type
Specify whether your CAN message identifier is a Standard or an Extended
type. The default is Standard. A standard identifier is an 11-bit identifier and
an extended identifier is a 29-bit identifier. This option is available if you choose
to output raw data or manually specify signals. For CANdb-specified signals, the
Identifier type inherits the type from the database.
Identifier
Specify your CAN message ID. This number must be a integer from 0 through 2047
for a standard identifier and from 0 through 536870911 for an extended identifier. If
you specify 1, the block unpacks the messages that match the length specified for
the message. You can also specify hexadecimal values using the hex2dec function.
This option is available if you choose to output raw data or manually specify signals.
Length (bytes)
Specify the length of your CAN message from 0 to 8 bytes. If you are using CANdb
specified signals for your output data, the CANdb file defines the length of
your message. If not, this field defaults to 8. This option is available if you choose to
output raw data or manually specify signals.

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15 Block Reference

Signals Table
This table appears if you choose to specify signals manually or define signals using a
CANdb file.

If you are using a CANdb file, the data in the file populates this table automatically
and you cannot edit the fields. To edit signal information, switch to manually specified
signals.

If you have selected to specify signals manually, create your signals manually in this
table. Each signal you create has the following values:

Name
Specify a descriptive name for your signal. The Simulink block in your model displays
this name. The default is Signal [row number].
Start bit
Specify the start bit of the data. The start bit is the least significant bit counted from
the start of the message. The start bit must be an integer from 0 through 63.
Length (bits)
Specify the number of bits the signal occupies in the message. The length must be an
integer from 1 through 64.
Byte order
Select either of the following options:

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CAN Unpack

Little-Endian Byte Order Counted from the Least Significant Bit to the Highest Address
BE: Where the byte order is in big-endian format (Motorola). In this format you
count bits from the start, which is the least significant bit, to the most significant
bit. For example, if you pack one byte of data in big-endian format, with the start
bit at 20, the data bit table resembles this figure.

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15 Block Reference

Big-Endian Byte Order Counted from the Least Significant Bit to the Lowest Address

Data type
Specify how the signal interprets the data in the allocated bits. Choose from:

signed (default)
unsigned
single
double

Multiplex type
Specify how the block unpacks the signals from the CAN message at each timestep:

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CAN Unpack

Standard: The signal is unpacked at each timestep.

Multiplexor: The Multiplexor signal, or the mode signal is unpacked. You can
specify only one Multiplexor signal per message.
Multiplexed: The signal is unpacked if the value of the Multiplexor signal
(mode signal) at run time matches the configured Multiplex value of this signal.

For example, a message has four signals with the following values.

Signal Name Multiplex Type Multiplex Value

Signal-A Standard N/A
Signal-B Multiplexed 1
Signal-C Multiplexed 0
Signal-D Multiplexor N/A

In this example:

The block unpacks Signal-A (Standard signal) and Signal-D (Multiplexor signal)
in every timestep.
If the value of Signal-D is 1 at a particular timestep, then the block unpacks
Signal-B along with Signal-A and Signal-D in that timestep.
If the value of Signal-D is 0 at a particular timestep, then the block unpacks
Signal-C along with Signal-A and Signal-D in that timestep.
If the value of Signal-D is not 1 or 0, the block does not unpack either of the
Multiplexed signals in that timestep.

Multiplex value
This option is available only if you have selected the Multiplex type to be
Multiplexed. The value you provide here must match the Multiplexor signal
value at run time for the block to unpack the Multiplexed signal. The Multiplex
value must be a positive integer or zero.
Factor
Specify the Factor value applied to convert the unpacked raw value to the physical
value (signal value). See Conversion Formula on page 15-37 to understand how
unpacked raw values are converted to physical values.
Offset

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15 Block Reference

Specify the Offset value applied to convert the physical value (signal value) to the
unpacked raw value. See Conversion Formula on page 15-37 to understand how
unpacked raw values are converted to physical values.
Min
Specify the minimum raw value of the signal. The default value is -inf (negative
infinity). You can specify a number for the minimum value. See Conversion
Formula on page 15-37 to understand how unpacked raw values are converted to
physical values.
Max
Specify the maximum raw value of the signal. The default value is inf. You can
specify a number for the maximum value. See Conversion Formula on page
15-37 to understand how unpacked raw values are converted to physical values.

Output Ports
Selecting an Output ports option adds an output port to your block.

Output identifier
Select this option to output a CAN message identifier. The data type of this port is
uint32.
Output remote
Select this option to output the message remote frame status. This option adds a new
output port to the block. The data type of this port is uint8.
Output timestamp
Select this option to output the message time stamp. This option adds a new output
port to the block. The data type of this port is double.
Output length
Select this option to output the length of the message in bytes. This option adds a
new output port to the block. The data type of this port is uint8.
Output error
Select this option to output the message error status. This option adds a new output
port to the block. The data type of this port is uint8.
Output status
Select this option to output the message received status. The status is 1 if the block
receives new message and 0 if it does not. This option adds a new output port to the
block. The data type of this port is uint8.

15-36
CAN Unpack

If you do not select an Output ports option, the number of output ports on your block
depends on the number of signals you specify.

Conversion Formula
The conversion formula is
physical_value = raw_value * Factor + Offset
where raw_value is the unpacked signal value. physical_value is the scaled signal
value which is saturated using the specified Min and Max values.

J1939 CAN Transport Layer

Transport J1939 messages via CAN

Library
Vehicle Network Toolbox: J1939 Communication

Description
The J1939 CAN Transport Layer block allows J1939 communication via a CAN bus.
This block associates a user-defined J1939 network configuration with a connected CAN
device. Use one block for each J1939 Network Configuration block in your model.

Note: You need a license for both Vehicle Network Toolbox and Simulink software to use
this block.

Other Supported Features

The J1939 communication blocks support the use of Simulink Accelerator and Rapid
Accelerator mode. Using this feature, you can speed up the execution of Simulink models.
For more information on this feature, see the Simulink documentation.

The J1939 communication blocks also support code generation with limited deployment
capabilities. Code generation requires the Microsoft C++ compiler.

Parameters
Config name

15-38
J1939 CAN Transport Layer

The name of the J1939 Network Configuration block to associate with.

Device
The CAN device, chosen from all connected CAN devices.
Bus speed
Speed of the CAN bus. The J1939 protocol specifies two rates of 250k and 500k. The
default is 250000.
Sample time
Simulation refresh rate. Specify the sampling time of the block during simulation.
This value defines the frequency at which the J1939 CAN Transport Layer block
runs during simulation. For information about simulation sample timing, see What
Is Sample Time? (Simulink) If the block is inside a triggered subsystem or inherits
a sample time, specify a value of -1. You can also specify a MATLAB variable for
sample time. The default value is 0.01 seconds.

See Also

See Also
Blocks
J1939 Network Configuration | J1939 Node Configuration | J1939 Receive
| J1939 Transmit

Topics
Basic J1939 Communication over CAN

Introduced in R2015b

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15 Block Reference

J1939 Network Configuration

Define J1939 network configuration name and database file

Library
Vehicle Network Toolbox: J1939 Communication

Description
The J1939 Network Configuration block is where you define a configuration name and
specify the associated user-supplied J1939 database. You can include more than one
block per model, each corresponding to a unique configuration on the CAN bus.

Note: You need a license for both Vehicle Network Toolbox and Simulink software to use
this block.

Other Supported Features

The J1939 communication blocks also support code generation with limited deployment
capabilities. Code generation requires the Microsoft C++ compiler.

Parameters
Configuration name

15-40
J1939 Network Configuration

Define a name for this J1939 network configuration. The default is ConfigX, where
the number X automatically increases from 1 based on the number of existing blocks.
Database File
Specify the J1939 database file name relative to the current folder. For example,
enter J1939.dbc if the file is in the current folder; otherwise enter the full path with
the file name, such as C:\work\J1939.dbc.

The database file defines the J1939 parameter groups and nodes, and must be in the
.dbc format defined by Vector Informatik GmbH.

See Also

See Also
Blocks
J1939 CAN Transport Layer | J1939 Node Configuration | J1939 Receive |
J1939 Transmit

Topics
Basic J1939 Communication over CAN

Introduced in R2015b

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15 Block Reference

J1939 Node Configuration

Configure J1939 node with address and network management attributes

Library
Vehicle Network Toolbox: J1939 Communication

Description
The J1939 Node Configuration block is where you define a node and associate it with a
specific network configuration. Its Message information is read from the database for
that configuration, unless you are creating and configuring a custom node.

Note: You need a license for both Vehicle Network Toolbox and Simulink software to use
this block.

Other Supported Features

The J1939 communication blocks also support code generation with limited deployment
capabilities. Code generation requires the Microsoft C++ compiler.

Block Outputs
Address (optional)

15-42
J1939 Node Configuration

This output port exists when you check Output current node address in the dialog
box. It returns the effective address of the node.
AC Status (optional)
This output port exists when you check Output address claim status in the dialog
box. It indicates the success (1) or failure (0) of the nodes address claim.

Parameters
Config name
The ID of the J1939 network configuration to associate this node with. This is used to
access the corresponding J1939 database.
Node name
The name of this J1939 node. The available list shows none if no J1939 network
configuration is found or no node is defined in the associated database. If you are
creating a custom node, the node name must be unique within its J1939 network
configuration.
Message
These are the nine network attributes as defined by the database file consistent with
the J1939 protocol. These parameters are read-only unless you are defining a custom
node.

Allow arbitrary address Allow/disallow the node to switch to an arbitrary

address if the station address is not available. If this option is off and the node
loses its address claim, the node goes silent.

Node Address Station address, decimal, 8-bit.

Industry Group Decimal, 3-bit.
Vehicle System Decimal, 7-bit.
Vehicle System Instance Identifies one particular occurrence of a given
vehicle system in a given network. If only one instance of a certain vehicle
system exists in a network, then this field must be set to 0 to define it as the first
instance. Decimal, 4-bit.
Function ID Decimal, 8-bit.
Function Instance Identifies the particular occurrence of a given function
in a vehicle system and given network. If only one instance of a certain function

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15 Block Reference

exists in a network, then this field must be set to 0 to define it as the first
instance. Decimal, 5-bit.
ECU Instance This 3-bit field is used when multiple electronic control units
(ECU) are involved in performing a single function. If only one ECU is used for a
particular controller application (CA), then this field must be set to 0 to define it
as the first instance.
Manufacturer Code Decimal, 11-bit.
Identity Number Decimal, 21-bit.

Sample time
Simulation refresh rate. Specify the sampling time of the block during simulation.
This value defines the frequency at which the J1939 Node Configuration updates
its optional output ports. If the block is inside a triggered subsystem or inherits
a sample time, specify a value of -1. You can also specify a MATLAB variable for
sample time. The default value is 0.01 seconds. For information about simulation
sample timing, see What Is Sample Time? (Simulink)
Output current node address
Enable or disable the Address output port to show the effective address. The
effective address is different from the predefined station address if Allow arbitrary
address is selected, a name conflict occurs, and the current node has lower priority.
The output signal is a double value from 0 to 253. This port is disabled by default.
Output address claim status
Enable or disable the address claim AC Status output port to show the success of an
address claim. The output value is binary, 1 for success or 0 for failure. This port is
disabled by default.

See Also
See Also
Blocks
J1939 CAN Transport Layer | J1939 Network Configuration | J1939
Receive | J1939 Transmit

Topics
Basic J1939 Communication over CAN

15-44
J1939 Node Configuration

Introduced in R2015b

15-45
15 Block Reference

J1939 Receive
Receive J1939 parameter group messages

Library
Vehicle Network Toolbox: J1939 Communication

Description
The J1939 Receive block receives a J1939 message from the configured CAN device.
The J1939 database file defines the nodes and parameter groups. You specify the J1939
database with the J1939 Network Configuration block.

Note: You need a license for both Vehicle Network Toolbox and Simulink software to use
this block.

Other Supported Features

The J1939 communication blocks also support code generation with limited deployment
capabilities. Code generation requires the Microsoft C++ compiler.

Block Outputs
Data

15-46
J1939 Receive

Depending on the J1939 parameter group defined in the J1939 database file, the
block can have multiple data output signal ports. The block output data type is
double.
Msg Status
When Output New Message Received status is checked in the dialog box, this
port outputs 1 when a new message is received from the CAN bus; otherwise, outputs
0.

Parameters
Config name
The name of the J1939 network configuration to associate with. This is used to
access the corresponding J1939 database. Only the nodes defined in the model and
associated with the specified J1939 network configuration appear in the Node name
list. The option shows none if no J1939 network configuration is found.
Node name
The name of the J1939 node. The drop-down list includes all the nodes in the model,
both custom nodes and nodes from the database.
Parameter Group
The parameter group number (PGN) and name from the database. The contents
of this list vary depending on the parameter groups that the J1939 database file
specifies. The default is the first parameter group for the selected node.

Note If you change any parameter group settings within your J1939 database
file, you must then open the J1939 Receive block dialog box and select the same
Parameter Group, then click OK or Apply to update the parameter group
information in the block.

Signals
Signals defined in the parameter group.
Source Address Filter
Filter messages based on source address:

Allow only Lets you specify a single source address of interest.

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15 Block Reference

Allow all Accepts messages from any source address. This is the default.

Destination Address Filter

Filter out message based on destination address:

global only Receive only broadcast messages.

node specific only Receive only messages addressed to this node.
global and specific Receive all broadcast and node-addressed messages.
This is the default.

Sample time
Simulation refresh rate. Specify the sampling time of the block during simulation.
This value defines the frequency at which the J1939 Receive updates its output ports.
If the block is inside a triggered subsystem or inherits a sample time, specify a value
of -1. You can also specify a MATLAB variable for sample time. The default value is
0.01 seconds. For information about simulation sample timing, see What Is Sample
Time? (Simulink)
Output New Message Received status
Select this check box to create a Msg Status output port. Its output signal indicates
a new incoming message, showing 1 for a new message received, or 0 when there is
no new message.

See Also

See Also
Blocks
J1939 CAN Transport Layer | J1939 Network Configuration | J1939 Node
Configuration | J1939 Transmit

Topics
Basic J1939 Communication over CAN

Introduced in R2015b

15-48
J1939 Transmit

J1939 Transmit
Transmit J1939 message

Library
Vehicle Network Toolbox: J1939 Communication

Description
The J1939 Transmit block transmits a J1939 message. The J1939 database file defines
the nodes and parameter groups. You specify the J1939 database with the J1939
Network Configuration block.

Note: You need a license for both Vehicle Network Toolbox and Simulink software to use
this block.

Other Supported Features

The J1939 communication blocks also support code generation with limited deployment
capabilities. Code generation requires the Microsoft C++ compiler.

Block Inputs
Data

15-49
15 Block Reference

Depending on the J1939 parameter group and signals defined in the J1939 database
file, the block can have multiple data input ports.
Trigger

Enables the transmission of the message for that sample. A value of 1 specifies to
send, a value of 0 specifies not to send.

Note If you change any parameter group settings within your J1939 database
file, you must then open the J1939 Transmit block dialog box and select the same
Parameter Group, then click OK or Apply to update the parameter group
information in the block.

Signals
Signals defined in the parameter group.
PG Priority
Priority of the parameter group, read from the database. This priority setting
resolves clashes of multiple parameter groups transmitting on the same bus at the
same time. If a conflict occurs, the priority group with lower priority (i.e., higher

15-50
J1939 Transmit

value) will refrain from transmitting. The value can range from 0 (highest priority) to
7 (lowest).
Destination Address
Name of the destination node. The default is the first node defined in the database,
otherwise Custom.

For a custom destination address, you can specify 0253 for the address of the
destination node. For broadcasting to all nodes, use the Custom Destination
Address setting with an address of 255.

See Also

See Also
Blocks
J1939 CAN Transport Layer | J1939 Network Configuration | J1939 Node
Configuration | J1939 Receive

Topics
Basic J1939 Communication over CAN

Introduced in R2015b

15-51
15 Block Reference

XCP Configuration
Configure XCP slave connection

Library
XCP Communication

Description
The XCP Configuration block uses the parameters specified in the A2L file and the
ASAP2 database to establish XCP slave connection.

Specify the A2L file to use in your XCP Configuration before you acquire or stimulate
data. Use one XCP Configuration to configure one slave for data acquisition or
stimulation. If you add Data Acquisition and Data Stimulation blocks, your model checks
to see if there is a corresponding XCP Configuration block and will prompt you to add
one.

Other Supported Features

The XCP communication blocks support the use of Simulink Accelerator and Rapid
Accelerator mode. Using this feature, you can speed up the execution of Simulink models.
For more information on this feature, see the Simulink documentation.

The XCP communication blocks also support code generation with limited deployment
capabilities. Code generation requires the Microsoft C++ compiler.

Parameters
Config name

15-52
XCP Configuration

Specify a unique name for your XCP session.

A2L File
Click Browse to select an A2L file for your XCP session.
Enable seed/key security
Select this option if your slave requires a secure key to establish connection. You
need to select a file that contains the seed/key definition to enable the security.
File (*.DLL)
This field is enabled if you select Enable seed/key security. Click Browse to select
the file that contains seed and key security algorithm used to unlock an XCP slave
module.
Output connection status
Select this option to display the status of the connection to the slave module.
Selecting this option adds a new output port.

XCP Data Acquisition

Acquire selected measurements from configured slave

Library
XCP Communication

Description
The XCP Data Acquisition block acquires data from the configured slave based on the
selected measurements. The block uses the XCP CAN transport layer to obtain raw
data for the selected measurements at the specified simulation time step. Configure
your XCP connection and use the XCP Data Acquisition block to select your event and
measurements for the configured slave. The block displays the selected measurements as
output ports.

Note A model with XCP Data Acquisition blocks does not disconnect from the XCP slave
when the simulation ends. The model continues to acquire measurements until the data
transmission from the XCP slave is terminated.

Other Supported Features

The XCP communication blocks also support code generation with limited deployment
capabilities. Code generation requires the Microsoft C++ compiler.

15-54
XCP Data Acquisition

Dialog Box
Use the Block Parameters dialog box to select your data acquisition parameters.

15-55
15 Block Reference

Parameters
Config name
Select the name of XCP configuration you want to use. The list displays all available
names specified in the available XCP Configuration blocks in the model. Selecting
a configuration displays events and measurements available in this configurations
A2L file.

Note: You can acquire measurements for only one event using an XCP Data
Acquisition block. Use one block each for each event whose measurements you want
to acquire.

Event name
Select an event from the available list of events. The XCP Configuration block uses
the specified A2L file to populate the events list.

Measurements
Search
Type the name of the measurement you want to use. The All Measurements lists
displays a list of all matching terms. Click the x

to clear your search.

All Measurements
This list displays all measurements available for the selected event. Select the

measurement you want to use and click the add button, to add it to the
selected measurements. Hold the Ctrl key on your keyboard to select multiple
measurements.

Selected Measurements
This list displays selected measurements. To remove a measurement from this list,

select the measurement and click the remove button, .

15-56
XCP Data Acquisition

Toggle buttons

Use the toggle buttons to reorder the selected measurements.

Sample time
Specify the sampling time of the block during simulation, which is the simulation
time as described by the Simulink documentation. This value defines the frequency
at which the XCP Data Acquisition block runs during simulation. If the block is
inside a triggered subsystem or to inherit sample time, you can specify 1 as your
sample time. You can also specify a MATLAB variable for sample time. The default
value is 0.01 (in seconds).

See Also

XCP Data Stimulation

Perform data stimulation on selected measurements

Library
XCP Communication

Description
The XCP Data Stimulation block sends data to the selected slave for the selected event
measurements. The block uses the XCP CAN transport layer to output raw data for
the selected measurements at the specified stimulation time step. Configure your XCP
session and use the XCP Data Stimulation block to select your event and measurements
on the configured slave. The block displays the selected measurements as input ports.

Other Supported Features

The XCP communication blocks also support code generation with limited deployment
capabilities. Code generation requires the Microsoft C++ compiler.

Dialog Box
Use the Block Parameters dialog box to select your data stimulation parameters.

15-58
XCP Data Stimulation

Parameters
Config name
Select the name of XCP configuration you want to use. The list displays all available
names specified in the available XCP Configuration blocks in the model. Selecting

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15 Block Reference

a configuration displays events and measurements available in this configurations

A2L file.

Note: You can stimulate measurements for only one event using an XCP Data
Stimulation block. Use one block each for each event whose measurements you want
to stimulate.

Event name
Select an event from the available list of events. The XCP Configuration block uses
the specified A2L file to populate the events list.

Measurements
Search
Type the name of the measurement you want to use. The All Measurements lists
displays a list of all matching terms. Click the x

to clear your search.

All Measurements
This list displays all measurements available for the selected event. Select the

measurement you want to use and click the add button, to move it to the
selected measurements. Hold the Ctrl key on your keyboard to select multiple
measurements.

Selected Measurements
This list displays selected measurements. To remove a measurement from this list,

select the measurement and click the remove button, .

Toggle buttons

Use the toggle buttons to reorder the selected measurements.

15-60
XCP Data Stimulation

XCP CAN Transport Layer

Transport XCP messages via CAN

Library
Vehicle Network Toolbox: CAN Communication

Vehicle Network Toolbox: XCP Communication

Description
The XCP CAN Transport Layer subsystem uses the specified device to transport and
receive XCP messages.

Use this block with an XCP Data Acquisition block to acquire and analyze specific
XCP messages. Use this block with an XCP Data Stimulation block to send specific
information to modules.

Other Supported Features

The XCP communication blocks also support code generation with limited deployment
capabilities. Code generation requires the Microsoft C++ compiler.

Parameters
Device

15-62
XCP CAN Transport Layer

Select a CAN device from the list of devices available to your system.
Bus speed
Set the bus speed property for the selected device. The default bus speed is the
default assigned by the selected device.
Sample time
Specify the sampling time of the block during simulation, which is the simulation
time as described by the Simulink documentation. This value defines the frequency
at which the XCP CAN Transport Layer subsystem and the underlying blocks run
during simulation. If the block is inside a triggered subsystem or to inherit sample
time, you can specify 1 as your sample time. You can also specify a MATLAB
variable for sample time. The default value is 0.01 (in seconds).

See Also

See Also
XCP Data Stimulation | XCP Configuration | XCP Data Acquisition

Introduced in R2013a

15-63
15 Block Reference

XCP CAN TL Receive

Receive XCP messages via CAN device

Description
The XCP CAN Transport Layer Receive block receives XCP messages from a CAN
Receive block.

Other Supported Features

The XCP communication blocks also support code generation with limited deployment
capabilities. Code generation requires the Microsoft C++ compiler.

Parameters
Sample time
Specify the sampling time of the block during simulation, which is the simulation
time as described by the Simulink documentation. This value defines the frequency
at which the XCP CAN Transport Layer Receive block runs during simulation. If the
block is inside a triggered subsystem or to inherit sample time, you can specify 1
as your sample time. You can also specify a MATLAB variable for sample time. The
default value is 1 (in seconds).

15-64
XCP CAN TL Receive

See Also

XCP CAN TL Transmit

Transmit queued XCP Messages

Description
The XCP CAN Transport Layer Transmit block connects to a CAN Transmit block to
transmit queued XCP messages.

Other Supported Features

The XCP communication blocks also support code generation with limited deployment
capabilities. Code generation requires the Microsoft C++ compiler.

Parameters
Maximum number of messages
Enter the maximum number of messages the block can transmit. Value must be a
positive integer.
Sample time
Specify the sampling time of the block during simulation, which is the simulation
time as described by the Simulink documentation. This value defines the frequency
at which the XCP CAN Transport Layer block runs during simulation. If the block
is inside a triggered subsystem or to inherit sample time, you can specify 1 as your
sample time. You can also specify a MATLAB variable for sample time. The default
value is 0.01 (in seconds).

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XCP CAN TL Transmit

See Also