1 # OpenXC Message Format Specification
5 This specification is a part of the [OpenXC platform][OpenXC].
7 An OpenXC vehicle interface sends generic vehicle data over one or more output
8 interfaces (e.g. USB or Bluetooth) as JSON or Protocol Buffers (protobuf).
10 ## Binary (Protocol Buffers)
12 The Protocol Buffer format is specified in the file `openxc.proto`. Those are
13 published using the standard length-delimited method (any protobuf library
18 This document describes the JSON format and includes a high level description of
19 each type and field. Each JSON message published by a VI is delimited with a
24 Any of the following JSON objects may optionally include an `extras`
25 field. The value may be any valid JSON object or array. The client libraries
26 will do their best to parse this information into a generic format and pass it
27 to your application. For example:
29 {"name": "steering_wheel_angle", "value": 45,
37 There may not be a 1:1 relationship between input and output signals - i.e. raw
38 engine timing CAN signals may be summarized in an "engine performance" metric on
39 the abstract side of the interface.
41 The expected format of a single valued message is:
43 {"name": "steering_wheel_angle", "value": 45}
47 The expected format of an event message is:
49 {"name": "button_event", "value": "up", "event": "pressed"}
51 This format is good for something like a button event, where there are two
52 discrete pieces of information in the measurement.
54 ### Raw CAN Message format
56 The format for a raw CAN message:
58 {"bus": 1, "id": 1234, "data": "0x12345678"}
60 **bus** - the numerical identifier of the CAN bus where this message originated,
61 most likely 1 or 2 (for a vehicle interface with 2 CAN controllers).
63 **id** - the CAN message ID
65 **data** - up to 8 bytes of data from the CAN message's payload, represented as
66 a hexidecimal number in a string. Many JSON parser cannot handle 64-bit
67 integers, which is why we are not using a numerical data type. Each byte in
68 the string *must* be represented with 2 characters, e.g. `0x1` is `0x01` - the
69 complete string must have an even number of characters.
71 ### Diagnostic Messages
75 A request to add or update a diagnostic request is sent to a vehicle interface
76 with this command format:
78 { "command": "diagnostic_request",
85 "multiple_responses": false,
92 **bus** - the numerical identifier of the CAN bus where this request should be
93 sent, most likely 1 or 2 (for a vehicle interface with 2 CAN controllers).
95 **id** - the CAN arbitration ID for the request.
97 **mode** - the OBD-II mode of the request - 1 through 255 (1 through 9 are the
98 standardized modes and 0x22 is a common proprietary mode).
100 **pid** - (optional) the PID for the request, if applicable.
102 **payload** - (optional) up to 7 bytes of data for the request's payload
103 represented as a hexidecimal number in a string. Many JSON parser cannot
104 handle 64-bit integers, which is why we are not using a numerical data type.
105 Each byte in the string *must* be represented with 2 characters, e.g. `0x1`
106 is `0x01` - the complete string must have an even number of characters.
108 **name** - (optional, defaults to nothing) A human readable, string name for
109 this request. If provided, the response will have a `name` field (much like a
110 normal translated message) with this value in place of `bus`, `id`, `mode` and
113 **multiple_responses** - (optional, false by default) if true, request will stay
114 active for a full 100ms, even after receiving a diagnostic response message.
115 This is useful for requests to the functional broadcast arbitration ID
116 (`0x7df`) when you need to get responses from multiple modules. It's possible
117 to set this to `true` for non-broadcast requests, but in practice you won't
118 see any additional responses after the first and it will just take up memory
119 in the VI for longer.
121 **frequency** - (optional, defaults to 0) The frequency in Hz to send this
122 request. To send a single non-recurring request, set this to 0 or leave it
125 **decoded_type** - (optional, defaults to "obd2" if the request is a recognized
126 OBD-II mode 1 request, otherwise "none") If specified, the valid values are
127 `"none"` and `"obd2"`. If `obd2`, the payload will be decoded according to the
128 OBD-II specification and returned in the `value` field. Set this to `none` to
129 manually override the OBD-II decoding feature for a known PID.
131 A diagnostic request's `bus`, `id`, `mode` and `pid` (or lack of a `pid`)
132 combine to create a unique key to identify a recurring request. This means that
133 you cannot simultaneosly have recurring requests at 2Hz and 5Hz for the same PID
136 If you send a new `diagnostic_request` command with a `bus + id + mode + pid`
137 key matching an existing recurring request, it will update it with whatever
138 other parameters you've provided (e.g. it will change the frequency if you
141 To cancel a recurring request, send a `diagnostic_request` command with the
142 matching request information (i.e. the `bus`, `id`, `mode` and `pid`) but a
145 Non-recurring requests may have the same `bus+id+mode(+pid)` key as a recurring
146 request, and they will co-exist without issue. As soon as a non-recurring
147 request is either completed or times out, it is removed from the active list.
149 If you're just requesting a PID, you can use this minimal field set for the
152 {"bus": 1, "id": 1234, "mode": 1, "pid": 5}
156 The response to a successful request:
166 and to an unsuccessful request, with the `negative_response_code` and no `pid`
173 "negative_response_code": 17}
175 **bus** - the numerical identifier of the CAN bus where this response was
178 **id** - the CAN arbitration ID for this response.
180 **mode** - the OBD-II mode of the original diagnostic request.
182 **pid** - (optional) the PID for the request, if applicable.
184 **success** - true if the response received was a positive response. If this
185 field is false, the remote node returned an error and the
186 `negative_response_code` field should be populated.
188 **negative_response_code** - (optional) If requested node returned an error,
189 `success` will be `false` and this field will contain the negative response
192 Finally, the `payload` and `value` fields are mutually exclusive:
194 **payload** - (optional) up to 7 bytes of data returned in the response,
195 represented as a hexadecimal number in a string. Many JSON parser cannot
196 handle 64-bit integers, which is why we are not using a numerical data type.
198 **value** - (optional) if the response had a payload, this may be the
199 payload interpreted as an integer.
201 The response to a simple PID request would look like this:
203 {"success": true, "bus": 1, "id": 1234, "mode": 1, "pid": 5, "payload": "0x2"}
209 The `version` command triggers the VI to inject a firmware version identifier
210 response into the outgoing data stream.
214 { "command": "version"}
218 { "command_response": "version", "message": "v6.0-dev (default)"}
222 The `device_id` command triggers the VI to inject a unique device ID (e.g. the
223 MAC address of an included Bluetooth module) into into the outgoing data stream.
227 { "command": "device_id"}
231 { "command_response": "device_id", "message": "0012345678"}
233 ### Trace File Format
235 An OpenXC vehicle trace file is a plaintext file that contains JSON objects,
236 separated by newlines (which may be either `\r\n` or `\n`, depending on the
237 platform the trace file was recorded).
239 The first line may be a metadata object, although this is optional:
244 "vehicle_interface_id": "7ABF",
248 "trim": "V6 Premium",
251 "description": "highway drive to work",
252 "driver_name": "TJ Giuli",
253 "vehicle_id": "17N1039247929"
257 The following lines are OpenXC messages with a `timestamp` field added, e.g.:
259 {"timestamp": 1385133351.285525, "name": "steering_wheel_angle", "value": 45}
261 The timestamp is in [UNIX time](http://en.wikipedia.org/wiki/Unix_time)
262 (i.e. seconds since the UNIX epoch, 00:00:00 UTC, 1/1/1970).
266 These signal names are a part of the OpenXC specification, although some
267 manufacturers may support custom message names.
269 * steering_wheel_angle
270 * numerical, -600 to +600 degrees
272 * torque_at_transmission
273 * numerical, -500 to 1500 Nm
276 * numerical, 0 to 16382 RPM
279 * numerical, 0 to 655 km/h (this will be positive even if going in reverse
280 as it's not a velocity, although you can use the gear status to figure out
283 * accelerator_pedal_position
286 * parking_brake_status
287 * boolean, (true == brake engaged)
288 * 1Hz, but sent immediately on change
290 * boolean (True == pedal pressed)
291 * 1Hz, but sent immediately on change
292 * transmission_gear_position
293 * states: first, second, third, fourth, fifth, sixth, seventh, eighth,
294 ninth, tenth, reverse, neutral
295 * 1Hz, but sent immediately on change
296 * gear_lever_position
297 * states: neutral, park, reverse, drive, sport, low, first, second, third,
298 fourth, fifth, sixth, seventh, eighth, ninth, tenth
299 * 1Hz, but sent immediately on change
302 0 to 16777214.000 km, with about .2m resolution
305 * states: off, accessory, run, start
306 * 1Hz, but sent immediately on change
310 * fuel_consumed_since_restart
311 * numerical, 0 - 4294967295.0 L (this goes to 0 every time the vehicle
312 restarts, like a trip meter)
315 * Value is State: driver, passenger, rear_left, rear_right.
316 * Event is boolean: true == ajar
317 * 1Hz, but sent immediately on change
319 * boolean, true is on
320 * 1Hz, but sent immediately on change
322 * boolean, true is on
323 * 1Hz, but sent immediately on change
324 * windshield_wiper_status
325 * boolean, true is on
326 * 1Hz, but sent immediately on change
328 * numerical, -89.0 to 89.0 degrees with standard GPS accuracy
331 * numerical, -179.0 to 179.0 degrees with standard GPS accuracy
334 ### Signals from Diagnostics Messages
336 This set of signals is often retreived from OBD-II requests. The units can be
337 found in the [OBD-II standard](http://en.wikipedia.org/wiki/OBD-II_PIDs#Mode_01).
340 * engine_coolant_temperature
341 * barometric_pressure
342 * commanded_throttle_position
345 * intake_air_temperature
346 * intake_manifold_pressure
350 * accelerator_pedal_position
351 * ethanol_fuel_percentage
352 * engine_oil_temperature
358 Copyright (c) 2012-2014 Ford Motor Company
360 Licensed under the BSD license.
362 [OpenXC]: http://openxcplatform.com