Under the assumtion, that it will be mostly other software which talks to the interface, the command structure was made simple, but flexible.
The exact description about the syntax as such can be found in the RFC Firmware Syntax
The firmware and its commands are split into five different so called functions blocks
where each of this function blocks is split again into a generic and a implementation specific part
When sending any p- command to the firmware, the first number in the command string always defines, to which function block the command is forwarded to. This gives then finally the following meaning of the first number:
| Command starts with | goes to which function block |
|---|---|
| p 0 | System Specific |
| p 1 | System Generic |
| p 2 | Serial-In Specific |
| p 3 | Serial-In Generic |
| p 4 | Serial-Out Specific |
| p 5 | Serial-Out Generic |
| p 6 | Protocol Specific |
| p 7 | Protocol Generic |
| p 8 | Bus Specific |
| p 9 | Bus Generic |
max: implementation specific (unsigned long)
| Command | Value1 | Value2 | Meaning | Errorcodes |
|---|---|---|---|---|
| 1 | 0 | 0 | enable protocol CAN raw | |
| 1 | 1 | 0 | enable protocol UDS diagnositc | |
| 1 | 3 | 0 | enable protocol RTP (Real time data) | |
| 2 | 0 | 0 | disable blue LED (= OFF) | |
| 2 | 0 | 1 | enable blue LED (= ON) | |
| 2 | 1 | 0 | disable green LED (= OFF) | |
| 2 | 1 | 1 | enable green LED (= ON) | |
| 2 | 2 | 0 | disable red LED (= OFF) | |
| 2 | 2 | 1 | enable red LED (= ON) | |
| 2 | 3 | 0 | disable buzzer (= OFF) | |
| 2 | 3 | 1..max | enable buzzer (= ON) with frequency in Hz of Value2 | |
| 2 | 10000 | 0 | disable Relais (= OFF) | |
| 2 | 10000 | 1 | enable Relais (= ON) |
| Command | Value1 | Value2 | Meaning | Errorcodes |
|---|---|---|---|---|
| 0 | 0 | 0 | show software version: OOBD <FW-ID> <Rev> <Hardware> <Model> [Build date] (e.g.: OOBD D2 651 Lux-Wolf CAN-Invader Thu, 15 Aug 2013 01:15:25 +0200) | |
| 0 | 1 | 0 | show serial number: xx:xx:xx:xx:xx:xx (=BTM222 MAC-Address) | |
| 0 | 2 | 0 | show power supply voltage of OBD-II connector | |
| 0 | 3 | 0 | show CPU info | |
| 0 | 4 | 0..max | show memory information of address x | |
| 0 | 5 | 0 | show ROM table location | |
| 0 | 6 | 0 | show free heap memory | |
| 0 | 7 | 0 | check CRC-32 of application | |
| 0 | 8 | 0 | show OOBD-Cup device name | |
| 0 | 9 | 0 | show UART speed | |
| 99 | 0 | 0 | Hardware - Reset |
Nothing implemented yet
Nothing implemented yet
Nothing implemented yet
Nothing implemented yet
| Command | Value1 | Value2 | Meaning | Errorcodes |
|---|---|---|---|---|
| 1 | 0..max | 0 | set response timeout in 10ms units | |
| 5 | $xxx | 0 | set ECU Request-ID (RECVID) | |
| 6 | $xxx | 0 | start Tester present on CAN-ID $xxx with actual interval and mask | 10 (Out of Mem) |
| 7 | $xxx | 0 | stop Tester present on CAN-ID | |
| 8 | 0..max | 0 | set Tester present interval in 10ms units (Default 250) | |
| 9 | $xxx | 0 | set ECU Response-ID (SENDID) (Default 0, makes SENDID= RECVID | 0x08) | |
| 10 | $xxx | 0 | set Tester Present mask 02 xx (Default 0x80) | |
| 11 | 0 or 1 | 0 | set/resets the Ping Mode Flag |
For more details about the CAN Raw Mode, please refer to the RFC CAN Raw Mode
| Command | Value1 | Value2 | Meaning | Errorcodes |
|---|---|---|---|---|
| 1 | (PARAM_CANRAW_FRAME_DELAY, not used yet?) | |||
| 2 | (PARAM_CANRAW_SENDID, not used yet?) | |||
| 3 | 0..max | repeats the sequence n+1 times. $FFFF means endless loop, send “p 6 3 0” to stop again. Note: This Counter needs to set again before each use, it's not “re-usable” |
For more details about the CAN RTD Mode, please refer to the RFC CAN RTD Mode
| Command | Value1 | Value2 | Meaning | Errorcodes |
|---|---|---|---|---|
| 1 | clear the internal data buffer list, releases all used memory buffers |
| Command | Value1 | Value2 | Meaning | Errorcodes |
|---|---|---|---|---|
| 0 | 0 | 0 | show info of used protocol | |
| 1 | 0 | 0 | deactivate Listen mode | |
| 1 | 1 | 0 | activate Listen mode |
| Command | Value1 | Value2 | Meaning | Errorcodes |
|---|---|---|---|---|
| 2 | 0 | 0 | CAN transceiver: Silent mode (CAN deactive) | |
| 2 | 1 | 0 | CAN transceiver: Loop back (internal loop) | |
| 2 | 2 | 0 | CAN transceiver: Loop back combined with silent mode | |
| 2 | 3 | 0 | CAN transceiver: Normal mode (CAN active) ATTENTION: You need to active the bus before you set the CAN-Filters, but not after, otherways the settings are lost and the filters are closed | |
| 3 | 0 or 1 | 0 | Standard-CAN init (initialize CAN controller with 125kbit/s, 11bit) | |
| 3 | 2 | 0 | Standard-CAN init (initialize CAN controller with 250kbit/s, 11bit) | |
| 3 | 3 | 0 | Standard-CAN init (initialize CAN controller with 500kbit/s, 11bit) | |
| 3 | 4 | 0 | Standard-CAN init (initialize CAN controller with 1000kbit/s, 11bit) | |
| 3 | 5 | 0 | Extended-CAN init (initialize CAN controller with 125kbit/s, 29bit) | |
| 3 | 6 | 0 | Extended-CAN init (initialize CAN controller with 250kbit/s, 29bit) | |
| 3 | 7 | 0 | Extended-CAN init (initialize CAN controller with 500kbit/s, 29bit) | |
| 3 | 8 | 0 | Extended-CAN init (initialize CAN controller with 1000kbit/s, 29bit) | |
| 4 | 0 | 0 | HS-CAN (Relais switch - OFF) | |
| 4 | 1 | 0 | MS-CAN (Relais switch - ON) | |
| 10 | <Filter-No> | $<CAN-ID> | set Filter CAN-ID (11bit CAN-ID 0x0000-0x07FF) where Filter-No is 1-N*, i.e. p 8 10 1 $720 | |
| 11 | <Filter-No> | $<Mask-ID> | set Filter Mask-ID (11bit Mask-ID 0x0000-0x07FF) where Filter-No is 1-N* and Filter Mask depends on Filter CAN-ID (0=don't care 1=match), i.e. p 8 11 1 $7F0 (here: $720 - $72F) | |
| 12 | <Filter-No> | $<CAN-ID> | set Filter CAN-ID (29bit CAN-ID 0x00000000-0x1FFFFFFF) where Filter-No is 1-N*, i.e. p 8 12 1 $18F30557 | |
| 13 | <Filter-No> | $<Mask-ID> | set Filter Mask-ID (29bit Mask-ID 0x00000000-0x1FFFFFFF) where Filter-No is 1-N* and Filter Mask depends on Filter CAN-ID (0=don't care 1=match), i.e. p 8 11 1 $1FFFFFF0 (here: $18F30550 - $18F3055F) | |
| 14 | 0 | 0 | set all 11bit CAN filter to CAN-ID $0000 and Mask-ID $07FF (= disable any CAN traffic to application) |
* N: number of filters is implementation depending, see #define MAXCANFILTER= in mc_can.h
The socketCAN implementation has some advanced filter settings. Please read the Socketcan dokumentation (chapter 4.1) for details.
| Command | Value1 | Value2 | Meaning | Errorcodes |
|---|---|---|---|---|
| 0 | 0 | 0 | show info which interface/bus is active (i.e. CAN-Bus) | |
| 0 | 3 | 0 | show info of CAN transceiver operating mode | |
| 0 | 4 | 0 | show info about CAN ID side and bitrate | |
| 0 | 5 | 1 | read different CAN counters: rx rxerr tx txerr rxerr2 txerr2 busoff buswarn buspass | |
| 0 | 5 | 2 | delete all software internal CAN error counters | |
| 0 | 10 | 0 | show all 11bit CAN-ID filter, each line with two 11bit CAN-filters like: <CAN-ID> <Mask-ID> <CAN-ID> <Mask-ID> | |
| 0 | 11 | 0 | show all 29bit CAN-ID filter, each line with one 29bit CAN-filter like: <CAN-ID> <Mask-ID> |