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

[shriyanayak1992]

Hi vinothkumars‌,

I went through vehicle Hal, It says vehicle HAL is connected to an emulator instead of a real vehicle network. I dont see any implementations wrt to communication with CAN.

Is there a way Vehicle HAL can receive CAN commands and send it up to application? I want this in cortex A35 .I dont want to move can to M4. I have tested CAN on IMX8 using canutils.

Regards,
Sriraksha

[vinothkumars]

Hi,

Physical CAN communicate with Vehicle HAL via Emulator only and the Callbacks called by CAR service from Emulator

Regards,

Vinoth S,

[shriyanayak1992]

Hi vinothkumars‌,

Physical CAN communicate with Vehicle HAL via Emulator only and the Callbacks called by CAR service from Emulator.

Could you be elaborate or give more insight into this?

I went through the code but couldn't find any code related to CAN communication with HAL via Emulator.

I also saw your post on sending CAN data to HAL. How are you sending this? 

Problem in sending Int array vehicle data 

Regards,
Sriraksha

[vinothkumars]

Hi,

You needs to port CAN driver in M4 SDK Code,

Thanks & Regards,

Vinoth S,

[shriyanayak1992]

Hi vinothkumars‌,

Thank you. I wanted to try without porting can to M4. Isn't it possible in cortex a35?

I was thinking as canutils talk to can driver and dump messages cant I do the same dumping & sending it to vhal?

I am want to send dummy data from VHAL to car services up to application?

Any examples or pointers to this?

Regards,

Sriraksha

[vinothkumars]

Hi,

By default CAN communication needs M4 MCU (rpmsg)

Check dts file,

      source/vendor/nxp-opensource/kernel_imx/arch/arm64/boot/dts/freescale

You can use dumpsys commands to simulation purpose,

Regards,

VinothS,

[shriyanayak1992]

Hi vinothkumars‌

Thank you.

Any idea on when will default implementation ie vehicle emulator called ? /hardware/interfaces/automotive/vehicle/2.0/default/impl/vhal_v2_0/

I have manually started the service./vendor/bin/hw/android.hardware.automotive.vehicle@2.0-service       
Logs as below: 

05-14 09:06:03.348 4893 4893 I VehicleEmulator_v2_0: registerEmulator, emulator: 0xe3b636c0d380
05-14 09:06:03.349 4893 4893 I VehicleEmulator_v2_0: Starting SocketComm
05-14 09:06:03.349 4893 4893 I automotive.vehicle@2.0-impl: VehicleHalManager::init
05-14 09:06:03.351 4893 4893 I automotive.vehicle@2.0-service: Registering as service...
05-14 09:06:03.353 1772 1772 W hwservicemanager: Detected instance of android.hardware.automotive.vehicle@2.0::IVehicle (pid: 4893) registering over instance of or with base of android.hardware.automotive.vehicle@2.0::IVehicle (pid: 1901).
05-14 09:06:03.354 4893 4893 I ServiceManagement: Registered android.hardware.automotive.vehicle@2.0::IVehicle/default (start delay of 70ms)
05-14 09:06:03.354 4893 4893 I ServiceManagement: Removing namespace from process name android.hardware.automotive.vehicle@2.0-service to vehicle@2.0-service.
05-14 09:06:03.355 4893 4893 I automotive.vehicle@2.0-service: Ready

I dont see any logs from SocketComm or any communication happening?
Am i missing something?

Regards,

Sriraksha

[vinothkumars]

Yes some what you missing here.

Provide your build steps.

Are you able to open Kitchen Sink Application ?

Regards,

Vinoth S,

[shriyanayak1992]

Hi vinothkumars‌,

 Yes i was able to run kitchen sink app application and look into different menu like VHAL or property etc. But none of the calls were made to this vehicle emulator here  /hardware/interfaces/automotive/vehicle/2.0/default/impl/vhal_v2_0/. I dint see any logs from vehicle service 

(/vendor/bin/hw/android.hardware.automotive.vehicle@2.0-service)

when Kitchen sink app is running.

Build steps:

source build/envsetup.sh

lunch mek_8q_car-userdebug

./imx-make.sh -j4 

for any changes in modules i use mma.

I read that SocketComm opens a socket, and listens for connections from clients. Typically the client will be
adb's TCP port-forwarding to enable a host PC to connect to the VehicleHAL. So what basically is it reading from adb? 

I am getting confused here.Currently SocketComm thread is not started at all. I dont see any logs from it.

Regards,
Sriraksha

[vinothkumars]

Hi,

for example PERF_VEHICLE_SPEED

Open the KitchenSink application -> select property tab -> enable PERF_VEHICLE_SPEED

send the following command from terminal,

     dumpsys activity service com.android.car inject-vhal-event 0x11600207 23

Provide your full log also

VinothS,

[shriyanayak1992]

Hi vinothkumars‌,

  dumpsys activity service com.android.car inject-vhal-event 0x11600207 23

what are those numbers in the above command?

This is the log when i do a dumpsys after selecting perf_vehicle_speed

rvice com.android.car inject-vhal-event 0x11600207 23 <
SERVICE com.android.car/.CarService 902335a pid=2237
Client:

SERVICE com.android.car/.PerUserCarService dd2644b pid=3192
Client:
nothing to dump

SERVICE com.android.car.hvac/.HvacController c0ac038 pid=2640
Client:
nothing to dump

SERVICE com.android.car.hvac/.HvacUiService d9977f9 pid=2640
Client:
nothing to dump

SERVICE com.android.car.messenger/.MessengerService ddd9f33 pid=3368
Client:
nothing to dump

 i have attached complete log and screenshot as well.

   

[vinothkumars]

Hi,

This the message id and it's defined in types.hal

/**

* Speed of the vehicle

*

* @change_mode VehiclePropertyChangeMode:ON_CHANGE|VehiclePropertyChangeMode:CONTINUOUS

* @access VehiclePropertyAccess:READ

* @unit VehicleUnit:METER_PER_SEC

*/

PERF_VEHICLE_SPEED = (

0x0207

| VehiclePropertyGroup:SYSTEM

| VehiclePropertyType:FLOAT

| VehicleArea:GLOBAL),

0x11600207

1 -> SYSTEM = 0x10000000,

1 -> GLOBAL = 0x01000000,

60 -> FLOAT = 0x00600000,

207 -> Alternative numaber

Regards,

Vinoth S,

[shriyanayak1992]

hi vinothkumars‌,

Thank you.

Did you find anything from the logs ?why there are no dumps related to vehicle speed?

Regards,
Sriraksha 

[vinothkumars]

Hi I will update later.

VinothS,

[krishnan_ramesh]

hi vinothkumars‌,

May I know how and where did u add new vehicle parameters?

And how did u verify the communication between M4 to CAN bus?

Regards,
Ramesh

[vinothkumars]

Please find the below reference link,

android - AOSP: How to initialize the VehicleProperty::AUDIO_VOLUME property (.initialValues in the ... 

Thanks & Regards,

Vinoth S,

[krishnan_ramesh]

Hi vinothkumars‌,

Thank you for sharing it.

How do we test the vehicle property added?

Any idea of running vehicle hal test found here

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

or

running emulator in 

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

Regards,

Ramesh

[vinothkumars]

We have kitchensink Application and this is the command used for launch the kitchensink application,

Path: packages/services/Car/tests/EmbeddedKitchenSinkApp

commands,

   am start -n com.google.android.car.kitchensink/com.google.android.car.kitchensink.KitchenSinkActivity

Note: Check Android User Guide for build with M4 as well without M4

Thanks & Regards,

Vinoth S,

[yifei_ren]

Those values are property ID.

Android APP - > Android FW ->  VHAL- > Kernel -> M4, all using the same ID.

[vinothkumars]

Hi yifei.ren@hirain.com‌ ,

Could you tell me, how vehicle data flow from M4 to CAN Bus ?

And also I got error, When I send the following command,

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

Unable to handle kernel NULL pointer dereference at virtual address 000000171

After Kernel crashed and reboot.

Thanks,

VinothS,