Taking you to the next level

IPG Documentation
CarMaker ®
User Manual for the Cockpit Package - standard Edition
 2

The information in this document is furnished for informational use only, may be revised
from time to time, and should not be construed as a commitment by IPG Automotive GmbH.
IPG Automotive GmbH assumes no responsibility or liability for any errors or inaccuracies
that may appear in this document.
This document contains proprietary and copyrighted information and may not be copied,
reproduced, translated, or reduced to any electronic medium without prior consent, in writ-
ing, from IPG Automotive GmbH.
© 1999 - 2013 by IPG Automotive GmbH – www.ipg.de
All rights reserved.
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All other product names are trademarks of their respective companies.

Cockpit Package Manual Version 2.0

 Table of Contents 3

Table of Contents

1 Introduction 4
1.1 Purpose of this document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2 About the Cockpit Package standard edition . . . . . . . . . . . . . . . . . . . . . . 4

2 How to get started 5

2.1 Preparing your system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1.1 About the file structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1.2 Configuring your steering wheel . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.2 Run the Cockpit Package standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

3 Setting your parameters 10

3.1 The Cockpit Package standard options . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2 General options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.3 Buttons options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.4 Axes / Infos options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.5 The Driving mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.6 Pre-defined profile for the Logitech G27 . . . . . . . . . . . . . . . . . . . . . . . . . 16

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 Introduction 4
Purpose of this document

Chapter 1
Introduction

1.1 Purpose of this document

This document explains how to integrate your steering wheel system into the CarMaker
simulation environment. Thereto the document describes how to get started with the Cock-
pit Package standard, to set up a valid connection between CarMaker and your steering
wheel and to parametrize the interface to your needs.

1.2 About the Cockpit Package standard edition

The Cockpit Package standard is based on three main components. The first part is the
interaction between the steering wheel respectively the joystick device and the Cockpit
Package standard. Thereto a function set from the SDL library (Simple Directmedia Layer)
is used. It enables the capturing of joystick events, to transfer the joystick values into Car-
Maker values and finally to forward the values to the APO service.
So, the next part is the APO communication service (Application Online). It enables the
communication between CarMaker and the Cockpit Package standard. Thereto a APO
channel is automatically built up and the necessary data transmitted, e.g. the steering
wheel angle, the foot pedal values and the gear number.
The last part is the Graphical User Interface of the Cockpit Package standard. With the
GUI the user respectively the real driver has the possibility to configure the Cockpit Pack-
age standard to his own needs or simply to use a pre-defined dataset. For example, a
dataset includes the necesary information to build up a valid APO and joystick connection,
the parametrization of the steering wheel behaviour and the mapping from joystick events
to CarMaker events. More information is given in the next chapters.

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 How to get started 5
Preparing your system

Chapter 2
How to get started

2.1 Preparing your system

There exists a Linux and a Windows version of the Cockpit Package standard. The follow-
ing chapter explains how to set up your system and to install the Cockpit Package stan-
dard for the interaction with the CarMaker environment correctly.

2.1.1 About the file structure

The zip-installation folder contains files which have to be copied to the CarMaker project
directory and the IPG installatoin folder. Please find a detail description below:

bin-directory
• G27_profile_win or G27_profile_linux
It is a default dataset which is configured for the Logitech G27 steering wheel connect-
ed to a Windows or a Linux computer. Both files are CarMaker Infofiles which can be
modified with the GUI or by editing it with a text editor. The profiles should be saved to
the bin folder of your CarMaker project directory.

doc-directory
• User Manual
It contains this documents which can be stored at the doc folder of your CarMaker
project directory or at any othe place on your PC.

lib-directory
• DMI.dll or DMI.so
The DMI libraries are natively written in C and compilied with the GNU Compiler Collec-
tion to both destination platforms. For Windows the DMI.dll and for Linux the DMI.so is
used.
• SDL2.dll
It is the Windows runtime library for the SDL interaction. To generate the SDL library for
Linux systems, please contact the CarMaker-Service Team to receive the needed SDL
source code for compilation (needed version: 2.0.0-6609).

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 How to get started 6
Preparing your system

CMext-CockpitPackageStandard.mod
Generates the CarMaker menu item “Specials” to open the GUI of the Cockpit Package
standard. This file has to be saved to the GUI folder of your IPG installation directory (../
IPG/hil/Version/GUI).
When the item is no visible after the first CarMaker start, please restart CarMaker and
check the menu bar again.

2.1.2 Configuring your steering wheel

The Cockpit Package standard is open to any steering wheel systems respectively joystick
devices as long as your system supports the device. It maybe be necessary to install fur-
ther system drivers. Please use your system device manager to check the usability of your
steering wheel (buttons, axes and calibration functionalities).
Nevertheless, to show how a system configuration can be look like, the exemplary integra-
tion of the Logitech G27 steering wheel is shown in the next paragraphs.

Set up your system for the Logitech G27 on a Windows platform

• Installing the system drivers for the Logitech G27 by following the instructions of the
installation guidance. You can use the CD which is contained by the Logitech G27
package.
• Plug in your G27 with the USB connector and start the Logitech Profiler. You can find
the Profiler in your task bar. Here you can see whether your system detects the steer-
ing wheel correctly.
• Go through the menu Options > Global Device Settings. Please make sure that the
Degrees Of Rotation are set to 900 degrees to enable the usage of the full steering
range, how it is shown in Figure 2.1. The residual parameters can be kept with its
default settings.

900 deg.∞

Figure 2.1: Logitech Profiler - Global Device Settings

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 How to get started 7
Run the Cockpit Package standard

Set up your system for the Logitech G27 on a Linux platform

• Please make sure that you have installed the runtime library for the SDL environment
(version 2.0.0-6609). You can receive the source code for compilation from the Car-
Maker-Service Team.
• On Linux there is no need to install a seperate system driver for the Logitech G27 steer-
ing wheel. When your Linux system supports the steering wheel you can go on with fur-
ther settings.
• Newer Linux systems should put the steering wheel automatically into the “native
mode” and enable the full 900 degrees steering range. In the case that it is not auto-
matically done, you can use the “G25manage” and the “ff-utils” for modifying and test-
ing the settings. The tools are open source projects from the internet.
• It could be necessary to calibrate your steering wheel referring to a dead point around
the middle axis or inaccuracies. You can also use the “ff-utils”.
• When you want to use the Force-Feedback under Linux, please keep in mind that offi-
cially Kernels with the version 2.6 or higher support this functionality. That may depend
on further HID driver versions. The Force-Feedback from the G27 is successfully tested
with the Kernel 3.4.11.
• For the usage of the Force-Feedback under Linux an export command is needed.
Please execute the following command, where “js0” should refer to your device:
export SDL_JOYSTICK_DEVICE = /dev/input/js0

2.2 Run the Cockpit Package standard

Open CarMaker and the Cockpit Package standard
For the first interaction between the Cockpit Package standard and the CarMaker simula-
tion environment the TestRun Examples > VehicleDynamcis > Road_Hockenheim_R8 is
very recommended. Please load and start the TestRun once, that CarMaker is forced to
build up a valid APO connection. Surely, you can stop the TestRun when it is successfully
initiated.
Now, you can open the GUI of the Cockpit Package standard. Thereto you can simply use
the menu item Specials > Cockpit Package standard, referring to Figure 2.2.

Figure 2.2: Open the Cockpit Package standard

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 How to get started 8
Run the Cockpit Package standard

Using the Cockpit Package standard

Label (1) To follow the next explanations, please take a look at Figure 2.3. For performing a driving
maneuver you have the opportunity to Open a dataset (profile) or to configure the Cockpit
Package standard manually. For the first Cockpit Package standard usage it is appropriate
to load the pre-defined dataset G27_profile_win on Windows or G27_profile_linux on
Linux, which are located in the bin-directory. Both profiles are suitable for the Logitech G27
steering wheel.

Label (2) When a dataset is loaded, the entry for the Active dataset is showing your choice.

Label (3) The next step should be to check the Current status. For each module a short feedback
dialog is given. When the dialog says that something is not fine (e.g.: No APO connection)
you should solve the problem (e.g.: Start a CarMaker TestRun once). Afterwards the status
can be updated by clicking the Refresh button.

Label (4) The Refresh button forces the complete Cockpit Package standard to check for valid con-
nections and to update the Cockpit Package standard dialog. The connections are distin-
guished between CarMaker APO connection and joystick device connection. In the case
that both connections are valid the Cockpit Package standard is put into the state ready.

Label (5) When a Attached joystick is detected the device name is displayed here.

Label (6) Finally, when the Cockpit Package standard is in the state ready, you can start your driving
maneuver after clicking Run DMI. Please keep in mind that you have to start the CarMaker
TestRun separately. To stop the driving input you can use the button Stop DMI.

1 2

4 5
3

Figure 2.3: Using the Cockpit Package standard

Monitoring your driving input with the CarMaker Instruments

It is very convenient to check the driving inputs with the CarMaker Instruments. You can
see the input values in the case that CarMaker and the Cockpit Package standard are run-
ning correctly.

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 How to get started 9
Run the Cockpit Package standard

Figure 2.4: CarMaker Instruments

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 Setting your parameters 10
The Cockpit Package standard options

Chapter 3
Setting your parameters

3.1 The Cockpit Package standard options

The Cockpit Package standard allows to adapt important parameters to your own needs.
This could be very helpful when you like to use steering wheels besides the Logitech G27
or the current steering behaviour does not suit to your requirements. Antoher point can be
that you want to drive with different CarMaker vehicle models that include other dynamic
properties and another gearbox, for instance. Thereto it is crucial to understand what each
of the given parameter affects in detail.

Label (1) To open the GUI for further parameter settings you can click through the Options button,
please see Figure 3.2.

Label (2) When you have defined your own dataset you have the possibility to store it on the hard-
disk with the Save [as] button.

Figure 3.1: Open the options and save the dataset

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 Setting your parameters 11
General options

3.2 General options

The first tab includes the General options. Here some global attributes can be modified to
build up a valid APO connection on the one hand and to adjust the Cockpit Package stan-
dard respectively the steering wheel behavior on the other hand. The GUI is shown in
Figure 3.2.

Bei Problemen: hier nicht "localhost",

sondern den Namen des Rechners
(z.B. "fast-lff-pc11") angeben.

1 3

4
2
5

Figure 3.2: Cockpit Package standard options - General

Label (1) With the parameters Application host, Application class and Application user the destina-
tion of the APO connection can be specified. In the case of localhost the APO server
should be executed on your local machine. The entries has to be modified when you want
to connect to a APO server which is executed on another system, like HiL-platforms or net-
work computers and the Cockpit Package standard is running on your local machine, for
instance.

Label (2) The Sleep time [ms] defines the Cockpit Package standard cycle time roughly. It is the time
in which the Cockpit Package standard waits in a non busy status until the next loop exe-
cution is done. During one loop execution all input, signal processing and output actions
are performed.
When the time is specified too short you may block other program executions and waste
CPU performance.

Another parameter is the Driving mode. Here you can define which initial mode for starting
the Cockpit Package standard execution is used and you can see which mode is currenty
activated during the Cockpit Package standard is running. A mode includes the activation
or deactivation e.g. of the steering wheel, the foot pedals and the Force-Feedback. Please
see section 3.5 for more details.

Label (3) To define the range of the steering wheel angle you can modify the settings for Min. steer-
ing angle and Max. steering angle. When you have defined the global joystick property of
the angle to 900 degress (referring to section 2.1.2) you should enter from -450 to 450

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 Setting your parameters 12
Buttons options

degrees for these parameters.

Label (4) The setting for the Force-Feedback factor is based on an experiment. It is the ratio for gen-
erating 1 Nm steering torque in CarMaker and measuring 1 Nm at the Logitech G27 steer-
ing wheel. You can let this value as it is or you perform another measurement.
Instead of changing the Force-Feedback factor you can adapt the parameter Add. scaling
factor to influence the Force-Feedback strength. For the possibility that a vehicle has no
available power steering system and high torque values are expected you can set Add.
scaling factor to small values. The factor can be interpreted as a quasi power steering sys-
tem without any dynamic behaviour.

Label (5) The Steer. wheel damping is a damping coefficient which is mulitplied with steering angle
velocity. The result is a torque agianst the rotational direction which can prevent from oscil-
lations due to delays in the signal input and output. The parameter has to be determined
experimentally and depends on the vehicle model, tire model, steering wheel and Cockpit
Package standard cycle time, for instance.
Another quantity, which is influenced by signal delays and signal discretizations, is the cal-
culated steering wheel velocity. To prevent from strong peaks in the velocity channel a sim-
ple filter with the method “moving average” is implemented. With Filter coeff. steer veloc.
you can specify the amount of used filter coefficients for smoothing the signal.

3.3 Buttons options

The following tab includes the Buttons options, please see Figure 3.3. All parameters are
referring to actions respectively functions which influence the CarMaker simulation. Each
number stands for a button from the joystick device for activating or deactivating the corre-
sponding item. The mapping between joystick button and function can be defined individu-
ally. To get an overview how the default mapping from the pre-defined datasets look like,
please see section 3.6.

3
1
4 5
2

6
Figure 3.3: Cockpit Package standard options - Buttons

Label (1) The three buttons define how the gear shifting in CarMaker should be executed. The
autonomous shifting via IPGDriver can be set with Shift IPGDriver. To activate the manual
gearbox you can press the button for Shift manual. To use the shift paddles of your steer-
ing wheel you can activate the function Shift paddles.
Please keep in mind that each of the functionality can only be used when the CarMaker
vehicle model supports the corresponding gear shift mode. For example, the model of the
Audi R8 does not have an automatic gearbox, so you can not use the option Shift paddles.

Label (2) When the shift paddles are active you can change the gears with Shift paddle R to select

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 Setting your parameters 13
Axes / Infos options

the next higher gear or with Shift paddle L to select the next lower gear.

Label (3) The parameters influence the behavior of the driving maneuver in longitudinal and lateral
direction. When IPGDriver longit. is active this forces the IPGDriver to take the responsibil-
ity in longitudinal direction. The foot pedals of your steering system will be deactivated.
For the lateral direction the parameter IPGDriver lateral activates the IPGDriver and deac-
tivate your steering wheel. Activation and deactivation can be toggled by pressing the cor-
responding button multiple.

Label (4) With Force-Feedback you can activate or deactivate (toggle) the Force-Feedback system
of your steering wheel. When your steering wheel does not support Force-Feedback this
parameter has no influence.
During the Cockpit Package standard is running you can press the button for Stop Inter-
face to interrupt the loop execution and return back into the state ready.

Label (5) The residual parameters Gear 1 to Gear 6 and Gear R (for reverse) referring to the gears
which can be activated with the manual gearbox of your steering wheel system. The man-
ual gearbox can only be used when it is activated with the option Shift manual.

Change the mapping of the buttons

In principle you have two methods of changing a button’s mapping. One is to enter the
desired number of the joystick button directly to the entry or to use the mapping dialog
instead.

Label (6) Using the dialog, the first step is to click with the mouse on your preferred entry of the cor-
responding button you want to change.
The next step is to click through the Play button to put the Cockpit Package standard into
the mapping state. The dialog asks you now to press the desired button on your steering
wheel system. When you do not press a button within five seconds the last button value is
kept.

3.4 Axes / Infos options

The last tab is for the Axes and further Infos which is shown in Figure 3.4. Here you can
define the axis mapping of your steering wheel and the foot pedals. In addition you get a
little overview about the attached joystick device and the Cockpit Package standard. The
default mapping can be reconstructed in section 3.6.

Figure 3.4: Cockpit Package standard options - Axes / Infos

Label (1) The number of each of the axis refers to the corresponding driver input for the CarMaker
interaction.

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 Setting your parameters 14
The Driving mode

Label (2) The mapping of the axes can be changed in the same way as for the buttons, please see
the previous section. Instead of pressing a joystick button you have to move the axis within
five seconds.

Label (3) Some information about the attached joystick should help to find out whether your device
is suitable for the purpose you like.
The parameter Cycle [ms] shows you which time is needed for one loop execution during
the Cockpit Package standard run time. The value should be nearly close to the parameter
Sleep time [ms] otherwise it is an indication that something is not working corretly.

3.5 The Driving mode

The Driving mode includes two functionalities. On the one hand you can define the initial
setting of the Cockpit Package standard and on the other hand you can monitor the current
mode during the Cockpit Package standard is runnning. During the Cockpit Package stan-
dard run time the mode can change due to pressing the definied joystick buttons.
The Driving mode contains information about which components respectively options of
the steering wheel system are activated or deactivated. For each component one bit of a
16 bit integer is showing its current status, also called bit masking.

Definition of the bit mask

Table 3.1: Driving mode - bit mask

Bit 6 ... 15 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Force- Steering
Reserved Shift flag Shift paddles Shift manual Foot pedals
Feedback wheel

• Bit 0: When the bit is set you can drive with the steering wheel. Clearing the bit forces
the IPGDriver to steer.
• Bit 1: Enables the usage of the foot pedals, like the gas, brake and clutch pedal. Clear-
ing the bit forces the IPGDriver to act with the pedals.
• Bit 2: Activates the gear shifting with the manual gearbox from your joystick device.
• Bit 3: Activates the gear shifting with the shift paddles. Your vehicle model has to sup-
port this functionality by using an automatic gearbox. In the case that bit 2 and bit 3 are
deactivated the IPGDriver shifts.
• Bit 4: This bit stands for the activation or deactivation (toggle) of the Force-Feedback.
• Bit 5: Setting this bit indicates that the mode of gear shifting has changed in the past. It
is just a flag and has not to be configured manually.
• Bit 6 ... 15: These bits have no function currently.

Example of a bit mask

Supposing you want to drive with the Audi R8 and activate the steering wheel, foot pedals,
shift manual and Force-Feedback you can do this in two different ways.
• The first is to run the Cockpit Package standard with any Driving mode. Then you select
each component manually by pressing the corresponding joystick button to get the
desired result.

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 Setting your parameters 15
The Driving mode

• The second is to define your desired Driving mode before running the Cockpit Package
standard. Thereto you can look at Table 3.1: “Driving mode - bit mask” and see that bit
0, 1, 2 and 4 has to be activated which leads to the integer value 23.
Now you can insert the value to the entry of the Driving mode. Always when the Cockpit
Package standard starts the desired mode is automatically selected.

Cockpit Package Manual Version 2.0

 3.6 Pre-defined profile for the Logitech G27
Cockpit Package Manual

16