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authorRomain Forlot <romain.forlot@iot.bzh>2017-01-25 18:10:43 +0000
committerRomain Forlot <romain.forlot@iot.bzh>2017-01-30 13:34:57 +0000
commit15e385c6dbe73d54aba0102a471551b8510c05f4 (patch)
treea6f707474080ba9515fe09223266a432be561961
parent5073f78378b609937fc09c581c4e5e4ad0418592 (diff)
Added CAN messages samples from Toyota Auris car
Change-Id: I740384fbc7a3814b4817fce434d55c14108f8232 Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>
-rw-r--r--canLL-binding.c35
-rw-r--r--can_samples/Toyota.accel3028
-rw-r--r--can_samples/Toyota.alldoors_lock32
-rw-r--r--can_samples/Toyota.alldoors_open32
-rw-r--r--can_samples/Toyota.brake1770
-rw-r--r--can_samples/Toyota.engineoff1066
-rw-r--r--can_samples/Toyota.handbrake2906
-rw-r--r--can_samples/Toyota.ignition5359
-rw-r--r--can_samples/Toyota.keydisengage85
-rw-r--r--can_samples/Toyota.keyengage2668
-rw-r--r--can_samples/Toyota.keyin31
-rw-r--r--can_samples/Toyota.keyout31
-rw-r--r--can_samples/Toyota.lights4554
-rw-r--r--can_samples/Toyota.turnleft1960
-rw-r--r--can_samples/Toyota.turnright1436
15 files changed, 24979 insertions, 14 deletions
diff --git a/canLL-binding.c b/canLL-binding.c
index 342eb4f4..d4b6c60c 100644
--- a/canLL-binding.c
+++ b/canLL-binding.c
@@ -278,7 +278,7 @@ static int write_can()
/*
* Read on CAN bus and return how much bytes has been read.
*/
-static int read_can()
+static int read_can(openxc_CanMessage *can_message)
{
ssize_t nbytes;
int maxdlen;
@@ -295,9 +295,8 @@ static int read_can()
}
else
{
- if (errno == ENETDOWN) {
+ if (errno == ENETDOWN)
ERROR(interface, "read_can: %s interface down", can_handler.device);
- }
ERROR(interface, "read_can: Error reading CAN bus");
return -1;
}
@@ -318,7 +317,8 @@ static int read_can()
/*
* Parse the CAN frame data payload as a CAN packet
- * TODO: parse as an OpenXC Can Message
+ * TODO: parse as an OpenXC Can Message. Don't translate as ASCII and put bytes
+ * directly into openxc_CanMessage
*/
static void canread_frame_parse(struct canfd_frame *canfd_frame, int maxdlen)
{
@@ -326,11 +326,13 @@ static void canread_frame_parse(struct canfd_frame *canfd_frame, int maxdlen)
int len = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len;
char buf[CL_CFSZ];
- if (canfd_frame->can_id & CAN_ERR_FLAG) {
+ if (canfd_frame->can_id & CAN_ERR_FLAG)
+ {
put_eff_id(buf, canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
buf[8] = '#';
offset = 9;
- } else if (canfd_frame->can_id & CAN_EFF_FLAG) {
+ } else if (canfd_frame->can_id & CAN_EFF_FLAG)
+ {
put_eff_id(buf, canfd_frame->can_id & CAN_EFF_MASK);
buf[8] = '#';
offset = 9;
@@ -341,27 +343,32 @@ static void canread_frame_parse(struct canfd_frame *canfd_frame, int maxdlen)
}
/* standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
- if (maxdlen == CAN_MAX_DLEN && canfd_frame->can_id & CAN_RTR_FLAG) {
+ if (maxdlen == CAN_MAX_DLEN && canfd_frame->can_id & CAN_RTR_FLAG)
+ {
buf[offset++] = 'R';
/* print a given CAN 2.0B DLC if it's not zero */
if (canfd_frame->len && canfd_frame->len <= CAN_MAX_DLC)
buf[offset++] = hex_asc_upper[canfd_frame->len & 0xF];
buf[offset] = 0;
+ return;
}
- if (maxdlen == CANFD_MAX_DLEN) {
+ if (maxdlen == CANFD_MAX_DLEN)
+ {
/* add CAN FD specific escape char and flags */
buf[offset++] = '#';
buf[offset++] = hex_asc_upper[canfd_frame->flags & 0xF];
}
- for (i = 0; i < len; i++) {
+ for (i = 0; i < len; i++)
+ {
put_hex_byte(buf + offset, canfd_frame->data[i]);
offset += 2;
}
-buf[offset] = 0;
+ buf[offset] = 0;
+ return;
}
/***************************************************************************************/
@@ -465,15 +472,15 @@ static void subscribe(struct afb_req req)
{
enum type type;
const char *period;
- struct event *event;
+ struct event *can_sig;
struct json_object *json;
if (get_type_for_req(req, &type))
{
- event = afb_daemon_make_event(interface->daemon, type_NAMES[type]);
- if (event == NULL)
+ can_sig->event = afb_daemon_make_event(interface->daemon, type_NAMES[type]);
+ if (can_sig == NULL)
afb_req_fail(req, "out-of-memory", NULL);
- else if (afb_req_subscribe(req, event->event) != 0)
+ else if (afb_req_subscribe(req, can_sig->event) != 0)
afb_req_fail_f(req, "failed", "afb_req_subscribe returned an error: %m");
else
{
diff --git a/can_samples/Toyota.accel b/can_samples/Toyota.accel
new file mode 100644
index 00000000..9ddd9212
--- /dev/null
+++ b/can_samples/Toyota.accel
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diff --git a/can_samples/Toyota.alldoors_lock b/can_samples/Toyota.alldoors_lock
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diff --git a/can_samples/Toyota.alldoors_open b/can_samples/Toyota.alldoors_open
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diff --git a/can_samples/Toyota.brake b/can_samples/Toyota.brake
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new file mode 100644
index 00000000..67451f0f
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diff --git a/can_samples/Toyota.ignition b/can_samples/Toyota.ignition
new file mode 100644
index 00000000..7a3209c4
--- /dev/null
+++ b/can_samples/Toyota.ignition
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diff --git a/can_samples/Toyota.keydisengage b/can_samples/Toyota.keydisengage
new file mode 100644
index 00000000..2b4e87ad
--- /dev/null
+++ b/can_samples/Toyota.keydisengage
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new file mode 100644
index 00000000..7802370c
--- /dev/null
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diff --git a/can_samples/Toyota.keyin b/can_samples/Toyota.keyin
new file mode 100644
index 00000000..c6e0dd94
--- /dev/null
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index 00000000..b82a7c39
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new file mode 100644
index 00000000..f9192e47
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