Simulation of a TCU Node on a Virtual CAN Bus

Abstract: Electrical Control Units (ECUs) communicating on Controller Area Networks (CAN buses) are widely used in vehicle electrical systems. Being able to simulate these circuits and buses in a computer environment is beneficial during the development phase when access to test benches is limited and expensive. Simulations can also give a very detailed view of the entire system which in an ordinary lab setup would be practically impossible. BAE Systems Örnsköldsvik SIL Lab department works in the simulation environment CANoe supplied by Vector Informatik GmbH. BAE Systems have a simulation model of their central communication circuit. Unlike the less complicated circuits on the bus it cannot be integrated in the CANoe simulation environment. The less complicated nodes are modelled to usable extent but this is not possible with the central communication circuit. This report presents a possible solution to facilitate communication between the simulated ECU and the CANoe simulation environment under certain real-time constraints. A solution was achieved with a combination of an external program which handled shared memory with callback functions and Vector's Fast Data eXchange protocol (FDX).