X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=README.md;h=2637f7f811213476bfa978a54188f0a0a2473231;hb=7ea53d8a89912cd0ab00fa4c0957f40ee6c9db8a;hp=475ae21560174e1defa1a5e4ea39e6939aa727b9;hpb=929ab4bd49789e592e0192f3e5f4a06c499db135;p=apps%2Fagl-service-can-low-level.git diff --git a/README.md b/README.md index 475ae215..2637f7f8 100644 --- a/README.md +++ b/README.md @@ -1,250 +1,16 @@ -# OpenXC Message Format Specification +# CAN signaling binder -This specification is a part of the [OpenXC platform][OpenXC]. +CAN bus binder, based upon OpenXC vi-firmware project. -An OpenXC vehicle interface sends generic vehicle data over one or more output -interfaces (e.g. USB or Bluetooth) as JSON objects, separated by newlines. +Full document can be found under `docs` directory. -There are two valid message types - single valued and evented. +# Fast build procedure -There may not be a 1:1 relationship between input and output signals - i.e. raw -engine timing CAN signals may be summarized in an "engine performance" metric on -the abstract side of the interface. +Just use autobuild script: -## Single Valued - -The expected format of a single valued message is: - - {"name": "steering_wheel_angle", "value": 45} - -## Evented - -The expected format of an event message is: - - {"name": "button_event", "value": "up", "event": "pressed"} - -This format is good for something like a button event, where there are two -discrete pieces of information in the measurement. - -## Raw CAN Message format - -An OpenXC vehicle interface may also output raw CAN messages. Each CAN message -is sent as a JSON object, separated by newlines. The format of each object is: - - {"bus": 1, "id": 1234, "value": "0x12345678"} - -**bus** - the numerical identifier of the CAN bus where this message originated, - most likely 1 or 2 (for a vehicle interface with 2 CAN controllers). - -**id** - the CAN message ID - -**data** - up to 8 bytes of data from the CAN message's payload, represented as - a hexidecimal number in a string. Many JSON parser cannot handle 64-bit - integers, which is why we are not using a numerical data type. - -## Diagnostic Messages - -### Requests - - {"bus": 1, - "id": 1234, - "mode": 1, - "pid": 5, - "payload": "0x1234", - "parse_payload": true, - "factor": 1.0, - "offset": 0, - "frequency": 0} - -**bus** - the numerical identifier of the CAN bus where this request should be - sent, most likely 1 or 2 (for a vehicle interface with 2 CAN controllers). - -**id** - the CAN arbitration ID for the request. - -**mode** - the OBD-II mode of the request - 1 through 15 (1 through 9 are the - standardized modes). - -**pid** - (optional) the PID for the request, if applicable. - -**payload** - (optional) up to 7 bytes of data for the request's payload - represented as a hexidecimal number in a string. Many JSON parser cannot - handle 64-bit integers, which is why we are not using a numerical data type. - -**parse_payload** - (optional, false by default) if true, the complete payload in the - response message will be parsed as a number and returned in the 'value' field of - the response. The 'payload' field will be omitted in responses with a - 'value'. - -**factor** - (optional, 1.0 by default) if `parse_payload` is true, the value in - the payload will be multiplied by this factor before returning. The `factor` - is applied before the `offset`. - -**offset** - (optional, 0 by default) if `parse_payload` is true, this offset - will be added to the value in the payload before returning. The `offset` is - applied after the `factor`. - -**frequency** - (optional, defaults to 0) The frequency in Hz to send this - request. To send a single request, set this to 0 or leave it out. - -TODO it'd be nice to have the OBD-II PIDs built in, with the proper conversion -functions - that may need a different output format - -If you're just requesting a PID, you can use a simplified format for the -request: - - {"bus": 1, "id": 1234, "mode": 1, "pid": 5} - -### Responses - - {"bus": 1, - "id": 1234, - "mode": 1, - "pid": 5, - "success": true, - "negative_response_code": 17, - "payload": "0x1234", - "parsed_payload": 4660} - -**bus** - the numerical identifier of the CAN bus where this response was - received. - -**id** - the CAN arbitration ID for this response. - -**mode** - the OBD-II mode of the original diagnostic request. - -**pid** - (optional) the PID for the request, if applicable. - -**success** - true if the response received was a positive response. If this - field is false, the remote node returned an error and the - `negative_response_code` field should be populated. - -**negative_response_code** - (optional) If requested node returned an error, - `success` will be `false` and this field will contain the negative response - code (NRC). - -Finally, the `payload` and `value` fields are mutually exclusive: - -**payload** - (optional) up to 7 bytes of data returned in the response, - represented as a hexadecimal number in a string. Many JSON parser cannot - handle 64-bit integers, which is why we are not using a numerical data type. - -**value** - (optional) if the response had a payload, this may be the - payload interpreted as an integer and transformed with a factor and offset - provided with the request. - -The response to a simple PID request would look like this: - - {"bus": 1, "id": 1234, "mode": 1, "pid": 5, "payload": "0x2"} - -TODO again, it'd be nice to have the OBD-II PIDs built in, with the proper -conversion functions so the response here included the actual transformed value -of the pid and a human readable name - -## Trace File Format - -An OpenXC vehicle trace file is a plaintext file that contains JSON objects, -separated by newlines. - -The first line may be a metadata object, although this is optional: - -``` -{"metadata": { - "version": "v3.0", - "vehicle_interface_id": "7ABF", - "vehicle": { - "make": "Ford", - "model": "Mustang", - "trim": "V6 Premium", - "year": 2013 - }, - "description": "highway drive to work", - "driver_name": "TJ Giuli", - "vehicle_id": "17N1039247929" -} +```bash +./conf.d/autobuild/agl/autobuild build +./conf.d/autobuild/agl/autobuild package ``` -The following lines are OpenXC messages with a `timestamp` field added, e.g.: - - {"timestamp": 1385133351.285525, "name": "steering_wheel_angle", "value": 45} - -The timestamp is in [UNIX time](http://en.wikipedia.org/wiki/Unix_time) -(i.e. seconds since the UNIX epoch, 00:00:00 UTC, 1/1/1970). - -## Official Signals - -These signal names are a part of the OpenXC specification, although some -manufacturers may support custom message names. - -* steering_wheel_angle - * numerical, -600 to +600 degrees - * 10Hz -* torque_at_transmission - * numerical, -500 to 1500 Nm - * 10Hz -* engine_speed - * numerical, 0 to 16382 RPM - * 10Hz -* vehicle_speed - * numerical, 0 to 655 km/h (this will be positive even if going in reverse - as it's not a velocity, although you can use the gear status to figure out - direction) - * 10Hz -* accelerator_pedal_position - * percentage - * 10Hz -* parking_brake_status - * boolean, (true == brake engaged) - * 1Hz, but sent immediately on change -* brake_pedal_status - * boolean (True == pedal pressed) - * 1Hz, but sent immediately on change -* transmission_gear_position - * states: first, second, third, fourth, fifth, sixth, seventh, eighth, - reverse, neutral - * 1Hz, but sent immediately on change -* gear_lever_position - * states: neutral, park, reverse, drive, sport, low, first, second, third, - fourth, fifth, sixth - * 1Hz, but sent immediately on change -* odometer - * Numerical, km - 0 to 16777214.000 km, with about .2m resolution - * 10Hz -* ignition_status - * states: off, accessory, run, start - * 1Hz, but sent immediately on change -* fuel_level - * percentage - * 2Hz -* fuel_consumed_since_restart - * numerical, 0 - 4294967295.0 L (this goes to 0 every time the vehicle - restarts, like a trip meter) - * 10Hz -* door_status - * Value is State: driver, passenger, rear_left, rear_right. - * Event is boolean: true == ajar - * 1Hz, but sent immediately on change -* headlamp_status - * boolean, true is on - * 1Hz, but sent immediately on change -* high_beam_status - * boolean, true is on - * 1Hz, but sent immediately on change -* windshield_wiper_status - * boolean, true is on - * 1Hz, but sent immediately on change -* latitude - * numerical, -89.0 to 89.0 degrees with standard GPS accuracy - * 1Hz -* longitude - * numerical, -179.0 to 179.0 degrees with standard GPS accuracy - * 1Hz - -License -======= - -Copyright (c) 2012-2013 Ford Motor Company - -Licensed under the BSD license. - -[OpenXC]: http://openxcplatform.com +This will build both projects under build directory for each of them with default configuration.