X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=README.md;h=2637f7f811213476bfa978a54188f0a0a2473231;hb=94e5f493282c2a399d8ad2471604f50975560fc0;hp=d23f49940821f28941b3e863695c8c4021ec364c;hpb=926725672103841912cb34a54bc87b2bd492fd8e;p=apps%2Fagl-service-can-low-level.git diff --git a/README.md b/README.md index d23f4994..2637f7f8 100644 --- a/README.md +++ b/README.md @@ -1,345 +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 or Protocol Buffers (protobuf). +Full document can be found under `docs` directory. -This document describes the JSON format and includes a high level description of -each type and field. Each JSON message published by a VI is delimited with a -`\0` character. +# Fast build procedure -The Protocol Buffer format is specified in the file `openxc.proto`. Those are -published using the standard length-delimited method (any protobuf library -should support this). +Just use autobuild script: -## Single Valued - -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. - -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 - -The format for a raw CAN message: - - {"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. Each byte in - the string *must* be represented with 2 characters, e.g. `0x1` is `0x01` - the - complete string must have an even number of characters. - -## Diagnostic Messages - -### Requests - -A request to add or update a diagnostic request is sent to a vehicle interface -with this command format: - - { "command": "diagnostic_request", - "request": { - "bus": 1, - "id": 1234, - "mode": 1, - "pid": 5, - "payload": "0x1234", - "multiple_responses": false, - "factor": 1.0, - "offset": 0, - "frequency": 1, - "name": "my_pid" - } - } - } - -**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. - Each byte in the string *must* be represented with 2 characters, e.g. `0x1` - is `0x01` - the complete string must have an even number of characters. - -**name** - (optional, defaults to nothing) A human readable, string name for - this request. If provided, the response will have a `name` field (much like a - normal translated message) with this value in place of `bus`, `id`, `mode` and - `pid`. - -**multiple_responses** - (optional, false by default) if true, request will stay - active for a full 100ms, even after receiving a diagnostic response message. - This is useful for requests to the functional broadcast arbitration ID - (`0x7df`) when you need to get responses from multiple modules. It's possible - to set this to `true` for non-broadcast requests, but in practice you won't - see any additional responses after the first and it will just take up memory - in the VI for longer. - -**frequency** - (optional, defaults to 0) The frequency in Hz to send this - request. To send a single non-recurring request, set this to 0 or leave it - out. - -**decoded_type** - (optional, defaults to "obd2" if the request is a recognized -OBD-II mode 1 request, otherwise "none") If specified, the valid values are -`"none"` and `"obd2"`. If `obd2`, the payload will be decoded according to the -OBD-II specification and returned in the `value` field. Set this to `none` to -manually override the OBD-II decoding feature for a known PID. - -A diagnostic request's `bus`, `id`, `mode` and `pid` (or lack of a `pid`) -combine to create a unique key to identify a recurring request. This means that -you cannot simultaneosly have recurring requests at 2Hz and 5Hz for the same PID -from the same ID. - -If you send a new `diagnostic_request` command with a `bus + id + mode + pid` -key matching an existing recurring request, it will update it with whatever -other parameters you've provided (e.g. it will change the frequency if you -specify one). - -To cancel a recurring request, send a `diagnostic_request` command with the -matching request information (i.e. the `bus`, `id`, `mode` and `pid`) but a -frequency of 0. - -Non-recurring requests may have the same `bus+id+mode(+pid)` key as a recurring -request, and they will co-exist without issue. As soon as a non-recurring -request is either completed or times out, it is removed from the active list. - -If you're just requesting a PID, you can use this minimal field set for the -`request` object: - - {"bus": 1, "id": 1234, "mode": 1, "pid": 5} - -### Responses - -The response to a successful request: - - {"bus": 1, - "id": 1234, - "mode": 1, - "pid": 5, - "success": true, - "payload": "0x1234", - "value": 4660} - -and to an unsuccessful request, with the `negative_response_code` and no `pid` -echo: - - {"bus": 1, - "id": 1234, - "mode": 1, - "success": false, - "negative_response_code": 17} - -**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. - -The response to a simple PID request would look like this: - - {"success": true, "bus": 1, "id": 1234, "mode": 1, "pid": 5, "payload": "0x2"} - -## Commands - -### Version Query - -The `version` command triggers the VI to inject a firmware version identifier -response into the outgoing data stream. - -**Request** - - { "command": "version"} - -**Response** - - { "command_response": "version", "message": "v6.0-dev (default)"} - -### Device ID Query - -The `device_id` command triggers the VI to inject a unique device ID (e.g. the -MAC address of an included Bluetooth module) into into the outgoing data stream. - -**Request** - - { "command": "device_id"} - -**Response** - - { "command_response": "device_id", "message": "0012345678"} - -## Trace File Format - -An OpenXC vehicle trace file is a plaintext file that contains JSON objects, -separated by newlines (which may be either `\r\n` or `\n`, depending on the -platform the trace file was recorded). - -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 - -### Signals from Diagnostics Messages - -This set of signals is often retreived from OBD-II requests. The units can be -found in the [OBD-II standard](http://en.wikipedia.org/wiki/OBD-II_PIDs#Mode_01). - -* engine_load -* engine_coolant_temperature -* barometric_pressure -* commanded_throttle_position -* throttle_position -* fuel_level -* intake_air_temperature -* intake_manifold_pressure -* running_time -* fuel_pressure -* mass_airflow -* accelerator_pedal_position -* ethanol_fuel_percentage -* engine_oil_temperature -* engine_torque - -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.