diff options
Diffstat (limited to 'signaling/low-level-can-service-guide.md')
| -rw-r--r-- | signaling/low-level-can-service-guide.md | 585 |
1 files changed, 0 insertions, 585 deletions
diff --git a/signaling/low-level-can-service-guide.md b/signaling/low-level-can-service-guide.md deleted file mode 100644 index 821f3e9..0000000 --- a/signaling/low-level-can-service-guide.md +++ /dev/null @@ -1,585 +0,0 @@ -# AGL CAN binding architecture - -It's meant to generate, from a JSON file describing CAN messages and diagnostic -message \(OBD2 for now\), a cpp file to integrate with the project. - -Once generated binding is built with it and result will be a widget file to -install on an AGL target system. - - - -Bringing CAN management into the AGL project is more than allowing decode and -print CAN messages, lot of tools can do that (Wireshark, CAN-utils, ...). - -The goal is to provide a common API and abstraction to the CAN bus then you can -bring some more high level functionalities to the system. - -CAN binding will be separated in two parts: - - - -* High level: Binding from which others applications will connect to. - It provides valuable access to the CAN bus by aggregate signals or providing - new signals from several originals. For example, a signal exposing whether or - not a door is open, no matter which one it is. Also, we can imagine an - application which supervise if there is no one in the car but moving (1m, 2m ?) - to alert the owner of an unexpected behavior. The high level binding will sends - a single event representing that behavior to the application which in turn will - send a phone message to. - -* Low level: Decode messages that transit and send event through **Application - Framework** to the subscribers with human readable message. It provides some - basic access to the bus + some basic mathematical, statistical features - (last_values, min, max, timestamps, averaging) as well as basic filter to get - discerning signal only (This part are not implemented yet in the low level). - - - -Last but not least, the low level binding can be shipped as binary only using -OpenXC inspired [AGL low level CAN binding Generator](http://github.com/iotbzh/can-config-generator). - -# Prerequisites - -* An AGL system installed with latest Daring Dab version with latest Application - framework version >= 0.6. -* Make sure you built the AGL generator else you will not be able to generate - custom low-level CAN binding. -It will produce a _application-generated.cpp_ file to paste in the source, - _CAN-binder/low-can-binding/binding/_, directory. -* Make sure you already set up the AGL SDK using the following - [SDK Quick Setup Guide](http://docs.iot.bzh/docs/getting_started/en/dev/reference/setup-sdk-environment.html). - Alternatively, please refer to official guides available on [AGL Developer Site](http://docs.automotivelinux.org/docs/devguides/en/dev/#guides). - -If you need to have the graphic stack inside your SDK, you have to prepare your - environment with the **iotbzh**, or **Daring Dab** flavor using _prepare_meta_ - tool. To do so, run the following command in your docker image in the step 4 - in place of `... [ prepare build environment ] ...`: - -> **NOTE** These commands assume that proprietary graphic drivers for Renesas -Porter board are located in _/home/devel/share/proprietary-renesas-rcar_ directory. - -```bash -prepare_meta -f iotbzh -o /xdt -l /home/devel/mirror -p /home/devel/share/proprietary-renesas-rcar/ -t m3ulcb -e wipeconfig -e rm_work -e cleartemp -/xdt/build/m3ulcb/agl-init-build-env -``` - -* (Optionnal) An [USB CAN adapter](http://shop.8devices.com/usb2can) connected to - connector through the [right cable](http://www.mouser.fr/ProductDetail/EasySync/OBD-M-DB9-F-ES/)) -if you want to connect to a real car through the OBD2 connector. - -# Getting started - -## CAN config generator usage - -### Build requirements - -* CMake version 3.3 or later -* G++, Clang++ or any C++11 compliant compiler. - -### Compile - -```bash -source /xdt/sdk/environment-setup-aarch64-agl-linux -export PATH=$PATH:/xdt/sdk/sysroots/x86_64-aglsdk-linux/usr/bin -export WD=$(pwd) -git clone --recursive https://gerrit.automotivelinux.org/gerrit/apps/low-level-can-service -b Renesas_delivery_Q2 -git clone --recursive https://gerrit.automotivelinux.org/gerrit/apps/low-level-can-generator -cd ${WD}/low-level-can-generator -mkdir -p build -cd build -cmake -G "Unix Makefiles" .. -make -``` - -### Naming convention - -We chose a doted naming convention because it's a well know schema. - -It separates and organize names into hierarchy. From the left to right, you -describe your names using the more common ancestor at the left then more you go -to the right the more it will be accurate. - -Let's take an example, here is an example about standard PID name following this -convention: - -```bash -engine.load -engine.coolant.temperature -fuel.pressure -intake.manifold.pressure -engine.speed -vehicle.speed -intake.air.temperature -mass.airflow -throttle.position -running.time -EGR.error -fuel.level -barometric.pressure -commanded.throttle.position -ethanol.fuel.percentage -accelerator.pedal.position -hybrid.battery-pack.remaining.life -engine.oil.temperature -engine.torque -``` - -> **NOTE** It's recommended that you follow this naming convention to named -> your CAN signals. -> -> There is only character `*` that is forbidden in names because it's used as -> wildcard for subscription and unsubscription. -> -> This described in the below chapter. - -### Available decoder - -You can use some basic decoder provided by default by the binding which are: - -* ***decoder_t::noopDecoder*** : Default decoder if not specified, return raw - value from signal's bitfield. -* ***decoder_t::booleanDecoder*** : Coerces a numerical value to a boolean. -* ***decoder_t::stateDecoder***s : Find and return the corresponding string - state for a CAN signal's raw integer value. - -### Generating JSON from Vector CANoe Database - -> **CAUTION** This chapter has not been tested since it haven't necessary -> automotive tools for that. - -If you use CANoe to store your `gold standard` CAN signal definitions, you may -be able to use the OpenXC `xml_to_json.py` script to make your JSON for you. -First, export the Canoe .dbc file as XML - you can do this with Vector CANdb++. -Next, create a JSON file according to the format defined above, but only define: - -* CAN messages. -* Name of CAN signals within messages and their generic_name. -* Optionnaly name of diagnostic messages and their name. - -To install the OpenXC utilities and runs `xml_to_json.py` script: - -```bash -sudo pip install openxc -cd /usr/local/lib/python2.7/dist-packages/openxc/generator -``` - -Assuming the data exported from Vector is in `signals.xml` and your minimal mapping -file is `mapping.json`, run the script: - -```bash -python -m openxc.utils ./xml_to_json.py signals.xml mapping.json signals.json -``` - -The script scans `mapping.json` to identify the CAN messages and signals that -you want to use from the XML file. It pulls the neccessary details of the -messages (bit position, bit size, offset, etc) and outputs the resulting subset -as JSON into the output file, `signals.json`. - -The resulting file together with `mapping.json` will work as input to the code -generation script. - -### Generate your config file - -To generate your config file you just have to run the generator using the `-m` -option to specify your JSON file. - -```bash -./can-config-generator -m ../tests/basic.json -o application-generated.cpp -``` - -If you omit the `-o` option, then code is generated on the stdout. -You also can specify a header and a footer file. -These files must be valid C++ fragment as long as they will be inserted as is. -Use the `-h` option to display help. - -> **CAUTION:** Each `diagnostic_message` must define the same `bus` as the -> binding will use only one bus. - -### Supported OpenXC items - -About now, compliance with OpenXC reference is in progress, can-config-generator -and CAN\_signaling will implement them soon. `initializers`, `loopers`, -`commands` and `handlers` nodes are ignored for now. - -This generator will follow OpenXC support status of the low level CAN signaling -binding. - -> **NOTE**: The `buses` item will not be supported by this generator because -> the binding use another way to declare and configure buses. Please refer to -> the binding's documentation. - -## Compile and install the binding - -### Build requirements - -* Kernel >= 4.8 -* CMake version 3.3 or later -* G++, Clang++ or any C++11 compliant compiler. - -### Compile - -Clone the binding repository, copy the generated file and updated the git -submodules. - -Execute the following commands from this repository: - -```bash -cd ${WD}/low-level-can-service -cp ${WD}/low-level-can-generator/build/application-generated.cpp ../low-can-binding/binding -``` - -### Installation - -```bash -cd ${WD}/low-level-can-service -mkdir build -cd build -cmake .. -make -make widget -``` - -To install it manually, you need to copy the _low-can-service.wgt_ file on your -target, then from it execute the following commands : - -On your host, to copy over the network : - -```bash -scp low-can-service.wgt root@<target_IP>:~ -``` - -On the target, assuming _**wgt**_ file is in the root home directory: - -```bash -afm-util install low-can-service.wgt -{ "added": "low-can-service@4.0" } -``` - -# 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-mappping.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" -``` - -> **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`. - -# 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](http://docs.iot.bzh/docs/apis_services/en/dev/reference/af-main/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 : - -```xml -<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. - -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_ - -```json -ON-EVENT low-can/messages.doors.driver.open({"event":"low-can\/messages.doors.driver.open","data":{"name":"messages.doors.driver.open","value":true},"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 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}} -``` - -## 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 -``` |