Android 9 Vehicle Driver to Vehicle HAL

[vinothkumars]

Dear NXP,

I am working on iMX8 with Android P Automotive. I confused with value mentioned in the following file.

Could you explain the following content (mentioned in bold) and let me know for adding new parameter and adding values.

source/vendor/nxp-opensource/kernel_imx/drivers/mxc/vehicle/vehicle_core.h

#ifdef CONFIG_VEHICLE_DRIVER_OREO
#define HVAC_FAN_SPEED 306185472
#define HVAC_FAN_DIRECTION 306185473
#define HVAC_AUTO_ON 304088330
#define HVAC_AC_ON 304088325
#define HVAC_RECIRC_ON 304088328
#define HVAC_DEFROSTER 320865540
#define HVAC_TEMPERATURE_SET 308282627
#define HVAC_POWER_ON 304088336
#else
#define HVAC_FAN_SPEED 356517120
#define HVAC_FAN_DIRECTION 356517121
#define HVAC_AUTO_ON 354419978
#define HVAC_AC_ON 354419973
#define HVAC_RECIRC_ON 354419976
#define HVAC_DEFROSTER 320865540
#define HVAC_TEMPERATURE_SET 358614275
#define HVAC_POWER_ON 354419984
#endif

Thanks & Regards,

VinothS

[trsbalaji]

Hi Vinoth,

How to check CAN in NXP android is there any app or simulation?

[vinothkumars]

Hi yifei.ren@hirain.com‌ ,

Kernel reboot, When I send the following command,

echo 2 > /sys/devices/platform/vehicle-dummy/hvac_on

VINOTHKUMAR: vehicle_hal_set_property: 2
VINOTHKUMAR: vehicle_hal_set_property +++++++++++++ 1: 2
VINOTHKUMAR: vehicle_hal_set_property +++++++++++++ 2: 2
VINOTHKUMAR: vehicle_hal_set_property +++++++++++++ 3:
VINOTHKUMAR : encode_value_callback
VINOTHKUMAR : encode_value_callback probe: 0x15200510 , value: 2, Address: 0xc157eafc
VINOTHKUMAR : encode_value_callback Address: 0xc157eafc
VINOTHKUMAR : encode_int32_values_callback Value: 2
VINOTHKUMAR : encode_int32_values_callback Value: 2
VINOTHKUMAR: vehicle_hal_set_property +++++++++++++ 4, buffer, stream.bytes_written:24
VINOTHKUMAR: send_usrmsg +1 buf , len : 24
VINOTHKUMAR: send_usrmsg +2
VINOTHKUMAR: send_usrmsg +3, buf 24
VINOTHKUMAR: send_usrmsg +3a, user_pid: 0

Unable to handle kernel NULL pointer dereference at virtual address 00000171
pgd = d9b54000
[00000171] *pgd=00000000
Internal error: Oops: 5 [#1] PREEMPT SMP ARM
Modules linked in: brcmfmac brcmutil
CPU: 2 PID: 488 Comm: sh Not tainted 4.14.98-00002-g4261f9a5e0df-dirty #26
Hardware name: Freescale i.MX6 Quad/DualLite (Device Tree)
task: d9a9f080 task.stack: d9bce000
PC is at netlink_unicast+0xdc/0x29c
LR is at netlink_unicast+0x74/0x29c
pc : [<c0b58404>] lr : [<c0b5839c>] psr: 20010013
sp : d9bcfdc8 ip : d9bcfdc8 fp : d9bcfe04
r10: c157eaf4 r9 : 00000000 r8 : d9bcfdd0
r7 : c140b118 r6 : f5081b40 r5 : 00000000 r4 : 01080020
r3 : 00000000 r2 : 00000000 r1 : 00000000 r0 : f5081b40
Flags: nzCv IRQs on FIQs on Mode SVC_32 ISA ARM Segment none
Control: 10c53c7d Table: 29b5404a DAC: 00000051

PC: 0xc0b58384:
8384
e1a09002
e3110cff
e24b802c
11a01004
01a0100e
ebfff0d6
e3570000
e30b7118

83a4
0595311c
13a03000
e34c7140
e1a06000
e5283008
ea000011
e3740a01
8a00007c

83c4
e594220c
e3120001
1a00003f
e1a00004
e1a01006
e3a02001
ebff43dd
e3500000

83e4
1a000062
e1a00004
e1a01006
e1a02008
e1a03005
ebffff1f
e3500001
1a00005f

8404
e5d53171
e5974000
e0833283
e0844103
ebd96aea
e1a01009
e1a00004
ebfff4f9

8424
e2504000
0a000023
e284a064
f59af000
e19a2f9f
e2822001
e18a1f92
e3310000

8444
1afffffa
ebd96b73
e5d42012
e3520001
1affffd8
e5941204
e5952200
e1510002

8464
0affffd4
f57ff05b
f59af000
e19a2f9f
e2422001
e18a1f92
e3310000
1afffffa

LR: 0xc0b5831c:
831c
e1a00005
ebfff4ad
eaffffe6
e1a0c00d
e92ddff0
e24cb004
e24dd014
e52de004

833c
e8bd4000
e309c188
e1a05000
e1a0e00c
e1a0c00d
e34ce140
e3cccd7f
e59e6000

835c
e3ccc03f
e1a00001
e50be038
e3a04020
e3a0e0c0
e50b6030
e340e140
e59c1004

837c
e3404108
e1a07003
e1a09002
e3110cff
e24b802c
11a01004
01a0100e
ebfff0d6

839c
e3570000
e30b7118
0595311c
13a03000
e34c7140
e1a06000
e5283008
ea000011

83bc
e3740a01
8a00007c
e594220c
e3120001
1a00003f
e1a00004
e1a01006
e3a02001

83dc
ebff43dd
e3500000
1a000062
e1a00004
e1a01006
e1a02008
e1a03005
ebffff1f

83fc
e3500001
1a00005f
e5d53171
e5974000
e0833283
e0844103
ebd96aea
e1a01009

SP: 0xd9bcfd48:
fd48
c0dc6a84
845b79f7
c0b58404
20010013
ffffffff
d9bcfdac
d9bcfdd0
d9bce000

fd68
d9bcfe04
d9bcfd78
c0dcc2f8
c0101210
f5081b40
00000000
00000000
00000000

fd88
01080020
00000000
f5081b40
c140b118
d9bcfdd0
00000000
c157eaf4
d9bcfe04

fda8
d9bcfdc8
d9bcfdc8
c0b5839c
c0b58404
20010013
ffffffff
00000051
bf000000

fdc8
d9bcfdf4
c1409188
00000000
845b79f7
d9bcfdfc
f5a7d300
f5081b40
00000019

fde8
f4cc4c80
c09e4864
00000008
c157eaf4
d9bcfe2c
d9bcfe08
c09e3d24
c0b58334

fe08
00000019
00000000
00000000
00000002
c1409188
f4cc4c80
d9bcfeb4
d9bcfe30

fe28
c09e3eec
c09e3be4
c09e15c8
f4cc4c80
00000080
00000000
00000000
00000000

IP: 0xd9bcfd48:
fd48
c0dc6a84
845b79f7
c0b58404
20010013
ffffffff
d9bcfdac
d9bcfdd0
d9bce000

fd68
d9bcfe04
d9bcfd78
c0dcc2f8
c0101210
f5081b40
00000000
00000000
00000000

fd88
01080020
00000000
f5081b40
c140b118
d9bcfdd0
00000000
c157eaf4
d9bcfe04

fda8
d9bcfdc8
d9bcfdc8
c0b5839c
c0b58404
20010013
ffffffff
00000051
bf000000

fdc8
d9bcfdf4
c1409188
00000000
845b79f7
d9bcfdfc
f5a7d300
f5081b40
00000019

fde8
f4cc4c80
c09e4864
00000008
c157eaf4
d9bcfe2c
d9bcfe08
c09e3d24
c0b58334

fe08
00000019
00000000
00000000
00000002
c1409188
f4cc4c80
d9bcfeb4
d9bcfe30

fe28
c09e3eec
c09e3be4
c09e15c8
f4cc4c80
00000080
00000000
00000000
00000000

FP: 0xd9bcfd84:
fd84
00000000
01080020
00000000
f5081b40
c140b118
d9bcfdd0
00000000
c157eaf4

fda4
d9bcfe04
d9bcfdc8
d9bcfdc8
c0b5839c
c0b58404
20010013
ffffffff
00000051

fdc4
bf000000
d9bcfdf4
c1409188
00000000
845b79f7
d9bcfdfc
f5a7d300
f5081b40

fde4
00000019
f4cc4c80
c09e4864
00000008
c157eaf4
d9bcfe2c
d9bcfe08
c09e3d24

fe04
c0b58334
00000019
00000000
00000000
00000002
c1409188
f4cc4c80
d9bcfeb4

fe24
d9bcfe30
c09e3eec
c09e3be4
c09e15c8
f4cc4c80
00000080
00000000
00000000

fe44
00000000
d9bcfe88
c09e15c8
f4cc4c99
00000080
00000019
00000000
00000008

fe64
00000001
00000000
00000000
00000000
00000000
00000000
c09e4864
c157eaf4

R0: 0xf5081ac0:
1ac0
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000

1ae0
f50b4400
00000000
00000000
00000000
00000000
00000000
00000000
00000000

1b00
00000000
00000000
00000000
00000000
d9ff4f40
f4cc4b80
f5081b18
f5081b18

1b20
f5081b20
f5081b20
f2323ac4
00000000
00000000
00000000
00000000
00000000

1b40
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000

1b60
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000

1b80
00000000
00000000
00000000
00000000
00000000
00000000
0000002c
00000000

1ba0
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000

R6: 0xf5081ac0:
1ac0
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000

1ae0
f50b4400
00000000
00000000
00000000
00000000
00000000
00000000
00000000

1b00
00000000
00000000
00000000
00000000
d9ff4f40
f4cc4b80
f5081b18
f5081b18

1b20
f5081b20
f5081b20
f2323ac4
00000000
00000000
00000000
00000000
00000000

1b40
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000

1b60
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000

1b80
00000000
00000000
00000000
00000000
00000000
00000000
0000002c
00000000

1ba0
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000

R7: 0xc140b098:
b098
00000000
00000000
00000000
00000458
c0b4f99c
c0b50e24
c0b4e904
c0b4f4d8

b0b8
c0b4ec00
c0b4fd40
00000000
00000000
c0b4ead0
00000000
00000000
00000000

b0d8
c14e93a8
c14e93a8
00323375
00000000
00000000
00000000
c0b52a38
c0b52690

b0f8
c0b525a4
c0b51988
c0b52dbc
c0b523b0
c0b51d0c
c0b51e28
c0b51e54
00000000

b118
f4102000
c140b11c
c140b11c
00000000
00000000
c0eea45c
00000000
00000000

b138
00000000
00000000
00000000
00000000
00000000
c0eecbf4
00000000
00000000

b158
c0b620b4
c0b62784
00000000
c0eecbe8
00000000
c140b1dc
00000000
c140b1dc

b178
00000000
c140b1dc
00000000
c140b1dc
00000000
c140b1dc
00000000
c140b1dc

R8: 0xd9bcfd50:
fd50
c0b58404
20010013
ffffffff
d9bcfdac
d9bcfdd0
d9bce000
d9bcfe04
d9bcfd78

fd70
c0dcc2f8
c0101210
f5081b40
00000000
00000000
00000000
01080020
00000000

fd90
f5081b40
c140b118
d9bcfdd0
00000000
c157eaf4
d9bcfe04
d9bcfdc8
d9bcfdc8

fdb0
c0b5839c
c0b58404
20010013
ffffffff
00000051
bf000000
d9bcfdf4
c1409188

fdd0
00000000
845b79f7
d9bcfdfc
f5a7d300
f5081b40
00000019
f4cc4c80
c09e4864

fdf0
00000008
c157eaf4
d9bcfe2c
d9bcfe08
c09e3d24
c0b58334
00000019
00000000

fe10
00000000
00000002
c1409188
f4cc4c80
d9bcfeb4
d9bcfe30
c09e3eec
c09e3be4

fe30
c09e15c8
f4cc4c80
00000080
00000000
00000000
00000000
d9bcfe88
c09e15c8

R10: 0xc157ea74:
ea74
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000

ea94
f4c07b80
f4c07cc0
00000000
00000000
00000000
00000000
00000000
00000000

eab4
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000

ead4
00000000
f44199c0
00000000
00000000
00000000
00000000
00000000
00000000

eaf4
15200510
00000000
00000002
f4c3a990
f4c1aa00
f4be1040
f4c1ae00
f4c1ac00

eb14
f4419c00
00000000
00000000
00000000
00000000
00000000
00000000
00000000

eb34
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000

eb54
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000

Process sh (pid: 488, stack limit = 0xd9bce210)
Stack: (0xd9bcfdc8 to 0xd9bd0000)
fdc0: d9bcfdf4 c1409188 00000000 845b79f7 d9bcfdfc f5a7d300
fde0: f5081b40 00000019 f4cc4c80 c09e4864 00000008 c157eaf4 d9bcfe2c d9bcfe08
fe00: c09e3d24 c0b58334 00000019 00000000 00000000 00000002 c1409188 f4cc4c80
fe20: d9bcfeb4 d9bcfe30 c09e3eec c09e3be4 c09e15c8 f4cc4c80 00000080 00000000
fe40: 00000000 00000000 d9bcfe88 c09e15c8 f4cc4c99 00000080 00000019 00000000
fe60: 00000008 00000001 00000000 00000000 00000000 00000000 00000000 c09e4864
fe80: c157eaf4 845b79f7 00000002 00000002 00000000 f5aed6c0 f5a52890 d9bcff70
fea0: 00000051 f5a52880 d9bcfecc d9bcfeb8 c09e5220 c09e3d50 00000002 c06a9a30
fec0: d9bcfedc d9bcfed0 c06a9a58 c09e51ac d9bcfef4 d9bcfee0 c0372728 c06a9a3c
fee0: c03726d4 00000000 d9bcff2c d9bcfef8 c0371c50 c03726e0 00000000 00000000
ff00: a85291e4 00000002 f5081c00 a85291e4 d9bcff70 a85291e4 d9bce000 00000004
ff20: d9bcff3c d9bcff30 c02e8bdc c0371b54 d9bcff6c d9bcff40 c02e8cb0 c02e8bc0
ff40: d9bcff6c c030c1d0 f5081c00 c1409188 f5081c00 00000002 a85291e4 d9bce000
ff60: d9bcffa4 d9bcff70 c02e8f2c c02e8c08 00000000 00000000 816c0418 845b79f7
ff80: c0108a24 00000002 a85291e4 00000000 00000004 c0108a24 00000000 d9bcffa8
ffa0: c0108820 c02e8ed4 00000002 a85291e4 00000001 a85291e4 00000002 a8503630
ffc0: 00000002 a85291e4 00000000 00000004 816c0418 816bf418 00000080 bed515ec
ffe0: a85291e6 bed515c8 8169d489 a865f698 20010010 00000001 00000000 00000000
[<c0b58404>] (netlink_unicast) from [<c09e3d24>] (send_usrmsg+0x14c/0x16c)
[<c09e3d24>] (send_usrmsg) from [<c09e3eec>] (vehicle_hal_set_property+0x1a8/0x2f4)
[<c09e3eec>] (vehicle_hal_set_property) from [<c09e5220>] (hvac_on_store+0x80/0x98)
[<c09e5220>] (hvac_on_store) from [<c06a9a58>] (dev_attr_store+0x28/0x34)
[<c06a9a58>] (dev_attr_store) from [<c0372728>] (sysfs_kf_write+0x54/0x58)
[<c0372728>] (sysfs_kf_write) from [<c0371c50>] (kernfs_fop_write+0x108/0x1ec)
[<c0371c50>] (kernfs_fop_write) from [<c02e8bdc>] (__vfs_write+0x28/0x48)
[<c02e8bdc>] (__vfs_write) from [<c02e8cb0>] (vfs_write+0xb4/0x1bc)
[<c02e8cb0>] (vfs_write) from [<c02e8f2c>] (SyS_write+0x64/0xcc)
[<c02e8f2c>] (SyS_write) from [<c0108820>] (ret_fast_syscall+0x0/0x54)
Code: e1a03005 ebffff1f e3500001 1a00005f (e5d53171)
---[ end trace f46aec468d1bfbdd ]---
Kernel panic - not syncing: Fatal exception
CPU2: stopping
CPU: 2 PID: 106 Comm: kworker/2:1 Tainted: G D 4.14.98-00002-g4261f9a5e0df-dirty #26
Hardware name: Freescale i.MX6 Quad/DualLite (Device Tree)
Workqueue: events dbs_work_handler
[<c0112894>] (unwind_backtrace) from [<c010dac8>] (show_stack+0x20/0x24)
[<c010dac8>] (show_stack) from [<c0dabbc0>] (dump_stack+0x88/0x9c)
[<c0dabbc0>] (dump_stack) from [<c01104f8>] (handle_IPI+0x204/0x410)
[<c01104f8>] (handle_IPI) from [<c01015fc>] (gic_handle_irq+0x9c/0xa0)
[<c01015fc>] (gic_handle_irq) from [<c0dcc38c>] (__irq_svc+0x6c/0xa8)
Exception stack(0xf4657c50 to 0xf4657c98)
7c40: 00000001 35a08000 f6e05050 00000003
7c60: c140929c c14096c8 f6e13f80 f6e13f84 00000004 00000001 f6e13f88 f4657cdc
7c80: 00000001 f4657ca0 c0dab854 c01dd3b4 000f0013 ffffffff
[<c0dcc38c>] (__irq_svc) from [<c01dd3b4>] (smp_call_function_many+0x2bc/0x320)
[<c01dd3b4>] (smp_call_function_many) from [<c01dd918>] (on_each_cpu+0x4c/0xd0)
[<c01dd918>] (on_each_cpu) from [<c01114b8>] (twd_rate_change+0x38/0x40)
[<c01114b8>] (twd_rate_change) from [<c01615fc>] (srcu_notifier_call_chain+0x80/0xa8)
[<c01615fc>] (srcu_notifier_call_chain) from [<c05f46e0>] (__clk_notify+0x8c/0xb0)
[<c05f46e0>] (__clk_notify) from [<c05f47ac>] (__clk_recalc_rates+0xa8/0xac)
[<c05f47ac>] (__clk_recalc_rates) from [<c05f4780>] (__clk_recalc_rates+0x7c/0xac)
CPU3: stopping
CPU: 3 PID: 0 Comm: swapper/3 Tainted: G D 4.14.98-00002-g4261f9a5e0df-dirty #26
Hardware name: Freescale i.MX6 Quad/DualLite (Device Tree)
[<c0112894>] (unwind_backtrace) from [<c010dac8>] (show_stack+0x20/0x24)
[<c010dac8>] (show_stack) from [<c0dabbc0>] (dump_stack+0x88/0x9c)
[<c0dabbc0>] (dump_stack) from [<c01104f8>] (handle_IPI+0x204/0x410)
[<c01104f8>] (handle_IPI) from [<c01015fc>] (gic_handle_irq+0x9c/0xa0)
[<c01015fc>] (gic_handle_irq) from [<c0dcc38c>] (__irq_svc+0x6c/0xa8)
Exception stack(0xf4163ee8 to 0xf4163f30)
3ee0: 00000000 f6e28900 00000001 f6e28900 7478b86e 0000000f
3f00: 00000001 f6e24a68 00000003 c1414684 c15045b4 f4163f7c f4163ee8 f4163f38
3f20: c0dcbac0 c095e110 200d0013 ffffffff
[<c0dcc38c>] (__irq_svc) from [<c095e110>] (cpuidle_enter_state+0x170/0x52c)
[<c095e110>] (cpuidle_enter_state) from [<c095e51c>] (cpuidle_enter+0x24/0x28)
[<c095e51c>] (cpuidle_enter) from [<c018ece0>] (do_idle+0x258/0x2dc)
[<c018ece0>] (do_idle) from [<c018f070>] (cpu_startup_entry+0x28/0x2c)
[<c018f070>] (cpu_startup_entry) from [<c0110088>] (secondary_start_kernel+0x164/0x170)
[<c0110088>] (secondary_start_kernel) from [<10101acc>] (0x10101acc)
CPU0: stopping
CPU: 0 PID: 0 Comm: swapper/0 Tainted: G D 4.14.98-00002-g4261f9a5e0df-dirty #26
Hardware name: Freescale i.MX6 Quad/DualLite (Device Tree)
[<c0112894>] (unwind_backtrace) from [<c010dac8>] (show_stack+0x20/0x24)
[<c010dac8>] (show_stack) from [<c0dabbc0>] (dump_stack+0x88/0x9c)
[<c0dabbc0>] (dump_stack) from [<c01104f8>] (handle_IPI+0x204/0x410)
[<c01104f8>] (handle_IPI) from [<c01015fc>] (gic_handle_irq+0x9c/0xa0)
[<c01015fc>] (gic_handle_irq) from [<c0dcc38c>] (__irq_svc+0x6c/0xa8)
Exception stack(0xc1401e90 to 0xc1401ed8)
1e80: 00000000 f6df2900 00000001 f6df2900
1ea0: 7478bb09 0000000f 00000001 f6deea68 00000000 c1414684 c15045b4 c1401f24
1ec0: c1401e90 c1401ee0 c0dcbac0 c095e110 200f0013 ffffffff
[<c0dcc38c>] (__irq_svc) from [<c095e110>] (cpuidle_enter_state+0x170/0x52c)
[<c095e110>] (cpuidle_enter_state) from [<c095e51c>] (cpuidle_enter+0x24/0x28)
[<c095e51c>] (cpuidle_enter) from [<c018ece0>] (do_idle+0x258/0x2dc)
[<c018ece0>] (do_idle) from [<c018f070>] (cpu_startup_entry+0x28/0x2c)
[<c018f070>] (cpu_startup_entry) from [<c0dc2c7c>] (rest_init+0xd8/0xdc)
[<c0dc2c7c>] (rest_init) from [<c1300ecc>] (start_kernel+0x3f8/0x450)
Rebooting in 5 seconds..

Error from the following function,

   ret = netlink_unicast(nlsk, nl_skb, user_pid, MSG_DONTWAIT);

When read the buffer there is no data.

    send_usrmsg(buffer, stream.bytes_written);

Thanks & Regards,

VinothS.

[vinothkumars · Accepted solution]

This is the problem with emulator. I closed this thread now.

Regards,

VinothS

[vinothkumars]

Hi,

Anyone knows, Could you tell me, how vehicle data flow from M4 to CAN Bus in Android Pie Automotive?

Thanks & Regards,

VinothS,

[diegoadrian]

Hello,

Unfortunately the i.MX8Q is still in pre-production and Android Automotive is not currently supported. What I suggest you is to go with your DFAE they could help you with this problem. I apologize for the inconvenience this could give you.

Best regards,

Diego.

[vinothkumars]

Thank you Diego for your reply.

Regards,

VinothS,