1 # Configure the AGL system
5 Connected to the target, here is how to load the virtual CAN device driver and
6 set up a new vcan device :
10 ip link add vcan0 type vcan
14 You also can named your linux CAN device like you want and if you need name it
19 ip link add can0 type vcan
23 ## CAN device using the USB CAN adapter
25 Using real connection to CAN bus of your car using the USB CAN adapter
26 connected to the OBD2 connector.
28 Once connected, launch `dmesg` command and search which device to use:
33 [ 131.871441] usb 1-3: new full-speed USB device number 4 using ohci-pci
34 [ 161.860504] can: controller area network core (rev 20120528 abi 9)
35 [ 161.860522] NET: Registered protocol family 29
36 [ 177.561620] usb 1-3: USB disconnect, device number 4
37 [ 191.061423] usb 1-2: USB disconnect, device number 3
38 [ 196.095325] usb 1-2: new full-speed USB device number 5 using ohci-pci
39 [ 327.568882] usb 1-2: USB disconnect, device number 5
40 [ 428.594177] CAN device driver interface
41 [ 1872.551543] usb 1-2: new full-speed USB device number 6 using ohci-pci
42 [ 1872.809302] usb_8dev 1-2:1.0 can0: firmware: 1.7, hardware: 1.0
43 [ 1872.809356] usbcore: registered new interface driver usb_8dev
46 Here device is named `can0`.
48 This instruction assuming a speed of 500000kbps for your CAN bus, you can try
49 others supported bitrate like 125000, 250000 if 500000 doesn't work:
52 ip link set can0 type can bitrate 500000
55 can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
57 can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
58 bitrate 500000 sample-point 0.875
59 tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1
60 sja1000: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1
64 On a Rcar Gen3 board, you'll have your CAN device as `can1` because `can0`
65 already exists as an embedded device.
67 The instructions will be the same:
70 ip link set can1 type can bitrate 500000
73 can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
75 can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
76 bitrate 500000 sample-point 0.875
77 tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1
78 sja1000: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1
82 ## Rename an existing CAN device
84 You can rename an existing CAN device using following command and doing so move
85 an existing `can0` device to anything else and then use another device as `can0`
86 . For a Rcar Gen3 board do the following by example:
89 sudo ip link set can0 down
90 sudo ip link set can0 name bsp-can0
91 sudo ip link set bsp-can0 up
94 Then connect your USB CAN device that will be named `can0` by default.
96 # Configure the binding
98 The binding reads system configuration file _/etc/dev-mapping.conf_ at start to
99 map logical name from signals described in JSON file to linux devices name
100 initialized by the system.
102 Edit file _/etc/dev-mappping.conf_ and add mapping in section `CANbus-mapping`.
104 Default binding configuration use a CAN bus named `hs` so you need to map it to
105 the real one, here are some examples:
107 * Using virtual CAN device as described in the previous chapter:
115 * Using real CAN device, this example assume CAN bus traffic will be on can0.
123 * On a Rcar Gen3 board there is an embedded CAN device so `can0` already exists. So you might want to use your USB CAN adapter plugged to the OBD2 connector, in this case use `can1`:
130 > **CAUTION VERY IMPORTANT:** Make sure the CAN bus\(es\) you specify in your
131 > configuration file match those specified in your generated source file with
132 > the `CAN-config-generator`.
134 # Run it, test it, use it.
136 You can run the binding using **afm-util** tool, here is the classic way to go :
139 afm-util run low-can-service@4.0
143 You can find instructions to use afm-util tool
144 [here](http://docs.iot.bzh/docs/apis_services/en/dev/reference/af-main/afm-daemons.html#using-afm-util),
145 as well as documentation about Application Framework.
147 But you can't control nor interact with it because you don't know security
148 token that **Application Framework** gaves it at launch.
150 So, to test it, it is better to launch the binding manually. In the following
151 example, it will use port **1234** and left empty security token for testing
155 afb-daemon --binding=/var/lib/afm/applications/low-can-service/4.0/lib/afb-low-can.so --rootdir=/var/lib/afm/applications/low-can-service/4.0/ --port=1234 --token=1
156 NOTICE: binding [/usr/lib/afb/afb-dbus-binding.so] calling registering function afbBindingV1Register
157 NOTICE: binding /usr/lib/afb/afb-dbus-binding.so loaded with API prefix dbus
158 NOTICE: binding [/usr/lib/afb/authLogin.so] calling registering function afbBindingV1Register
159 NOTICE: binding /usr/lib/afb/authLogin.so loaded with API prefix auth
160 NOTICE: binding [/var/lib/afm/applications/low-can-service/4.0/libs//low-can-binding.so] calling registering function afbBindingV1Register
161 NOTICE: binding /var/lib/afm/applications/low-can-service/4.0/libs//low-can-binding.so loaded with API prefix low-can
162 NOTICE: Waiting port=1234 rootdir=/var/lib/afm/applications/low-can-service/4.0/
163 NOTICE: Browser URL= http:/*localhost:1234
166 On another terminal, connect to the binding using previously installed
167 **AFB Websocket CLI** tool:
170 afb-client-demo ws://localhost:1234/api?token=1
173 You will be on an interactive session where you can communicate directly with
176 The binding provides at this moment 2 verbs, _subscribe_ and _unsubscribe_,
177 which can take argument by a JSON **event** object.
179 The argument value is the CAN message **generic\_name** as described in the
180 JSON file used to generate cpp file for the binding.
182 To use the _**AFB Websocket CLI**_ tool, a command line will be like the
186 <api> <verb> <arguments>
191 * API : _**low-can**_.
192 * Verb : _**subscribe**_ or _**unsubscribe**_
193 * Arguments : _**{ "event": "driver.doors.open" }**_
195 ## Subscription and unsubscription
197 You can ask to subscribe to chosen CAN event with a call to _subscribe_ API
198 verb with the CAN messages name as JSON argument.
200 > **NOTE:** If no argument is provided, then you'll subscribe to all signals
203 For example from a websocket session:
206 low-can subscribe { "event": "doors.driver.open" }
207 ON-REPLY 1:low-can/subscribe: {"jtype":"afb-reply","request":{"status":"success","uuid":"a18fd375-b6fa-4c0e-a1d4-9d3955975ae8"}}
210 Subscription and unsubscription can take wildcard in their _event_ value.
212 To receive all doors events :
215 low-can subscribe { "event" : "doors*" }
216 ON-REPLY 1:low-can/subscribe: {"jtype":"afb-reply","request":{"status":"success","uuid":"511c872e-d7f3-4f3b-89c2-aa9a3e9fbbdb"}}
219 Then you will receive an event each time a CAN message is decoded for the event
220 named _doors.driver.open_ with its received timestamp if available:
223 ON-EVENT low-can/messages.doors.driver.open({"event":"low-can\/messages.doors.driver.open","data":{"name":"messages.doors.driver.open","value":true, "timestamp": 1505812906020023},"jtype":"afb-event"})
226 Notice that event shows you that the CAN event is named
227 _messages.doors.driver.open_ but you ask for event about
230 This is because all CAN messages or diagnostic messages are prefixed by the
231 JSON parent node name, **messages** for CAN messages and
232 **diagnostic\_messages** for diagnostic messages like OBD2.
234 This will let you subscribe or unsubcribe to all signals at once, not
235 recommended, and better make filter on subscribe operation based upon their type. Examples:
238 low-can subscribe { "event" : "*speed*" } --> will subscribe to all messages with speed in their name. Search will be make without prefix for it.
239 low-can subscribe { "event" : "speed*" } --> will subscribe to all messages begin by speed in their name. Search will be make without prefix for it.
240 low-can subscribe { "event" : "messages*speed*" } --> will subscribe to all CAN messages with speed in their name. Search will be on prefixed messages here.
241 low-can subscribe { "event" : "messages*speed" } --> will subscribe to all CAN messages ending with speed in their name. Search will be on prefixed messages here.
242 low-can subscribe { "event" : "diagnostic*speed*" } --> will subscribe to all diagnostic messages with speed in their name. Search will be on prefixed messages here.
243 low-can subscribe { "event" : "diagnostic*speed" } --> will subscribe to all diagnostic messages ending with speed in their name. Search will be on prefixed messages here.
246 You can stop receiving event from it by unsubscribe the signal the same way you did for subscribe
249 low-can unsubscribe { "event": "doors.driver.open" }
250 ON-REPLY 2:low-can/unsubscribe: {"jtype":"afb-reply","request":{"status":"success"}}
251 low-can unsubscribe { "event" : "doors*" }
252 ON-REPLY 3:low-can/unsubscribe: {"jtype":"afb-reply","request":{"status":"success"}}
255 ### Filtering capabilities
257 It is possible to limits received event notifications into minimum and maximum
258 boundaries as well as doing frequency thinning. This is possible using the
259 argument filter with one or more of the filters available :
261 * frequency: specify in Hertz the frequency which will be used to getting
262 notified of new CAN events for the designated signal. If, during the blocked
263 time, further changed CAN messages are received, the last valid one will be
264 transferred after the lockout with a RX_CHANGED.
265 * min: Minimum value that the decoded value needs to be above to get pushed to
266 the subscribed client(s).
267 * max: Maximum value that the decoded value needs to be below to get pushed to
268 the subscribed client(s)
270 Order doesn't matter neither the number of filters chosen, you can use one, two
271 or all of them at once.
276 low-can subscribe {"event": "messages.engine.speed", "filter": { "frequency": 3, "min": 1250, "max": 3500}}
277 low-can subscribe {"event": "messages.engine.load", "filter": { "min": 30, "max": 100}}
278 low-can subscribe {"event": "messages.vehicle.speed", "filter": { "frequency": 2}}
281 ## Get last signal value and list of configured signals
283 You can also ask for a particular signal value on one shot using **get** verb, like
287 low-can get {"event": "messages.engine.speed"}
288 ON-REPLY 1:low-can/get: {"response":[{"event":"messages.engine.speed","value":0}],"jtype":"afb-reply","request":{"status":"success"}}
291 > **CAUTION** Only one event could be requested.
293 Also, if you want to know the supported CAN signals loaded by **low-can**, use
298 ON-REPLY 2:low-can/list: {"response":["messages.hvac.fan.speed","messages.hvac.temperature.left","messages.hvac.temperature.right","messages.hvac.temperature.average","messages.engine.speed","messages.fuel.level.low","messages.fuel.level","messages.vehicle.average.speed","messages.engine.oil.temp","messages.engine.oil.temp.high","messages.doors.boot.open","messages.doors.front_left.open","messages.doors.front_right.open","messages.doors.rear_left.open","messages.doors.rear_right.open","messages.windows.front_left.open","messages.windows.front_right.open","messages.windows.rear_left.open","messages.windows.rear_right.open","diagnostic_messages.engine.load","diagnostic_messages.engine.coolant.temperature","diagnostic_messages.fuel.pressure","diagnostic_messages.intake.manifold.pressure","diagnostic_messages.engine.speed","diagnostic_messages.vehicle.speed","diagnostic_messages.intake.air.temperature","diagnostic_messages.mass.airflow","diagnostic_messages.throttle.position","diagnostic_messages.running.time","diagnostic_messages.EGR.error","diagnostic_messages.fuel.level","diagnostic_messages.barometric.pressure","diagnostic_messages.ambient.air.temperature","diagnostic_messages.commanded.throttle.position","diagnostic_messages.ethanol.fuel.percentage","diagnostic_messages.accelerator.pedal.position","diagnostic_messages.hybrid.battery-pack.remaining.life","diagnostic_messages.engine.oil.temperature","diagnostic_messages.engine.fuel.rate","diagnostic_messages.engine.torque"],"jtype":"afb-reply","request":{"status":"success","uuid":"32df712a-c7fa-4d58-b70b-06a87f03566b"}}
301 ## Write on CAN buses
303 A new capability as been introcuded to be able to write on handled CAN buses.
304 Two modes could be used for that which is either specifying the CAN bus and a
305 *RAW* CAN message either by specifying a defined signal and its value.
310 # Write a raw can frame to the CAN id 0x620
311 low-can write { "bus_name": "hs", "frame": { "can_id": 1568, "can_dlc":
312 8, "can_data": [ 255,255,255,255,255,255,255,255]} }
313 # Write a signal's value.
314 low-can write { "signal_name": "engine.speed", "value": 1256}
317 To be able to use write capability, you need to add the permission
318 ```urn:AGL:permission::platform:can:write``` to your package configuration
319 file that need to write on CAN bus through **low-can** api.
321 Then in order to write on bus, your app needs to call verb **auth**
322 before calling **write**, to raise its **LOA**, Level Of Assurance,
323 which controls usage of verb **write**.
325 ## Using CAN utils to monitor CAN activity
327 You can watch CAN traffic and send custom CAN messages using can-utils
328 preinstalled on AGL target.
330 To watch watch going on a CAN bus use:
336 Or for an USB CAN adapter connected to porter board:
342 Send a custom message:
345 cansend can0 ID#DDDDAAAATTTTAAAA
348 You can also replay a previously dumped CAN logfiles. These logfiles can be
349 found in _can_samples_ directory under Git repository. Following examples use
350 a real trip from an Auris Toyota car.
352 Trace has been recorded from a CAN device `can0` so you have to map it to the
353 correct one you use for your tests.
355 Replay on a virtual CAN device `vcan0`:
358 canplayer -I trip_test_with_obd2_vehicle_speed_requests vcan0=can0
361 Replay on a CAN device `can0`:
364 canplayer -I trip_test_with_obd2_vehicle_speed_requests can0
367 Replay on a CAN device `can1` (porter by example):
370 canplayer -I trip_test_with_obd2_vehicle_speed_requests can1=can0