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Dual-CAN Vehicle Speed Signal Gateway

This example uses native BMCLI configuration to adapt speed between two CAN networks: read km/h on chassis, encode m/s on sensor, and apply validity and target protection rules.

sensor-speed.bmgw is a native project with logical chassis and sensor networks. Configure actual devices, bitrates, and wiring in local Bench. Both DBCs describe wire layouts; the project already includes their encoding definitions.

Item Configuration
Input chassis, standard CAN 0x100, eight bytes; Speed at bit 0, 16-bit Intel, 0.01 km/h
Transformation m/s = km/h ÷ 3.6
Output sensor, standard CAN 0x200, eight bytes; Speed at bit 0, 16-bit Intel, 0.01 m/s
Validity Source expires after 100 ms; invalid Speed raw is 65535; target Valid at bit 16
Transmission Independent target period of 20 ms
Teaching protection Eight-bit Counter at bit 24, CRC8 at byte 7; parameters in project e2e configuration

Protection demonstrates independent target Counter/CRC generation. DBC defines field positions and project e2e defines the teaching algorithm. Configure production algorithms/plugins from formal specifications and verify with independent vectors.

Offline Check

Section titled “Offline Check”

Run in this directory:

Terminal window
bmcli gateway validate --file=sensor-speed.bmgw --format=json

This checks gateway project structure and definitions offline.

Bench Exercise

Section titled “Bench Exercise”

Prepare two independent test CAN networks: one generates 0x100 and the other receives 0x200. Physical source and receiver acknowledge normally; set bitrates and termination from Bench.

  1. Use the source DBC to generate 0, 36, 72, and 108 km/h. Expected target values are 0, 10, 20, and 30 m/s.
  2. Observe target period, Counter, and CRC, then interrupt the source for over 100 ms; the target should emit the agreed invalid encoding and clear validity.
  3. Restore input and verify validity recovery, retaining raw frames for independent encoding/protection checks.

Connect the real sensor after normal values, timeout, recovery, and target reception meet expectations. On Raspberry Pi, use architecture-matched BMCLI/BMAPI packages and ARM builds of any native plugins.

See tutorial 12.

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