split in Readme+Kickstart guide
Kurt Van Dijck
parent
4f1026e9ff
commit
7644a013cd
2
Makefile
2
Makefile
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@ -1,6 +1,6 @@
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default: testj1939
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default: testj1939
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all: default j1939.html
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all: default $(patsubst %.md, %.html, $(wildcard *.md))
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%.html: %.md page.theme
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%.html: %.md page.theme
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theme -f -o $@ $< -p "$*"
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theme -f -o $@ $< -p "$*"
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234
Readme.md
234
Readme.md
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@ -1,5 +1,7 @@
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# CAN-J1939 on linux
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# CAN-J1939 on linux
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The [can-j1939-kickstart](Kickstart guide is here)
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## CAN on linux
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## CAN on linux
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See [Wikipedia:socketcan](http://en.wikipedia.org/wiki/Socketcan)
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See [Wikipedia:socketcan](http://en.wikipedia.org/wiki/Socketcan)
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@ -120,235 +122,3 @@ This API is dropped for kernels with netlink support!
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ip addr add j1939 name 0x012345678abcdef dev can0
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ip addr add j1939 name 0x012345678abcdef dev can0
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# Kickstart guide to j1939 on linux
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## Prepare using VCAN
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You may skip this step entirely if you have a functional
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**can0** bus on your system.
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Load module, when *vcan* is not in-kernel
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modprobe vcan
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Create a virtual can0 device and start the device
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ip link add can0 type vcan
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ip link set can0 up
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## First steps with j1939
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Use [testj1939](testj1939.c)
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When *can-j1939* is compiled as module, load it.
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modprobe can-j1939
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Enable the j1939 protocol stack on the CAN device
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ip link set can0 j1939 on
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Most of the subsequent examples will use 2 sockets programs (in 2 terminals).
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One will use CAN_J1939 sockets using *testj1939*,
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and the other will use CAN_RAW sockets using cansend+candump.
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testj1939 can be told to print the used API calls by adding **-v** program argument.
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### receive without source address
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Do in terminal 1
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./testj1939 -r can0:
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Send raw CAN in terminal 2
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cansend can0 1823ff40#0123
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You should have this output in terminal 1
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40 02300: 01 23
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This means, from NAME 0, SA 40, PGN 02300 was received,
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with 2 databytes, *01* & *02*.
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now emit this CAN message:
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cansend can0 18234140#0123
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In J1939, this means that ECU 0x40 sends directly to ECU 0x41
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Since we did not bind to address 0x41, this traffic
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is not meant for us and *testj1939* does not receive it.
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### Use source address
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./testj1939 can0:0x80
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will say
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./testj1939: bind(): Cannot assign requested address
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Since J1939 maintains addressing, **0x80** has not yet been assigned
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as an address on **can0** . This behaviour is very similar to IP
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addressing: you cannot bind to an address that is not your own.
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Now tell the kernel that we *own* address 0x80.
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It will be available from now on.
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ip addr add j1939 0x80 dev can0
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./testj1939 can0:0x80
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now succeeds.
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### receive with source address
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Terminal 1:
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./testj1939 -r can0:0x80
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Terminal 2:
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cansend can0 18238040#0123
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Will emit this output
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40 02300: 01 23
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This is because the traffic had destination address __0x80__ .
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### send
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Open in terminal 1:
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candump -L can0
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And to these test in another terminal
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./testj1939 -s can0:0x80
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This produces **1BFFFF80#0123456789ABCDEF** on CAN.
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./testj1939 -s can0:
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will produce exactly the same because **0x80** is the only
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address currently assigned to **can0:** and is used by default.
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### Multiple source addresses on 1 CAN device
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ip addr add j1939 0x90 dev can0
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./testj1939 -s can0:0x90
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produces **1BFFFF90#0123456789ABCDEF** ,
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./testj1939 -s can0:
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still produces **1BFFFF80#0123456789ABCDEF** , since **0x80**
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is the default _source address_.
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Check
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ip addr show can0
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emits
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X: can0: <NOARP,UP,LOWER_UP> mtu 16 qdisc noqueue state UNKNOWN
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link/can
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can-j1939 0x80 scope link
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can-j1939 0x90 scope link
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0x80 is the first address on can0.
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### Use specific PGN
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./testj1939 -s can0:,0x12345
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emits **1923FF80#0123456789ABCDEF** .
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Note that the real PGN is **0x12300**, and destination address is **0xff**.
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### Emit destination specific packets
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The destination field may be set during sendto().
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*testj1939* implements that like this
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./testj1939 -s can0:,0x12345 can0:0x40
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emits **19234080#0123456789ABCDEF** .
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The destination CAN iface __must__ always match the source CAN iface.
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Specifing one during bind is therefore sufficient.
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./testj1939 -s can0:,0x12300 :0x40
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emits the very same.
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### Emit different PGNs using the same socket
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The PGN is provided in both __bind( *sockname* )__ and
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__sendto( *peername* )__ , and only one is used.
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*peername* PGN has highest precedence.
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For broadcasted transmissions
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./testj1939 -s can0:,0x12300 :,0x32100
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emits **1B21FF80#0123456789ABCDEF** rather than 1923FF80#012345678ABCDEF
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Desitination specific transmissions
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./testj1939 -s can0:,0x12300 :0x40,0x32100
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emits **1B214080#0123456789ABCDEF** .
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It makes sometimes sense to omit the PGN in __bind( *sockname* )__ .
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### Larger packets
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J1939 transparently switches to *Transport Protocol* when packets
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do not fit into single CAN packets.
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./testj1939 -s20 can0:0x80 :,0x12300
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emits:
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18ECFF80#20140003FF002301
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18EBFF80#010123456789ABCD
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18EBFF80#02EF0123456789AB
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18EBFF80#03CDEF01234567
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The fragments for broadcasted *Transport Protocol* are seperated
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__50ms__ from each other.
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Destination specific *Transport Protocol* applies flow control
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and may emit CAN packets much faster.
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./testj1939 -s20 can0:0x80 :0x90,0x12300
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emits:
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18EC9080#1014000303002301
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18EC8090#110301FFFF002301
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18EB9080#010123456789ABCD
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18EB9080#02EF0123456789AB
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18EB9080#03CDEF01234567
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18EC8090#13140003FF002301
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The flow control causes a bit overhead.
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This overhead scales very good for larger J1939 packets.
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## Advanced topics with j1939
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### Change priority of J1939 packets
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./testj1939 -s can0:0x80,0x0100
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./testj1939 -s -p3 can0:0x80,0x0200
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emits
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1801FF80#0123456789ABCDEF
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0C02FF80#0123456789ABCDEF
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### using connect
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### advanced filtering
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## dynamic addressing
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@ -0,0 +1,232 @@
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# Kickstart guide to can-j1939 on linux
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## Prepare using VCAN
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You may skip this step entirely if you have a functional
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**can0** bus on your system.
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Load module, when *vcan* is not in-kernel
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modprobe vcan
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Create a virtual can0 device and start the device
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ip link add can0 type vcan
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ip link set can0 up
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## First steps with j1939
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Use [testj1939](testj1939.c)
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When *can-j1939* is compiled as module, load it.
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modprobe can-j1939
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Enable the j1939 protocol stack on the CAN device
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ip link set can0 j1939 on
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Most of the subsequent examples will use 2 sockets programs (in 2 terminals).
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One will use CAN_J1939 sockets using *testj1939*,
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and the other will use CAN_RAW sockets using cansend+candump.
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testj1939 can be told to print the used API calls by adding **-v** program argument.
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### receive without source address
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Do in terminal 1
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./testj1939 -r can0:
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Send raw CAN in terminal 2
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cansend can0 1823ff40#0123
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You should have this output in terminal 1
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40 02300: 01 23
|
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|
This means, from NAME 0, SA 40, PGN 02300 was received,
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with 2 databytes, *01* & *02*.
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now emit this CAN message:
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cansend can0 18234140#0123
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In J1939, this means that ECU 0x40 sends directly to ECU 0x41
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Since we did not bind to address 0x41, this traffic
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is not meant for us and *testj1939* does not receive it.
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### Use source address
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./testj1939 can0:0x80
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will say
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./testj1939: bind(): Cannot assign requested address
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Since J1939 maintains addressing, **0x80** has not yet been assigned
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||||||
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as an address on **can0** . This behaviour is very similar to IP
|
||||||
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addressing: you cannot bind to an address that is not your own.
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||||||
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Now tell the kernel that we *own* address 0x80.
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It will be available from now on.
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ip addr add j1939 0x80 dev can0
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./testj1939 can0:0x80
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now succeeds.
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### receive with source address
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Terminal 1:
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./testj1939 -r can0:0x80
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Terminal 2:
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cansend can0 18238040#0123
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Will emit this output
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40 02300: 01 23
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This is because the traffic had destination address __0x80__ .
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### send
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Open in terminal 1:
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candump -L can0
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And to these test in another terminal
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./testj1939 -s can0:0x80
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|
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This produces **1BFFFF80#0123456789ABCDEF** on CAN.
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./testj1939 -s can0:
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||||||
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|
||||||
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will produce exactly the same because **0x80** is the only
|
||||||
|
address currently assigned to **can0:** and is used by default.
|
||||||
|
|
||||||
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### Multiple source addresses on 1 CAN device
|
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|
|
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ip addr add j1939 0x90 dev can0
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|
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./testj1939 -s can0:0x90
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||||||
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|
||||||
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produces **1BFFFF90#0123456789ABCDEF** ,
|
||||||
|
|
||||||
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./testj1939 -s can0:
|
||||||
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|
||||||
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still produces **1BFFFF80#0123456789ABCDEF** , since **0x80**
|
||||||
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is the default _source address_.
|
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|
Check
|
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|
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ip addr show can0
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emits
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|
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X: can0: <NOARP,UP,LOWER_UP> mtu 16 qdisc noqueue state UNKNOWN
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link/can
|
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can-j1939 0x80 scope link
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can-j1939 0x90 scope link
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|
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0x80 is the first address on can0.
|
||||||
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|
||||||
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### Use specific PGN
|
||||||
|
|
||||||
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./testj1939 -s can0:,0x12345
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||||||
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|
||||||
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emits **1923FF80#0123456789ABCDEF** .
|
||||||
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|
||||||
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Note that the real PGN is **0x12300**, and destination address is **0xff**.
|
||||||
|
|
||||||
|
### Emit destination specific packets
|
||||||
|
|
||||||
|
The destination field may be set during sendto().
|
||||||
|
*testj1939* implements that like this
|
||||||
|
|
||||||
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./testj1939 -s can0:,0x12345 can0:0x40
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||||||
|
|
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emits **19234080#0123456789ABCDEF** .
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||||||
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|
||||||
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The destination CAN iface __must__ always match the source CAN iface.
|
||||||
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Specifing one during bind is therefore sufficient.
|
||||||
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|
||||||
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./testj1939 -s can0:,0x12300 :0x40
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||||||
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|
||||||
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emits the very same.
|
||||||
|
|
||||||
|
### Emit different PGNs using the same socket
|
||||||
|
|
||||||
|
The PGN is provided in both __bind( *sockname* )__ and
|
||||||
|
__sendto( *peername* )__ , and only one is used.
|
||||||
|
*peername* PGN has highest precedence.
|
||||||
|
|
||||||
|
For broadcasted transmissions
|
||||||
|
|
||||||
|
./testj1939 -s can0:,0x12300 :,0x32100
|
||||||
|
|
||||||
|
emits **1B21FF80#0123456789ABCDEF** rather than 1923FF80#012345678ABCDEF
|
||||||
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|
||||||
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Desitination specific transmissions
|
||||||
|
|
||||||
|
./testj1939 -s can0:,0x12300 :0x40,0x32100
|
||||||
|
|
||||||
|
emits **1B214080#0123456789ABCDEF** .
|
||||||
|
|
||||||
|
It makes sometimes sense to omit the PGN in __bind( *sockname* )__ .
|
||||||
|
|
||||||
|
### Larger packets
|
||||||
|
|
||||||
|
J1939 transparently switches to *Transport Protocol* when packets
|
||||||
|
do not fit into single CAN packets.
|
||||||
|
|
||||||
|
./testj1939 -s20 can0:0x80 :,0x12300
|
||||||
|
|
||||||
|
emits:
|
||||||
|
|
||||||
|
18ECFF80#20140003FF002301
|
||||||
|
18EBFF80#010123456789ABCD
|
||||||
|
18EBFF80#02EF0123456789AB
|
||||||
|
18EBFF80#03CDEF01234567
|
||||||
|
|
||||||
|
The fragments for broadcasted *Transport Protocol* are seperated
|
||||||
|
__50ms__ from each other.
|
||||||
|
Destination specific *Transport Protocol* applies flow control
|
||||||
|
and may emit CAN packets much faster.
|
||||||
|
|
||||||
|
./testj1939 -s20 can0:0x80 :0x90,0x12300
|
||||||
|
|
||||||
|
emits:
|
||||||
|
|
||||||
|
18EC9080#1014000303002301
|
||||||
|
18EC8090#110301FFFF002301
|
||||||
|
18EB9080#010123456789ABCD
|
||||||
|
18EB9080#02EF0123456789AB
|
||||||
|
18EB9080#03CDEF01234567
|
||||||
|
18EC8090#13140003FF002301
|
||||||
|
|
||||||
|
The flow control causes a bit overhead.
|
||||||
|
This overhead scales very good for larger J1939 packets.
|
||||||
|
|
||||||
|
## Advanced topics with j1939
|
||||||
|
|
||||||
|
### Change priority of J1939 packets
|
||||||
|
|
||||||
|
./testj1939 -s can0:0x80,0x0100
|
||||||
|
./testj1939 -s -p3 can0:0x80,0x0200
|
||||||
|
|
||||||
|
emits
|
||||||
|
|
||||||
|
1801FF80#0123456789ABCDEF
|
||||||
|
0C02FF80#0123456789ABCDEF
|
||||||
|
|
||||||
|
### using connect
|
||||||
|
|
||||||
|
### advanced filtering
|
||||||
|
|
||||||
|
## dynamic addressing
|
||||||
|
|
||||||
Loading…
Reference in New Issue