topic Re: Int value passing from vehicle driver to hal occur error in i.MX Processors

Int value passing from vehicle driver to hal occur error

yifei_ren — Thu, 29 Aug 2019 08:23:43 GMT

Dear NXP Developer:

When I using imx8qxp android P automotive version.

I found property int value passing from vehicle driver to vehicle hal occurs error.

int value encoded in function 'vehicle_hal_set_property' in vehicle_core.c.

This value will pass to vehicle hal.

void vehicle_hal_set_property(u16 prop, u8 index, u32 value)

Such as 4 will become 2, 5 will become -3.

Did you find it.

I think it related with encode function.

Could you help fix it ?

Thank you.

Re: Int value passing from vehicle driver to hal occur error

jimmychan — Mon, 02 Sep 2019 09:06:58 GMT

I cannot find the code your mentioned. could you tell me more details about this?

Re: Int value passing from vehicle driver to hal occur error

yifei_ren — Mon, 02 Sep 2019 11:35:38 GMT

File path : /android/vendor/nxp-opensource/kernel_imx/drivers/mxc/vehicle/vehicle_core.c

In this file,function vehicle_hal_set_property will be called for encoding values.

Those value encoded by nanopb and decode by protobuf in HAL.

Please check it again.

Re: Int value passing from vehicle driver to hal occur error

yifei_ren — Mon, 02 Sep 2019 11:49:50 GMT

VehcileDriver get value from M4 side by rpmsg. such as value is 5 which is int type.

In vehicle_hal_set_property it will encoded by nanopb.

file:/android/vendor/nxp-opensource/kernel_imx/drivers/mxc/vehicle/vehicle_core.c

void vehicle_hal_set_property(u16 prop, u8 index, u32 value)

{

send_message.msg_type = emulator_MsgType_SET_PROPERTY_CMD;

send_message.has_status = true;

send_message.status = emulator_Status_RESULT_OK;

send_message.value.funcs.encode = &encode_value_callback;

send_message.value.arg = &property_encode;

if (!pb_encode(&stream, emulator_EmulatorMessage_fields, &send_message)) // pb_encode will call encode_value_callback

pr_err("vehicle protocol encode fail \n");

send_usrmsg(buffer, stream.bytes_written); //send to HAL

file : /android/vendor/nxp-opensource/kernel_imx/drivers/mxc/vehicle/vehicle_protocol_callback.c

bool encode_value_callback(pb_ostream_t *stream, const pb_field_t *field, void * const *arg){

....

propvalue.int32_values.funcs.encode = &encode_int32_values_callback;

propvalue.int32_values.arg = &data->value;

propvalue.value_type = VEHICLEPROPERTYTYPE_INT32;

}

bool encode_int32_values_callback(pb_ostream_t *stream, const pb_field_t *field, void * const *arg)

{

u32 *value = (u32 *)*arg;

if (!pb_encode_tag_for_field(stream, field))

return false;

return pb_encode_varint(stream,*value);

}

// In VHAL it will call protobuf to decode it.

In VehicleEmulator.cpp

void VehicleEmulator::parseRxProtoBuf(std::vector<uint8_t>& msg) {

if (rxMsg.ParseFromArray(msg.data(), static_cast<int32_t>(msg.size()))) // value here will be decoded and value is wrong

}

Re: Int value passing from vehicle driver to hal occur error

jimmychan — Thu, 05 Sep 2019 14:31:40 GMT

So, if you pass a value that is u32 type, is the decode value still wrong?

Re: Int value passing from vehicle driver to hal occur error

yifei_ren — Fri, 06 Sep 2019 05:45:12 GMT

yes, u32 type still wrong

Re: Int value passing from vehicle driver to hal occur error

jimmychan — Tue, 10 Sep 2019 07:34:29 GMT

Could you provide the log of the error?

Re: Int value passing from vehicle driver to hal occur error

yifei_ren — Thu, 12 Sep 2019 01:24:29 GMT

Add log in file /vendor/nxp-opensource/kernel_imx/drivers/mxc/vehicle/vehicle_protocol_callback.c

212bool encode_value_callback(pb_ostream_t *stream, const pb_field_t *field, void * const *arg)213{
....
237  propvalue.int32_values.arg = &data->value; // using pr_info check it, take value as 5  for example....
}

In below file to check the value received in Vehicle HAL received.

135void VehicleEmulator::doSetProperty(VehicleEmulator::EmulatorMessage& rxMsg,136                                    VehicleEmulator::EmulatorMessage& respMsg) {
{
...
157    if (protoVal.int32_values_size() > 0) {158        val.value.int32Values = std::vector<int32_t> { protoVal.int32_values().begin(),159                                                       protoVal.int32_values().end() };160    }// recevice -3 at here.
}

Re: Int value passing from vehicle driver to hal occur error

yifei_ren — Thu, 12 Sep 2019 01:28:23 GMT

Please tell me you can reproduce it or not ?

Because I can reproduce this issue 100% on my side.

Re: Int value passing from vehicle driver to hal occur error

yifei_ren — Thu, 12 Sep 2019 01:30:39 GMT

Value mismatch like this:

Driver Send | HAL receive

2 | 1

3 | -2

4 | 2

5 | -3

6 | 3

....

Re: Int value passing from vehicle driver to hal occur error

jimmychan — Mon, 23 Sep 2019 11:09:06 GMT

Could you tell me which Android P version are you using?

Re: Int value passing from vehicle driver to hal occur error

yifei_ren — Thu, 26 Sep 2019 01:40:10 GMT

Hello jimmy:

Android security patch : 2019.1.5

Kernel version : 4.14.98-07194

Android version : Android 9 2.1.0-auto-ga-rc4

BTW， Can you ask question in one case once for all ?

Re: Int value passing from vehicle driver to hal occur error

jimmychan — Sun, 29 Sep 2019 06:41:43 GMT

I downloaded the newer version of Android BSP. (imx-p9.0.0_2.1.1-auto-ga.xml)

I found the vehicle_hal_set_property is different now.

please try it.

Re: Int value passing from vehicle driver to hal occur error

yifei_ren — Mon, 30 Sep 2019 06:19:41 GMT

Hello Jimmy Chan:

Which 2.1.1 version are you using ?

Imx8qxp only release 2.1.0.

Imx8qxm released 2.1.1, but there is no difference in vehicle_hal_set_property .

you mean imx8qxp 2.1.1 verison ?

It still not release on NXP web.

Could you give me a download link ?

Re: Int value passing from vehicle driver to hal occur error

jimmychan — Tue, 08 Oct 2019 04:17:51 GMT

imx-manifest - i.MX Release Manifest

repo init -u https://source.codeaurora.org/external/imx/imx-manifest -b imx-android-pie -m imx-p9.0.0_2.1.1-auto-ga.xml

Re: Int value passing from vehicle driver to hal occur error

krishnan_ramesh — Tue, 05 May 2020 11:35:47 GMT

hi jimmychan / nxp developers‌,

I would like to know how did u test this?

vehicle driver to vehicle hal ?

I am looking for CAN communication between CAN driver to Vehicle HAL?

Any idea of running vehicle hal test found here

<sources>packages/services/Car/tests/vehiclehal_test

running emulator in

<sources>/hardware/interfaces/automotive/vehicle/2.0/default/tests

Regards,

Ramesh