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diff --git a/docs/4-Usage.md b/docs/4-Usage.md deleted file mode 100644 index 6c6d1380..00000000 --- a/docs/4-Usage.md +++ /dev/null @@ -1,416 +0,0 @@ -# Configure the AGL system - -## Virtual CAN device - -Connected to the target, here is how to load the virtual CAN device driver and -set up a new vcan device : - -```bash -modprobe vcan -ip link add vcan0 type vcan -ip link set vcan0 up -``` - -You also can named your linux CAN device like you want and if you need name it -`can0` : - -```bash -modprobe vcan -ip link add can0 type vcan -ip link set can0 up -``` - -## CAN device using the USB CAN adapter - -Using real connection to CAN bus of your car using the USB CAN adapter -connected to the OBD2 connector. - -Once connected, launch `dmesg` command and search which device to use: - -```bash -dmesg -[...] -[ 131.871441] usb 1-3: new full-speed USB device number 4 using ohci-pci -[ 161.860504] can: controller area network core (rev 20120528 abi 9) -[ 161.860522] NET: Registered protocol family 29 -[ 177.561620] usb 1-3: USB disconnect, device number 4 -[ 191.061423] usb 1-2: USB disconnect, device number 3 -[ 196.095325] usb 1-2: new full-speed USB device number 5 using ohci-pci -[ 327.568882] usb 1-2: USB disconnect, device number 5 -[ 428.594177] CAN device driver interface -[ 1872.551543] usb 1-2: new full-speed USB device number 6 using ohci-pci -[ 1872.809302] usb_8dev 1-2:1.0 can0: firmware: 1.7, hardware: 1.0 -[ 1872.809356] usbcore: registered new interface driver usb_8dev -``` - -Here device is named `can0`. - -This instruction assuming a speed of 500000kbps for your CAN bus, you can try -others supported bitrate like 125000, 250000 if 500000 doesn't work: - -```bash -ip link set can0 type can bitrate 500000 -ip link set can0 up -ip link show can0 - can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10 - link/can - can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0 - bitrate 500000 sample-point 0.875 - tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1 - sja1000: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1 - clock 16000000 -``` - -On a Rcar Gen3 board, you'll have your CAN device as `can1` because `can0` -already exists as an embedded device. - -The instructions will be the same: - -```bash -ip link set can1 type can bitrate 500000 -ip link set can1 up -ip link show can1 - can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10 - link/can - can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0 - bitrate 500000 sample-point 0.875 - tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1 - sja1000: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1 - clock 16000000 -``` - -## Rename an existing CAN device - -You can rename an existing CAN device using following command and doing so move -an existing `can0` device to anything else and then use another device as `can0` -. For a Rcar Gen3 board do the following by example: - -```bash -sudo ip link set can0 down -sudo ip link set can0 name bsp-can0 -sudo ip link set bsp-can0 up -``` - -Then connect your USB CAN device that will be named `can0` by default. - -# Configure the binding - -The binding reads system configuration file _/etc/dev-mapping.conf_ at start to -map logical name from signals described in JSON file to linux devices name -initialized by the system. - -Edit file _/etc/dev-mapping.conf_ and add mapping in section `CANbus-mapping`. - -Default binding configuration use a CAN bus named `hs` so you need to map it to -the real one, here are some examples: - -* Using virtual CAN device as described in the previous chapter: - -```ini -[CANbus-mapping] -hs="vcan0" -ls="vcan1" -``` - -* Using real CAN device, this example assume CAN bus traffic will be on can0. - -```ini -[CANbus-mapping] -hs="can0" -ls="can1" -``` - -* On a Rcar Gen3 board there is an embedded CAN device so `can0` already exists. So you might want to use your USB CAN adapter plugged to the OBD2 connector, in this case use `can1`: - -```ini -[CANbus-mapping] -hs="can1" -``` - -* You can use this configuration for j1939: - -```ini -[CANbus-mapping] -hs="can0" -ls="can1" -j1939="can2" -``` - -> **CAUTION VERY IMPORTANT:** Make sure the CAN bus\(es\) you specify in your -> configuration file match those specified in your generated source file with -> the `CAN-config-generator`. - - - -## Change name of ECU for J1939 - -To change the name of an ECU to J1939, you must go to the file conf.d/cmake/config.cmake and modify the value at : - - -```cmake -# Define name for ECU -set(J1939_NAME_ECU 0x1239) -``` - - - -# Run it, test it, use it. - -You can run the binding using **afm-util** tool, here is the classic way to go : - -```bash -afm-util run low-can-service@4.0 -1 -``` - -You can find instructions to use afm-util tool -[here](../../reference/af-main/1-afm-daemons.html#using-afm-util), - as well as documentation about Application Framework. - -But you can't control nor interact with it because you don't know security -token that **Application Framework** gaves it at launch. - -So, to test it, it is better to launch the binding manually. In the following -example, it will use port **1234** and left empty security token for testing -purpose: - -```bash -afb-daemon --binding=/var/lib/afm/applications/low-can-service/4.0/lib/afb-low-can.so --rootdir=/var/lib/afm/applications/low-can-service/4.0/ --port=1234 --token=1 -NOTICE: binding [/usr/lib/afb/afb-dbus-binding.so] calling registering function afbBindingV1Register -NOTICE: binding /usr/lib/afb/afb-dbus-binding.so loaded with API prefix dbus -NOTICE: binding [/usr/lib/afb/authLogin.so] calling registering function afbBindingV1Register -NOTICE: binding /usr/lib/afb/authLogin.so loaded with API prefix auth -NOTICE: binding [/var/lib/afm/applications/low-can-service/4.0/libs//low-can-binding.so] calling registering function afbBindingV1Register -NOTICE: binding /var/lib/afm/applications/low-can-service/4.0/libs//low-can-binding.so loaded with API prefix low-can -NOTICE: Waiting port=1234 rootdir=/var/lib/afm/applications/low-can-service/4.0/ -NOTICE: Browser URL= http:/*localhost:1234 -``` - -On another terminal, connect to the binding using previously installed -**AFB Websocket CLI** tool: - -```bash -afb-client-demo ws://localhost:1234/api?token=1 -``` - -You will be on an interactive session where you can communicate directly with -the binding API. - -The binding provides at this moment 2 verbs, _subscribe_ and _unsubscribe_, -which can take argument by a JSON **event** object. - -The argument value is the CAN message **generic\_name** as described in the -JSON file used to generate cpp file for the binding. - -To use the _**AFB Websocket CLI**_ tool, a command line will be like the -following: - -``` -<api> <verb> <arguments> -``` - -Where: - -* API : _**low-can**_. -* Verb : _**subscribe**_ or _**unsubscribe**_ -* Arguments : _**{ "event": "driver.doors.open" }**_ - -## Subscription and unsubscription - -You can ask to subscribe to chosen CAN event with a call to _subscribe_ API -verb with the CAN messages name as JSON argument. - -> **NOTE:** If no argument is provided, then you'll subscribe to all signals -> at once. - -For example from a websocket session: - -```json -low-can subscribe { "event": "doors.driver.open" } -ON-REPLY 1:low-can/subscribe: {"jtype":"afb-reply","request":{"status":"success","uuid":"a18fd375-b6fa-4c0e-a1d4-9d3955975ae8"}} -``` - -Subscription and unsubscription can take wildcard in their _event_ value and are -**case-insensitive**. - -To receive all doors events : - -```json -low-can subscribe { "event" : "doors*" } -ON-REPLY 1:low-can/subscribe: {"jtype":"afb-reply","request":{"status":"success","uuid":"511c872e-d7f3-4f3b-89c2-aa9a3e9fbbdb"}} -``` - -Then you will receive an event each time a CAN message is decoded for the event -named _doors.driver.open_ with its received timestamp if available: - -```json -ON-EVENT low-can/messages.doors.driver.open({"event":"low-can\/messages.doors.driver.open","data":{"name":"messages.doors.driver.open","value":true, "timestamp": 1505812906020023},"jtype":"afb-event"}) -``` - -Notice that event shows you that the CAN event is named -_messages.doors.driver.open_ but you ask for event about -_doors.driver.open_. - -This is because all CAN messages or diagnostic messages are prefixed by the -JSON parent node name, **messages** for CAN messages and -**diagnostic\_messages** for diagnostic messages like OBD2. - -This will let you subscribe or unsubcribe to all signals at once, not -recommended, and better make filter on subscribe operation based upon their type. Examples: - -```json -low-can subscribe { "event" : "*speed*" } --> will subscribe to all messages with speed in their name. Search will be make without prefix for it. -low-can subscribe { "event" : "speed*" } --> will subscribe to all messages begin by speed in their name. Search will be make without prefix for it. -low-can subscribe { "event" : "messages*speed*" } --> will subscribe to all CAN messages with speed in their name. Search will be on prefixed messages here. -low-can subscribe { "event" : "messages*speed" } --> will subscribe to all CAN messages ending with speed in their name. Search will be on prefixed messages here. -low-can subscribe { "event" : "diagnostic*speed*" } --> will subscribe to all diagnostic messages with speed in their name. Search will be on prefixed messages here. -low-can subscribe { "event" : "diagnostic*speed" } --> will subscribe to all diagnostic messages ending with speed in their name. Search will be on prefixed messages here. -``` - -You can also subscribe to an event with the ID or the PGN of the message definition : - - -```json -low-can subscribe {"id" : 1568} -low-can subscribe {"pgn" : 61442} -``` - -And subscribe to all ID or PGN : - -```json -low-can subscribe {"id" : "*"} -low-can subscribe {"pgn" : "*"} -``` - - -You can stop receiving event from it by unsubscribe the signal the same way you did for subscribe - -```json -low-can unsubscribe { "event": "doors.driver.open" } -ON-REPLY 2:low-can/unsubscribe: {"jtype":"afb-reply","request":{"status":"success"}} -low-can unsubscribe { "event" : "doors*" } -ON-REPLY 3:low-can/unsubscribe: {"jtype":"afb-reply","request":{"status":"success"}} -``` - -### Filtering capabilities - -It is possible to limits received event notifications into minimum and maximum -boundaries as well as doing frequency thinning. This is possible using the -argument filter with one or more of the filters available : - -* frequency: specify in Hertz the frequency which will be used to getting - notified of new CAN events for the designated signal. If, during the blocked - time, further changed CAN messages are received, the last valid one will be - transferred after the lockout with a RX_CHANGED. -* min: Minimum value that the decoded value needs to be above to get pushed to - the subscribed client(s). -* max: Maximum value that the decoded value needs to be below to get pushed to - the subscribed client(s) - -Order doesn't matter neither the number of filters chosen, you can use one, two -or all of them at once. - -Usage examples : - -```json -low-can subscribe {"event": "messages.engine.speed", "filter": { "frequency": 3, "min": 1250, "max": 3500}} -low-can subscribe {"event": "messages.engine.load", "filter": { "min": 30, "max": 100}} -low-can subscribe {"event": "messages.vehicle.speed", "filter": { "frequency": 2}} -``` - -## Get last signal value and list of configured signals - -You can also ask for a particular signal value on one shot using **get** verb, like -this: - -```json -low-can get {"event": "messages.engine.speed"} -ON-REPLY 1:low-can/get: {"response":[{"event":"messages.engine.speed","value":0}],"jtype":"afb-reply","request":{"status":"success"}} -``` - -> **CAUTION** Only one event could be requested. - -Also, if you want to know the supported CAN signals loaded by **low-can**, use -verb **list** - -```json -low-can list -ON-REPLY 2:low-can/list: {"response":["messages.hvac.fan.speed","messages.hvac.temperature.left","messages.hvac.temperature.right","messages.hvac.temperature.average","messages.engine.speed","messages.fuel.level.low","messages.fuel.level","messages.vehicle.average.speed","messages.engine.oil.temp","messages.engine.oil.temp.high","messages.doors.boot.open","messages.doors.front_left.open","messages.doors.front_right.open","messages.doors.rear_left.open","messages.doors.rear_right.open","messages.windows.front_left.open","messages.windows.front_right.open","messages.windows.rear_left.open","messages.windows.rear_right.open","diagnostic_messages.engine.load","diagnostic_messages.engine.coolant.temperature","diagnostic_messages.fuel.pressure","diagnostic_messages.intake.manifold.pressure","diagnostic_messages.engine.speed","diagnostic_messages.vehicle.speed","diagnostic_messages.intake.air.temperature","diagnostic_messages.mass.airflow","diagnostic_messages.throttle.position","diagnostic_messages.running.time","diagnostic_messages.EGR.error","diagnostic_messages.fuel.level","diagnostic_messages.barometric.pressure","diagnostic_messages.ambient.air.temperature","diagnostic_messages.commanded.throttle.position","diagnostic_messages.ethanol.fuel.percentage","diagnostic_messages.accelerator.pedal.position","diagnostic_messages.hybrid.battery-pack.remaining.life","diagnostic_messages.engine.oil.temperature","diagnostic_messages.engine.fuel.rate","diagnostic_messages.engine.torque"],"jtype":"afb-reply","request":{"status":"success","uuid":"32df712a-c7fa-4d58-b70b-06a87f03566b"}} -``` - -## Write on CAN buses - -Two modes could be used for that which is either specifying the CAN bus and a -*RAW* CAN message either by specifying a defined signal, **case-insensitively**, -and its value. - -Examples: - -```json -# Authentification -low-can auth -# Write a raw can frame to the CAN id 0x620 -low-can write { "bus_name": "hs", "frame": { "can_id": 1568, "can_dlc": 8, "can_data": [ 255,255,255,255,255,255,255,255]} } -# Write a signal's value. -low-can write { "signal_name": "engine.speed", "signal_value": 1256} -# Write J1939 'single frame' -low-can write { "bus_name": "j1939", "frame": { "pgn": 62420, "length":8, "data": [ 255,255,255,255,255,255,255,255]} } -# Write J1939 'multi frame' -low-can write { "bus_name": "j1939", "frame": { "pgn": 62420, "length":9, "data": [ 255,255,255,255,255,255,255,255,254]} } -``` - -To be able to use write capability, you need to add the permission - ```urn:AGL:permission::platform:can:write``` to your package configuration - file that need to write on CAN bus through **low-can** api. - -Then in order to write on bus, your app needs to call verb **auth** -before calling **write**, to raise its **LOA**, Level Of Assurance, -which controls usage of verb **write**. - -## Using CAN utils to monitor CAN activity - -You can watch CAN traffic and send custom CAN messages using can-utils -preinstalled on AGL target. - -To watch watch going on a CAN bus use: - -```bash -candump can0 -``` - -Or for an USB CAN adapter connected to porter board: - -```bash -candump can1 -``` - -Send a custom message: - -```bash -cansend can0 ID#DDDDAAAATTTTAAAA -``` - -You can also replay a previously dumped CAN logfiles. These logfiles can be -found in _can_samples_ directory under Git repository. Following examples use -a real trip from an Auris Toyota car. - -Trace has been recorded from a CAN device `can0` so you have to map it to the -correct one you use for your tests. - -Replay on a virtual CAN device `vcan0`: - -```bash -canplayer -I trip_test_with_obd2_vehicle_speed_requests vcan0=can0 -``` - -Replay on a CAN device `can0`: - -```bash -canplayer -I trip_test_with_obd2_vehicle_speed_requests can0 -``` - -Replay on a CAN device `can1` (porter by example): - -```bash -canplayer -I trip_test_with_obd2_vehicle_speed_requests can1=can0 -``` |