X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=README.md;h=ba1641929e0047a0872bb460dc11a66c986a5d83;hb=554f476ed5341773b87553b5b2668fdfd427b7a4;hp=13622d683ac059b2600865b6b64e46f8541d9369;hpb=8e6aeac288787abbe415c90c8ef490a90b2a6c46;p=apps%2Flow-level-can-service.git diff --git a/README.md b/README.md index 13622d6..ba16419 100644 --- a/README.md +++ b/README.md @@ -26,49 +26,196 @@ The expected format of an event message is: 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", + "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 - 0x1 through 0xf (0x1 through 0xa + 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. + +**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"} + +**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 requsted node returned an error, + `success` will be `false` and this field will contain the negative response + code (NRC). + +**payload** - (optional) up to 7 bytes of data returned in the response, + 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. + +The response to a simple PID requset 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" +} +``` + +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, degrees + * numerical, -600 to +600 degrees + * 10Hz * torque_at_transmission - * numerical, Nm + * numerical, -500 to 1500 Nm + * 10Hz * engine_speed - * numerical, RPM -* vehicle_speed, numerical, Kph + * 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, liters (goes to 0 every time the - vehicle interfaces power cycles) + * 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 + * numerical, -89.0 to 89.0 degrees with standard GPS accuracy + * 1Hz * longitude - * numerical + * numerical, -179.0 to 179.0 degrees with standard GPS accuracy + * 1Hz License =======