X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=README.md;h=29baa3a3bfbde99f1f472ba921c5c9f2a3abcbea;hb=ab2066f086fa6cec7a29c019f51933023d4d5419;hp=65f0d198d86a97ddf47348dc78f8b90e65dd33d7;hpb=38926291a49aa27a9ec7476e2347b2bca4e5a466;p=apps%2Flow-level-can-service.git diff --git a/README.md b/README.md index 65f0d19..29baa3a 100644 --- a/README.md +++ b/README.md @@ -1,202 +1,40 @@ # OpenXC Message Format Specification +Version: v0.4-dev + This specification is a part of the [OpenXC platform][OpenXC]. 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. - -There are two valid message types - single valued and evented. - -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. - -## 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. 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", - "parse_payload": true, - "multiple_response": 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. - -**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'. - -**multiple_response** - (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. - -**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`. +interfaces (e.g. USB or Bluetooth) as JSON or Protocol Buffers (protobuf). -**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. +## JSON -**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) in place of the request details (i.e. the bus, - id, mode and pid). TODO elaborate on this. +The JSON format is the most flexible and easiest to use. The format is fully +specified in the [JSON.mkd](JSON.mkd) file in this repository. +a more flexible option than binary, but is less compact and +therefore takes more bandwidth and processing power. -The `bus+id+mode+pid` key is unique, so if you send a create request with that -key twice, it'll overwrite the existing one (i.e. it will change the frequency, -the only other parameter). To cancel a recurring request, send this command with -the frequency set to 0. +The JSON format is best for most developers, as it is fairly efficient and very +flexible. -If you're just requesting a PID, you can use this minimal field set for the -`request` object: +## Binary (Protocol Buffers) - {"bus": 1, "id": 1234, "mode": 1, "pid": 5} +The binary format is encoded using [Google Protocol +Buffers](https://code.google.com/p/protobuf/). The format is specified in the +file [openxc.proto](openxc.proto). The descriptions of the messages can be foud +in the JSON specs - the binary format mirrors this. -### Responses +The binary messages are published by the VI using the standard length-delimited +method (any protobuf library should support this). - {"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: - - {"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"} +The binary format is best if you need to maximize the amount of data that can be +sent from the VI, trading off flexibility for efficiency. ## Trace File Format An OpenXC vehicle trace file is a plaintext file that contains JSON objects, -separated by newlines. +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: @@ -253,11 +91,11 @@ manufacturers may support custom message names. * 1Hz, but sent immediately on change * transmission_gear_position * states: first, second, third, fourth, fifth, sixth, seventh, eighth, - reverse, neutral + ninth, tenth, reverse, neutral * 1Hz, but sent immediately on change * gear_lever_position * states: neutral, park, reverse, drive, sport, low, first, second, third, - fourth, fifth, sixth + fourth, fifth, sixth, seventh, eighth, ninth, tenth * 1Hz, but sent immediately on change * odometer * Numerical, km @@ -293,10 +131,31 @@ manufacturers may support custom message names. * numerical, -179.0 to 179.0 degrees with standard GPS accuracy * 1Hz +## Signals from Diagnostic 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 +Copyright (c) 2012-2014 Ford Motor Company Licensed under the BSD license.