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-mapping.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 * You can use this configuration for j1939:
139 > **CAUTION VERY IMPORTANT:** Make sure the CAN bus\(es\) you specify in your
140 > configuration file match those specified in your generated source file with
141 > the `CAN-config-generator`.
145 ## Change name of ECU for J1939
147 To change the name of an ECU to J1939, you must go to the file conf.d/cmake/config.cmake and modify the value at :
151 # Define name for ECU
152 set(J1939_NAME_ECU 0x1239)
157 # Run it, test it, use it.
159 You can run the binding using **afm-util** tool, here is the classic way to go :
162 afm-util run low-can-service@4.0
166 You can find instructions to use afm-util tool
167 [here](../../reference/af-main/1-afm-daemons.html#using-afm-util),
168 as well as documentation about Application Framework.
170 But you can't control nor interact with it because you don't know security
171 token that **Application Framework** gaves it at launch.
173 So, to test it, it is better to launch the binding manually. In the following
174 example, it will use port **1234** and left empty security token for testing
178 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
179 NOTICE: binding [/usr/lib/afb/afb-dbus-binding.so] calling registering function afbBindingV1Register
180 NOTICE: binding /usr/lib/afb/afb-dbus-binding.so loaded with API prefix dbus
181 NOTICE: binding [/usr/lib/afb/authLogin.so] calling registering function afbBindingV1Register
182 NOTICE: binding /usr/lib/afb/authLogin.so loaded with API prefix auth
183 NOTICE: binding [/var/lib/afm/applications/low-can-service/4.0/libs//low-can-binding.so] calling registering function afbBindingV1Register
184 NOTICE: binding /var/lib/afm/applications/low-can-service/4.0/libs//low-can-binding.so loaded with API prefix low-can
185 NOTICE: Waiting port=1234 rootdir=/var/lib/afm/applications/low-can-service/4.0/
186 NOTICE: Browser URL= http:/*localhost:1234
189 On another terminal, connect to the binding using previously installed
190 **AFB Websocket CLI** tool:
193 afb-client-demo ws://localhost:1234/api?token=1
196 You will be on an interactive session where you can communicate directly with
199 The binding provides at this moment 2 verbs, _subscribe_ and _unsubscribe_,
200 which can take argument by a JSON **event** object.
202 The argument value is the CAN message **generic\_name** as described in the
203 JSON file used to generate cpp file for the binding.
205 To use the _**AFB Websocket CLI**_ tool, a command line will be like the
209 <api> <verb> <arguments>
214 * API : _**low-can**_.
215 * Verb : _**subscribe**_ or _**unsubscribe**_
216 * Arguments : _**{ "event": "driver.doors.open" }**_
218 ## Subscription and unsubscription
220 You can ask to subscribe to chosen CAN event with a call to _subscribe_ API
221 verb with the CAN messages name as JSON argument.
223 > **NOTE:** If no argument is provided, then you'll subscribe to all signals
226 For example from a websocket session:
229 low-can subscribe { "event": "doors.driver.open" }
230 ON-REPLY 1:low-can/subscribe: {"jtype":"afb-reply","request":{"status":"success","uuid":"a18fd375-b6fa-4c0e-a1d4-9d3955975ae8"}}
233 Subscription and unsubscription can take wildcard in their _event_ value and are
234 **case-insensitive**.
236 To receive all doors events :
239 low-can subscribe { "event" : "doors*" }
240 ON-REPLY 1:low-can/subscribe: {"jtype":"afb-reply","request":{"status":"success","uuid":"511c872e-d7f3-4f3b-89c2-aa9a3e9fbbdb"}}
243 Then you will receive an event each time a CAN message is decoded for the event
244 named _doors.driver.open_ with its received timestamp if available:
247 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"})
250 Notice that event shows you that the CAN event is named
251 _messages.doors.driver.open_ but you ask for event about
254 This is because all CAN messages or diagnostic messages are prefixed by the
255 JSON parent node name, **messages** for CAN messages and
256 **diagnostic\_messages** for diagnostic messages like OBD2.
258 This will let you subscribe or unsubcribe to all signals at once, not
259 recommended, and better make filter on subscribe operation based upon their type. Examples:
262 low-can subscribe { "event" : "*speed*" } --> will subscribe to all messages with speed in their name. Search will be make without prefix for it.
263 low-can subscribe { "event" : "speed*" } --> will subscribe to all messages begin by speed in their name. Search will be make without prefix for it.
264 low-can subscribe { "event" : "messages*speed*" } --> will subscribe to all CAN messages with speed in their name. Search will be on prefixed messages here.
265 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.
266 low-can subscribe { "event" : "diagnostic*speed*" } --> will subscribe to all diagnostic messages with speed in their name. Search will be on prefixed messages here.
267 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.
270 You can also subscribe to an event with the ID or the PGN of the message definition :
274 low-can subscribe {"id" : 1568}
275 low-can subscribe {"pgn" : 61442}
278 And subscribe to all ID or PGN :
281 low-can subscribe {"id" : "*"}
282 low-can subscribe {"pgn" : "*"}
286 You can stop receiving event from it by unsubscribe the signal the same way you did for subscribe
289 low-can unsubscribe { "event": "doors.driver.open" }
290 ON-REPLY 2:low-can/unsubscribe: {"jtype":"afb-reply","request":{"status":"success"}}
291 low-can unsubscribe { "event" : "doors*" }
292 ON-REPLY 3:low-can/unsubscribe: {"jtype":"afb-reply","request":{"status":"success"}}
295 ### Filtering capabilities
297 It is possible to limits received event notifications into minimum and maximum
298 boundaries as well as doing frequency thinning. This is possible using the
299 argument filter with one or more of the filters available :
301 * frequency: specify in Hertz the frequency which will be used to getting
302 notified of new CAN events for the designated signal. If, during the blocked
303 time, further changed CAN messages are received, the last valid one will be
304 transferred after the lockout with a RX_CHANGED.
305 * min: Minimum value that the decoded value needs to be above to get pushed to
306 the subscribed client(s).
307 * max: Maximum value that the decoded value needs to be below to get pushed to
308 the subscribed client(s)
309 * rx_id : For the ISO TP protocol, define the id of source to write a message
310 * tx_id : For the ISO TP protocol, define the id of emitter to receive message
312 Order doesn't matter neither the number of filters chosen, you can use one, two
313 or all of them at once.
318 low-can subscribe {"event": "messages.engine.speed", "filter": { "frequency": 3, "min": 1250, "max": 3500}}
319 low-can subscribe {"event": "messages.engine.load", "filter": { "min": 30, "max": 100}}
320 low-can subscribe {"event": "messages.vehicle.speed", "filter": { "frequency": 2}}
322 low-can subscribe {"id": 273, "filter": {"tx_id" : 562}}
325 ## Get last signal value and list of configured signals
327 You can also ask for a particular signal value on one shot using **get** verb, like
331 low-can get {"event": "messages.engine.speed"}
332 ON-REPLY 1:low-can/get: {"response":[{"event":"messages.engine.speed","value":0}],"jtype":"afb-reply","request":{"status":"success"}}
335 > **CAUTION** Only one event could be requested.
337 Also, if you want to know the supported CAN signals loaded by **low-can**, use
342 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"}}
345 ## Write on CAN buses
347 Two modes could be used for that which is either specifying the CAN bus and a
348 *RAW* CAN message either by specifying a defined signal, **case-insensitively**,
356 # Write a raw can frame to the CAN id 0x620
357 low-can write { "bus_name": "hs", "frame": { "can_id": 1568, "can_dlc": 8, "can_data": [ 255,255,255,255,255,255,255,255]} }
358 # Write a signal's value.
359 low-can write { "signal_name": "engine.speed", "signal_value": 1256}
360 # Write J1939 'single frame'
361 low-can write { "bus_name": "j1939", "frame": { "pgn": 61442, "length":8, "data": [ 255,255,255,255,255,255,255,255]} }
362 # Write J1939 'multi frame'
363 low-can write { "bus_name": "j1939", "frame": { "pgn": 61442, "length":9, "data": [ 255,255,255,255,255,255,255,255,254]} }
364 # Write ISOTP 'single frame'
365 low-can write {"bus_name": "hs", "filter": {"rx_id" : 562}, "frame": { "can_id": 273, "can_dlc": 8, "can_data": [ 255,255,255,255,255,255,255,255]} }
366 # Write ISOTP 'multi frame'
367 low-can write {"bus_name": "hs", "filter": {"rx_id" : 562}, "frame": { "can_id": 273, "can_dlc": 9, "can_data": [ 255,255,255,255,255,255,255,255,25]} }
370 To be able to use write capability, you need to add the permission
371 ```urn:AGL:permission::platform:can:write``` to your package configuration
372 file that need to write on CAN bus through **low-can** api.
374 Then in order to write on bus, your app needs to call verb **auth**
375 before calling **write**, to raise its **LOA**, Level Of Assurance,
376 which controls usage of verb **write**.
378 ## Using CAN utils to monitor CAN activity
380 You can watch CAN traffic and send custom CAN messages using can-utils
381 preinstalled on AGL target.
383 To watch watch going on a CAN bus use:
389 Or for an USB CAN adapter connected to porter board:
395 Send a custom message:
398 cansend can0 ID#DDDDAAAATTTTAAAA
401 You can also replay a previously dumped CAN logfiles. These logfiles can be
402 found in _can_samples_ directory under Git repository. Following examples use
403 a real trip from an Auris Toyota car.
405 Trace has been recorded from a CAN device `can0` so you have to map it to the
406 correct one you use for your tests.
408 Replay on a virtual CAN device `vcan0`:
411 canplayer -I trip_test_with_obd2_vehicle_speed_requests vcan0=can0
414 Replay on a CAN device `can0`:
417 canplayer -I trip_test_with_obd2_vehicle_speed_requests can0
420 Replay on a CAN device `can1` (porter by example):
423 canplayer -I trip_test_with_obd2_vehicle_speed_requests can1=can0