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diff --git a/docs/5-Usage.md b/docs/5-Usage.md new file mode 100644 index 00000000..9e9841e8 --- /dev/null +++ b/docs/5-Usage.md @@ -0,0 +1,424 @@ +# 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) +* rx_id : For the ISO TP protocol, define the id of source to write a message +* tx_id : For the ISO TP protocol, define the id of emitter to receive message + +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}} +# ISOTP +low-can subscribe {"id": 273, "filter": {"tx_id" : 562}} +``` + +## 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": 61442, "length":8, "data": [ 255,255,255,255,255,255,255,255]} } +# Write J1939 'multi frame' +low-can write { "bus_name": "j1939", "frame": { "pgn": 61442, "length":9, "data": [ 255,255,255,255,255,255,255,255,254]} } +# Write ISOTP 'single frame' +low-can write {"bus_name": "hs", "filter": {"rx_id" : 562}, "frame": { "can_id": 273, "can_dlc": 8, "can_data": [ 255,255,255,255,255,255,255,255]} } +# Write ISOTP 'multi frame' +low-can write {"bus_name": "hs", "filter": {"rx_id" : 562}, "frame": { "can_id": 273, "can_dlc": 9, "can_data": [ 255,255,255,255,255,255,255,255,25]} } +``` + +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 +``` |